Actuators and electrical equipment

Abstract

To provide an actuator that can increase the degree of freedom in force feedback expression without significantly increasing the size of the device. [Solution] The actuator's operating section comprises an upper shaft member and a lower shaft member, the base ends of which are attached to the upper and lower sides of the movable body, respectively, with their intermediate portions inserted into the upper and lower openings of the housing of the fixed body, and their respective tip portions protruding upward and downward from the housing; and an upper contact member and a lower contact member, respectively, provided at the tip ends of the upper shaft member and the lower shaft member so that an operator can contact them.

Description

Technical Field

[0001] The present invention relates to an actuator that provides an operating feeling to an operator by force feedback of force sense and an electric device including the same.

Background Art

[0002] Conventionally, as one of the technologies that provide an operating feeling to the fingertips or the like of a user who operates an operating device by contact through force feedback of force sense, there is known a device that imparts vibration to an operating device by an actuator and provides an operating feeling to the user by the vibration.

[0003] For example, the tactile presentation device described in Patent Document 1 includes a scanning detection unit that detects an operation amount of an operation on an operation surface of a touch panel, an actuator that adds vibration to the operation surface, and a control unit that performs drive control of the actuator based on the result of the operation detection unit. This device changes the mode of drive control of the actuator according to the amount of change in the operation amount at the time of a release operation.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, in the tactile presentation device as described above, there is a desire to increase the degree of freedom of force sense expression in force feedback of force sense. Note that increasing the degree of freedom of force sense expression means, for example, providing a plurality of paths for applying vibration to an operation unit with which an operator comes into contact, that is, multiplexing of force feedback of force sense.

[0006] To achieve the above requirements, one might consider using multiple actuators simultaneously and synthesizing the vibration outputs from these actuators. However, this presents the challenge of making the tactile presentation device as a whole larger.

[0007] The object of the present invention is to provide an actuator and an electrical device equipped therewith that can increase the degree of freedom in force feedback expression without significantly increasing the size of the device. [Means for solving the problem]

[0008] One embodiment of the actuator according to the present invention is: An actuator that provides the operator with a sense of operation through force feedback, A movable body comprising a main body in which magnets and yokes are stacked vertically, an operating part that can be operated by the operator, and an elastic support part, The movable body includes a coil surrounding the outer circumference of the movable body, a housing that houses the coil, the movable body, and the elastic support, and a fixed body that supports the movable body so that it can move in the vertical direction via the elastic support. The upper and lower ends of the aforementioned housing section are provided with an upper opening and a lower opening, respectively. The aforementioned operating unit is An upper shaft member and a lower shaft member, each having their base ends attached to the upper and lower sides of the movable body, their intermediate portions inserted into the upper and lower openings, and their respective tip portions protruding upward and downward from the housing, An upper contact member and a lower contact member are provided at the tip portions of the upper shaft member and the lower shaft member, respectively, so that the operator can reach them. It holds.

[0009] One embodiment of the electrical equipment according to the present invention is: This is a handheld electrical device that incorporates the actuator described above. [Effects of the Invention]

[0010] According to the present invention, it is possible to increase the degree of freedom in force feedback expression without significantly increasing the size of the device. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is an external perspective view of an actuator according to an embodiment. [Figure 2] Figure 2 shows the actuator according to the embodiment with the case removed. [Figure 3] Figure 3 is an exploded perspective view of the actuator according to the embodiment. [Figure 4] Figure 4 is an exploded perspective view of the movable body housed in an actuator according to an embodiment. [Figure 5] Figure 5 is a longitudinal cross-sectional view of an actuator according to an embodiment. [Figure 6] Figure 6 is a schematic diagram showing a handheld operation input device, which is an example of an electrical device equipped with an actuator according to the embodiment. [Modes for carrying out the invention]

[0012] This embodiment will now be described in detail with reference to the drawings.

