Actuator, kinesthetic sense presentation device and operation device

Abstract

To perform directional representation with a space-saved, low-cost, and simple configuration.SOLUTION: An actuator includes: a movable body; a multi-axis rotation support portion which supports the movable body in a multi-axis rotatable manner; a fixed body to which the multi-axis rotation support portion is attached; and a torque generation portion which has a magnet positioned on the movable body or the fixed body and a coil positioned on the other and applies rotational torque to the movable body in such a manner that the movable body moves in an arc-like manner from an initial position by energizing the coil.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to an actuator, a force feedback device, and an operation device. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a force feedback device as disclosed in Patent Document 1, for example, is known as a device that gives a user carrying the device a sensation of a force being applied in a predetermined direction. The force feedback device of Patent Document 1 has a magnet fixed to a flat weight, generates a magnetic field using a coil, and vibrates the weight by reciprocating the magnet in a predetermined direction, thereby providing a force feedback to the user. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5898774 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when trying to implement the above configuration, since no specific structure such as a support structure for the magnet is disclosed, it has been considered to use a device that mechanically generates vibrations using a well-known slider crank mechanism.

[0005] This device generates vibration by reciprocating a slider using a slider crank mechanism, so a large slider stroke is required, resulting in a large size. Furthermore, in order to increase the number of directional expressions, a space is required to accommodate a plurality of slider-crank mechanisms, which results in a further increase in the mounting size and poor portability.

[0006] The present invention has been made in consideration of the above points, and aims to provide an actuator, a force feedback device, and an operating device that can express direction with a simple configuration that is space-saving and low cost. [Means for solving the problem]

[0007] One aspect of the actuator according to the present invention is A movable body, A multi-axis rotation support section that supports the movable body so as to be multi-axis rotatable; a stationary body to which the multi-axis rotation support part is attached; a torque generating unit including a magnet disposed on one of the movable body and the fixed body and a coil disposed on the other of the movable body and configured to apply a rotational torque to the coil by energizing the coil so that the movable body moves in an arc from an initial position; The configuration has the following.

[0008] The vibration presentation device of the present invention comprises: An actuator having the above configuration; a housing in which the actuator is mounted and which has a grip portion to be gripped by a user; having The movable body of the actuator is configured to be disposed so as to sandwich the center of gravity of the housing with respect to the gripping portion and to be movable outward, that is, in a direction away from the center of gravity of the housing.

[0009] The operating device of the present invention comprises: The actuator has the above configuration, The torque generating section generates torque in response to the movement of the weight section, thereby vibrating the weight section to provide force feedback. Effect of the Invention

[0010] According to the present invention, direction can be expressed with a simple configuration that requires less space and is low cost. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is an external perspective view of an actuator according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a plan view of the actuator. [Diagram 3] FIG. 3 is a front view of the actuator. [Figure 4] FIG. 4 is a cross-sectional view taken along line AA in FIG. [Diagram 5] FIG. 5 is an exploded perspective view of the actuator. [Figure 6] FIG. 6 is an exploded view of the fixed body and the movable support part of the actuator. [Figure 7] FIG. 7 is an exploded view of the movable body of the actuator. [Figure 8] FIG. 8 is a cross-sectional view showing the configuration of a main part of the actuator. [Figure 9] FIG. 9 is a diagram illustrating the operation of the actuator. [Figure 10] FIG. 10A is an external perspective view of a modified example of the actuator, and FIG. 10B is a vertical cross-sectional view of the modified example of the actuator. [Figure 11] FIG. 11 is an external perspective view of an actuator according to the second embodiment of the present invention. [Figure 12] FIG. 12 is a plan view of the actuator. [Figure 13] FIG. 13 is a front view of the actuator. [Figure 14] FIG. 14 is a cross-sectional view taken along line BB in FIG. [Figure 15] FIG. 15 is an exploded perspective view of the actuator. [Figure 16] FIG. 16 is an exploded view of the fixed body and the rotation support part of the actuator. [Figure 17] FIG. 17 is an exploded view of the movable body of the actuator. [Figure 18] 18 is a cross-sectional view showing the main configuration of the actuator. [Figure 19]FIG. 19 is a diagram illustrating the operation of the actuator. [Figure 20] FIG. 20A is an external perspective view of a modified example of the actuator, and FIG. 20B is a vertical cross-sectional view of the modified example of the actuator. [Figure 21] FIG. 21 is a diagram showing an example of a force feedback device including the actuator. [Figure 22] FIG. 22 is a diagram for explaining the force sense presentation mechanism of the force sense presentation device including the actuator. [Diagram 23] FIG. 23A is an external perspective view showing a first modification of a force sense presentation device including the actuator, and FIG. 23B is a front view of a second modification of the force sense presentation device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that common components in the various drawings are given the same reference numerals, and descriptions thereof will be omitted as appropriate.

