Actuator

Abstract

To express vibrations of various contact operation feelings.SOLUTION: An actuator includes: an actuator body having: a core assembly in which a coil is wound around a core; a yoke disposed to face the core assembly and having a shape surrounding the coil; and an elastic part connecting the core assembly and the yoke; and a control device having a circuit by which a main drive current pulse and a sub-drive current pulse, both of which are drive current pulses for driving an operation device in the same one direction in a vibration direction of the operation device, are supplied to the coil in accordance with a contact operation of the operation device supported so as to be capable of elastic vibration, wherein the main drive current pulse can start the elastic vibration, the sub-drive current pulse can adjust an attenuation period of the elastic vibration, and the main drive current pulse and the sub-drive current pulse are all pulses identical in polarity.SELECTED DRAWING: Figure 12

Description

[Technical Field]

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

[0002] Conventionally, when operating a touch panel, which is a sensing panel, a configuration is known in which a vibration actuator applies vibration to the pad of an operator's finger that comes into contact with a display screen displayed on the touch panel, as a touch operation sensation (the sensation of operating by touch) (see Patent Documents 1 and 2).

[0003] Patent Document 1 discloses a mobile terminal device in which a vibration actuator is attached to the back surface of a touch panel via a vibration transmission unit. This vibration actuator has a mover disposed within a housing fixed to the vibration transmission unit so that the mover can move back and forth along a guide shaft disposed perpendicular to the touch panel. This vibration actuator causes the mover to collide with the housing in response to an operation on the touch panel, thereby applying vibrations to the finger pad that touches the touch panel via the vibration transmission unit.

[0004] Furthermore, Patent Document 2 discloses a vibration presentation device that applies vibrations in response to operations on a touch panel. In this vibration presentation device, a voice coil motor that generates vibrations, a support section that is disposed with the vibration panel and is compressed by a predetermined force, a damper that applies a damping action to the vibration of the vibration section, and a spring that applies a compressive force to the support section and the damper are interposed in parallel between a vibration panel that is a vibration section that presents vibrations and a housing that supports the vibration panel. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-070729 [Patent Document 2] Japanese Patent Application Laid-Open No. 2016-163854 Summary of the Invention [Problem to be solved by the invention]

[0006] However, it is desirable for the vibration presentation device to be able to present vibrations that provide various touch operation sensations depending on the purpose and usage situation of the operation device.

[0007] The present invention has been made in view of the above points, and has an object to provide an actuator that can express vibrations that provide various touch operation sensations. [Means for solving the problem]

[0008] The actuator of the present invention comprises: an actuator body including: a core assembly having a coil wound around a core; a yoke disposed opposite the core assembly and surrounding the coil; and an elastic portion connecting the core assembly and the yoke; a control device having a circuit for supplying to the coil a main drive current pulse and a secondary drive current pulse, both of which are drive current pulses for driving the operating device in the same direction in a vibration direction in response to a contact operation of an operating device supported so as to be capable of elastic vibration, the main drive current pulse being capable of starting the elastic vibration, the secondary drive current pulse being capable of adjusting a damping period of the elastic vibration, and the main drive current pulse and the secondary drive current pulse being pulses of the same polarity; Equipped with. Moreover, the actuator of the present invention is an actuator body having a core assembly with a coil wound around a core, a yoke arranged opposite the core assembly and surrounding the coil, and an elastic portion connecting the core assembly and the yoke, the actuator body driving the yoke in one direction in a vibration direction by magnetic attraction of the core when current is passed through the coil; a control device including a circuit for supplying to the coil a main drive current pulse and a secondary drive current pulse, both of which are drive current pulses for driving the operating device in one direction in response to a contact operation of an operating device supported so as to be capable of elastic vibration, the main drive current pulse being capable of initiating the elastic vibration, the secondary drive current pulse being capable of adjusting a damping period of the elastic vibration, and the main drive current pulse and the secondary drive current pulse being pulses of the same polarity; Equipped with. [Effects of the Invention]

[0009] According to the present invention, vibrations with various touch operation sensations can be expressed. [Brief explanation of the drawings]