[0013] Figure 1 is an external perspective view of the actuator 1 according to this embodiment. Figure 2 shows the actuator 1 with the case 12 removed. Figure 3 is an exploded perspective view of the actuator 1. Figure 4 is an exploded perspective view of the housed movable body 201 in the actuator 1. Figure 5 is a longitudinal cross-sectional view of the actuator 1. Figure 6 is a schematic diagram showing a handheld operation input device H, which is an example of an electrical device equipped with the actuator 1.

[0014] In the following description, the "up" and "down" in "upper side" and "lower side" etc. are given for convenience in order to facilitate understanding of the configuration and behavior of the actuator 1 according to the present embodiment. When the actuator 1 is mounted on an electric device (see FIG. 6) such as a hand-held operation input device H, the "up" and "down" described here may be reversed, may be horizontal, or may be diagonal. Incidentally, in the present embodiment, the vertical direction is the vibration direction of the movable body 20 in the actuator 1, the "upward direction" is one of the vibration directions, and the "downward direction" is the other vibration direction. That is, the actuator 1 is a linear actuator that linearly vibrates the movable body 20 in the vertical direction.

[0015] Also, in the following description, the direction extending radially or centrifugally from the central portion of the actuator 1 is referred to as the "radial direction". The central position referred to here is the position of the radial center line C (see FIG. 1) when the actuator 1 is viewed in plan from the vertical direction. Further, "inner side" and "outer side" mean the side closer to and farther from the central portion of the actuator 1 in the radial direction. Further, the "circumferential direction" means the direction extending around the central portion of the actuator 1.

[0016] Also, the expressions regarding the shapes used in the following description are for convenience in the general description of each component, and it is needless to say that the definition of geometrically accurate figures does not necessarily apply. The shape of the entire device or each component described here is an example, and the present invention is not limited to the shapes exemplified in the present embodiment.

[0017] (Regarding the overall configuration and operation of the actuator 1) The actuator 1 is implemented, for example, as a vibration generating source in a handheld operation input device H, and realizes the vibration function of an electric device. When an operator holding the handheld operation input device H inputs a contact operation to the operation unit 50, the actuator 1 vibrates or drives the movable body main body 21 according to the contact operation, outputs the movement of the movable body main body 21 to the operation unit 50, and provides an operation feeling to the operator. Therefore, the actuator 1 is useful as a tactile presentation device for providing an operation feeling to an operator in an electric device such as a handheld operation input device.

[0018] The actuator 1 has a fixed body 10 and a movable body 20. The fixed body 10 has a case 12 (an example of a housing part) including a case main body 13 and a case lid part 14, a bobbin 15, an upper coil 161, a lower coil 162, and an outer yoke 17. The combination of the bobbin 15, the upper coil 161, the lower coil 162, and the outer yoke 17 constitutes a housed fixed body 101. The case 12 houses, inside, a housed movable body 201 constituted by a part of the movable body 20 and an elastic support part 80 together with the housed fixed body 101.

[0019] The movable body 20 has a movable body main body 21 including a permanent magnet 211, an upper inner yoke 212, and a lower inner yoke. The movable body 20 further has an upper sleeve 221, a lower sleeve 222, an upper rivet 231, a lower rivet 232, an upper shaft 241, a lower shaft 242, an upper key top 251, and a lower key top 252. The combination of the upper shaft 241, the lower shaft 242, the upper key top 251, and the lower key top 252 constitutes the operation unit 50. The movable body 20 further has an elastic support part 80. The upper shaft 241 is an example of an upper shaft member, the lower shaft 242 is an example of a lower shaft member, the upper key top 251 is an example of an upper contact member, and the lower key top 252 is an example of a lower contact member.

[0020] The elastic support section 80 includes an upper leaf spring 81 and a lower leaf spring 82. The elastic support section 80 supports the movable body 20 so that it can vibrate vertically relative to the fixed body. The elastic support section 80, together with a part of the movable body 20 (movable body body 21, upper sleeve 221, lower sleeve 222, upper rivet 231 and lower rivet 232), constitutes the housed movable body 201. The housed movable body 201 is housed inside the case 12.

