actuator

Abstract

To reduce characteristic deviation by suppressing positional deviation of a connection body during assembly.SOLUTION: An actuator includes a support body, a movable body, and a connection body 30, the connection body has at least one of elasticity and viscoelasticity and is connected to the movable body and the support body, the support body has a housing recess RS for housing the connection body, an inclined surface is formed along at least a portion of an edge of the connection body in the housing recess, and the inclined surface is inclined so as to approach an opening edge of the housing recess as it goes away from a bottom of the housing recess.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an actuator. [Background technology]

[0002] Conventionally, an actuator includes a support, a movable body, and a connecting body. The connecting body has at least one of elasticity and viscoelasticity and is connected to the movable body and the support, and the support is provided with a receiving recess for receiving the connecting body. In assembling the actuator, the connecting body to be assembled is typically grasped with a suction head and moved to the receiving recess of the support and placed in the receiving recess. However, in the actuator, the connecting body has a certain viscosity. To ensure smooth separation from the connecting body, gas is typically ejected from the suction head after the connecting body is stored in the receiving recess of the support. However, this can cause the connecting body to shift from its normal position, resulting in misalignment and characteristic deviations. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-92497 Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention has been made in view of the above problems, and has as its object to provide a method capable of suppressing misalignment of a connecting body during assembly and reducing characteristic deviations. [Means for solving the problem]

[0005] In order to achieve the above object, one aspect of the actuator of the present invention comprises a support, a movable body, and a connecting body, the connecting body having at least one of elasticity and viscoelasticity and being connected to the movable body and the support, the support having a accommodating recess for accommodating the connecting body, the accommodating recess having an inclined surface formed along at least a part of the edge of the connecting body, the inclined surface being inclined so as to approach the opening edge of the accommodating recess the further it is from the bottom of the accommodating recess.

[0006] According to this aspect, an inclined surface is formed on at least a portion of the edge of the connector in the storage recess, and this inclined surface is inclined so that the further it is from the bottom of the storage recess, the closer it gets to the edge of the opening of the storage recess. After the connector is placed in the storage recess of the support by the suction head, when gas is blown out from the suction head, the inclined surface is used to prevent the connector from moving unnecessarily from its normal position, thereby preventing deviations in characteristics. Furthermore, by forming an inclined surface that is inclined so that the further it is from the bottom of the storage recess, the closer it gets to the edge of the opening of the storage recess, the connector can be prevented from coming into contact with the inclined surface (support) when the movable body is driven.

[0007] Furthermore, in this aspect, it is preferable that the inclined surfaces include a first inclined surface and a second inclined surface located on both sides of the connector in the first direction.

[0008] According to this aspect, the inclined surface includes a first inclined surface and a second inclined surface located on both sides of the connecting body in the first direction, so that the inclined surface can suppress unwanted movement of the connecting body in more directions, thereby further suppressing deviations in characteristics.

[0009] Furthermore, in this aspect, it is preferable that the inclined surfaces include a third inclined surface and a fourth inclined surface located on both sides of the connector in a second direction perpendicular to the first direction. According to the actuator of the present invention, the inclined surfaces include a third inclined surface and a fourth inclined surface located on both sides of the connecting body in a second direction perpendicular to the first direction, so that the inclined surfaces can be used to suppress unnecessary movement of the connecting body in all directions, thereby further suppressing deviations in characteristics.

[0010] In this aspect, the inclined surface is preferably formed from the bottom of the housing recess to the opening edge of the housing recess. Furthermore, in the actuator of the present invention, it is preferable that the inclined surface has a recess. According to the actuator of the present invention, the recess is formed on the inclined surface, so that the material cost of the support can be reduced.

[0011] Furthermore, in this aspect, it is preferable that a protrusion is formed on the accommodating recess, and that the protrusion has the inclined surface.

[0012] According to this aspect, the protrusion is formed in the housing recess, and this protrusion is formed with an inclined surface, which contributes to reducing the material cost of the support body.

[0013] Furthermore, in this embodiment, the protrusion preferably has an elongated shape. According to the actuator of the present invention, the protrusion is in the shape of a long, thin strip, and therefore, unwanted movement of the connecting body can be further suppressed by utilizing the protrusion. Furthermore, in this aspect, it is preferable that the height of the protrusion is smaller than the depth of the housing recess.

[0014] According to this aspect, the height of the protrusion is smaller than the depth of the accommodating recess, so that the protrusion does not hinder the insertion of the connector into the accommodating recess.

[0015] In this aspect, the inclined surface is preferably a flat surface.