[0010] [Figure 1]1 is a side view showing a vibration presentation device having a control device according to an embodiment of the present invention; [Figure 2] 1 is a perspective view of a top view of an electromagnetic actuator as an example of an electromagnetic actuator that is drive-controlled by a control device according to an embodiment of the present invention. [Figure 3] FIG. 2 is a perspective view of the bottom surface of the electromagnetic actuator. [Figure 4] FIG. [Figure 5] FIG. 5 is a cross-sectional view taken along the line AA in FIG. 4. [Figure 6] FIG. [Figure 7] FIG. 10 is a cross-sectional view showing the state in which a sensor is provided in the electromagnetic actuator. [Figure 8] FIG. 2 is a diagram showing the magnetic circuit configuration of the electromagnetic actuator. [Figure 9] 3A to 3C are diagrams illustrating the operation of the electromagnetic actuator. [Figure 10] 1 is a diagram illustrating a control device according to an embodiment of the present invention; [Figure 11] 10A and 10B are diagrams illustrating the displacement of a movable body when a main current pulse is supplied to an electromagnetic actuator. [Figure 12] FIG. 3 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of the control device according to the embodiment of the present invention. [Figure 13] FIG. 3 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of the control device according to the embodiment of the present invention. [Figure 14] FIG. 3 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of the control device according to the embodiment of the present invention. [Figure 15] FIG. 3 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of the control device according to the embodiment of the present invention. [Figure 16] FIG. 3 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of the control device according to the embodiment of the present invention. [Figure 17] FIG. 3 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of the control device according to the embodiment of the present invention. [Figure 18] 10A and 10B are diagrams illustrating the timing of supplying a secondary drive pulse. [Figure 19] 5 is a flowchart showing an example of an operation of driving an electromagnetic actuator by a control device according to an embodiment of the present invention. [Figure 20] 5 is a flowchart showing an example of an operation of driving an electromagnetic actuator by a control device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

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

[0012] In this embodiment, a Cartesian coordinate system (X, Y, Z) is used for explanation. The same Cartesian coordinate system (X, Y, Z) is also used in the figures described later. In the following, the width, depth, and height of the vibration presentation device 200 having the control device 1 are lengths in the X direction, Y direction, and Z direction, respectively, and the width, depth, and height of the electromagnetic actuator 10 are also lengths in the X direction, Y direction, and Z direction, respectively. In addition, the positive side of the Z direction is the direction in which vibration feedback is given to the operator, and is referred to as the "upper side," and the negative side of the Z direction is the direction in which the operator presses when operating, and is referred to as the "lower side."

[0013] (Basic configuration of vibration presentation device 200 using control device 1) The vibration presentation device 200 shown in FIG. 1 includes a control device 1, an electromagnetic actuator 10 driven and controlled by the control device 1, and an operation device (touch panel 2) operated by an operator through touch. The vibration presentation device 200 applies vibration to the operation device in response to the operator's touch operation on the operation device. In other words, a touch operation sensation (also referred to as a "tactile sensation") is imparted to the operator who operates the operation device by touching it through the operation device. In this embodiment, the operation device is a touch panel 2 that displays a screen and is operated by touching the screen. The touch panel 2 may be an electrostatic, resistive, or optical touch panel. The touch panel 2 detects the operator's touch position. The touch panel 2 is controlled by the control device 1. The control device 1 can obtain information about the user's touch position via a touch panel control unit (not shown). The screen of the touch panel 2 may be configured with a display unit such as a liquid crystal display, organic electroluminescence display, electronic paper display, or plasma display, and may be controlled by the control device 1. The control device 1 controls a display information control unit (not shown) to present an image corresponding to the type of presented vibration on the screen to the operator.

[0014] The vibration presentation device 200 is used as, for example, an electronic device such as a touch panel device of a car navigation system. The vibration presentation device 200 functions as a device that presents vibration to an operator who operates the touch panel 2 by touching the screen 2a of the touch panel 2. In this case, the vibration presentation device 200 may be any electronic device that presents vibration to the operator who touches a vibration target, thereby giving the operator a tactile sensation. For example, the vibration presentation device 200 may be an image display device such as a smartphone, a tablet computer, or a television, a game console with a touch panel, or a game controller with a touch panel.

