Actuator and system for presenting a perceptible output

Abstract

To provide an actuator and a system having an operation detection function and a tactile feedback function, which can be easily manufactured at low cost and can be more easily used.SOLUTION: An actuator that presents an output perceivable by a user by driving a movable body having a magnet in accordance with movement of the movable body by an operation of the user includes a coil that generates a magnetic field by energization to move the movable body, and a fixed body in which an outer yoke that is a magnetic body is disposed outside the coil in a radial direction, and the magnet and the outer yoke constitute a magnetic spring by a magnetic attraction force between the magnet and the outer yoke.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an actuator that provides perceptible outputs such as tactile, force, and auditory senses, and a system using the same. [Background technology]

[0002] As a conventional technique, 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 depending on 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] Incidentally, in the tactile presentation device of Patent Document 1, operation detection is mainly performed by a strain gauge or pressure detection unit as an operation detection unit, and the tactile feedback function is performed by an actuator such as a piezo actuator or a voice coil motor.

[0006] As such, in many of the tactile presentation devices such as that disclosed in Patent Document 1, the operation detection function and tactile feedback function are performed using a piezoelectric actuator separate from a strain gauge or the like, which requires the installation position and settings of each to be determined, which is time-consuming.

[0007] Furthermore, the operation detection unit often uses expensive sensors such as strain gauges, pressure sensors, and light detection sensors, which increases the manufacturing cost. Therefore, there is a demand for a tactile presentation device that is easier to use and has detection and tactile feedback functions.

[0008] The present invention has been made in view of the above points, and an object of the present invention is to provide an actuator and system that can be easily manufactured at low cost and is easier to use, and has an operation detection function and a tactile feedback function. [Means for solving the problem]

[0009] One aspect of the actuator of the present invention is An actuator that presents an output that can be perceived by a user by driving a movable body having a magnet in response to movement of the movable body by a user's operation, The magnetic field is generated by a coil that moves the movable body when energized, and a fixed body that has an outer yoke made of a magnetic material disposed radially outside the coil. The magnet and the outer yoke are configured to form a magnetic spring between the magnet and the outer yoke by magnetic attraction.

[0010] One embodiment of the system of the present invention comprises: a first actuator and a second actuator, each of which is the actuator described above; a communication connection unit that communicatively connects the first actuator and the second actuator; Equipped with The communication connection section is configured to control the displacement of the movable body of the second actuator based on the displacement of the movable body of the first actuator. [Effects of the Invention]

[0011] According to the present invention, it is possible to realize an actuator and system having an operation detection function and a tactile feedback function, which can be easily manufactured at low cost and is easier to use. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a perspective view of the appearance of an actuator according to a first 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] 3A to 3C are diagrams illustrating the operation of the actuator according to the first embodiment of the present invention. [Figure 8] 8A and 8B are diagrams illustrating sensing by a magnetic sensor. [Figure 9] FIG. 10 is a longitudinal sectional view showing the configuration of a main part of an actuator according to a second embodiment of the present invention. [Figure 10] FIG. [Figure 11] 10A and 10B are diagrams illustrating the operation of the actuator. [Figure 12] FIG. 10 is a longitudinal sectional view showing the configuration of a main part of an actuator according to a third embodiment of the present invention. [Figure 13] FIG. 2 is a diagram showing the internal structure of the actuator with the case removed. [Figure 14] FIG. [Figure 15] FIG. 10 is a perspective view of the appearance of an actuator according to a fourth embodiment of the present invention. [Figure 16] FIG. 2 is a diagram showing the internal structure of the actuator with the case removed. [Figure 17] FIG. 2 is a longitudinal sectional view showing the configuration of a main part of the actuator. [Figure 18] FIG. [Figure 19] FIG. [Figure 20] FIG. [Figure 21] 10A and 10B are diagrams illustrating the operation of the actuator. [Figure 22] FIG. 10 is a diagram schematically illustrating a configuration of a main part of a system according to a fifth embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0014] [Overall configuration of the actuator] Fig. 1 is an external perspective view of an actuator according to a first embodiment of the present invention, Fig. 2 is a longitudinal sectional view showing the main configuration of the actuator, Fig. 3 is a view showing the internal structure of the actuator with the case removed, and Fig. 4 is an exploded perspective view of the actuator.

[0015] 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. In other words, 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 25 protruding from the actuator is the same as the direction in which the user contacts the operation portion. This also applies to the following embodiments.

[0016] The actuator 1 according to the first embodiment is connected to, for example, an operating unit (e.g., a touch panel) that is operated by a user through contact, and drives the movable body 20 in response to the movement of the movable body 20 through the user's operation, thereby presenting the user with an output that can be perceived by the user.

