Stimulation application device and wearable apparatus

Abstract

To efficiently transmit a motion that becomes stimulation to a target to be applied with the stimulation while suppressing increase in a device size.SOLUTION: A stimulation application device comprises: an actuator; and a housing. The actuator includes: a movable body; a protrusion which is provided so as to protrude from the movable body and whose tip locally contacts a target surface during use; and a fixed body outside which the tip is arranged and which stores the movable body. The stimulation application device generates a motion of the movable body in the motion direction along the protrusion direction of the protrusion with electromagnetic drive, and locally applies stimulation by the motion to the surface. The housing has a main surface extending in a direction intersecting the motion direction around the tip, brings the main surface into contact with the surface during use and regulates the position of the surface in the motion direction.SELECTED DRAWING: Figure 24

Description

[Technical field]

[0001] The present invention relates to a stimulation device and a wearable device. [Background technology]

[0002] 2. Description of the Related Art Various tactile presentation devices are conventionally known that generate a motion, such as a mechanical vibration, by an actuator and transmit the motion to a user, thereby presenting a tactile sensation to the user.

[0003] As one example, a tactile presentation device that imparts vibrations to a touch panel using an actuator is known as a technology for providing feedback of an operational feeling (tactile sensation) when a user performs a touch operation with the pad of a finger or the like that touches a touch panel.

[0004] For example, Patent Document 1 discloses a tactile presentation device having an operation detection unit that detects the amount of operation on the operation surface of a panel, an actuator that applies vibration to the operation surface, and a control unit that controls the drive of the actuator based on the result of the operation detection unit.

[0005] The tactile presentation device disclosed in Patent Document 1 is designed to impart a tactile sensation of natural strength; however, depending on the application of the device, it may be desirable to impart a stronger tactile sensation, i.e., a physical stimulus.

[0006] For example, Patent Document 2 discloses a wearable device that has the form of a garment such as a belt or band that can be attached to a subject (body) and that stimulates the body by externally activating a stimulation module built into the garment to generate mechanical vibrations. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2020-071674 A [Patent Document 2] JP 2019-166327 A Summary of the Invention [Problem to be solved by the invention]

[0008] Incidentally, in the case of a device that is used by being attached to a subject, such as the wearable device described in Patent Document 2, simply attaching the device to the subject gives the subject a feeling of wearing the device over the entire wearing area. Therefore, it is desirable to efficiently transmit the mechanical motion that serves as a stimulus from the device to the subject so that the stimulus that should be given to a portion of the wearing area is not diminished by the feeling of wearing the device.

[0009] For example, if the degree of contact when the device is attached to the subject is low, an unnecessary gap will be created between the device and the subject, weakening the strength of the motion transmission from the device to the subject. Also, if the degree of contact when the device is attached to the subject is high, the motion of the device will be suppressed due to the subject pushing against the device, weakening the strength of the motion transmission from the device to the subject. Changes in the strength of motion transmission that occur depending on the positional relationship between the device and the subject, such as these examples, are undesirable.

[0010] In response to this issue, it is conceivable to vary the intensity of the exercise generated within the device in accordance with, for example, the intensity of the fit. However, if an attempt is made to increase the intensity of the exercise generated within the device, there is a risk that the device will become larger.

[0011] An object of the present invention is to provide a stimulating device and a wearable device that can efficiently transmit stimulating motion to a target to be stimulated while preventing the device size from increasing. [Means for solving the problem]

[0012] One aspect of the stimulation device according to the present invention is The actuator and the housing are provided. The actuator has a movable body, a protrusion protruding from the movable body, the protrusion having a tip that locally contacts the surface of a target during use, and a fixed body having the tip disposed externally and accommodating the movable body therein, and is configured to cause the movable body to move in a direction parallel to the protruding direction of the protrusion by electromagnetic drive, thereby locally providing a stimulus to the surface by the movement, The housing has a main surface that extends around the tip portion in a direction intersecting the direction of movement, and in use, the main surface is brought into contact with the surface to regulate the position of the surface in the direction of movement.

[0013] One aspect of the wearable device according to the present invention is to The stimulation device includes: The holding part is a belt or wearable that can be attached to the subject when in use. Effect of the Invention

[0014] According to the present invention, it is possible to efficiently transmit stimulating motion to a target to be stimulated while suppressing an increase in the size of the device. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is an external perspective view of an actuator included in a stimulating device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a vertical cross-sectional view showing the configuration of a main part of the actuator. [Diagram 3] FIG. 3 is a diagram showing the internal structure of the actuator with the case removed. [Figure 4] FIG. 4 is an exploded perspective view of the actuator. [Diagram 5] FIG. 5 is a perspective view of a movable body in the actuator. [Figure 6] FIG. 6 is an enlarged exploded view of a movable body in the actuator. [Figure 7] 7 is an enlarged partial cross-sectional view of part X1 in FIG. 2, showing the clearance between the opening and the protrusion. [Figure 8] 8 is an enlarged partial cross-sectional view of the X2 portion in FIG. 2, showing the clearance between the outer circumferential surface of the movable body and the inner circumferential surface of the fixed body. [Figure 9] FIG. 9 is a diagram illustrating the operation of the actuator. [Figure 10] FIG. 10 is a vertical cross-sectional view showing a configuration of a main part of a first modified example of the actuator. [Figure 11] FIG. 11 is an enlarged exploded view of a movable body in the first modified example of the actuator. [Figure 12] FIG. 12 is a vertical cross-sectional view showing a configuration of a main part of a second modified example of the actuator. [Figure 13] FIG. 13 is an enlarged exploded view of a movable body in Modification 2 of the actuator. [Figure 14] FIG. 14 is a vertical cross-sectional view showing a configuration of a main part of a third modified example of the actuator. [Figure 15] FIG. 15 is an enlarged exploded view of a movable body in the third modified example of the actuator. [Figure 16] FIG. 16 is a vertical cross-sectional view showing a configuration of a main part of a fourth modified example of the actuator. [Figure 17] FIG. 17 is an enlarged exploded view of a movable body in the fourth modified example of the actuator. [Figure 18] FIG. 18 is a vertical sectional view showing a configuration of a main part of a fifth modified example of the actuator. [Figure 19] FIG. 19 is a perspective view of a leaf spring in a fifth modified example of the actuator. [Figure 20] FIG. 20 is a vertical cross-sectional view showing a configuration of a main part of a sixth modified example of the actuator. [Figure 21] FIG. 21 is an enlarged exploded view of a movable body in a sixth modified example of the actuator. [Figure 22] FIG. 22 is a vertical cross-sectional view showing a configuration of a main part of a seventh modified example of the actuator. [Figure 23] FIG. 23 is an exploded view showing the internal configuration of the seventh modification of the actuator with the case removed. [Figure 24] FIG. 24 is a vertical cross-sectional view showing the configuration of a stimulating device according to one embodiment of the present invention. [Diagram 25] FIG. 25A is a diagram for explaining the problem that occurs when the position of the target surface at the initial position is farther than the appropriate position, and FIG. 25B is a diagram for explaining the problem that occurs when the position of the target surface at the initial position is closer than the appropriate position. [Figure 26] FIG. 26 is a diagram for explaining the magnitude of the reaction force which differs depending on the positional relationship between the target surface and the protrusion tip at the initial position. [Figure 27] FIG. 27A is a diagram showing a schematic diagram of an overall configuration of a wearable device including the same stimulation device, and FIG. 27B is a diagram showing a schematic diagram of a fixed state of a housing in the wearable device. [Figure 28] FIG. 28 is a diagram showing the configuration of a comparative example having a wide upper opening of the housing. [Figure 29] FIG. 29 is a vertical cross-sectional view showing the configuration of a first modified example of the stimulation device. [Diagram 30] FIG. 30 is a vertical cross-sectional view showing the configuration of a second modified example of the stimulation device. [Diagram 31] FIG. 31 is a vertical cross-sectional view showing the configuration of a third modified example of the stimulation device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0017] A stimulating device according to an embodiment of the present invention has an actuator that functions as a driving unit that drives a movable body to generate motion (mechanical energy). In the following description, first, the configuration and operation of the actuator alone will be described, and then the stimulating device and wearable device according to this embodiment that have the actuator will be described.

[0018] <Overall configuration of actuator 1> Fig. 1 is an external perspective view of an actuator according to an embodiment of the present invention, and Fig. 2 is a vertical cross-sectional view showing the main configuration of the actuator. Fig. 3 is a view showing the internal structure of the actuator with the case removed, and Fig. 4 is an exploded perspective view of the actuator. For convenience, Fig. 3 shows an outer yoke 70 in a see-through manner.

[0019] In the present embodiment, the terms "upper" and "lower" are used for the sake of convenience to facilitate understanding, and refer to one side and the other side of the reciprocating direction of the movable body in the actuator. That is, when the actuator is mounted on the stimulating device, it does not matter if it is upside down or left and right, but it is preferable that the forward and backward movement direction of the output shaft portion 252 (protruding portion 25) protruding from the actuator is the same as the contact direction with the stimulation target. This is the same in each of the following modified examples.

[0020] The actuator 1 according to the first embodiment is used, for example, in haptics including tactile presentation technology, and transmits the reciprocating motion of the movable body 20 as a stimulus. The actuator 1 may also present a sound to the user to appeal to the sense of hearing.

[0021] 1 and 2 has a protrusion 25 (output shaft portion 252) that protrudes from a case 10 so as to be capable of moving forward and backward. The protrusion 25 is a part of a movable body 20 that is housed so as to be capable of moving within the case 10. The actuator 1 drives the movable body when triggered by a user operation or another condition. The movement of the driven movable body is used to provide a stimulus to a target.

[0022] The actuator 1 is preferably used as a device for detecting an operation and providing tactile feedback in haptics, but is not limited thereto and may be mounted as a vibration generating source in an electronic device such as a portable game terminal device. The actuator 1 may be used simply as a vibration generator, or may be used as a resonant pump, a character input keyboard, an exciter, or the like. The actuator 1 may be used as a vibration presenting device.

[0023] The actuator 1 includes an output shaft portion 252 and a magnet 30 on the movable body 20, and coils 61, 62 on the fixed body 50, and the movable body 20 can reciprocate in a linear direction by cooperation of the energized coils 61, 62 and the magnet 30. The actuator 1 has elastic support portions 81, 82 that support the movable body 20 so that it can reciprocate freely relative to the fixed body 50, and as the movable body 20 reciprocates, the output shaft portion 252 moves back and forth in the axial direction, and moves axially outside the top surface portion 122 of the case 10, or up and down in the figure.

[0024] Specifically, the actuator 1 has a movable body 20 having a pair of yokes 41, 42 and a pair of spring stop parts 22, 24 in addition to the magnet 30, and a fixed body 50 having an outer yoke 70 in addition to a pair of annular coils 61, 62. A pair of elastic support parts 81, 82 are installed between the movable body 20 and the fixed body 50. At least the magnet 30 constitutes the movable body of the actuator 1. More specifically, in this embodiment, the combination of the magnet 30, the pair of yokes 41, 42 and the pair of spring stop parts 22, 24 housed in the fixed body 50 constitutes the movable body.

[0025] Although the yokes 41, 42, spring stop portions 22, 24, and coils 61, 62 are each configured as a pair, this is not limited thereto, and each portion may be provided with one or three or more as long as they can be freely moved in both directions in a straight line or in one direction.

[0026] In the actuator 1, the coils 61, 62, the outer yoke 70, the magnet 30, and the yokes 41, 42 form a magnetic circuit that moves the movable body 20. In the actuator 1, the coils 61, 62 are energized from a power supply unit (not shown) via a terminal unit 75, causing the movable body 20 to move. The movable body 20 can move back and forth in both axial directions, which are the reciprocating directions, or in one direction, which is one of the axial directions. The actuator 1 moves, for example, in both axial directions (see the arrow directions of "movable direction up" and "movable direction down" in FIG. 9).

