Tactile sensation presentation device

Abstract

To provide a compact and inexpensive tactile sensation presentation device which detects touch and non-touch and presents appropriate operation feeling to a user.SOLUTION: A tactile sensation presentation device 1 includes an operation part 20 that is touched and operated, and an actuator 5 that is movable by electromagnetic driving. The actuator 5 includes a vibration generation unit that causes the operation part 20 to vibrate, and a fluid discharge unit (fluid output unit 22) that outputs a fluid to the front surface of the operation part. Tactile sensation, such as touch or non-touch, can be presented with only one actuator (device) 5 using vibration, sound, and the air.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a tactile sensation presentation device that presents an output that can be perceived as a tactile sensation to a user. [Background technology]

[0002] As a conventional technology, a tactile sensation presentation device that imparts vibrations to a touch panel using an actuator is known as one technique for providing feedback on the operational feeling (tactile sensation) of a user's fingertip or the like when touching a touch panel (see Patent Document 1).

[0003] For example, Patent Document 1 discloses a device that has 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 results of the operation detection unit, and presents a tactile sensation to the operator by detecting contact. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-071674 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-mentioned tactile sensation providing device, when an operating device such as a touch panel is operated, it is assumed that an unspecified number of people will operate the touch panel, and therefore if the surface of the touch panel is contaminated with a virus or has dirt, etc., there is a concern that virus infection, etc. will spread. For this reason, in recent years, the use of an operating device that uses a sensor that detects non-contact to provide a tactile sensation to an operator through non-contact detection has been considered.

[0006] In the case of a device having a sensor that detects non-contact, contact can be avoided, but the means of notifying the completion of an operation are limited to a screen display or sound, so there is little variety in the operational feel that provides a tactile sensation.

[0007] Taking this into consideration, it is conceivable to develop a device that provides tactile sensations through both contact and non-contact detection; however, this would require the incorporation of multiple actuators corresponding to each type of detection, which would make the device itself larger, limit the space available for installation, and increase costs.

[0008] The present invention has been made in consideration of the above points, and aims to provide a tactile sensation providing device that is compact and inexpensive, detects both contact and non-contact, and provides a user with a suitable operating sensation. [Means for solving the problem]

[0009] One embodiment of the actuator of the present invention is An operation unit that is operated by contact; An actuator that is movable by electromagnetic drive; having The actuator has a configuration including a vibration generating section that vibrates the operation section, and a fluid discharging section that outputs fluid to the front side of the operation section. Effect of the Invention

[0010] According to the present invention, it is possible to provide a user with a suitable operational feel by detecting both contact and non-contact while achieving miniaturization and cost reduction. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a perspective view showing an example of a tactile sensation providing device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a front view of a haptic sensation providing device according to an embodiment of the present invention. [Diagram 3] FIG. 3 is a cross-sectional view taken along line AA of FIG. [Figure 4] FIG. 4 is a diagram illustrating the overall configuration of a haptic feedback device according to an embodiment of the present invention. [Diagram 5] FIG. 5 is an exploded perspective view of a main body of a haptic sensation providing device according to an embodiment of the present invention. [Figure 6] FIG. 6 is a perspective view showing an example of an actuator included in the device. [Figure 7] FIG. 7 is a vertical cross-sectional view showing a configuration of a main part of an example of the actuator. [Figure 8] FIG. 8 is an exploded view of an example of the actuator. [Figure 9] FIG. 9 is a front view showing a modified example of a haptic sensation providing device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0013] <Overall configuration of the tactile sensation presentation device> Fig. 1 is an external perspective view showing an example of a tactile sensation presentation device according to an embodiment of the present invention, Fig. 2 is a front view of the tactile sensation presentation device according to an embodiment of the present invention, and Fig. 3 is a cross-sectional view taken along line A-A shown in Fig. 2. Also, Fig. 4 is a diagram for explaining the overall configuration of the tactile sensation presentation device according to an embodiment of the present invention, and Fig. 5 is an exploded perspective view of the device main body of the tactile sensation presentation device according to an embodiment of the present invention.

[0014] The tactile sensation providing device 1 shown in Figures 1 to 5 has, as the device main body 10, a housing 30, an operation unit 20, a proximity sensor 40, and one actuator 5 (see Figure 3) for providing a tactile sensation, and further has a control unit 11 (a microcomputer 12 and an actuator driver 14).

[0015] The operation unit 20 is capable of presenting a tactile sensation to an object when it is touched, and is also capable of presenting a tactile sensation to the operator without contact. The operation unit 20 includes an operation surface unit 21 that functions as a contact tactile sensation presentation unit that imparts a tactile sensation to an operator performing a contact operation, and a fluid output unit 22 that functions as a non-contact tactile sensation presentation unit that imparts a tactile sensation without contact and releases fluid to apply to the operator to present the tactile sensation.

[0016] 1 (device main body 10) presents a tactile sensation in a non-contact manner by emitting fluid from the fluid output unit 22 (via the front surface unit 34) when a finger (particularly the pad of a finger) is brought close to the operation surface unit 21 (operation unit 20). Furthermore, the tactile sensation presentation device 1 presents a tactile sensation by applying vibrations to the finger via the operation surface unit 21 when the operation surface unit 21 (operation unit 20) is touched and operated with a finger (the pad of a finger, etc.).

[0017] <Case 30> The housing 30 has a box-shaped housing main body 32 and a front part 34 arranged to close the opening of the housing main body 32. The front part 34 is fixed to the housing main body 32 via a fastening member 36 at a location (four corners when viewed from the front) that avoids the connection part with the elastic support part 80. The front part 34 has an opening 34a in the center, and an operation surface part 21 (operation part 20) is arranged in this opening 34a and is exposed to the outside. The front part 34 may have, for example, a front surface that is an operable operation surface, and together with the operation surface part 21, constitutes an operation panel whose entire surface is an operation surface. The operation surface part 21 vibrates within the opening 34a when an operator touches and operates it from the outside, so that other operation surfaces of the operation panel (surfaces that constitute the front part) do not vibrate even during the vibration.