[0021] The handheld operation input device H is a device that incorporates an actuator 1 and also includes a sensor 901, a microcontroller 902, and a driver 903, etc. The actuator 1, sensor 901, microcontroller 902, and driver 903, etc. are housed in a casing (not shown) of the handheld operation input device H.

[0022] Sensor 901 is, for example, a magnetic sensor, and detects the load applied to the operating unit 50, for example, by the displacement of the movable body 20 relative to the fixed body 20 or the strain of the leaf springs 81 and 82. When the operator pushes the operating unit 50, sensor 901 detects that push operation.

[0023] The sensor 901 is provided, for example, on the bottom surface 13b of the case bottom 132 of the case 12, in a position that does not interfere with the lower key top 252. The sensor 901 detects the magnetic flux density of a magnetic circuit whose size changes according to the vertical position of the permanent magnet 211, and by detecting the position of the movable body 20, it is possible to detect the load applied to the operating section 50. Note that the placement of the sensor 901 is not limited to the bottom surface 13b, but can be any position on the fixed body 20 as long as it is a position in which a change in magnetic flux density can be detected. For example, the sensor 901 may be placed on the bottom top surface 13c, in a position that does not interfere with the lower leaf spring 82.

[0024] The microcontroller 902 is a device that includes a signal processing circuit that performs analog-to-digital conversion on signals indicating detection results from the sensor 901, and a computer that controls the driver 903. The microcontroller 902 controls the operation of the driver 903 according to the detected pressing operation.

[0025] The driver 903 is an electrical circuit that generates and outputs a drive current under the control of the microcontroller 902. The driver 903 energizes the upper coil 161 and lower coil 162 of the actuator 1 with an AC drive current under the control of the microcontroller 902. When the upper coil 161 and lower coil 162 are energized, upward thrust and downward thrust are repeatedly generated alternately in the movable body 20 according to the frequency of the drive current (drive frequency). As a result, the movable body 20 vibrates in the vertical direction, providing a tactile sensation to the operator who touches and operates the operating unit 50.

[0026] In this embodiment, since the thrust acts in the vertical direction, the movable body 20 vibrates linearly in the vertical direction. The aforementioned thrust is a thrust that follows Fleming's left-hand rule, generated by the interaction between the current flowing in the energized upper coil 161 and lower coil and the magnetic flux in the magnetic circuit formed by the movable body 21 and outer yoke 17.

[0027] The drive current for actuator 1 may also be DC. When a DC drive current is supplied to the upper coil 161 and lower coil 162 of actuator 1, a thrust is generated in one of the vertical directions corresponding to the direction in which the current flows in the upper coil 161 and lower coil 162, and the movable body 21 is driven in that direction. Even in this case, the movement of the movable body 21 is output to the operating unit 50, providing the operator with a sense of operation. Actuator 1 is an electromagnetic actuator that can move the movable body 20 by electromagnetically generating thrust through the cooperation of a magnet (permanent magnet 211, etc.) and coils (upper coil 161 and lower coil 162), regardless of whether the drive current is AC or DC.

[0028] In this embodiment, the movable body 20 is elastically supported by an upper leaf spring 81 and a lower leaf spring 82 so as to be able to vibrate vertically. Therefore, when the movable body 20 moves upward or downward from the center of vibration, the flat spiral-shaped arm portions of the upper leaf spring 81 and the lower leaf spring 82 generate a restoring force that attempts to return from a bent state to a flat state, and this force is transmitted to the movable body 20. This force biases the movable body 20 in the opposite direction from the direction of bending. That is, the movable body 20 moves forcefully to return to the center of vibration, either downward if it was moving upward, or upward if it was moving downward. As a result, the vibration output is amplified.

