Actuator

Abstract

To stably give strong tactile feedback to a user in response to the user's operation even when an external load is applied.SOLUTION: A movable body including a disc-shaped magnet, a pair of disc-shaped yokes fixed to a front surface and a back surface of the magnet, and a protruding part protruding from one of the pair of disc-shaped yokes in an axial direction of the magnet, a coil disposed on an outer periphery of the movable body, an outer yoke that is a magnetic body disposed on a radially outer side of the coil, and a case that has an opening through which the protruding part is inserted, and houses the movable body together with the coil with a protruding end side of the protruding part protruding to an outside, and a fixed body configured to movably support the movable body in an axial direction of the magnet, wherein the magnet and the outer yoke form a magnetic spring by a magnetic attraction force between the magnet and the outer yoke, and the opening supports an outer periphery of the protruding part so as to move the protruding end side forward and backward along the axial direction on the outside.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an actuator capable of presenting perceptible outputs such as tactile, force, and auditory senses. [Background technology]

[0002] BACKGROUND ART Conventionally, a tactile presentation device that applies vibrations to a touch panel using an actuator is known as one technique for providing feedback of an operational feeling (tactile sensation) to a user's fingertip or the like when performing a touch operation on a touch panel.

[0003] For example, Patent Document 1 discloses a tactile presentation device having an operation detection unit that detects the amount of operation on the operation surface of a panel, an actuator that applies vibration to the operation surface, and a control unit that controls the drive of the actuator based on the result of the operation detection unit.The tactile presentation device disclosed in Patent Document 1 changes the mode of drive control of the actuator according to the amount of change in the amount of operation at the time of release operation, thereby presenting a vibration of natural strength and providing a tactile sensation that reduces the discomfort felt by the user. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-071674 Summary of the Invention [Problem to be solved by the invention]

[0005] It is desirable for the above-mentioned tactile presentation device to respond quickly to user operations and present a sufficient tactile sensation, i.e., provide strong feedback to the user, and to achieve this, it is necessary to provide the user with vibrations generated by the vibration actuator in an appropriate and prompt manner.

[0006] Furthermore, even when the vibration actuator is mounted in an environment where an external load is applied in a direction intersecting the axial direction, for example, from the radial outside, it is desirable that the movable body operate stably without misalignment.

[0007] The present invention has been made in consideration of the above points, and aims to provide an actuator that can stably provide a strong tactile feedback to a user in response to a user's operation, even when an external load is applied. [Means for solving the problem]

[0008] One aspect of the actuator of the present invention is a movable body including a disk-shaped magnet, a pair of disk-shaped yokes fixed to the front and back surfaces of the magnet, and a protrusion protruding from one of the pair of disk-shaped yokes in the axial direction of the magnet; a fixed body that includes a coil arranged on the outer periphery of the movable body, an outer yoke that is a magnetic body arranged radially outside the coil, and a case that has an opening through which the protruding portion is inserted and that houses the movable body together with the coil with the protruding end side of the protruding portion protruding outward, and that supports the movable body movably in the axial direction of the magnet; and the magnet and the outer yoke constitute a magnetic spring by magnetic attraction between the magnet and the outer yoke, The opening is configured to support the outer periphery of the protruding portion so that the protruding end side can move back and forth along the axial direction outside. [Effects of the Invention]

[0009] According to the present invention, the protruding end of the protrusion can be prevented from deviating from the axial direction of the magnet, which is the direction of movement, and strong tactile feedback can be provided to the user in response to the user's operation in a stable manner, even when an external load is applied. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a perspective view of an appearance of an actuator according to an embodiment of the present invention; [Figure 2] FIG. 2 is a longitudinal sectional view showing the configuration of a main part of the actuator. [Figure 3] FIG. 2 is a diagram showing the internal structure of the actuator with the case removed. [Figure 4] FIG. [Figure 5] FIG. [Figure 6] FIG. [Figure 7] 5A to 5C are diagrams illustrating the operation of the actuator according to the embodiment of the present invention. [Figure 8] FIG. 10 is a perspective view of the appearance of a first modified example of the actuator. [Figure 9] FIG. 10 is a longitudinal sectional view showing the configuration of a main part of an actuator according to a first modified example. [Figure 10] FIG. [Figure 11] FIG. 10 is a longitudinal sectional view showing the configuration of a main part of a second modified example of the actuator. [Figure 12] FIG. [Figure 13] FIG. 10 is a longitudinal sectional view showing the configuration of a main part of a third modified example of the actuator. [Figure 14] FIG. [Figure 15] FIG. 10 is a longitudinal sectional view showing the configuration of a main part of a fourth modified example of the actuator. [Figure 16] FIG. [Figure 17] FIG. 10 is a longitudinal sectional view showing the configuration of a main part of a fifth modified example of the actuator. [Figure 18] FIG. [Figure 19] FIG. 10 is a longitudinal sectional view showing the configuration of a main part of a sixth modified example of the actuator. [Figure 20] FIG. [Figure 21]FIG. 13 is a longitudinal sectional view showing the configuration of a main part of a seventh modified example of the actuator. [Figure 22] FIG. [Figure 23] FIG. 13 is a longitudinal sectional view showing the configuration of a main part of an eighth modified example of the actuator. [Figure 24] FIG. 13 is an exploded view showing the internal configuration of Modified Example 8 of the actuator with the case removed. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0012] <Overall configuration of actuator 1> Fig. 1 is an external perspective view of an actuator according to an embodiment of the present invention, and Fig. 2 is a longitudinal cross-sectional view showing the main configuration of the actuator. Fig. 3 is a diagram showing the internal structure of the actuator with the case removed, and Fig. 4 is an exploded perspective view of the actuator. For convenience, Fig. 3 shows the outer yoke 70 in a see-through manner.

[0013] In this embodiment, the terms "upper" and "lower" are used for convenience to facilitate understanding, and refer to one side and the other side of the reciprocating direction of the movable body of the actuator. That is, when the actuator is mounted in an electronic device (not shown), it does not matter if it is upside down or left and right, but it is preferable that the direction of forward and backward movement of the output shaft portion 252 (protruding portion 25) protruding from the actuator is the same as the direction in which the user contacts the operating portion. This also applies to the following modified examples.

[0014] The actuator 1 according to the first embodiment is used in, for example, haptics including tactile sensation presentation technology, and transmits the reciprocating movement of the movable body 20 in response to the user's touch operation on the operation unit as a tactile sensation or force sensation to the user. The actuator 1 may also present the sensation to the user as a sound to appeal to the auditory sense.

[0015] 1 and 2 has a protrusion 25 (output shaft 252) that protrudes from the case 10 so as to be able to move forward and backward, and this protrusion 25 can be directly connected to an operation unit (e.g., a touch panel) that a user touches to operate. The protrusion 25 is a part of a movable body 20 that is movably housed within the case 10. The actuator 1 drives the movable body in response to movement of the movable body 20 by the user's operation, and presents an output that the user can perceive to the user.

[0016] It is preferable that the actuator 1 is used as a device for detecting operations and providing tactile feedback in haptics, but it is not limited to this and may be mounted as a vibration generating source in electronic devices such as portable game terminals. The actuator 1 may also be used simply as a vibration generator as a vibration actuator, or may be used in a resonant pump, a character input keyboard, an exciter, etc.

[0017] Actuator 1 includes output shaft 252 and magnet 30 on movable body 20, and coils 61, 62 on fixed body 50, and movable body 20 can reciprocate in a linear direction due to cooperation between energized coils 61, 62 and magnet 30. Actuator 1 has elastic support parts 81, 82 that support movable body 20 so that it can reciprocate freely relative to fixed body 50, and as movable body 20 reciprocates, output shaft 252 moves back and forth in the axial direction, and moves axially, or up and down in the figure, outside top surface 122 of case 10.

[0018] Specifically, the actuator 1 has a movable body 20 having a pair of yokes 41, 42 and a pair of spring stop portions 22, 24 in addition to the magnet 30, and a fixed body 50 having a pair of annular coils 61, 62 and an outer yoke 70. In addition, a pair of elastic support portions 81, 82 are installed between the movable body 20 and the fixed body 50.

[0019] Although the yokes 41, 42, spring stop portions 22, 24, and coils 61, 62 are configured as pairs, this is not limiting, and each portion may be provided with one or three or more as long as it can be freely moved in both directions in a straight line or in one direction.

[0020] In the actuator 1, the coils 61 and 62, the outer yoke 70, the magnet 30, and the yokes 41 and 42 form a magnetic circuit that moves the movable body 20. In the actuator 1, the coils 61 and 62 are energized from a power supply (not shown) via a terminal 75, causing the movable body 20 to move. The movable body 20 can move back and forth in both axial directions, which are the reciprocating directions, or in one direction, which is one of the axial directions. The actuator 1 can move, for example, in both axial directions (see the directions of the arrows labeled "movable direction: up" and "movable direction: down" in FIG. 7).

[0021] In actuator 1 of this embodiment, movable body 20 moves back and forth in a movement direction (which is also the axial direction of coils 61, 62) along holding part main body (protective wall part) 522 arranged between movable body 20 and coils 61, 62 held by coil holding part 52. The movement direction is the axial direction of coils 61, 62, as well as the magnetization direction of magnet 30 and the axial direction of coil holding part 52.

[0022] 3, the actuator 1 is configured by accommodating a unit 13 in which a fixed body 50 and a movable body 20 are connected by elastic support parts 81 and 82 within a case 10 having a case body 11 and a lid part 12. This allows the main parts of the actuator 1 to be assembled with high precision in a separate process from the case 10.

[0023] <Movable body 20> FIG. 5 is a perspective view of the movable body, and FIG. 6 is an enlarged exploded view of the movable body.

[0024] As shown in Fig. 2, when movable body 20 is not driven, it is arranged via elastic support parts 81 and 82 so that the center of its length in the reciprocating direction (the axial direction of the magnet, which is the up-and-down direction in Fig. 2) is located at the same height level as the center of its length in the reciprocating direction of coil holder 52. Here, "when not driven" means a state in which movable body 20 is not moving (including reciprocating motion or vibration). Also, "located at the same height level" means that the movable body and coil holder 52 are located opposite each other with a predetermined gap in a direction perpendicular to the axial direction of movable body 20.

[0025] In this embodiment, it is preferable that the center of the length in the reciprocating direction of magnet 30 and yokes 41, 42 be positioned opposite, in a direction perpendicular to the reciprocating direction, to the center of the length in the reciprocating direction between coils 61, 62 spaced apart from each other above and below. Note that a magnetic fluid may be interposed between holder body 522 of coil holder 52 and movable body 20.

[0026] As shown in Figures 2, 4 to 6, the movable body 20 has a magnet 30, yokes 41, 42, and spring stop portions (first spring stop portion 22, second spring stop portion 24), as well as an output shaft portion 252, a first spring fixing portion 26, and a second spring fixing portion 28.