[0015] In the present embodiment, when an operator touches the screen 2a of the touch panel 2 with the pad of a finger or the like to operate it, the control device 1 correspondingly drives the electromagnetic actuator 10 to vibrate. This vibration provides a tactile sensation to the operator. The control device 1 of this embodiment provides various types of tactile sensations corresponding to the displayed image operated by the operator. The control device 1 provides the tactile sensation of a mechanical switch, such as a tactile switch, alternate switch, momentary switch, toggle switch, slide switch, rotary switch, DIP switch, or rocker switch. In addition, for push-type switches, the control device 1 can also provide the tactile sensation of switches with different degrees of depression.

[0016] In the vibration presentation device 200, instead of the touch panel 2 as an operation device, an operation device that does not have a display function and can be operated simply by being touched by the operator may be used.

[0017] 1, the electromagnetic actuator 10 is disposed between the touch panel 2 and a base 3 serving as a rear surface of the device, which is disposed on the rear side of the touch panel 2. The control device 1 may be provided in the electromagnetic actuator 10 itself or in the base 3.

[0018] The back side of the touch panel 2 is fixed to a surface fixing portion 44 of a movable body 40 (see FIG. 2) of the electromagnetic actuator 10. The base 3 is disposed opposite the touch panel 2, and the fixed body 30 of the electromagnetic actuator 10 is fixed to the base 3 via a support portion 3a. In this way, the electromagnetic actuator 10 is disposed between the center of the touch panel 2 and the center of the base 3 so as to connect them to each other.

[0019] The touch panel 2 itself is driven integrally with the movable body 40 of the electromagnetic actuator 10. When an operator presses the screen of the touch panel 2 to operate it, the direction in which the operator's finger or the like touches the screen, for example, the direction in which the operator presses perpendicularly to the screen of the touch panel 2, is the same as the Z direction, which is the vibration direction of the movable body 40 of the electromagnetic actuator 10.

[0020] In this way, the vibration presentation device 200, which is equipped with the control device 1, touch panel 2, and electromagnetic actuator 10, directly operates the touch panel 2, that is, drives the touch panel 2 together with the movable body 40 in the same direction as the finger contact direction, thereby directly vibrating the touch panel 2.

[0021] Therefore, when touching and operating an image of a mechanical switch or the like displayed on the touch panel 2, the movable body 40 can be moved to impart vibrations that provide an operation feel according to the image, for example, a contact operation feel similar to that of operating an actual mechanical switch, thereby providing a comfortable operation experience.

[0022] <Overall configuration of the electromagnetic actuator 10> Fig. 2 is a perspective view of the top exterior of an electromagnetic actuator 10 as an example of an electromagnetic actuator controlled by a control device according to an embodiment of the present invention, Fig. 3 is a perspective view of the bottom exterior of the electromagnetic actuator 10, and Fig. 4 is a plan view of the electromagnetic actuator. Fig. 5 is a cross-sectional view taken along line A-A in Fig. 4, and Fig. 6 is an exploded perspective view of the electromagnetic actuator 10 of the control device according to an embodiment of the present invention. Fig. 7 is a cross-sectional view showing the state in which a sensor is provided in the electromagnetic actuator.

[0023] In this embodiment, the electromagnetic actuator 10 shown in FIGS. 2 to 7 is mounted in an electronic device to which the control device 1 is applied, and functions as a vibration generating source for a touch panel 2 (see FIG. 1) which is an example of an operating device.

[0024] The electromagnetic actuator 10 functions as a vibration actuator that drives the movable body 40 in one direction and moves the movable body 40 in the direction opposite to that one direction using the force of a member (plate-shaped elastic part 50) that generates the force, thereby causing the movable body 40 to move back and forth in a linear manner (vibrate).

[0025] Vibrations are transmitted to the operator in response to touch operations on the screen 2a of the touch panel 2, allowing the operator to feel them, thereby enabling intuitive operation by the operator touching the touch panel 2. The touch panel 2 has a touch position output unit that receives touch operations by the operator on the touch panel 2 and outputs the touch position. Based on the touch position information output by the touch position output unit and the drive timing, the control device 1 outputs an actuator drive signal to the electromagnetic actuator 10 and supplies a drive current so that vibrations corresponding to the touch operations are generated. Upon receiving the drive current supplied from the control device 1, the electromagnetic actuator 10 generates vibrations corresponding to the touch position output from the touch panel 2 and transmits them to the touch panel 2, directly vibrating the touch panel 2. In this way, the electromagnetic actuator 10 receives the operator's operation received on the touch panel 2 and drives accordingly.