[0018] The front surface 34 is provided with a through hole 34b for discharging the fluid from the fluid output portion 22.

[0019] The through hole 34b allows the fluid discharged by the fluid output unit 22 to pass through and discharge it toward an external object (fingers or the pads of fingers close to the operation unit 20). The through hole 34b is formed so that the discharged fluid passes toward a position close to the operation surface unit 21 when the operation surface unit 21 is to be operated, for example, a position facing the operation unit 20 (or facing the operation surface unit 21) and not in contact with the operation unit 20. The opening direction of the through hole 34b is arbitrary, but the opening direction is a direction toward a position facing the operation unit 20 and not in contact with the operation unit 20. The direction of the through hole 34b is preferably the same as the discharge direction of the fluid output unit 22 and the fluid discharge unit 54, and thus the through hole 34b more effectively imparts a non-contact tactile sensation to the operator who is trying to operate the operation surface unit 21 by the discharged fluid.

[0020] <Proximity Sensor 40 as Target Position Detector> The proximity sensor 40 detects the position (which may also be referred to as the proximity state) of the target object, which is the operator's finger (the pad of the finger) U (see Figure 4), in other words, the distance between the operation unit 20 and the operator's finger (the pad of the finger) approaching the operation unit 20.

[0021] The proximity sensor 40 can detect, as the separation distance, the distance from the operation surface 21 to a finger U (see FIG. 4) approaching or moving away from the operation surface 21 (the distance from the operation surface 21 to the finger U).

[0022] The proximity sensor 40 is, for example, a capacitance-type proximity sensor that performs detection based on capacitance. A capacitance-type proximity sensor detects a change in capacitance that occurs between a detection target, such as an operator's finger, which is also a conductor, and a sensor electrode. A capacitance-type proximity sensor detects the approach of a detection target at a position away from the sensor electrode based on the change in capacitance between the detection target and the sensor electrode. Note that a capacitance-type proximity sensor can detect conductors and dielectrics as detectable objects, so it can also detect metals, resins, water, etc., and can also detect the proximity of an operator's finger (finger pad) and other objects.

[0023] The proximity sensor 40 is preferably provided near the operation unit 20. For example, the proximity sensor 40 is disposed in a concave sensor mounting recess 26 formed on the back surface of the operation unit 20, enabling more accurate detection of the proximity of an operator (fingers, finger pads) to the operation unit 20. By providing the proximity sensor 40 on the bottom surface of the sensor mounting recess 26, the sensor is disposed in a position even closer to the surface of the operation surface unit 21, enabling more accurate detection of distance.

[0024] <Operation unit 20> The operation unit 20 is connected to the actuator 5 and vibrates when driven by the actuator 5. The operation unit 20 may be directly connected to the actuator 5, for example, and vibrates in response to the vibration of the actuator 5.

[0025] The operation section 20 has an operation surface section 21, a fluid output section 22, a support body 24, and an actuator attachment section .

[0026] The operation surface unit 21 is a portion that an operator touches to operate, and the operator operates the surface. The operation surface unit 21 is flat, for example, formed in a disk shape, and is movably disposed within the opening 34a. The operation unit 20 may be disposed flush with the front surface unit 34.

[0027] The operation surface portion 21 is provided integrally with a support body 24 arranged on the back side, and the support body 24 is attached to the housing 30 via an elastic support portion 80 so as to be freely movable. The support 24 has an elastic support part connection part 242 connected to the elastic support part 80, and is supported movably in the operation direction of the operation surface part 21 (which is also the direction of approaching and separating from the back plate of the housing body 32) relative to the housing body 32 via the elastic support part 80. As a result, the support 24 is movable in the direction of approaching and separating from the front face part 34 on the back side of the front face part 34.

[0028] The support 24 has a fluid output portion 22 and an actuator mounting portion 28 to which the actuator 5 is attached.

[0029] The fluid output portion 22 provides a tactile sensation to the operator's fingers (the pads of the fingers) without contact, and discharges the fluid to the outside via the through-holes 34b in the front surface portion 34.

[0030] The fluid output portion 22 has a connection hole 221 formed in the support 24 and a cylindrical guide portion 222 connected to the nozzle portion 59 of the vibration actuator 5 . The connection hole 221 is an inclined hole, and the extending direction of the guide portion 222 is in a position facing and spaced from the front surface of the operation surface portion 21, and is inclined so as to face the non-contact position.

[0031] Specifically, the connection hole 221 is formed so that the connecting guide portion 222 extends in the same direction as the discharge direction of the fluid discharged from the actuator 5 . The actuator mounting section 28 fixes the actuator 5 to the operation section 20, and when vibration occurs in the actuator 5, the operation section 20 is also vibrated integrally. The actuator mounting section 28 fixes the actuator 5 to the operation section 20 so that the actuator 5 discharges the fluid toward a position that faces the operation section 20 (or may face the operation section 20) and does not contact the operation section 20.

[0032] <Actuator 5> The actuator 5 generates vibrations and outputs a fluid by being movable due to electromagnetic drive of a magnet and a coil, and vibrates and outputs a fluid when drive power is supplied (a drive voltage is applied). That is, the actuator 5 has a vibration generating unit (fixed body 60, coils 61, 62, movable body 70, magnet 72, etc. shown in Figure 7) that vibrates the operating unit 20, and a fluid discharge unit 54 (see Figure 7) that outputs fluid to the front of the operating unit.

[0033] The actuator 5 itself functions as a vibrating body as a result of the vibration of a movable body 70 (see FIG. 7) housed therein, and outputs air as a fluid as the movable body vibrates.