[0017] The actuator 1 is, for example, a sensory presentation actuator, and is configured to transmit the reciprocating movement of the movable body 20 in response to the user's touch operation on the operating unit as a tactile sensation and a force sensation to the user, but it may also be presented to the user as a sound to appeal to the auditory sense. It is preferable that the actuator 1 is used as a device for detecting operations and providing tactile feedback in haptics. However, the actuator 1 is not limited to this, and may also be implemented as a vibration source in electronic devices such as portable game terminal devices. The tactile feedback in this embodiment refers to providing feedback of not only tactile sensations but also force sensations and the like by movement, vibration, etc. of a movable body. For example, it may be called tactile feedback, kinematic feedback, or force feedback, and is a function used in haptics.

[0018] As shown in Figures 1 and 2, the actuator 1 of this embodiment accommodates a movable body 20 within 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 being the movement direction, and has a magnetic sensor 91 that detects the movement position of this movable body 20.

[0019] The actuator 1 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).

[0020] <Overall configuration of actuator 1> The actuator 1 includes a magnet 30 on the movable body 20 and coils 61 and 62 on the fixed body 50, and the movable body 20 reciprocates in a linear direction due to cooperation between the energized coils 61 and 62 and the magnet 30. In addition, the actuator 1 can detect the displacement of the movable body 20 using a magnetic sensor 91.

[0021] The actuator 1 may have any configuration of the movable body 20 and the fixed body 50 as long as the magnetic sensor 91 is provided at a position facing the movable body 20 and spaced apart from the movable body 20 in the reciprocating direction of the movable body 20. The actuator 1 has elastic support parts 81 and 82 that support the movable body 20 so that it can reciprocate freely relative to the fixed body 50.

[0022] 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.

[0023] 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.

[0024] 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 unit (not shown) via a terminal unit 75, causing the movable body 20 to move. The movable body 20 can move back and forth in both axial directions, which are the reciprocating directions, or in one direction, which is one of the axial directions. The actuator 1 can move, for example, in both axial directions (see the arrow directions in FIG. 7).

[0025] 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.

[0026] 3, the actuator 1 may be configured by housing a unit 13 in which a fixed body 50 and a movable body 20 are connected by elastic support parts 81 and 82 inside a case 10 having a case main 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.

[0027] <Movable body 20> When movable body 20 is not moving (including reciprocating or vibrating), it is disposed via elastic support members 81 and 82 such that the center of its length in the reciprocating direction faces, at a predetermined distance, the center of its length in the reciprocating direction of coil holder 52 in a direction perpendicular to the axial direction of movable body 20. In this embodiment, it is preferable that the centers of the lengths of magnet 30 and yokes 41 and 42 in the reciprocating direction face, in a direction perpendicular to the reciprocating direction, the center of the lengths of coils 61 and 62 spaced apart from each other above and below. A magnetic fluid may be interposed between holder main body 522 and movable body 20.

[0028] As shown in FIGS. 2, 4 to 6, the movable body 20 has the magnet 30, yokes 41, 42, spring stop portions 22, 24, as well as an output shaft portion 25, a first spring fixing portion 26, and a second spring fixing portion .

[0029] The movable body 20 has yokes 41 and 42, spring stop portions 22 and 24, a first spring fixing portion 26, and a second spring fixing portion 28 arranged in series in both directions of reciprocating motion around the magnet 30. Specifically, the movable body 20 has the yokes 41 and 42 stacked on the front and back surfaces 30a and 30b of the magnet 30, and the spring stop portions 22 and 24 have one end engaged with the openings 412 and 422 of the yokes 41 and 42, and the other end engages with the elastic support portions 81 and 82.

[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 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] The magnet 30 is solid and magnetized in the reciprocating direction. Specifically, the magnet 30 is formed in a disk shape and has front and back surfaces 30a and 30b that are spaced apart in the reciprocating direction (thickness direction) as magnetic pole surfaces with different polarities (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, since the magnet 30 is a solid body, unlike a cylindrical body, the time and effort required for processing 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. In addition, 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 direction of movement of the movable body 20 .

[0035] 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 axial direction, i.e., the thickness direction, at the center of each of the yokes 41, 42. One end of each of the upper and lower spring stop parts 22, 24 is fitted into and fixed to the openings 412, 422, respectively.

[0040] Openings 412, 422 support spring stop portions 22, 24 so that the axes of spring stop portions 22, 24 (here, these coincide with the centers of elastic support portions 81, 82) are positioned on the central axis of movable body 20. Openings 412, 422 adjust the degree of opening in yokes 41, 42 to adjust the weight of movable body 20 and set a suitable reciprocating output.

[0041] 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.

[0042] In the yokes 41 and 42, it is preferable that the height position of the upper surface of the yoke 41 on the upper side (front side) of the magnet 30 faces the center position in the height direction (reciprocating direction) of the upper coil 61. In addition, it is preferable that the height position of the lower surface of the yoke 42 on the lower side (rear side) of the magnet 30 faces the center position in the height direction (reciprocating direction) of the lower coil 62.