[0013] In addition, a Cartesian coordinate system (X, Y, Z) is used to explain the structure of the actuator of this embodiment. The same Cartesian coordinate system (X, Y, Z) is also used in the drawings described below.

[0014] (Embodiment 1) <Overall configuration of the actuator> Fig. 1 is an external perspective view of an actuator according to a first embodiment of the present invention, Fig. 2 is a plan view of the actuator, Fig. 3 is a front view of the actuator, Fig. 4 is a cross-sectional view taken along line AA in Fig. 2, Fig. 5 is an exploded perspective view of the actuator, Fig. 6 is an exploded view of a fixed body and a movable support part of the actuator, and Fig. 7 is an exploded view of a movable body of the actuator.

[0015] The actuator 1 shown in FIG. 1 has a weight 86 protruding from the top surface of a case 82, which is capable of moving back and forth in the four directions indicated by the arrows relative to the housing 52 of the fixed body 5, and the weight 86 is capable of movement enabling displacement in all directions.

[0016] As shown in Figures 1 to 7, the actuator 1 has a fixed body 5, a case 82, a movable body 7 having a weight 86, a multi-axis rotation support section 6 that supports the movable body 7 so that it can rotate about multiple axes, and a torque generating section 20 having coils 33 to 36 and a magnet 40 (41, 42).

[0017] A multi-axis rotation support part 6 is attached to the fixed body 5, and the movable body 7 is provided to the fixed body 5 via the multi-axis rotation support part 6 so as to be capable of yawing about the Z axis. Note that the multi-axis rotation support part 6 may be configured in any manner as long as it supports the movable body 7 so as to rotate about multiple axes, and may be configured using a spherical bearing, for example.

[0018] The torque generating section 20 has a core 32, coils 33 to 36, and a magnet 40. The coils 33 to 36 form the coil core section 3 together with the core 32, and function together with the core 32 as an electromagnet by magnetizing the core 32. The coils 33 to 36 and the magnet 40 are provided on one side of the movable body 7 and the fixed body 5, respectively.

[0019] In the coil core unit 3, when the coils 33 to 36 are energized, they act as the torque generating unit 20 in cooperation with the magnets 41 and 42 to apply a rotational torque to the movable body 7 so that the movable body 7 moves in an arc shape (including reciprocating movement) from the initial position. Note that the rotational torque may be applied to the movable body 7 from the axis of the magnet 40 so that the movable body 7 moves in a direction perpendicular to the axis.

[0020] The actuator 1 is an inner core, and the core 32 around which the coils 33 to 36 are wound is disposed inside the magnets 41 and 42. The magnetic poles excited by the coils 33 to 36 and the magnetic poles of the magnets 41 and 42 are disposed to face each other in the radial direction.

[0021] 5 to 7, the actuator 1 has a coil core portion 3, a housing 52, a nut 76, a damper 75, rings 74a and 74b, and a pivot shaft 71. The actuator 1 further has a magnet 40, a magnet spacer portion 77, a multi-axis rotation support portion 6, a case (rotor case) 82, an axis spacer 84 as an axis adjustment portion, and a weight portion 86.

[0022] The core 32 of the coil core portion 3 has a cylindrical core body that fits onto the outer periphery of the housing body 522, and a magnetic pole portion that protrudes from the outer periphery of the core body and around which the coils 33 to 36 are wound. The tip of the magnetic pole portion has a magnetic pole surface portion that extends in the circumferential direction.

[0023] In the coil core section 3, the core 32 is attached to the outer periphery 526 of the housing main body 522, and the magnetic poles of the core 32 are arranged so as to be aligned at equal intervals along the outer periphery from the upper part (outer periphery 526) of the housing 522. The magnetic pole of the core 32 may be one pole, or multiple poles such as two poles or three poles, and for example, the core 32 has four poles.

[0024] The housing 52 is made of a resin such as polyphenylene sulfide (PPS).

[0025] A part of the torque generating unit 20 and a part of the multi-axis rotation support unit 6 (spherical bearing unit 64 that receives the shaft fixing unit 62) are fixed to the housing 52. The housing 52 supports the pivot shaft 71 via the spherical bearing unit 64 so as to be multi-axis rotatable.

[0026] The housing 52 has a housing body 522 and a fixing portion support portion 524 that is fixed to the housing body 522 and fixes the actuator 1 to the product casing.

[0027] The housing body 522 is, for example, a rectangular cylinder having a circular inner peripheral surface. A circular outer peripheral portion 526 is provided on the outer periphery of the upper part of the housing body 522. The spherical bearing portion 64 of the multi-axis rotation support portion 6 is fixed inside the housing body 522 (including the inside of the outer peripheral portion 526). The spherical bearing portion 64 is movably disposed in a central opening portion 526a with a pivot shaft 71 inserted therethrough. An annular rib through which the pivot shaft 71 is inserted is provided on the inner peripheral surface of the opening portion 526a so as to protrude inward, and the spherical bearing portion 64 is attached onto the rib.