[0034] The actuator 5 is fixed to the operation unit 20 via a fastening member 38, and vibrates the operation unit 20, specifically, the operation surface portion 21, by vibration. A specific configuration of the actuator 5 will be described later.

[0035] In the actuator 5, a guide portion 222 of the fluid output portion 22 is connected to a fluid discharge portion 54 that outputs a fluid by vibration. The guide portion 222 is connected so as to extend in the same direction as the output direction of the fluid from the fluid discharge portion 54 via the fluid output portion 22.

[0036] The actuator 5 is fixed to the actuator mounting portion 28 so that the output direction of the fluid discharge portion 54 is a straight line, facing a facing position in front of the operating portion 20 (a "proximity position" that is a position a predetermined distance away within the "contact distance" and is close to the operating surface portion 21 that provides a non-contact tactile sensation).

[0037] The actuator 5 outputs vibrations in response to a drive voltage applied via an actuator driver 14 in response to a drive command from the microcomputer 12, and outputs a fluid through the vibrations.

[0038] <Control unit 11 (microcomputer 12, actuator driver 14)> When the tactile sensation providing device 1 is operated in a contact or non-contact manner, the microcomputer 12 drives the actuator 5 to provide a tactile sensation.

[0039] The microcontroller 12 drives the actuator 5 based on the result detected by the proximity sensor 40 (the distance until the operator's finger U, which is the detection target, comes into contact with the operation surface 21 (called the "contact distance", which includes the proximity distance). The microcontroller 12 detects that the finger U has approached the operation surface 21 by the proximity sensor 40 by a predetermined distance, and outputs a drive command to the actuator driver 14 to drive the actuator, causing air to be released by the fluid output unit 22.

[0040] Furthermore, the microcomputer 12 detects, by the proximity sensor 40 , that a finger U has come into contact with the operation surface portion 21 , and outputs a drive command to the actuator driver 14 to drive the actuator 5 and vibrate the operation portion 20 .

[0041] The microcomputer 12 can change the vibration frequency of the actuator 5, which vibrates via the actuator driver 14, in accordance with the "contact distance" detected by the proximity sensor 40. For example, as the "contact distance", the vibration frequency can be changed according to a stepwise different proximity distance to the operation surface unit 21, or a "contact distance" that follows the displacement of the operation surface unit 21 after contacting the operation surface unit 21.

[0042] Furthermore, the microcomputer 12 vibrates the operation unit 20 by aligning (making the same) the vibration frequency of the actuator 5 with a resonance frequency that is set based on the weight of the elastic support unit 80 and the operation unit 20 itself. This allows the microcomputer 12 to vibrate the actuator 5 more effectively with less power consumption, and allows the release of fluid and the vibration to be changed.

[0043] This provides a tactile sensation of vibration to the finger U contacting the operation surface portion 21. The microcomputer 12 functions as a contact / non-contact operation detection portion that detects the proximity / contact of the finger U to the operation surface portion 21, that is, detects contact / non-contact operations. The microcomputer 12 also functions as a drive command portion that generates and outputs (commands) a drive signal for driving the actuator 5 based on the detection result.

[0044] The microcomputer 12 can cause the air to be released through the fluid output unit 22 in response to the distance of the finger U from the operation surface unit 21. In other words, air may be released multiple times in response to the approach distance of the finger U from the operation surface unit 21.

[0045] The actuator driver 14 supplies a drive voltage to the actuator 5 in response to a drive command from the microcomputer 12 to drive the actuator 5 .

[0046] <An example of actuator 5> Fig. 6 is a perspective view showing an example of an actuator included in the device, Fig. 7 is a vertical cross-sectional view showing a configuration of a main part of the example of the actuator, and Fig. 8 is an exploded view of the example of the actuator.

[0047] The actuator 5 is a vibration actuator that generates vibrations to detect operations such as haptics, and is used as a device that provides tactile feedback upon contact and also provides mid-air tactile feedback.

[0048] The actuator 5 is connected to an operation unit 20 having an operation surface 21 that is operated by a user through contact or non-contact.

[0049] The actuator 5 transmits vibrations and fluid discharged due to the reciprocating movement of the movable body 70 in response to the user's contact operation and non-contact operation on the operation surface unit 21 as a tactile sensation and a force sensation to the user. The actuator 5 may present the vibrations to the user as sound to appeal to the sense of hearing. In this way, the actuator 5 can present vibrations and sound, vibrations, sound and fluid, fluid and sound, etc. to the user.

[0050] The non-contact tactile sensation provided by the actuator 5 not only provides a tactile sensation, but also a sense of force, etc., by releasing a fluid in the air by the movement and vibration of a movable body at a predetermined amount, speed, etc. For example, this may be called mid-air tactile feedback or mid-air force feedback, and is a function used in haptics.

[0051] As shown in Figures 6 to 8, the actuator 5 has a drive unit 53 housed inside a case 50 having a case body 51 and a bracket 52, a fluid discharge portion 54, and a lid portion 57 fixed to the bracket 52 so as to close the case 50.

[0052] When the drive unit 53 is driven, the fluid discharge portion 54 discharges a fluid, for example, air, to the outside via the nozzle portion 59 .

[0053] The drive unit 53 has a main portion of the fixed body 60 including the coil holding portion 63, a movable body 70, and elastic support portions 71a and 71b that connect the main portion and the movable body 70.

[0054] Specifically, the drive unit 53 has, as the movable body 70, an output shaft portion 77, a magnet 72, a pair of yokes 73a, 73b, and a pair of sleeves 74a, 74b. The drive unit 53 has, as the fixed body 60, coils 61, 62, a coil holder 63 that holds the coils 61, 62, and an outer yoke 65.

[0055] In the actuator 5, the fluid discharge portion 54 is formed within the case 50 together with the lid portion 57, and the movable body 70 is supported so as to be capable of reciprocating motion relative to the fixed body 60 via elastic support portions 71a, 71b that are installed between the movable body 70 and the fixed body 60 within the case 50.