[0016] Furthermore, in this aspect, it is preferable that the minimum distance between the inclined surface and the connecting body is smaller than half the depth of the housing recess. [Effects of the Invention]

[0017] According to an aspect of the present invention, an inclined surface is formed on at least a portion of the edge of the connecting body in the storage recess, and this inclined surface is inclined so that the further it is from the bottom of the storage recess, the closer it is to the opening edge of the storage recess. Therefore, after the connecting body is placed in the storage recess of the support by the suction head, when gas is blown from the suction head, the inclined surface is used to suppress unnecessary movement of the connecting body and deviation from its normal position, thereby suppressing deviation in characteristics. Furthermore, by forming an inclined surface that is inclined so that the further it is from the bottom of the storage recess, the closer it is to the opening edge of the storage recess, the connecting body is prevented from coming into contact with the inclined surface (support) when the movable body is driven. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a side cross-sectional view that schematically shows an actuator according to one embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view schematically showing a support and a connector that constitute an actuator according to an embodiment of the present invention. [Figure 3] FIG. 3 is a plan view schematically showing a support body and a connector that constitute an actuator according to an embodiment of the present invention. [Figure 4] FIG. 4 is a side cross-sectional view that schematically shows a support and a connector that constitute an actuator according to an embodiment of the present invention. [Figure 5] FIG. 5 is a perspective view schematically showing a support and a connector that constitute an actuator according to a modified example of the present invention. [Figure 6] FIG. 6 is a plan view schematically showing a support and a connector that constitute an actuator according to a modified example of the present invention. [Figure 7] FIG. 7 is a partial perspective view that schematically shows a support that is a part of an actuator according to a modified example of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] Next, an actuator according to one embodiment of the present invention will be described with reference to Figures 1 to 4. For convenience, three mutually orthogonal directions will be defined as the X, Y, and Z directions, with one side of the X direction as X1, the other side of the X direction as X2, one side of the Y direction as Y1, the other side of the Y direction as Y2, one side of the Z direction as Z1, and the other side of the Z direction as Z2.

[0020] (Overall structure of the actuator) As shown in Figures 1 to 4, the actuator 1 comprises a support 10, a movable body 20, and a connecting body 30, the connecting body 30 having at least one of elasticity and viscoelasticity and being connected to the movable body 10 and the support 20, the support 10 having a accommodating recess RS for accommodating the connecting body 30, the accommodating recess RS having an inclined surface TS formed along at least a part of the edge of the connecting body 30 (the edge when observed in the depth direction of the accommodating recess RS), the inclined surface TS being inclined so as to approach the opening edge of the accommodating recess RS the further away from the bottom of the accommodating recess RS it is.

[0021] Here, as shown in FIG. 1, the actuator 1 further includes a magnetic drive mechanism 40 including a magnet 41 provided on one of the support 10 and the movable body 20, and a coil 42 provided on the other of the support 10 and the movable body 20.

[0022] Furthermore, when an AC current is applied to the coil 42, the movable body 20 vibrates in the X direction, and the center of gravity of the actuator 1 changes in the X direction. This allows the user to feel the vibration in the X direction. Therefore, the actuator 1 can function as a haptic device. In this case, if the waveform of the AC power applied to the coil 42 is adjusted so that the acceleration of the movable body 20 moving in the X1 direction is different from the acceleration of the movable body 20 moving in the X2 direction, the user can feel the vibration directional in the X direction.

[0023] (Support) As shown in FIG. 1, the support 10 includes a first shell 11, an intermediate frame 12, and a second shell 13 assembled along the Z direction.

[0024] As shown in FIGS. 1 to 4 , the first shell 11 has a generally plate-like shape overall and includes one or more storage recesses RS (two in the illustrated example, but this is not limited to this; one, three, or more may be included, and the arrangement direction is not limited to the X direction). Furthermore, in each storage recess RS, the inclined surface TS includes a first inclined surface TS1 and a second inclined surface TS2 located on both sides of the connector 30 in the X direction. Furthermore, in each storage recess RS, the inclined surface TS further includes a third inclined surface TS3 and a fourth inclined surface TS4 located on both sides of the connector 30 in the Y direction. Furthermore, the first inclined surface TS1, the third inclined surface TS3, the second inclined surface TS2, and the fourth inclined surface TS4 are sequentially connected to form a ring shape. Furthermore, in each storage recess RS, an inclined surface TS is formed from the bottom of the storage recess RS to the opening edge of the storage recess RS. Furthermore, the first inclined surface TS1, the second inclined surface TS2, the third inclined surface TS3, and the fourth inclined surface TS4 each form one or more recesses R1 (two in the illustrated example, but not limited to this and may be one or more) (in the illustrated example, the recesses R1 are trapezoidal when viewed along the Z direction, but are not limited to this and may be other shapes such as rectangular). Furthermore, the first inclined surface TS1, the second inclined surface TS2, the third inclined surface TS3, and the fourth inclined surface TS4 are each flat. Furthermore, in each storage recess RS, it is preferable that the minimum distance between the inclined surface TS and the connecting body 30 is smaller than half the depth of the storage recess RS.