[0026] When an actuator drive signal is input to the electromagnetic actuator 10 via the control device 1, the electromagnetic actuator 10 moves the movable body 40 in one direction (for example, the negative Z direction) against the biasing force. When the input of the actuator drive signal to the electromagnetic actuator 10 is stopped, the biasing force is released and the movable body 40 is moved in the other direction (the positive Z direction) by the biasing force. The electromagnetic actuator 10 vibrates the movable body 40 and the operating device by inputting and stopping the actuator drive signal. The electromagnetic actuator 10 drives the movable body 40 without using a magnet, causing the operating device to vibrate.

[0027] In this embodiment, the actuator drive signal corresponds to a train of multiple drive current pulses (also referred to as "current pulses") that are supplied to the coil 22 as a drive current for driving the movable body 40 and the operating device. In the electromagnetic actuator 10, when a current pulse is supplied to the coil 22, the movable body 40 moves in one direction.

[0028] The electromagnetic actuator 10 has a core assembly 20 formed by winding a coil 22 around a core 24, a fixed body 30 having a base portion 32, a movable body 40 having a magnetic yoke 41, and plate-shaped elastic portions (elastic support portions) 50 (50-1, 50-2) that elastically support the movable body 40 relative to the fixed body 30 so that it can move in the vibration direction.

[0029] The electromagnetic actuator 10 drives the movable body 40, which is movably supported by the plate-shaped elastic portion 50, to move in one direction relative to the fixed body 30. The movement of the movable body 40 in the direction opposite to the one direction is performed by the biasing force of the plate-shaped elastic portion 50.

[0030] Specifically, the electromagnetic actuator 10 vibrates the yoke 41 of the movable body 40 by the core assembly 20. Specifically, the movable body 40 is vibrated by the attraction force of the energized coil 22 and the core 24 excited by the energized coil 22, and the biasing force of the plate-shaped elastic portions 50 (50-1, 50-2).

[0031] The electromagnetic actuator 10 is configured in a flat shape with its thickness direction in the Z direction. The electromagnetic actuator 10 vibrates the movable body 40 relative to the fixed body 30 in the Z direction, i.e., the thickness direction, as the vibration direction, and moves one of the front and back surfaces, which are spaced apart in the thickness direction of the electromagnetic actuator 10 itself, toward or away from the other surface in the Z direction.

[0032] In this embodiment, the electromagnetic actuator 10 moves the movable body 40 in one direction, the negative Z direction, by the attraction force of the core 24, and moves the movable body 40 in the positive Z direction by the biasing force of the plate-shaped elastic portion 50 (50-1, 50-2).

[0033] In the electromagnetic actuator 10 of this embodiment, the movable body 40 is elastically supported by a plurality of plate-shaped elastic portions 50 (50-1, 50-2) arranged along a direction perpendicular to the Z direction at positions point-symmetrical with respect to the movable center of the movable body 40, but this configuration is not limited to this.

[0034] The plate-shaped elastic portion 50 may be provided in any manner as long as it is fixed between the movable body 40 and the fixed body 30, has an elastically deformable bellows-shaped portion, and elastically supports the movable body 40 relative to the fixed body 30 so as to be movable in a direction facing at least one of both end portions (magnetic pole portions 242, 244) of the core 24. For example, the plate-shaped elastic portion 50 may elastically support the movable body 40 relative to the fixed body 30 (core assembly 20) so as to be movable in a direction facing one end portion (magnetic pole portion 242 or 244) of the core 24. Furthermore, the plate-shaped elastic portions 50-1 and 50-2 may be arranged line-symmetrically with respect to the center of the movable body 40, or two or more plate-shaped elastic portions 50 may be used. Each plate-shaped elastic portion 50-1, 50-2 is fixed at one end to the fixed body 30 and at the other end to the movable body 40, and supports the movable body 40 so that it can move in the vibration direction (Z direction, here the up and down direction) relative to the fixed body 30.

[0035] <Fixed body 30> As shown in FIGS. 5 to 9, the fixed body 30 has a core assembly 20 having a coil 22 and a core 24, and a base portion 32.