[0056] The actuator 5 includes a magnet 72 on a movable body 70 and a pair of annular coils 61 and 62 on a fixed body 60 .

[0057] In the actuator 5, the coils 61 and 62, the outer yoke 65, the magnet 72, and the yokes 73a and 73b form a magnetic circuit that moves the movable body 70.

[0058] In the actuator 5, the movable body 70 reciprocates in a straight line (axial direction) along the axial direction of the case 50 (vibration direction and fluid output direction) due to cooperation (electromagnetic interaction) between the energized coils 61, 62 and the magnet 72.

[0059] A current having a frequency equivalent to the resonant frequency of the movable body 70 is supplied to the coils 61 and 62, causing the movable body 70 to move.

[0060] The movable body 70 and the fluid discharge portion 54 are connected via an output shaft portion 77 provided on the movable body 70, and the fluid discharge portion 54 discharges fluid when the movable body 70 moves.

[0061] Fluid discharge portion 54 discharges and receives fluid from chamber portion 54a in accordance with deformation of diaphragm 55, which will be described later, in response to vibration of movable body 70. As a result, the fluid discharged from chamber portion 54a hits the user, providing the user with a tactile sensation.

[0062] <Movable body 70> The movable body 70 can reciprocate in both axial directions, which is the reciprocating direction, or in one axial direction, which is one of the axial directions. The movable body 70 has an output shaft portion 77, a magnet 72, yokes 73a, 73b, and sleeves 74a, 74b, as well as an annular fixed portion 75 and a spring connection portion 76.

[0063] The movable body 70 includes yokes 73a and 73b, sleeves 74a and 74b, annular fixed portion 75, and spring connection portion 76 arranged in series in both directions of the reciprocating movement around the magnet 72. Specifically, the movable body 70 includes yokes 73a and 73b arranged in layers on the front and back surfaces of the magnet 72, and the elastic support portions 71a and 71b engage with the other ends of the sleeves 74a and 74b, the other ends of which are engaged with the openings 732 and 734 of the yokes 73a and 73b. In the movable body 70, the outer peripheral surfaces 70a of the magnet 72 and the yokes 73a and 73b, which are flush with each other, face the inside of the inner peripheral surface 632a of the holding portion main body 632 with a predetermined gap therebetween. When the movable body 70 moves reciprocally, the outer peripheral surface 70a reciprocates along the inner peripheral surface 632a without contacting it.

[0064] The magnet 72 is solid and magnetized in the axial direction (reciprocating direction). Specifically, the magnet 72 is formed in a disk shape, and has front and back surfaces separated in the reciprocating direction (thickness direction) as magnetic pole surfaces of different polarities (for example, the front surface is an S pole and the back surface is an N pole).

[0065] Magnet 72 is disposed at a position surrounded by coils 61, 62 and spaced apart. The "radial direction" refers to a direction perpendicular to the axes of coils 61, 62 and also perpendicular to the reciprocating direction. The "spacing" in the radial direction is the spacing between coils 61, 62 including holding portion main body 632 and magnet 72, and is set to a spacing that allows movement in the reciprocating direction of movable body 70 without contacting each other.

[0066] In this embodiment, the magnet 72 is disposed at the center in the width direction of the outer peripheral surface on the radially outer side so as to face the center of the holder main body 632 in a direction perpendicular to the axial direction.

[0067] In this embodiment, the magnet 72 is a solid body, and therefore, 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 form the magnetic pole faces is not reduced by the formation of the openings. The yokes 73a and 73b are magnetic bodies, and together with the magnet 72, form a movable body side magnetic circuit. The yokes 73a and 73b are fixed to the magnet 72 via, for example, a thermosetting adhesive such as epoxy resin or an anaerobic adhesive. One end of the upper and lower sleeves 74a and 74b is fitted and fixed in the through openings provided in the center of each of the yokes 73a and 73b.

[0068] The sleeves 74a, 74b have a function of fixing the movable body side magnetic circuit to the elastic support parts 71a, 71b, and also function as a weight for the movable body 70 to increase the reciprocating output of the movable body 70. The base end of the output shaft part 77 is inserted into the internal through hole of the sleeve 74a and is firmly fixed thereto. The sleeves 74a, 74b are joined to the yokes 73a, 73b by press-fitting, but the method is not limited thereto and may be, for example, joined by adhesion using a thermosetting adhesive such as epoxy resin or an anaerobic adhesive.

[0069] The output shaft portion 77 is connected to the movable body 70, moves together with the movable body 70, and outputs the operation of the movable body 70 to the outside. The output shaft portion 77 is disposed on the axis of the movable body 70, and the base end side is fitted into the sleeve 74a and fixed to the movable body 70.

[0070] The base end of output shaft portion 77 is disposed so as to abut against the surface of magnet 72. The tip end of output shaft portion 77 passes through inner periphery portion 712, which is the inner diameter side end (other end) of the upper leaf spring serving as elastic support portion 71a, and is fitted inside piston 56 above elastic support portion 71a. Output shaft portion 77 is connected to diaphragm 55 via piston 56, and the axes of both are the same.

[0071] The output shaft portion 77 is inserted through an inner periphery 712 of the elastic support portion 71 a , and the elastic support portion 71 a is sandwiched around the output shaft portion 77 between the sleeve 74 a and the annular fixing portion 75 .

[0072] In this way, the output shaft portion 77 protrudes from the movable body 70 in one direction of the movement of the movable body 70 to the opposite side of the magnet 72 relative to the elastic support portion 71a, and can move the piston 56 back and forth in the axial direction.

[0073] On the other hand, sleeve 74b, which is disposed on the opposite side of sleeve 74a with magnet 72 in between, is joined to inner periphery 712, which is the end on the inner diameter side of the lower leaf spring serving as elastic support part 71b. One end (lower end) of sleeve 74b protrudes from yoke 73b to the other side (downward), and its tip (lower end) surface abuts against inner periphery 712 of the lower leaf spring serving as elastic support part 71b, and together with spring connection part 76 inserted into a through hole opening at the joint surface, it holds inner periphery 712.