[0027] In the actuator 1 of this embodiment, the movable body 20 reciprocates in a movement direction (which is also the axial direction of the coils 61, 62) along a holding part main body (protective wall part) 522 arranged between the movable body 20 and the inside of the coils 61, 62 held by the coil holding part 52. The movement direction is the magnetization direction of the magnet 30 as well as the axial direction of the coils 61, 62.

[0028] 3, the actuator 1 is configured by housing a unit 13 in which a fixed body 50 and a movable body 20 are connected by elastic support parts 81, 82 within a case 10 having a case body 11 and a lid part 12. This allows the assembly of the main parts of the actuator 1 to be performed with high precision in a separate process from that of the case 10.

[0029] <Movable body 20> Fig. 5 is a perspective view of the movable body, and Fig. 6 is an enlarged exploded view of the movable body. Fig. 7 is an enlarged partial cross-sectional view of the X1 portion in Fig. 2 showing the clearance between the opening and the protrusion. Fig. 8 is an enlarged partial cross-sectional view of the X2 portion in Fig. 2 showing the clearance between the outer peripheral surface of the movable body and the inner peripheral surface of the fixed body.

[0030] As shown in Fig. 2, when the movable body 20 is not moving, it is disposed via the elastic support parts 81 and 82 such that the center of its length in the reciprocating direction (the axial direction of the magnet, the up-down direction in Fig. 2) is located at the same height level as the center of its length in the reciprocating direction of the coil holding part 52. Here, "when not moving (also called "when not moving")" means a state in which the movable body 20 is not moving (including reciprocating or vibrating). Also, "located at the same height level" means that the movable body 20 is located facing each other with a predetermined gap in a direction perpendicular to the axial direction of the movable body 20.

[0031] In this embodiment, it is preferable that the center of the length in the reciprocating direction of magnet 30 and yokes 41, 42 is disposed at a position facing, in a direction perpendicular to the reciprocating direction, the center of the length in the reciprocating direction between coils 61, 62 spaced apart from each other above and below. Note that a magnetic fluid may be interposed between holding portion main body 522 of coil holding portion 52 and movable body 20.

[0032] As shown in Figures 2, 4 to 6, the movable body 20 has a magnet 30, yokes 41, 42, and spring stop portions (first spring stop portion 22, second spring stop portion 24), as well as an output shaft portion 252, a first spring fixing portion 26, and a second spring fixing portion 28.

[0033] The movable body 20 has a yoke (first yoke) 41, a yoke (second yoke) 42, a first spring stop portion 22, a second spring stop portion 24, a first spring fixing portion 26, and a second spring fixing portion 28 arranged in series on the front and back sides of the magnet 30 in the axial direction, i.e., in both directions of the reciprocating movement, with the magnet 30 at the center.

[0034] Specifically, in the movable body 20, a pair of yokes 41, 42 are stacked on the front and rear surfaces 30a, 30b of the magnet 30, and one ends of a pair of springs and stoppers 22, 24 are engaged with openings 412, 422 of the pair of yokes 41, 42.

[0035] The spring stop parts 22, 24 have the other ends engaged with the elastic support parts 81, 82. The first spring stop part 22 of the spring stop parts 22, 24 is provided with an output shaft part 252 that protrudes from the first spring stop part 22 to one side in the axial direction of the magnet 30 and passes through the central opening 126 of the cover part 12 (see Figs. 1 to 4 and 7).

[0036] In the movable body 20, the outer peripheral surfaces 20a of the magnet 30 and the yokes 41, 42 face the inner peripheral surface 522a of the holding portion main body 522 at a predetermined interval (gap d2 shown in FIG. 8) from the inner peripheral surface 522a inside the inner peripheral surface 522a. When the movable body 20 moves reciprocally, the outer peripheral surface 20a moves reciprocally along the inner peripheral surface 522a without contacting it.

[0037] <Magnet 30> The magnet 30 is, for example, solid and magnetized in the reciprocating direction. The magnet 30 is formed in a disk shape, including a cylindrical shape with a predetermined thickness. The magnet 30 has front and back surfaces 30a and 30b separated in the reciprocating direction (thickness direction) as magnetic pole surfaces of different polarities (for example, the front surface 30a is an S pole and the back surface 30b is an N pole).

[0038] The magnet 30 is disposed so as to be positioned at a distance from the coils 61, 62 (details of which will be described later) on the radially inner side of the coils 61, 62. Here, the "radial direction" refers to a direction perpendicular to the axis of the coils 61, 62, and also perpendicular to the reciprocating direction. This "spacing" in the radial direction is the spacing between the coils 61, 62 including the holding unit main body 522 and the magnet 30, and is a spacing that allows the coils 61, 62, including the holding unit main body 522, to move in the reciprocating direction of the movable body 20 without contacting each other. That is, in this embodiment, the "spacing" refers to a predetermined spacing (gap d2) between the holding unit main body 522 and the magnet 30.

[0039] In this embodiment, magnet 30 is disposed so as to face the center of the width direction of the outer peripheral surface on the radially outer side in a direction perpendicular to the axial direction to the center of holder main body 522. Note that magnet 30 may have a shape other than a disk shape, such as a cylindrical shape or a plate shape, as long as it is disposed inside coils 61, 62 with two magnetized surfaces facing in the extension direction of the axes of coils 61, 62, i.e., the reciprocating direction.

[0040] In this embodiment, since the magnet 30 is a solid body, unlike the case of a cylindrical body, the time and effort required for processing the openings is eliminated, and the area of ​​the front and back surfaces that become the magnetic pole faces is not reduced by forming the openings. Also, it is desirable that the axial center of the magnet 30 coincides with the axial center of the movable body 20. The magnetization direction of the magnet 30 is parallel to the movement direction of the movable body 20.

[0041] <York 41, 42> The yokes 41 and 42 are made of magnetic material and form a movable body side magnetic circuit together with the magnet 30. The yokes 41 and 42 concentrate the magnetic flux of the magnet 30 and allow it to flow efficiently without leakage, and effectively distribute the magnetic flux flowing between the magnet 30 and the coils 61 and 62.

[0042] In addition to functioning as part of the magnetic circuit, the yokes 41, 42 have the function of fixing the spring stop portions 22, 24, and further, the yokes 41, 42 may have the function of serving as a main body portion of the movable body 20 and the function of serving as a weight in the movable body 20.

[0043] In this embodiment, the yokes 41 and 42 are formed in the shape of annular flat plates having the same outer diameter as the magnet 30. The yokes 41 and 42 are fixed to the magnet 30 so that their outer peripheral surfaces are flush with the outer peripheral surface of the magnet, and together with the outer peripheral surface of the magnet, they form the outer peripheral surface 20a of the movable body 20.

[0044] The yokes 41 and 42 are members of the same shape arranged around the magnet 30 so as to sandwich the magnet 30, but may be members of different shapes. The yokes 41 and 42 are attracted to the magnet 30 and fixed to the magnet 30, and are fixed to the magnet 30 via, for example, a thermosetting adhesive such as epoxy resin or an anaerobic adhesive.

[0045] Openings 412, 422 are provided at the center of each of the yokes 41, 42, penetrating in the axial direction, i.e., in the thickness direction. One ends of the upper and lower spring stop parts 22, 24 are fitted and fixed in the openings 412, 422, respectively, and in addition, the base end of the output shaft part 252 is disposed inside the opening 412 on one side of the spring stop part 22. As a result, the opening 412 is in a state where almost no cavity is generated by the spring stop part 22 and the output shaft part 252.

[0046] In this embodiment, the yokes 41, 42 are positioned so as to face the coils 61, 62 respectively in a direction perpendicular to the axial direction of the coils 61, 62, inside (radially inside) the coils 61, 62 when the movable body 20 is not reciprocating.

[0047] The openings 412, 422 support the spring stop parts 22, 24 so that the axes of the spring stop parts 22, 24 (here, coinciding with the centers of the elastic support parts 81, 82) are positioned on the central axis of the movable body 20. The opening 422 adjusts the degree of opening in the yoke 42 to adjust the weight of the movable body 20 and set a suitable reciprocating output. Also, the opening 412 adjusts the degree of opening in the yoke 41 and the insertion amount of the output shaft part 252 to adjust the weight of the movable body 20 and set a suitable reciprocating output.

[0048] <Spring stopper parts 22, 24> The pair of spring stop parts 22, 24 function as weights for the movable body 20. The spring stop parts 22, 24 are provided symmetrically so as to sandwich the magnet 30 and the yokes 41, 42, and increase the reciprocating output of the movable body 20. In this embodiment, the spring stop parts 22, 24 are formed in the same shape, thereby reducing the manufacturing cost of the parts. Details of the second spring stop part 24 out of the spring stop parts 22, 24 will be described in detail in the description of the first spring stop part 22, with the corresponding reference numerals such as the spring stop parts 22, 24, etc., being added, and the first spring stop part 22 will be mainly described, and the description of the second spring stop part 24 will be omitted.

[0049] In this embodiment, the spring stop portions 22, 24 also function as the axis of the movable body extending along the central axis of the movable body 20, and are interposed between the yokes 41, 42 and the elastic support portions 81, 82.

[0050] The spring stop portions 22, 24 have joint portions 222, 242 which are one end portions of the spring stop portions 22, 24, and spring connection portions 224, 244 which are the other end portions of the spring stop portions 22, 24. The joint portions 222, 242 and the spring connection portions 224, 244 are connected to each other in the reciprocating direction.

[0051] The spring stop parts 22, 24 are cylindrical bodies and have a through hole 23 penetrating therethrough. The spring stop parts 22, 24 may also function as weights. In this case, the spring stop part 24 may have a function of adjusting the weight balance as a weight adjustment part by adding a weight to the through hole 23. By adding a weight to the through hole 23 of the spring stop part 24, the movable body 20 can be made heavier, and the vibration output of the movable body 20 can be increased. The base end of the output shaft part 252 is inserted into the through hole 23 of the first spring stop part 22 and firmly fixed thereto.

[0052] The joints 222 and 242 are cylindrical bodies arranged on the axis of the movable body 20, and are joined to the yokes 41 and 42, respectively. One end of the joints 222 and 242 is inserted into and joined to the openings 412 and 422 of the yokes 41 and 42, respectively. Meanwhile, the other end of the joints 222 and 242 is arranged to protrude from the yokes 41 and 42 in opposite directions with the magnet 30 at the center, and is connected to the spring connection parts 224 and 244.

[0053] In this embodiment, the spring stop parts 22, 24 are joined to the yokes 41, 42 by press-fitting, but the present invention is not limited to this and they may be joined by adhesion using, for example, a thermosetting adhesive such as epoxy resin or an anaerobic adhesive. Also, the joining parts 222, 242 are cylindrical bodies, but they may be solid cylindrical bodies or rod-shaped bodies having a recess on the axis.

[0054] The spring connection portion 224 is provided in the spring stop portion 22 so as to protrude from the joint portion 222 to the other side (upward), and is a cylindrical body having an outer diameter larger than that of the joint portion 222. The spring connection parts 224, 244 constitute both ends of the movable body 20 that are separated in the movement direction, and elastic support parts 81, 82, which will be described later, are joined to each of them. In the spring connection portion 224 , a joint surface which is a tip (upper end) surface thereof is disposed around the output shaft portion 252 and abuts against an inner peripheral portion 802 of the elastic support portion 81 .

