Operating device

Abstract

An operating device that can provide a natural operating feeling in terms of touch and hearing is provided. The operating device includes: a movable part having an operating surface for contact operation by a biological body; a vibrator installed at a position other than the operating surface of the movable part, capable of vibrating the movable part in a first direction along the operating surface and in a second direction intersecting the operating surface; a base part; and an elastic support part, provided between the movable part and the base part, elastically supporting the movable part on the base part, the movable part is vibrated by the vibrator in the first direction to present a tactile feeling to the biological body performing the contact operation, and is vibrated by the vibrator in the second direction to generate a sound from the operating surface.

Description

Technical Field

[0001] The present invention relates to an operating device. Background Art

[0002] In the past, there has been a tactile and auditory presentation device comprising: an actuator that applies vibration to an operating surface on which an operation is performed; a sound output unit that outputs sound; and a control unit that controls the actuator in a manner that applies vibration to the operating surface, and controls the sound output unit in a manner that outputs sound at a timing when the vibration is presented to present cross-modal feedback (for example, refer to patent document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-097706 Summary of the invention

[0006] Technical problem to be solved by the invention

[0007] However, in the conventional tactile and auditory presentation device, the actuator and the sound output unit are different devices, the actuator generates vibrations for presenting the tactile sensation (touch) to the operator, and the sound output unit outputs sounds for presenting the auditory sensation. Therefore, if the sound output unit outputs a sound representing the vibration in the actuator, the difference between the sensations obtained by the tactile sense and the auditory sense for the operation is large because the actuator and the sound output unit are located at different positions.

[0008] Therefore, an object of the present invention is to provide an operating device that can provide a natural operating feeling in terms of touch and hearing.

[0009] Means for solving technical problems

[0010] An operating device according to an embodiment of the present invention includes: a movable part having an operating surface for contact operation by a biological body; a vibrator installed at a position other than the operating surface of the movable part and capable of vibrating the movable part in a first direction along the operating surface and in a second direction intersecting the operating surface; a base part; and an elastic supporting part provided between the movable part and the base part, elastically supporting the movable part on the base part, the movable part being vibrated in the first direction by the vibrator to present a tactile sensation to the biological body performing the contact operation, and being vibrated in the second direction by the vibrator to generate a sound from the operating surface.

[0011] Effects of the Invention

[0012] An operating device that can provide a natural operating feeling in terms of touch and hearing can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a perspective view showing the operating device 100 according to the embodiment.

[0014] Figure 2 yes Figure 1 A-A cross-sectional view.

[0015] Figure 3 It is a plan view showing a state where the touch panel 130 and the frame 150 are removed.

[0016] Figure 4 It is a plan view showing the structure of the actuator 140 .

[0017] Figure 5 is from Figure 4 A top view in which the movable yoke and the permanent magnet are removed.

[0018] Figure 6 It is a cross-sectional view showing the structure of the actuator 140 .

[0019] Fig. 7A This is a diagram showing the relationship between the direction of the current and the direction of the motion in the first combination.

[0020] Figure 7B This is a diagram showing the relationship between the direction of the current and the direction of the motion in the second combination.

[0021] Figure 7C This is a diagram showing the relationship between the direction of the current and the direction of the motion in the third combination.

[0022] Fig.7D This is a diagram showing the relationship between the direction of the current and the direction of the motion in the fourth combination.

[0023] Figure 8 It is a diagram showing the configuration of the control device 180 .

[0024] Fig. 9 This is a diagram showing the timing of vibration output and sound output.

[0025] Fig.10 1 is a diagram showing an example of the frequency characteristics of the vibrating force of the actuator 140 . DETAILED DESCRIPTION

[0026] Hereinafter, an embodiment of an operating device to which the present invention is applied will be described.

[0027] <Implementation Method>

[0028] Figure 1 It is a perspective view showing the operating device 100 according to the embodiment. Figure 2 yes Figure 1A-A sectional view. Below, the XYZ coordinate system is defined for explanation. In addition, below, for the convenience of explanation, the top view is referred to as observation from the XY plane, the negative Z-axis side is referred to as the lower side or lower, and the positive Z-axis side is referred to as the upper side or upper, but it does not represent a general up-down relationship.

[0029] The operating device 100 includes a base 110, a holder 120, a touch panel 130, an actuator 140, a frame 150, a gap sensor 160, dampers 170A and 170B, and a control device 180. Figure 1 as well as Figure 2 Based on Figure 3 Provide explanation. Figure 3 It is a plan view showing a state where the touch panel 130 and the frame 150 are removed.

[0030] Here, when the gap sensor 160 senses a pressing operation on the operation surface 130A of the touch panel 130 , the operation device 100 drives the actuator 140 to vibrate the holder 120 and the touch panel 130 in the X direction and the Z direction.

[0031] When the operating device 100 presents a sense of touch to the organism that performs a contact operation on the operating surface 130A, the actuator 140 is driven to vibrate the holder 120 and the touch pad 130 in the X direction. When a sound is generated in order to present a sound to the organism, the actuator 140 is driven to vibrate the holder 120 and the touch pad 130 in the Z direction. The organism performs a contact operation while bringing the operating body into contact with the operating surface 130A. The operating device 100 presents a sense of touch to the organism through the operating body in contact with the operating surface 130A. The operating body is a hand, a finger, a glove worn on the hand of the organism, or a tool such as a stylus held by the hand of the organism that contacts the operating surface 130A to perform an operation, and the touch pad 130 can detect the contact with the operating surface 130A. The contact operation refers to an operation performed by the operating body in a state of contacting the operating surface 130A of the touch pad 130. The organism is typically a human. The sense of touch is a feeling obtained by the organism through the sense of touch.

[0032] The operating device 100 simulates the touch and sound when operating a push button switch using a metal dome obtained by processing a metal plate into a dome shape, and when the touch pad 130 is pressed, the actuator 140 is driven to vibrate the holder 120 and the touch pad 130, thereby presenting the touch and sound when operating a real push button switch. In addition, the touch and sound simulated by the operating device 100 are not limited to this type of push button switch, but can be various. The touch and sound presented by the operating device 100 are not limited to simulated push button switches, etc. The following describes the configuration of each part.