[0036] The base portion 32 has the core assembly 20 fixed thereto and supports the movable body 40 via the plate-shaped elastic portions 50 (50-1, 50-2) so that it can move freely in the vibration direction. The base portion 32 is a flat-shaped member that forms the bottom surface of the electromagnetic actuator 10. The base portion 32 has mounting portions 32a to which one end of the plate-shaped elastic portions 50 (50-1, 50-2) is fixed, sandwiching the core assembly 20 therebetween. The mounting portions 32a are each disposed at the same distance from the core assembly 20. This distance is a distance that provides a deformation region for the plate-shaped elastic portions 50 (50-1, 50-2).

[0037] The mounting portion 32a has fixing holes 321 for fixing the plate-shaped elastic portions 50 (50-1, 50-2) and fixing holes 322 for fixing the base portion 32 to the base 3 (see FIG. 1). The fixing holes 322 are provided at both ends of the mounting portion 32a so as to sandwich the fixing hole 321. This allows the base portion 32 to be stably fixed over the entire surface to the base 3 (see FIG. 1).

[0038] In this embodiment, the base portion 32 is formed by processing sheet metal, and is configured so that one side portion, which is the mounting portion 32a, and the other side portion are spaced apart in the depth direction, sandwiching the bottom surface portion 32b. A recessed portion having a bottom surface portion 32b that is lower in height than the mounting portions 32a is provided between the mounting portions 32a. The space within the recessed portion, i.e., the space on the front surface side of the bottom surface portion 32b, is a space that ensures an elastic deformation area for the plate-shaped elastic portions 50 (50-1, 50-2) and a movable area for the movable body 40 supported by the plate-shaped elastic portions 50 (50-1, 50-2).

[0039] The bottom surface portion 32b is rectangular, and an opening 36 is formed in the center thereof, and the core assembly 20 is disposed within this opening 36.

[0040] The opening 36 has a shape corresponding to the shape of the core assembly 20. In this embodiment, the opening 36 is formed in a square shape. This allows the core assembly 20 and the movable body 40 to be disposed in the center of the electromagnetic actuator 10, so that the entire electromagnetic actuator 10 has a substantially square shape in a plan view. The opening 36 may also have a rectangular shape (including a square shape).

[0041] Divided body 26b of lower bobbin 26 of core assembly 20 and the lower portion of coil 22 are inserted into opening 36, and core 24 is fixed so as to be positioned on bottom surface portion 32b in side view. This makes the length (thickness) in the Z direction thinner than in a configuration in which core assembly 20 is attached on bottom surface portion 32b. Also, because a portion of core assembly 20, in this case a portion on the bottom surface side, is fixed in a state where it is fitted into opening 36, core assembly 20 is firmly fixed in a state where it is unlikely to come off bottom surface portion 32b.

[0042] The core assembly 20 is constructed by winding the coil 22 around the outer periphery of a core 24 via a bobbin 26 .

[0043] When the coil 22 is energized, the core assembly 20 vibrates the yoke 41 of the movable body 40 (moves back and forth linearly in the Z direction) in cooperation with the plate-shaped elastic portions 50 (50-1, 50-2).

[0044] In this embodiment, the core assembly 20 is formed in the shape of a rectangular plate. Magnetic pole portions 242, 244 are arranged on both sides of the rectangular plate that are spaced apart in the longitudinal direction.

[0045] These magnetic pole portions 242, 244 are arranged to be able to face attracted surface portions 46, 47 of movable body 40 with a gap in the X direction. In this embodiment, opposing surfaces (opposing surface portions) 20a, 20b, which are the upper surfaces, are diagonally adjacent to and opposite the lower surfaces of attracted surface portions 46, 47 of yoke 41 in the vibration direction (Z direction) of movable body 40.

[0046] As shown in FIG. 2, the core assembly 20 is fixed to the base portion 32 with the winding axis of the coil 22 facing the opposing direction of the spaced-apart mounting portions 32a of the base portion 32 (the X direction perpendicular to the vibration direction). In this embodiment, the core assembly 20 is disposed in the center of the base portion 32, specifically in the center of the bottom surface portion 32b. As shown in FIGS. 3 to 9, the core assembly 20 is fixed to the bottom surface portion 32b so that the core 24 is positioned parallel to the bottom surface portion 32b and straddles the opening 36 on the bottom surface. The core assembly 20 is fixed with the coil 22 and the portion wound around the coil 22 (core body 241) positioned within the opening 36 of the base portion 32. Specifically, the core assembly 20 is fixed to the bottom surface portion 32b by fastening a screw 68 through the fixing hole 28 and the fastening hole 33 (see FIG. 6) of the bottom surface portion 32b with the coil 22 positioned within the opening 36. The core assembly 20 and the bottom surface portion 32b are joined at two points on the axis of the coil 22 by the two sides of the opening 36 that are spaced apart in the Y direction and the magnetic pole portions 242, 244, with the coil 22 sandwiched between them by screws 68, which are fastening members.