[0055] <Output shaft part 252 (protruding part 25)> The output shaft portion 252 is connected to the movable body 20 and moves together with the movable body 20 to output the motion of the movable body 20 to the outside. The output shaft portion 252 is disposed on the axis of the movable body 20, with a base end side fitted into the spring stop portion 22 and directly fixed to the movable body 20, and the other end side exposed to the outside of the actuator 1 through the central opening 126 of the lid portion 12.

[0056] A cap 254 is attached to the tip of the output shaft 252. The cap 254 constitutes the protruding portion 25 together with the output shaft 252, but the output shaft 252 may be the protruding portion 25. The cap 254 itself may be touched by the target (user), or a separate member may be attached to the cap 254 to give the target a tactile sensation via the separate member. The cap 254 may be made of a material different from the output shaft, for example, a resin, etc., and may be made of a material that is easily joined to other members. When the cap 254 is attached, the cap 254 is an example of the tip of the protruding portion 25, and when the cap 254 is not attached, the tip of the output shaft 252 is an example of the tip of the protruding portion 25, and when the separate member is attached to the cap 254, the separate member is an example of the tip of the protruding portion 25.

[0057] The output shaft portion 252 is made of a durable material, such as a metal, and may be made of either a magnetic or non-magnetic material, but is preferably made of a non-magnetic material. If the output shaft portion 252 is made of a magnetic material, it is preferable that it is made in a non-contact state with the magnet 30.

[0058] The output shaft portion 252 is a solid cylindrical body, but is not limited to this, and may be hollow. The output shaft portion 252 has a circular cross section, but is not limited to this. The outer shape of the output shaft portion 252 (outer diameter since it is cylindrical) is smaller than the inner diameter of the central opening 126 of the lid portion 12, and has a diameter that allows it to pass through the central opening 126 without contacting it.

[0059] The output shaft portion 252, together with the first spring stop portion 22, is disposed within the opening 412 of the first yoke 41 on the magnet 30. If the output shaft portion 252 is configured to be disposed so as to contact the top of the magnet 30 via the opening 412, then the output shaft portion 252 can be simply inserted into the through hole 23 of the spring stop portion 22 and fitted into the opening 412 of the yoke 41, allowing each portion to be assembled in a state of being positioned on the axis.

[0060] The output shaft portion 252 passes through an inner circumferential portion 802, which is an end portion (other end portion) on the inner diameter side of the elastic support portion 81 (upper leaf spring) serving as the elastic support portion 81, and passes through a central opening portion 126 of the cover portion 12 to protrude to the outside of the actuator 1. Note that the inner circumferential portion 802 of the elastic support portion 81 is sandwiched between the joint surface of the spring connection portion 224 and the first spring fixing portion 26 in a state in which the inner circumferential portion 802 abuts against the joint surface, which is the tip (upper end) surface of the spring connection portion 224.

[0061] The output shaft portion 252 may have any shape as long as it extends straight overall in the direction in which the output shaft portion 252 protrudes to the outside of the actuator 1.

[0062] The first spring fixing portion 26 is a press-fit ring formed in an annular shape and fitted onto the output shaft portion 252 by press-fitting. The inner periphery 802 of the elastic support portion 81 is firmly clamped and fixed by the spring connecting portion 224 and the first spring fixing portion (press-fit ring) 26 in a state where it is fitted onto the output shaft portion 252. An adhesive may be used for this clamping. As a result, the spring connecting portion 224 is joined to the elastic support portion 81.

[0063] In this way, the output shaft portion 252 is disposed in the movable body 20 on one side (upper side) of the moving direction of the movable body 20, extending upward from the magnet 30 and passing through the elastic support portion 81 and the cover portion 12, and the other end portion is movable forward and backward outside the fixed body 50. The driving force of the movable body 20 is directly transmitted to the target (user) via this output shaft portion 252, so that high-speed response and strong feedback can be provided.

[0064] On the other hand, the spring connection portion (lower spring connection portion) 244 of the second spring stop portion 24, which is arranged on the opposite side of the spring connection portion 224 of the first spring stop portion 22 across the magnet 30, is joined to the inner peripheral portion 802, which is the inner diameter side end portion of the lower leaf spring, which is the elastic support portion 82.

[0065] The spring connecting portion 244 is provided in the spring stop portion 24 so as to protrude from the joint portion 242 to the other side (downward), and is a cylindrical body having an outer diameter larger than that of the joint portion 242. With the inner peripheral portion 802 of the lower leaf spring serving as the elastic support portion 82 abutting against the joint surface which is the tip (lower end) surface of the spring connecting portion 244, the inner peripheral portion 802 is sandwiched together with the second spring fixing portion 28 inserted into a through hole opening at the joint surface.

[0066] Specifically, the second spring fixing part 28 has a shaft-shaped insertion part 282 inserted into the through hole of the spring connecting part 244, so that a flange 284 provided on the outer periphery of the base end part of the insertion part clamps the inner periphery 802 of the elastic support part 82 together with the joint surface of the spring connecting part 244. This causes the spring connecting part 244 and the elastic support part 82 to be joined together.

[0067] The second spring fixing portion 28 may be, for example, a rivet such as a blind rivet. The second spring fixing portion 28 is fixed in the through hole of the spring connecting portion 244 by press-fitting an axially shaped insertion portion 282 by caulking or the like.

[0068] Furthermore, spring stop parts 22, 24 may be made of a magnetic material, but are preferably made of a non-magnetic material. If spring stop parts 22, 24 are made of a non-magnetic material, the magnetic flux from yoke 41 will not flow upward, and the magnetic flux from yoke 42 will not flow downward, and can flow efficiently to the coils 61, 62 located on the outer periphery of yokes 41, 42.

[0069] Since the movable body 20 is composed of the magnet 30, the yokes 41, 42, the spring stop parts 22, 24, and the output shaft part 252, each of which is a separate body, it is easy to ensure the dimensional accuracy required for each part. Also, it is possible to improve the surface accuracy (accuracy of the joint surfaces) of the spring connection parts 224A, 244 of the spring stop parts 22, 24, and the dimensional accuracy of the outer diameter of the protrusion 25 (output shaft part 252).

[0070] <Elastic support parts 81, 82> The elastic support parts 81, 82 are disposed on both sides of the movable body 20 in the movement direction, and support the movable body 20 movably in the movement direction. The elastic support parts 81, 82 are leaf springs, and are disposed to sandwich the movable body 20 in the vibration direction of the movable body 20, and are respectively installed on both the movable body 20 and the fixed body 50 so as to intersect with the vibration direction.

[0071] In detail, the elastic support parts 81 and 82 are disposed across both ends (upper and lower ends) of the movable body 20 that are spaced apart in the reciprocating direction and the opening edge part of the fixed body 50 (coil holding part 52) ​​disposed radially outward from both ends. In this embodiment, the elastic support parts 81 and 82 are disposed along a direction perpendicular to the reciprocating direction and facing each other so as to sandwich the movable body 20 in the reciprocating direction.

[0072] The elastic support parts 81, 82 may be made of a non-magnetic material or a magnetic material (specifically, a ferromagnetic material). If the elastic support parts 81, 82 are non-magnetic leaf springs, they may be made of stainless steel plates such as SUS304 and SUS316. If the elastic support parts 81, 82 are magnetic, stainless steel plates such as SUS301 may be used. As the material for the elastic support parts 81, 82, for example, it is known that a magnetic material (e.g., SUS301) is more durable and less expensive than a non-magnetic material (e.g., SUS304, SUS316).

[0073] The elastic support parts 81 and 82 support the movable body 20 so as not to come into contact with the fixed body 50, regardless of whether the movable body 20 is not reciprocating or is reciprocating. The elastic support parts 81 and 82 may be configured with any material as long as they elastically support the movable body 20 so as to be freely movable.

[0074] Elastic support parts 81, 82 are each a plurality of plate-shaped spiral springs that are flat in a normal state. In elastic support parts 81, 82, arc-shaped deformation arm parts 804 extend radially outward at equal intervals from the outer edge part of an annular plate-shaped inner periphery part 802, and the ends of the deformation arm parts 804 are connected to an annular plate-shaped outer periphery fixing part 806.

[0075] The inner periphery 802 has a shape that allows it to be placed on the joining surfaces of the spring connection parts 224, 244 of the spring stop parts 22, 24, and has, for example, an outer diameter that is approximately the same as the outer diameter of the joining surfaces of the spring connection parts 224, 244.

[0076] The deformable arm portion 804 is elastically deformable, and is joined at one end to the outer circumferential fixed portion 806 and at the other end to the inner circumferential portion 802, connecting the outer circumferential fixed portion 806 and the inner circumferential portion 802. A plurality of deformable arm portions 804 are arranged in a spiral shape at predetermined intervals in the circumferential direction between the inner circumferential portion 802 and the outer circumferential fixed portion 806. The movable body 20 may be supported by three or more elastic support portions (leaf springs) 81, 82. These plurality of leaf springs are attached along a direction perpendicular to the reciprocating direction.

[0077] In the elastic support parts 81 and 82, the inner circumferential parts 802 are joined to both ends (spring connection parts 224 and 244) that are separated in the axial direction (reciprocating direction) of the movable body 20. In addition, in the elastic support parts 81 and 82, the outer circumferential fixing part 806 side is arranged so as to protrude radially outward (radially) at both ends of the movable body 20.

[0078] The outer periphery fixing portion 806 has a notch formed on its outer periphery, and is sandwiched between both opening edges of the coil holding portion 52 and the case 10 with the movable range forming portion (positioning piece portion) 54 of the coil holding portion 52 engaged with the notch.

[0079] Specifically, in the elastic support portion 81, the outer periphery fixing portion 806 is sandwiched and fixed between the annular upper end surface 527a of the flange portion 527 and the pressing portion 128 of the lid portion 12 within the case 10. Note that the upper end surface 527a means the end surface of the upper side (one side) of the upper flange portion 527, avoiding the movable range forming portion 54.

[0080] Furthermore, in the lower elastic support part 82, the outer periphery fixing part 806 is fixed to the lower end part of the coil holding part 52, radially outward from the movable body 20 in the actuator 1. Specifically, the outer periphery fixing part 806 of the elastic support part 82 is fixed to a portion of the annular lower end surface 528a of the lower flange part 528 that forms the lower end part of the coil holding part 52, avoiding the movable range forming part 54.

[0081] The multiple elastic support parts 81, 82 are, for example, oriented in the same spiral direction, and one end of each of them, which is the outer periphery fixing part 806, is fixed to the fixed body 50, and the other end of them, which is the inner periphery part 802, is fixed to the movable body 20.

[0082] In this manner, in this embodiment, a plurality of spiral leaf springs are used as the elastic support parts 81, 82, and are attached to both ends of the movable body 20 that are spaced apart in the vibration direction, thereby elastically supporting the movable body 20 with respect to the fixed body 50. As a result, when the amount of movement of the movable body 20 increases, the movable body moves in a translational direction (here, a direction on a plane perpendicular to the vibration direction) while rotating slightly. If the spiral directions of the plurality of leaf springs are opposite to each other, the plurality of leaf springs will move in a buckling direction or a pulling direction relative to each other, preventing smooth movement.

[0083] The actuator 1 is capable of increasing the linearity of movement of the movable body 20, particularly the output shaft portion 252 which is the protrusion 25, by virtue of the pair of elastic support portions 81, . This allows the movable body 20 to move stably without being affected by external shocks or disturbances. In particular, the stability of linear drive can be increased, so that the stability of both the magnetic sensor output and the tactile output can be increased.

[0084] In this embodiment, the elastic support members 81, 82 are fixed to the movable body 20 so that the spiral directions are the same. Therefore, even if the amount of movement of the movable body 20 increases, the elastic support members 81, 82 can move smoothly, i.e., deform, resulting in a larger output, and making it possible to increase the output that serves as force feedback. However, depending on the desired range of movement of the movable body 20, the multiple elastic support parts 81, 82 may be designed so that their spiral directions are opposite to each other.