[0028] The housing main body 522 holds the movable body 7 via the multi-axis rotation support portion 6 and the coil core portion 3 in a position where the movable body 7 is balanced. The housing body 522 has a rectangular outer periphery 526 on which the core 32 of the coil core unit 3 is fitted.

[0029] A relay board (wiring board) 92 is attached to the housing main body 522, which connects the coil wires of the coil ends of the coils 33 to 36. Position detectors 94, 96 that detect the position of the movable body are also attached to the housing 52. The position detectors 94, 96 are, for example, Hall sensors using Hall elements, and measure and detect changes in the magnetic flux in the torque generating unit 20. It is preferable that two or four position detectors 94, 96 are provided.

[0030] The multi-axis rotation support portion 6 has a shaft fixing portion 62 into which a pivot shaft 71 is inserted and fixed, the outer circumferential surface of which is a spherical surface (curved surface), and a spherical bearing portion 64 which supports the shaft fixing portion 62 rotatably. The multi-axis rotation support part 6 supports the pivot shaft 71 so that it can move in all directions from an upright state, as the spherical bearing part 64 rotatably supports the shaft fixing part 62. Through this multi-axis rotation support part 6, the actuator 1 applies a rotational torque by the torque generating part 20 to the pivot shaft 71 and the movable body 7 (weight, case 82, etc.) connected to the pivot shaft 71, so that they move in an arc (including reciprocating movement) from their initial positions.

[0031] In the multi-axis rotation support part 6, rings 74a, 74b through which the pivot shaft 71 is inserted are disposed on both sides of the shaft fixing part 62 through which the pivot shaft 71 is inserted. In addition, in the multi-axis rotation support part 6, a damper 75 is disposed adjacent to one of the rings 74a via the ring 74a, and a damper 75 having an outer diameter larger than that of the ring 74a is disposed on the base end side and fixed by fastening a nut 76. The damper 75 may be configured in any manner as long as it attenuates impact when colliding with another member. The damper 75 may be formed of, for example, silicone rubber.

[0032] Pivot shaft 71 fixed to multi-axis rotation support part 6 has a protruding tip end 712 connected to weight 86 via shaft spacer 84, and is supported by housing 52 with a base end 714 to which damper 75 is attached protruding from multi-axis rotation support part 6. At opening 526a, pivot shaft 71 passes through insertion part 527 which is continuous with the part to which spherical bearing part 64 is attached.

[0033] As a result, even if the pivot shaft 71 moves beyond its movable range around the multi-axis rotation support portion 6 due to an external impact, the damper 75 abuts against the inner surface of the insertion portion 527 within the opening 526a, thereby mitigating the impact at the time of the abutment.

[0034] The magnet 40, together with the core 32 of the coil core portion 3, constitutes a magnetic spring for maintaining the position of the movable body 7, in particular for maintaining the position of the movable body when not energized.

[0035] The magnet 40 is attached to the case 82 as an outer rotor. That is, the magnet 40 is an outer magnet, and compared to a configuration in which the magnet 40 is an inner magnet, the magnet 40 itself can be made larger for the same size, so an actuator with high torque and high conversion efficiency can be realized. In addition, the amplitude can be easily increased, and power consumption can be suppressed.

[0036] The magnet 40 is disposed so as to surround the outer periphery of the coil core portion 3, and is disposed at a position facing the magnetic pole of the core 32. The magnet 40 is, for example, an Nd bond magnet, and can set the inertia as a movable body.

[0037] The magnet 40 is ring-shaped for each magnetic pole of the core 32 and is used as a movable body. The magnet 40 has two magnets 41 and 42 aligned in the axial direction, and has a plurality of magnetic pole pairs with different magnetic poles on the inner circumference, with the magnetic poles of the magnetic pole pairs being arranged so that they alternate in the circumferential direction. In the magnet 40, the magnetic poles are arranged in a lattice pattern on the inner circumference surface so that adjacent poles have different magnetic poles.

[0038] The magnetic poles of magnet 40 are formed by magnetizing each magnetic pole of core 32 in the axial direction. Magnet 40 is configured with magnets 41 and 42, each of which has four sets of two poles in the axial direction of coils 33-36.

[0039] Magnet 40 is disposed such that a pair of magnetic poles arranged vertically face one magnetic pole of coil core portion 3. Magnets 41 and 42 may be formed integrally. Magnet 40 may also be formed by joining multiple magnetic pole pairs that are different in the axial direction (upper and lower) in the circumferential direction. In that case, magnet 40 is ring-shaped, and the different magnetic poles are joined integrally in the circumferential direction so that they are adjacent to each other.

[0040] If the magnet 40 is configured as a single ring-shaped member, manufacturability is improved and variations in assembly dimensions can be suppressed.

[0041] The magnet 40 functions as a magnetic spring by generating a magnetic attraction force between itself and the magnetic poles of the core 32, and moves the movable body to the initial position. The magnetic poles of the core 32 are arranged at positions facing each other in the magnetizing direction of the magnet 40, and the pivot shaft 71 is arranged to extend in a direction perpendicular to the axes of the coils 33 to 36. In this state, the movable body is located at the initial position, and is in a position that serves as a reference for operation.