[0033] The base 110 is an example of a base portion, and together with the frame portion 150, constitutes a housing of the operating device 100. In this example, the base 110 is rectangular in a plan view, and has a storage portion 111 whose central portion of the upper surface 110A is recessed downward. The storage portion 111 is rectangular in a plan view in this example. The base 110 has a bottom surface 111A and four inner side surfaces 111B in a portion facing the storage portion 111. The storage portion 111 is a recessed portion divided by the bottom surface 111A and the four inner side surfaces 111B.

[0034] The holder 120, the actuator 140, the gap sensor 160, the dampers 170A and 170B, and the control device 180 are housed in the housing portion 111. Among them, the gap sensor 160 and the control device 180 are fixed to the bottom surface 111A. The base 110 is made of resin, for example.

[0035] The holder 120 and the touch panel 130 are examples of a movable portion. The holder 120 and the touch panel 130 may be integrally formed, but an independent form will be described here.

[0036] The holder 120 has a base 121 and a wall 122. The base 121 is a plate-like member, and the wall 122 is a rectangular ring-shaped portion extending downward from the lower surface of the base 121. The base 121 and the wall 122 have the same outer dimensions in a plan view. The holder 120 is made of resin, for example.

[0037] The base 121 has an upper surface 121A and a lower surface 121B. The touch pad 130 is fixed to the upper surface 121A, and the actuator 140 is fixed to the lower surface 121B. The wall 122 has a lower surface 122A, an outer side surface 122B, and an inner side surface 122C. In addition, the wall 122 may not be a rectangular ring. For example, the wall 122 may be two wall portions extending along the Y direction at the ends of the +X direction side and the -X direction side of the base 121.

[0038] The holder 120 is provided inside the storage portion 111 of the base 110 and is elastically supported by the base 110 via the dampers 170A and 170B. The damper 170A is provided between the lower surface 122A of the wall portion 122 and the bottom surface 111A of the base 110, and the damper 170B is provided between the outer side surface 122B of the wall portion 122 and the inner side surface 111B of the base 110.

[0039] A rectangular parallelepiped space surrounded by the lower surface 121B of the base 121 and the inner side surface 122C of the wall 122 is the housing portion 123. The actuator 140 is housed in the housing portion 123 in a state of being attached to the lower surface 121B of the base 121.

[0040] The touch pad 130 is, as an example, a capacitive touch pad. The touch pad 130 may also be a touch pad other than a capacitive touch pad. The touch pad 130 is a rectangular plate-shaped member when viewed from above, and its outer dimensions when viewed from above are equal to those of the holder 120. The touch pad 130 is fixed by bonding its lower surface to the upper surface of the holder 120 (i.e., the upper surface 121A of the base 121). The upper surface of the touch pad 130 is an operation surface 130A that is contact-operated by a living body. The panel having the operation surface 130A is made of glass or acrylic resin.

[0041] Preferably, the touch panel 130 has such high rigidity that when the touch panel 130 is vibrated in the X direction by the actuator 140, the acceleration in the Z direction is less than 1 / 4 of that in the X direction. Thus, when the touch panel 130 is vibrated in the X direction to provide a tactile sensation, the generation of unnecessary vibration components in the Z direction can be suppressed, thereby suppressing the generation of unnecessary sounds and providing a better tactile sensation.

[0042] The actuator 140 is an example of a vibrator, and is fixed to the lower surface 121B of the base 121 of the holder 120 by bonding or screwing. The thickness of the actuator 140 in the Z direction is thinner than the total thickness of the thickness of the wall 122 of the holder 120 in the Z direction and the thickness of the vibration damper 170A in the Z direction. The vibration damper 170A is an elastic member, so when the actuator 140 vibrates the holder 120, the vibration damper 170A expands and contracts in the thickness direction (Z direction). However, even in the state where the vibration damper 170A is shrunk to the maximum extent, the thickness of the actuator 140 in the Z direction is thinner than the total thickness of the thickness of the wall 122 of the holder 120 in the Z direction and the thickness of the vibration damper 170A in the Z direction. Therefore, the lower surface of the actuator 140 is separated from the bottom surface 111A of the base 110 in the Z direction. This is to make it difficult for the vibration of actuator 140 to be transmitted to base 110. In addition, when the vibration can be transmitted to base 110 or when it is desired to be transmitted to base 110, actuator 140 may be configured to contact both bottom surface 111A of base 110 and lower surface 121B of holder 120.

[0043] The actuator 140 can vibrate the holder 120 and the touch pad 130 in the X direction and the Z direction. The actuator 140 can be installed at any position other than the operation surface 130A on the outer surface of the holder 120 and the touch pad 130 as the movable part as long as it can vibrate the holder 120 and the touch pad 130 in the X direction and the Z direction.

[0044] The X direction in which the actuator 140 vibrates the holder 120 and the touch pad 130 is an example of a first direction along the operation surface 130A, and the Z direction is an example of a second direction intersecting the operation surface 130A.

[0045] Here, the following method is described, that is, the actuator 140 vibrates the holder 120 and the touch pad 130 in the X direction and the Z direction, so that the holder 120 and the touch pad 130 vibrate in the X direction and the Z direction. However, the direction (first direction) in which the actuator 140 vibrates the holder 120 and the touch pad 130 in order to provide a sense of touch to the living body is not limited to the X direction, and it only needs to be along the operation surface 130A. That is, the direction (first direction) in which the actuator 140 vibrates the holder 120 and the touch pad 130 in order to provide a sense of touch to the living body only needs to be along the direction included in the XY plane including the operation surface 130A, and the above direction means that there may be a slight angle with respect to the X direction due to manufacturing errors or the like.

[0046] In addition, the direction (second direction) in which the actuator 140 vibrates the holder 120 and the touch pad 130 to produce sound to the biological body is not limited to the Z direction, and any direction may be any direction that intersects the XY plane including the operation surface 130A at an angle of, for example, 45 degrees or more. However, the closer the second direction is to the Z direction, the easier it is to produce a louder sound.