[0025] 1, the intermediate frame 12 abuts against the peripheral edge of the first shell 11 from the Z1 direction, and abuts against the peripheral edge of the second shell 13 from the Z2 direction. Furthermore, the intermediate frame 12 holds one or more coils 42 corresponding to the magnets 41.

[0026] As shown in FIG. 1 , the second shell 13 is symmetrical to the first shell 11 in the Z direction, has a generally plate-like shape, and has one or more storage recesses (two in the illustrated example, but this is not limited to one, three, or more, and the arrangement direction is not limited to the X direction). Similarly to the first shell 11, each storage recess of the second shell 13 includes a first inclined surface and a second inclined surface located on both sides of the connector 30 in the X direction, and a third inclined surface and a fourth inclined surface located on both sides of the connector 30 in the Y direction. The first inclined surface, the third inclined surface, the second inclined surface, and the fourth inclined surface are connected in order to form a ring shape. Each storage recess has an inclined surface extending from the bottom of the storage recess to the edge of its opening. Although not shown, each of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface has one or more recesses (two in the illustrated example, but not limited to one, or three or more). The first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface are each flat. Furthermore, in each storage recess, the minimum distance between the inclined surface and the connector 30 is preferably less than half the depth of the storage recess.

[0027] (movable body) As shown in Figure 1, the movable body 20 has a yoke 21 that has a first plate portion 211 that faces the first shell 11 in the Z direction, a second plate portion 212 that faces the second shell 13 in the Z direction, and a connecting plate portion 213 that connects both ends of the first plate portion 211 to both ends of the second plate portion 212.

[0028] 1, the first plate portion 211 is provided with magnets 41 facing the coils 42 on the X2 direction side, the number of which corresponds to the number of coils 42. The second plate portion 212 is also provided with magnets in positions facing the coils 42 on the Z1 direction side, the number of which corresponds to the number of coils 42.

[0029] (connector) As described above, the connecting body 30 has at least one of elasticity and viscoelasticity. Here, as shown in Figure 2, the connecting body 30 is formed in a rectangular parallelepiped shape, the bottom surface of the connecting body 30 contacts the bottom surface of the storage recess RS, and the lower side of the inclined surface TS surrounds the lower edge of the connecting body 30 in the entire circumferential direction.

[0030] Furthermore, the connecting body 30 is preferably connected to both the support body 10 and the movable body 20 .

[0031] As shown in FIG. 1 , the connecting member 30 is provided at a position where the support member 10 and the movable member 20 face each other in the Z direction. It is a viscoelastic member that can elastically deform in the X, Y, and Z directions. Viscoelasticity refers to the property of possessing both viscosity and elasticity, a property that is particularly evident in gel-like parts and polymeric materials such as plastics and rubber. Therefore, various gel-like materials can be used as the viscoelastic material. Various rubber materials, such as natural rubber, diene-based rubber (e.g., styrene butadiene rubber, isoprene rubber, butadiene rubber, chloroprene rubber, acrylonitrile butadiene rubber, etc.), non-diene-based rubber (e.g., butyl rubber, ethylene propylene rubber, ethylene propylene diene rubber, polyurethane rubber, silicone rubber, fluororubber, etc.), thermoplastic elastomers, and modified versions thereof, can also be used as the viscoelastic component.

[0032] Furthermore, the connecting body 30 is preferably a silicone gel with a needle penetration of 10 to 110 degrees. The penetration is specified in JIS-K-2207 and JIS-K-2220, with a smaller value indicating a harder steel. The connecting body 30 exhibits linear or nonlinear elastic properties depending on its direction of expansion and contraction. For example, when the connecting body 30 is compressed and deformed in the thickness direction (axial direction), it exhibits elastic properties in which the nonlinear component (spring constant) is greater than the linear component (spring constant). On the other hand, when the material is stretched in the thickness direction (axial direction), it exhibits elastic properties in which the linear component (spring constant) is greater than the nonlinear component (spring constant). On the other hand, when the connecting body 30 is deformed in a direction (shear direction) intersecting the thickness direction (axial direction), deformation occurs in the expansion and contraction direction regardless of the direction of movement, resulting in deformation properties in which the linear component (spring constant) is greater than the nonlinear component (spring constant). Therefore, the elastic force of the connecting body 30 in the direction of movement is constant.