[0042] This reference position is located at the same distance regardless of the direction in which the pivot shaft rotates around the multi-axis rotation support portion 6.

[0043] The magnet 40 is attached within a case (rotor case) 82 via a magnet spacer portion 77 with its height position adjusted to correspond to the height of the coil core portion 3.

[0044] The magnet spacer portion 77 has a main body 771 of a predetermined thickness disposed in the case 82 and has a central hole 772 in the central portion thereof, into which the pivot shaft 71 is inserted.

[0045] The magnet spacer portion 77 can position the magnet 40. Specifically, the magnet spacer portion 77 has a protrusion 774 that engages with a recess on the upper surface of the magnet 42 and a rod portion 775 that extends inside the magnet 40 and abuts against the inside of the magnet 42. The protrusion 774 restricts the rotation of the protrusions 774 in the circumferential direction. The rod portion 775 is disposed inside the core 32 with a gap therebetween. This allows the rod portion 775 to function as a hard stop by abutting against the core 32 when the rotation around the axis of the movable body 7 or the inclination in the driving direction reaches a certain position.

[0046] Furthermore, the height position of the magnet 40 in the axial direction relative to the case 82 (specifically, the upper surface of the case 82) can be set by the thickness of the main body 771. As a result, the magnet spacer portion 77 can adjust the height position of the coil core portion 3, and attach the case 82 in a desired position relative to the magnet 40 and the coil core portion 3.

[0047] The magnet spacer portion 77 is preferably made of a non-magnetic material, and may be made of PPS (Polyphenylenesulfide: PPS) or the like.

[0048] The case 82 is a rotor case that is the rotor main body. The case 82 is a magnetic material, and is formed of, for example, electro-galvanized steel sheet (SECE) or the like. The case 82 covers the magnet 40 and the coil core portion 3, and forms a magnetic path together with the magnet 40 and the coil core portion 3.

[0049] The pivot shaft 71 is connected to the inside of the case 82, and a shaft spacer 84 is connected to the outside of the case 82. A weight 86 is connected via the shaft spacer 84.

[0050] The pivot shaft 71 has its tip end 712 inserted through an opening in the case 82, protruding from the surface of the case 82, and screwed into the base end of the shaft spacer 84. As a result, the entire rotor, which is a movable body, is fastened to the case 82.

[0051] The tip end of shaft spacer 84 is detachably attached to weight 86, and the base end is joined to pivot shaft 71 across case 82. Shaft spacer 84 functions as a shaft adjuster that can adjust the distance from case 82 to weight 86 simply by changing the length of the shaft.

[0052] As a result, when weight portion 86 is separated from case 82, that is, from the center of rotation, via shaft spacer 84, the increased inertia can be set to a desired value, resulting in suitable inertia for vibration.

[0053] In addition, since the position of weight 86 is adjustable, it is possible to suppress variations and improve the ease of verification. The inertia of weight 86 can be adjusted by moving its position away from the center of rotation, and the inertia can be adjusted to an optimal position.

[0054] For example, by locating the weight portion 86 at a position at a certain distance from the center of rotation, it is possible to increase the inertia with a small weight, thereby optimizing the tactile sensation of directional expression.

[0055] The weight portion 86 is made of a material such as SUS material, and may be made of a material with a high specific gravity. Since weight portion 86 is provided on the outer surface of the rotor, interference with other components can be avoided compared to a configuration in which weight portion 86 is provided on the inner surface of the rotor.

[0056] <Operation> Fig. 8 is a cross-sectional view showing the main configuration of the actuator, and Fig. 9 is a diagram for explaining the operation of the actuator according to the first embodiment. For convenience, weights are omitted. Magnet 40 has different magnetic poles for magnets 41 and 42, and in magnet 41, the magnetic poles facing each other across the axis of the actuator are N poles, and in magnet 42, the magnetic poles facing each other similarly are S poles.

[0057] In the actuator 1, as shown in FIG. 8, when the coils 33 to 36 are in a non-energized state, the magnetic poles (321, 322) of the core 32 are attracted by the magnetic attractive force of the magnets 41, 42 which are closest to each other.

[0058] The magnetic poles of the non-magnetized core 32 are attracted to the magnetic poles on the inner peripheral surface of the cylindrical magnets 41, 42 on all four sides centered on the pivot shaft 71. As a result, the distances to the magnetic poles (inner peripheral surface) of the magnet 40 of the magnetic poles 321, 322 of the core 32 centered on the multi-axis rotation support part 6 become the same, and the core 32 is placed in its initial position.