[0047] The frame 150 is fixed to the upper surface 110A of the base 110 by bonding or the like. The frame 150 has an opening edge portion 150A that divides the opening inside when viewed from above. In this example, the frame 150 is a frame-shaped component that is rectangular ring-shaped when viewed from above, and its outer dimensions when viewed from above are equal to those of the base 110. The frame 150 is made of resin, for example. In addition, when viewed from above, the inner dimensions of the opening edge portion 150A of the frame 150 may be smaller than the inner dimensions of the inner side surface 111B of the base 110. That is, the gap between the opening edge portion 150A of the frame 150 and the touch pad 130 may be smaller than the gap between the inner side surface 111B of the base 110 and the outer side surface 122B of the retainer 120. As a result, it is difficult to visually confirm the shock absorber 170B when viewed from above, which can improve the aesthetics.

[0048] The gap sensor 160 is an example of a detection unit that detects a pressing operation on the operation surface 130A, and is fixed to the bottom surface 111A of the base 110. The position of the gap sensor 160 in a plan view is, as an example, a position that is inside the inner side surface 122C of the wall portion 122 of the holder 120 and is not overlapped with the actuator 140.

[0049] As an example, the gap sensor 160 is an optical type sensor having a light source and a light receiving element built therein, and receives reflected light of the light irradiated to the lower surface 121B of the base 121 of the holder 120, and detects the displacement of the base 121 of the holder 120 in the -Z direction based on the change in the position of the image formed by the reflected light on the light receiving element. When the base 121 of the holder 120 is displaced in the -Z direction, the touch panel 130 is also displaced in the -Z direction, so by detecting the displacement of the base 121 in the -Z direction, it is possible to detect the pressing of the touch panel 130 in the -Z direction. If the touch panel 130 is pressed in the -Z direction, the base 121 of the holder 120 and the touch panel 130 are displaced in the -Z direction by several tens of μm.

[0050] The detection unit that detects the pressing operation on operation surface 130A is not limited to gap sensor 160. The detection unit may be a non-contact position detection sensor such as an electrostatic sensor. The detection unit may be a pressure-sensitive sensor that detects the pressure applied to operation surface 130A.

[0051] The shock absorbers 170A and 170B are examples of elastic supporting parts and are elastic components. As an example, the shock absorbers 170A and 170B are made of rubber and are rubber blocks. In addition, the shock absorbers 170A and 170B are not limited to components composed of rubber blocks, and may also be composed of, for example, springs. However, since it is not preferred that the shock absorbers 170A or 170B generate sound, it is preferred that they are composed of rubber rather than a structure that includes a metal spring or the like.

[0052] The damper 170A is an example of a second elastic body that elastically supports the holder 120 in the Z direction. The damper 170A is provided between the lower surface 122A of the wall portion 122 of the holder 120 and the bottom surface 111A of the base 110 and is fixed by bonding or screwing. Figure 3 In the illustrated example, four dampers 170A are provided so as to be located at four corners of the holder 120 in a plan view.

[0053] The damper 170A elastically supports the holder 120 on the bottom surface 111A of the base 110. The damper 170A is provided so that the holder 120 and the touch pad 130 can be appropriately vibrated in the X direction and the Z direction in cooperation with the damper 170B.

[0054] The damper 170B is an example of a first elastic body that elastically supports the holder 120 in the X direction. The damper 170B is provided between the outer side surface 122B of the wall portion 122 of the holder 120 and the inner side surface 111B of the base 110 and is fixed by bonding or screwing. Figure 3In the example shown, two shock absorbers 170B are provided on the +X direction side of the holder 120, separated from each other in the Y direction between the outer side surface 122B and the inner side surface 111B. Also, two shock absorbers 170B are provided on the -X direction side of the holder 120, separated from each other in the Y direction between the outer side surface 122B and the inner side surface 111B. Additionally, one shock absorber 170B may be provided on the +X direction side or the -X direction side of the holder 120 respectively, or three or more may be provided respectively, and the respective numbers may also be different.

[0055] The shock absorber 170B is provided between the base 110 and the holder 120 as described above, thereby elastically supporting the holder 120 on the base 110. The shock absorber 170B is provided so as to be able to vibrate the holder 120 and the touch panel 130 appropriately in the X direction and the Z direction in cooperation with the shock absorber 170A.

[0056] The first natural frequency and the second natural frequency are determined respectively based on the positions of the shock absorber 170A and the shock absorber 170B relative to the holder 120, the combined spring constant of the shock absorber 170A and the shock absorber 170B in the Z direction, and the weights and Young's moduli of the holder 120, the touch panel 130, and the actuator 140, etc.

[0057] The natural frequency of the holder 120 and the touch panel 130 in the Z direction is set to be higher than the natural frequency in the X direction. In other words, the shock absorbers 170A and 170B as the elastic support portions elastically support the holder 120 such that the natural frequency in the Y direction (hereinafter, appropriately referred to as the "second natural frequency") is greater than the natural frequency in the X direction of the holder 120 and the touch panel 130 as the movable portions (hereinafter, appropriately referred to as the "first natural frequency"). Additionally, in the case where the holder 120 and the touch panel 130 are assumed to be rigid bodies, the natural frequencies of the holder 120 and the touch panel 130 are proportional to the square root (in Japanese: 1 / 2乗) of the combined spring constant of the shock absorbers 170A and 170B as the elastic support portions. Therefore, as long as the combined spring constant of the shock absorbers 170A and 170B in the Z direction is set to be greater than the combined spring constant of the shock absorbers 170A and 170B in the X direction, it is easy to set the second natural frequency to be higher than the first natural frequency.

[0058] In addition, the combined spring constant of the vibration damper 170A and the vibration damper 170B in the Z direction is greatly affected by the vibration damper 170A. On the other hand, the combined spring constant of the vibration damper 170A and the vibration damper 170B in the X direction is greatly affected by the vibration damper 170B. Therefore, if the spring constant of the vibration damper 170A in the Z direction is set larger than the spring constant of the vibration damper 170B in the X direction, it is easy to set the second natural frequency higher than the first natural frequency. In order to make the spring constants of shock absorber 170A and shock absorber 170B have different values, it can be achieved by the following (1) to (3) and the like: (1) making shock absorber 170A and shock absorber 170B with different materials to have different hardnesses, (2) setting them to different shapes (for example, since the smaller the area orthogonal to the direction supporting the retaining member 120, the smaller the spring constant, the shapes are set to have different orthogonal areas, or the retaining member 120 is set to have different thicknesses along the supporting direction), (3) making the number of shock absorbers 170A and shock absorbers 170B different.

