Actuator

Abstract

To provide users with strong tactile feedback by responding quickly to their actions. [Solution] The movable body includes a disc-shaped magnet, a pair of disc-shaped yokes fixed to the front and back surfaces of the magnet, a projection that protrudes in the axial direction of the magnet from one of the disc-shaped yokes, a coil disposed on the outer circumference of the movable body, an outer yoke which is a magnetic material disposed radially outside the coil, and a case which has an opening through which the projection is inserted and houses the movable body together with the coil, with the protruding end of the projection protruding to the outside, and a fixed body which supports the movable body so that it can move in the axial direction of the magnet, a magnetic spring formed by magnetic attraction force between the magnet and the outer yoke, and the opening is formed with a gap between it and the outer circumference of the projection so that the projection can move without contact.

Description

Technical Field

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

Background Art

[0002] Conventionally, as one of the technologies for providing feedback on the operating feeling (tactile sensation) during a contact operation to the fingertip or the like of a user who has touched a touch panel, a tactile presentation device that applies vibration to the touch panel by an actuator is known.

[0003] For example, Patent Document 1 discloses a tactile presentation device including an operation detection unit that detects an operation amount of an operation on an operation surface of a 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. In the tactile presentation device disclosed in Patent Document 1, by changing the mode of drive control of the actuator according to the amount of change in the operation amount during a release operation, a tactile presentation is performed to reduce the sense of discomfort felt by the user as a vibration presentation of natural strength, thereby imparting a tactile sensation.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] [[ID=�8]] By the way, in the tactile presentation device as described above, it is desired to respond to the user at high speed with respect to the operation and present a sufficient tactile sensation, that is, to perform strong feedback. For this purpose, it is required to preferably and quickly impart the vibration generated by the actuator to the user.

[0006] This invention has been made in view of the above, and aims to provide an actuator that can respond quickly to user operations and provide the user with strong tactile feedback. [Means for solving the problem]

[0007] One embodiment of the actuator of the present invention is: A movable body including a disc-shaped magnet, a pair of disc-shaped yokes fixed to the front and back surfaces of the magnet, and a projection extending in the axial direction of the magnet from one of the pair of disc-shaped yokes, The movable body includes a coil arranged on the outer circumference of the movable body, an outer yoke which is a magnetic material arranged radially outside the coil, and a case having an opening through which the protruding portion is inserted, which houses the movable body together with the coil, with the protruding end of the protruding portion protruding to the outside, and a fixed body which supports the movable body so that it can move in the axial direction of the magnet, It has, A magnetic spring is formed between the magnet and the outer yoke by magnetic attraction. The opening is formed with a gap between it and the outer circumference of the protrusion so that the protrusion can move without contact.

[0008] One embodiment of the actuator of the present invention is: A movable body including a disc-shaped magnet, a pair of disc-shaped yokes fixed to the front and back surfaces of the magnet, and a projection extending in the axial direction of the magnet from one of the pair of disc-shaped yokes, The movable body includes a coil arranged on the outer circumference of the movable body, an outer yoke which is a magnetic material arranged radially outside the coil, and a case having an opening through which the protruding portion is inserted, which houses the movable body together with the coil, with the protruding end of the protruding portion protruding to the outside, and a fixed body which supports the movable body so that it can move in the axial direction of the magnet, It has, A magnetic spring is formed between the magnet and the outer yoke by magnetic attraction. The opening is formed with a gap between it and the outer circumference of the protrusion so that the protrusion can move without contact. The case is configured such that a position detection unit having a magnetic sensor for detecting the magnetic flux of the movable body is provided on the outer surface of the case.

[0009] One embodiment of the actuator of the present invention is: A movable body including a disc-shaped magnet, a pair of disc-shaped yokes fixed to the front and back surfaces of the magnet, and a projection extending in the axial direction of the magnet from one of the pair of disc-shaped yokes, The movable body includes a coil arranged on the outer circumference of the movable body, an outer yoke which is a magnetic material arranged radially outside the coil, and a case having an opening through which the protruding portion is inserted, which houses the movable body together with the coil, with the protruding end of the protruding portion protruding to the outside, and a fixed body which supports the movable body so that it can move in the axial direction of the magnet, It has, A magnetic spring is formed between the magnet and the outer yoke by magnetic attraction. The opening is formed with a gap between it and the outer circumference of the protrusion so that the protrusion can move without contact. In the above case, the case surface opposite to the case surface having the opening is configured to have a movable body position and velocity detection unit for detecting the magnetic flux of the movable body.

[0010] One embodiment of the actuator of the present invention is: A movable body including a disc-shaped magnet, a pair of disc-shaped yokes fixed to the front and back surfaces of the magnet, and a projection extending in the axial direction of the magnet from one of the pair of disc-shaped yokes, A coil disposed on the outer periphery of the movable body, an outer yoke which is a magnetic body disposed on the radially outer side of the coil, and a case which has an opening through which the protruding portion is inserted and which houses the movable body together with the coil with the protruding end side of the protruding portion protruding to the outside, and a fixing body which supports the movable body movably in the axial direction of the magnet. having constitute a magnetic spring by magnetic attraction force between the magnet and the outer yoke. The opening is formed by providing a gap between the opening and the outer periphery of the protruding portion so that the protruding portion moves in a non-contact manner. The magnet and the yoke are each provided with a through hole into which the protruding portion is inserted. The protruding portion is fixed to the magnet and the yoke by the through holes and protrudes from one of the disk-shaped yokes.

Advantages of the Invention

[0011] According to the present invention, it is possible to realize an actuator that can respond at high speed to a user's operation and give the user a strong tactile feedback.

Brief Description of the Drawings

[0012] [Figure 1] It is an external perspective view of an actuator according to an embodiment of the present invention. [Figure 2] It is a longitudinal sectional view showing a main part configuration of the actuator. [Figure 3] It is a view showing an internal structure of the actuator with the case removed. [Figure 4] It is an exploded perspective view of the actuator. [Figure 5] It is a perspective view of the movable body. [Figure 6] It is an enlarged exploded view of the movable body. [Figure 7] It is an enlarged partial sectional view of a portion X1 showing the clearance between the opening and the protruding portion in FIG. 2. [Figure 8]Figure 2 is an enlarged cross-sectional view of portion X2, which shows the clearance between the outer surface of the movable body and the inner surface of the fixed body. [Figure 9] This figure illustrates the operation of the actuator according to Embodiment 1 of the present invention. [Figure 10] This is a longitudinal cross-sectional view showing the main components of a modified example 1 of the actuator. [Figure 11] This is an enlarged exploded view of the movable part. [Figure 12] This is a longitudinal cross-sectional view showing the main components of a modified example 2 of the actuator. [Figure 13] This is an enlarged exploded view of the movable part. [Figure 14] This is a longitudinal cross-sectional view showing the main components of a modified example 3 of the actuator. [Figure 15] This is an enlarged exploded view of the movable part. [Figure 16] This is a longitudinal cross-sectional view showing the main components of a modified example 4 of the actuator. [Figure 17] This is an enlarged exploded view of the movable part. [Figure 18] This is a longitudinal cross-sectional view showing the main components of modified actuator 5. [Figure 19] This is a perspective view of a leaf spring. [Figure 20] This is a longitudinal cross-sectional view showing the main components of a modified example 6 of the actuator. [Figure 21] This is an enlarged exploded view of the movable part. [Figure 22] This is a longitudinal cross-sectional view showing the main components of modified actuator 7. [Figure 23] This is an exploded view showing the internal configuration of the actuator modification 7 with the case removed. [Modes for carrying out the invention]

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

[0014] <Overall configuration of Actuator 1> Figure 1 is an external perspective view of an actuator according to an embodiment of the present invention, and Figure 2 is a longitudinal cross-sectional view showing the main components of the actuator. Figure 3 is a diagram showing the internal structure of the actuator with the case removed, and Figure 4 is an exploded perspective view of the actuator. For convenience, the outer yoke 70 is shown through the yoke in Figure 3.

[0015] In this embodiment, the terms "upper" and "lower" are assigned for ease of understanding and refer to one and the other direction of reciprocating motion of the movable body in the actuator. That is, when the actuator is mounted on electronic equipment (not shown), the upper and lower sides may be reversed or the left and right sides may be reversed, but it is preferable that the direction of forward and backward movement of the output shaft portion 252 (protruding portion 25) that protrudes from the actuator and the direction of contact with the user's operating part are the same. This is also true for each of the following modifications.

[0016] The actuator 1 according to this embodiment 1 is used, for example, in haptics including tactile presentation technology, and transmits the reciprocating motion of the movable body 20 in response to the user's contact operation to the control unit as a tactile sensation and force sensation to the user. The actuator 1 may also be presented to the user as sound to appeal to their hearing.

[0017] The actuator 1 shown in Figures 1 and 2 has a projection 25 (output shaft portion 252) that protrudes from the case 10 so as to be movable back and forth, and this projection 25 can be directly connected to an operating unit (e.g., a touch panel) that the user touches and operates. The projection 25 is part of a movable body 20 that is movably housed within the case 10. The actuator 1 drives the movable body 20 in response to the movement of the movable body 20 by the user's operation, and presents the user with an output that the user can perceive.

[0018] While it is preferable that the actuator 1 be used as a device for detecting operations and providing tactile feedback in haptics, it is not limited to this and may also be implemented as a vibration source in electronic devices such as portable game terminals. Furthermore, the actuator 1 may be used simply as a vibration generator, or in a resonant pump, character input keyboard, exciter, etc. The actuator 1 may also be used as a vibration presentation device.

[0019] The actuator 1 is equipped with an output shaft portion 252 and a magnet 30 on a movable body 20, and coils 61 and 62 on a fixed body 50, and the movable body 20 is able to reciprocate in a linear direction through the cooperation of the energized coils 61 and 62 and the magnet 30. The actuator 1 has elastic support portions 81 and 82 that support the movable body 20 so that it can reciprocate relative to the fixed body 50, and as the movable body 20 reciprocates, the output shaft portion 252 moves forward and backward in the axial direction, and moves axially, in the vertical direction in the figure, outside the top surface portion 122 of the case 10.

[0020] Specifically, the actuator 1 includes a movable body 20 having a magnet 30, a pair of yokes 41 and 42, and a pair of spring retainers 22 and 24, and a fixed body 50 having a pair of annular coils 61 and 62, as well as an outer yoke 70. A pair of elastic support parts 81 and 82 are installed between the movable body 20 and the fixed body 50.