[0027] The movable body 20 has a yoke (first yoke) 41, a yoke (second yoke) 42, a first spring stop portion 22, a second spring stop portion 24, a first spring fixing portion 26, and a second spring fixing portion 28 connected together on the front and back sides of the magnet 30 in the axial direction, i.e., in both directions of the reciprocating movement, with the magnet 30 at the center.

[0028] Specifically, in the movable body 20, a pair of yokes 41, 42 are stacked on the front and rear surfaces 30a, 30b of the magnet 30, and one end of a pair of springs and stoppers 22, 24 engages with openings 412, 422 of the pair of yokes 41, 42.

[0029] The spring stop portions 22, 24 are engaged at the other end with elastic support portions 81, 82. Of the spring stop portions 22, 24, the first spring stop portion 22 is provided with an output shaft portion 252 that protrudes from the first spring stop portion 22 to one side in the axial direction of the magnet 30 and passes through a central opening 126 that is an opening in the lid portion 12 (see FIGS. 1 to 4 and 7).

[0030] In the movable body 20, the outer peripheral surfaces 20a of the magnet 30 and the yokes 41 and 42 face the inner peripheral surface 522a of the holding portion main body 522 at a predetermined distance (gap d2 shown in FIG. 8) from the inner peripheral surface 522a, inside the inner peripheral surface 522a. When the movable body 20 moves back and forth, the outer peripheral surface 20a moves back and forth along the inner peripheral surface 522a without contacting it.

[0031] <Magnet 30> The magnet 30 is, for example, solid and magnetized in the reciprocating direction. The magnet 30 is formed in a disk shape, including a cylindrical shape with a predetermined thickness. The magnet 30 has front and back surfaces 30a and 30b that are spaced apart in the reciprocating direction (thickness direction) and each serve as a magnetic pole surface with a different polarity (for example, the front surface 30a is an S pole and the back surface 30b is an N pole).

[0032] The magnet 30 is disposed so as to be positioned radially inward of the coils 61, 62 (details of which will be described later) with a gap therebetween. Here, the "radial direction" refers to a direction perpendicular to the axes of the coils 61, 62 and also to a direction perpendicular to the reciprocating direction. This "gap" in the radial direction is the gap between the magnet 30 and the coils 61, 62 including the holder main body 522, and is a gap that allows the magnet 30 to move in the reciprocating direction of the movable body 20 without contacting each other. That is, in this embodiment, the "gap" refers to a predetermined gap between the holder main body 522 and the magnet 30.

[0033] In this embodiment, magnet 30 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 holder main body 522 in a direction perpendicular to the axial direction. Note that magnet 30 may have a shape other than a disk shape, such as a cylindrical shape or a plate shape, as long as it is disposed inside coils 61 and 62 with two magnetized surfaces facing in the direction in which the axes of coils 61 and 62 extend, i.e., in the reciprocating direction.

[0034] In this embodiment, the magnet 30 is a solid body, so unlike a cylindrical body, the effort of machining 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 openings. Also, it is desirable that the axial center of the magnet 30 coincides with the axial center of the movable body 20. The magnetization direction of the magnet 30 is parallel to the movement direction of the movable body 20.

[0035] <York 41, 42> The yokes 41 and 42 are magnetic bodies and form a movable body side magnetic circuit together with the magnet 30. The yokes 41 and 42 concentrate the magnetic flux of the magnet 30, allowing it to flow efficiently without leakage, and effectively distribute the magnetic flux flowing between the magnet 30 and the coils 61 and 62.

[0036] In addition to functioning as part of the magnetic circuit, the yokes 41 and 42 also have the function of fixing the spring stop portions 22 and 24, and furthermore, the yokes 41 and 42 may also function as the main body of the movable body 20 and as a weight in the movable body 20.

[0037] In this embodiment, the yokes 41 and 42 are formed in the shape of circular flat plates with the same outer diameter as the magnet 30. The yokes 41 and 42 are fixed to the magnet 30 so that their outer peripheral surfaces are flush with the outer peripheral surface of the magnet, and together with the outer peripheral surface of the magnet, they form the outer peripheral surface 20a of the movable body 20.

[0038] The yokes 41 and 42 are members of the same shape arranged around the magnet 30 so as to sandwich the magnet 30, but may be members of different shapes. The yokes 41 and 42 are attracted to the magnet 30 and fixed to the magnet 30, and are fixed to the magnet 30 via, for example, a thermosetting adhesive such as epoxy resin or an anaerobic adhesive.

[0039] Openings 412, 422 are provided in the center of each of the yokes 41, 42, penetrating in the axial direction, i.e., in the thickness direction. One ends of the upper and lower spring stop portions 22, 24 are fitted into and fixed to the openings 412, 422, respectively. In addition, the base end of the output shaft portion 252 is positioned inside the opening 412 on one side of the spring stop portion 22. As a result, the opening 412 is in a state where almost no cavity is generated between the spring stop portion 22 and the output shaft portion 252.

[0040] In this embodiment, when movable body 20 is not reciprocating, yokes 41 and 42 are positioned inside (radially inside) coils 61 and 62 so as to face coils 61 and 62, respectively, in a direction perpendicular to the axial direction of coils 61 and 62.

[0041] Openings 412, 422 support spring stop portions 22, 24 so that the axes of spring stop portions 22, 24 (here, coincident with the centers of elastic support portions 81, 82) are positioned on the central axis of movable body 20. Opening 422 adjusts the degree of opening in yoke 42 to adjust the weight of movable body 20 and set a suitable reciprocating output. Also, opening 412 adjusts the degree of opening in yoke 41 and the insertion amount of output shaft portion 252 to adjust the weight of movable body 20 and set a suitable reciprocating output.

[0042] <Spring stopper parts 22, 24> The pair of spring stop portions 22, 24 function as weights for the movable body 20. The spring stop portions 22, 24 are symmetrically arranged so as to sandwich the magnet 30 and the yokes 41, 42, thereby increasing the reciprocating output of the movable body 20. In this embodiment, the spring stop portions 22, 24 are formed to have the same shape, thereby reducing the manufacturing costs of the parts. Details of the second spring stop portion 24 of the spring stop portions 22, 24 will be described in detail in the description of the first spring stop portion 22, with corresponding reference numerals such as the spring stop portions 22, 24, etc., being added, and the first spring stop portion 22 will be mainly described, and a description of the second spring stop portion 24 will be omitted.

[0043] In this embodiment, the spring stop portions 22 and 24 also function as the axis of the movable body extending along the central axis of the movable body 20, and are interposed between the yokes 41 and 42 and the elastic support portions 81 and 82.

[0044] The spring stop portions 22, 24 have joint portions 222, 242 which are one end portions of the spring stop portions 22, 24, and spring connection portions 224, 244 which are the other end portions of the spring stop portions 22, 24. The joint portions 222, 242 and the spring connection portions 224, 244 are respectively connected in the reciprocating direction.

[0045] The spring stop portions 22, 24 are cylindrical bodies having a through-hole 23 penetrating therethrough. The spring stop portions 22, 24 may also function as weights. In this case, the spring stop portion 24 may have the function of adjusting the weight balance as a weight adjustment portion by adding a weight inside the through-hole 23. By adding a weight inside the through-hole 23 of the spring stop portion 24, the movable body 20 can be made heavier, thereby increasing the vibration output of the movable body 20. The base end of the output shaft portion 252 is inserted into the through-hole 23 of the first spring stop portion 22 and firmly fixed therein.

[0046] Joints 222 and 242 are cylindrical bodies arranged on the axis of movable body 20 and are joined to yokes 41 and 42, respectively. One end of joints 222 and 242 is inserted into and fitted into openings 412 and 422 of yokes 41 and 42, respectively, for joining. Meanwhile, the other end of joints 222 and 242 is arranged to protrude from yokes 41 and 42 in opposite directions with magnet 30 at the center, and is connected to spring connection parts 224 and 244.

[0047] In this embodiment, the spring stop portions 22, 24 are joined to the yokes 41, 42 by press-fitting, but this is not limiting and they may be joined by adhesion using, for example, a thermosetting adhesive such as epoxy resin or an anaerobic adhesive. Also, although the joining portions 222, 242 are cylindrical bodies, they may be solid cylindrical bodies or rod-shaped bodies with a recess on the axis.

[0048] The spring connecting portion 224 is provided in the spring stop portion 22 so as to protrude from the joint portion 222 to the other side (upward), and is a cylindrical body having an outer diameter larger than that of the joint portion 222. The spring connection parts 224 and 244 constitute both ends of the movable body 20 that are separated in the movement direction, and elastic support parts 81 and 82, which will be described later, are joined to the spring connection parts 224 and 244, respectively. In the spring connection portion 224 , the joint surface, which is the tip (upper end) surface thereof, is disposed around the output shaft portion 252 and abuts against the inner periphery portion 802 of the elastic support portion 81 .

[0049] <Output shaft part 252 (protruding part 25)> The output shaft 252 is connected to the movable body 20, moves together with the movable body 20, and outputs the operation of the movable body 20 to the outside. The output shaft 252 is disposed on the axis of the movable body 20, with its base end fitted into the spring stop portion 22 and directly fixed to the movable body 20, and its protruding end (the other end) passing through the central opening 126 of the lid portion 12 and exposed to the outside of the actuator 1.

[0050] A cap 254 is attached to the tip of the output shaft 252. The cap 254 constitutes the protrusion 25 together with the output shaft 252, but the output shaft 252 may also be the protrusion 25. The user may come into contact with the cap 254 itself, or a separate member may be attached to the cap 254 so that the user can feel the touch via the separate member. The cap 254 may be made of a material different from that of the output shaft, such as resin, that is easily bonded to other members such as the operating unit.

[0051] The output shaft 252 is made of a durable material, such as metal, and may be made of either a magnetic or non-magnetic material, but a non-magnetic material is preferable. If the output shaft 252 is made of a non-magnetic material, leakage magnetic flux around the operating range of the operating unit (not shown) to which the cap 254 is connected can be suppressed. If the output shaft 252 is made of a magnetic material, it is desirable to configure it so that it does not come into contact with the magnet 30.

[0052] The output shaft portion 252 is a solid cylindrical body, but is not limited to this, and may be hollow. The output shaft portion 252 has a circular cross section, but is not limited to this. The outer shape of the output shaft portion 252 (outer diameter since it is cylindrical) is approximately the same size as the inner diameter of the central opening 126 of the lid portion 12, and is the outer diameter that slides and moves within the central opening 126.