[0043] The spring stop portions 22 and 24 have the function of fixing the movable body side magnetic circuit to the elastic support portions 81 and 82, and also function as a weight for the movable body 20. The spring stop portions 22 and 24 are provided symmetrically so as to sandwich the magnet 30 and the yokes 41 and 42, thereby increasing the reciprocating output of the movable body 20. In this embodiment, the spring stop portions 22 and 24 are formed in the same shape, thereby reducing the manufacturing costs of the parts. For details about the spring stop portion 24, the explanation of the spring stop portion 22 will be mainly given, with the corresponding reference numerals, such as the spring stop portions 22, 24, etc., being added, and an explanation of the spring stop portion 24 will be omitted.

[0044] 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.

[0045] The spring stop portions 22, 24 have joint portions 222, 242 and spring fixing portions 224, 244. The joint portions 222, 242 and the spring fixing portions 224, 244 are connected to each other in the reciprocating direction.

[0046] The spring stop portions 22, 24 are cylindrical bodies having a through hole 23 penetrating therethrough. The base end of the output shaft portion 25 is inserted into the through hole 23 of the spring stop portion 22 and firmly fixed thereto.

[0047] 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 openings 412 and 422 of yokes 41 and 42, respectively, and joined thereto. Meanwhile, the other end of joints 222 and 242 is arranged facing in opposite directions with magnet 30 as the center, and constitutes both ends spaced apart in the movement direction of movable body 20. Elastic support members 81 and 82, which will be described later, are joined to the other end, respectively.

[0048] 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.

[0049] The spring fixing portion 224 is provided in the spring stop portion 22 so as to protrude to the other side (upward) from the joint portion 222, and is a cylindrical body having an outer diameter larger than that of the joint portion 222. The joint surface, which is the tip (upper end) surface of the spring fixing portion 224, is arranged around the output shaft portion 25.

[0050] The output shaft 25 is connected to the movable body 20, moves together with the movable body 20, and outputs the movement of the movable body 20 to the outside. The output shaft 25 is disposed on the axis of the movable body 20, with its base end fitted into the spring stop portion 22 and fixed to the movable body 20, and its other end exposed to the outside of the actuator 1 through the central opening 126 of the lid portion 12. A cap 29 is attached to the tip of the output shaft 25. The user may touch the cap 29 itself, or a separate member may be attached to the cap 29 so that the user receives a tactile sensation via the separate member.

[0051] The output shaft 25 is inserted through an inner circumferential portion 802, which is the inner diameter side end (other end) of the upper leaf spring serving as the elastic support portion 81, and the inner circumferential portion 802 is held between the spring fixing portion 224 and the first spring fixing portion 26 in a state of contact with the joining surface of the spring fixing portion 224. In this way, the spring fixing portion 224 is joined to the elastic support portion 81.

[0052] In this way, output shaft 25 is provided on movable body 20 so as to protrude in one direction of the movement of movable body 20 to the opposite side of magnet 30 relative to elastic support member 81, and is freely movable back and forth outside fixed body 50. Since the drive of movable body 20 is transmitted directly to the user via output shaft 25, a high-speed response and strong feedback can be provided. Furthermore, tactile feedback can be provided by displacing movable body 20 in response to operation, and tactile sensations can be expressed that correspond to long-stroke operations as well.

[0053] On the other hand, the spring fixing portion (lower spring fixing portion) 244, which is arranged on the opposite side of the magnet 30 from the spring fixing portion 224 of the first spring stop portion 22, is joined to the inner peripheral portion 802, which is the inner diameter side end of the lower leaf spring, which is the elastic support portion 82.

[0054] The spring fixing 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 fixing 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 fixing portion 244.

[0055] Specifically, by inserting the shaft-shaped insertion portion 282 into the through-hole of the spring fixing 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 fixing portion 244 with a flange 284 provided on the outer periphery of the base end of the insertion portion. This causes the spring fixing portion 244 and the elastic support portion 82 to be joined together.

[0056] 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 fixing portion 244 by press-fitting an axial insertion portion 282 by caulking or the like.

[0057] Furthermore, simply by providing spring stop portions 22, 24 on the movable body side magnetic circuit, upper and lower leaf springs which are elastic support portions 81, 82 can be easily assembled to movable body 20, improving assembly efficiency.

[0058] 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.

[0059] <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 movement direction of the movable body 20, and are each installed between the movable body 20 and the fixed body 50 so as to intersect with the movement direction.

[0060] 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.

[0061] 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 stainless steel plate such as SUS304 or SUS316. If the elastic support members 81, 82 are magnetic, stainless steel plate such as SUS301 can be used. As the material for the elastic support members 81, 82, for example, it is known that magnetic materials (e.g., SUS301) are more durable and less expensive than non-magnetic materials (e.g., SUS304, SUS316). In this embodiment, the elastic support members 81, 82 are made of SUS301.

[0062] 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, both when the movable body 20 is not reciprocating and when the movable body 20 is reciprocating. The elastic support parts 81 and 82 may be made of any material as long as they elastically support the movable body 20 so that it can move freely.

[0063] 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.