[0059] Then, core 32 is excited by passing current through coils (34, 35) via relay board 92. When current is passed through coils 34, 35 as shown in Fig. 9, coil core portion 3 becomes an electromagnet with core magnetic pole 321 as a north pole and magnetic pole 322 as a south pole, which attracts and repels the magnetic poles of magnets 41, 42. As a result, one side on either side of pivot shaft 71 moves upward and the other moves downward, rotating pivot shaft 71 in the direction of the arrow.

[0060] The actuator 1 has four magnetic poles of the cores 32, each of which is an electromagnet and generates a magnetic force, and power can be supplied to appropriately excite or not excite each of them to generate a magnetic force in various combinations. The pivot shaft 71 can be moved in various ways, such as by vertically rotating back and forth in one direction, by yawing, or by vibrating in two axial directions. It can also be moved slowly in one direction and then moved faster in the opposite direction to generate vibration. According to this embodiment, vibrations can be generated in two directions on a plane, and directional expression can be performed suitably.

[0061] According to this embodiment, it is possible to express a direction with a space-saving, low-cost, and simple configuration. In addition, since this embodiment has position detection units 94 and 96, when the weight unit 86 is used as an operation unit in a tactile sensation providing device, vibrations corresponding to the position of the operated operation unit may be generated and given to the user via the operation unit. In this way, since the actuator 1 can detect the operation position, it can be used as an input device having both input and force feedback functions.

[0062] Furthermore, the actuator 1 may express direction not only through a vibration tactile sensation, but also through force feedback in which the weight 86 is used as an operating unit and vibrations are applied in response to the operation of the operating unit. The weight 86 is an operating unit that can be adjusted by displacement, and when it is touched and operated, vibrations are generated in two rotational directions, thereby providing force feedback.

[0063] In addition, the resonant frequency at which power is supplied to the coils 33 to 36 via the relay board 92 is preferably set to a frequency at which the movable body 7 is driven at 150 Hz or less so that the actuator 1 has a resonant structure of 150 Hz or less. For example, the resonant frequency of the movable body is preferably about 50 Hz or less, more preferably 20 Hz or less. Also, it is preferably 1 or more, and may be, for example, 5 Hz. It may also be 10 to 20 Hz. Also, the actuator 1 may be driven at 5 Hz or 10 Hz, and can be driven more effectively at 5 Hz to 10 Hz. This makes it possible to lower the vibration period of the directional expression, and to generate a wide variety of vibrations with clear directional expression, including weak vibrations that are difficult to achieve with a mechanical spring. In addition, the relay board 92 may have a control unit on which a microcomputer, an actuator driver, etc. are mounted and which controls the actuator. In this control unit, the torque generating unit 20 is driven by supplying power to the coils 33 to 36 as described above, thereby expressing the direction. Furthermore, the control unit can control the movement of the movable body 20 by energizing the coils 61, 62 via the position detection units 94, 96. It is to be noted that the control unit does not have to be provided on the relay board 92 or the actuator 1.

[0064] Moreover, it is preferable that the input signal supplied to the coils 33 to 36 when driving the actuator 1 is a signal waveform that is asymmetrical in positive and negative, and that is a signal that vibrates asymmetrically by making the speed different in the driving direction. For example, it is a sawtooth wave. This allows the moving part to move slowly to one side and quickly to the other side to create a tactile sensation, making it possible to clearly express a direction, and a sawtooth wave can provide a movement that results in the clearest behavior, making it possible to express a direction excellently.

[0065] <Variation 1> FIG. 10A is an external perspective view of a modified example of the actuator, and FIG. 10B is a vertical cross-sectional view of the modified example of the actuator.

[0066] 10 is an actuator 1A that does not have position detection units 94, 96 in the configuration of the actuator 1. Since the actuator 1A has the same action and effect as the actuator 1, the actuator 1A can be applied to a device that presents a simpler directional expression.

[0067] (Embodiment 2) Fig. 11 is an external perspective view of the actuator according to the first embodiment of the present invention, Fig. 12 is a plan view of the actuator, Fig. 13 is a front view of the actuator, Fig. 14 is a cross-sectional view taken along line BB in Fig. 12, Fig. 15 is an exploded perspective view of the actuator, Fig. 16 is an exploded view of the fixed body and movable support part of the actuator, and Fig. 17 is an exploded view of the movable body of the actuator.

[0068] The actuator 1B shown in Figure 11 has the same appearance as the actuator 1 in Figure 1, and is equipped with a weight 86 protruding from the upper surface of a case 82, which can freely move back and forth in all directions relative to the housing 52B of the fixed body 5B as indicated by the arrows.

[0069] The difference between actuator 1B and actuator 1 is that actuator 1 has a moving magnet structure, whereas actuator 1B has a moving coil structure. As shown in Figures 11 to 17, the actuator 1B has a fixed body 5B, a case 82, a movable body 7B having a weight 86, a multi-axis rotation support section 6 that supports the movable body 7B so that it can rotate about multiple axes, and a torque generating section 20B having coils 33B to 36B and a magnet 40B (41B, 42B).

[0070] In the following, only the different configurations will be described, and a description of the similar configurations will be omitted.