[0021] In this configuration, the yokes 41 and 42, spring retainers 22 and 24, and coils 61 and 62 are each provided in pairs. However, this is not limited to this configuration; as long as bidirectional movement in a straight line or movement in one direction is possible, each part may be provided in one or three or more units.

[0022] In actuator 1, coils 61 and 62, outer yoke 70, magnet 30, and yokes 41 and 42 constitute a magnetic circuit that moves the movable body 20. In actuator 1, coils 61 and 62 are energized from a power supply unit (not shown) via terminal 75, causing the movable body 20 to move. The movable body 20 can reciprocate in both directions in the axial direction, which is the reciprocating direction, or in one direction in the axial direction. Actuator 1 can move, for example, in both directions in the axial direction (see the arrows labeled "Movement direction Up" and "Movement direction Down" in Figure 9).

[0023] In the actuator 1 of this embodiment, the movable body 20 reciprocates in the direction of movement (which is also the axial direction of the coils 61 and 62) along the holding body (protective wall) 522 positioned between the movable body 20 and the coils 61 and 62 held by the coil holding part 52. The direction of movement is not only the axial direction of the coils 61 and 62, but also the magnetization direction of the magnet 30, and the axial direction of the coil holding part 52.

[0024] Furthermore, as shown in Figure 3, the actuator 1 is constructed 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 body 11 and a lid 12. This allows the main parts of the actuator 1 to be assembled with high precision in a separate process from the case 10.

[0025] <Movable body 20> Figure 5 is a perspective view of the movable body, and Figure 6 is an enlarged exploded view of the movable body. Figure 7 is an enlarged partial cross-sectional view of portion X1 in Figure 2, showing the clearance between the opening and the protruding part. Figure 8 is an enlarged partial cross-sectional view of portion X2 in Figure 2, showing the clearance between the outer surface of the movable body and the inner surface of the fixed body.

[0026] As shown in Figure 2, when the movable body 20 is not moving, it is positioned such that the center of its length in the reciprocating direction (the axial direction of the magnet, which is the vertical direction in Figure 2) is at the same height level as the center of its length in the reciprocating direction of the coil holding part 52, via the elastic support parts 81 and 82. Here, "not moving" means that the movable body 20 is not moving (including reciprocating motion or vibration). Also, "at the same height level" means that it is positioned opposite the movable body 20 at a predetermined distance from it in a direction perpendicular to the axial direction of the movable body 20.

[0027] In this embodiment, it is preferable that the center of the reciprocating length of the magnet 30 and the yokes 41 and 42 is positioned opposite the center of the reciprocating length between the vertically separated coils 61 and 62 in a direction perpendicular to the reciprocating direction. Furthermore, a magnetic fluid may be interposed between the coil holding body 522 of the coil holding part 52 and the movable body 20.

[0028] As shown in Figures 2, 4 to 6, the movable body 20 includes a magnet 30, yokes 41 and 42, and spring retainers (first spring retainer 22, second spring retainer 24), as well as an output shaft 252, a first spring fixing part 26, and a second spring fixing part 28.

[0029] The movable body 20 has a magnet 30 at its center, and a yoke (first yoke) 41, a yoke (second yoke) 42, a first spring stopper 22, a second spring stopper 24, a first spring fixing part 26, and a second spring fixing part 28 connected to the front and back sides of the magnet 30 in the axial direction, that is, in both directions of reciprocating motion.

[0030] Specifically, in the movable body 20, a pair of yokes 41 and 42 are stacked on the front and back surfaces 30a and 30b of the magnet 30, and one end of a pair of springs and stoppers 22 and 24 are engaged with the openings 412 and 422 of the pair of yokes 41 and 42.

[0031] The spring retaining portions 22 and 24 engage with elastic support portions 81 and 82 at their other ends. The first spring retaining portion 22 of the spring retaining portions 22 and 24 is provided with an output shaft portion 252 that protrudes from the first spring retaining portion 22 to one side in the axial direction of the magnet 30 and passes through the central opening 126 of the cover portion 12 (see Figures 1-4 and 7).

[0032] In the movable body 20, the outer circumferential surfaces 20a of the magnet 30 and yokes 41 and 42 face the inner circumferential surface 522a of the holding body 522 at a predetermined distance (gap d2 shown in Figure 8). When the movable body 20 moves in a reciprocating motion, the outer circumferential surfaces 20a move back and forth along the inner circumferential surface 522a without making contact.

[0033] <Magnet 30> The magnet 30 is, for example, solid and magnetized in the reciprocating direction. The magnet 30 is formed in a disc shape, and its shape also includes a cylindrical shape having a predetermined thickness. The magnet 30 has a front and back surface 30a and 30b that are spaced apart in the reciprocating direction (thickness direction) and each has magnetic pole surfaces with different polarities (for example, the front surface 30a is the south pole and the back surface 30b is the north pole).

[0034] The magnet 30 is positioned with a gap between it and the coils 61 and 62 (details of which will be described later) in the radial direction inward of the coils 61 and 62. Here, "radial direction" refers to the direction perpendicular to the axes of the coils 61 and 62, and also perpendicular to the reciprocating direction. This "gap" in the radial direction is the distance between the coils 61 and 62, including the holding body 522, and the magnet 30, and is such that they can move without contacting each other in the reciprocating direction of the movable body 20. In other words, in this embodiment, "gap" means a predetermined distance (gap d2) between the holding body 522 and the magnet 30.

[0035] In this embodiment, the magnet 30 is positioned at the center of its radially outer peripheral surface in the width direction, facing the center of the holding body 522 in a direction perpendicular to the axial direction. The magnet 30 may have a shape other than a disc, such as a cylindrical or plate shape, as long as it is positioned inside the coils 61 and 62 with its two magnetized surfaces facing the direction in which the axes of the coils 61 and 62 extend, i.e., the direction of reciprocating motion.

[0036] In this embodiment, since the magnet 30 is a solid body, unlike the case of a cylindrical body, the effort of processing an opening is eliminated, and the area of ​​the front and back surfaces, which are the magnetic pole surfaces, is not reduced by the formation of an opening. Furthermore, 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.

[0037] <York 41, 42> The yokes 41 and 42 are magnetic materials and, together with the magnet 30, constitute the magnetic circuit on the movable body side. 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.

[0038] Furthermore, the yokes 41 and 42 have functions not only as part of the magnetic circuit but also as fixing spring stoppers 22 and 24. In addition, the yokes 41 and 42 may also function as the main body of the movable body 20 and as weights.

[0039] In this embodiment, the yokes 41 and 42 are formed in the shape of annular flat plates with the same outer diameter as the magnet 30. The yokes 41 and 42 are fixed to the magnet 30 such that their outer circumferential surfaces are flush with the outer circumferential surface of the magnet, and together with the outer circumferential surface of the magnet, they constitute the outer circumferential surface 20a of the movable body 20.

[0040] The yokes 41 and 42 are identically shaped components positioned to sandwich the magnet 30, but they may be of different shapes. The yokes 41 and 42 are attracted to the magnet 30 and fixed to it, and are also fixed to the magnet 30 via a thermosetting adhesive such as epoxy resin or an anaerobic adhesive.

[0041] Openings 412 and 422 are provided in the center of the yokes 41 and 42, respectively, penetrating axially, that is, in the thickness direction. One end of the upper and lower spring retaining parts 22 and 24 are fitted into and fixed to the openings 412 and 422, respectively. In addition, the base end of the output shaft part 252 is positioned inside the spring retaining part 22 in one of the openings 412. As a result, the opening 412 is in a state where there is virtually no cavity due to the spring retaining part 22 and the output shaft part 252.

[0042] In this embodiment, when the movable body 20 is not reciprocating, the yokes 41 and 42 are positioned inside (radially inward) of the coils 61 and 62, in a direction perpendicular to the axial direction of the coils 61 and 62, and facing each of the coils 61 and 62.

[0043] The openings 412 and 422 support the spring retaining parts 22 and 24 such that their respective axes (which coincide with the centers of the elastic support parts 81 and 82) are located on the central axis of the movable body 20. The opening 422 allows for adjustment of the degree of opening in the yoke 42 to adjust the weight of the movable body 20 and set a suitable reciprocating output. The opening 412 also allows for adjustment of the degree of opening in the yoke 41 and the insertion amount of the output shaft part 252 to adjust the weight of the movable body 20 and set a suitable reciprocating output.

[0044] <Spring retainer parts 22, 24> The pair of spring retainers 22 and 24 function as weights for the movable body 20. The spring retainers 22 and 24 are provided symmetrically on either side of the magnet 30 and the yokes 41 and 42, increasing the reciprocating output of the movable body 20. In this embodiment, the spring retainers 22 and 24 are formed in the same shape, thereby reducing the manufacturing cost of the parts. Details of the second spring retainer 24 will be explained in the description of the first spring retainer 22, with corresponding reference numerals such as spring retainer 22, 24, etc., indicating the main points of the first spring retainer 22, and the explanation of the second spring retainer 24 will be omitted.

[0045] In this embodiment, the spring retaining parts 22 and 24 also function as axes of the movable body that extend along the central axis of the movable body 20, and are interposed between the yokes 41 and 42 and the elastic support parts 81 and 82.

[0046] The spring retaining portions 22 and 24 each have a joint portion 222 and 242, which is one end of the spring retaining portions 22 and 24, and a spring connecting portion 224 and 244, which is the other end of the spring retaining portions 22 and 24. These joint portions 222 and 242 and the spring connecting portions 224 and 244 are connected in the direction of reciprocating motion.

[0047] The spring stoppers 22 and 24 are cylindrical bodies and have through holes 23 that penetrate through their interiors. The spring stoppers 22 and 24 may also function as weights. In that case, the spring stopper 24 may have the function of adjusting the weight balance by adding weights to the through holes 23. By adding weights to the through holes 23 of the spring stopper 24, the movable body 20 can be made heavier, thereby increasing the vibration output of the movable body 20. The base end of the output shaft portion 252 is inserted into the through hole 23 of the first spring stopper 22 and firmly fixed in place.

[0048] The joints 222 and 242 are cylindrical bodies positioned on the axis of the movable body 20 and are joined to the yokes 41 and 42, respectively. The joints 222 and 242 are joined by inserting one end into the openings 412 and 422 of the yokes 41 and 42, respectively, and fitting them in. On the other hand, the other ends of the joints 222 and 242 are positioned to protrude from the yokes 41 and 42 in opposite directions around the magnet 30 and are connected to the spring connectors 224 and 244.