[0064] The inner periphery 802 has a shape that allows it to be placed on the joining surfaces of the spring fixing portions 224, 244 of the spring stop portions 22, 24, and has, for example, an outer diameter that is substantially the same as the outer diameter of the joining surfaces of the spring fixing portions 224, 244.

[0065] 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.

[0066] In the elastic support parts 81 and 82, the inner peripheral parts 802 are joined to both ends (spring fixing 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] As described above, in this embodiment, a plurality of spiral-shaped leaf springs are used as the plurality of elastic support portions 81, 82, and are attached to both ends of movable body 20 that are spaced apart in the movement 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 movement 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.

[0071] Because the actuator 1 has a pair of elastic support parts 81, 82, it is possible to improve the linearity of the movable body 20 and drive the movable body 20 stably without being affected by external shocks or disturbances. In particular, since the stability of linear drive can be improved, it is possible to improve the stability of both the magnetic sensor output and the tactile output.

[0072] In this embodiment, the elastic support parts 81 and 82 are fixed to the movable body 20 so that the spiral directions are the same, so even if the movement amount of the movable body 20 increases, it can move smoothly, i.e., it can deform, resulting in a larger amplitude and making it possible to increase the vibration output not only when moving but also when vibrating. However, depending on the desired vibration range 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] <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.

[0077] 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. The actuator 1 is configured by connecting almost all of the components that generate force feedback, such as the coils 61 and 62, the movable body 20 via the elastic support parts 81 and 82, and the case 10, to the coil holding part 52.

[0078] 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.

[0079] 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.

[0080] 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 characteristics during movement, reciprocation, or vibration.

[0081] 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.

[0082] 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.

[0083] 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).

[0084] 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.

[0085] 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.

[0086] 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 movement 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.

[0087] 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 movement direction and also the vertical direction in this embodiment), and constitute the upper and lower ends of coil holding portion 52.

[0088] 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.

[0089] The movable range forming portion 54 is provided at the upper and lower ends of the coil holding portion 52, and when the coil holding portion 52 is housed in the case 10, it forms a movement range between the lid portion 12 and bottom portion 114 of the case 10 and the movable body 20.

[0090] Movable range forming portions 54 are protruding edges protruding in the reciprocating direction (vertical direction) from each of flange portions 527, 528. Movable range forming portions 54 are provided at a predetermined distance from each other on annular upper and lower end faces (also referred to as "upper end face," "lower end face," and "opening end face") 527a, 528a of flange portions 527, 528. Upper end face 527a is the opening end face on one side, and lower end face 528a is the opening end face on the other side.

[0091] Flange portion 527 has a protruding movable range forming portion 54 that protrudes in the movement direction on one open end surface. One open end surface functions as a top surface receiving portion that receives lid portion 12 via movable range forming portion 54. Flange portion 528 has a protruding movable range forming portion 54 that protrudes in the movement direction on the other open end surface. The other open end surface functions as a bottom surface receiving portion that receives bottom portion 114 via movable range forming portion 54.

[0092] Furthermore, the movable range forming portion 54 fits into notches provided in the elastic support portions 81 and 82 to position the elastic support portions 81 and 82 in the radial direction.

[0093] By fitting the movable range forming portion 54 into the notch, 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, 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 results in a structure that is less susceptible to component tolerances, restricting circumferential and radial movement such as rotation, suppressing variation in the elastic support portions 81, 82 as a product, and achieving 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> The coils 61 and 62 are used to generate a drive 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 movement direction in the actuator 1.

[0096] Based on the detection result of the magnetic sensor 91, the coils 61 and 62 generate a magnetic field when energized, thereby moving the movable body 20. The coils 61 and 62 are arranged radially outside the movable body 20. The coils 61 and 62, together with the magnet 30, form a magnetic circuit similar to that of a voice coil motor.

[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. 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.

[0100] <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.

[0101] 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 magnetic flux leakage to the outside of the actuator.

[0102] 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.

[0103] <Case 10> 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. A columnar shape refers to a shape having a height (thickness) that allows the coils 61, 62, which face each other at their 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 primarily refer to an ellipse that includes parallel linear portions, and thus refers to an oval shape.

[0104] 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.

[0105] The lid portion 12 has a protrusion 124 that protrudes radially outward from a portion of the outer periphery of the top surface portion 122 and engages with the notch 102 of the case body 11. The protrusion 124 engages the lid portion 12 with the notch 102 of the case body 11 to position the lid portion 12 when attaching it to the case body 11. The lid portion 12 and the bottom portion 114 each restrict the range of movement of the movable body 20. The lid portion 12 and the bottom portion 114 function as a range of movement restriction portion that acts as a hard stop (limiting the range of movement) for the movable body 20.

[0106] 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.

[0107] The case body 11 is provided with a magnetic sensor 91 and a circuit board 92. 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 .