[0085] On the other hand, outer circumferential fixing portion 806 of upper elastic support portion 81 is fixed, at the radially outer side, to the upper end portion of coil holding portion 52. Specifically, outer circumferential fixing portion 806 of elastic support portion 81 is fixed to a portion of annular upper end surface 527a of upper flange portion 527 forming the upper end portion of coil holding portion 52 (see FIG. 2), avoiding movable range forming portion 54. The configuration of coil holding portion 52 will be described in detail later.

[0086] The outer circumferential fixing portion 806 of the elastic support portion 82 is sandwiched and fixed between the annular lower end surface 528a of the flange portion 528 and a step portion 118 provided on the peripheral portion of the bottom portion 114 within the case 10. Note that the lower end surface 528a refers to the upper (other side) end surface of the portion avoiding the movable range forming portion 54 on the lower (other side) side of the lower flange portion 528.

[0087] Outer periphery fixing portion 806 is formed in an annular shape, and its outer periphery is sandwiched between upper and lower end faces 527a, 528a (see FIG. 2) of coil holding portion 52, pressing portion 128, and step portion 118. In this way, outer periphery fixing portion 806 is fixed to fixed body 50.

[0088] <Fixed body 50> As shown in FIG. 2, the fixed body 50 holds the coils 61, 62, and also supports the movable body 20 radially inside the coils 61, 62 via elastic support parts 81, 82 so that the movable body 20 can move freely in a movement direction (the axial direction of the magnet, the axial direction of the coil, or the axial direction of the movable body 20).

[0089] The fixed body 50 has a coil holding portion 52 that holds the coils 61 and 62 , in addition to the coils 61 and 62 and the outer yoke 70 . In addition to the coils 61, 62, almost all of the components that generate vibration, such as the movable body 20 and the case 10, are connected to the coil holding portion 52 via the elastic support portions 81, 82, thereby forming the actuator 1.

[0090] Coil holding part 52 is a cylindrical body, holds coils 61, 62 arranged on its outer circumferential surface, surrounds magnet 30 with inner circumferential surface 522a, and has movable body 20 having magnet 30 arranged therein for free movement. Coil holding part 52 may be formed in a bobbin shape, in which case coils 61, 62 are arranged by being wound around the outer periphery of an inner cylindrical holding part main body (protective wall) in coil holding part 52.

[0091] The coil holding portion 52 is a cylindrical body formed of a resin such as a phenol resin, polybutylene terephthalate (PBT), etc. In the present embodiment, the coil holding portion 52 is made of a material containing a phenol resin such as Bakelite, which has high flame retardancy.

[0092] The coil holding portion 52 is made of a material containing phenolic resin, which increases flame retardancy and improves safety during operation even if heat is generated by Joule heat when a current flows through the held coils 61, 62. In addition, the dimensional accuracy is improved, and the positional accuracy of the coils 61, 62 is also improved, which reduces variation in vibration characteristics.

[0093] Specifically, the coil holding portion 52 has a cylindrical holding portion main body 522, a central flange portion 526 and flange portions 527, 528 protruding radially from the outer periphery of the holding portion main body 522, a terminal portion 75, and a movable range forming portion 54.

[0094] The holding portion main body 522 functions as a protective wall portion that protects the coils 61, 62 from collisions when the movable body 20 arranged inside is driven. The thickness of the holding portion main body 522 is set to a thickness that provides a strength that does not affect the coils 61, 62 on the outer periphery even if the moving movable body 20 comes into contact with the coils 61, 62.

[0095] On the outer circumferential side of the holding portion main body 522, the coils 61, 62 are arranged side by side in the coil axis direction between the central flange portion 526 and the flange portions 527, 528 (coil attachment portions 52b, 52c). The holding portion main body 522 positions the coils 61, 62 so as to surround them radially outward with respect to the outer circumferential surfaces of the yokes 41, 42 of the movable body 20 (the outer circumferential surfaces of the magnet 30 and the yokes 41, 42).

[0096] Specifically, the outer circumferential surface of the holder body 522 is partitioned by a central flange portion 526 and each of the flange portions 527, 528, and is provided with concave coil attachment portions 52b, 52c that open radially outward on the outer circumferential side.

[0097] The terminal portion 75 functions as a connector wire portion that connects to an external device by intertwining the coil windings of the coils 61, 62. The coils 61, 62 and the external device are connected via the terminal portion 75, and power can be supplied from the external device to the coils 61, 62.

[0098] Terminal portion 75 is a conductive member protruding from the outer periphery of holding portion main body 522. In this embodiment, terminal portion 75 is press-fitted into the outer periphery of central flange portion 526, which is disposed at the center in the vibration direction on the outer periphery of holding portion main body 522. As a result, terminal portion 75 is provided so as to protrude from the outer periphery of central flange portion 526.

[0099] Flange portions 527 and 528 are provided at both ends spaced apart in the axial direction of holding portion main body 522 (which is the vibration direction and also the vertical direction in this embodiment), and constitute the upper and lower ends of coil holding portion 52.

[0100] Elastic support portions 81 and 82 are fixed to flange portions 527 and 528 at their ends (upper and lower ends in this embodiment) that are located away from central flange portion 526.

[0101] The movable range forming parts 54 are protruding parts provided at the upper and lower ends of the coil holding part 52 so as to protrude in the axial direction, and form a vibration range between the lid part 12 and the bottom part 114 of the case 10 and the movable body 20 when the coil holding part 52 is housed in the case 10. The movable range forming parts 54 are provided at a predetermined interval on the annular upper and lower end faces (also referred to as the "upper end face", the "lower end face" and the "opening end face") 527a and 528a of the flange parts 527 and 528. The upper end face 527a is the opening end face on one side, and the lower end face 528a is the opening end face on the other side.

[0102] The movable range forming portion 54 fits into the notches provided in the elastic support portions 81 and 82 to position the elastic support portions 81 and 82 in the radial direction. By fitting the movable range forming portion 54 into the notches, the mounting positions of the elastic support portions 81 and 82 can be set uniformly with respect to the coil holding portion 52 in each unit 13, and the elastic support portions 81 and 82 can be stably positioned with respect to the coil holding portion 52. In addition, the elastic support portions 81 and 82 are not fixed to the fixed body side with respect to the coil holding portion 52 via multiple components. This provides a structure that is not easily affected by component tolerances, and restricts circumferential and radial movements such as rotation, thereby suppressing variations in the elastic support portions 81 and 82 as a product, thereby achieving stable characteristics.

[0103] The coil holding portion 52 is accommodated in the case 10 with the movable range forming portions 54 on the upper and lower end surfaces abutting the edges of the lid portion 12 and the edges of the bottom portion 114, and is fixed to the edges of the lid portion 12 and the edges of the bottom portion 114.

[0104] <Coil> In the actuator 1, the coils 61, 62 are used to generate a drive source for the actuator 1 together with the magnet 30 and the yokes 41, 42, with the axial direction of the coils 61, 62 (the magnetization direction of the magnet 30) as the vibration direction.

[0105] The coils 61 and 62 generate a magnetic field when energized to move the movable body 20. The coils 61 and 62 are disposed radially outside the movable body 20. The coils 61 and 62, together with the magnet 30, form a magnetic circuit similar to that of a voice coil motor.

[0106] Coils 61, 62 are disposed on coil attachment portions 52b, 52c, and in this embodiment, coils 61, 62 are disposed at positions facing yokes 41, 42 in a direction perpendicular to the reciprocating direction.

[0107] The coils 61 and 62 are held by the coil holder 52 such that the center position of the length in the coil axial direction (reciprocating direction) is substantially the same position (including the same position) as the center position of the length in the reciprocating direction of the movable body 20 (the center position of the magnet 30 in the reciprocating direction) in the reciprocating direction. Note that the coils 61 and 62 in this embodiment are configured by being wound in opposite directions to each other, and configured so that currents flow in opposite directions when energized. The coils 61 and 62 are fixed by adhesion or the like in the concave coil attachment parts 52b and 52c, and the outer peripheral surfaces are surrounded by the outer yoke 70 inside the case 10.

[0108] Respective ends of the coils 61, 62 are connected to terminal portions 75 of the central flange portion 526 by being twisted around them. The coils 61, 62 are connected to an external power supply portion via the terminal portions 75. For example, the respective ends of the coils 61, 62 may be connected to a DC supply portion, and a DC power source may be supplied from the DC supply portion to the coils 61, 62. This allows the coils 61, 62 to generate a thrust between the magnet and each of them that allows them to move in one direction toward or away from each other in the axial direction.

[0109] Furthermore, each end of the coils 61, 62 may be connected to a power supply unit such as an AC supply unit or a DC supply unit, and an AC power source (AC voltage) or a DC power source (DC voltage) may be supplied from the power supply unit to the coils 61, 62. This allows the coils 61, 62 to generate thrust between the magnet and each other that allows them to move toward and away from each other in the axial direction.

[0110] The power source supplied to the coils 61 and 62 may be either AC or DC, and a thrust force of the movable body 20 is generated corresponding to each supply power source. Of course, both AC and DC may be supplied to the coils 61 and 62. The actuator 1 may move the movable body 20 by superimposing AC on the input DC. For example, the actuator 1 first pushes or lowers the movable body 20, i.e., the protrusion 25, by the input DC. After that, the actuator 1 superimposes an input AC or pulse on the input DC in response to some trigger, and can provide a tactile sensation such as force feedback. In addition, at least one of a DC supply unit and an AC supply unit connected to the ends of the coils 61 and 62 may be provided in the actuator itself.

[0111] <Outer yoke 70> The outer yoke 70 is a cylindrical magnetic body that surrounds the outer circumferential surface of the coil holding portion 52 and is disposed in a position to cover the radial outside of the coils 61, 62. The outer yoke 70 prevents leakage of magnetic flux from the actuator 1 to the outside in the radial direction in the magnetic circuit.

[0112] The outer yoke 70 is disposed so that the center of the length of the outer yoke 70 in the reciprocating direction is at the same height as the center of the reciprocating direction of the magnet 30 disposed inside. The shielding effect of the outer yoke 70 can reduce leakage magnetic flux to the outside of the actuator.

[0113] Furthermore, the outer yoke 70 can increase the thrust constant in the magnetic circuit to improve the electromagnetic conversion efficiency. The outer yoke 70 functions as a magnetic spring together with the magnet 30 by utilizing the magnetic attraction force of the magnet 30. The magnetic spring can reduce the stress when the elastic support members 81, 82 are made into mechanical springs, and can improve the durability of the elastic support members 81, 82.

[0114] <Case 10> Case 10 houses movable body 20 together with coils 61, 62 with the protruding end side of protrusion 25 protruding to the outside. Case 10 houses movable body 20 together with coils 61, 62 and has a central opening 126 into which protrusion 25 is loosely inserted without contact.

[0115] Specifically, the case 10 has a bottomed cylindrical case body 11 having a peripheral wall portion 112 and a bottom portion 114, and a lid portion 12 that closes an opening 115 of the case body 11. The case 10 is columnar. The columnar shape is a shape having a height (thickness) that can generate a sufficient thrust in the reciprocating direction by cooperation with the coils 61, 62 facing each other on the outer periphery. For example, the case 10 of the present embodiment is formed into a cylindrical shape by the bottomed cylindrical case body 11 and the lid portion 12, but is not limited to this shape, and may be an elliptical columnar shape or a polygonal columnar shape, and the length in the reciprocating direction may be longer or shorter than the length in the direction perpendicular to the reciprocating direction. The elliptical columnar shape and the elliptical shape in the present embodiment are mainly ellipses including parallel straight line portions, and refer to an oval shape.