[0029] When an AC wave with a frequency equal to the resonant frequency of the movable body 20 is input to the upper coil 161 and the lower coil 162, the movable body 20 enters a resonant state. In other words, by inputting an AC wave with a frequency equal to the resonant frequency of the movable body 20 to the upper coil 161 and the lower coil 162, the movable body 20 can be vibrated efficiently.

[0030] The configuration of actuator 1 will be explained in more detail below.

[0031] (Regarding the fixed body 10) The case 12 consists of a case body 13 and a case lid 14. Both the case body 13 and the case lid 14 are made of a non-magnetic material, such as a resin with high heat resistance and mechanical strength, like polybutylene terephthalate.

[0032] The case body 13 is a bottomed cylindrical body including a cylindrical outer periphery 131 and a case bottom 132 that closes the lower end of the cylinder. The case bottom 132 is an example of the lower end of the housing section, and the case lid 14 is an example of the upper end of the housing section. The case lid 14 is a lid member that closes the opening on the upper end of the cylinder of the case body 13. The case body 13 has a through hole (lower opening 13a) at the radial center of the case bottom 132. The case lid 14 has a through hole (upper opening 14a) at the radial center.

[0033] The case lid 14 is fitted with a projection 14d on its outer circumference into a notch 13d on the case body 13, thereby closing the opening of the case body 13 with the case lid 14. The case body 13 and the case lid 14 are then bonded together to form a single case 12. The radial center of the cylindrical case 12 is positioned to coincide with the radial centerline C. In this embodiment, the case lid 14 acts as a hard stop for the movable body 20, limiting the range of motion of the movable body 20 in both the vertical and horizontal directions. This function will be described later.

[0034] One of the notches 13d is formed to be deep (long in the vertical direction), and when the corresponding projection 14d is fitted, a portion of this notch 13d becomes a lateral opening in the outer circumference 131 of the case. A terminal 18, to which wiring for energizing the upper coil 161 and the lower coil 162 is connected, protrudes from this lateral opening.

[0035] Inside the case 12 are a bobbin 15, an upper coil 161 and a lower coil 162 positioned on the outer circumference of the inner circumferential wall of the bobbin 15, and an outer yoke 17 positioned on the outer circumference of the bobbin 15 and covering the outside of the upper coil 161 and the lower coil 162.

[0036] The bobbin 15 is a molded body made of a non-magnetic and electrically insulating material, such as phenolic resin. The upper coil 161 and lower coil 162 are windings made by winding conductive wire around the inner circumferential wall of the bobbin 15. The inner circumferential wall of the bobbin 15, which is positioned inside the upper coil 161 and lower coil 162, can function as a protective wall to protect the upper coil 161 and lower coil 162 from the vibrating movable body 21. The inner circumferential wall of the bobbin 15 is positioned to surround the movable body 21 with a small gap, and comes into contact with the movable body 21 when the position of the movable body 21 is shifted radially due to some external force. This prevents the movable body 21 from colliding with the upper coil 161 and lower coil 162.

[0037] The outer yoke 17 is a cylindrical magnetic material (e.g., galvanized steel sheet). The outer yoke 17 can reduce leakage magnetic flux to the outside of the actuator 1 through its shielding effect. In addition, the outer yoke 17 can increase the thrust constant in the magnetic circuit, thereby improving electromagnetic conversion efficiency. The outer yoke 17 can function as a magnetic spring together with the permanent magnet 211 by utilizing the magnetic attraction force of the permanent magnet 211. The magnetic spring can reduce the stress on the elastic support part 80, which is a mechanical spring, and improve the durability of the elastic support part 80.

[0038] The bobbin 15, upper coil 161, lower coil 162, and outer yoke 17 are arranged concentrically with the case 12 around the radial centerline C. The upper coil 161 and lower coil 162 are arranged vertically on either side of a position corresponding to the center of vibration of the movable body 20, in a region demarcated by the intermediate flange of the bobbin 15. A terminal 18 is provided on the outer circumferential surface of the intermediate flange of the bobbin 15. The ends of the upper coil 161 and lower coil 162 are wrapped around the terminal 18, and it is possible to electrically connect to the wiring that energizes the upper coil 161 and lower coil 162.