[0108] <Magnetic Sensor 91> The magnetic sensor 91 detects the position of the movable body 20, which moves in response to a user's operation. The magnetic sensor 91 is provided at a distance from the movable body 20 in the direction of movement of the movable body 20. Here, the direction of movement of the movable body 20 may be opposite to the direction in which the movable body 20 moves. In other words, the position of the magnetic sensor 91 may be in the same direction as the direction of movement of the movable body 20 or in a different direction, as long as it is in the same direction as the direction of movement of the movable body 20.

[0109] 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 25) or in the vicinity of the central axis.

[0110] The magnetic sensor 91 is attached to the outer 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 25 of the movable body 20 .

[0111] 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.

[0112] The magnetic sensor 91 preferably includes a Hall element. The magnetic sensor is preferably a Hall IC, which compares the output of the Hall element with a certain threshold value and outputs High / Low, because this makes it easier to configure the subsequent circuitry than when simply using a Hall element. With a Hall IC, the output voltage range is determined by the power supply, making it easier to create the subsequent circuitry (microcomputer).

[0113] Furthermore, since the output voltage range is determined by the power supply, a Hall sensor with a built-in amplifier, such as a linear Hall IC that amplifies the output of the Hall element with an amplifier and outputs a linear signal, may be used as the magnetic sensor 91. This makes it possible to configure peripheral circuits inexpensively and easily without using a separate sensor, amplifier, or converter such as a dedicated AD converter.

[0114] <Circuit board (controller) 92> Circuit board 92 has a microcomputer, an actuator driver, etc. mounted thereon, and has a control unit that controls the actuator. Circuit board 92 uses magnetic sensor 91 to detect the operating load that movable body 20 receives via output shaft 25, and controls the movement of movable body 20 by energizing coils 61 and 62 in accordance with the detection result. Note that the control unit does not necessarily have to be provided in actuator 1.

[0115] This allows the actuator 1 to detect the operation load and provide tactile feedback corresponding to this pressing operation. In particular, load detection enables detection specialized for pressing operations.

[0116] In this way, the actuator 1 receives the operation load at the output shaft 25, and generates and presents tactile feedback based on the operation load received at the output shaft 25. Therefore, even if the operation by the user is an operation of a switch, a slider, or the like, a tactile feedback that more accurately reproduces this can be presented.

[0117] By using the magnetic sensor 91, when configuring an actuator, the magnet that is originally essential is used as a sensor, so that an inexpensive movable body position detection means can be provided.

[0118] As described above, the actuator 1 has the magnetic sensor 91 as a sensor for detecting the displacement of the movable body 20, and therefore the actuator 1 can easily detect the operation and provide tactile feedback.

[0119] 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.

[0120] In addition, the magnetization direction of the magnet 30 is parallel to the movement direction of the movable body 20. This allows the magnetic sensor 91 to detect the magnetic flux density of a single magnetic pole distribution, thereby improving sensor detection performance and providing stable sensor output. Furthermore, movable body 20 is housed inside annular coils 61, 62 in a state in which it can be driven in the axial direction. This allows for the formation of a magnetic circuit that can generate thrust more efficiently. Furthermore, since the magnetic flux density toward bottom 114 is high, detection by magnetic sensor 91 disposed on bottom 114 can be performed accurately and easily.

[0121] <Actuator 1 operation> FIG. 7 is a diagram illustrating the operation of the actuator according to the first embodiment of the present invention.

[0122] 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.

[0123] In actuator 1, movable body 20 is considered to correspond to the mass part in a vibration model of a spring-mass system, so for example, if the resonance is sharp (has a steep peak), the steep peak can be suppressed by damping the reciprocating motion. By damping the vibration, the resonance becomes less steep, and for example, the maximum amplitude value and maximum movement amount of movable body 20 at resonance do not vary, and vibration with an appropriate, stable maximum movement amount is output.

[0124] A magnetic flux flow mf is formed, which is emitted from the rear surface 30b side of the magnet 30, radiated from the yoke 42 to the coil 62 side, passes through the outer yoke 70, and enters the magnet 30 from the yoke 41 above the magnet 30 via the coil 61.

[0125] 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.

[0126] 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).

[0127] 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.

[0128] 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 (which can also be called force feedback) can be provided to the operator via the output shaft portion 25 in accordance with the user's operation. In addition, current can be supplied alternately in opposite directions to the coils 61 and 62 to cause them to reciprocate or vibrate, 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 through vibration.

[0129] Furthermore, when actuator 1 is not energized and not driven (not vibrating), 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.

[0130] 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.

[0131] 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.

[0132] This suppresses radially outward leakage of magnetic flux in the actuator 1, and the outer yoke 70 functions as a magnetic path together with the magnet 30, yokes 41 and 42, and coils 61 and 62, improving the generation of thrust by magnetic force. Furthermore, there is no effect on the detection of magnetic flux density by the magnetic sensor 91 on the bottom surface side.

[0133] As shown in Figure 7, when the movable body 20 moves upward toward the lid portion 12 (arrow "upward in the moving direction"), the magnet 30 moves away from the magnetic sensor 91, and the leakage magnetic flux detected by the magnetic sensor 91 at the bottom of the case 10 becomes weaker.