[0116] The lid portion 12 and the bottom portion 114 constitute the top surface portion 122 and the bottom surface portion (bottom portion 114) of the actuator 1 in this embodiment, and are disposed opposite the movable body 20 of the unit 13 with a predetermined gap therebetween in the reciprocating direction of the movable body 20.

[0117] The lid part 12 has a protrusion 124 on a top surface part 122 having a central opening 126. The protrusion 124 protrudes radially outward from a part of the outer periphery of the top surface part 122 and engages with the notch part 102 of the case body 11. The protrusion part 124 engages the lid part 12 with the notch part 102 of the case body 11, and can perform positioning when attaching the lid part 12 to the case body 11. The lid part 12 and the bottom part 114 each function as a movement range suppressing part that serves as a hard stop (limiting the movement range) of the movable body 20.

[0118] The opening direction of the central opening 126 is parallel to the movement direction of the movable body 20 and the output shaft portion 252, and specifically, the central opening 126 is desirably formed so that the output shaft portion 252 is inserted vertically.

[0119] The central opening 126 is formed in the top surface portion 122 on the axis line of the shaft of the movable body 20 and the output shaft portion 252 , with a diameter larger than the outer diameter of the output shaft portion 252 . As shown in FIG. 7, the central opening 126 is formed in the top surface portion 122 so as to provide a gap d1 between the output shaft portion 252 passing therethrough and the central opening 126 so that the output shaft portion 252 does not come into contact when the output shaft portion 252 is not moving or when the output shaft portion 252 is moving.

[0120] The central opening 126 is formed on the top surface 122 so that the gap d1 between the outer diameter of the output shaft portion 252 and the inner diameter of the central opening 126 is smaller than the gap d2 between the outer surface 20a of the movable body 20 and the inner surface of the fixed body 50 (the inner surface 522a of the holding portion main body 522) shown in Figure 8.

[0121] When the lid part 12 is attached to the case body 11, the protrusion part 124 of the lid part 12 is arranged in the cutout part 102 of the case body 11 on the terminal part 75 exposed to the outside at the center part in the longitudinal direction of the cutout part 102. This makes it possible to grasp the position of the terminal part 75 of the actuator 1 simply by viewing the lid part 12 from above.

[0122] <Actuator 1 operation> The operation of the actuator 1 will be described with reference to FIG. 9 as an example in which the magnet 30 is magnetized so that the front surface 30a on one side in the magnetization direction (the upper side in this embodiment) is an S pole and the back surface 30b on the other side in the magnetization direction (the lower side in this embodiment) is an N pole.

[0123] FIG. 9 is a diagram illustrating the operation of the actuator according to the first embodiment of the present invention.

[0124] In the actuator 1, the movable body 20 is driven to move in at least one vibration direction by supplying a pulse current (DC pulse or AC pulse) to the coils 61 and 62. Note that power may be supplied to the coils 61 and 62 so as to resonate.

[0125] When a pulse current is supplied, a magnetic flux flow mf is formed, which is emitted from the back surface 30b side of the magnet 30, radiated from the yoke 42 to the coil 62 side, passes through the outer yoke 70, and enters the magnet 30 from the yoke 41 above the magnet 30 via the coil 61.

[0126] Therefore, when electricity is applied as shown in FIG. 9, the magnetic field of magnet 30 interacts with the current flowing through coils 61 and 62, generating a Lorentz force in the -f direction in coils 61 and 62 according to Fleming's left-hand rule.

[0127] The Lorentz force in the -f direction is perpendicular to the direction of the magnetic field and the direction of the current flowing through coils 61 and 62. Since coils 61 and 62 are fixed to fixed body 50 (coil holding portion 52), in accordance with the law of action and reaction, a force opposite to the Lorentz force in the -f direction is generated as a thrust in the f direction in movable body 20 having magnet 30. As a result, movable body 20 having magnet 30 moves in the f direction, that is, toward bottom 114 (the bottom surface of case main body 11).

[0128] On the other hand, when the current flow direction of coils 61, 62 is switched to the opposite direction and current is passed through coils 61, 62, a Lorentz force in the opposite direction, f-direction, is generated. Due to the generation of this Lorentz force in the f-direction, in accordance with the law of action and reaction, a force opposite to the Lorentz force in the f-direction is generated as a thrust (thrust in the -f direction) in movable body 20, and movable body 20 moves in the -f direction, that is, toward the top surface side of lid 12 of fixed body 50.

[0129] In the actuator 1, by moving the movable body 20 only toward either the lid 12 side or the bottom 114 side, so-called tactile or force feedback can be performed on the target via the output shaft 252. In providing a stimulus, it is preferable to move the movable body 20 toward the lid 12 side.

[0130] At this time, the output shaft portion 252 passes through the central opening 126 of the case 10 without contact, and moves in the movement direction (the axis of the magnet 30, the forward and backward direction) outside the case 10 without contacting the central opening 126.

[0131] It is also possible to move the coils 61, 62 by alternately supplying current in opposite directions, and by using this, it is possible to provide tactile and force feedback by the movement of the movable body 20.

[0132] Furthermore, when the actuator 1 is not energized and not driven (not moving), a magnetic attractive force acts between the magnet 30 and the outer yoke 70, functioning as a magnetic spring. The magnetic attractive force generated between the magnet 30 and the outer yoke 70 and the restoring forces of the elastic support parts 81 and 82 that attempt to return to their original shapes cause the movable body 20 to return to its original position.

[0133] The actuator 1 includes a fixed body 50 having coils 61, 62, and a movable body 20 having a magnet 30 disposed radially inside the coils 61, 62 and magnetized in the axial direction of the coils 61, 62. In addition, the actuator 1 includes flat elastic support parts 81, 82 that elastically hold the movable body 20 movably in the movement direction, which is the coil axial direction.

[0134] In addition, coils 61, 62 are arranged on the outer periphery of the holding portion main body 522 of the coil holding portion 52, and the outer peripheral surface 20a of the movable body 20 is arranged with a gap on the inner peripheral side of the holding portion main body 522, and the outer peripheral surfaces of coils 61, 62 are surrounded by an outer yoke 70.

[0135] The actuator 1 has a structure in which the unit 13 is housed in the case 10, and the outer peripheral surface of the peripheral wall portion 112 of the resin case 10 can be made smooth. This makes it possible to reliably and easily attach a cushioning material such as a sponge between the actuator 1 and the mounting location when the actuator 1 is attached to an electronic device.

[0136] Furthermore, since the actuator 1 is constructed by disposing the unit 13 inside the case 10, the elastic support parts 81, 82, which require high dimensional accuracy, can be fixed by assembling them to the coil holding part 52.

[0137] As a result, the positioning of the movable body 20, including the fixing of the elastic support parts 81, 82, can be determined based on the coil holding part 52, and the precision of the tactile sensation generation direction of the product can be improved. Specifically, simply by improving the dimensional precision of the coil holding part 52 formed as a single component from, for example, resin, etc., it is possible to easily position the coils 61, 62 and the movable body 20 (magnet 30) attached via the elastic support parts 81, 82 in an accurate positional relationship.

[0138] Furthermore, since terminal portion 75 is provided on coil holding portion 52 so as to protrude outward, it becomes easy to entangle and solder the coil wire of the coil, facilitating the connection of coils 61, 62 to external devices.

[0139] In this way, the actuator 1 has impact resistance and is capable of providing a tactile sensation.

[0140] The actuator 1 is driven by pulses (DC pulses or AC pulses) input to the coils 61, 62. In other words, by appropriately setting the current flow direction of the coils 61, 62, a thrust in the -f direction on the top surface 122 side of the lid 12, a thrust in the f direction on the bottom surface 114 side, or thrusts in the -f and f directions may be applied to the movable body 20 alternately. This causes the movable body 20 to move in the movement direction, and thus, the actuator 1 itself or the output shaft 252 to provide tactile feedback. In this way, the actuator 1 can be easily manufactured at low cost, and has detection and tactile feedback functions that are easier to use.

[0141] <Driving principle of actuator 1> A brief explanation will be given of the driving principle of the actuator 1. The actuator 1 is driven, for example, by a supplied pulse in one direction (here, the same as the axial direction of the magnet, the vibration direction, or the up-down direction) based on the following equation of motion (1) and circuit equation (2). In this embodiment, the actuator is driven by inputting a short pulse, but it may also be driven to generate any reciprocating motion or vibration without using a short pulse.

[0142] The movable body 20 in the actuator 1 performs a reciprocating motion based on the formulas (1) and (2).

[0143]

number

[0144]

number

[0145] Mass m [Kg], displacement x(t) [m], thrust constant Kf [N / A], current i(t) [A], spring constant K for actuator 1 sp[N / m], damping coefficient D [N / (m / s)], etc. can be changed as appropriate within the range that satisfies formula (1). In addition, voltage e(t) [V], resistance R [Ω], inductance L [H], back electromotive force constant K e [V / (m / s)] can be changed as appropriate within the range that satisfies formula (2).

[0146] In this way, the actuator 1 is determined by the mass m of the movable body 20 and the spring constant K sp is determined by.

[0147] <Modification> 10 to 23 show modified examples 1 to 7 of the actuator 1 of the present embodiment. Each of the actuators 1A to 1G, which are the modified examples 1 to 7 of the actuator 1 shown in Fig. 10 to Fig. 23, has the same basic configuration as the actuator 1 corresponding to the embodiment 1 shown in Fig. 1. Therefore, in describing the modified examples 1 to 7, the same components as those in the embodiment 1 are indicated by the same reference numerals and names, and duplicated descriptions are omitted, and different components are described by appropriately adding alphabets to the same reference numerals and names as the target components. Also, since the operation of the actuators 1A to 1G is the same as that of the actuator 1, the description is appropriately omitted. In each of the actuators 1A to 1G, the output shafts 252, 252C, 252D, and 252F that pass through the central opening 126 of the case all move in a non-contact manner with a gap d1 in the central opening 126 of the case as the movable bodies 20, 20A to 20D, and 20F move.

[0148] <Variation 1> FIG. 10 is a vertical cross-sectional view showing the configuration of a main part of the actuator according to the first modified example, and FIG. 11 is an enlarged exploded view of the movable body.

[0149] As actuator 1A, which is variation 1 of the present embodiment, differs from actuator 1 only in the configuration of movable body 20A, and the other configurations are the same, so the following description will mainly focus on the configuration of movable body 20A.

[0150] A movable body 20A of an actuator 1A shown in FIG. 10 differs from the movable body 20 of the actuator 1 in that an output shaft portion 252 and a first spring stop portion 22 are integrally configured.

[0151] Movable body 20A shown in FIGS. 11 and 12 has the same configuration as movable body 20, including magnet 30, yokes 41, 42, second spring stop portion 24, first spring fixing portion 26, and second spring fixing portion 28, as well as an axis unit 202.

[0152] The shaft unit 202 is a rod-shaped body integrally formed with a first spring stop portion 22A having a function similar to that of the first spring stop portion 22 and an output shaft portion 252A having a function similar to that of the output shaft portion 252. The shaft unit 202 is formed by consecutively arranging, from the magnet 30 side, a joint portion 222A of the spring connection portion 22A, a spring connection portion 224A of the spring connection portion 22A, and the output shaft portion 252A on the same axis in this order. The shaft unit 202 is preferably formed of a non-magnetic material, and if the shaft unit 202 is a non-magnetic material, leakage of magnetic flux in the axial direction via the output shaft portion 252A can be prevented.