[0049] In this embodiment, the spring retaining parts 22 and 24 are joined to the yokes 41 and 42 by press-fitting, but are not limited to this, and may be joined by bonding using, for example, a thermosetting adhesive such as epoxy resin or an anaerobic adhesive. Also, although the joining parts 222 and 242 are cylindrical bodies, they may be solid cylinders or rod-shaped bodies with recesses on their axes.

[0050] The spring connection portion 224 is provided in the spring stopper portion 22 so as to protrude from the joint portion 222 to the other side (upwards), and is a cylindrical body with a larger outer diameter than the joint portion 222. The spring connection parts 224 and 244 constitute both ends of the movable body 20, which are separated in the direction of movement, and the elastic support parts 81 and 82, which will be described later, are joined to each of them. In the spring connection portion 224, the joint surface, which is the tip (upper end) surface, is arranged around the output shaft portion 252 and abuts against the inner circumference portion 802 of the elastic support portion 81.

[0051] <Output shaft part 252 (protruding part 25)> The output shaft 252 is connected to the movable body 20 and moves together with the movable body 20, outputting the operation of the movable body 20 to the outside. The output shaft 252 is positioned on the axis of the movable body 20, with its base end fitted into the spring retainer 22 and directly 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 cover 12.

[0052] A cap 254 is attached to the tip of the output shaft portion 252. The cap 254, together with the output shaft portion 252, constitutes a protruding portion 25, but the output shaft portion 252 may also be used as the protruding portion 25. The user may contact the cap 254 itself, or a separate component may be attached to the cap 254 to provide tactile sensation to the user through the separate component. The cap 254 may be made of a different material from the output shaft portion, for example, resin, and may be made of a material that is easy to join with other components such as an operating part.

[0053] The output shaft portion 252 is made of a durable material, such as metal, and may be made of either a magnetic or non-magnetic material, but a non-magnetic material is preferred. If the output shaft portion 252 is a non-magnetic material, leakage magnetic flux around the operating range of the operating section (not shown) to which the cap 254 is connected can be suppressed. If the output shaft portion 252 is made of a magnetic material, it is desirable that it be configured to be non-contact with the magnet 30.

[0054] The output shaft portion 252 is a solid cylindrical body, but is not limited to this and may be hollow. The output shaft portion 252 has a circular cross-section, but is not limited to this. The outer shape (outer diameter, since it is cylindrical) of the output shaft portion 252 is smaller than the inner diameter of the central opening 126 of the lid portion 12, and is a diameter that allows it to pass through the central opening 126 without contact.

[0055] The output shaft portion 252, together with the first spring retainer portion 22, is positioned within the opening 412 of the first yoke 41 on the magnet 30. By positioning the output shaft portion 252 so as to be in contact with the magnet 30 through the opening 412, the parts can be assembled in an axially positioned manner simply by inserting the output shaft portion 252 into the through hole 23 of the spring retainer portion 22 and fitting it into the opening 412 of the yoke 41.

[0056] The output shaft portion 252 passes through the inner circumference portion 802, which is the inner diameter end (other end) of the elastic support portion 81 (upper leaf spring) that serves as the elastic support portion 81, and through the central opening 126 of the cover portion 12, protruding to the outside of the actuator 1. The inner circumference portion 802 of the elastic support portion 81 is in contact with the joining surface, which is the tip (upper end) surface of the spring connection portion 224, and is sandwiched between the joining surface of the spring connection portion 224 and the first spring fixing portion 26.

[0057] The first spring fixing portion 26 is a press-fit ring formed in an annular shape and fitted onto the output shaft portion 252 by press-fitting. The inner circumference 802 of the elastic support portion 81 is firmly clamped and fixed by the spring connection portion 224 and the first spring fixing portion (press-fit ring) 26 while fitted onto the output shaft portion 252. Adhesive may be used for this clamping. As a result, the spring connection portion 224 is joined to the elastic support portion 81.

[0058] Thus, the output shaft portion 252 is positioned on the movable body 20 on one side (upward) of the movable body 20's movement direction, extending upward from the magnet 30, passing through the elastic support portion 81 and the cover portion 12, with its other end freely moving back and forth outside the fixed body 50. Since the user receives the drive of the movable body 20 directly through this output shaft portion 252, it can respond quickly and provide strong feedback. Furthermore, by displacing the movable body 20 in response to the operation, tactile feedback can be provided, and tactile sensations can be expressed that are compatible with long-stroke operations.

[0059] On the other hand, the spring connection portion (lower spring connection portion) 244 of the second spring stopper portion 24, which is positioned on the opposite side of the first spring stopper portion 224 with the magnet 30 in between, is joined to the inner circumference portion 802, which is the inner diameter end of the lower leaf spring that is the elastic support portion 82.

[0060] The spring connector 244 is provided in the spring stopper 24 so as to protrude from the joint 242 to the other side (downward), and is a cylindrical body with a larger outer diameter than the joint 242. The spring connector 244 holds the inner circumference 802 of the lower leaf spring, which serves as the elastic support 82, together with the second spring fixing part 28, which is inserted into a through hole opening at the joint surface, with the inner circumference 802 in contact with the joint surface, which is the tip (lower end) surface of the spring connector 244.

[0061] Specifically, the second spring fixing portion 28 is attached by inserting a shaft-shaped insertion portion 282 into the through hole of the spring connection portion 244, thereby clamping the inner circumference 802 of the elastic support portion 82 together with the joining surface of the spring connection portion 244 using the flange 284 provided on the outer circumference of the base end of the insertion portion. In this way, the spring connection portion 244 and the elastic support portion 82 are joined together.

[0062] The second spring fixing portion 28 may be a rivet, such as a blind rivet. The second spring fixing portion 28 is fixed within the through hole of the spring connection portion 244 by press-fitting, such as by crimping, through a shaft-shaped insertion portion 282.

[0063] Furthermore, while the spring retaining parts 22 and 24 may be made of magnetic material, it is preferable that they be made of non-magnetic material. If the spring retaining parts 22 and 24 are made of non-magnetic material, the magnetic flux from the yoke 41 will not flow upward, and the magnetic flux from the yoke 42 will not flow downward, allowing it to flow efficiently towards the coils 61 and 62 located on the outer circumference of the yokes 41 and 42.

[0064] Since the movable body 20 is composed of separate components—the magnet 30, the yokes 41 and 42, the spring retainer parts 22 and 24, and the output shaft part 252—it is easy to ensure the required dimensional accuracy for each part. Furthermore, it is possible to improve the surface accuracy (accuracy of the joining surface) of the spring connection parts 224A and 244 of the spring retainer parts 22 and 24, and the dimensional accuracy of the outer diameter of the protruding part 25 (output shaft part 252).

[0065] <Elastic support parts 81, 82> The elastic support parts 81 and 82 are positioned on both sides of the movable body 20 in the direction of movement, and support the movable body 20 so that it can move in the direction of movement. The elastic support parts 81 and 82 are leaf springs, and are positioned to sandwich the movable body 20 in the direction of vibration of the movable body 20, and are each installed so as to intersect the direction of vibration with both the movable body 20 and the fixed body 50.

[0066] In detail, the elastic support portions 81 and 82 are positioned across both ends (upper and lower ends) of the movable body 20 that are separated in the reciprocating direction, and across the opening edge of the fixed body 50 (coil holding portion 52) which is positioned radially outward from each of these ends. In this embodiment, the elastic support portions 81 and 82 are positioned facing each other, along directions perpendicular to the reciprocating direction, so as to sandwich the movable body 20 in the reciprocating direction.

[0067] The elastic support parts 81 and 82 may be non-magnetic or magnetic (specifically, ferromagnetic). If the elastic support parts 81 and 82 are non-magnetic leaf springs, they may be constructed using stainless steel plates such as SUS304 or SUS316. If the elastic support parts 81 and 82 are magnetic, stainless steel plates such as SUS301 may be used. As for the material of the elastic support parts 81 and 82, magnetic materials (e.g., SUS301) are known to be more durable and less expensive than non-magnetic materials (e.g., SUS304, SUS316).

[0068] The elastic support parts 81 and 82 support the movable body 20 so that it does not come into contact with the fixed body 50, regardless of whether the movable body 20 is in non-reciprocating or reciprocating motion. The elastic support parts 81 and 82 may be composed of any material that elastically supports the movable body 20 so that it can move freely.

[0069] The elastic support sections 81 and 82 are each composed of multiple plate-shaped spiral springs that are flat in their normal state. In the elastic support sections 81 and 82, arc-shaped deformable arm sections 804 extend radially outward at equal intervals from the outer edge of the annular plate-shaped inner circumference section 802, and the ends of the deformable arm sections 804 are connected to an annular plate-shaped outer circumference fixing section 806.

[0070] The inner circumference portion 802 has a shape that is positioned on the joining surfaces of the spring connection portions 224 and 244 of the spring stopper portions 22 and 24, and has, for example, an outer diameter that is approximately the same as the outer diameter of the joining surfaces of the spring connection portions 224 and 244.

[0071] The deformable arm portion 804 is elastically deformable, joined to the outer peripheral fixing portion 806 at one end and to the inner peripheral portion 802 at the other end, thereby connecting the outer peripheral fixing portion 806 and the inner peripheral portion 802. Multiple deformable arm portions 804 are arranged in a spiral shape with a predetermined interval in the circumferential direction between the inner peripheral portion 802 and the outer peripheral fixing portion 806. The movable body 20 may be supported by three or more elastic support portions (leaf springs) 81, 82. These multiple leaf springs are mounted along a direction perpendicular to the reciprocating motion direction.

[0072] In the elastic support sections 81 and 82, the inner circumference 802 is joined to both ends (spring connection sections 224 and 244) of the movable body 20 that are separated in the axial direction (reciprocating direction). In addition, in the elastic support sections 81 and 82, the outer circumference fixing section 806 is positioned to protrude radially outward (radially) at each end of the movable body 20.

[0073] The outer peripheral fixing portion 806 has a notch formed on its outer peripheral edge, and the movable range forming portion (positioning piece portion) 54 of the coil holding portion 52 is engaged with the notch, and the coil holding portion 52 is sandwiched between both opening edges and the case 10.

[0074] Specifically, in the elastic support portion 81, the outer peripheral fixing portion 806 is fixed within the case 10 by being sandwiched between the annular upper end surface 527a of the flange portion 527 and the pressing portion 128 of the lid portion 12. The upper end surface 527a refers to the upper end surface on the upper (one side) of the flange portion 527, avoiding the movable range forming portion 54.