[0053] The output shaft portion 252, together with the first spring stop portion 22, is disposed within the opening 412 of the first yoke 41 on the magnet 30. If the output shaft portion 252 is configured to be disposed so as to contact the top of the magnet 30 via the opening 412, then the output shaft portion 252 can be simply inserted into the through-hole 23 of the spring stop portion 22 and fitted into the opening 412 of the yoke 41, allowing the various portions to be assembled while being positioned on the shaft.

[0054] The output shaft 252 is inserted through an inner circumferential portion 802, which is the inner diameter side end (other end) of the elastic support portion 81 (upper leaf spring) serving as the elastic support portion 81, and passes through the central opening 126 of the lid portion 12 to protrude to the outside of the actuator 1. The inner circumferential portion 802 of the elastic support portion 81 is sandwiched between the joint surface of the spring connection portion 224 and the first spring fixing portion 26, while abutting against the joint surface, which is the tip (upper end) surface of the spring connection portion 224. The first spring fixing portion 26 is formed in an annular shape and is a press-fit ring that is press-fitted onto the output shaft 252. The inner circumferential portion 802 of the elastic support portion 81 is firmly sandwiched and fixed between the spring connection portion 224 and the first spring fixing portion (press-fit ring) 26, while being externally fitted onto the output shaft 252. An adhesive may be used for this clamping. As a result, the spring connection portion 224 is joined to the elastic support portion 81 .

[0055] In this way, output shaft 252 is disposed in movable body 20 on one side (upper side) of the direction of movement of movable body 20, extending upward from magnet 30 and slidably inserted through elastic support member 81 and cover member 12, with the other end being movable back and forth outside fixed body 50. Since the drive of movable body 20 is transmitted directly to the user via output shaft 252, a high-speed response and strong feedback can be provided. Furthermore, tactile feedback can be provided by displacing movable body 20 in response to an operation, and a tactile sensation can be expressed that corresponds to an operation with a long stroke.

[0056] On the other hand, the spring connection portion (lower spring connection portion) 244 of the second spring stop portion 24, which is arranged on the opposite side of the magnet 30 from the spring connection portion 224 of the first spring stop portion 22, is joined to the inner peripheral portion 802, which is the inner diameter side end portion of the lower leaf spring, which is the elastic support portion 82.

[0057] The spring connecting portion 244 is provided in the spring stop portion 24 so as to protrude to the other side (downward) from the joint portion 242, and is a cylindrical body having an outer diameter larger than that of the joint portion 242. The spring connecting portion 244 holds the inner peripheral portion 802 of the lower leaf spring serving as the elastic support portion 82 together with the second spring fixing portion 28 inserted into a through hole that opens at the joint surface, with the inner peripheral portion 802 abutting against the joint surface, which is the tip (lower end) surface of the spring connecting portion 244.

[0058] Specifically, by inserting the shaft-shaped insertion portion 282 into the through-hole of the spring connecting portion 244, the second spring fixing portion 28 clamps the inner peripheral portion 802 of the elastic support portion 82 together with the joint surface of the spring connecting portion 244 with a flange 284 provided on the outer periphery of the base end of the insertion portion. This causes the spring connecting portion 244 and the elastic support portion 82 to be joined together.

[0059] The second spring fixing portion 28 may be, for example, a rivet such as a blind rivet. The second spring fixing portion 28 is fixed in the through-hole of the spring connecting portion 244 by press-fitting an axial insertion portion 282 by caulking or the like.

[0060] Furthermore, spring stop portions 22 and 24 may be made of a magnetic material, but are preferably made of a non-magnetic material. If spring stop portions 22 and 24 are made of a non-magnetic material, magnetic flux from yoke 41 will not flow upward, and magnetic flux from yoke 42 will not flow downward, allowing them to flow efficiently toward coils 61 and 62 located on the outer periphery of yokes 41 and 42.

[0061] Since the movable body 20 is configured with the magnet 30, yokes 41, 42, spring stop portions 22, 24, and output shaft portion 252 as separate bodies, it is easy to ensure the dimensional accuracy required for each portion. Also, it is possible to improve the surface accuracy (accuracy of the joint surfaces) of the spring connection portions 224A, 244 of the spring stop portions 22, 24, and the dimensional accuracy of the outer diameter of the protrusion 25 (output shaft portion 252).

[0062] <Elastic support portions 81, 82> The elastic support parts 81 and 82 are arranged on both sides of the movable body 20 in the movement direction, and support the movable body 20 so that it can move in the movement direction. The elastic support parts 81 and 82 are leaf springs, and are arranged to sandwich the movable body 20 in the vibration direction of the movable body 20, and are respectively installed on both the movable body 20 and the fixed body 50 so as to intersect with the vibration direction.

[0063] Specifically, the elastic support portions 81 and 82 are arranged across both ends (upper and lower ends) of the movable body 20 that are spaced apart in the reciprocating direction and the opening edge portion of the fixed body 50 (coil holding portion 52) that is arranged radially outward from each of the both ends. In this embodiment, the elastic support portions 81 and 82 are arranged along a direction perpendicular to the reciprocating direction and facing each other so as to sandwich the movable body 20 in the reciprocating direction.

[0064] The elastic support members 81, 82 may be made of a non-magnetic material or a magnetic material (specifically, a ferromagnetic material). If the elastic support members 81, 82 are non-magnetic leaf springs, they may be made of a stainless steel plate such as SUS304 or SUS316. If the elastic support members 81, 82 are magnetic, they may be made of a stainless steel plate such as SUS301. As the material for the elastic support members 81, 82, for example, it is known that a magnetic material (e.g., SUS301) is more durable and less expensive than a non-magnetic material (e.g., SUS304, SUS316).

[0065] The elastic support parts 81 and 82 support the movable body 20 so that it does not come into contact with the fixed body 50, regardless of whether the movable body 20 is not driven (reciprocating) or driven (reciprocating). The elastic support parts 81 and 82 may be configured with any material that elastically supports the movable body 20 so that it can move freely.

[0066] Elastic support members 81 and 82 are each a plurality of plate-shaped spiral springs that are flat in their normal state. In elastic support members 81 and 82, arc-shaped deforming arm portions 804 extend radially outward at equal intervals from the outer edge of an annular plate-shaped inner circumferential portion 802, and the ends of deforming arm portions 804 are connected to annular plate-shaped outer periphery fixing portions 806.

[0067] The inner periphery 802 has a shape that allows it to be placed on the joining surfaces of the spring connecting portions 224, 244 of the spring stop portions 22, 24, and has, for example, an outer diameter that is approximately the same as the outer diameter of the joining surfaces of the spring connecting portions 224, 244.

[0068] The deforming arm portion 804 is elastically deformable, and is joined at one end to the outer circumferential fixed portion 806 and at the other end to the inner circumferential portion 802, connecting the outer circumferential fixed portion 806 and the inner circumferential portion 802. A plurality of deforming arm portions 804 are arranged in a spiral shape at predetermined intervals in the circumferential direction between the inner circumferential portion 802 and the outer circumferential fixed portion 806. The movable body 20 may be supported by three or more elastic support portions (leaf springs) 81, 82. These plurality of leaf springs are attached along a direction perpendicular to the reciprocating direction.

[0069] In the elastic support parts 81 and 82, the inner peripheral parts 802 are joined to both ends (spring connection parts 224 and 244) that are separated in the axial direction (reciprocating direction) of the movable body 20. In addition, in the elastic support parts 81 and 82, the outer peripheral fixing parts 806 are arranged so as to protrude radially outward (radially) at both ends of the movable body 20. The outer peripheral fixing portion 806 has a notch formed on its outer peripheral edge, and is clamped between both opening edges of the coil holding portion 52 and the case 10 with the movable range forming portion (positioning piece portion) 54 of the coil holding portion 52 engaged with the notch.

[0070] Specifically, in elastic support member 81, outer periphery fixing portion 806 is sandwiched and fixed between annular upper end surface 527a of flange portion 527 and pressing portion 128 of lid portion 12 within case 10. Note that upper end surface 527a refers to the upper (one side) end surface of the portion above (one side) flange portion 527 that avoids movable range forming portion 54.

[0071] Furthermore, in the lower elastic support member 82, the outer periphery fixing portion 806 is fixed to the lower end portion of the coil holding portion 52, radially outward of the movable body 20 in the actuator 1. Specifically, the outer periphery fixing portion 806 of the elastic support member 82 is fixed to a portion of the annular lower end surface 528a of the lower flange portion 528 that forms the lower end portion of the coil holding portion 52, avoiding the movable range forming portion 54.

[0072] The multiple elastic support parts 81, 82 are oriented, for example, so that the spiral direction is the same, and one end of each on the outer periphery, the outer periphery fixed part 806, is fixed to the fixed body 50, and the other end on the inner periphery, the inner periphery part 802, is fixed to the movable body 20.

[0073] As described above, in this embodiment, a plurality of spiral-shaped leaf springs are used as the plurality of elastic support members 81, 82, and are attached to both ends of movable body 20 that are spaced apart in the vibration direction, thereby elastically supporting movable body 20 relative to fixed body 50. As a result, when the amount of movement of movable body 20 increases, the movable body moves in a translational direction (here, a direction on a plane perpendicular to the vibration direction) while rotating slightly. If the spiral directions of the plurality of leaf springs are opposite to each other, the plurality of leaf springs will move in a buckling or pulling direction relative to each other, hindering smooth movement.

[0074] The pair of elastic support portions 81, 82 of the actuator 1 enable the movable body 20, particularly the output shaft portion 252 which is the protrusion 25, to move with improved linearity. This allows the movable body 20 to move stably without being affected by external shocks or disturbances. In particular, the stability of linear drive can be increased, which improves the stability of both the magnetic sensor output and the tactile output.

[0075] In this embodiment, the elastic support members 81 and 82 are fixed to the movable body 20 so that the spiral directions are the same, so even if the amount of movement of the movable body 20 increases, they can move smoothly, i.e., deform, resulting in a larger output and making it possible to increase the output that serves as force feedback. However, depending on the desired range of movement of the movable body 20, the spiral directions of the multiple elastic support parts 81, 82 may be designed to be opposite to each other.

[0076] On the other hand, outer periphery fixing portion 806 of upper elastic support portion 81 is fixed radially outward to the upper end portion of coil holding portion 52. Specifically, outer periphery fixing portion 806 of elastic support portion 81 is fixed to a portion of annular upper end surface 527a of upper flange portion 527 that forms the upper end portion of coil holding portion 52 (see FIG. 2), avoiding movable range forming portion 54. The configuration of coil holding portion 52 will be described in detail later.

[0077] The outer peripheral fixing portion 806 of the elastic support portion 82 is fixed in the case 10 by being sandwiched between the annular lower end surface 528a of the flange portion 528 and a step portion 118 provided on the peripheral edge portion of the bottom portion 114. The lower end surface 528a refers to the upper (other side) end surface of the portion of the lower (other side) flange portion 528 that avoids the movable range forming portion 54.