[0074] The spring connection portion 76 may be, for example, a rivet such as a blind rivet. The spring connection portion 76 is fixed in the through hole of the sleeve 74b by press-fitting an axial insertion portion with caulking or the like.

[0075] By simply providing sleeves 74a, 74b on yokes 73a, 73b that form the movable body side magnetic circuit, the upper leaf spring and the lower leaf spring, which are elastic support parts 71a, 71b, can be easily attached to the movable body 70, improving the ease of assembly. Although sleeves 74a, 74b may be made of a magnetic material, if they are made of a non-magnetic material, the magnetic flux from yoke 73a does not flow upward, and the magnetic flux from yoke 73b does not flow downward. Therefore, the magnetic flux can be efficiently passed to the coils 61, 62 located on the outer periphery side of yokes 73a, 73b.

[0076] The elastic support parts 71a and 71b are leaf springs, and are arranged to sandwich the movable body 70 in the moving direction of the movable body 70, and are respectively installed on both the movable body 70 and the fixed body 60 so as to cross the moving direction. The elastic support parts 71a and 71b may be non-magnetic or may be magnetic (specifically, ferromagnetic). The elastic support parts 71a and 71b are each a plurality of plate-shaped spiral springs that are flat in a normal state. In the elastic support parts 71a and 71b, the circular arc-shaped deformation arm parts 714 extend radially outward at equal intervals from the outer edge part of the circular plate-shaped inner peripheral part 712, and the ends of the deformation arm parts 714 are connected to the circular plate-shaped outer peripheral fixed part 716.

[0077] In this manner, in the actuator 5, the movable body 70 having the output shaft portion 77 is supported movably by the elastic support portions 71a and 71b at both ends in the vibration direction (axial direction). This ensures that the movable body 70 moves linearly in the movement direction. Note that damping portions (dampers) may be attached to the elastic support portions 71a and 71b. The damping portions suppress the resonance peaks caused by the elastic support portions 71a and 71b, and generate stable vibrations over a wide range.

[0078] <Fixed body 60> The fixed body 60 holds the coils 61, 62, and also supports the movable body 70 movably in a moving direction (coil axial direction, axial direction of the movable body 70) via elastic support parts 71a, 71b radially inside the coils 61, 62. The fixed body 60 has a coil holding part 63 that holds the coils 61, 62, in addition to the coils 61, 62 and an outer yoke 65.

[0079] The coils 61, 62 generate a magnetic field when energized, and move the movable body 70 in the axial direction of the coils 61, 62 (the magnetized direction of the magnet 72) as the moving direction due to electromagnetic interaction with the magnet 72. The coils 61, 62 are arranged at intervals on the radial outside of the movable body 70. The coils 61, 62, together with the magnet 72, form a magnetic circuit similar to that of a voice coil motor.

[0080] Each end of the coils 61, 62 is connected to a terminal portion 66 disposed on the central flange portion 636 by being twisted. In addition, each end of the coils 61, 62 is supplied with an AC power supply (AC voltage) having the same frequency as the resonant frequency of the movable body 70 from, for example, a control portion (actuator driver) as an AC supply portion. The power supply generates a thrust between the coils 61, 62 and the magnet that allows the coils 61, 62 to move toward and away from each other in their axial directions. A current (for example, an AC current) having the same frequency as the resonant frequency of the movable body 70 is supplied to the coils 61, 62.

[0081] The coil holding part 63 is a cylindrical body, holds the coils 61 and 62 arranged on the outer peripheral surface, surrounds the magnet 72 with the inner peripheral surface 632a, and has the movable body 70 having the magnet 72 arranged therein so as to be freely movable. The coil holding part 63 is a cylindrical body formed of a resin such as phenol resin or polybutylene terephthalate (PBT). The coil holding part 63 is made of a material containing a phenol resin such as bakelite, which has high flame retardancy, so that the dimensional accuracy is improved, the positional accuracy of the coils 61 and 62 is improved, and the variation in characteristics during reciprocation or vibration can be reduced. Specifically, the coil holding part 63 has a cylindrical holding part main body 632, a central flange part 636 and flange parts 637 and 638 protruding in the radial direction from the outer periphery of the holding part main body 632, and a terminal part 66.

[0082] The holding section main body 632 functions as a protective wall section that protects the coils 61, 62 from collisions when the movable body 70 arranged inside is driven. The thickness of the holding section main body 632 is a thickness that provides a strength that does not affect the coils 61, 62 on the outer periphery even if the moving movable body 70 comes into contact with it. On the outer periphery of the holding section main body 632, the coils 61, 62 are arranged side by side in the coil axis direction between the central flange section 636 and each of the flange sections 637, 638. The holding section main body 632 positions the coils 61, 62 so as to surround them on the radially outer side with respect to the outer periphery surfaces of the yokes 73a, 73b of the movable body 70 (the outer periphery surfaces of the magnet 72 and the yokes 73a, 73b).

[0083] Specifically, the outer circumferential surface of the holder main body 632 is partitioned by a central flange portion 636 and each of the flange portions 637, 638, and is provided with a concave coil attachment portion on the outer circumferential side that opens radially outward.

[0084] The terminal portion 66 functions as a connector wiring portion that connects to an external device by intertwining the coil windings of the coils 61, 62. The coils 61, 62 are connected to the external device via the terminal portion 66, making it possible to supply power from the external device to the coils 61, 62. The terminal portion 66 is a conductive member that protrudes from the outer periphery of the holding portion main body 632, and is provided so as to protrude from the outer periphery of the central flange portion 636.