[0075] Furthermore, in the lower elastic support portion 82, the outer peripheral fixing portion 806 is fixed to the lower end of the coil holding portion 52, radially outward from the movable body 20 in the actuator 1. Specifically, the outer peripheral fixing portion 806 of the elastic support portion 82 is fixed to the annular lower end surface 528a of the lower flange portion 528 that forms the lower end of the coil holding portion 52, in a location that avoids the movable range forming portion 54.

[0076] Multiple elastic support parts 81 and 82 are arranged such that, for example, the direction of the spiral is the same, with one end on the outer circumference, the outer circumference fixing part 806, fixed to the fixing body 50, and the other end on the inner circumference, the inner circumference part 802, fixed to the movable body 20.

[0077] Thus, in this embodiment, multiple spiral-shaped leaf springs are used as multiple elastic support parts 81 and 82, and are attached to the ends of the movable body 20 that are separated in the direction of vibration, thereby elastically supporting the movable body 20 with respect to the fixed body 50. As a result, when the amount of movement of the movable body 20 increases, the movable body moves in the translational direction (here, in the direction on a plane perpendicular to the direction of vibration) while rotating slightly. If the directions of the spirals of the multiple leaf springs are opposite, the multiple leaf springs will move in the buckling direction or the tensile direction relative to each other, which will hinder smooth movement.

[0078] The actuator 1, through a pair of elastic support parts 81 and 82, can move the movable body 20, particularly the output shaft portion 252 which is a protruding portion 25, with improved linearity. This allows the movement of the movable body 20 to be performed stably, without being affected by external shocks or disturbances. In particular, the stability of linear drive can be increased, which improves the stability of both the magnetic sensor output and the tactile output.

[0079] In this embodiment, the elastic support parts 81 and 82 are fixed to the movable body 20 so that the direction of the spirals is the same. Therefore, even if the amount of movement of the movable body 20 increases, it can move smoothly, that is, deform, resulting in a greater output and increasing the output that provides force feedback. However, depending on the desired range of motion of the movable body 20, the design may align the spiral directions of the multiple elastic support parts 81 and 82 in opposite directions.

[0080] On the other hand, the outer peripheral fixing portion 806 of the upper elastic support portion 81 is fixed radially outward to the upper end of the coil holding portion 52. Specifically, the outer peripheral fixing portion 806 of the elastic support portion 81 is fixed to the annular upper end surface 527a of the upper flange portion 527 that forms the upper end of the coil holding portion 52 (see Figure 2), in a location that avoids the movable range forming portion 54. Further details regarding the configuration of the coil holding portion 52 will be described later.

[0081] The outer peripheral fixing portion 806 of the elastic support portion 82 is fixed within the case 10 by being sandwiched between the annular lower end surface 528a of the flange portion 528 and the stepped portion 118 provided on the periphery of the bottom portion 114. The lower end surface 528a refers to the upper end surface of the portion on the lower (other) side of the flange portion 528 that avoids the movable range forming portion 54.

[0082] The outer peripheral fixing portion 806 is formed in an annular shape, and its outer circumference is held between the upper and lower end faces 527a and 528a (see Figure 2) of the coil holding portion 52, the pressing portion 128, and the stepped portion 118. In this way, the outer peripheral fixing portion 806 is fixed to the fixing body 50.

[0083] <Fixed body 50> As shown in Figure 2, the fixed body 50 holds the coils 61 and 62 and supports the movable body 20 radially inside the coils 61 and 62 via elastic support parts 81 and 82 so that it can move in the direction of movement (the axis of the magnet, the axis of the coil, or the axis of the movable body 20).

[0084] The fixed body 50 includes coils 61 and 62 and an outer yoke 70, as well as a coil holding portion 52 for holding coils 61 and 62. The actuator 1 is constructed by connecting almost all vibration-generating components, such as the coils 61 and 62, as well as the movable body 20 and case 10, via elastic support parts 81 and 82, to the coil holding part 52.

[0085] The coil holder 52 is a cylindrical body that holds coils 61 and 62 arranged on its outer surface, surrounds the magnet 30 with its inner surface 522a, and a movable body 20 having the magnet 30 is movably arranged inside. The coil holder 52 may also be formed in a bobbin shape, in which case the coils 61 and 62 are wound around the outer circumference of the inner cylindrical holder body (protective wall) within the coil holder 52.

[0086] The coil holder 52 is a cylindrical body formed from a resin such as phenolic resin or polybutylene terephthalate (PBT). In this embodiment, the coil holder 52 is made of a material containing phenolic resin, such as highly flame-retardant bakelite.

[0087] Since the coil holding section 52 is made of a material containing phenolic resin, its flame retardancy is enhanced, and even if the coils 61 and 62 that it holds generate heat due to Joule heating when current flows through them, safety during operation can be improved. In addition, dimensional accuracy is improved, and the positional accuracy of the coils 61 and 62 is enhanced, so variations in vibration characteristics can be reduced.

[0088] Specifically, the coil holding portion 52 includes a cylindrical holding portion body 522, a central flange portion 526 and flange portions 527 and 528 that protrude radially from the outer circumference of the holding portion body 522, a terminal portion 75, and a movable range forming portion 54.

[0089] The holding body 522 functions as a protective wall to prevent collisions with the coils 61 and 62 when the movable body 20, which is located inside, is driven. The thickness of the holding body 522 is such that even if the moving movable body 20 makes contact, it will not have any effect on the outer coils 61 and 62.

[0090] On the outer circumference of the holding body 522, coils 61 and 62 are arranged in the direction of the coil axis between the central flange portion 526 and each flange portion 527, 528 (coil mounting portions 52b, 52c). The holding body 522 is positioned to surround the coils 61 and 62 radially outward with respect to the outer circumferential surfaces of the yokes 41 and 42 of the movable body 20 (the magnet 30 and the outer circumferential surfaces of the yokes 41 and 42).

[0091] Specifically, the outer circumferential surface of the holding body 522 is provided with concave coil mounting portions 52b and 52c that are separated by a central flange portion 526 and individual flange portions 527 and 528, and that open radially outward on the outer circumferential side.

[0092] The terminal section 75 functions as a connector connection section that connects the coil windings of coils 61 and 62 to external equipment. Coils 61 and 62 are connected to the external equipment via the terminal section 75, enabling power supply from the external equipment to coils 61 and 62.

[0093] The terminal portion 75 is a conductive member that protrudes from the outer circumference of the holding portion body 522. In this embodiment, the terminal portion 75 is press-fitted into the outer surface of the central flange portion 526, which is positioned at the center of the vibration direction on the outer circumference of the holding portion body 522. As a result, the terminal portion 75 is provided to protrude from the outer surface of the central flange portion 526.

[0094] The flange portions 527 and 528 are provided at both ends of the holding portion body 522 that are spaced apart in the axial direction (which in this embodiment is the vibration direction and also the vertical direction), and constitute the upper and lower ends of the coil holding portion 52.

[0095] The flange portions 527 and 528 have elastic support portions 81 and 82 fixed at their ends (upper and lower ends in this embodiment) that are spaced apart from the central flange portion 526.

[0096] The movable range forming portion 54 is a projection-like portion that protrudes axially from 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 vibration range between the lid portion 12 and the bottom portion 114 of the case 10 and the movable body 20. The movable range forming portion 54 is provided at predetermined intervals on the upper and lower annular end faces (also referred to as the "upper end face" and "lower end face" and "open end face," respectively) 527a and 528a of the flange portions 527 and 528. The upper end face 527a is the open end face on one side, and the lower end face 528a is the open end face on the other side.

[0097] The movable range forming section 54 fits into notches provided in the elastic support sections 81 and 82 to position the elastic support sections 81 and 82 radially. By fitting the movable range forming section 54 into the notches, the mounting positions of the elastic support sections 81 and 82 can be uniformly set relative to the coil holding section 52 in each individual unit 13, enabling stable positioning of the elastic support sections 81 and 82 relative to the coil holding section 52. Furthermore, the elastic support sections 81 and 82 are not fixed to the fixed body side via multiple components relative to the coil holding section 52. As a result, the structure is less affected by component tolerances, rotational circumferential and radial movement is restricted, and variations in the elastic support sections 81 and 82 are suppressed, resulting in stable characteristics in the final product.

[0098] The coil holding portion 52 is housed in the case 10 with the movable range forming portions 54 on its upper and lower end faces in contact with 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.

[0099] <coil> In the actuator 1, coils 61 and 62 are used together with the magnet 30 and yokes 41 and 42 to generate the drive source for the actuator 1, with the axial direction of coils 61 and 62 (the magnetization direction of the magnet 30) being the direction of vibration.

[0100] Coils 61 and 62 generate a magnetic field when energized, causing the movable body 20 to move. Coils 61 and 62 are positioned radially outward from the movable body 20. Together with the magnet 30, coils 61 and 62 form a magnetic circuit similar to that of a voice coil motor.

[0101] Coils 61 and 62 are positioned in the coil mounting sections 52b and 52c, and in this embodiment, coils 61 and 62 are positioned opposite the yokes 41 and 42 in a direction perpendicular to the reciprocating motion direction.

[0102] Coils 61 and 62 are held in the coil holding portion 52 such that the center position of their length in the coil axial direction (reciprocating direction) is approximately the same as (or identical to) the center position of the length of the movable body 20 in the reciprocating direction (the center position of the magnet 30 in the reciprocating direction) in the reciprocating direction. In this embodiment, coils 61 and 62 are wound in opposite directions to each other, so that current flows in opposite directions when energized. Coils 61 and 62 are fixed by adhesive or the like within the concave coil mounting portions 52b and 52c, and their outer surfaces are surrounded by the outer yoke 70 inside the case 10.

[0103] The ends of coils 61 and 62 are connected by being wrapped around the terminal portion 75 of the central flange portion 526. Coils 61 and 62 are connected to an external power supply unit via the terminal portion 75. For example, the ends of coils 61 and 62 may be connected to a DC supply unit, and DC power may be supplied to coils 61 and 62 from the DC supply unit. This allows coils 61 and 62 to generate thrust between themselves and the magnet, enabling them to move in one direction, either in the axial direction of their relative movements or in the direction of moving toward or away from each other.