[0078] Outer periphery fixing portion 806 is formed in an annular shape, and its outer periphery is sandwiched between upper and lower end surfaces 527a, 528a (see FIG. 2) of coil holding portion 52, pressing portion 128, and step portion 118. In this way, outer periphery fixing portion 806 is fixed to fixed body 50.

[0079] <Fixed body 50> As shown in Figure 2, the fixed body 50 holds the coils 61, 62 and supports the movable body 20 radially inside the coils 61, 62 so that it can move freely in the movement direction (coil axis direction, axial direction of the movable body 20) via elastic support parts 81, 82.

[0080] The fixed body 50 has the coils 61 and 62, the outer yoke 70, and a coil holding portion 52 that holds the coils 61 and 62. In addition to the coils 61 and 62, almost all of the components that generate vibration, such as the movable body 20 and the case 10, are connected to the coil holding portion 52 via the elastic support portions 81 and 82, thereby forming the actuator 1.

[0081] Coil holding portion 52 is a cylindrical body that holds coils 61, 62 arranged on its outer circumferential surface, surrounds magnet 30 on its inner circumferential surface 522a, and has movable body 20 having magnet 30 arranged inside it so as to be freely movable. Coil holding portion 52 may be formed in a bobbin shape, in which case coils 61, 62 are arranged by being wound around the outer periphery of an inner cylindrical holding portion main body (protective wall) in coil holding portion 52.

[0082] The coil holding portion 52 is a cylindrical body made of a resin such as phenolic resin, polybutylene terephthalate (PBT), etc. In this embodiment, the coil holding portion 52 is made of a material containing phenolic resin such as highly flame-retardant bakelite.

[0083] By constructing the coil holding portion 52 from a material containing phenolic resin, flame retardancy is enhanced, and safety during operation can be improved even if heat is generated by Joule heat when a current flows through the holding coils 61, 62. Furthermore, improved dimensional accuracy and positional accuracy of the coils 61, 62 can reduce variations in vibration characteristics.

[0084] Specifically, the coil holding portion 52 has a cylindrical holding portion main body 522, a central flange portion 526 and flange portions 527, 528 that protrude radially from the outer periphery of the holding portion main body 522, a terminal portion 75, and a movable range forming portion 54.

[0085] The holding portion main body 522 functions as a protective wall that protects the coils 61, 62 from collisions when the movable body 20 arranged inside is driven. The thickness of the holding portion main body 522 is such that it has the strength to not affect the outer coils 61, 62 even when the moving movable body 20 comes into contact with it.

[0086] Coils 61 and 62 are arranged side by side in the coil axis direction on the outer periphery of holder main body 522 between central flange portion 526 and each flange portion 527 and 528 (coil attachment portions 52b and 52c). Holder main body 522 positions coils 61 and 62 so as to surround them radially outward from the outer periphery surfaces of yokes 41 and 42 of movable body 20 (the outer periphery surfaces of magnet 30 and yokes 41 and 42).

[0087] Specifically, the outer peripheral surface of the holder main body 522 is partitioned by a central flange portion 526 and flange portions 527, 528, and is provided with concave coil mounting portions 52b, 52c on the outer peripheral side that open radially outward.

[0088] The terminal portion 75 functions as a connector wire connection portion that connects to an external device by winding the coil windings of the coils 61 and 62. The coils 61 and 62 are connected to the external device via the terminal portion 75, and power can be supplied from the external device to the coils 61 and 62.

[0089] Terminal portion 75 is a conductive member protruding from the outer periphery of holder main body 522. In this embodiment, terminal portion 75 is press-fitted into the outer periphery of central flange portion 526, which is disposed at the center in the vibration direction on the outer periphery of holder main body 522. As a result, terminal portion 75 is provided so as to protrude from the outer periphery of central flange portion 526.

[0090] Flange portions 527 and 528 are provided at both ends of holding portion main body 522 spaced apart in the axial direction (which is the vibration direction and also the vertical direction in this embodiment), and constitute the upper and lower ends of coil holding portion 52.

[0091] Elastic support portions 81 and 82 are fixed to flange portions 527 and 528 at their ends (top and bottom ends in this embodiment) on the side away from central flange portion 526.

[0092] The movable range forming portions 54 are protrusions provided at the upper and lower ends of the coil holding portion 52 so as to protrude in the axial direction, and form a vibration range between the lid portion 12 and bottom portion 114 of the case 10 and the movable body 20 when the coil holding portion 52 is housed in the case 10. The movable range forming portions 54 are provided at a predetermined distance on the annular upper and lower end faces (also referred to as the "upper end face," the "lower end face," and the "opening end face") 527a and 528a of the flange portions 527 and 528, respectively. The upper end face 527a is the opening end face on one side, and the lower end face 528a is the opening end face on the other side.

[0093] The movable range forming portion 54 fits into notches provided in the elastic support portions 81, 82 to position the elastic support portions 81, 82 in the radial direction. By fitting the movable range forming portion 54 into the notches, the mounting positions of the elastic support portions 81, 82 can be set uniformly with respect to the coil holding portion 52 in each unit 13, thereby enabling stable positioning of the elastic support portions 81, 82 with respect to the coil holding portion 52. Furthermore, the elastic support portions 81, 82 are not fixed to the fixed body side with respect to the coil holding portion 52 via multiple component parts. This provides a structure that is less susceptible to component tolerances, restricts circumferential and radial movement such as rotation, and as a product, reduces variation in the elastic support portions 81, 82 and achieves stable characteristics.

[0094] The coil holding portion 52 is housed in the case 10 with the movable range forming portions 54 on the upper and lower end surfaces abutting against the edges of the lid portion 12 and the bottom portion 114, and is fixed to the edges of the lid portion 12 and the bottom portion 114.

[0095] <Coil> In the actuator 1, the coils 61 and 62 are used to generate a driving source for the actuator 1 together with the magnet 30 and the yokes 41 and 42, with the axial direction of the coils 61 and 62 (the magnetization direction of the magnet 30) as the vibration direction.

[0096] Coils 61 and 62 generate a magnetic field when energized to move movable body 20. Coils 61 and 62 are arranged radially outside movable body 20. Coils 61 and 62, together with magnet 30, form a magnetic circuit similar to that of a voice coil motor.

[0097] Coils 61 and 62 are arranged on the coil attachment portions 52b and 52c, and in this embodiment, the coils 61 and 62 are arranged at positions facing the yokes 41 and 42 in a direction perpendicular to the reciprocating direction.

[0098] The coils 61 and 62 are held by the coil holder 52 so that the center position of their lengths in the coil axis direction (reciprocating direction) is approximately the same position (including the same position) as the center position of the length in the reciprocating direction of the movable body 20 (the center position of the reciprocating direction of the magnet 30). Note that the coils 61 and 62 in this embodiment are configured to be wound in opposite directions to each other, so that current flows in opposite directions when energized. The coils 61 and 62 are fixed by adhesive or the like within the recessed coil mounting portions 52b and 52c, and their outer peripheral surfaces are surrounded by an outer yoke 70 inside the case 10.

[0099] Respective ends of coils 61, 62 are connected by being twisted around terminal portions 75 of central flange portion 526. Coils 61, 62 are connected to an external power supply unit via terminal portions 75. For example, a configuration may be adopted in which respective ends of coils 61, 62 are connected to a DC supply unit, and DC power is supplied from the DC supply unit to coils 61, 62. This allows coils 61, 62 to generate thrust between themselves and the magnet that moves them in one direction toward or away from each other in the axial direction.

[0100] Alternatively, each end of the coils 61 and 62 may be connected to an AC supply unit, and an AC power source (AC voltage) may be supplied from the AC supply unit to the coils 61 and 62. This allows the coils 61 and 62 to generate thrust between themselves and the magnet, which allows them to move toward and away from each other in the axial direction.

[0101] The power supplied to coils 61 and 62 may be either AC or DC, and a thrust force for movable body 20 is generated corresponding to each power supply. It goes without saying that both AC and DC may be supplied to coils 61 and 62. Actuator 1 may move movable body 20 by superimposing AC on input DC. For example, actuator 1 first uses input DC to push or lower movable body 20, i.e., protrusion 25. Then, when protrusion 25 is pressed by a user, actuator 1 detects this and superimposes input AC or pulses on the input DC to provide a tactile sensation such as force feedback. Furthermore, at least one of a DC supply unit and an AC supply unit connected to each end of coils 61 and 62 may be provided within the actuator itself.

[0102] <Outer yoke 70> The outer yoke 70 is a cylindrical magnetic body that surrounds the outer peripheral surface of the coil holding portion 52 and is positioned to cover the radial outside of the coils 61, 62. The outer yoke 70 prevents magnetic flux from leaking radially outward from the actuator 1 in the magnetic circuit.

[0103] The outer yoke 70 is positioned so that the center of the length of the outer yoke 70 in the reciprocating direction is at the same height as the center of the reciprocating direction of the magnet 30 placed inside. The shielding effect of this outer yoke 70 can reduce leakage magnetic flux to the outside of the actuator.

[0104] Furthermore, outer yoke 70 can increase the thrust constant in the magnetic circuit, thereby improving electromagnetic conversion efficiency. Outer yoke 70 functions as a magnetic spring together with magnet 30, utilizing the magnetic attractive force of magnet 30. The magnetic spring can reduce stress when elastic support members 81, 82 are used as mechanical springs, thereby improving the durability of elastic support members 81, 82.

[0105] <Case 10> The case 10 houses the movable body 20 together with the coils 61, 62, and has a central opening 126 through which the protrusion 25 protruding from the spring stop portion 22 of the movable body 20 is inserted.

[0106] Specifically, the case 10 includes a cylindrical case body 11 having a bottom and a peripheral wall 112 and a bottom 114, and a lid 12 that closes an opening 115 of the case body 11. The case 10 is columnar. The columnar shape refers to a shape having a height (thickness) that allows the coils 61, 62, which face each other at the outer periphery, to cooperate to generate sufficient thrust in the reciprocating direction. For example, the case 10 of the present embodiment is formed into a cylindrical shape by the cylindrical case body 11 and the lid 12. However, the shape is not limited to this. The case 10 may be an elliptical column or a polygonal column, and the length in the reciprocating direction may be longer or shorter than the length in the direction perpendicular to the reciprocating direction. The elliptical column and elliptical shape in the present embodiment mainly refer to an ellipse that includes parallel linear portions, and thus refers to an oval shape.

[0107] The lid portion 12 and the bottom portion 114 constitute the top surface portion 122 and the bottom surface portion (bottom portion 114) of the actuator 1 in this embodiment, and are arranged opposite the movable body 20 of the unit 13 at a predetermined distance in the reciprocating direction of the movable body 20.

[0108] In the lid portion 12, a central opening 126 is drilled in the center of the top surface portion 122, and a protrusion 124 is provided on the top surface portion 122.