[0047] The coil 22 is a solenoid that is energized when the electromagnetic actuator 10 is driven and generates a magnetic field. The coil 22, together with the core 24 and the movable body 40, constitutes a magnetic circuit (magnetic path) that attracts and moves the movable body 40. Power is supplied to the coil 22 from an external power source via the control device 1. For example, when a drive current is supplied from the control device 1 to the electromagnetic actuator 10, power is supplied to the coil 22, and the electromagnetic actuator 10 is driven.

[0048] Core 24 has core body 241 around which coil 22 is wound, and magnetic pole portions 242, 244 that are provided at both ends of core body 241 and are excited by energizing coil 22. Core 24 may have any structure as long as it has a length that allows both ends to become magnetic pole portions 242, 244 when energized by coil 22. For example, core 24 may be formed in the shape of a straight (I-shaped) flat plate, but core 24 in this embodiment is formed in the shape of an H-shaped flat plate when viewed from above.

[0049] When an I-shaped core is used, the area of ​​the surfaces (air gap side surfaces) on the attracted surface portions 46 and 47, which face each other across the air gap G, is narrowed at both ends (magnetic pole portions) of the I-shaped core. This may increase magnetic resistance in the magnetic circuit and reduce conversion efficiency. Furthermore, when attaching a bobbin to the core, the positioning of the bobbin in the longitudinal direction of the core is eliminated or reduced, requiring a separate positioning device. In contrast, because the core 24 is H-shaped, the air gap side surfaces at both ends of the core body 241 can be expanded in the front-to-rear direction (Y direction) to be longer than the width of the core body 241 around which the coil 22 is wound. This reduces magnetic resistance and improves the efficiency of the magnetic circuit. Furthermore, the coil 22 can be positioned simply by fitting the bobbin 26 between the magnetic pole portions 242 and 244 that protrude from the core body 241, eliminating the need for a separate positioning member for the bobbin 26 relative to the core 24.

[0050] The core 24 has magnetic pole portions 242 and 244 that protrude in a direction perpendicular to the winding axis of the coil 22 from both ends of a plate-shaped core body 241 around which the coil 22 is wound. The core 24 is a magnetic body made of a soft magnetic material, for example, silicon steel plate, permalloy, ferrite, etc. The core 24 may also be made of electromagnetic stainless steel, sintered material, MIM (metal injection molding) material, laminated steel plate, electro-galvanized steel plate (SECC), etc.

[0051] The magnetic pole portions 242, 244 are excited by energizing the coil 22, and attract and move the yoke 41 of the movable body 40 that is moving away in the vibration direction (Z direction). Specifically, the magnetic pole portions 242, 244 attract the attracted surface portions 46, 47 of the movable body 40 that are arranged opposite to each other across the gap G, by the magnetic flux they generate.

[0052] In this embodiment, the magnetic pole portions 242 and 244 are plate-like bodies extending in the Y direction, which is perpendicular to the core body 241 extending in the X direction. Because the magnetic pole portions 242 and 244 are long in the Y direction, the areas of the opposing surfaces 20a and 20b facing the yoke 41 are larger than in a configuration formed at both ends of the core body 241.

[0053] The bobbin 26 is disposed so as to surround the core body 241 of the core 24 in a direction perpendicular to the vibration direction. The bobbin 26 is formed, for example, from a resin material. This ensures electrical insulation from other metal components (e.g., the core 24), thereby improving the reliability of the electrical circuit. Using a highly fluid resin as the resin material improves moldability, allowing the bobbin 26 to have a thin wall while maintaining its strength. The bobbin 26 is formed into a cylindrical body that covers the periphery of the core body 241 by assembling divided bodies 26a and 26b so as to sandwich the core body 241. The bobbin 26 has flanges on both ends of the cylindrical body, which define the coil 22 to be positioned on the outer periphery of the core body 241.