[0134] Furthermore, when movable body 20 moves toward bottom 114 (arrow "moving direction downward"), magnet 30 approaches magnetic sensor 91, and the leakage magnetic flux detected by magnetic sensor 91 becomes stronger. This allows magnetic sensor 91 to detect the magnetic flux density in response to the movement of movable body 20, and based on this detection result, it is possible to impart a tactile sensation of direct movement, vibration, or impact via output shaft 25.

[0135] Figures 8A and 8B are diagrams used to explain the sensing of a magnetic sensor, where Figure 8A is a diagram showing the relationship between the magnetic flux density detected by the magnetic sensor and the displacement of the magnet, and Figure 8B is a schematic diagram showing the actual movement of the movable body corresponding to the detection in Figure 8A.

[0136] 8A and 8B, when movable body 20, which is configured so that magnet 30 is sandwiched between magnet 30 and yokes 41 and 42, moves in direction D1, i.e., toward lid 12, movable body 20 becomes farther away from magnetic sensor 91, and the magnetic flux density decreases. Also, when movable body 20 moves in direction D2, i.e., toward bottom 114, which is the magnetic sensor 91 side located at the bottom in this case, the detected magnetic flux density increases. In this way, the magnetic sensor 91 can linearly detect the relationship between the magnetic flux density and the displacement of the movable body, and based on this, can suitably detect the position of the movable body 20.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] Furthermore, since the coil holding portion 52 is provided with the terminal portion 75 protruding 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.

[0141] In this way, the actuator 1 has impact resistance and can provide a tactile sensation.

[0142] Actuator 1 is driven by pulses (DC pulses or AC pulses) input to coils 61 and 62. In other words, by appropriately setting the current flow direction of coils 61 and 62, movable body 20 may be subjected to a thrust in the -f direction on top surface 122 side of lid 12, a thrust in the f direction on bottom surface 114 side, or alternate thrusts in the -f and f directions. This causes movable body 20 to move in the movement direction or vibration direction, and force feedback can be provided by actuator 1 itself or via output shaft 25. 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.

[0143] <Driving principle of actuator 1> We will now briefly explain the driving principle of the actuator 1. The actuator 1 is driven by 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.

[0144] The movable body 20 in the actuator 1 performs a reciprocating motion based on the formulas (1) and (2).

[0145]

number

[0146]

number

[0147] 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).

[0148] 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.

[0149] (Embodiment 2) FIG. 9 is a longitudinal sectional view showing the main configuration of an actuator according to a second embodiment of the present invention, FIG. 10 is an exploded perspective view of the actuator, and FIG. 11 is a diagram illustrating the operation of the actuator.

[0150] The actuator 1A of embodiment 2 has the same basic configuration as the actuator 1 corresponding to embodiment 1 shown in Figure 1, and components similar to those of embodiment 1 are indicated by the same symbols and names, and duplicate explanations will be omitted.

[0151] 9 to 11 differs from the actuator 1 in the position of the magnetic sensor 91, but the other configurations are the same. Furthermore, the basic operation of the actuator 1A is the same as that of the actuator 1, as shown in FIG.

[0152] Compared to the configuration of actuator 1, actuator 1A has a configuration in which only case 10A, more specifically case main body 11, is changed, and the other configurations are the same.

[0153] The actuator 1A includes a movable body 20 having a magnet 30, a pair of yokes 41, 42, and a pair of spring stop portions 22, 24, and a fixed body 50 having a coil holding portion 52, 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.

[0154] Actuator 1A differs in that a magnetic sensor 91A similar to magnetic sensor 91, which is spaced apart in the direction of movement of movable body 20, is provided inside case 10A in case main body 11A that houses movable body 20 and fixed body 50.

[0155] Specifically, the magnetic sensor 91A is disposed in a bottom recess 116 formed inside the bottom 114A of the bottomed cylindrical case body 11A together with the circuit board 92. The bottom recess 116 is formed on the central axis of the movable body 20 and faces the movable body 20 on the axis of the movable body 20.

[0156] Magnetic sensor 91A is preferably provided on the central axis extending in the vibration direction of movable body 20 (at a position overlapping the axis of output shaft portion 25).

[0157] Within case 10A, bottom recess edge 117, which is the periphery of bottom recess 116 at bottom 114, functions as an obstruction portion that, when movable body 20 moves downward, abuts against bottom recess 116 before entering it. That is, magnetic sensor 91A is located farther from movable body 20 than bottom recess edge 117, which is the obstruction portion, and is disposed within bottom recess 116, which has a diameter smaller than that of movable body 20.

[0158] In this way, even if magnetic sensor 91A is provided inside case 10 and arranged in the direction of movement of movable body 20, movable body 20 will not collide with it, and a highly reliable actuator can be achieved.