[0109] The cover 12 is formed of a resin such as polyacetal resin (POM) and has excellent sliding properties with respect to the output shaft 252 at the central opening 126, and is also formed of a durable material that is resistant to deterioration. Furthermore, if a material with excellent sliding properties is used, the movable body 20 can be driven without losing sliding even when the load on the movable body 20 increases.

[0110] The protrusion 124 protrudes radially outward from a portion of the outer periphery of the top surface 122 and engages with the notch 102 of the case body 11. The protrusion 124 engages the lid 12 with the notch 102 of the case body 11, enabling positioning when attaching the lid 12 to the case body 11. The lid 12 and the bottom 114 each function as a movement range suppressing part that acts as a hard stop (limiting the movement range) for the movable body 20.

[0111] The opening direction of the central opening 126 is parallel to the movement direction of the movable body 20 and the output shaft portion 252, and specifically, the central opening 126 is desirably formed so that the output shaft portion 252 is inserted vertically.

[0112] The central opening 126 supports the outer periphery of the protruding portion 25 (output shaft portion 252) so that the protruding end side of the protruding portion 25 can move back and forth along the axial direction from the outside, thereby preventing the vibration of the protruding end of the protruding portion 25 from deviating from the axial direction and causing wild movement.

[0113] The central opening 126 is formed on the top surface 122 so as to have a shape that allows the output shaft portion 252 to slide on the axis of the shaft of the movable body 20 and the output shaft portion 252, and it is preferable that the central opening 126 has an inner diameter that is approximately the same as the outer diameter of the shaft of the movable body 20 and the output shaft portion 252.

[0114] The central opening 126 is in contact with the inserted output shaft portion 252 when it is not moving and when it is moving, and through this sliding state, the cover portion 12, and ultimately the case 10, supports the output shaft portion 252 in a stable and movable manner.

[0115] When the lid 12 is attached to the case body 11, the protrusion 124 of the lid 12 is positioned in the cutout 102 of the case body 11 on the terminal 75 that is exposed to the outside at the center in the longitudinal direction of the cutout 102. This makes it possible to determine the position of the terminal 75 of the actuator 1 simply by viewing the lid 12 from above.

[0116] <Actuator 1 operation> The operation of the actuator 1 will be explained using FIG. 7 as an example in which the magnet 30 is magnetized so that the front surface 30a on one side of the magnetization direction (the upper side in this embodiment) is an S pole and the back surface 30b on the other side of the magnetization direction (the lower side in this embodiment) is an N pole.

[0117] FIG. 7 is a diagram illustrating the operation of the actuator according to the first embodiment of the present invention.

[0118] In actuator 1, movable body 20 is driven to move in at least one vibration direction by supplying pulse current (DC pulse or AC pulse) to coils 61 and 62. Note that power may be supplied to coils 61 and 62 so as to resonate.

[0119] When a pulse current is supplied, a magnetic flux flow mf is formed, which is emitted from the back surface 30b of the magnet 30, radiated from the yoke 42 toward the coil 62, passes through the outer yoke 70, and enters the magnet 30 from the yoke 41 above the magnet 30 via the coil 61.

[0120] Therefore, when current is applied as shown in FIG. 7, the magnetic field of magnet 30 interacts with the current flowing through coils 61 and 62, generating a Lorentz force in the −f direction in coils 61 and 62 according to Fleming's left-hand rule.

[0121] The Lorentz force in the -f direction is perpendicular to the direction of the magnetic field and the direction of the current flowing through coils 61 and 62. Because coils 61 and 62 are fixed to fixed body 50 (coil holding portion 52), in accordance with the law of action and reaction, a force opposite to this Lorentz force in the -f direction is generated as a thrust in the f direction in movable body 20 having magnet 30. As a result, movable body 20 having magnet 30 moves in the f direction, that is, toward bottom 114 (the bottom surface of case main body 11).

[0122] On the other hand, when the current flow direction of coils 61 and 62 is switched to the opposite direction and current is passed through coils 61 and 62, a Lorentz force is generated in the opposite direction, f-direction. Due to the generation of this Lorentz force in the f-direction, in accordance with the law of action and reaction, a force opposite to this Lorentz force in the f-direction is generated as a thrust (thrust in the -f-direction) on movable body 20, and movable body 20 moves in the -f direction, i.e., toward the top surface of lid 12 of fixed body 50.

[0123] In the actuator 1, by moving the movable body 20 only to either the lid portion 12 side or the bottom portion 114 side, so-called tactile or force feedback can be provided to the operator via the output shaft portion 252 in accordance with the user's operation.

[0124] At this time, the output shaft portion 252 slides through the central opening 126 of the case 10 and moves outside the case 10 in the movement direction (the axis of the magnet 30, the forward and backward direction).

[0125] That is, the output shaft 252 is always stably supported by the cover 12, and therefore the case 10, via the central opening 126, whether the output shaft 252 is in a non-driving state or a driving state.

[0126] In addition, coils 61 and 62 can be moved by alternately supplying current in opposite directions, and this can be used to drive the movable body 20 in response to the movement of the movable body 20 operated by the operator, providing the user with tactile and force feedback due to the movement.

[0127] Furthermore, when actuator 1 is not energized and not driven (not moving), a magnetic attractive force acts between magnet 30 and outer yoke 70, functioning as a magnetic spring. Movable body 20 returns to its original position due to the magnetic attractive force generated between magnet 30 and outer yoke 70 and the restoring forces of elastic support members 81 and 82 that attempt to return to their original shapes.

[0128] The actuator 1 includes a fixed body 50 having coils 61 and 62, and a movable body 20 that is disposed radially inside the coils 61 and 62 and has a magnet 30 magnetized in the axial direction of the coils 61 and 62. In addition, the actuator 1 includes flat elastic support members 81 and 82 that elastically hold the movable body 20 movably in the movement direction, which is the coil axial direction.

[0129] In addition, coils 61, 62 are arranged on the outer periphery of the holding portion main body 522 of the coil holding portion 52, and the outer surface 20a of the movable body 20 is arranged on the inner periphery of the holding portion main body 522 with a gap therebetween, and the outer surfaces of coils 61, 62 are surrounded by an outer yoke 70.

[0130] Actuator 1 has a structure in which unit 13 is housed within case 10, and the outer peripheral surface of peripheral wall 112 of resin case 10 can be made smooth. This allows for reliable and easy application of cushioning material such as sponge between the actuator 1 and the mounting location when mounting it to an electronic device.

[0131] Furthermore, since the actuator 1 is constructed by placing the unit 13 inside the case 10, the elastic support parts 81 and 82, which require high dimensional accuracy, can be fixed by assembling them to the coil holding part 52.

[0132] As a result, the positioning of movable body 20, including the fixing of elastic support parts 81, 82, can be determined based on coil holding part 52, thereby improving the accuracy of the direction in which the tactile sensation is generated as a product. Specifically, simply by improving the dimensional accuracy of coil holding part 52, which is formed as a single component from resin or the like, it is possible to easily position coils 61, 62 and movable body 20 (magnet 30), which is attached via elastic support parts 81, 82, in an accurate positional relationship.

[0133] Furthermore, since the coil holding portion 52 is provided with the terminal portion 75 that protrudes outward, it becomes easy to entangle and solder the coil wire of the coil, and it becomes easy to connect the coils 61, 62 to external devices.

[0134] In this way, the actuator 1 has impact resistance and can provide a tactile sensation.

[0135] Actuator 1 is driven by pulses (DC pulses or AC pulses) input to coils 61, 62. In other words, by appropriately setting the direction of current flow through coils 61, 62, movable body 20 may be subjected to a thrust in the -f direction on the top surface 122 side of lid 12, a thrust in the f direction on the bottom surface 114 side, or alternate thrusts in the -f and f directions. This causes movable body 20 to move in the movement direction, and ultimately, to provide tactile feedback via actuator 1 itself or output shaft 252. In this way, the actuator 1 can be easily manufactured at low cost, and has detection and tactile feedback functions that are easier to use.

[0136] <Driving principle of actuator 1> We will now briefly explain the driving principle of the actuator 1. The actuator 1 is driven in one direction (here, this corresponds to the axial direction of the magnet, the vibration direction, or the up-and-down direction) by, for example, supplied pulses based on the following equation of motion (1) and circuit equation (2). In this embodiment, the actuator is driven by inputting short pulses, but it may also be driven to generate any reciprocating motion or vibration without using short pulses.

[0137] The movable body 20 in the actuator 1 performs a reciprocating motion based on the formulas (1) and (2).

[0138]

number

[0139]

number

[0140] Mass m [Kg], displacement x(t) [m], thrust constant Kf [N / A], current i(t) [A], spring constant K for actuator 1 sp [N / m], damping coefficient D [N / (m / s)], etc. can be changed as appropriate within the range that satisfies formula (1). In addition, voltage e(t) [V], resistance R [Ω], inductance L [H], back electromotive force constant K e [V / (m / s)] can be changed as appropriate within a range that satisfies formula (2).

[0141] In this way, the actuator 1 is configured by the mass m of the movable body 20 and the spring constant K of the metal springs (elastic bodies, leaf springs in this embodiment) serving as the elastic support portions 81 and 82. sp is determined by.

[0142] Central opening 126 of case 10 (specifically, lid 12) supports the outer periphery of output shaft 252 of protrusion 25 so that the protruding end side of protrusion 25 (the side of cap 254 attached to the end of output shaft 252) can move back and forth along the axial direction outside case 10. This prevents the protruding end of protrusion 25 from deviating from the axial direction of the magnet, which is the direction of movement, and prevents it from moving wildly, even when an external load is applied, and allows the user to receive stable, strong tactile feedback in response to their operation.

[0143] The output shaft portion 252 of the movable body 20 that moves within the case 10 is slidably inserted into the central opening 126 provided in the lid portion 12 of the case 10 and protrudes to the outside, and can be directly connected to the operating portion outside the actuator 1. This configuration provides a direct connection between the operating unit operated by the user and the movable body 20, enabling high-speed and strong feedback in response to the user's operation. In particular, stable driving is possible even when an external load is expected to be applied to the actuator 1.

[0144] Furthermore, this actuator 1 can provide force feedback according to the input current, and can provide force feedback corresponding to even long stroke operations.

[0145] <Modification> 8 to 24 show modified examples 1 to 8 of the actuator 1 of this embodiment. 8 to 24, each of the actuators 100, 1A to 1G, which are modified examples 1 to 8 of the actuator 1, has the same basic configuration as the actuator 1 corresponding to the first embodiment shown in Fig. 1. Therefore, in explaining modified examples 1 to 8, the same components as those in the first embodiment will be indicated by the same reference numerals and names, and duplicate explanations will be omitted, and different components will be explained using the same reference numerals and names as the target components, with appropriate alphabetical characters added.