[0059] In addition, the vibration damper 170B is arranged between the outer side surface 122B of the wall portion 122 of the holder 120 and the inner side surface 111B of the base 110 in a state of elastic deformation in the X direction. In other words, the vibration damper 170B is arranged between the outer side surface 122B of the wall portion 122 of the holder 120 and the inner side surface 111B of the base 110 in a state of being compressed in the X direction compared to the natural length. In addition, the natural length of the vibration damper 170B is the length in the X direction in a state where no stress is applied.

[0060] The reason why the vibration damper 170B is disposed between the outer side surface 122B and the inner side surface 111B in a state of being elastically deformed in the X direction is as follows. Since the holder 120 and the touch pad 130 vibrate in the X direction, the vibration damper 170B is made to exert a restoring force in the direction opposite to the vibration direction so that they do not contact the base 110 and the frame 150. In addition, when the actuator 140 ends vibrating the holder 120 and the touch pad 130, the holder 120 and the touch pad 130 can return to the initial position before the vibration in a top view. In addition, the vibration damper 170A is also disposed between the bottom surface 111A of the holder 120 and the lower surface 122A of the wall portion 122 of the holder 120 in a state of being elastically deformed in the Y direction.

[0061] In addition, here, the operating device 100 includes the dampers 170A and 170B, but when the holder 120 and the touch pad 130 can be returned to the initial position before the vibration when viewed from above by the damper 170A alone, the damper 170B may not be included. Similarly, when the holder 120 and the touch pad 130 can be returned to the initial position before the vibration when viewed in the direction of the arrow AA by the damper 170B alone, the damper 170A may not be included.

[0062] The control device 180 controls the drive of the actuator 140. For details of the control device 180, see Figure 8 This will be described later.

[0063] Next, the actuator 140 will be described in detail.

[0064] Next, a configuration of an example of the actuator 140 will be described. Figure 4 It is a plan view showing a structure of an example of the actuator 140 . Figure 5 is from Figure 4 The actuator 140 is shown in a top view with the movable yoke and permanent magnets removed. Figure 6 It is a cross-sectional view showing the structure of the actuator 140 . Figure 6 Equivalent to following Figure 4 as well as Figure 5 Cross-sectional view of line I-I in .

[0065] like Figures 4 to 6 As shown, the actuator 140 includes a fixed yoke 10, a movable yoke 20, a first excitation coil 30A, a second excitation coil 30B, a first rubber 40A, a second rubber 40B, and a permanent magnet 60. The fixed yoke 10 is an example of a component constituting a part of a fixed body, the movable yoke 20 is an example of a component constituting a part of a vibrating body, the first excitation coil 30A and the second excitation coil 30B are examples of coils, the first rubber 40A and the second rubber 40B are examples of elastic bodies, and the permanent magnet 60 is an example of a magnet. The fixed yoke 10 includes a plate-like base 11 having a substantially rectangular planar shape. The long side direction of the base 11 is set to the X direction, the short side direction is set to the Y direction, and the thickness direction is set to the Z direction. The axial direction of the first excitation coil 30A and the second excitation coil 30B is parallel to the Z direction. The movable yoke 20 is an example of a first yoke, the fixed yoke 10 is an example of a second yoke, and the first rubber 40A and the second rubber 40B are examples of elastic support members. The X direction corresponds to the second direction, and the Z direction corresponds to the first direction.

[0066] The fixed yoke 10 further includes a central protrusion 12 protruding downward (in the -Z direction) from the center of the base 11, a first lateral protrusion 14A protruding downward from the end of the +X direction of the long side of the base 11, and a second lateral protrusion 14B protruding downward from the end of the -X direction of the long side of the base 11. The first lateral protrusion 14A and the second lateral protrusion 14B are provided at positions sandwiching the central protrusion 12 in the X direction. The fixed yoke 10 further includes a first core 13A protruding downward from between the central protrusion 12 and the first lateral protrusion 14A, and a second core 13B protruding downward from between the central protrusion 12 and the second lateral protrusion 14B. The first excitation coil 30A is wound around the first core 13A, and the second excitation coil 30B is wound around the second core 13B. The first lateral protrusion 14A is provided with a first rubber 40A, and the second lateral protrusion 14B is provided with a second rubber 40B. The central protrusion 12 is an example of a first protrusion, and the first lateral protrusion 14A and the second lateral protrusion 14B are examples of a second protrusion.

[0067] The movable yoke 20 is plate-shaped and has a substantially rectangular planar shape. The movable yoke 20 contacts the first rubber 40A and the second rubber 40B at the ends in the long side direction thereof. A permanent magnet 60 is mounted on the surface of the movable yoke 20 on the fixed yoke 10 side. The permanent magnet 60 has a first region 61, a second region 62 located on the +X direction side of the first region 61, and a third region 63 located on the -X direction side of the first region 61. For example, the first region 61 is magnetized to the S pole, and the second region 62 and the third region 63 are magnetized to the N pole. Furthermore, the permanent magnet 60 is mounted at the approximate center of the movable yoke 20 in a plan view in such a manner that the first region 61 faces the central protrusion 12, the boundary 612 between the first region 61 and the second region 62 faces the first excitation coil 30A, and the boundary 613 between the first region 61 and the third region 63 faces the second excitation coil 30B. In addition, the boundary 612 is located at a position closer to the -X direction side than the axis of the first excitation coil 30A, and the boundary 613 is located at a position closer to the +X direction side than the axis of the second excitation coil 30B. That is, the boundary 612 is located at a position closer to the -X direction side than the center of the first core 13A, and the boundary 613 is located at a position closer to the +X direction side than the center of the second core 13B. The permanent magnet 60 magnetizes the fixed yoke 10 and the movable yoke 20, and the movable yoke 20 is urged in a direction close to the fixed yoke 10 in the Z direction by the magnetic attraction force. In addition, the two ends of the movable yoke 20 are urged in a direction close to the first lateral protrusion 14A and the second lateral protrusion 14B in the X direction, respectively, by the magnetic attraction force. In addition, it can also be configured as follows: the permanent magnet 60 is provided on the fixed yoke 10, and the first excitation coil 30A and the second excitation coil 30B are provided on the movable yoke 20.