[0153] In the shaft unit 202, a joint portion 222A of the spring stop portion 22A on one end side fits into an opening portion 412 of the yoke 41. In addition, in the shaft unit 202, the elastic support portion 81 is connected and fixed together with a press-fit ring which is the first spring fixing portion 26 at a tip surface on one side of a spring connecting portion 224A which forms a stepped surface on the outer periphery of the output shaft portion 252.

[0154] In this way, in the first modification, since several of the components of the movable body 20A are integrated, it is possible to improve the ease of assembly. In addition, by setting the strength of the components, it is possible to reduce the labor required for assembly and the manufacturing cost by molding the spring stop portions 22 and 24 and the output shaft portion 252A from resin.

[0155] <Variation 2> FIG. 12 is a vertical cross-sectional view showing the configuration of a main part of the actuator according to the second modified example, and FIG. 13 is an enlarged exploded view of the movable body.

[0156] An actuator 1B which is a modified example 2 of this embodiment differs from actuator 1 only in the configuration of movable body 20B, and the other configurations are the same, so the configuration of movable body 20B will be mainly described below.

[0157] A movable body 20B of an actuator 1B shown in FIG. 10 is different from the movable body 20 of the actuator 1 in that a yoke 41 and a first spring stop portion 22 are integrally formed.

[0158] 12 and 13 has the same configuration as the movable body 20, that is, the magnet 30, the yoke 42, the second spring fixing portion 24, the first spring fixing portion 26, the second spring fixing portion 28, and the output shaft portion 252, and in addition has a sleeve unit 203. The sleeve unit 203 is configured integrally as a single member with a yoke 41B having a function similar to that of the yoke 41 and a first spring fixing portion 22B having a function similar to that of the first spring fixing portion 22.

[0159] An opening 23B is formed in the center of the sleeve unit 203 on the axis line, penetrating the sleeve unit 203 in the axial direction, and the base end side of the output shaft portion 252 is inserted and fixed in place. The sleeve unit 203 may be made of a non-magnetic material such as a resin material, or may be made of the same magnetic material as the yoke 41. If the sleeve unit 203 is made of a non-magnetic material made of resin, the yoke 42 on the back surface 30b side of the magnet 30 may also be made of a resin material to ensure a weight balance between the front and back surfaces 30a and 30b of the magnet 30. If the sleeve unit 203 is made of a magnetic material, leakage magnetic flux in the axial direction through the output shaft portion 252 can be prevented by making the output shaft portion 252 of a non-magnetic material.

[0160] The sleeve unit 203 is attached to the surface 30a of the magnet 30 so that the yoke 41B is laminated, and the output shaft portion 252 is inserted into the internal opening 23B, and the base end portion of the output shaft portion 252 is fitted inside. Also, in the sleeve unit 203, the elastic support portion 81 is connected and fixed to the first spring fixing portion 26, which is a press-fit ring, on the outer periphery of the output shaft portion 252, at the tip surface on one side of the spring connection portion 224B that forms a step surface. In this way, in Modification 2, since several of the components of movable body 20B are integrated, it is possible to improve the ease of assembly. In addition, by setting the component strength, spring stop portions 22, 24 and output shaft portion 252 can be molded from resin, which can reduce the assembly work and manufacturing costs.

[0161] <Variation 3> FIG. 14 is a vertical cross-sectional view showing the configuration of a main part of the actuator according to the third modified example, and FIG. 15 is an enlarged exploded view of the movable body.

[0162] An actuator 1C which is a third modification of the present embodiment differs from actuator 1 only in the configuration of movable body 20C, and the other configurations are the same, so the configuration of movable body 20C will be mainly described below.

[0163] A movable body 20C of an actuator 1C shown in FIG. 14 is different from movable body 20 of actuator 1 in that the components corresponding to yoke 41 and first spring stop portion 22 are integrally formed.

[0164] The movable body 20C shown in Figures 14 and 15 has a magnet 30, a yoke 42, a second spring fixing portion 24, a first spring fixing portion 26, and a second spring fixing portion 28, which are configured similarly to the movable body 20, and also has a sleeve unit 204 and a protrusion 25C.

[0165] The sleeve unit 204 is configured as a single member by integrating a yoke 41C having a function similar to that of the yoke 41 and a spring stop portion 22C having a function similar to that of the spring stop portion 22. In the sleeve unit 204, the yoke 41C is a solid member, unlike the yoke 41, and is formed of, for example, a disk.

[0166] That is, the central opening 23C of the spring stop portion 22C of the sleeve unit 204 is formed in a concave shape with the surface portion of the yoke 41C as the bottom surface, and the output shaft portion 252C is inserted into the opening 23C. The output shaft portion 252C is positioned and fixed on the axis of the movable body 20C by being inserted into the opening 23C.

[0167] As a result, the output shaft portion 252C does not come into contact with the magnet 30 via the sleeve unit 204. The sleeve unit 204 may be made of a non-magnetic material such as a resin material, or may be made of the same magnetic material as the yoke 41. If the sleeve unit 203 is made of resin, the yoke 42 on the back surface 30b side of the magnet 30 may also be made of a resin material. Furthermore, when the sleeve unit 204 is made of a magnetic material, if the output shaft portion 252 is made of a non-magnetic material, leakage magnetic flux in the axial direction via the output shaft portion 252C can be prevented.

[0168] The sleeve unit 204 is attached so that the yoke 41C is layered on the surface 30a of the magnet 30, and is fitted into the internal opening 23C with the base end of the output shaft portion 252C in contact with the bottom surface of the opening 23C. The sleeve unit 204 also connects and fixes the inner circumferential surface of the elastic support portion 81 together with the first spring fixing portion 26 at the tip surface on one side of the spring connecting portion 224C that forms a step surface on the outer periphery of the output shaft portion 252C.

[0169] In this way, in the third modification, since several of the components of the movable body 20C are integrally formed, it is possible to improve the ease of assembly. In addition, by setting the strength of the components, the spring stop portion 24 and the output shaft portion 252C can be molded from resin, which can reduce the labor required for assembly and the manufacturing costs.

[0170] <Modification 4> FIG. 16 is a vertical cross-sectional view showing the configuration of a main part of the actuator according to the fourth modified example, and FIG. 17 is an enlarged exploded view of the movable body.

[0171] An actuator 1D which is a fourth variation of this embodiment differs from actuator 1 only in the configuration of movable body 20D, and the other configurations are the same, so the following description will mainly focus on the configuration of movable body 20D.

[0172] A movable body 20D of an actuator 1D shown in FIG. 16 differs from movable body 20 of actuator 1 in that the components corresponding to yoke 41, first spring stop portion 22, and output shaft portion 252 are integrally formed.

[0173] Movable body 20D shown in FIGS. 16 and 17 has magnet 30, yoke 42, second spring stop portion 24, first spring fixing portion 26, and second spring fixing portion 28, which are configured similarly to movable body 20, and further has axis unit 205.

[0174] Shaft unit 205 is configured as a single member by integrating yoke 41D having a function similar to that of yoke 41, spring stop portion 22D having a function similar to that of spring stop portion 22, and output shaft portion 252D having a function similar to that of output shaft portion 252. In shaft unit 205, yoke 41D is a solid member unlike yoke 41, and is formed of, for example, a disk.

[0175] That is, in shaft unit 205, joint portion 222D of spring stop portion 22D, spring connection portion 224D, and output shaft portion 252 are sequentially arranged in one direction (upward) on the axis of movable body 20D at the center of yoke 41D.

[0176] As a result, the yoke, the spring stopper portion, and the output shaft portion can be assembled at once by simply attaching the shaft unit 205 to the surface 30a of the magnet 30. The shaft unit 205 may be made of a non-magnetic material such as a resin material, or may be made of the same magnetic material as the yoke 41.

[0177] The shaft unit 205 is attached so that the yoke 41D is layered on the surface 30a of the magnet 30. In addition, the shaft unit 205 connects and fixes the inner circumferential surface of the elastic support portion 81 together with the first spring fixing portion 26 at a tip surface on one side of the spring connecting portion 224D that forms a step surface on the outer periphery of the output shaft portion 252D.

[0178] Thus, in variant example 4, several of the components of movable body 20D are formed integrally; specifically, three members are manufactured as a single, integrated part to form axis unit 205, making assembly easier and ensuring high rigidity for axis unit 205 itself.

[0179] <Variation 5> FIG. 18 is a vertical cross-sectional view showing a configuration of a main part of the actuator according to the fifth modified example, and FIG. 19 is a perspective view of a leaf spring.

[0180] An actuator 1E which is a fifth modified example of the present embodiment differs from actuator 1 only in the configuration of elastic support members 81 and 82, and the other configurations are the same.

[0181] An actuator 1E shown in FIG. 18 has a configuration in which, in addition to the configuration of the actuator 1, a damping portion 78 is provided in each of elastic support portions 81 and 82. As shown in FIG. 19, for example, a portion of the damping portion 78 is inserted between the spring portions from one side of the elastic support portions 81E, 82E, specifically, between the outer periphery fixing portion 806 and the deformable arm portion 804, and is positioned so as to bridge the spring portions.

[0182] The attenuation portion 78 has an elastic deformation press-in portion 782 and a flange 784 formed continuously with the elastic deformation press-in portion 782 .

[0183] When the elastic push-in portion 782 is inserted between the spring portions from one side of the elastic support portion 81 (82), specifically between the outer periphery fixing portion 806 and the deforming arm portion 804, the damping portion 78 is positioned so that the flange 784 spans between the spring portions.

[0184] The pushing portion 784 may be fixed to the back surface side of the elastic support portion 81E (82E) via a thermosetting resin (not shown) or an adhesive that does not adhere to the elastic support portion 81E (82E) in a shape that prevents the pushing portion 782 from coming out from between the spring portions. The damping portion 78 does not have to be an elastomer as long as it is made of a material having a damping function, and may be made of a thermosetting resin, an adhesive, or the like.

[0185] The damping portion 78 may be configured in any manner so long as it is shaped to sandwich the elastic support portion 81 (82) from both sides between a plate-shaped flange and a separate member having the same function as the flange and joined at a push-in portion.

[0186] With this configuration, the damping section 78 damps sharp spring resonance in the elastic support section 81E (82E) and prevents the vibration near the resonance frequency from becoming significantly large, which causes a large difference in vibration due to frequency. As a result, the movable body 20 can suppress the resonance peak before plastic deformation and generate stable vibration over a wide range without contacting the lid section 12 and the bottom section 114, and no abnormal noise is generated due to contact. The damping section 78 may be formed of any shape, material, etc., as long as it prevents the generation of sharp vibration in the elastic support section 81 (82).

[0187] <Variation 6> FIG. 20 is a vertical cross-sectional view showing the configuration of a main part of the sixth modified example of the actuator, and FIG. 21 is an enlarged exploded view of the movable body.

[0188] An actuator 1F which is a sixth variation of this embodiment differs from actuator 1 only in the configuration of a movable body 20F, and the other configurations are the same, so the following description will mainly focus on the configuration of movable body 20F.

[0189] A movable body 20F of an actuator 1F shown in FIG. 20 differs from the movable body 20 of the actuator 1 in that an output shaft portion 252F passes through a magnet 30F, yokes 41 and 42, a first spring stop portion 22 and a second spring stop portion 24.

[0190] The movable body 20F shown in Figures 20 and 21 has the yokes 41, 42, the first spring stop portion 22, the second spring stop portion 24, the first spring fixing portion 26, and the second spring fixing portion 28, which are configured similarly to the movable body 20, as well as an output shaft portion 252F (protrusion portion 25F) and a magnet 30F.

[0191] The movable body 20F has a magnet 30F with an opening that penetrates the center of the magnet 30, and yokes 41, 42 having the same outer diameter as the magnet 30F are arranged on the front and back surfaces 30a, 30b of the magnet 30F, respectively.