[0085] The flange portions 637, 638 are provided at both ends spaced apart in the axial direction (which is the moving direction and also the up-down direction in this embodiment) of the holding portion main body 632, and constitute the upper and lower ends of the coil holding portion 63. The flange portions 637, 638 are at the ends (upper and lower ends in this embodiment) on the side in the direction away from the central flange portion 636, to which the elastic support portions 71a, 71b are fixed.

[0086] The outer yoke 65 is a cylindrical magnetic body that surrounds the outer circumferential surface of the coil holding portion 63 and is disposed in a position that covers the radial outside of the coils 61, 62. The outer yoke 65 prevents leakage of magnetic flux from the actuator 5 to the outside in the radial direction in the magnetic circuit.

[0087] Case 50 is constructed by fixing bracket 52 inside an opening of bottomed cylindrical case body 51 that houses drive unit 53, and providing a lid 57 to cover bracket 52. Cutouts 511 are formed in the peripheral wall of case body 51, and drive unit 53 is housed inside cutout 511 with terminals 66 positioned therein. Cutout 511 and terminals 66 function as positioning devices when housing drive unit 53 inside case body 51.

[0088] Bracket 52 is an annular body that is attached to the upper part of drive unit 53 housed in case body 51 and supports fluid discharge part 54 that is attached to the upper part. Bracket 52 ensures a movable range in the movement direction of output shaft part 77 (part to which fixed part 75 and piston 56 are mainly attached). Positioning protrusions 522 that engage with cutout parts 511 of case body 51 are provided on the outer periphery of bracket 52.

[0089] Although the case 50 is cylindrical, the shape is not limited to this, and it may be an elliptical cylinder or a polygonal cylinder, and the length in the reciprocating direction may be longer or shorter than the length in the direction perpendicular to the reciprocating direction. Note that the elliptical cylinder and the elliptical shape in this embodiment are mainly ellipses that include parallel straight line portions.

[0090] The fluid discharge part 54 is attached to the case 50, and discharges a fluid (e.g., air) from a nozzle part 59 by movement of the movable body 70. The fluid discharge part 54 has a chamber part 54a that stores the fluid therein and has a diaphragm 55, and a nozzle part 59 that serves as a passage for the fluid. The fluid discharge section 54 has, as elements constituting the chamber section 54a, a cylindrical lid section 57 with a nozzle section 59 and a diaphragm 55 arranged to close the inside of the lid section 57. The fluid discharge section 54 also has an annular discharge wall section 58 that sandwiches the outer periphery 554 of the diaphragm 55 together with the lid section 57.

[0091] The fluid discharge unit 54 discharges and lets the fluid in and out of the chamber unit 54a in response to the vibration of the movable body 70 vibrating at the resonant frequency in accordance with the deformation of the diaphragm 55 accompanying the vibration of the movable body 70, and presents a tactile sensation to the user by the fluid coming out of the chamber unit 54a. The diaphragm 55 may be made of a general rubber material as long as it is an elastically deformable material, and is formed, for example, of silicone rubber, ethylene propylene rubber (EPDM), or the like.

[0092] The volume of chamber portion 54a changes as movable body 70 moves. Nozzle portion 59 is connected to chamber portion 54a via opening 544. Fluid (e.g., air) can be let in and out of chamber portion 54a via nozzle portion 59, and in particular, the fluid can be discharged to the outside. Diaphragm 55 is disposed between discharge wall portion 58 and lid portion 57 so as to separate the internal spaces of both in the vibration direction.

[0093] Discharge wall portion 58 is fixed to bracket 52, and ensures a movable range in the vibration direction of output shaft portion 77 (specifically, piston 56 attached to output shaft portion 77). Discharge wall portion 58, together with cover portion 57, holds diaphragm 55 therebetween, thereby holding chamber portion 54a formed by cover portion 57 and diaphragm 55. Discharge wall portion 58 may be called an air bracket, and is made of the same resin as piston 56 and cover portion 57, for example, ABS.

[0094] A piston 56 is fixed to the center of the lower surface of the diaphragm 55. The center of the diaphragm 55 and the center of the piston 56, that is, the center of the output shaft portion 77, are arranged on the same axis. The piston 56 is formed of a resin such as ABS, and has a small diameter portion and a large diameter portion 562 that abuts against the center of the diaphragm 55. The large diameter portion 562 presses and deforms the diaphragm 55, and deforms it so as to fit the inner surface of the opposing lid portion 57. This causes the diaphragm 55 to deform so as to crush the space in the chamber portion 54a, and the fluid in the chamber portion 54a can be discharged without waste.

[0095] In addition, since the fluid is released in the same direction as the deformation of the deforming diaphragm 55, in this case above the center of the diaphragm, when the diaphragm 55 is not pushed up, it maintains a flat shape due to its own weight and is not subjected to any load, thereby reducing mechanical strain.

[0096] <Operation of actuator 5> The operation of the actuator 5 will be described using as an example a case in which the magnet 72 is magnetized so that the surface on one side in the magnetization direction (the upper side in this embodiment) is an S pole and the back surface on the other side in the magnetization direction (the lower side in this embodiment) is an N pole, as shown in Figure 7.

[0097] In the actuator 5, the movable body 70 is considered to correspond to the mass part in a vibration model of a spring-mass system, so that, for example, when the resonance is sharp (has a steep peak), the steep peak can be suppressed by damping the reciprocating motion. By damping the vibration, the resonance becomes less steep, and, for example, the maximum amplitude value and maximum movement amount of the movable body 70 at the time of resonance do not vary, and vibration with an appropriate and stable maximum movement amount is output.

[0098] A magnetic flux flow mf is formed which emanates from the back surface side of magnet 72, is radiated from yoke 73b toward coil 62, passes through outer yoke 65, and passes through coil 61 and enters magnet 72 from yoke 73a above magnet 72.

[0099] Therefore, when electricity is applied as shown in FIG. 7, the magnetic field of magnet 72 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.