[0068] When providing tactile feedback to the user, the control device 180 drives the actuator 140 to alternately reverse the direction of the current flowing through the first excitation coil 30A and the second excitation coil 30B. That is, the control device 180 alternately reverses the direction of the current flowing through the first excitation coil 30A and the second excitation coil 30B, so that the magnetic poles of the surface on the movable yoke 20 side of the first core 13A and the magnetic poles of the surface on the movable yoke 20 side of the second core 13B are alternately reversed independently of each other. As a result, the permanent magnet 60 and the movable yoke 20 reciprocate in the X direction or the Z direction according to the direction of the current flowing through the first excitation coil 30A and the direction of the current flowing through the second excitation coil 30B. The relationship between the direction of the current and the direction of the movement will be described later.

[0069] For example, the first rubber 40A and the second rubber 40B have a rectangular planar shape with the Y direction as the long side direction. The first rubber 40A is sandwiched between the first lateral protrusion 14A and the movable yoke 20, and the second rubber 40B is sandwiched between the second lateral protrusion 14B and the movable yoke 20. That is, the first rubber 40A and the second rubber 40B are sandwiched between the fixed yoke 10 and the movable yoke 20. Therefore, unless they are intentionally disassembled, the first rubber 40A and the second rubber 40B are retained between the fixed yoke 10 and the movable yoke 20. In addition, the first rubber 40A may be fixed to the upper surface of the first lateral protrusion 14A or the lower surface of the movable yoke 20 or both, and the second rubber 40B may be fixed to the upper surface of the second lateral protrusion 14B or the lower surface of the movable yoke 20 or both.

[0070] The fixed yoke 10 is mounted on a retaining member 120 (see Figure 2 ) and the touch panel 130 (see Figure 2 ), more specifically, mounted on the lower surface 121B of the base 121 of the holder 120 (see Figure 2 ), the movable yoke 20 is not mounted on the holder 120 (refer to Figure 2 ) and the touch panel 130 (see Figure 2 ). It is preferable that the movable yoke 20 is installed at a position overlapping with the center of gravity of the movable part in a plane perpendicular to the Z direction. This is to generate vibration more uniformly.

[0071] Here, the relationship between the direction of the current and the direction of the motion will be described. There are four combinations of the direction of the current flowing through the first exciting coil 30A and the direction of the current flowing through the second exciting coil 30B.

[0072] In the first combination, when viewed from the −Z direction, current flows counterclockwise (CCW) through the first excitation coil 30A and the second excitation coil 30B. Fig. 7A is a diagram showing the relationship between the direction of the current and the direction of the motion in the first combination. Fig. 7A As shown, the magnetic pole of the surface of the first core 13A on the movable yoke 20 side becomes an N pole, and the magnetic pole of the surface of the second core 13B on the movable yoke 20 side also becomes an N pole. On the other hand, the magnetic poles of the surfaces of the central protrusion 12, the first lateral protrusion 14A, and the second lateral protrusion 14B on the movable yoke 20 side become S poles. As a result, a repulsive force acts between the central protrusion 12 and the first region 61, a repulsive force acts between the first core 13A and the second region 62, and a repulsive force acts between the second core 13B and the third region 63. Therefore, a force 90D in the -Z direction acts on the movable yoke 20.

[0073] In the second combination, when viewed from the −Z direction, current flows clockwise (CW) through the first excitation coil 30A and the second excitation coil 30B. Figure 7B is a diagram showing the relationship between the direction of the current and the direction of the motion in the second combination. Figure 7B As shown, the magnetic pole of the surface of the first core 13A on the movable yoke 20 side becomes an S pole, and the magnetic pole of the surface of the second core 13B on the movable yoke 20 side also becomes an S pole. On the other hand, the magnetic poles of the surfaces of the central protrusion 12, the first lateral protrusion 14A, and the second lateral protrusion 14B on the movable yoke 20 side become N poles. As a result, an attractive force acts between the central protrusion 12 and the first region 61, an attractive force acts between the first core 13A and the second region 62, and an attractive force acts between the second core 13B and the third region 63. Therefore, a force 90U in the +Z direction acts on the movable yoke 20.

[0074] Therefore, the first combination and the second combination are repeated so that the current in the same direction flows through the first excitation coil 30A and the second excitation coil 30B, so that the movable yoke 20 reciprocates in the Z direction. That is, by energizing the first excitation coil 30A and the second excitation coil 30B, the movable yoke 20 vibrates in the Z direction with the position in the initial state as the neutral position. Therefore, the actuator 140 can vibrate the holder 120 and the touch panel 130 in the Z direction.

[0075] In the third combination, when viewed from the −Z direction, current flows counterclockwise (CCW) through the first exciting coil 30A, and current flows clockwise (CW) through the second exciting coil 30B. Figure 7C is a diagram showing the relationship between the direction of the current and the direction of the motion in the third combination. Figure 7CAs shown, the magnetic pole of the surface of the first core 13A on the movable yoke 20 side becomes an N pole, and the magnetic pole of the surface of the second core 13B on the movable yoke 20 side becomes an S pole. In addition, the magnetic pole of the surface of the first lateral protrusion 14A on the movable yoke 20 side becomes an S pole, and the magnetic pole of the surface of the second lateral protrusion 14B on the movable yoke 20 side becomes an N pole. As a result, an attractive force acts between the first lateral protrusion 14A and the second region 62, an attractive force acts between the first core 13A and the first region 61, a repulsive force acts between the second core 13B and the first region 61, and a repulsive force acts between the second lateral protrusion 14B and the third region 63. Therefore, a force 90R in the +X direction acts on the movable yoke 20.