[0039] (Regarding movable part 20) The elastic support section 80 includes an upper leaf spring 81 and a lower leaf spring 82, which are positioned on both sides of the movable body 21 in the vertical direction, and supports the movable body 21 so that it can move in the vertical direction. The upper leaf spring 81 and the lower leaf spring 82 are positioned so as to sandwich the movable body 21. When the upper leaf spring 81 and the lower leaf spring 82 are flat plates that extend in a direction perpendicular to the vertical direction when not bent. The upper leaf spring 81 and the lower leaf spring 82 are connected to the movable body 20 at the radially inward side (inner circumference) and to the fixed body 10 at the radially outward side (outer circumference). The flexible arm portion connecting the inner circumference and the outer circumference is formed in a spiral shape. When the movable body 20 moves in either the vertical direction, the upper leaf spring 81 and the lower leaf spring 82 as a whole bend into a conical shape.

[0040] The elastic support section 80 is constructed using a non-magnetic material, such as a stainless steel plate. The elastic support section 80 also has the rigidity to position and support the movable body 20 (mainly the movable body body 21) radially so that it does not come into contact with the fixed body 10 (mainly the bobbin 15) in both vibrating and non-vibrating states. This eliminates the need to provide a separate shaft for sliding the movable body 20. However, if an excessive external force is applied, the position of the movable body 20 may shift radially. Even in this case, the movable body body 21 comes into contact with the inner circumferential wall of the bobbin 15, preventing excessive radial displacement of the movable body 20 and collision between the movable body 20 and the upper coil 161 and lower coil 162.

[0041] The permanent magnet 211 (an example of a magnet) is a flat, disc-shaped permanent magnet without through holes, magnetized in the vertical direction, with the upper and lower surfaces having opposite polarities. The upper inner yoke 212 and the lower inner yoke 213 are flat, annular magnetic materials (e.g., galvanized steel sheet) with through holes 212a and 213a at their radial centers, respectively. The permanent magnet 211, the upper inner yoke 212, and the lower inner yoke 213 are bonded together and integrated in a stacked state, with the permanent magnet 211 sandwiched between the upper inner yoke 212 and the lower inner yoke 213 from above and below, resulting in an overall cylindrical shape. The radial center position of the movable body 21 coincides with the position of the radial center line C, and therefore the movable body 21 is arranged concentrically with each component of the fixed body 10. The through holes 212a and 213a are openings for attaching the upper sleeve 221 and the lower sleeve 222, respectively.

[0042] The upper sleeve 221 is a cylindrical member having an enlarged diameter portion on the upper side and a reduced diameter portion on the lower side, and is made of a non-magnetic metal material such as stainless steel. The reduced diameter portion of the upper sleeve 221 is inserted into the through hole 212a and attached to the upper inner yoke 212. As a result, the upper sleeve 221 is positioned concentrically with the movable body 21. The upper sleeve 221 is interposed between the movable body 21 and the upper leaf spring 81, connecting the movable body 21 and the upper leaf spring 81. Regarding the connection between the upper sleeve 221 and the upper leaf spring 81, with the enlarged diameter portion on the upper side in contact with the lower surface of the inner circumference of the upper leaf spring 81, the upper rivet 231 is press-fitted from above into the through hole in the inner circumference of the upper leaf spring 81 and the upper sleeve 221, firmly fixing them together.

[0043] Furthermore, the upper sleeve 221 is fitted with the base end of the upper shaft 241, which constitutes the operating section 50, inserted into it. In other words, the upper sleeve 221 also has the function of supporting the upper operating section 50.