[0192] The opening 310 of the magnet 30F has an inner diameter into which the output shaft portion 252F is inserted. The inner diameter of the opening 310 of the magnet 30F is approximately the same as the outer diameter of the output shaft portion 252F and is smaller than the inner diameter of the yoke 41.

[0193] Joints 222, 242, which are one ends of spring stop parts 22, 24, are inserted and fixed into the openings of yokes 41, 42 on both sides of magnet 30F.

[0194] The output shaft portion 252F is a shaft with a flange, and has the function of the second spring fixing portion 26 and the function of the output shaft portion 252.

[0195] The output shaft portion 252F has a cylindrical shaft portion 255 and a flange portion 258 that is integrally formed with the shaft portion 255 on the base end side.

[0196] The output shaft portion 252F extends across both ends of the movable body. The flange portion 258 of the output shaft portion 252F clamps the inner periphery 802 of the elastic support portion 82 between itself and the annular end face of the spring connection portion 244 of the first spring stop portion 22.

[0197] The output shaft portion 252F is fixed together by clamping the elastic support portion 82, the second spring stop portion 24, the yoke 42, the magnet 30F, the yoke 41, the first spring stop portion 22, the elastic support portion 81, and the first spring fixing portion 26 between the flange portion 258 and the first spring fixing portion 26 with the shaft portion 255 piercing the elastic support portion 82, the second spring stop portion 24, the yoke 42, the magnet 30F, the yoke 41, the first spring stop portion 22, the elastic support portion 81, and the first spring fixing portion 26.

[0198] That is, since the output shaft portion 252F is disposed by being inserted over the axis of the movable body 20F, other members can be assembled without the axis of the movable body 20F being displaced. The output shaft portion 252F may be formed of a non-magnetic material such as a resin material, or may be formed of the same magnetic material as the yoke 41. In addition, it is preferable that any one or more of the elastic support portion 82, the second spring stop portion 24, the yoke 42, the magnet 30F, the yoke 41, the first spring stop portion 22, and the elastic support portion 81 are fixed to the shaft portion 255 by press-fitting, welding, adhesion, or the like.

[0199] According to this configuration, when constructing the movable body 20F, the magnet 30F, the yokes 41, 42, and the spring stop portions 22, 24 are passed through by the output shaft portion 252F, which is a flanged shaft, and fixed by the first spring fixing portion 26, which is a press-fit ring. In addition, the output shaft portion 252F can reliably and stably connect the elastic support portions 81, 82 to the movable body 20F. This makes it possible to manufacture a stable movable body by structurally fixing each member without relying solely on adhesion.

[0200] <Variation 7> FIG. 22 is a vertical cross-sectional view showing the configuration of a main part of the seventh modified actuator, and FIG. 23 is an exploded view showing the internal configuration of the seventh modified actuator with the case removed.

[0201] An actuator 1G, which is a seventh modification of the present embodiment, is different from the actuator 1 in that it has a magnetic sensor 91, but the other configurations are similar. Therefore, the following will describe the different configurations in detail, and will not describe the same configurations as the actuator 1.

[0202] The actuator 1G accommodates a movable body 20 in a hollow case 10 so that the movable body 20 can move back and forth between upper and lower end faces in the axial direction (vertical direction) of the case 10, and has a magnetic sensor 91 that detects the movement position of the movable body 20.

[0203] The actuator 1G transmits the movement of the movable body 20 to a stimulation target via an output shaft portion 252 provided on the movable body 20, thereby providing a stimulation.

[0204] The magnetic sensor 91 is provided at a distance from the movable body 20 in the direction of movement of the movable body 20 .

[0205] The magnetic sensor 91 is mounted on a circuit board 92 and detects a change in magnetic flux caused by the movement of the magnet 30 of the movable body 20 , thereby detecting the displacement of the movable body 20 .

[0206] The magnetic sensor 91 is disposed at a position facing the movable body 20, away from the movable body 20 in the moving (reciprocating) direction of the movable body 20. The magnetic sensor 91 may be provided in any form on the movable body 20 and the fixed body 50. The moving direction of the movable body 20 may be, for example, the opposite direction to the moving direction of the movable body 20. In other words, the position of the magnetic sensor 91 may be in the same direction as the moving direction of the movable body 20 or in a different direction, as long as it is the same direction as the moving direction of the movable body 20.

[0207] The magnetic sensor 91 is preferably provided on a central axis extending in the reciprocating direction of the movable body 20 (at a position overlapping with the axis of the output shaft portion 252) or in the vicinity of the central axis.

[0208] The magnetic sensor 91 is attached to the bottom surface of the case body 11 together with a circuit board 92 , and the magnetic sensor 91 is positioned on the axis of the output shaft portion 252 of the movable body 20 .

[0209] Since the magnetic sensor 91 is provided on the outer surface of the case 10, it can be attached outside the actuator 1, and the assembly of the actuator 1 can be improved. Furthermore, the magnetic sensor 91 can be easily attached or replaced without dismantling the actuator 1. Furthermore, the magnetic sensor 91 provided in the actuator 1 can be easily inspected.

[0210] The magnetic sensor 91 is preferably an amplifier-embedded Hall sensor such as a linear Hall IC, in which the output voltage range is determined by the power supply, and the output of the Hall element is amplified by an amplifier to produce a linear output.

[0211] This makes it possible to configure peripheral circuits inexpensively and easily without using separate sensors, amplifiers, dedicated AD converters, or other converters. Note that the magnetic sensor is preferably easier to configure downstream circuits than when simply using a Hall element, and may be a Hall IC that compares the output of the Hall element with a certain threshold and outputs High / Low. Even with a Hall IC, the output voltage range is regulated by the power supply, making it easier to create downstream circuits (microcomputers).

[0212] <Circuit board (control unit) 92> The circuit board 92 has a magnetic sensor 91, a microcomputer, an actuator driver, and the like mounted thereon, and has a control section for controlling the actuator.

[0213] In the circuit board 92, the load received by the movable body 20 via the output shaft portion 252 is detected by the magnetic sensor 91, and in accordance with the detection result, the coils 61, 62 are energized to control the movement of the movable body 20. Note that the control portion does not necessarily have to be provided in the actuator 1.

[0214] This allows the actuator 1 to detect the load and apply a stimulus corresponding to the detection result.

[0215] By using the magnetic sensor 91, the magnet 30 required as an actuator is used as a sensor, so that an inexpensive movable body position detection means can be provided.

[0216] In addition, the bottom surface of the case on which the magnetic sensor 91 is provided is made of a non-magnetic material because the case 10 is made of a non-magnetic material. This enables the magnetic sensor 91 to detect a stable magnetic flux density in the magnetic circuit having the magnet 30, and to accurately detect the position of the movable body 20.

[0217] Furthermore, since the magnetization direction of the magnet 30 is parallel to the movement direction of the movable body 20, the magnetic sensor 91 detects the magnetic flux density of a single magnetic pole distribution, thereby improving sensor detectability and providing stable sensor output.

[0218] Moreover, the movable body 20 is accommodated inside the annular coils 61, 62 in a state in which it can be driven in the axial direction. This allows for the formation of a magnetic circuit that can generate thrust more efficiently. In addition, in this magnetic circuit, the flow of magnetic flux radially outward from the magnet 30 is restricted by the outer yoke 70, and the magnetic flux density toward the bottom 114 side is increased, allowing the magnetic sensor 91 disposed on the bottom 114 to perform detection accurately and easily.

[0219] The magnetic sensor 91 detects the position of the movable body 20, 20A to 20D, 20F being pushed by detecting the strength of the magnetic flux (detected magnetic flux) flowing toward the bottom 114. The magnetic sensor 91 also detects the strength of the detected magnetic flux on the time axis, and the speed at which the movable body 20, 20A to 20D, 20F is pushed in can be determined based on the change in the strength. The control unit also determines that the position is one at which a pushing force can be exerted based on the relationship with the spring reaction force against the elastic deformation of the elastic support members 81, 82 when the movable body 20, 20A to 20D, 20F is pushed in, and can detect the amount of pushing in from the spring reaction force. Therefore, the actuator 1G having the magnetic sensor 91 is an actuator having a position and load detection function that can provide feedback based on information on the position and speed, information on the load of the movable body, the pushing load, etc.

[0220] Furthermore, as an actuator for the stimulation device, even if there is variation in product performance due to component dimensional tolerances or assembly variations in the product, force feedback can be performed due to the load, and the same stimulation can be applied to each product.

[0221] That is, according to the actuator 1G, when the movable body 20 moves, the magnet 30 moves, so the distribution of magnetic flux changes, and by detecting the amount of the magnetic flux, the position and speed of the movable part can be detected. Also, by controlling the current based on the position and speed information, the movement of the movable body 20 can be controlled, thereby achieving excellent tactile expression and suppressing variation in tactile sensation.

[0222] <Configuration of the Stimulation Apparatus 900> The configuration of the stimulating device 900 according to this embodiment will be described below.

[0223] As shown in Fig. 24, the stimulating device 900 has an actuator 1H and a housing 910. The actuator 1H may be any of the actuators 1, 1A, 1B, 1C, 1D, 1E, 1F, and 1G described above, but for ease of explanation, the internal configuration of the actuator 1 is taken as an example here as the internal configuration of the actuator 1H. The case 10 of the actuator 1H is an example of a fixed body in which the tip of the protrusion 25 is disposed externally and the movable main body (including at least the magnet 30) of the movable body 20 is housed internally.

[0224] The housing 910 has a cylindrical housing body 911 and a housing top 912 that covers the upper surface of the housing body 911. The housing top 912 has a flat main surface 913 on the upper side, and the housing body 911 has a housing cavity 914 in which the actuator 1H can be placed. The housing body 911 accommodates the actuator 1H in the housing cavity 914 with the protrusion 25 of the actuator 1H inserted through an upper housing opening 915 formed in the center of the housing top 912. Since the bottom of the housing body 911 opens downward, the actuator 1H can be inserted into the housing cavity 914 through a lower housing opening 916 when the stimulating device 900 is assembled.

[0225] The flat main surface 913 of the housing top 912 has an opening (housing upper opening 915) surrounding the tip of the protrusion 25 (hereinafter simply referred to as the "protrusion tip"), and is an example of a main surface that spreads around the protrusion tip in a direction intersecting the movement direction (the direction of up and down movement of the movable body 20). In this embodiment, the flat main surface 913 is a surface perpendicular to the movement direction. When the stimulating device 900 is in use, the flat main surface 913 comes into contact with the surface of the target (e.g., the body) (hereinafter referred to as the "target surface").

[0226] The actuator 1H is fixed to the housing 910 by, for example, a fastening member. Therefore, the case 10 of the actuator 1H is positioned in the housing cavity 914 so as to be immovable.

[0227] In the actuator 1H, the coils 61, 62 and the magnet 30 form an electromagnetic drive unit, and the movable body (including the magnet 30) is reciprocated in a motion direction along the protruding direction of the protruding portion 25 by electromagnetic drive caused by cooperation between the energized coils 61, 62 and the magnet 30, and the protruding tip is caused to protrude and retract relative to the flat main surface 913 of the housing 910. This causes the protruding tip to locally poke the target surface whose position is restricted by contact with the flat main surface 913, and as a result, a stimulus is locally applied to the target surface.

[0228] Here, we consider the case where the positional relationship between the target surface and the protruding tip during use is not the appropriate position. The appropriate position is the position of the protruding tip when the movable body is at the center of vibration. In the appropriate position, the moving speed of the movable body is maximized during movement of the movable body, and the reaction force that can act as a stimulus on the contact point of the protruding tip is maximized (see Figure 26).