[0159] (Embodiment 3) FIG. 12 is a longitudinal cross-sectional view showing the main configuration of an actuator according to a third embodiment of the present invention, FIG. 13 is a view showing the internal structure of the actuator with the case removed, and FIG. 14 is an exploded perspective view of the actuator.

[0160] The actuator 1B of embodiment 3 has the same basic configuration as the actuator 1 corresponding to embodiment 1 shown in Figure 1, and components similar to those of embodiment 1 are indicated by the same symbols and names, and duplicate explanations will be omitted.

[0161] 12 to 14 is different from actuator 1 in that it has damping portions 78 provided in elastic support portions 81 and 82, but otherwise has the same configuration. Furthermore, the operation of actuator 1B is the same as that of actuator 1, and therefore a description thereof will be omitted. In the actuator 1B, the damping portion 78 is provided on both of the elastic support portions 81 and 82.

[0162] The damping section 78 damps the movement and vibration generated in the elastic support sections 81 and 82. The damping section 78 suppresses the resonance peak when resonance occurs in the elastic support sections 81 and 82, and generates stable vibration over a wide range. For example, a portion of the damping portion 72 is inserted from one side of the elastic support portions 81, 82 between the spring portions, specifically between the outer periphery fixing portion 806 and the deformable arm 804, and is arranged so as to bridge between the spring portions.

[0163] Actuator 1B can achieve the same effects as actuator 1, and also has damping sections 78 in elastic support sections 81 and 82. This allows vibration to be appropriately damped, suppressing the generation of tactile sensations and providing a high level of tactile sensation.

[0164] (Fourth embodiment) Fig. 15 is an external perspective view of an actuator according to a fourth embodiment of the present invention, Fig. 16 is a diagram showing the internal structure of the actuator with the case removed, and Fig. 17 is a longitudinal sectional view showing the main configuration of the actuator. Also, Fig. 18 is an exploded perspective view of the actuator, Fig. 19 is a perspective view of the movable body, Fig. 20 is an enlarged exploded view of the movable body, and Fig. 21 is a diagram for explaining the operation of the actuator.

[0165] Actuator 1C of embodiment 4 has the same basic configuration as actuator 1 corresponding to embodiment 1 shown in Fig. 1, and components similar to those of embodiment 1 are indicated by the same reference numerals and names, and duplicated explanations will be omitted. Also, the operation of actuator 1C is shown in Fig. 21, but since it is substantially the same as the basic operation of actuator 1A, explanations will be omitted.

[0166] An actuator 1C shown in FIGS. 15 to 21 differs from actuator 1 in that it does not have an output drive shaft, but otherwise has the same configuration.

[0167] In the actuator 1C, in the configuration of the actuator 1, instead of the output shaft portion 25 of the movable body 20, a first spring fixing portion 26C similar to the second spring fixing portion 28 is used to clamp and fix the inner peripheral portion 802 of the elastic support portion 81 together with the movable body 20C. That is, in the actuator 1C, a movable body 20C, which does not have an output shaft portion 25, is housed in a fixed body 50C having a case 10C, which does not have a central opening 126. The case 10C has a lid portion 12C that closes the opening 115 of the case body 11, and the lid portion 12C has a hanging portion 124C that hangs from a part of the outer periphery of the lid portion 12C, formed on the peripheral wall portion 112 of the case body 11. The lid portion 12C is attached to the case body 11 in a state where it engages with the notch portion 102C. Note that the lid portion 12C has a cylindrical main body portion with a cover, and a top surface portion 122C has multiple ventilation holes 129 formed in the radial direction surrounding the central portion. The ventilation holes 129 are arranged between ribs arranged radially on the top surface portion 122C. The movable body 20 is housed in the case 10C so as to be freely movable within the case 10C. This allows the actuator 1C to be used as a vibration actuator, an exciter, or the like.

[0168] (Embodiment 5) FIG. 22 is a diagram schematically illustrating a configuration of a main part of a system 300 according to a fifth embodiment of the present invention.

[0169] In system 300 of the present invention, actuators 1, 1A to 1C are used as multiple devices communicatively connected via a communication connection unit, thereby enabling mutual transmission of operational tactile sensations. System 300 of the present invention includes, for example, a pair of actuators 1D, 1E, microcomputers 314, 320 having AD converters 316, 322 as control units for actuators 1D, 1E, actuator drivers 312, 324, and a communication unit 318. Actuators 1, 1A to 1C may be used as appropriate as actuators 1D, 1E.

[0170] In this system 300, microcomputers 314, 320, actuator drivers 312, 324, and communication unit 318 constitute a communication connection unit, which can control the displacement of the movable body of actuator 1E based on the displacement of the movable body of actuator 1D.

[0171] The magnetic sensor 91 in the actuator (first actuator) 1D functions to detect the load, and the magnetic sensor 91 in the actuator (second actuator) 1E functions to feedback control the position of the movable body 20.