[0071] A multi-axis rotation support section 6 is attached to the fixed body 5B, and a movable body 7B is provided to the fixed body 5B via the multi-axis rotation support section 6 so as to be capable of yawing about the Z axis.

[0072] Torque generating section 20B has core 32B, coils 33B to 36B, and magnet 40B. Coils 33B to 36B form coil core section 3B together with core 32B, and excite core 32B to function as an electromagnet together with core 32B. Coils 33B to 36B are provided on movable body 7B, and magnet 40B is provided on fixed body 5B.

[0073] In the coil core portion 3B, when the coils 33B to 36B are energized, they cooperate with the magnets 41B and 42B to apply a rotational torque to the movable body 7B so as to move the movable body 7B in a direction perpendicular to the axis of the magnet 40B. The actuator 1B is an outer core, and a core 32B around which coils 33B to 36B are wound is disposed outside magnets 41B and 42B. The magnetic poles excited by the coils 33B to 36B and the magnetic poles of the magnets 41B and 42B are disposed opposite each other in the radial direction.

[0074] As shown in Figures 15 to 17, the actuator 1B has a coil core portion 3B, a housing 52B, a nut 76, a damper 75, rings 74a, 74b, a pivot shaft 71, a magnet 40B, a core spacer portion 77B, a multi-axis rotation support portion 6, a case 82, an axis spacer 84, and a weight 86.

[0075] The core 32B of the coil core unit 3B is disposed inside the peripheral wall of the case 82 together with the core spacer unit 77B. The core spacer unit 77B has a rod unit 775B and the like similar to the magnet spacer unit 77 (see FIG. 7). The rod unit 775B is disposed with a gap inside the core 32, and functions as a hard stop by coming into contact with the core 32B when the rotation around the axis of the movable body 7B or the inclination in the driving direction reaches a certain position.

[0076] Core 32B has magnetic poles that protrude toward the inner circumference of a cylindrical core body whose outer circumferential surface abuts against the inner circumferential surface of case 82, and coils 33B to 36B are wound around each of the magnetic poles to form magnetic pole portions. The tips of the magnetic pole portions have magnetic pole surface portions that extend in the circumferential direction.

[0077] A housing 52B having a similar configuration to the housing 52 has a magnet 40B attached to an outer periphery 526B of a housing main body 522B in place of a core. Furthermore, a part of the multi-axis rotation support portion 6 (the spherical bearing portion 64 that receives the shaft fixing portion 62) is fixed inside the opening portion 526a. The housing 52B supports the pivot shaft 71 via the spherical bearing portion 64 so as to be multi-axis rotatable.

[0078] A relay board (wiring board) 92B that connects the coil wires of the coil ends of the coils 33B to 36B is attached to the housing main body 522B. Position detectors 94, 96 that detect the position of the movable body are also attached to the housing 52B. The position detectors 94, 96 are, for example, hall sensors using hall elements, and measure and detect changes in the magnetic flux in the torque generating section. It is preferable to provide two or four position detectors 94, 96.

[0079] Pivot shaft 71 fixed to multi-axis rotation support part 6 is connected at its protruding tip end 712 to weight 86 via shaft spacer 84, and is supported by housing 52B with its base end 714, to which damper 75 is attached, protruding from multi-axis rotation support part 6. At opening 526a, pivot shaft 71 passes through insertion part 527 which is continuous with the part to which spherical bearing part 64 is attached.

[0080] As a result, even if the pivot shaft 71 moves beyond its movable range around the multi-axis rotation support portion 6 due to an external impact, the damper 75 abuts against the inner surface of the insertion portion 527 within the opening 526a, thereby mitigating the impact at the time of the abutment.

[0081] Magnet 40B, together with core 32B of coil core portion 3B, constitutes a magnetic spring for holding the position of movable body 7B, in particular for holding the position of the movable body when not energized.

[0082] In this manner, magnet 40B is disposed inside coil core portion 3B, and is disposed at a position facing the magnetic pole of core 32B.

[0083] The magnet 40B is ring-shaped and used as a fixed body for each magnetic pole of the core 32B. The magnet 40B has two magnets 41B and 42B aligned in the axial direction, and has a plurality of magnetic pole pairs with different magnetic poles on the upper and lower sides on the outer periphery, with the magnetic poles of each magnetic pole pair being arranged so that they alternate in the circumferential direction. In the magnet 40B, the magnetic poles are arranged in a lattice pattern on the outer periphery so that adjacent poles have different magnetic poles.

[0084] The magnetic poles of magnet 40B are formed by magnetizing each magnetic pole of core 32B in the axial direction. Magnet 40B is configured with magnets 41B and 42B, which form four sets of two poles each in the axial direction of coils 33B to 36B.