[0104] Alternatively, the ends of coils 61 and 62 may be connected to power supply units such as AC supply units and DC supply units, and AC power (AC voltage) and DC power (DC voltage) may be supplied to coils 61 and 62 from the power supply units. This allows coils 61 and 62 to generate thrust between themselves and the magnet, enabling them to move toward and away from each other in their respective axial directions.

[0105] The power supplied to coils 61 and 62 may be either AC or DC, and each power supply generates thrust for the movable body 20. Of course, both AC and DC may be supplied to coils 61 and 62. The actuator 1 may also move the movable body 20 by superimposing AC on the input DC. For example, the actuator 1 first pushes out or lowers the movable body 20, i.e., the protruding part 25, using the input DC. Then, the actuator 1 can detect when the protruding part 25 is pressed by user operation, and superimpose the input AC or pulses on the input DC to provide tactile sensations such as force feedback. Furthermore, at least one of the DC supply unit and the AC supply unit connected to the respective ends of coils 61 and 62 may be provided on the actuator itself.

[0106] <Outer yoke 70> The outer yoke 70 is a cylindrical magnetic body positioned to surround the outer circumferential surface of the coil holding portion 52 and to cover the coils 61 and 62 radially outward. In the magnetic circuit, the outer yoke 70 prevents leakage magnetic flux from the actuator 1 to the outside in the radial direction.

[0107] The outer yoke 70 is positioned such that the center of its reciprocating length is at the same height as the center of the reciprocating direction of the magnet 30 located inside it. This shielding effect of the outer yoke 70 helps to reduce leakage magnetic flux to the outside of the actuator.

[0108] Furthermore, the outer yoke 70 can increase the thrust constant in the magnetic circuit, thereby improving electromagnetic conversion efficiency. The outer yoke 70 also functions as a magnetic spring together with the magnet 30, utilizing the magnetic attraction force of the magnet 30. The magnetic spring can reduce the stress when the elastic support parts 81 and 82 are made into mechanical springs, thereby improving the durability of the elastic support parts 81 and 82.

[0109] <Case 10> The case 10 houses the movable body 20 together with the coils 61 and 62, with the protruding end of the protruding portion 25 protruding outwards. The case 10 houses the movable body 20 together with the coils 61 and 62 and has a central opening 126 into which the protruding portion 25 is loosely inserted without contact.

[0110] Case 10 specifically comprises a bottomed cylindrical case body 11 having a peripheral wall portion 112 and a bottom portion 114, and a lid portion 12 that closes the opening 115 of the case body 11. Case 10 is columnar in shape. A columnar shape is a shape that has a height (thickness) that allows sufficient thrust to be generated in the reciprocating direction through cooperation with the opposing coils 61 and 62 on its outer circumference. For example, in this embodiment, case 10 is formed in a cylindrical shape by the bottomed cylindrical case body 11 and the lid portion 12, but it is not limited to this shape and may be elliptical columnar or polygonal columnar, and the length in the reciprocating direction may be longer or shorter than the length in the direction perpendicular to the reciprocating direction. In this embodiment, the elliptical columnar shape and elliptical shape mainly refer to an ellipse that includes parallel straight lines, and means an oval shape.

[0111] 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.

[0112] The lid portion 12 has a projection 124 on its top surface portion 122, which has a central opening 126. The projection 124 protrudes radially outward from a part of the outer circumference of the top surface portion 122 and engages with the notch 102 of the case body 11. The projection 124 engages the lid portion 12 with the notch 102 of the case body 11, allowing for positioning when attaching the lid portion 12 to the case body 11. The lid portion 12 and the bottom portion 114 each function as movement range restricting parts that act as hard stops (limit the range of motion) of the movable body 20.

[0113] The opening direction of the central opening 126 is parallel to the direction of movement of the movable body 20 and the output shaft portion 252. Specifically, it is desirable that the central opening 126 be formed so that the output shaft portion 252 is inserted vertically.

[0114] The central opening 126 is formed on the top surface 122 on the axis of the movable body 20 and the axis of the output shaft portion 252, with a diameter larger than the outer diameter of the output shaft portion 252. As shown in Figure 7, the central opening 126 is formed on the top surface 122 such that there is a gap d1 between it and the inserted output shaft portion 252 so that the output shaft portion 252 does not come into contact with it when it is not moving or when it is moving.

[0115] The central opening 126 is formed on the top surface 122 such that the gap d1 between the outer diameter of the output shaft portion 252 and the inner diameter of the central opening 126 is smaller than the gap d2 between the outer circumferential surface 20a of the movable body 20 and the inner circumferential surface of the fixed body 50 (the inner circumferential surface 522a of the holding portion body 522) as shown in Figure 8.

[0116] When the lid 12 is attached to the case body 11, the projection 124 of the lid 12 is positioned on the terminal portion 75 that is exposed to the outside at the center of the notch 102 in the longitudinal direction of the notch 102 of the case body 11. This makes it possible to determine the position of the terminal portion 75 of the actuator 1 simply by viewing the lid 12 from above.

[0117] <Operation of Actuator 1> The operation of actuator 1 will be explained using Figure 9 as an example, assuming that the magnet 30 is magnetized such that the surface 30a on one side in the magnetization direction (upper side in this embodiment) is the south pole and the back surface 30b on the other side in the magnetization direction (lower side in this embodiment) is the north pole.

[0118] Figure 9 is a diagram illustrating the operation of the actuator according to Embodiment 1 of the present invention.

[0119] In actuator 1, the movable body 20 is driven to move in at least one direction of vibration by supplying pulsed current (DC pulse or AC pulse) to coils 61 and 62. Note that power may also be supplied to coils 61 and 62 to induce resonance.

[0120] When pulsed current is supplied, a magnetic flux flow mf is formed, which is emitted from the back surface 30b of the magnet 30, radiated from the yoke 42 towards the coil 62, passes through the outer yoke 70, and enters the magnet 30 from the upper yoke 41 via the coil 61.

[0121] Therefore, as shown in Figure 9, when current is applied, the interaction between the magnetic field of the magnet 30 and the current flowing through the coils 61 and 62 generates a Lorentz force in the -f direction in the coils 61 and 62 according to Fleming's left-hand rule.

[0122] 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. Since coils 61 and 62 are fixed to the stationary body 50 (coil holder 52), according to the law of action and reaction, a force opposite to this -f Lorentz force is generated as a thrust in the f direction on the movable body 20 having the magnet 30. As a result, the movable body 20 having the magnet 30 moves in the f direction, that is, towards the bottom (bottom surface of the case body 11) 114.

[0123] On the other hand, when the direction of current flow in coils 61 and 62 is switched to the opposite direction and current flows through coils 61 and 62, a Lorentz force in the opposite direction f is generated. Due to the generation of this Lorentz force in the direction f, according to the law of action and reaction, a force opposite to this Lorentz force in the direction f is generated as a thrust (a thrust in the -f direction) on the movable body 20, and the movable body 20 moves in the -f direction, that is, towards the top surface of the lid 12 of the fixed body 50.

[0124] In actuator 1, by moving the movable body 20 to either the lid portion 12 side or the bottom portion 114 side, so-called tactile and force feedback can be provided to the operator via the output shaft portion 252 in response to the user's operation.

[0125] At this time, the output shaft portion 252 is inserted through the central opening 126 of the case 10 without contact and moves outside the case 10 in the direction of movement (the axis of the magnet 30, the forward and backward direction) without contacting the central opening 126.

[0126] Furthermore, current can be supplied alternately in opposite directions to coils 61 and 62 to cause them to move. This can be used to drive the movable body 20 in response to the operator's movement, providing the user with tactile and force feedback through the movement.

[0127] Furthermore, in actuator 1, when it is not powered on and not moving, magnetic attractive forces act between the magnet 30 and the outer yoke 70, causing them to function as magnetic springs. Due to the magnetic attractive force generated between the magnet 30 and the outer yoke 70, and the restoring force of the elastic support parts 81 and 82 returning to their original shapes, the movable body 20 returns to its original position.

[0128] The actuator 1 comprises a fixed body 50 having coils 61 and 62, and a movable body 20 having a magnet 30 positioned radially inward of the coils 61 and 62 and magnetized in the axial direction of the coils 61 and 62. In addition, the actuator 1 includes flat plate-shaped elastic support parts 81 and 82 that elastically hold the movable body 20 so that it can move freely in the direction of movement which is the coil axis direction.

[0129] Furthermore, the coils 61 and 62 are arranged on the outer circumference of the holding body 522 of the coil holding part 52, and the outer surface 20a of the movable body 20 is arranged on the inner circumference side of the holding body 522 with a gap in between, and the outer surfaces of the coils 61 and 62 are surrounded by the outer yoke 70.

[0130] The actuator 1 has a structure in which the unit 13 is housed within the case 10, and the outer surface of the peripheral wall portion 112 of the resin case 10 can be made into a smooth surface. This makes it possible to reliably and easily attach cushioning material such as sponge between the actuator 1 and the mounting location when attaching the actuator 1 to an electronic device.

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

[0132] This allows the arrangement of the movable body 20, including the fixing of the elastic support parts 81 and 82, to be determined based on the coil holding part 52, thereby improving the accuracy of the tactile sensation generation direction of the product. Specifically, by simply improving the dimensional accuracy of the coil holding part 52, which is formed as a single part, for example from resin, it becomes easy to position the coils 61 and 62 and the movable body 20 (magnet 30), which is attached via the elastic support parts 81 and 82, in an accurate positional relationship.

[0133] Furthermore, since the coil holding portion 52 has terminal portions 75 that protrude outward, it becomes easier to entangle and solder the coil wires, and to easily connect the coils 61 and 62 to external equipment.

[0134] Thus, the actuator 1 has impact resistance and can provide tactile feedback.

[0135] Actuator 1 is driven by pulses (DC pulses or AC pulses) input to coils 61 and 62. In other words, by appropriately setting the energizing direction of coils 61 and 62, the movable body 20 may be subjected to thrust in the -f direction on the top surface 122 side of the lid 12, thrust in the f direction on the bottom 114 side, or these thrusts in the -f direction and f direction alternately. As a result, the movable body 20 moves in the direction of movement, and consequently moves in the direction of movement, enabling tactile feedback to be provided via the actuator 1 itself or the output shaft 252. Thus, according to actuator 1, it can be manufactured easily and at low cost, and has detection and tactile feedback functions that are easier to use.

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

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

[0138]

number

[0139]

number

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

[0141] Thus, the actuator 1 is composed of the mass m of the movable body 20 and the spring constant K of the metal springs (elastic bodies, leaf springs in this embodiment) that serve as elastic support parts 81 and 82. sp It is determined by [the following].