[0054] <Movable body 40> Movable body 40 is disposed opposite core assembly 20 with a gap therebetween in a direction perpendicular to the vibration direction (Z direction). Movable body 40 is provided so as to be able to move back and forth in the vibration direction relative to core assembly 20.

[0055] The movable body 40 has a yoke 41 and includes movable body side fixed portions 54 of plate-shaped elastic portions 50-1 and 50-2 fixed to the yoke 41.

[0056] The movable body 40 is arranged in a suspended state (reference normal position) approximately parallel to and spaced from the bottom surface portion 32b via the plate-shaped elastic portions 50 (50-1, 50-2) so as to be movable in the direction toward and away from the bottom surface portion 32b (Z direction).

[0057] The yoke 41 is a magnetic path for magnetic flux generated when current is applied to the coil 22, and is a plate-like body made of a magnetic material such as electromagnetic stainless steel, sintered material, MIM (metal injection molding) material, laminated steel sheet, electro-galvanized steel sheet (SECC), etc. In this embodiment, the yoke 41 is formed by processing an SECC sheet.

[0058] The yoke 41 is suspended from the core assembly 20 by plate-shaped elastic portions 50 (50-1, 50-2) fixed to the respective adsorbed surface portions 46, 47 spaced apart in the X direction, so as to face the core assembly 20 across a gap G (see Figure 7) in the vibration direction (Z direction).

[0059] The yoke 41 has a surface fixing portion 44 to which an operating device (see the touch panel 2 shown in FIG. 1) is attached, and attracted surface portions 46 and 47 disposed opposite the magnetic pole portions 242 and 244.

[0060] The yoke 41 is formed in the shape of a rectangular frame having an opening 48 in the center, and has a surface fixing portion 44 and attracted surface portions 46 and 47 surrounding the opening 48 .

[0061] Opening 48 faces coil 22. In the present embodiment, opening 48 is located directly above coil 22, and the opening shape of opening 48 is formed into a shape that allows coil 22 portion of core assembly 20 to be inserted when yoke 41 moves toward bottom surface portion 32b.

[0062] By configuring the yoke 41 to have the opening 48, the thickness of the entire electromagnetic actuator can be made thinner than when the opening 48 is not provided.

[0063] Furthermore, since the core assembly 20 is positioned within the opening 48, the yoke 41 is not positioned near the coil 22, which prevents a decrease in conversion efficiency due to leakage magnetic flux from the coil 22 and enables high output.

[0064] The surface fixing portion 44 has a fixing surface 44a that fixes the touch panel 2, which is an example of an operating device, in surface contact with the touch panel 2. The fixing surface 44a has a trapezoidal shape in a plan view, and comes into surface contact with the touch panel 2 that is fixed to the surface fixing portion 44 via fastening members such as screws that are inserted into the surface fixing holes 42.

[0065] The movable body side fixed portions 54 of the plate-shaped elastic portions 50-1 and 50-2 are respectively stacked and fixed to the attracted surface portions 46 and 47. The attracted surface portions 46 and 47 are provided with notches 49 that allow the heads of the screws 64 of the core assembly 20 to escape when they move toward the bottom surface portion 32b. As a result, even if the movable body 40 moves toward the bottom surface portion 32b and the attracted surface portions 46, 47 approach the magnetic pole portions 242, 244, they will not come into contact with the screws 68 that fix the magnetic pole portions 242, 244 to the bottom surface portion 32b, and the movable range of the yoke 41 in the Z direction can be secured.

[0066] <Plate-shaped elastic portion 50 (50-1, 50-2)> The plate-shaped elastic portions 50 (50-1, 50-2) support the movable body 40 so that it can move freely relative to the fixed body 30. The plate-shaped elastic portions 50 (50-1, 50-2) support the upper surface of the movable body 40 so that they are parallel to each other, at the same height as the upper surface of the core assembly 20, or below the upper surface of the fixed body 30 (in this embodiment, the upper surface of the core assembly 20). The plate-shaped elastic portions 50-1, 50-2 have shapes symmetrical with respect to the center of the movable body 40, and in this embodiment are identically formed members.