[0100] The Lorentz force in the -f direction is perpendicular to the direction of the magnetic field and the direction of the current flowing through the coils 61 and 62. Since the coils 61 and 62 are fixed to the fixed body 60 (coil holding portion 63), a force opposite to the Lorentz force in the -f direction is generated as a thrust in the F direction in the movable body 70 having the magnet 72 according to the law of action and reaction. As a result, the movable body 70 having the magnet 72 moves in the F direction, that is, toward the bottom side. The output shaft portion 77 also moves in the F direction, that is, toward the bottom side (the bottom surface of the case main body 51), and the piston 56 and the diaphragm 55 also move in the F direction. As a result, the chamber portion 54a can take in the fluid at its maximum capacity due to the maximum amplitude of the movable body 70.

[0101] On the other hand, when the current flow direction of the coils 61, 62 is switched to the opposite direction and current is passed through the coils 61, 62, a Lorentz force (f direction) in the opposite direction to the -f direction is generated. Due to the generation of this Lorentz force in the f direction (opposite to the -f direction), a force opposite to the Lorentz force in the f direction is generated as a thrust (-f direction thrust) in the movable body 70 in accordance with the law of action and reaction. As a result, the movable body 70 moves in the opposite direction to the F direction (-F direction not shown), that is, toward the top surface side of the lid 57 of the fixed body 60.

[0102] As a result, the output shaft portion 77 also moves in the opposite direction to the F direction (-F direction not shown), i.e., toward the lid portion 57, and the diaphragm 55 joined via the piston 56 also moves in the -F direction, contracting the chamber portion 54a and driving the taken-in air to be released at maximum amplitude.

[0103] In this way, in the actuator 5, the movable body 70 is moved only to either the lid 57 side or the bottom side, and the diaphragm 55 is moved via the output shaft 77 in response to the user's operation to release the fluid to the outside, thereby presenting the user with a so-called aerial haptic sensation. In addition, the coils 61 and 62 can be made to reciprocate (vibrate) by alternately supplying current in opposite directions, and this can be used to drive the movable body 70 in response to the movement of the movable body 70 by the user's operation, to vibrate, and to release the fluid to the outside.

[0104] In addition, in the actuator 5, when not energized and not driven (not vibrating), a magnetic attraction force acts between the magnet 72 and the outer yoke 65, and they function as a magnetic spring. The magnetic attraction force generated between the magnet 72 and the outer yoke 65 and the restoring force of the elastic support parts 71a and 71b that try to return to their original shapes cause the movable body 70 to return to its original position. Note that the driving principle of this actuator 5 is similar to the equation of motion and the circuit equation disclosed in the actuator disclosed in Japanese Patent Application No. 2020-517611, so a description thereof will be omitted.

[0105] In the actuator 5, the flat elastic support parts 71a and 71b elastically hold the movable body 70 that moves the diaphragm 55 of the fluid discharge part 54 at both ends separated in the movement direction, which is the coil axis direction, so that the movable body 70 can move freely. The diaphragm 55 deforms with the vibration of the movable body 70 that resonates when power is supplied to the coils 61 and 62 at a resonance frequency set by the spring constant of the elastic support parts 71a and 71b, which are leaf springs, and the mass of the movable body 70. In addition, by making this resonance frequency the same as the resonance frequency based on the elastic support part 80 of the tactile sensation presentation device 1 and the weight of the operation part 20, it is possible to output stronger vibrations and air corresponding to this vibrations via the fluid output part 22.

[0106] <Effects> The operation surface section 21 is elastically supported and provided so as to be freely movable in the operation direction perpendicular to the surface, and a vibration actuator 5 that vibrates in the direction perpendicular to the surface is connected to this operation surface section 21, so that a stronger tactile expression can be presented to the operation surface section 21 by vibration.

[0107] Moreover, the operation surface section 21 is provided on a part of the front surface section 34, which is a surface panel, so as to be freely movable relative to the front surface section 34. Specifically, the operation surface section 21 is disposed so as to be freely displaceable in the pressing direction within an opening 34a formed in the front surface section 34, with its surface being flush with the surface of the front surface section 34. As a result, in the tactile sensation presentation device 1, it is possible to directly vibrate only the operation surface section 21 in the front surface section 34, without vibrating the entire front surface section 34, and it is possible to present a tactile sensation due to vibration only to the operation surface section 21.

[0108] Furthermore, in the haptic feedback device 1, the actuator 5 vibrates the operation unit 20, so that sound may be generated by the vibration of the operation unit 20, and sound may be presented together with the vibration. In addition, since air is output as a fluid to the fingers of an operator who operates the operation surface portion 21 of the operation unit 20, a tactile sensation can be presented in a non-contact manner.

[0109] The actuator 5 also has a fluid discharge section 54 that discharges fluid (air) in the vibration direction due to vibration of the movable body 70. The actuator 5 is fixed to the actuator mounting section 28 at an angle to the surface of the operation surface section 21 so that the axial direction, which is the fluid discharge direction, is a predetermined distance (contact distance) away from the operation surface section 21 and faces a position in front of the operation surface section 21. This allows the fluid from the actuator 5 to be discharged efficiently and effectively over the shortest distance, and more effectively improves the tactile sensation to the operator's fingers.

[0110] Furthermore, the actuator 5 is driven by the proximity sensor 40, which is a position detection unit, to generate vibrations and release fluid, thereby making it possible to detect the operator's fingers with or without contact. Since the detection of the position of the fingers U by the proximity sensor 40 can also be considered as detection of the operator's behavior, the tactile sensation provision device 1 can appropriately provide the operator with a contact or non-contact tactile sensation according to the behavior of the operator operating the operation surface unit 21.

[0111] Furthermore, by changing the drive frequency according to the input signal of the proximity sensor 40, the output to be presented, that is, various vibrations can be switched to be generated.