[0142] <Variation> Figures 10 to 23 show modified examples 1 to 7 of the actuator 1 of this embodiment. Furthermore, the actuators 1A to 1G, which are modified examples 1 to 7 of actuator 1 shown in Figures 10 to 23, have the same basic configuration as actuator 1 corresponding to embodiment 1 shown in Figure 1. Therefore, in describing modified examples 1 to 7, components that are the same as those in embodiment 1 will be indicated by the same reference numerals and names, and redundant explanations will be omitted. Different components will be described by adding appropriate letters to the same names and reference numerals as the component in question. Also, the operation of actuators 1A to 1G is the same as that of actuator 1, so explanations will be omitted as appropriate. In each actuator 1A to 1G, the output shafts 252, 252C, 252D, and 252F that pass through the central opening 126 of the case move non-contact within the central opening 126 of the case with a gap d1 as the movable bodies 20, 20A to 20D, and 20F move.

[0143] <Example 1> Figure 10 is a longitudinal cross-sectional view showing the main components of a modified example 1 of the actuator, and Figure 11 is an enlarged exploded view of the movable body.

[0144] Actuator 1A, which is a modified example of this embodiment, differs from actuator 1 only in the configuration of the movable body 20A; all other configurations are the same. Therefore, the configuration of the movable body 20A will be described below.

[0145] The movable body 20A of actuator 1A shown in Figure 10 differs from the movable body 20 of actuator 1 in that the output shaft portion 252 and the first spring retaining portion 22 are integrally formed.

[0146] The movable body 20A shown in Figures 11 and 12 has the same configuration as the movable body 20, including a magnet 30, yokes 41 and 42, a second spring stopper 24, a first spring fixing part 26, and a second spring fixing part 28, as well as a shaft unit 202.

[0147] The shaft unit 202 is a rod-shaped body integrally formed from a first spring stopper 22A having the same function as the first spring stopper 22 and an output shaft 252A having the same function as the output shaft 252. The shaft unit 202 is constructed by arranging the following components on the same axis from the magnet 30 side: the joint 222A of the spring connection 22A, the spring connection 224A of the spring connection 22A, and the output shaft 252A. It is preferable that the shaft unit 202 be made of a non-magnetic material, as this prevents leakage of magnetic flux in the axial direction through the output shaft 252A.

[0148] The shaft unit 202 has a joint 222A of the spring retaining portion 22A at one end that fits into the opening 412 of the yoke 41. The shaft unit 202 also connects and fixes the elastic support portion 81 together with the press-fit ring, which is the first spring fixing portion 26, at the tip surface of one end of the spring connection portion 224A that forms a stepped surface on the outer circumference of the output shaft portion 252.

[0149] In this modified example 1, since multiple components of the movable body 20A are integrated, assembly can be improved. Furthermore, by setting the component strength, the spring retaining parts 22, 24 and the output shaft part 252A can be molded in resin, thereby reducing assembly effort and manufacturing costs.

[0150] <Modification 2> Figure 12 is a longitudinal cross-sectional view showing the main components of a modified example 2 of the actuator, and Figure 13 is an enlarged exploded view of the movable body.

[0151] Actuator 1B, which is a modified example of this embodiment, differs from actuator 1 only in the configuration of the movable body 20B; all other configurations are the same. Therefore, the configuration of the movable body 20B will be described below.

[0152] The movable body 20B of actuator 1B shown in Figure 10 differs from the movable body 20 of actuator 1 in that the yoke 41 and the first spring retainer 22 are integrally formed.

[0153] The movable body 20B shown in Figures 12 and 13 has the same configuration as the movable body 20, including a magnet 30, a yoke 42, a second spring retainer 24, a first spring fixing part 26, a second spring fixing part 28, and an output shaft part 252, as well as a sleeve unit 203. The sleeve unit 203 is constructed as a single component comprising a yoke 41B having the same function as the yoke 41 and a first spring retainer 22B having the same function as the first spring retainer 22.

[0154] An axially penetrating opening 23B is formed in the central part of the sleeve unit 203 along its axis, and the base end of the output shaft portion 252 is inserted and fixed into it. The sleeve unit 203 may be made of a non-magnetic material such as resin, or it may be made of the same magnetic material as the yoke 41. If the sleeve unit 203 is made of a non-magnetic resin, the yoke 42 on the back surface 30b side of the magnet 30 may also be made of resin to ensure weight balance between the front and back surfaces 30a and 30b of the magnet 30. Furthermore, if the sleeve unit 203 is made of a magnetic material, then making the output shaft portion 252 of a non-magnetic material will prevent axial leakage magnetic flux through the output shaft portion 252.

[0155] The sleeve unit 203 is attached to the surface 30a of the magnet 30 so as to stack the yoke 41B on top of it, and the output shaft portion 252 is inserted into the internal opening 23B, with the base end portion of the output shaft portion 252 fitted inside. Furthermore, on the outer circumference of the output shaft portion 252, the elastic support portion 81 is connected and fixed to the sleeve unit 203 together with the first spring fixing portion 26, which is a press-fit ring, at one end surface of the spring connection portion 224B that forms a stepped surface. In this modified example 2, since multiple components of the movable body 20B are integrated, assembly can be improved. Furthermore, by setting the component strength, the spring retaining parts 22, 24 and the output shaft part 252 can be molded in resin, thereby reducing assembly effort and manufacturing costs.

[0156] <Variation 3> Figure 14 is a longitudinal cross-sectional view showing the main components of the 3rd modified actuator, and Figure 15 is an enlarged exploded view of the movable body.

[0157] Actuator 1C, which is a modified example 3 of this embodiment, differs from actuator 1 only in the configuration of the movable body 20C; all other configurations are the same. Therefore, the configuration of the movable body 20C will be described below.

[0158] The movable body 20C of the actuator 1C shown in Figure 14 differs from the movable body 20 of the actuator 1 in that the parts corresponding to the yoke 41 and the first spring retainer 22 are integrally formed.

[0159] The movable body 20C shown in Figures 14 and 15 has the same configuration as the movable body 20, including a magnet 30, a yoke 42, a second spring stopper 24, a first spring fixing part 26, and a second spring fixing part 28, as well as a sleeve unit 204 and a protruding part 25C.

[0160] The sleeve unit 204 is constructed as a single component by integrating a yoke 41C, which has the same function as the yoke 41, and a spring retainer 22C, which has the same function as the spring retainer 22. In the sleeve unit 204, unlike the yoke 41, the yoke 41C is a solid component, for example, formed as a disc.

[0161] In other words, the central opening 23C of the spring retaining portion 22C of the sleeve unit 204 is formed in a concave shape with the surface portion of the yoke 41C as its bottom surface, and the output shaft portion 252C is inserted into it. By being inserted into the opening 23C, the output shaft portion 252C is positioned and fixed on the axis of the movable body 20C.

[0162] As a result, the output shaft portion 252C does not come into contact with the magnet 30 via the sleeve unit 204. The sleeve unit 204 may be made of a non-magnetic material such as resin, or it may be made of the same magnetic material as the yoke 41. If the sleeve unit 203 is made of resin, the yoke 42 on the back surface 30b side of the magnet 30 may also be made of resin. Furthermore, if the sleeve unit 204 is made of a magnetic material, then if the output shaft portion 252 is made of a non-magnetic material, leakage magnetic flux in the axial direction via the output shaft portion 252C can be prevented.

[0163] The sleeve unit 204 is attached to the surface 30a of the magnet 30 so as to stack the yoke 41C, and the base end of the output shaft portion 252C is fitted into the internal opening 23C in contact with the bottom surface of the opening 23C. Furthermore, the sleeve unit 204 connects and fixes the inner circumferential surface of the elastic support portion 81 together with the first spring fixing portion 26 at the tip surface of one side of the spring connection portion 224C which forms a stepped surface on the outer circumference of the output shaft portion 252C.

[0164] In this modified example 3, since multiple components of the movable body 20C are integrally formed, assembly can be improved. Furthermore, by setting the component strength, the spring retainer portion 24 and the output shaft portion 252C can be molded in resin, thereby reducing assembly effort and manufacturing costs.

[0165] <Modification 4> Figure 16 is a longitudinal cross-sectional view showing the main components of modified actuator 4, and Figure 17 is an enlarged exploded view of the movable body.

[0166] Actuator 1D, which is a modified example 4 of this embodiment, differs from actuator 1 only in the configuration of the movable body 20D; all other configurations are the same. Therefore, the configuration of the movable body 20D will be described below.

[0167] The movable body 20D of the actuator 1D shown in Figure 16 differs from the movable body 20 of the actuator 1 in that the parts corresponding to the yoke 41, the first spring retainer 22, and the output shaft 252 are integrated into a single structure.

[0168] The movable body 20D shown in Figures 16 and 17 has a magnet 30, yoke 42, second spring stopper 24, first spring fixing part 26, and second spring fixing part 28, which are configured similarly to the movable body 20, as well as an axis unit 205.

[0169] The shaft unit 205 is constructed as a single component by integrating a yoke 41D having the same function as the yoke 41, a spring retainer 22D having the same function as the spring retainer 22, and an output shaft portion 252D having the same function as the output shaft portion 252. In the shaft unit 205, unlike the yoke 41, the yoke 41D is a solid component, for example, formed as a disc.

[0170] In other words, the shaft unit 205 has a spring stopper 22D joint 222D, a spring connection 224D, and an output shaft 252 sequentially arranged in one direction (upward) along the axis of the movable body 20D at the center of the yoke 41D.

[0171] As a result, the yoke, spring retainer, and output shaft can be assembled at once simply by attaching the shaft unit 205 to the surface 30a of the magnet 30. The shaft unit 205 may be made of a non-magnetic material such as resin, or it may be made of the same magnetic material as the yoke 41.

[0172] The shaft unit 205 is attached to the surface 30a of the magnet 30 so as to stack the yoke 41D on top of it. The shaft unit 205 also connects and fixes the inner surface of the elastic support portion 81 together with the first spring fixing portion 26 at one end surface of the spring connection portion 224D which forms a stepped surface on the outer circumference of the output shaft portion 252D.

[0173] In this modified example 4, multiple components of the movable body 20D are integrally formed; specifically, three members are manufactured as a single integrated part, forming the shaft unit 205. This facilitates assembly and ensures high rigidity for the shaft unit 205 itself.