[0044] The lower sleeve 222 is a cylindrical member having an enlarged diameter portion at the bottom and a reduced diameter portion at the top, and is made of a non-magnetic metal material such as stainless steel. The reduced diameter portion of the lower sleeve 222 is inserted into the through hole 213a and attached to the lower inner yoke 213. As a result, the lower sleeve 222 is positioned concentrically with the movable body 21. The lower sleeve 222 is interposed between the movable body 21 and the lower leaf spring 82, connecting the movable body 21 and the lower leaf spring 82. Regarding the connection between the lower sleeve 222 and the lower leaf spring 82, with the enlarged diameter portion at the bottom in contact with the upper surface of the inner circumference of the lower leaf spring 82, the lower rivet 232 is press-fitted from below into the through hole in the inner circumference of the lower leaf spring 82 and the lower sleeve 222, firmly fixing them together.

[0045] Furthermore, the lower sleeve 222 is fitted with the base end of the lower shaft 242, which constitutes the operating section 50, inserted into it. In other words, the lower sleeve 222 also has the function of supporting the lower operating section 50.

[0046] The upper shaft 241 is a shaft member made of a non-magnetic metal material such as stainless steel. The upper shaft 241 is positioned concentrically with the movable body 21 on the upper side of the movable body 21, and its base end (lower end) is inserted into and fixed to the upper sleeve 221. The upper shaft 241 protrudes upward from the upper sleeve 221, with its middle portion in the longitudinal direction along the vertical direction being inserted into the upper opening 14a of the case lid 14, and its tip (upper end) protruding to the outside (upper side) of the case 12. The inner diameter of the upper opening 14a may be approximately the same as the outer diameter of the middle portion of the upper shaft 241 so that the upper shaft 241 slides against the inner circumferential surface of the upper opening 14a. Alternatively, the inner diameter of the upper opening 14a may be slightly larger than the outer diameter of the middle portion of the upper shaft 241 so that the upper shaft 241 does not come into contact with the inner circumferential surface of the upper opening 14a.

[0047] An upper keytop 251 is attached to the tip (upper end) of the upper shaft 241. The upper keytop 251 is made of, for example, resin. The upper part of the upper keytop 251 is the upper operated portion 251a, which is the part that is touched and operated by the operator. The upper operated portion 251a is a smooth surface, but it may have an uneven shape or a pointed shape or other shape. The shape of the upper operated portion 251a is determined according to the type of tactile sensation to be provided to the operator.

[0048] The lower shaft 242 is a shaft member made of a non-magnetic metal material such as stainless steel. The lower shaft 242 is positioned concentrically with the movable body 21 on the lower side of the movable body 21, and its base end (upper end) is inserted into and fixed to the lower sleeve 222. The lower shaft 242 protrudes downward from the lower sleeve 222, with its middle portion in the longitudinal direction along the vertical direction being inserted into the lower opening 13a of the case bottom 132, and its tip (lower end) protruding to the outside (lower side) of the case 12. The inner diameter of the lower opening 13a may be approximately the same as the outer diameter of the middle portion of the lower shaft 242 so that the lower shaft 242 slides against the inner circumferential surface of the lower opening 13a. Alternatively, the inner diameter of the lower opening 13a may be slightly larger than the outer diameter of the middle portion of the lower shaft 242 so that the lower shaft 242 does not come into contact with the inner circumferential surface of the lower opening 13a.

[0049] A lower keytop 252 is attached to the tip (lower end) of the lower shaft 242. The lower keytop 252 is made of, for example, resin. The lower part of the lower keytop 252 is the lower operated part 252a, which is the part that is touched and operated by the operator. The lower operated part 252a is a smooth surface, but it may have an uneven shape or a pointed shape or other shape. The shape of the upper operated part 252a is determined according to the type of tactile sensation to be provided to the operator.