[0076] In the fourth combination, when viewed from the −Z direction, current flows clockwise (CW) through the first exciting coil 30A, and current flows counterclockwise (CCW) through the second exciting coil 30B. Fig.7D is a diagram showing the relationship between the direction of the current and the direction of the motion in the fourth combination. Fig.7D As shown, the magnetic pole of the surface of the first core 13A on the movable yoke 20 side becomes an S pole, and the magnetic pole of the surface of the second core 13B on the movable yoke 20 side becomes an N pole. In addition, the magnetic pole of the surface of the first lateral protrusion 14A on the movable yoke 20 side becomes an N pole, and the magnetic pole of the surface of the second lateral protrusion 14B on the movable yoke 20 side becomes an S pole. As a result, a repulsive force acts between the first lateral protrusion 14A and the second region 62, a repulsive force acts between the first core 13A and the first region 61, an attractive force acts between the second core 13B and the first region 61, and an attractive force acts between the second lateral protrusion 14B and the third region 63. Therefore, a force 90L in the -X direction acts on the movable yoke 20.

[0077] Therefore, the third combination and the fourth combination are repeated so that currents in opposite directions flow through the first excitation coil 30A and the second excitation coil 30B, so that the movable yoke 20 reciprocates in the X direction. That is, by energizing the first excitation coil 30A and the second excitation coil 30B, the movable yoke 20 vibrates in the X direction with the position in the initial state as the neutral position. Therefore, the actuator 140 can vibrate the holder 120 and the touch panel 130 in the X direction.

[0078] Next, the driving of the actuator 140 by the control device 180 is described. The control device 180 is an example of a control unit, and determines whether the load applied to the operation position of the touch panel 130 reaches a reference value for generating tactile feedback, and drives the actuator 140 based on the result to generate tactile feedback. The control device 180 is provided on the bottom surface 111A in this embodiment (see Figure 2 ), but the location where the control device 180 is set is not limited, for example, it can also be set between the touch panel 130 and the retaining member 120, etc. Figure 8 It is a diagram showing the configuration of the control device 180 .

[0079] The control device 180 includes a CPU (Central Processing Unit) 181 , a ROM (Read Only Memory) 182 , a RAM (Random Access Memory) 183 , and an auxiliary storage unit 184 . The CPU 181 , the ROM 182 , the RAM 183 , and the auxiliary storage unit 184 constitute a so-called computer. The components of the control device 180 are connected to each other via a bus 185 .

[0080] The CPU 181 executes various programs (for example, a load determination program) stored in the auxiliary storage unit 184 .

[0081] The ROM 182 is a nonvolatile main memory device and stores various programs and data required for the CPU 181 to execute various programs stored in the auxiliary storage unit 184. Specifically, the ROM 182 stores boot programs such as BIOS (Basic Input / Output System) and EFI (Extensible Firmware Interface).

[0082] The RAM 183 is a volatile main storage device such as a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory), and functions as a work area that is developed when the CPU 181 executes various programs stored in the auxiliary storage unit 184 .

[0083] The auxiliary storage unit 184 is an auxiliary storage device that stores various programs executed by the CPU 181 and various data generated by the CPU 181 executing the various programs.

[0084] Here, when the gap sensor 160 senses a pressing operation on the operation surface 130A, the operation device 100 drives the actuator 140 to vibrate the holder 120 and the touch pad 130 in the X direction and the Z direction.

[0085] When the actuator 140 vibrates the holder 120 and the touch panel 130 in the X direction, it vibrates at a vibration frequency of, for example, less than 400 Hz, which is easy for the living body to feel tactile sensation. This is because by generating vibrations in the X direction on the operating surface 130A, the operating body contacting the operating surface 130A can give the living body a tactile sensation.

[0086] In addition, when the actuator 140 vibrates the holder 120 and the touch panel 130 in the Z direction, it vibrates at a vibration frequency of, for example, 400 Hz or more. This is because the operation surface 130A is vibrated in the Z direction to vibrate the operation surface 130A, thereby vibrating the air around the operation surface 130A to generate sound, and the sound is presented to the biological body. The operation device of this embodiment generates a sound of a predetermined frequency (here, 400 Hz as an example) or more in the sound of the frequency band (about 20 kHz or less) in the audible range for humans.

[0087] The frequency band of the vibration used to present a sense of touch to the biological body can be lower than the frequency band of the vibration used to present a sound. Thus, for example, when the sense of touch and the sound when operating a mechanical switch are reproduced through the operating device 100, a natural sense of operation can be given to the operator. In addition, the interference caused when the timing of the vibrations of the two are close can be reduced.

[0088] However, when the frequency band of the vibration used to present the sound overlaps with the frequency band of the vibration used to present the tactile sensation to the organism, the vibration used to present the sound can also present the tactile sensation to the organism, so that, for example, a tactile sensation like clicking a mechanical switch twice can be given. By making the frequency band of the vibration used to present the sound higher than the frequency band of the vibration used to present the tactile sensation to the organism, the tactile sensation presentation to the organism caused by the vibration used to present the sound can also be reduced.

[0089] Even if the holder 120 and the touch pad 130 are vibrated in any direction, as long as the holder 120 and the touch pad 130 are not completely rigid, sound will be generated as the deflection caused by the vibration occurs. However, the vibration of the holder 120 and the touch pad 130 includes vibration at a frequency optimized for presenting a sense of touch to a living body, so the sound generated with the vibration is not necessarily the sound that is desired to be presented to the living body.

[0090] Here, the position of the ear of the living body performing the contact operation on the operation surface 130A is at least away from the operation surface 130A in the Z direction, and it is difficult to consider that the position of the ear of the living body is away from the operation surface 130A only in the X direction.

[0091] Therefore, if the vibration of the holder 120 and the touch panel 130 in the X direction is used to present a sense of touch to the living body, only the sense of touch can be provided to the living body, and the sound output from the operation surface 130A in the X direction can be suppressed from being presented to the living body along with the vibration in the X direction. This is because the sound output in the X direction is difficult to reach the ear of the living body located in the Z direction of the operation surface 130A, and the vibration in the X direction causes less air fluctuations and a very low volume compared to the vibration in the Z direction, so the sound output from the operation surface 130A in the X direction can be suppressed from being presented to the living body.