[0174] <Modification 5> Figure 18 is a longitudinal cross-sectional view showing the main components of modified actuator 5, and Figure 19 is a perspective view of the leaf spring.

[0175] Actuator 1E, which is a modified example 5 of this embodiment, differs from actuator 1 only in the configuration of the elastic support parts 81 and 82; the other configurations are the same.

[0176] The actuator 1E shown in Figure 18 has a configuration in which damping sections 78 are provided on the elastic support sections 81 and 82, respectively, in the same configuration as the actuator 1. As shown in Figure 19, the damping section 78 is positioned such that, for example, a portion of it is inserted between the spring sections from one side of the elastic support sections 81E and 82E, specifically between the outer peripheral fixing section 806 and the deformable arm section 804, and is spanned between the spring sections.

[0177] The damping portion 78 has an elastically deformable indentation portion 782 and a flange 784 formed continuously with the elastically deformable indentation portion 782.

[0178] When the elastic compression portion 782 is inserted from one side of the elastic support portion 81 (82) between the spring portions, specifically between the outer peripheral fixing portion 806 and the deformable arm portion 804, the damping portion 78 is positioned so that the flange 784 spans between the spring portions.

[0179] The indentation portion 784 may be fixed to the back side of the elastic support portion 81E (82E) in such a way that the indentation portion 782 does not come off between the spring portions, via a thermosetting resin (not shown) or an adhesive that does not adhere to the elastic support portion 81E (82E). The damping portion 78 does not have to be an elastomer, as long as it is made of a material that has a damping function, and may be formed of a thermosetting resin or an adhesive.

[0180] The damping portion 78 can be configured in any way as long as it sandwiches the elastic support portion 81 (82) from both sides with a plate-shaped flange and another member that is joined to a member having a similar function to the flange by a pressing portion.

[0181] This configuration allows the damping section 78 to dampen sharp spring resonances in the elastic support section 81E (82E), preventing the vibration from becoming significantly larger near the resonance frequency and thus preventing a large difference in vibration across frequencies. As a result, the movable body 20 can suppress the resonance peak before plastic deformation and generate stable vibrations over a wide range without contacting the lid section 12 and the bottom section 114, thus preventing the generation of abnormal noise due to contact. The damping section 78 may be formed in any shape, material, etc., as long as it prevents the generation of sharp vibrations in the elastic support section 81 (82).

[0182] <Variation 6> Figure 20 is a longitudinal cross-sectional view showing the main components of modified actuator 6, and Figure 21 is an enlarged exploded view of the movable body.

[0183] Actuator 1F, which is a modified example 6 of this embodiment, differs from actuator 1 only in the configuration of the movable body 20F; all other configurations are the same. Therefore, the configuration of the movable body 20F will be described below.

[0184] The movable body 20F of the actuator 1F shown in Figure 20 differs from the movable body 20 of the actuator 1 in that the output shaft portion 252F passes through the magnet 30F, yokes 41 and 42, and the first spring retainer portion 22 and the second spring retainer portion 24.

[0185] The movable body 20F shown in Figures 20 and 21 has the same configuration as the movable body 20, including yokes 41 and 42, a first spring stopper 22, a second spring stopper 24, a first spring fixing part 26, and a second spring fixing part 28, as well as an output shaft part 252F (protruding part 25F) and a magnet 30F.

[0186] The movable body 20F has a magnet 30F with an opening that penetrates through the center of the magnet 30, and yokes 41 and 42 having the same outer diameter as the magnet 30F are arranged on the front and back surfaces 30a and 30b of the magnet 30F, respectively.

[0187] The opening 310 of the magnet 30F has an inner diameter into which the output shaft portion 252F is inserted. The inner diameter of the opening 310 of the magnet 30F is approximately the same as the outer diameter of the output shaft portion 252F and is smaller than the inner diameter of the yoke 41.

[0188] The joints 222 and 242, which are one end of the spring retaining parts 22 and 24, are inserted into and fixed to the openings of the yokes 41 and 42 on both sides of the magnet 30F.

[0189] The output shaft portion 252F is a flanged shaft and has the function of both the second spring fixing portion 26 and the output shaft portion 252.

[0190] The output shaft portion 252F has a cylindrical shaft portion 255 and a flange portion 258 integrally formed at the base end of the shaft portion 255.

[0191] The output shaft section 252F extends across both ends of the movable body. The output shaft portion 252F clamps the inner circumference 802 of the elastic support portion 82 between the flange portion 258 and the annular end face of the spring connection portion 244 of the first spring stopper portion 22.

[0192] The output shaft portion 252F is integrally fixed by sandwiching the elastic support portion 82, the second spring stopper portion 24, the yoke 42, the magnet 30F, the yoke 41, the first spring stopper portion 22, the elastic support portion 81, and the first spring fixing portion 26 between the flange portion 258 and the first spring fixing portion 26, with the shaft portion 255 passing through them.

[0193] In other words, since the output shaft portion 252F is positioned to pass through the axis of the movable body 20F, the axis of the movable body 20F does not wobble, and other components can be assembled without any wobbling. The output shaft portion 252F may be made of a non-magnetic material such as resin, or it may be made of the same magnetic material as the yoke 41. Furthermore, it is preferable that one or more of the elastic support portion 82, the second spring stopper portion 24, the yoke 42, the magnet 30F, the yoke 41, the first spring stopper portion 22, and the elastic support portion 81 are fixed to the shaft portion 255 by press-fitting, welding, adhesive, etc.

[0194] In this configuration, when constructing the movable body 20F, the magnet 30F, yokes 41 and 42, and spring retaining parts 22 and 24 are fixed by the first spring fixing part 26, which is a press-fit ring, through the output shaft part 252F, which is a flanged shaft. Furthermore, the elastic support parts 81 and 82 can also be reliably and stably connected to the movable body 20F via the output shaft part 252F. This makes it possible to manufacture a stable movable body by structurally fixing each component without relying solely on adhesive.

[0195] <Example 7> Figure 22 is a longitudinal cross-sectional view showing the main components of the modified actuator 7, and Figure 23 is an exploded view showing the internal components of the modified actuator 7 with the case removed.

[0196] Actuator 1G, which is a modified example 7 of this embodiment, differs from actuator 1 in that it has a magnetic sensor 91, but the other configurations are the same. Therefore, the different configurations will be described in detail below, and the description of the configurations similar to actuator 1 will be omitted.

[0197] The actuator 1G houses a movable body 20 within a hollow case 10 so as to be able to reciprocate between its upper and lower end faces with the axial direction (vertical direction) of the case 10 as the direction of movement, and has a magnetic sensor 91 for detecting the movement position of the movable body 20.

[0198] Actuator 1G is connected to the operating unit (not shown) via an output shaft portion 25 provided on the movable body 20, and transmits the movement of the movable body to the operating unit (not shown), thereby performing so-called force feedback.

[0199] The magnetic sensor 91 is positioned at a distance from the movable body 20 in the direction of movement of the movable body 20.

[0200] The magnetic sensor 91 is mounted on the circuit board 92 and detects changes in magnetic flux caused by the movement of the magnet 30 of the movable body 20, thereby detecting the displacement of the movable body 20.

[0201] The magnetic sensor 91 is positioned opposite the movable body 20, spaced apart in the direction of the movable body 20's movement (reciprocating motion). The magnetic sensor 91 may be attached to the movable body 20 and the fixed body 50 in any form. The direction of movement of the movable body 20 may be, for example, the opposite direction to the direction in which the movable body 20 moves. That is, 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.

[0202] The magnetic sensor 91 is preferably located on the central axis extending in the reciprocating direction of the movable body 20 (at a position overlapping with the axis of the output shaft portion 252) or near the central axis.

[0203] The magnetic sensor 91 is mounted on the bottom surface of the case body 11 together with the circuit board 92, and the magnetic sensor 91 is positioned on the axis of the output shaft portion 252 of the movable body 20.

[0204] Since the magnetic sensor 91 is located 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 added or replaced without disassembling the actuator 1. Additionally, the magnetic sensor 91 of the actuator 1 can be easily inspected.

[0205] The magnetic sensor 91 is preferably an amplifier-integrated Hall sensor such as a linear Hall IC, in which the output voltage range is defined by the power supply, and the output of the Hall element is amplified by an amplifier to produce a linear output.

[0206] This makes it possible to easily and inexpensively configure peripheral circuits without using separate sensors, amplifiers, or dedicated AD converters. Furthermore, it is preferable that the magnetic sensor is easier to configure in subsequent circuits than, for example, simply using a Hall element. A Hall IC that compares the output of the Hall element at a certain threshold and outputs High / Low can also be used. Even with a Hall IC, the output voltage range is defined by the power supply, making it easier to create subsequent circuits (microcontrollers).

[0207] <Circuit board (control unit) 92> The circuit board 92 has a magnetic sensor 91, as well as a microcontroller, an actuator driver, and other components mounted on it, and includes a control unit for controlling the actuator.

[0208] On the circuit board 92, the operating load received by the movable body 20 via the output shaft portion 252 is detected by the magnetic sensor 91, and the movement of the movable body 20 is controlled by energizing coils 61 and 62 according to the detection result. Note that the control unit does not necessarily have to be provided on the actuator 1.

[0209] This allows actuator 1 to detect the operating load and provide tactile feedback specifically tailored to this pressing operation. In particular, load detection enables detection specifically for pressing operations.

[0210] Thus, the actuator 1 receives the operating load at the output shaft 252, and generates and presents force feedback based on the operating load received at the output shaft 252. Therefore, even if the user's operation is treated as a switch tactile sensation or a slider tactile sensation, it can respond quickly and easily provide feedback that accurately reproduces the tactile sensation.

[0211] By using the magnetic sensor 91, the magnet 30 required as an actuator Since it uses this as a sensor, it can provide an inexpensive means for detecting the position of a movable body.

[0212] Furthermore, the lower surface of the case on which the magnetic sensor 91 is provided is also made of a non-magnetic material, since the case 10 is made of a non-magnetic material. As a result, the magnetic sensor 91 can detect a stable magnetic flux density in the magnetic circuit having the magnet 30 and accurately detect the position of the movable body 20.

[0213] Furthermore, since the magnetization direction of the magnet 30 is parallel to the movement direction of the movable body 20, the magnetic sensor 91 detects the magnetic flux density of a single magnetic pole distribution, thereby improving sensor detectability and enabling stable sensor output.