[0033] (Main effects of this embodiment) According to the actuator 1 of this embodiment, an inclined surface TS is formed along at least a portion of the edge of the connecting body 30 in each storage recess RS, and the inclined surface TS is inclined so that the further away from the bottom of the storage recess RS the closer it is to the opening edge of the storage recess RS. Therefore, after the connecting body 30 is placed in the storage recess RS of the support 10 using a suction head, when gas is blown from the suction head, the inclined surface TS can be used to suppress unnecessary movement of the connecting body 30 and deviation from its normal position, thereby suppressing deviation in characteristics. Furthermore, by forming the inclined surface TS so that the further away from the bottom of the storage recess RS the closer it is to the opening edge of the storage recess RS, it is possible to prevent the connecting body 30 from contacting the inclined surface TS (support 10) when the movable body 20 is driven.

[0034] (Variation) Although an actuator according to one aspect of the present invention has been described by way of example with reference to the accompanying drawings, it will be apparent that specific implementations of the present invention are not limited to the above-described embodiments.

[0035] For example, in the above embodiment, in each storage recess RS, the inclined surface TS includes the first inclined surface TS1, the third inclined surface TS3, the second inclined surface TS2, and the fourth inclined surface TS4, but this is not limited to this and the inclined surface TS may include only one, two, or three of the first inclined surface TS1, the third inclined surface TS3, the second inclined surface TS2, and the fourth inclined surface TS4.

[0036] Furthermore, in the above embodiment, the recessed portion R1 is formed on the inclined surface TS, but the present invention is not limited to this, and the recessed portion R1 does not have to be formed.

[0037] Furthermore, in the above embodiment, the connector 30 is formed in a rectangular parallelepiped shape, but the present invention is not limited to this, and the shape of the connector 30 can be changed as needed, and it may also be formed in a triangular shape when viewed from the Z direction.

[0038] Furthermore, in the above embodiment, in each storage recess RS, an inclined surface TS is formed from the bottom of the storage recess RS to the opening edge of the storage recess RS, but this is not limited to this, and as shown in Figures 5 to 7, a protrusion PT may be formed in the storage recess RS and an inclined surface TS may be formed on this protrusion PT.

[0039] In this case, as shown in Figures 5 to 7, the height of the protrusion PT is preferably smaller than the depth of the installation recess RS. Furthermore, the protrusion PT preferably has an elongated shape. Furthermore, the length of the protrusion PT is preferably at least one-third of the length of the corresponding side of the connecting body 30. Furthermore, the protrusion PT is preferably formed at a position corresponding to the center of each side of the connecting body 30.

[0040] In this case, as shown in Figures 5 to 7, in each accommodating recess RS, the protrusions PT are preferably formed around the connecting body 30, but this is not limited to this and they may be provided on only one side, two sides or three sides of the connecting body 30.

[0041] 1 to 4 may be further formed outside the protrusion PT. In other words, the protrusion PT may be combined with the inclined surface TS of the embodiment.

[0042] In the above embodiment, the inclined surface TS may be a flat surface or a curved surface. It goes without saying that within the scope of the present invention, the various parts in the embodiments can be freely combined, and the various parts in the embodiments can be suitably modified or omitted. [Explanation of symbols]

[0043] 1 actuator 10. Support 11 First Shell 12 Middle Frame 13 Second Shell 20 Movable body 21 York 211 1st plate part 212 2nd plate part 213 Connection plate 30 Connectors 40 Magnetic drive mechanism 41 Magnet 42 Coil RS storage space TS slope TS1 1st slope TS2 2nd slope TS3 3rd slope TS4 4th slope R1 concave PT protrusion

Claims

1. An actuator comprising: a support; a movable body; and a connecting body having at least one of elasticity and viscoelasticity and connected to the movable body and the support, wherein the support has an accommodating recess for accommodating the connecting body, an inclined surface is formed along at least a part of the edge of the connecting body within the accommodating recess, and the inclination is such that the further away from the bottom of the accommodating recess the connecting body is, the closer it is to the edge of the opening of the accommodating recess. An actuator characterized by:

2. 2. The actuator according to claim 1, wherein the inclined surface includes a first inclined surface and a second inclined surface located on both sides of the connector in the first direction.

3. The actuator according to claim 2 , wherein the inclined surfaces include a third inclined surface and a fourth inclined surface located on both sides of the connector in a second direction perpendicular to the first direction.

4. 4. The actuator according to claim 1, wherein the inclined surface is formed from the bottom of the accommodating recess to the edge of the opening of the accommodating recess.

5. 5. The actuator according to claim 4, wherein a recess is formed in the inclined surface.

6. 4. The actuator according to claim 1, wherein a protrusion is formed inside the accommodating recess, and the inclined surface is formed on the protrusion.

7. 7. The actuator according to claim 6, wherein the protrusion is elongated.

8. 7. The actuator according to claim 6, wherein the height of the protrusion is smaller than the depth of the receiving recess.

9. 2. The actuator according to claim 1, wherein the inclined surface is a flat surface.

10. 2. The actuator according to claim 1, wherein a minimum distance between the inclined surface and the connector is smaller than half the depth of the receiving recess.

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