[0146] Furthermore, the operation of the actuators 100, 1A to 1G is similar to that of the actuator 1, and therefore a description thereof will be omitted where appropriate. In each of the actuators 100, 1A to 1G, the output shafts 252, 252C, 252D, and 252F are provided so as to be able to slide freely within the central openings 126 and 1260 of the case as the movable bodies 20, 20A to 20D, and 20F move, and are always in contact with the central openings 126 and 1260. Furthermore, in the actuators 100, 1A to 1G, in particular, the openings support the outer peripheries of the output shafts 252, 252A to 252D, and 252F of the protruding portions 25, 25A to 25D, and 25F so that the protruding ends of the output shafts 252, 252C, 252D, and 252F can move forward and backward along the axial direction outside the case 10, 10A to 10D. Therefore, the same operational effects as those of the actuators of the above-described embodiments can be obtained.

[0147] <Variation 1> Fig. 8 is an external perspective view of Modified Example 1 of the actuator, and Fig. 9 is a vertical cross-sectional view showing the configuration of the main part of the actuator of Modified Example 1. Also, Fig. 10 is an exploded perspective view of the actuator.

[0148] Actuator 100, which is a first modification of the present embodiment, differs from actuator 1 only in the configuration of central opening 1260 of case 10, and the other configurations are the same. Therefore, the following description will mainly focus on the configuration of movable body 20A.

[0149] In the case 101 of the actuator 100 shown in FIGS. 8 to 10, a central opening 1260 through which the output shaft 252 is inserted is provided in a sliding member 127 separate from the cover 120.

[0150] That is, actuator 100 differs from actuator 1 in the configuration only in the configuration of lid 120 that closes opening 115 of case body 11 that constitutes case 101.

[0151] The movable body 20 of the actuator 100 has a protrusion 25, a magnet 30, a pair of yokes 41 and 42, and a pair of spring stop portions 22 and 24, similar to those of the actuator 1. The fixed body 500 of the actuator 100 has a pair of annular coils 61 and 62, an outer yoke 70, and a case 101. A pair of elastic support portions 81 and 82 are installed between the movable body 20 and the fixed body 500. Cooperation between the energized coils 61 and 62 and the magnet 30 causes the movable body 20 to reciprocate in a linear direction.

[0152] The sliding member 127 is an annular member having a central opening 1260 in the center, and is fitted and fixed in the opening 123 formed in the cover 120. The sliding member 127 is attached so that the central opening 1260 is positioned on the axis of the output shaft 252, and the inserted output shaft 252 slides on it. The upper surface of the sliding member 127 is provided with a recess into which the central opening 1260 opens.

[0153] The sliding member 127 is made of a material with high slidability that allows smooth sliding of the output shaft portion 252. The sliding member 127 is made of, for example, polyacetal resin (POM).

[0154] In this way, central opening 1260 of case 101 is provided in a member separate from lid 120 of case 101. As a result, in actuator 100, regardless of the material of case 101, by simply changing to sliding member 127 having central opening 1260 with excellent sliding properties, output shaft 252 can always be favorably supported via central opening 1260, regardless of whether output shaft 252 is driven or not.

[0155] In this modification 1, the sliding member 127 has been described as being made of POM, but instead of a POM sliding member, an oil-impregnated bearing sliding member may be used. When the sliding member is an oil-impregnated bearing, its shape may be the same as that of the sliding member 127. Furthermore, a sliding member including an oil-impregnated bearing portion may be formed in the same shape as the sliding member 127. A configuration in which the output shaft portion 252 is supported by the central opening 1260 of the oil-impregnated bearing also results in a support structure that slides smoothly and is durable. Even when the load on the movable body 20 increases, it can slide smoothly and be driven.

[0156] <Variation 2> FIG. 11 is a vertical cross-sectional view showing the main configuration of the actuator according to the second modified example, and FIG. 12 is an enlarged exploded view of the movable body.

[0157] Actuator 1A, which is variation 2 of the present embodiment, is different from actuator 1 only in the configuration of movable body 20A, and the other configurations are the same. Therefore, the following description will mainly focus on the configuration of movable body 20A.

[0158] A movable body 20A of an actuator 1A shown in FIG. 11 differs from the movable body 20 of the actuator 1 in that an output shaft portion 252 and a first spring stop portion 22 are integrally configured.

[0159] The movable body 20A shown in Figures 12 and 13 has the same configuration as the movable body 20, including the magnet 30, yokes 41, 42, second spring stop portion 24, first spring fixing portion 26, and second spring fixing portion 28, as well as an axis unit 202.

[0160] The shaft unit 202 is a rod-shaped body integrally formed with a first spring stop portion 22A having the same function as the first spring stop portion 22, and an output shaft portion 252A having the same function as the output shaft portion 252. The shaft unit 202 is formed by sequentially arranging, from the magnet 30 side, a joint portion 222A of the spring connection portion 22A, a spring connection portion 224A of the spring connection portion 22A, and the output shaft portion 252A on the same axis. The shaft unit 202 is preferably formed from a non-magnetic material, and if the shaft unit 202 is made of a non-magnetic material, leakage of magnetic flux in the axial direction via the output shaft portion 252A can be prevented.

[0161] In shaft unit 202, joint portion 222A of spring stop portion 22A on one end side fits into opening 412 of yoke 41. In addition, shaft unit 202 connects and fixes elastic support portion 81 together with a press-fit ring, which is first spring fixing portion 26, at the tip surface on one side of spring connecting portion 224A, which forms a stepped surface on the outer periphery of output shaft portion 252.

[0162] In this way, in Modification 2, multiple components of movable body 20A are integrated, which improves assembly. Furthermore, by setting the component strength, spring stop portions 22, 24 and output shaft portion 252A can be molded from resin, which reduces assembly work and manufacturing costs.

[0163] <Variation 3> FIG. 13 is a vertical cross-sectional view showing the main configuration of the actuator according to Modification 3, and FIG. 14 is an enlarged exploded view of the movable body.

[0164] Actuator 1B, which is a third modification of the present embodiment, is different from actuator 1 only in the configuration of movable body 20B, and the other configurations are the same. Therefore, the following description will mainly focus on the configuration of movable body 20B.

[0165] A movable body 20B of an actuator 1B shown in FIG. 11 is different from the movable body 20 of the actuator 1 in that the yoke 41 and the first spring stop portion 22 are integrally formed.

[0166] 13 and 14 has the same configuration as movable body 20, that is, magnet 30, yoke 42, second spring stop portion 24, first spring fixing portion 26, second spring fixing portion 28, and output shaft portion 252, as well as a sleeve unit 203. Sleeve unit 203 is configured by integrating yoke 41B, which has a function similar to that of yoke 41, and first spring stop portion 22B, which has a function similar to that of first spring stop portion 22, as a single member.

[0167] An opening 23B penetrating in the axial direction is formed in the center of the sleeve unit 203 on its axis, and the base end side of the output shaft portion 252 is inserted and fixed in place. The sleeve unit 203 may be made of a non-magnetic material such as a resin material, or may be made of the same magnetic material as the yoke 41. If the sleeve unit 203 is made of a non-magnetic material such as resin, the yoke 42 on the back surface 30b of the magnet 30 may also be made of a resin material to ensure weight balance between the front and back surfaces 30a and 30b of the magnet 30. Furthermore, if the sleeve unit 203 is made of a magnetic material, then making the output shaft portion 252 of a non-magnetic material can prevent magnetic flux from leaking in the axial direction via the output shaft portion 252.

[0168] The sleeve unit 203 is attached to the surface 30a of the magnet 30 so that the yoke 41B is layered, and the output shaft 252 is inserted into the internal opening 23B, with the base end portion of the output shaft 252 fitted inside. Also, on the outer periphery of the output shaft 252, the elastic support portion 81 is connected and fixed together with the first spring fixing portion 26, which is a press-fit ring, at the tip surface on one side of the spring connecting portion 224B that forms a stepped surface. In this way, in Modification 3, multiple components of movable body 20B are integrated, which improves assembly. Furthermore, by setting the component strength, spring stop portions 22, 24 and output shaft portion 252 can be molded from resin, which reduces assembly time and manufacturing costs.

[0169] <Variation 4> FIG. 15 is a vertical cross-sectional view showing the main configuration of the actuator according to the fourth modified example, and FIG. 16 is an enlarged exploded view of the movable body.

[0170] Actuator 1C, which is variation 4 of the present embodiment, is different from actuator 1 only in the configuration of movable body 20C, and the other configurations are the same. Therefore, the following description will mainly focus on the configuration of movable body 20C.

[0171] A movable body 20C of an actuator 1C shown in FIG. 15 differs from the movable body 20 of the actuator 1 in that the components corresponding to the yoke 41 and the first spring stop portion 22 are integrally formed.

[0172] The movable body 20C shown in Figures 15 and 16 has a magnet 30, a yoke 42, a second spring stop portion 24, a first spring fixing portion 26, and a second spring fixing portion 28, which are configured similarly to the movable body 20, as well as a sleeve unit 204 and a protrusion 25C.

[0173] Sleeve unit 204 is configured as a single member by integrating yoke 41C, which has a function similar to that of yoke 41, and spring stop portion 22C, which has a function similar to that of spring stop portion 22. In sleeve unit 204, yoke 41C is a solid member, unlike yoke 41, and is formed, for example, from a disk.

[0174] That is, the central opening 23C of the spring stop portion 22C of the sleeve unit 204 is formed in a concave shape with the surface portion of the yoke 41C as the bottom surface, and the output shaft portion 252C is inserted into the opening 23C. By inserting the output shaft portion 252C into the opening 23C, the output shaft portion 252C is positioned and fixed on the axis of the movable body 20C.

[0175] This prevents output shaft portion 252C from coming into contact with magnet 30 via sleeve unit 204. Sleeve unit 204 may be made of a non-magnetic material such as a resin material, or may be made of the same magnetic material as yoke 41. If sleeve unit 203 is made of resin, yoke 42 on the back surface 30b side of magnet 30 may also be made of a resin material. Furthermore, if sleeve unit 204 is made of a magnetic material, leaking magnetic flux in the axial direction via output shaft portion 252C can be prevented by making output shaft portion 252 of a non-magnetic material.

[0176] The sleeve unit 204 is attached so that the yoke 41C is layered on the surface 30a of the magnet 30, and the base end of the output shaft portion 252C is fitted into the internal opening 23C with the base end of the output shaft portion 252C contacting the bottom surface of the opening 23C. The sleeve unit 204 also connects and fixes the inner circumferential surface of the elastic support portion 81 together with the first spring fixing portion 26 at the tip surface on one side of the spring connecting portion 224C that forms a stepped surface on the outer periphery of the output shaft portion 252C.