[0214] Furthermore, the movable body 20 is housed inside the annular coils 61 and 62 in a state that allows it to be driven axially. This makes it possible to form a magnetic circuit that can generate thrust more efficiently. In addition, in this magnetic circuit, the flow of magnetic flux radially outward from the magnet 30 is restricted by the outer yoke 70, and the magnetic flux density toward the bottom 114 side is increased, so that detection by the magnetic sensor 91 located at the bottom 114 can be performed accurately and easily.

[0215] For example, by mounting the magnetic sensor 91 and the circuit board 92 in modified example 1A-1F, when a user presses the operating part, the movement is transmitted to the protrusions 25, 25A, 25C, 25D, and 25F connected to the operating part. The protrusions 25, 25A, 25C, 25D, and 25F move as the operating part is pressed, and the connected movable bodies 20, 20A~20D, and 20F are also displaced.

[0216] At this time, the magnetic sensor 91 detects the positions of the movable bodies 20, 20A~20D, and 20F being pushed in by detecting the strength of the magnetic flux (detected magnetic flux) flowing toward the bottom 114. The magnetic sensor 91 also detects the strength of the detected magnetic flux on the time axis and determines the speed at which it was pushed in based on its change. Furthermore, the control unit determines whether it is possible to exert a pushing force based on the relationship between the spring reaction force and the elastic deformation of the elastic support parts 81 and 82 when pushed in, and can also detect the amount of push-in from the spring reaction force. Thus, the actuator 1G having the magnetic sensor 91 becomes an actuator with position and load detection functions that can receive feedback from position and speed information, movable part load information, push-in load, etc.

[0217] Furthermore, as an actuator for a tactile feedback device, even if there are variations in product performance due to product component dimensional tolerances or assembly variations, tactile feedback can be provided in response to the operating load, ensuring that each product has the same tactile feel.

[0218] In other words, with actuator 1G, when the movable body 20 moves, the magnet 30 also moves, causing a change in the distribution of magnetic flux. By detecting this change, the position and speed of the movable part can be detected. Furthermore, by controlling the current based on the position and speed information, the movement of the movable body 20 can be controlled to achieve excellent tactile expression and suppression of tactile variations. In addition, the elastic support parts 81 and 82 are leaf springs, and by combining the elasticity of these leaf springs and the operating part (not shown), the reaction force of the press and the position detection result of the movable part can be used to detect the operating load, enabling tactile feedback corresponding to the pressing force.

[0219] Actuators 1, 1A, 1B, 1C, 1D, 1E, 1F, and 1G may be configured to vibrate at a resonant frequency of 30Hz to 500Hz, which is a resonant frequency commonly used in speakers to easily produce audible sounds. If configured to vibrate in this frequency range, actuators 1, 1A, 1B, 1C, 1D, 1E, 1F, and 1G can be used not only as vibration actuators with a force feedback function but also as so-called exciters that have a sound reproduction function through vibration.

[0220] Each actuator 1, 1A, 1B, 1C, 1D, 1E, 1F, and 1G can provide high-speed and strong feedback by directly contacting the movable bodies 20, 20A, 20B, 20C, 20D, and 20F. Furthermore, force feedback can be applied with a force corresponding to the input current, and force feedback can be provided by displacing the actuators according to user operation, enabling tactile expression during long-stroke operations.

[0221] Furthermore, the pair of elastic support parts 81 and 82 are circular leaf springs, ensuring the straight-line movement of the movable bodies 20, 20A, 20B, 20C, 20D, and 20F. In addition, even if the movable bodies move beyond the gap due to an external operating load such as an external impact, they will make contact at the opening 126 of the case 10, preventing further displacement. This prevents contact between the movable bodies 20, 20A, 20B, 20C, 20D, and 20F and the inner circumferential surface 522a of the fixed body.

[0222] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included.

[0223] Embodiments of the present invention have been described above. It should be noted that the above description illustrates preferred embodiments of the present invention, and the scope of the present invention is not limited thereto. In other words, the description of the configuration of the apparatus and the shape of each part is merely an example, and it is clear that various modifications and additions to these examples are possible within the scope of the present invention. [Industrial applicability]

[0224] The actuator according to the present invention is useful as an actuator that can respond quickly to user operations and provide the user with strong tactile feedback. [Explanation of symbols]

[0225] Actuators 1, 1A, 1B, 1C, 1D, 1E, 1F, 1G Cases 10, 10A, 10B, 1C0, 1D0 11 Case body 12 Lid 13 units 20, 20A, 20B, 20C, 20D, 20F Movable body 20a Outer surface 22, 22A, 22B, 22C, 22D First spring retainer 23, 23B, 23C opening 24, 24A, 24B, 24C, 24D Second spring retainer 25, 25A, 25B, 25C, 25D, 25F protrusion 26 First spring fixing part 28 Second spring fixing part 30, 30F Magnet 30a surface 30b back side 41, 41B, 41C, 41D, 42 York 50 Fixed body 52 Coil holding section 52b Coil mounting section 52c coil mounting section 54 Movable range forming section 61, 62 coils 70 Outer Yoke 75 Terminal section 78 Damping section 81, 81E, 82E, 82 Elastic support part (leaf spring) 91 Magnetic Sensor 92 Circuit board (control unit) 102 Notch 112 Peripheral wall section 114 Bottom 115, 310, 412, 422 openings 118 Stepped section 122 Top section 124 Protrusion 126 Central opening 128 Pressing part 202, 205 Axis Unit 203, 204 Sleeve Unit 222, 222A, 222D, 242 joint 224, 224A, 224B, 224C, 224D, 244, 244A connection part 252, 252A, 252B, 252C, 252D, 252F Output shaft section 254 caps 255 Shaft section 258 Flange section 282 Insertion section 284 Flange 522 Holding unit body 522a Inner surface 526 Central flange section 527 Flange section 527a, 528a end face 528 Flange section 782 Elastic indentation part 784 Flange 802 Inner circumference 804 Transformable Arm Section 806 Peripheral fixed part

Claims

1. A movable body including a disc-shaped magnet, a pair of disc-shaped yokes fixed to the front and back surfaces of the magnet, and a projection extending in the axial direction of the magnet from one of the pair of disc-shaped yokes, The movable body includes a coil arranged on the outer circumference of the movable body, an outer yoke which is a magnetic material arranged radially outside the coil, and a case having an opening through which the protruding portion is inserted, which houses the movable body together with the coil, with the protruding end of the protruding portion protruding to the outside, and a fixed body which supports the movable body so that it can move in the axial direction of the magnet, It has, A magnetic spring is formed between the magnet and the outer yoke by magnetic attraction. The opening is formed with a gap between it and the outer circumference of the protrusion so that the protrusion can move without contact. Actuator.

2. A movable body including a disc-shaped magnet, a pair of disc-shaped yokes fixed to the front and back surfaces of the magnet, and a projection extending in the axial direction of the magnet from one of the pair of disc-shaped yokes, The movable body includes a coil arranged on the outer circumference of the movable body, an outer yoke which is a magnetic material arranged radially outside the coil, and a case having an opening through which the protruding portion is inserted, which houses the movable body together with the coil, with the protruding end of the protruding portion protruding to the outside, and a fixed body which supports the movable body so that it can move in the axial direction of the magnet, It has, A magnetic spring is formed between the magnet and the outer yoke by magnetic attraction. The opening is formed with a gap between it and the outer circumference of the protrusion so that the protrusion can move without contact. A position detection unit having a magnetic sensor for detecting the magnetic flux of the movable body is provided on the outer surface of the case. Actuator.

3. A movable body including a disc-shaped magnet, a pair of disc-shaped yokes fixed to the front and back surfaces of the magnet, and a projection extending in the axial direction of the magnet from one of the pair of disc-shaped yokes, The movable body includes a coil arranged on the outer circumference of the movable body, an outer yoke which is a magnetic material arranged radially outside the coil, and a case having an opening through which the protruding portion is inserted, which houses the movable body together with the coil, with the protruding end of the protruding portion protruding to the outside, and a fixed body which supports the movable body so that it can move in the axial direction of the magnet, It has, A magnetic spring is formed between the magnet and the outer yoke by magnetic attraction. The opening is formed with a gap between it and the outer circumference of the protrusion so that the protrusion can move without contact. In the aforementioned case, the case surface opposite to the case surface having the opening, among the case surfaces facing each other in the direction of movement of the movable body, has a movable body position and velocity detection unit for detecting the magnetic flux of the movable body. Actuator.

4. The gap between the protruding portion and the opening is smaller than the gap between the outer circumferential surface of the movable body and the inner circumferential surface of the fixed body. The actuator according to any one of claims 1 to 3.

5. The yoke has a central opening in its center into which one end of the protrusion is inserted and which positions the protrusion on the axis. The actuator according to any one of claims 1 to 3.

6. The yoke and the protruding part are each composed of separate parts. The actuator according to any one of claims 1 to 5.

7. The yoke and the protrusion are formed integrally. The actuator according to any one of claims 1 to 5.

8. The aforementioned protruding portion is made of a non-magnetic material. The actuator according to any one of claims 1 to 5.

9. The yoke and the protrusion are made of the same magnetic material and are constructed as the same component. The actuator according to any one of claims 1 to 5.

10. The magnet and the yoke are each provided with through holes into which the protruding portion is inserted. The aforementioned protrusion is fixed to the magnet and the yoke through the through hole and protrudes from one side of the yoke. The actuator according to any one of claims 1 to 4.

11. A movable body including a disc-shaped magnet, a pair of disc-shaped yokes fixed to the front and back surfaces of the magnet, and a projection extending in the axial direction of the magnet from one of the pair of disc-shaped yokes, The movable body includes a coil arranged on the outer circumference of the movable body, an outer yoke which is a magnetic material arranged radially outside the coil, and a case having an opening through which the protruding portion is inserted, which houses the movable body together with the coil, with the protruding end of the protruding portion protruding to the outside, and a fixed body which supports the movable body so that it can move in the axial direction of the magnet, It has, A magnetic spring is formed between the magnet and the outer yoke by magnetic attraction. The opening is formed with a gap between it and the outer circumference of the protrusion so that the protrusion can move without contact. The magnet and the yoke are each provided with through holes into which the protruding portion is inserted. The aforementioned protrusion is fixed to the magnet and the yoke through the through hole and protrudes from one side of the disc-shaped yoke. Actuator.

12. The resonant frequency of the aforementioned movable body is between 30 Hz and 500 Hz. The actuator according to any one of claims 1 to 11.

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