[0092] In addition, the vibration of the holder 120 and the touch panel 130 in the Z direction is suitable for presenting sound to the living body. By vibrating the operation surface 130A in the Z direction and functioning like a speaker, sound can be output from the operation surface 130A in the Z direction. Since the position of the ear of the living body that performs the contact operation on the operation surface 130A is at least away from the operation surface 130A in the Z direction, the sound output from the operation surface 130A in the Z direction can be presented to the living body.

[0093] Therefore, operation device 100 of this embodiment generates vibrations in the X direction on operation surface 130A, thereby providing a tactile sensation to the living body through the operation body in contact with operation surface 130A, and generates sound to the living body by vibrating operation surface 130A in the Z direction.

[0094] In addition, although the operating device 100 can also cause the operating surface 130A to generate vibrations in the X direction and the Z direction at the same time, it is also possible to generate vibrations in the Z direction after a predetermined time has passed after the vibrations in the X direction have been generated. In this way, it is possible to suppress the generation of noise due to the mutual interference between the vibrations in the X direction and the vibrations in the Z direction. Specifically, the operating device 100 preferably generates vibrations in the Z direction after the vibrations in the X direction have been generated and the vibrations in the X direction have almost converged.

[0095] Fig. 9 : is a diagram showing the timing of vibration output and sound output. Fig. 9 In the figure, the horizontal axis is the time axis, and the vertical axis represents the vibration and sound levels. Fig. 9 As shown, the vibration in the X direction is generated at the time point of 0 seconds, and after the vibration in the X direction is concentrated for about 0.009 seconds, the vibration in the Z direction is started at the time point of 0.01 seconds to output the sound. The vibration in the Z direction for outputting the sound is about 0.0015 seconds.

[0096] Thus, the vibration in the Z direction preferably starts at a timing that is delayed by several milliseconds to several tens of milliseconds relative to the vibration in the X direction. This is because, in the case of a person of average physique, the difference between the time when the tactile stimulation received by the fingertips is transmitted to the brain through the nerves in the body and the time when the sound enters the ear and is transmitted to the brain is about 5 milliseconds to 30 milliseconds when the length of the nerve from the fingertips to the brain is set to 85 cm, so by setting the timing as described above, the tactile sensation and the sound can be presented to the biological body at the same time.

[0097] Fig.10 1 is a diagram showing an example of the frequency characteristics of the vibrating force of the actuator 140. Fig.10 In the figure, the horizontal axis represents frequency (Hz) and the vertical axis represents vibration force (m / s 2 ). In addition, the solid line characteristic represents the frequency characteristic of the vibration force when vibrating in the X direction, and the dotted line characteristic represents the frequency characteristic of the vibration force when vibrating in the Z direction.

[0098] The vibrating force in the X direction has a peak value (resonance frequency) at about 130 Hz, and the vibrating force in the Z direction has a peak value (resonance frequency) at about 450 Hz.

[0099] Therefore, since the resonant frequency of the actuator 140 in the present example in the vibration along the X direction is less than 400 Hz, it is easy to vibrate the holder 120 and the touch pad 130 at a vibration frequency less than 400 Hz when vibrating in the X direction. In addition, since the resonant frequency of the actuator 140 in the present example in the vibration along the Z direction is greater than 400 Hz, it is easy to vibrate the holder 120 and the touch pad 130 at a vibration frequency greater than 400 Hz when vibrating in the Z direction.

[0100] As described above, by using the actuator 140 that can vibrate in the X direction and the Z direction, it is possible to vibrate the holder 120 and the touch panel 130 in the X direction to provide a tactile sensation and suppress the generation of sound caused by the vibration, and to vibrate the holder 120 and the touch panel 130 in the Z direction to provide sound.

[0101] Both the tactile sensation and the sound are directly presented from the operation surface 130A of the touch panel 130. In addition, the frequency at which the actuator 140 vibrates the holder 120 and the touch panel 130 to present the tactile sensation and the frequency at which the actuator 140 vibrates the holder 120 and the touch panel 130 to present the sound can be adjusted separately and can be optimized in accordance with the tactile sensation and the sound to be simulated. Therefore, the tactile sensation and the sound presented in response to the pressing operation can be coordinated.

[0102] Therefore, it is possible to provide the operating device 100 that provides a natural operating feeling in terms of tactile and auditory senses.

[0103] Furthermore, since the operation device 100 includes the control device 180 , it is possible to vibrate the actuator 140 in the X direction and in the Z direction.

[0104] Furthermore, since the control device 180 increases the frequency when the actuator 140 is vibrated in the Z direction compared to the frequency when the actuator 140 is vibrated in the X direction, it is possible to present a sound closer to the actual operation sound of the device.

[0105] In addition, the vibration damper 170A and the vibration damper 170B as the elastic supporting part elastically support the holder 120 in such a manner that the natural frequency of the holder 120 and the touch pad 130 as the movable part in the Z direction is higher than the natural frequency in the X direction. Therefore, the holder 120 and the touch pad 130 can be efficiently vibrated in a frequency band suitable for the tactile presentation in the X direction and the sound presentation in the Z direction.

[0106] Furthermore, since the spring constant of the damper 170A in the Z direction is larger than the spring constant of the damper 170B in the X direction, the natural frequencies of the holder 120 and the touch pad 130 in the X and Z directions can be set to frequency bands suitable for tactile sensation in the X direction and sound in the Z direction.

[0107] Furthermore, when the gap sensor 160 detects that the operation surface 130A is pressed, the actuator 140 is vibrated in the X direction and the Z direction. Therefore, the pressing operation can be reliably detected, and a tactile sensation and a sound can be presented according to the pressing operation.

[0108] Furthermore, when a pressing operation is detected, the actuator 140 is vibrated in the X direction and then in the Z direction, so that a mixture of tactile sensation and sound and generation of noise can be suppressed, and good tactile sensation and sound can be presented.

[0109] In addition, the vibration damper 170A is provided between the lower surface 122A of the wall portion 122 of the holder 120 and the bottom surface 111A of the base 110, and the vibration damper 170B is provided between the outer side surface 122B of the wall portion 122 of the holder 120 and the inner side surface 111B of the base 110. Therefore, by setting the spring constants and positions of the vibration dampers 170A and 170B, the natural frequencies of the holder 120 and the touch panel 130 in the X direction and the Z direction can be freely adjusted.