[0229] For example, as shown in Figure 25A, when the initial position of the target surface (here, "initial" means immediately before the movement of the movable body (when not moving)) is farther from the appropriate position, a clearance occurs between the target surface and the protruding tip. The protruding tip abuts on the target surface when it moves above the appropriate position, but since the protruding tip is in the process of deceleration while moving upward at a position above the appropriate position, the reaction force acting as a stimulus on the target surface decreases (see Figure 26).

[0230] In addition, for example, as shown in Fig. 25B, when the initial position of the target surface is closer than the appropriate position, the phenomenon (pushing) occurs in which the protruding tip is pushed into the target surface. The protruding tip abuts against the target surface at a position lower than the appropriate position, but since the protruding tip cannot accelerate during upward movement at a position lower than the appropriate position, the reaction force acting as a stimulus on the target surface decreases (see Fig. 26).

[0231] In this regard, in the stimulating device 900 according to the present embodiment, the flat main surface 913 of the housing 910 contacts the target surface and regulates the position of the target surface in the direction of motion. Therefore, it is possible to efficiently transmit the stimulating motion to the target simply by arranging the flat main surface 913 at a position where the reaction force satisfies a desired level. In addition, since the motion transmission is made more efficient, there is no need to enlarge the movable body and therefore the actuator 1H in order to increase the reaction force.

[0232] In particular, in this embodiment, the position of the housing upper opening 915 of the flat main surface 913 in the direction of movement coincides with the initial position of the protruding tip in the direction of movement. Therefore, since neither the clearance nor the pushing as described above occurs, the reaction force acting as a stimulus on the target surface can be maximized, and the stimulus can be applied with maximum efficiency.

[0233] <Configuration of the wearable device 950> FIG. 27A is a diagram showing a schematic diagram of the overall configuration of a wearable device 950 including a stimulating device 900, and FIG. 27B is a diagram showing a schematic diagram of a fixed state of a housing 910 in the wearable device 950. As shown in FIG.

[0234] The wearable device 950 includes a stimulation device 900, a base 960, and a belt 970. As shown in FIG. 27A, the wearable device 950 may include a plurality of stimulation devices 900.

[0235] 27B, the housing 910 of the stimulation device 900 is fixed to the base 960 in a state in which the fixed body of the actuator 1H is positioned so as to be immovable. The housing 910 is fixed to the base 960 by, for example, a fastening member.

[0236] Fixing the housing 910 in this manner ensures that the target surface remains in the correct position without any clearance (see FIG. 25A) or indentation (see FIG. 25B), thereby sustaining efficient stimulation.

[0237] The stimulation device 900 is attached to the belt 970 via the base 960. The base 960 is fixed to the belt 970 by, for example, a fastening member.

[0238] Belt 970 is an example of a holder that is connected to base 960 and holds an object so that the object surface is in contact with flat main surface 913. In this embodiment, since the holder is belt 970, by wrapping belt 970 around the outer periphery of the object, the object can be held and the object surface can be in contact with flat main surface 913. This ensures that the object surface is positioned in the appropriate position.

[0239] Here, when the belt 970 is tightly wrapped around the target, the flat main surface 913 of the housing 910 receives strong pressure from the target surface. At this time, if the housing 910 and the base 960 bend due to the pressure, the reaction force is absorbed, resulting in a problem of reduced efficiency in applying the stimulus. Therefore, it is preferable that both the housing 910 and the base 960 have a rigidity that does not deform due to the pressure applied to the flat main surface 913 from the target surface.

[0240] In addition, in a configuration in which the housing upper opening 915A is wide, such as the stimulating device 900A shown in Fig. 28 as a comparative example, a gap is formed near the protruding portion 25, and depending on the softness of the object, the object surface may enter the gap. In this case, the protruding tip may be pushed slightly by the object surface, which may cause a decrease in the reaction force. Therefore, in the stimulating device 900, it is preferable that the housing upper opening 915 is set to a dimension that causes almost no gap near the protruding portion 25.

[0241] Furthermore, it is preferable that the shape of the protruding tip of the protruding portion 25 is cylindrical (the upper end surface is flat and is circular when viewed from the direction of applying a stimulus to the target). This is because, by making the shape of the protruding tip of the protruding portion 25 cylindrical, even if the target surface and the direction of applying a stimulus of the protruding portion 25 are slightly tilted from the vertical position, any part of the corner part 259 of the circumference of the protruding tip will come into contact with the target first to apply the stimulus, thereby increasing the strength of the stimulus and providing an effective stimulus to the target.

[0242] The holding unit does not have to be in the form of the belt 970, and may be, for example, a vest or other wearable garment that can be worn by a person when the subject is a person. When the stimulating device 900 is implemented as a non-wearable device, the holding unit does not necessarily have to be in the form of a belt or garment.

[0243] <Modification 1 of the Stimulation Apparatus> 29 is a vertical cross-sectional view showing the configuration of a stimulating device 900B according to Modification 1. In Modification 1, the tip of the protrusion is dome-shaped with a spherical end surface. In this case, the position of the housing upper opening 915 of the flat main surface 913 coincides with the position of the apex of the sphere. This makes it possible to realize efficient stimulation when the target surface is in an appropriate position without generating clearance or indentation, even if the tip of the protrusion is spherical.

[0244] <Modification 2 of the Stimulation Apparatus> 30 is a vertical cross-sectional view showing the configuration of a stimulating device 900C according to Modification 2. In Modification 2, the upper surface of a housing top 912C is a concave main surface 913C that is concave downward at the center. In this configuration, the position of a housing upper opening 915 in the concave center of the concave main surface 913C coincides with the initial position of the protruding tip. Therefore, the target surface contacts the protruding tip at an appropriate position, so that the reaction force is not reduced and efficient stimulation can be achieved.

[0245] Furthermore, in this configuration, the target enters the recess of the recessed main surface 913C in a state where it is deformed along the curvature of the recessed main surface 913C, so that the target surface is likely to come into contact with the protruding tip in a state where it is inclined with respect to a plane perpendicular to the protruding direction (hereinafter, simply referred to as "inclined state"). This allows the slightly pointed outer periphery of the protruding tip to abut against the target surface. Also, the contact resistance with the recessed main surface 913C in the surrounding portion of the portion in contact with the protruding tip is reduced compared to the case of the flat main surface 913, so that the portion in contact with the protruding tip is likely to be displaced when poked by the protruding tip. For these reasons, in the second modification, the strength of the stimulation can be increased.

[0246] In the second modification, the recessed main surface 913C is an example of a gradient generating portion that brings the target surface into contact with the protruding tip in a gradient state.

[0247] <Modification 3 of the Stimulation Apparatus> 31 is a vertical cross-sectional view showing the configuration of a stimulating device 900D according to Modification 3. In Modification 3, the upper surface of the housing top 912D is a flat inclined main surface 913D that is inclined at a certain angle. Even in this configuration, the position of the housing upper opening 915 at the center of the inclined main surface 913D coincides with the initial position of the protruding tip. Therefore, the target surface contacts the protruding tip at an appropriate position, so that the reaction force is not reduced and efficient stimulation can be achieved.

[0248] Furthermore, in this configuration, when the object comes into contact with the inclined main surface 913D, the object surface is inclined along the inclined main surface 913D, and therefore the object surface inevitably comes into contact with the protruding tip in an inclined state. This allows the slightly pointed outer periphery of the protruding tip to come into contact with the object surface, thereby increasing the strength of the stimulation.

[0249] In the third modification, the recessed main surface 913C is an example of a gradient generating portion that brings the target surface into contact with the protruding tip in a gradient state.

[0250] The above describes the embodiment of the present invention. Note that the above description is an example of a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. In other words, the description of the configuration of the above device and the shape of each part are examples, and it is clear that various modifications and additions to these examples are possible within the scope of the present invention. [Industrial Applicability]

[0251] The stimulation device of the present invention has the effect of efficiently transmitting stimulating motion to a target to be stimulated while preventing the device size from increasing, and is useful, for example, as a wearable device. [Explanation of symbols]

[0252] 1, 1A, 1B, 1C, 1D, 1E, 1F, 1G, 1H Actuators 10, 10A, 10B, 1C0, 1D0 Case 11 Case body 12 Lid 13 units 20, 20A, 20B, 20C, 20D, 20F Movable body 20a Outer surface 22, 22A, 22B, 22C, 22D First spring stopper 23, 23B, 23C opening 24, 24A, 24B, 24C, 24D Second spring stop 25, 25A, 25B, 25C, 25D, 25F protrusion 26 First spring fixing part 28 Second spring fixing part 30, 30F Magnet 30a surface 30b back side 41, 41B, 41C, 41D, 42 York 50 Fixed body 52 Coil holding section 52b Coil mounting part 52c Coil mounting part 54 Movable range forming part 61, 62 Coil 70 Outer Yoke 75 Terminal section 78 Damping section 81, 81E, 82E, 82 Elastic support part (leaf spring) 91 Magnetic Sensor 92 Circuit board (control section) 102 Notch 112 Peripheral wall section 114 Bottom 115, 310, 412, 422 opening 118 Step 122 Top section 124 Protrusion 126 Central opening 128 Pressing part 202, 205 Axis Unit 203, 204 Sleeve unit 222, 222A, 222D, 242 joint 224, 224A, 224B, 224C, 224D, 244, 244A Connections 252, 252A, 252B, 252C, 252D, 252F Output shaft 254, 254B Cap 255 Shaft section 258 Flange 259 Corner 282 Insertion part 284 Flange 522 Holding unit body 522a Inner surface 526 Center flange 527 Flange 527a, 528a end face 528 Flange 782 Elastic push-in part 784 Flange 802 Inner circumference 804 Transformable Arm 806 Peripheral fixed part 900, 900A, 900B, 900C, 900D Stimulation device 910, 910A, 910C, 910D Housings 911 Body 912, 912C, 912D Top of the case 913 Flat principal surface 913C Concave main surface 913D Inclined main surface 914 Housing cavity 915, 915A Housing top opening 916 Housing bottom opening 950 Wearable Devices 960 base 970 Belt

Claims

1. The actuator and the housing are provided. The actuator has a movable body, a protrusion protruding from the movable body, the protrusion having a tip that locally contacts the surface of a target during use, and a fixed body having the tip disposed externally and accommodating the movable body therein, and is configured to cause the movable body to move in a direction parallel to the protruding direction of the protrusion by electromagnetic drive, thereby locally providing a stimulus to the surface by the movement, The housing has a main surface that extends around the tip portion in a direction intersecting the direction of movement, and the main surface is brought into contact with the surface during use to regulate the position of the surface in the direction of movement. Stimulation device.

2. the main surface has an opening surrounding the tip portion, the position of the opening in the direction of movement corresponds to the position of the tip in the direction of movement when the movable body is not moving; The stimulation device according to claim 1 .

3. the tip portion has a cylindrical shape with a flat end surface or a dome shape with a spherical end surface, the position of the opening in the direction of movement coincides with the position of the plane or the position of the apex of the sphere in the direction of movement when the movable body is not moving; The stimulation device according to claim 2 .

4. Further, a tilt generating unit is provided to bring the surface into contact with the tip portion in a state inclined with respect to a plane perpendicular to the protruding direction. The stimulation device according to claim 1 .

5. The housing is fixed to a base in a state in which the fixed body is immovably positioned. The stimulation device according to claim 1 .

6. The base portion; a holder connected to the base and holding the object such that the surface is in contact with the main surface; The stimulation device of claim 5 further comprising:

7. the housing and the base have rigidity such that they are not deformed by pressure applied from the front surface to the main surface when the object is held by the holding portion; The stimulation device according to claim 6.

8. The stimulation device according to claim 6, The holding part is a belt or wear that can be attached to the target when in use. Wearable devices.

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