[0050] The shape of the upper operable portion 251a of the upper keytop 251 and the shape of the lower operable portion 252a of the lower keytop 252 may be the same as in this embodiment, or they may be different. For example, the upper operable portion 251a of the upper keytop 251 may be a smooth surface as in this embodiment, while the lower operable portion 252a of the lower keytop 252 may have a slightly pointed tip. By making both shapes the same, the operator can be given the same tactile sensation twice over. Alternatively, by making both shapes different, different tactile sensations can be given simultaneously.

[0051] (Regarding the hard stop of movable part 20) When the movable body 20 moves upward from the vibration center position, the case lid 14 functions as a first restricting part that restricts the upward movement of the movable body 20 in order to limit displacement exceeding the allowable range. When the inner circumference of the upper leaf spring 81 of the movable body 20 moves upward, it comes into contact with the lower surface 14c of the case lid 14, and any further upward movement is restricted by the case lid 14.

[0052] As shown in Figure 5, the distance between the vertical position of the upper leaf spring 81 when the movable body 20 is at the vibration center position and the vertical position of the lower surface 14c of the case lid 14 is distance D11. In other words, the maximum upward stroke of the movable body 20 from the vibration center position to the upward movement restriction position is distance D11. The upward movement restriction position of the movable body 20 is the vertical position of the movable body 20 when the inner circumference of the upper leaf spring 81 contacts the lower surface 14c of the case lid 14.

[0053] Even when the movable body 20 moves downward from the vibration center position, the case lid 14 functions as a second restricting part that restricts the downward movement of the movable body 20 in order to limit displacement beyond the allowable range. When the upper back surface 251b of the upper keytop 251 of the moved movable body 20 comes into contact with the upper surface 14b of the case lid 14, further downward movement is restricted by the case lid 14.

[0054] As shown in Figure 5, the distance between the vertical position of the upper keytop 251 (especially the upper back surface 251b) and the vertical position of the upper surface 14b of the case lid 14 when the movable body 20 is at the vibration center position is distance D12. In other words, the maximum downward stroke of the movable body 20 from the vibration center position to the downward movement restriction position is distance D12. The downward movement restriction position of the movable body 20 is the vertical position of the movable body 20 when the upper back surface 251b of the upper keytop 251 contacts the upper surface 14b of the case lid 14.

[0055] Distance D12 is the same length as distance D11. By restricting both upward and downward movement using the case lid 14, it becomes easy to align the vertical stroke of the movable body 20.

[0056] Note that the length of distance D21 shown in Figure 5 is at least the same as the length of distance D11, and preferably longer than distance D11. Distance D21 is the distance between the vertical position of the lower keytop 252 (particularly the lower back surface 252b) when the movable body 20 is at the vibration center position and the vertical position of the bottom surface 13b of the case bottom 132.

[0057] Furthermore, the length of distance D22 shown in Figure 5 is at least the same as the length of distance D12, and preferably longer than distance D12. Distance D22 is the distance between the vertical position of the lower leaf spring 82 when the movable body 20 is at the vibration center position and the vertical position of the bottom upper surface 13c of the case bottom 132.

[0058] As described above, actuator 1 is an actuator that provides the operator with a sense of operation through force feedback. Actuator 1 has a movable body 20 which includes a movable body 21 in which a permanent magnet 211 and yokes (upper inner yoke 212 and lower inner yoke 213) are stacked in the vertical direction, an operating part 50 that can be operated by the operator, and an elastic support part 80. Actuator 1 also has a fixed body 10 which includes coils (upper coil 161 and lower coil 162) surrounding the outer circumference of the movable body 21, and a case 12 that houses the coils, the movable body 21, and the elastic support part 80. The fixed body 10 supports the movable body 21 so that it can vibrate in the vertical direction via the elastic support part 80. The upper end (case lid 14) and lower end (case bottom 132) of the case 12 are provided with an upper opening 14a and a lower opening 13a, respectively. The operating section 50 includes an upper shaft member (upper shaft 241) and a lower shaft member (lower shaft 242), and an upper contact member (upper key top 251) and a lower contact member (lower key top 252). The base ends of the upper shaft member and the lower shaft member are mounted on the upper and lower sides of the movable body 21, respectively, their intermediate portions are inserted through the upper opening 14a and the lower opening 13a, and their tips protrude upward and downward from the case 12. The upper contact member and the lower contact member are provided at the tips of the upper shaft member and the lower shaft member so that the operator can contact them, respectively. Because the actuator 1 has the above configuration, it is possible to simultaneously provide vibration output (force feedback) that provides a sense of operation to the operator from both above and in both directions, thereby increasing the degree of freedom in force expression. Since multiple vibration outputs can be provided simultaneously without using multiple actuators, the size of the device can be reduced compared to when multiple actuators are used simultaneously.