[0177] In this way, in Modification 4, multiple components of movable body 20C are integrally formed, which improves assembly. Furthermore, by setting the component strength, spring stop portion 24 and output shaft portion 252C can be molded from resin, which reduces assembly time and manufacturing costs.

[0178] <Variation 5> FIG. 17 is a vertical cross-sectional view showing the configuration of the main part of the actuator according to the fifth modified example, and FIG. 18 is an enlarged exploded view of the movable body.

[0179] Actuator 1D, which is variation 5 of this embodiment, is different from actuator 1 only in the configuration of movable body 20D, and the other configurations are the same. Therefore, the following description will mainly focus on the configuration of movable body 20D.

[0180] A movable body 20D of an actuator 1D shown in FIG. 17 differs from movable body 20 of actuator 1 in that the components corresponding to yoke 41, first spring stop portion 22, and output shaft portion 252 are integrally formed.

[0181] The movable body 20D shown in Figures 17 and 18 has a magnet 30, a yoke 42, a second spring stop portion 24, a first spring fixing portion 26, and a second spring fixing portion 28, which are configured similarly to the movable body 20, as well as an axis unit 205.

[0182] Shaft unit 205 is configured as a single member by integrating yoke 41D having a function similar to that of yoke 41, spring stop portion 22D having a function similar to that of spring stop portion 22, and output shaft portion 252D having a function similar to that of output shaft portion 252. In shaft unit 205, yoke 41D is a solid member, unlike yoke 41, and is formed, for example, from a disk.

[0183] That is, in shaft unit 205, joint portion 222D of spring stop portion 22D, spring connection portion 224D, and output shaft portion 252 are sequentially arranged in one direction (upward) on the axis of movable body 20D at the center of yoke 41D.

[0184] As a result, by simply attaching the shaft unit 205 to the surface 30a of the magnet 30, the yoke, the spring stopper portion, and the output shaft portion can be assembled at once. The shaft unit 205 may be made of a non-magnetic material such as a resin material, or may be made of the same magnetic material as the yoke 41.

[0185] The shaft unit 205 is attached so that the yoke 41D is stacked on the surface 30a of the magnet 30. The shaft unit 205 also connects and fixes the inner circumferential surface of the elastic support portion 81 together with the first spring fixing portion 26 at the tip surface on one side of the spring connecting portion 224D, which forms a stepped surface on the outer periphery of the output shaft portion 252D.

[0186] In this way, in variant example 5, several of the components of movable body 20D are formed as a single unit; specifically, three members are manufactured as a single, integrated part to form axis unit 205, making assembly easier and ensuring high rigidity for axis unit 205 itself.

[0187] <Variation 6> FIG. 19 is a vertical cross-sectional view showing the main configuration of the sixth modified actuator, and FIG. 20 is a perspective view of a leaf spring.

[0188] An actuator 1E, which is a sixth modification of the present embodiment, differs from actuator 1 only in the configuration of elastic support portions 81 and 82, and the other configurations are the same.

[0189] An actuator 1E shown in FIG. 19 has the same configuration as the actuator 1, except that a damping section 78 is provided in each of elastic support sections 81 and 82. As shown in Figure 20, for example, a portion of the damping portion 78 is inserted from one side of the elastic support portions 81E and 82E between the spring portions, specifically between the outer periphery fixing portion 806 and the deforming arm portion 804, and is positioned so as to bridge between the spring portions.

[0190] The attenuation portion 78 has an elastically deforming pressed portion 782 and a flange 784 formed continuously with the elastically deforming pressed portion 782 .

[0191] When the elastic pushing portion 782 is inserted between the spring portions from one side of the elastic support portion 81 (82), specifically between the outer periphery fixing portion 806 and the deforming arm portion 804, the flange 784 is positioned to span between the spring portions.

[0192] The pushing portion 784 may be fixed to the back surface of the elastic support portion 81E (82E) via a thermosetting resin (not shown) or an adhesive that does not adhere to the elastic support portion 81E (82E) in a shape that prevents the pushing portion 782 from coming out from between the spring portions. The damping portion 78 does not have to be an elastomer as long as it is made of a material that has a damping function, and may be made of a thermosetting resin, adhesive, or the like.

[0193] The damping portion 78 may be configured in any way as long as it is shaped to sandwich the elastic support portion 81 (82) from both sides between a plate-shaped flange and a separate member joined to a member having the same function as the flange at a push-in portion.

[0194] With this configuration, the damping portion 78 damps sharp spring resonances in the elastic support portion 81E (82E), preventing significant vibrations near the resonance frequency and resulting in large vibration differences due to frequency. This allows the movable body 20 to suppress resonance peaks before plastic deformation and generate stable vibrations over a wide range without coming into contact with the lid portion 12 and the bottom portion 114, preventing abnormal noise due to contact. The damping portion 78 may be formed in any shape or using any material, as long as it prevents sharp vibrations from occurring in the elastic support portion 81 (82).

[0195] <Variation 7> FIG. 21 is a vertical cross-sectional view showing the main configuration of the seventh modified example of the actuator, and FIG. 22 is an enlarged exploded view of the movable body.

[0196] Actuator 1F, which is a seventh modification of the present embodiment, is different from actuator 1 only in the configuration of movable body 20F, and the other configurations are the same. Therefore, the following description will mainly focus on the configuration of movable body 20F.

[0197] A movable body 20F of an actuator 1F shown in FIG. 21 differs from the movable body 20 of the actuator 1 in that an output shaft portion 252F is inserted through a magnet 30F, yokes 41 and 42, a first spring stop portion 22, and a second spring stop portion 24.

[0198] The movable body 20F shown in Figures 21 and 22 has the same configuration as the movable body 20, including yokes 41, 42, a first spring stop portion 22, a second spring stop portion 24, a first spring fixing portion 26, and a second spring fixing portion 28, as well as an output shaft portion 252F and a magnet 30F.

[0199] The movable body 20F has a magnet 30F with an opening formed through the center of the magnet 30, and yokes 41 and 42 having the same outer diameter as the magnet 30F are arranged on the front and back surfaces 30a and 30b of the magnet 30F, respectively.

[0200] The opening 310 of the magnet 30F has an inner diameter into which the output shaft portion 252F is inserted. The inner diameter of the opening 310 of the magnet 30F is approximately the same as the outer diameter of the output shaft portion 252F and is smaller than the inner diameter of the yoke 41.

[0201] Joint portions 222 and 242, which are one end of spring stop portions 22 and 24, are inserted into and fixed to the openings of yokes 41 and 42 on both sides of magnet 30F.

[0202] The output shaft portion 252F is a flanged shaft, and has the function of the second spring fixing portion 26 and the function of the output shaft portion 252.

[0203] The output shaft portion 252F has a cylindrical shaft portion 255 and a flange portion 258 formed integrally with the base end portion of the shaft portion 255.

[0204] The output shaft portion 252F extends over both ends of the movable body. The flange portion 258 of the output shaft portion 252F clamps the inner circumferential portion 802 of the elastic support portion 82 between itself and the annular end face of the spring connection portion 244 of the first spring stop portion 22.

[0205] The output shaft portion 252F is fixed together by being clamped between the flange portion 258 and the first spring fixing portion 26, with the shaft portion 255 piercing the elastic support portion 82, the second spring stop portion 24, the yoke 42, the magnet 30F, the yoke 41, the first spring stop portion 22, the elastic support portion 81, and the first spring fixing portion 26.

[0206] That is, since output shaft portion 252F is disposed in movable body 20F by being inserted over the axis of movable body 20F, other components can be assembled without the axis of movable body 20F being displaced. Note that output shaft portion 252F may be formed of a non-magnetic material such as a resin material, or may be formed of the same magnetic material as yoke 41. Also, it is preferable that one or more of elastic support portion 82, second spring stop portion 24, yoke 42, magnet 30F, yoke 41, first spring stop portion 22, and elastic support portion 81 are fixed to shaft portion 255 by press-fitting, welding, adhesive, or the like.

[0207] According to this configuration, when constructing the movable body 20F, the magnet 30F, yokes 41, 42, and spring stop portions 22, 24 are passed through by the output shaft portion 252F, which is a flanged shaft, and fixed by the first spring fixing portion 26, which is a press-fit ring. Furthermore, the output shaft portion 252F can also reliably and stably connect the elastic support portions 81, 82 to the movable body 20F. This makes it possible to manufacture a stable movable body by structurally fixing each member together without relying solely on adhesive.

[0208] <Variation 8> FIG. 23 is a vertical cross-sectional view showing the main configuration of the eighth modified actuator, and FIG. 24 is an exploded view showing the internal configuration of the eighth modified actuator with the case removed.

[0209] An actuator 1G, which is an eighth modification of the present embodiment, differs from the actuator 1 in that it has a magnetic sensor 91, but the other configurations are similar. Therefore, the following will describe the different configurations in detail, and a description of the configurations that are similar to those of the actuator 1 will be omitted.

[0210] The actuator 1G accommodates a movable body 20 in a hollow case 10 so that it can move back and forth between the upper and lower end faces with the axial direction (vertical direction) of the case 10 as the movement direction, and has a magnetic sensor 91 that detects the movement position of the movable body 20.

[0211] The actuator 1G is connected to an operating section via an output shaft section 25 provided on the movable body 20, and transmits the movement of the movable body to the operating section (not shown), thereby performing so-called force feedback.

[0212] The magnetic sensor 91 is provided at a distance from the movable body 20 in the direction of movement of the movable body 20 .

[0213] The magnetic sensor 91 is mounted on the circuit board 92 and detects a change in magnetic flux due to the movement of the magnet 30 of the movable body 20 , thereby detecting the displacement of the movable body 20 .

[0214] The magnetic sensor 91 is disposed at a position facing the movable body 20, spaced apart from the movable body 20 in the direction of movement (reciprocation) of the movable body 20. The magnetic sensor 91 may be provided in any form on the movable body 20 and the fixed body 50. Here, the moving direction of the movable body 20 may be opposite to the moving direction of the movable body 20. In other words, the position of the magnetic sensor 91 may be in the same direction as the moving direction of the movable body 20 or in a different direction, as long as it is in the same direction as the moving direction of the movable body 20.

[0215] The magnetic sensor 91 is preferably provided on the central axis extending in the reciprocating direction of the movable body 20 (at a position overlapping the axis of the output shaft portion 252) or in the vicinity of the central axis.

[0216] The magnetic sensor 91 is attached to the bottom surface of the case body 11 together with a circuit board 92 , and the magnetic sensor 91 is positioned on the axis of the output shaft portion 252 of the movable body 20 .

[0217] Since the magnetic sensor 91 is provided on the outer surface of the case 10, it can be assembled outside the actuator 1, thereby improving the ease of assembly of the actuator 1. Furthermore, the magnetic sensor 91 can be easily attached or replaced without dismantling the actuator 1. Furthermore, the magnetic sensor 91 provided in the actuator 1 can be easily inspected.