[0172] In the system 300, when the actuator 1D is operated, an operational load is applied to the actuator 1D, and the operational load is detected from a change in magnetic flux density by the magnetic sensor 91. The detected operational load is output to the microcomputer 314, which is the control unit, via an AD converter.

[0173] The microcomputer (communication connection unit) 314 transmits the input load to, for example, another distant actuator 1E via a communication unit 318 such as a communication network, and controls it so that the same load is applied. At this time, the microcomputer 314 drives the actuator 1D via the actuator driver 312 to provide feedback to the user of the actuator 1D about the tactile sensation corresponding to the detected load.

[0174] On the other hand, the operational load transmitted via the communication network is input to the microcomputer 320, which is the control unit on the other side. The microcomputer 320 drives the actuator 1E via the actuator driver 324, controls the position of the movable body 20, and expresses the load, so that the actuator 1E can express and present an operation similar to the operational feeling input by the actuator 1D.

[0175] Microcomputer (communication connection unit) 314 controls the displacement of movable body 20 of actuator 1E based on the displacement of movable body 20 of actuator 1D. In this way, with a system using a plurality of actuators 1D and 1E, the operation of one of the actuators 1D is detected by the magnetic sensor 91 and presented by the other actuator, thereby transmitting an operation sensation.

[0176] In this way, system 300 makes it possible to transmit tactile sensations when communicating intentions through remote control or games, thereby improving remote operability and enabling new ways of communicating intentions such as transmitting tactile sensations.

[0177] 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.

[0178] 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]

[0179] The actuator according to the present invention can be easily manufactured at low cost, is easier to use, has an operation detection function and a tactile feedback function, and is useful as an actuator that presents tactile sensations and the like. [Explanation of symbols]

[0180] 1, 1A, 1B, 1C, 1D, 1E Actuators 10, 10A case 11, 11A case body 12 Lid 13 units 20, 20C movable body 20a Outer surface 22 Spring stopper 23 Through hole 24 Spring stopper 25 Output shaft 26, 26C Spring fixing part 28 Spring fixing part 29 Cap 30 Magnets 30a surface 30b back side 41, 42 York 50 Fixed body 52 Coil holding part 52b Coil mounting part 52c Coil mounting part 54 Movable range forming part 61, 62 Coils 7 Outer Yoke 75 Terminal section 78 Attenuation section 81, 82 Elastic support part 91, 91A magnetic sensor 92 Circuit Board 102 Notch 112 Peripheral wall section 114, 114A bottom 115 Opening 116 Bottom recess 117 Surface recess edge 118 Step 122 Top section 124 Protrusion 126 Central opening 128 Pressing part 222 Joint 224, 244 Spring fixing part 242 Joint 282 Insertion section 284 flange 300 System 312, 324 Actuator Driver 314, 320 microcomputer 316, 322 converter 318 Communications Department 412 Opening 422 Opening 522 Holding unit body 522a Inner surface 526, 527 flange 527a Top surface 528 Flange 528a Lower end surface 802 Inner circumference 804 Transforming arm 806 External Peripheral Fixing Part

Claims

1. A movable body having a magnet is driven in response to movement of the movable body by a user's operation. An actuator that presents an output that is perceptible to a user by The magnetic field is generated by a coil that moves the movable body when energized, and a fixed body that has an outer yoke made of a magnetic material disposed radially outside the coil. The magnet and the outer yoke form a magnetic spring using magnetic attraction between the magnet and the outer yoke. Actuator.

2. the fixed body has a case that houses the coil and the movable body, The actuator according to claim 1 .

3. The bottom surface of the case is made of a non-magnetic material. The actuator according to claim 2.

4. The magnetization direction of the magnet is parallel to the movement direction of the movable body. The actuator according to claim 1 .

5. the coil is disposed to surround the movable body and generates the magnetic field so as to move the movable body along a direction of movement of the movable body due to the operation; The actuator according to claim 4.

6. The outer yoke is a magnetic shield that surrounds the coil. The actuator according to claim 1 .

7. The movable body is provided with a protruding portion that protrudes in one direction of the moving direction of the movable body and is movable forward and backward outside the fixed body. The actuator according to claim 1 .

8. a control unit that detects an operation load applied to the movable body via the protrusion and controls movement of the movable body by energizing the coil in accordance with the detection result; The actuator according to claim 7.

9. the fixed body further includes a pair of elastic support portions that are arranged on both sides of the movable body in the movement direction and that support the movable body movably in the movement direction. The actuator according to claim 1 .

10. The pair of elastic support parts are provided with damping parts that damp vibrations. The actuator according to claim 9.

11. The movable body is provided with a protruding portion that protrudes from one of the elastic support portions to the opposite side of the magnet in one direction of the movement of the movable body, and is movable back and forth outside the fixed body. The actuator according to claim 9.

12. a first actuator and a second actuator, each of which is the actuator according to claim 1; a communication connection unit that communicatively connects the first actuator and the second actuator; Equipped with the communication connection unit controls the displacement of the movable body of the second actuator based on the displacement of the movable body of the first actuator. system.

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