[0059] Although embodiments of the present invention have been specifically described above, the present invention is not limited to the specific embodiments described above. Various modifications and changes are possible to the specific examples described above within the scope of the gist of the present invention as described in the claims. [Industrial applicability]

[0060] The actuator according to the present invention is useful as a tactile presentation device for providing a sense of operation to the operator in electrical equipment such as a handheld operation input device. [Explanation of Symbols]

[0061] 1 Actuator 10 Fixed body 101 Enclosed and fixed body 12 cases 13 Case body 13a Lower opening 13b Bottom bottom surface 13c Bottom top surface 131 Outer perimeter of the case 132 Case bottom 14. Case lid 14a Upper opening 14b Lid top surface 14c Bottom surface of lid 14d protrusion 15 bobbins 161 Upper coil 162 Lower coil 17 Outer Yoke 18 terminals 20 Movable body 201 Contained movable body 21 Movable body 211 Permanent Magnet 212 Upper inner yoke 213 Lower inner yoke 221 Upper sleeve 222 Lower sleeve 231 Upper rivet 232 Lower rivet 241 Upper shaft 242 Lower shaft 251 Upper keycaps 251a Upper operated part 251b Upper back part 252 Lower keycaps 252a Lower operated part 252b Lower back side 50 Control section 80 Elastic support section 81 Upper leaf spring 82 Lower leaf spring 901 Sensor 902 Microcontroller 903 Driver C Radial center line H Handheld control input device D11, D12, D21, D22 distance

Claims

1. An actuator that provides the operator with a sense of operation through force feedback, A movable body comprising a main body in which magnets and yokes are stacked vertically, an operating part that can be operated by the operator, and an elastic support part, The movable body includes a coil surrounding the outer circumference of the movable body, a housing that houses the coil, the movable body, and the elastic support, and a fixed body that supports the movable body so that it can move in the vertical direction via the elastic support. The upper and lower ends of the aforementioned housing section are provided with an upper opening and a lower opening, respectively. The aforementioned operating unit is An upper shaft member and a lower shaft member, each having their base ends attached to the upper and lower sides of the movable body, their intermediate portions inserted into the upper and lower openings, and their respective tip portions protruding upward and downward from the housing, An upper contact member and a lower contact member are provided at the tip portions of the upper shaft member and the lower shaft member, respectively, so that the operator can reach them. Having, Actuator.

2. A first restricting unit that restricts the upward movement of the movable body, It further includes a second restricting unit that restricts the downward movement of the movable body, The upper end portion functions as both the first restricting portion and the second restricting portion. The actuator according to claim 1.

3. The distance the movable body moves upward from its own vibration center position to the upward movement restriction position is the same as the distance the upper contact member moves downward from its own vibration center position to the downward movement restriction position. The actuator according to claim 2.

4. The upper contact member and the lower contact member are configured to provide the same tactile sensation in terms of operation. The actuator according to claim 1.

5. The upper contact member and the lower contact member are configured to provide different tactile sensations in terms of operation. The actuator according to claim 1.

6. The upper opening and the lower opening are provided concentrically with the upper shaft member and the lower shaft member, and position the upper shaft member and the lower shaft member in the radial direction. The actuator according to claim 1.

7. A handheld electrical device equipped with the actuator described in claim 1.

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