[0110] Furthermore, since the damper 170B is disposed between the outer surface 122B and the inner surface 111B in a state elastically deformed in the X direction, when the actuator 140 finishes vibrating the holder 120 and the touch pad 130 , the holder 120 and the touch pad 130 can be returned to their initial positions before the vibration.

[0111] In addition, since the actuator 140 is separated from the bottom surface 111A of the storage portion 111 of the base 110 , it is possible to reduce the transmission of vibration from the actuator 140 to the base 110 .

[0112] In addition, the actuator 140 includes a fixed yoke 10 fixed to the holder 120, a first rubber 40A and a second rubber 40B connected to the fixed yoke 10, and a movable yoke 20 connected to the first rubber 40A and the second rubber 40B and capable of selectively vibrating in the X direction and the Z direction relative to the fixed yoke 10, respectively. The fixed yoke 10 and the movable yoke 20 include a first excitation coil 30A, a second excitation coil 30B and a permanent magnet 60, respectively. The movable yoke 20 is vibrated relative to the fixed yoke 10 by the magnetic force between the first excitation coil 30A, the second excitation coil 30B and the permanent magnet 60 generated by energizing the first excitation coil 30A, the second excitation coil 30B, and the permanent magnet 60, so that vibration in two axial directions of the X direction and the Z direction can be achieved by one actuator 140.

[0113] In the above, although the touch pad 130 is described, a light-transmitting touch panel may be used instead of the touch pad 130 , and a display panel may be provided on top of the touch panel to perform a pressing operation on a GUI (Graphical User Interface) displayed on the display panel.

[0114] In addition, although the above description describes a method of presenting a touch and sound when a pressing operation is performed on the operation surface 130A, the method is not limited to this method. For example, the touch and sound may be presented when a contact operation is performed on the operation surface 130A, or the touch and sound may be presented when a predetermined operation such as a sliding operation is performed on the operation surface 130A.

[0115] Although the operating device according to the exemplary embodiment of the present invention has been described above, the present invention is not limited to the specifically disclosed embodiment, and various modifications and changes can be made without departing from the scope of the claims.

[0116] In addition, the present international application claims priority based on Japanese Patent Application No. 2019-239842, filed on December 27, 2019, the entire contents of which are incorporated herein by reference.

[0117] Description of Reference Numerals

[0118] 100 Operating device

[0119] 110 Base

[0120] 120 retaining parts

[0121] 130 Touchpad

[0122] 130A operating surface

[0123] 140 Actuator

[0124] 160 Gap Sensor

[0125] 170A, 170B shock absorber

[0126] 180 Control Device

Claims

1. An operating device, comprising: The movable part has an operating surface that is contact-operated by the biological body; a vibrator installed at a position other than the operation surface of the movable part, capable of vibrating the movable part in a first direction along the operation surface and in a second direction intersecting the operation surface; Base part; an elastic support portion, disposed between the movable portion and the base portion, and elastically supporting the movable portion on the base portion; as well as a control unit capable of driving the vibrator in such a manner that the vibrator vibrates the movable part at a first frequency along the first direction to present a tactile sensation to the biological body performing the contact operation, and capable of driving the vibrator in such a manner that the vibrator vibrates the movable part at a second frequency greater than the first frequency along the second direction to generate a sound from the operation surface, The movable part is vibrated by the vibrator in the first direction to provide a tactile sensation to the living body performing the contact operation, and is vibrated by the vibrator in the second direction to generate a sound from the operation surface. The elastic support portion elastically supports the movable portion such that a second natural frequency of the movable portion in the second direction is greater than a first natural frequency in the first direction.

2. The operating device according to claim 1, The spring constant of the elastic support portion in the second direction is larger than the spring constant of the elastic support portion in the first direction.

3. The operating device according to claim 1, further comprising a detection unit for detecting a pressing operation on the operation surface, The control unit drives the vibrator when the detection unit detects the pressing operation.

4. The operating device according to claim 3, When the pressing operation is detected by the detection unit, the control unit drives the vibrator so as to vibrate the movable part in the second direction after a predetermined time has elapsed after the movable part has been vibrated in the first direction.

5. The operating device according to claim 1, The base portion is located at a position separated from the movable portion on both sides of the movable portion along the first direction, The elastic support portion includes a first elastic body elastically supporting the movable portion in the first direction and a second elastic body elastically supporting the movable portion in the second direction. The first elastic body is disposed between the movable portion and the base portion in an elastically deformed state on both sides of the movable portion along the first direction.

6. The operating device according to claim 1, The vibrator is separated from the base portion.

7. The operating device according to claim 1, The vibrator comprises: a fixed body fixed to the movable part; an elastic body connected to the fixed body; and a vibrator connected to the elastic body and capable of selectively vibrating in the first direction and the second direction respectively with respect to the fixed body. One of the fixed body and the vibrating body has a coil, and the other has a magnet, and the vibrating body is vibrated relative to the fixed body by a magnetic force between the coil and the magnet generated by energizing the coil.

8. The operating device according to claim 1, The vibrator has: a first magnetic yoke; a second magnetic yoke disposed opposite to the first magnetic yoke in a first direction; a permanent magnet mounted on a surface of the first yoke on the second yoke side; and The first excitation coil and the second excitation coil are mounted on the second magnetic yoke and generate magnetic flux by passing electricity. The second magnetic yoke has: base; as well as a first protrusion protruding from the base toward the first yoke between the first excitation coil and the second excitation coil, The first excitation coil and the second excitation coil are arranged in a second direction perpendicular to the first direction so as to sandwich the first protrusion. The axial directions of the first excitation coil and the second excitation coil are parallel to the first direction. The permanent magnet has: First region; a second region located on one side of the first region in the second direction; as well as a third region located on the other side of the first region in the second direction, The first region is magnetized to a first magnetic pole, The second region and the third region are magnetized to a second magnetic pole, The first region is opposite to the first protrusion, The boundary between the first region and the second region is opposite to the first excitation coil. A boundary between the first region and the third region faces the second exciting coil.

9. The operating device according to claim 1, The resonant frequency of the vibrator in vibration along the first direction is less than 400 Hz, and the resonant frequency of the vibrator in vibration along the second direction is 400 Hz or more.

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