[0085] Magnet 40B is arranged so that a pair of magnetic poles arranged vertically face one magnetic pole of coil core portion 3B. Magnets 41B and 42B may be formed integrally. Furthermore, magnet 40B may be formed by joining multiple magnetic pole pairs that are different in the axial direction (upper and lower) in the circumferential direction. In that case, magnet 40B is ring-shaped, and the different magnetic poles are joined integrally so that they are adjacent to each other in the circumferential direction.

[0086] If the magnet 40B is configured as a single ring-shaped member, manufacturability is improved and variations in assembly dimensions can be suppressed.

[0087] The magnet 40B functions as a magnetic spring by generating a magnetic attraction force between itself and the magnetic poles of the core 32B, and moves the movable body to the initial position. The magnetic poles of the core 32B are arranged in opposing positions facing the magnetization direction of the magnet, and the pivot shaft 71 is arranged to extend in a direction perpendicular to the axes of the coils 33B to 36B. In this state, the movable body is located at the initial position, and is in a position that serves as a reference for operation.

[0088] The other configuration is the same as that of the actuator 1, so the description will be omitted.

[0089] <Operation> Fig. 18 is a cross-sectional view showing the main configuration of the actuator, and Fig. 19 is a diagram for explaining the operation of the actuator. For convenience, weights are omitted. Magnet 40B has different magnetic poles at the top and bottom on the same outer circumferential surface of magnets 41B and 42B, and is arranged so that the magnetic poles are different at the top and bottom in the circumferential direction as well. In magnet 41B, the magnetic poles that are opposed to each other across the axis of the actuator are N poles, and in magnet 42B, the magnetic poles that are opposed to each other are S poles.

[0090] In the actuator 1B, as shown in FIG. 18, when the coils 33B to 36B are in a non-energized state, the magnetic poles (3201, 3202) of the core 32B are attracted by the magnetic attractive forces of the opposing magnets 41B and 42B which are closest to each other.

[0091] The magnetic poles of the non-magnetized core 32B are attracted to the magnetic poles on the inner peripheral surface of the cylindrical magnets 41B, 42B on all four sides centered on the pivot shaft 71. As a result, the distances from the magnetic poles 3201, 3202 of the core 32B to the magnetic pole (inner peripheral surface) of the magnet 40B around the multi-axis rotation support part 6 become the same, and the core 32B is placed in its initial position.

[0092] By energizing the coils 34B and 35B via the wiring board 92, it is driven in the same way as the actuator 1 and has the same function. In particular, it is possible to generate directional vibrations, which can suitably express directions.

[0093] According to this embodiment, it is possible to express a direction with a simple configuration that is space-saving and low cost. In addition, since this embodiment has position detection units 94 and 96, when the weight unit 86 is used as an operation unit in the tactile sensation providing device, vibrations corresponding to the position of the operated operation unit may be generated and given to the user via the operation unit.

[0094] The resonance frequency for supplying power to the coils 33B to 36B via the relay board 92 is also the same as that of the actuator 1, and therefore a description thereof will be omitted.

[0095] <Variation 2> FIG. 20A is an external perspective view of a modified example of the actuator, and FIG. 20B is a vertical cross-sectional view of the modified example of the actuator.

[0096] 20 is an actuator 1C that does not have position detection units 94, 96 in the configuration of actuator 1B. Since actuator 1C has the same action and effect as actuators 1 and 1B, actuator 1C can be applied to a device that presents a simpler directional expression.

[0097] <Force sense presentation device> FIG. 21 is a diagram illustrating an example of a force feedback device including an actuator. 21 includes a housing 110 that includes a power source such as a battery, and an actuator 120 provided in the housing 110. The actuator 120 may be any one of the actuators 1, 1A, 1B, and 1C. The haptic device 100 has a fixed body for an actuator 120 attached to one end surface of an easy-to-hold rod-shaped housing 110. The haptic device 100 may be used as a control device by a user by holding it like a game controller and generating vibrations to provide a tactile sensation, or by manipulating a weight 86.

[0098] Fig. 22 is a diagram for explaining the force sense presentation mechanism of the force sense presentation device equipped with the actuator. As shown in Fig. 22, the force sense presentation device 200 has an actuator 120 attached to one end of a rod-shaped housing 210, in which the movable body 7 (e.g., weight part 86) is disposed outward from the center of gravity of the mounting housing, and a gripping part 212 that pinches the multi-axis rotation support part 6 and presents a tactile sensation is disposed.

[0099] By placing the gripping part 212, which is the tactile sensation providing part, in a predetermined position, vibrations can be generated in a desired direction, and the amplitude can be increased to enhance the directional expression. The actuator 120 may be covered by a hood 220. This makes the actuator 1 invisible, and thus makes it possible to provide a vibration expression to the force sense that is different from the case where the actuator 120 is visible.

[0100] <Modification 1 of the force feedback device> FIG. 23A is an external perspective view showing a first modification of a force sense presentation device including the actuator, and FIG. 23B is a front view of the first modification of the force sense presentation device.