[0218] The magnetic sensor 91 is preferably a Hall sensor with a built-in amplifier, such as a linear Hall IC, whose output voltage range is determined by the power supply, and which amplifies the output of the Hall element with an amplifier to produce a linear output.

[0219] This allows peripheral circuits to be configured inexpensively and easily without the need for additional sensors, amplifiers, dedicated AD converters, or other converters. It is preferable that the magnetic sensor be a Hall IC, which compares the output of the Hall element with a certain threshold and outputs a High / Low signal, since the output voltage range of the Hall IC is determined by the power supply, making it easier to configure the downstream circuit.

[0220] <Circuit board (controller) 92> The circuit board 92 has a microcomputer, an actuator driver, and the like mounted thereon in addition to the magnetic sensor 91, and has a control section for controlling the actuator.

[0221] On the circuit board 92, the magnetic sensor 91 detects the operating load that the movable body 20 receives via the output shaft 252, and in accordance with the detection result, the coils 61 and 62 are energized to control the movement of the movable body 20. Note that the control unit does not necessarily have to be provided in the actuator 1.

[0222] This allows the actuator 1 to detect the operation load and provide tactile feedback that corresponds specifically to this pressing operation. In particular, load detection enables detection that is specific to the pressing operation.

[0223] In this way, the actuator 1 receives the operation load at the output shaft 252, and generates and presents force feedback based on the operation load received at the output shaft 252. Therefore, even if the user's operation is a switch tactile sensation, a slider tactile sensation, or the like, it can respond quickly and easily provide feedback and present an accurately reproduced tactile sensation.

[0224] By using the magnetic sensor 91, the magnet 30 required as an actuator is used as a sensor, so that an inexpensive movable body position detection means can be provided.

[0225] In addition, the underside of the case on which magnetic sensor 91 is provided is made of a non-magnetic material because case 10 is made of a non-magnetic material. This allows magnetic sensor 91 to detect a stable magnetic flux density in the magnetic circuit having magnet 30, and to accurately detect the position of movable body 20.

[0226] Furthermore, since the magnetization direction of the magnet 30 is parallel to the movement direction of the movable body 20, the magnetic sensor 91 detects the magnetic flux density of a single magnetic pole distribution, thereby improving sensor detection ability and providing stable sensor output.

[0227] Furthermore, the movable body 20 is accommodated inside the annular coils 61, 62 in a state in which it can move in the axial direction. This allows for the formation of a magnetic circuit that can generate thrust more efficiently. Furthermore, in this magnetic circuit, the flow of magnetic flux radially outward from the magnet 30 is restricted by the outer yoke 70, and the magnetic flux density toward the bottom 114 side is increased, allowing for accurate and easy detection by the magnetic sensor 91 disposed on the bottom 114.

[0228] For example, by mounting magnetic sensor 91 and circuit board 92 on modifications 1A-1F, when a user presses the operation unit, the action is transmitted to protrusions 25, 25A, 25C, 25D, and 25F connected to the operation unit. Protrusions 25, 25A, 25C, 25D, and 25F move as the operation unit is pressed, and movable bodies 20, 20A to 20D, and 20F connected thereto are also displaced.

[0229] At this time, the magnetic sensor 91 detects the position of the movable body 20, 20A-20D, 20F being pushed by detecting the strength of the magnetic flux (detected magnetic flux) flowing toward the bottom 114. The magnetic sensor 91 also detects the strength of the detected magnetic flux on a time axis, and the speed at which the movable body 20, 20A-20D, 20F is pushed can be determined based on the change in the strength of the detected magnetic flux. The control unit also determines whether the position is such that a pushing force can be exerted in relation to the spring reaction force caused by the elastic deformation of the elastic support members 81, 82 when the movable body 20, 20A-20D, 20F is pushed, and can detect the amount of pushing from the spring reaction force. In this way, the actuator 1G having the magnetic sensor 91 is an actuator with a position and load detection function that can provide feedback based on information on position and speed, information on the movable body load, the pushing load, etc.

[0230] Furthermore, as an actuator for a tactile sensation presentation device, even if there is variation in product performance due to component dimensional tolerances or assembly variations in the product, tactile feedback can be provided based on the operating load, allowing the same tactile sensation to be imparted to each product.

[0231] That is, with actuator 1G, when movable body 20 moves, magnet 30 also moves, changing the distribution of magnetic flux. By detecting this amount, the position and speed of the movable part can be detected. Furthermore, by controlling the current based on the position and speed information, the movement of movable body 20 can be controlled, resulting in excellent tactile expression and reduced tactile variation. Furthermore, elastic support members 81 and 82 are leaf springs, and the operating load can be detected from the combined pushing reaction force of this leaf spring and the elasticity of the operating member (not shown) and the movable part position detection result, enabling tactile feedback according to the pushing force.

[0232] The actuators 1, 1A to 1G, and 100 of the first to eighth modifications have the same effects as the first embodiment, and in particular can be driven stably even in an implementation environment where an external load is expected to be applied.

[0233] The actuators 1, 1A to 1G, and 100 may be configured to vibrate at a resonant frequency of 30 Hz to 500 Hz, which is the resonant frequency used in general speakers and which makes it easier to emit sounds in the audible range. If configured to vibrate in this frequency band, the actuators 1, 1A, 1B, 1C, 1D, 1E, 1F, 1G, and 100 can be used as vibration actuators that not only have a force feedback function but also a sound reproduction function through vibration, known as an exciter.

[0234] Each of the actuators 1, 1A to 1G, and 100 can provide high-speed, strong feedback by directly contacting the movable bodies 20, 20A, 20B, 20C, 20D, and 20F. Furthermore, force feedback can be provided with a force corresponding to the input current, and force feedback can be provided by displacing the movable bodies in response to user operation, allowing for the expression of a tactile sensation with a long stroke operation.

[0235] Furthermore, the pair of elastic support members 81 and 82 are circular leaf springs, which ensure the straightness of movable bodies 20, 20A, 20B, 20C, 20D, and 20F. Furthermore, even if an external operating load causes the movable bodies 20, 20A, 20B, 20C, 20D, and 20F to move beyond the gap due to an external impact or the like, they come into contact with opening 126 of case 10, preventing any further displacement. This prevents contact between movable bodies 20, 20A, 20B, 20C, 20D, and 20F and inner circumferential surface 522a of the fixed body.

[0236] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0237] The embodiments of the present invention have been described above. 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 to this. In other words, the description of the configuration of the above device and the shape of each part is one example, and it is clear that various modifications and additions to these examples are possible within the scope of the present invention. [Industrial Applicability]

[0238] The actuator according to the present invention is useful as an actuator that can respond quickly to a user's operation and provide a strong tactile feedback to the user. [Explanation of symbols]

[0239] 1, 1A, 1B, 1C, 1D, 1E, 1F, 1G, 100 Actuator 10, 10A, 10B, 10C, 10D Case 11 Case body 12, 120 Lid 13 units 20, 20A, 20B, 20C, 20D, 20F Movable body 20a Outer surface 22, 22A, 22B, 22C, 22D First spring stopper 23, 23B, 23C opening 24, 24A, 24B, 24C, 24D Second spring stop 25, 25A, 25B, 25C, 25D, 25F protrusion 26 First spring fixing part 28 Second spring fixing part 30, 30F Magnet 30a surface 30b back side 41, 41B, 41C, 41D, 42 York 50, 500 fixed body 52 Coil holding part 52b Coil mounting part 52c Coil mounting part 54 Movable range forming part 61, 62 Coils 70 Outer Yoke 75 Terminal section 78 Attenuation section 81, 81E, 82E, 82 Elastic support part (leaf spring) 91 Magnetic Sensor 92 Circuit board (control unit) 102 Notch 112 Peripheral wall section 114 Bottom 115, 310, 412, 422 openings 118 Step 122, 1220 Top section 124 Protrusion 126, 1260 central opening 127 Sliding members 128 Pressing part 202, 205 axis unit 203, 204 Sleeve unit 222, 222A, 222D, 242 joint 224, 224A, 224B, 224C, 224D, 244, 244A Connections 252, 252A, 252B, 252C, 252D, 252F Output shaft 254 Cap 255 shaft part 258 Flange 282 Insertion section 284 flange 522 Holding unit body 522a Inner surface 526 Central flange 527 Flange 527a, 528a end face 528 Flange 782 Elastic push-in part 784 flange 802 Inner circumference 804 Transforming arm 806 Peripheral fixed part

Claims

1. a movable body including a disk-shaped magnet, a pair of disk-shaped yokes fixed to the front and back surfaces of the magnet, and a protrusion protruding from one of the pair of disk-shaped yokes in the axial direction of the magnet; a fixed body that includes a coil arranged on the outer periphery of the movable body, an outer yoke that is a magnetic body arranged radially outside the coil, and a case that has an opening through which the protruding portion is inserted and that houses the movable body together with the coil with the protruding end side of the protruding portion protruding outward, and that supports the movable body movably in the axial direction of the magnet; and the magnet and the outer yoke constitute a magnetic spring by magnetic attraction between the magnet and the outer yoke, The opening supports an outer periphery of the protruding portion so that the protruding end side moves back and forth along the axial direction outside the opening. Actuator.

2. the opening is provided in a sliding member that is separate from a case main body that accommodates the coil and the movable body; The actuator according to claim 1 .

3. In the case, a portion where the opening is formed is made of polyacetal resin. The actuator according to claim 1 .

4. The sliding member is an oil-impregnated sliding bearing. The actuator according to claim 2.

5. The yoke has a central opening in its center, into which one end of the protrusion is inserted to position the protrusion on the axis. The actuator according to claim 1 .

6. The yoke and the protrusion are configured as separate bodies. The actuator according to claim 1 .

7. The yoke and the protrusion are integrally formed. The actuator according to claim 1 .

8. The protrusion is made of a non-magnetic material. The actuator according to claim 1 .

9. The yoke and the protrusion are made of the same magnetic material and are the same component. The actuator according to claim 1 .

10. the magnet and the yoke are each provided with a through hole into which the protrusion is inserted, the protruding portion is fixed to the magnet and the yoke through the through hole and protrudes from one side of the yoke; The actuator according to claim 1 .

11. a position detection unit having a magnetic sensor for detecting magnetic flux of the movable body is provided on an outer surface of the case; The actuator according to claim 1 .

12. the case has a movable body position and speed detection unit that detects magnetic flux of the movable body on a case surface portion opposite to the case surface portion having the opening, among case surface portions that face in the moving direction of the movable body; The actuator according to claim 1 .

13. The resonant frequency of the movable body is 30 Hz or more and 500 Hz. The actuator according to claim 1 .

Images