[0112] In the tactile sensation presentation device 1, contact and non-contact tactile sensations can be expressed using vibration, sound, and air with a single actuator (device) 5. In addition, since contact and non-contact tactile sensations can be expressed with just one built-in actuator 5, there is no need to reserve space for multiple devices that respectively express contact and non-contact tactile sensations, which allows for miniaturization and simplification.

[0113] <Variation 1> FIG. 9 is a front view showing a modified example of a haptic sensation providing device according to an embodiment of the present invention. As shown in FIG. 9, in the tactile sensation providing device, a load detection unit 90 may be provided that detects the load as the amount of pressure applied to the operation unit 20 as a contact operation on the operation unit 20 (specifically, the operation surface unit 21), and a tactile sensation may be provided in response to the pressure operation.

[0114] The load detection unit 90 receives a touch operation by an operator on the operation surface unit 21. The load detection unit 90 can also be said to detect the position of a detection target, such as a finger, that touches the operation surface unit 21. The load detection unit 90 is an example of a load sensor that detects a load applied to the operation surface unit 21 (operation unit 20). The load detection unit 90 may be a strain detection unit, such as a strain gauge, for example.

[0115] In the device main body 10A of the haptic feedback device 1A in FIG. 9, the load detection section 90 is disposed on the arm of the elastic support section 80, which is a leaf spring, at a portion that is deformed by the load on the operation section 20. The load detection unit 90 detects the distortion of the arm, and the control unit receives the detection result. The load detection unit 90 inputs a signal indicating the detected distortion (operation load detection signal) to the microcomputer. Note that the signal may be input to the microcomputer via an amplifier and an ADC.

[0116] The load detection unit 90 detects a touch operation on the operation surface unit 21, and thereby the actuator 5 can be driven in response to this touch operation. That is, the actuator 5 can be driven when the operation surface unit 21 is touched, and a tactile sensation can be presented via the operation surface unit 21, and a tactile sensation can be presented after the touch operation, that is, when the operation surface unit 21 is released after being pressed. That is, the load detection unit 90 is an operation amount detection unit that detects the amount of operation of the operation surface unit 21, specifically, the degree of pressure on the operation surface unit 21, and can detect the amount of operation on the operation surface unit 21 and generate various vibrations in the actuator 5 in response to this amount of operation. As a result, the vibrations presented as a tactile sensation when the operation surface unit 21 is operated can be applied in various variations in response to the amount of operation.

[0117] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0118] 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]

[0119] The tactile sensation presentation device of the present invention has the effect of being compact and inexpensive, detecting both contact and non-contact to present a suitable operating sensation to the user, and is useful, for example, as a device that presents tactile sensations, etc., through contact and non-contact in response to operations by both disabled and able-bodied persons. [Explanation of symbols]

[0120] 1, 1A tactile presentation device 5 Actuators 10, 10A Device body 11 Control section 12 Microcomputer 14 Actuator driver 20 Control section 21 Operation panel 22 Fluid output section 24 Support 26 Sensor mounting recess 28 Actuator mounting part 30 Case 32 Main unit 34 Front part 34a opening 34b Through hole 38 Fastening member 40 Proximity Sensor 50 cases 51 Case body 52 Bracket 53 Drive unit (vibration generating part) 54 Fluid discharge part 54a Chamber section 55 Diaphragm 56 Piston 57 Lid 58 Discharge wall 59 Nozzle section 60 Fixed body (vibration generating part) 61, 62 Coil (vibration generating part) 63 Coil holder 65 Outer Yoke 66 Terminal section 70 Movable body (vibration generating part) 71a, 71b, 80 Elastic support part 72 Magnet (vibration generating part) 73a, 73b York 74a, 74b Sleeve 75 Fixed part 76 Spring connection 77 Output shaft 90 Load detection unit

Claims

1. An operation unit that is operated by contact; An actuator that is movable by electromagnetic drive; having The actuator has a vibration generating unit that vibrates the operation unit and a fluid discharging unit that outputs a fluid to a front surface of the operation unit. Tactile presentation device.

2. The actuator is connected to the operating unit and configured to output the fluid via the operating unit. The tactile sensation providing device according to claim 1.

3. The actuator is movable and vibrates by electromagnetic driving of a magnet and a coil, the vibration generating unit vibrates the operation unit, and the fluid discharging unit discharges fluid. The tactile sensation providing device according to claim 1.

4. The vibration generating unit vibrates the operation unit in a direction perpendicular to the operation surface. The tactile sensation providing device according to claim 1.

5. the operation unit is movably disposed within an opening of the operation panel and has an operation surface portion exposed so as to be touch operable; The actuator vibrates the operation surface within the opening. The tactile sensation providing device according to claim 1.

6. a contact distance detection unit that detects a contact distance of an operating finger to the operation unit, When the contact distance detection unit detects a contact with the operation unit, the actuator outputs vibration via the vibration generation unit; Discharging the fluid through the fluid discharging unit in accordance with the contact distance from the operation unit detected by the contact distance detection unit. The tactile sensation providing device according to claim 1.

7. a contact distance detection unit that detects a contact distance of an operator to the operation unit, The actuator changes a vibration frequency generated by the vibration generating unit in response to a contact distance from the operation unit detected by the contact distance detecting unit. The tactile sensation providing device according to claim 1 .

8. The actuator is fixed to the operation unit at an incline so that the direction in which the fluid is discharged by the fluid discharge unit faces the front of the operation unit. The tactile sensation providing device according to claim 2.

9. a position detection unit that detects a position of an operating finger that operates the operation unit, The actuator outputs vibration via the vibration generating unit in response to the position detected by the position detecting unit. The tactile sensation providing device according to claim 1.

10. The actuator generates sound by moving in response to at least one of the generation of vibration by the vibration generating unit and the discharge of fluid by the fluid discharging unit. The tactile sensation providing device according to claim 1.

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