[0101] The haptic device 300 shown in Fig. 23A and Fig. 23B has an actuator 120 provided on a part of the peripheral wall of a cylindrical housing 310. This allows the haptic device 300 to express directions in two directions around the axis of the housing 310 by moving the movable body. In other words, the actuator 120 can express directions according to the shape of the housing to which it is attached. In this case, more effective directional expression can be performed according to the way the housing 310 is held. The haptic devices 100, 200, and 300 may also be used as vibration presentation devices.

[0102] 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]

[0103] The actuator and operating device of the present invention have the advantage of being able to express direction in a space-saving, low-cost and simple configuration, and are useful for use in tactile presentation devices such as directional expression presentation devices and force feedback presentation devices. [Explanation of symbols]

[0104] 1, 1A, 1B, 1C, 120 Actuator 3, 3B Coil core part 5, 5B Fixed body 6 Multi-axis rotation support 7, 7B Movable body 20, 20B Torque generating section 32, 32B core 321, 322 magnetic pole 33, 33B, 34, 34B, 35, 35B, 36, 36B coils 40, 40B, 41, 41B, 42, 42B Magnet 52, 52B Housing 62 Shaft fixing part 64 Spherical bearing section 71 Pivot shaft 74a, 74b Ring 75 Damper 76 Nut 77 Magnet spacer part 77B Core spacer part 82 cases 84 Axle spacer 86 Weight 92, 92B Relay board (wiring board) 94, 96 Position detection unit 100, 200, 300 force presentation device 110, 210, 310 housing 212 Gripping part 220 Food 321, 322, 3201, 3202 magnetic pole 522, 522B housing body 524 Fixed part support part 526 Outer periphery 526a opening 526B outer periphery 712 Tip 714 Proximal end 771 Main unit 772 Central hole 774 Protrusion 775 Rod part

Claims

1. A movable body, A multi-axis rotation support section that supports the movable body so as to be multi-axis rotatable; a stationary body to which the multi-axis rotation support part is attached; a torque generating unit including a magnet disposed on one of the movable body and the fixed body and a coil disposed on the other of the movable body and configured to apply a rotational torque to the coil by energizing the coil so that the movable body moves in an arc from an initial position; having Actuator.

2. the multi-axis rotation support portion has a pivot shaft connected to the movable body located at the initial position, The torque generating unit generates a torque with respect to the pivot shaft in a direction perpendicular to the pivot shaft. The actuator according to claim 1.

3. The coil is disposed on a core, The magnet is magnetized with different polarities in the axial direction relative to the core, The core has a plurality of core poles on either side of an axial position, and the core poles are excited to different magnetic poles at the axial position and the opposite pole. The actuator according to claim 1.

4. The fixed body is an inner core, and the movable body is an outer rotor. The actuator according to claim 1.

5. The core is four-pole, the multi-axis rotation support unit is connected to the movable body located at the initial position and has a pivot shaft extending in a direction perpendicular to an axial direction of the coil; the torque generation unit generates torque that rotates the movable body vertically in two directions from the initial position via the pivot shaft. The actuator according to claim 3.

6. The magnet is ring-shaped, and has a plurality of magnetic pole pairs on the inner circumference, the magnetic poles of which are different between the upper and lower poles, and the magnetic poles of the magnetic pole pairs are arranged so that they alternate in the circumferential direction. The actuator according to claim 1.

7. The magnet is composed of a ring in which all magnetic poles are integrally formed into a multi-pole ring, or a ring separated into upper and lower parts. The actuator according to claim 6.

8. The magnet is a neodymium bonded magnet. The actuator according to claim 1.

9. The movable body has a weight for adding inertia. The actuator according to claim 1.

10. The movable body is a weight portion. The actuator according to claim 1.

11. The distance of the weight portion from the multi-axis rotation support portion is adjustable. The actuator according to claim 10.

12. The fixed body and the movable body form a resonant structure of 150 Hz or less, and the movable body is driven at a frequency of 150 Hz or less. The actuator according to claim 1.

13. The resonant frequency of the movable body is 20 Hz or less. The actuator according to claim 1.

14. A control unit is provided for inputting an input signal of power to be supplied to the coil in a signal waveform asymmetric in positive and negative directions, and driving and controlling the movable body with asymmetric vibration having different speeds in a driving direction. The actuator according to claim 1.

15. the input signal is a sawtooth wave; The vibration actuator according to claim 14.

16. The movable body is a weight portion, A position detection unit that detects the movement of the weight unit; a control unit that drives the torque generating unit to apply vibration corresponding to the detected position of the weight unit; having The actuator according to claim 1.

17. An actuator according to claim 1; a housing in which the actuator is mounted and which has a grip portion to be gripped by a user; having The movable body of the actuator is disposed so as to sandwich the center of gravity of the housing with respect to the gripping portion and be movable outward in a direction away from the center of gravity of the housing. Force sense presentation device.

18. The actuator according to claim 1, a torque generating unit generates torque in response to the movement of the movable body, and the movable body is vibrated to provide force feedback; Operating device.

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