[0067] The plate-shaped elastic portion 50 is disposed substantially parallel to the yoke 41 so as to face the magnetic pole portions 242, 244 of the core 24 of the core assembly 20 with a gap G therebetween. The plate-shaped elastic portion 50 supports the lower surface of the movable body 40 at a position closer to the bottom surface portion 32b than the height level of the upper surface of the core assembly 20, so as to be movable in the vibration direction.

[0068] The plate-shaped elastic portion 50 is a plate spring and has a fixed body side fixing portion 52, a movable body side fixing portion 54, and a bellows-shaped elastic arm portion 56 connecting the fixed body side fixing portion 52 and the movable body side fixing portion 54.

[0069] The plate-shaped elastic portion 50 has the fixed body side fixing portion 52 attached to the surface of the mounting portion 32a, and the movable body side fixing portion 54 attached to the surfaces of the adsorbed surface portions 46, 47 of the yoke 41, and the movable body 40 is attached with the bellows-shaped elastic arm portion 56 parallel to the bottom surface portion 32b.

[0070] The fixed body side fixing portion 52 is in surface contact with the mounting portion 32a and is joined and fixed by a screw 62, and the movable body side fixing portion 54 is in surface contact with the attracted surface portions 46, 47 and is joined and fixed by a screw 64.

[0071] The bellows-shaped elastic arm portion 56 is an arm portion having a bellows-shaped portion. In this embodiment, the bellows-shaped elastic arm portion 56 has a shape that extends in the opposing direction of the fixed body side fixed portion 52 and the movable body side fixed portion 54 and then bends back. In the bellows-shaped elastic arm portion 56, the ends that are joined to the fixed body side fixed portion 52 and the movable body side fixed portion 54 are formed at positions that are offset in the Y direction. The bellows-shaped elastic arm portion 56 is arranged at positions that are point-symmetric or line-symmetric with respect to the center of the movable body 40.

[0072] As a result, the movable body 40 is supported on both sides by the bellows-shaped elastic arm portions 56 having bellows-shaped springs, which enables stress dispersion during elastic deformation. In other words, the plate-shaped elastic portions 50 can move the movable body 40 in the vibration direction (Z direction) without tilting it relative to the core assembly 20, thereby improving the reliability of the vibration state.

[0073] Each plate-shaped elastic portion 50 has at least two or more bellows-shaped elastic arm portions 56. As a result, compared to when each plate-shaped elastic portion 50 has one bellows-shaped elastic arm portion, stress during elastic deformation is dispersed, improving reliability, and the balance of support for the movable body 40 is improved, resulting in improved stability.

[0074] In this embodiment, the plate-shaped elastic portion 50 is made of a magnetic material. The movable-body-side fixed portion 54 of the plate-shaped elastic portion 50 is positioned opposite or above both ends of the core (magnetic pole portions 242, 244) in the coil winding axis direction, forming a magnetic path. In this embodiment, the movable-body-side fixed portion 54 is fixed in a stacked state above the attracted surface portions 46, 47. This allows the thickness H (length in the Z direction, vibration direction) (see FIG. 7) of the attracted surface portions 46, 47 facing the magnetic pole portions 242, 244 of the core assembly to be increased as the thickness of the magnetic material. Since the thickness of the plate-shaped elastic portion 50 is the same as the thickness of the yoke 41, the cross-sectional area of ​​the magnetic material portion facing the magnetic pole portions 242, 244 can be doubled. This expands the magnetic path of the magnetic circuit compared to when the leaf spring is nonmagnetic, mitigating performance degradation due to magnetic saturation in the magnetic circuit and improving output.

[0075] The electromagnetic actuator 10 of this embodiment may be provided with a detection unit that detects the amount of depression of the movable body 40 when the operation surface portion fixed by the surface portion fixing portion 44 is operated. In this embodiment, for example, as shown in Figures 6 to 7, a strain detection sensor 70 that detects strain in the plate-shaped elastic portion 50 may be provided as the detection unit.

[0076] The strain detection sensor 70 detects the strain of the plate-shaped elastic portion 50 that is deformed when the surface portion fixing portion 44 is pressed toward the bottom surface portion 32b. The detected strain is output to a control device or the like, and the coil 22 is energized to attract and move the yoke 41 so that the amount of movement of the movable body 40 corresponds to the strain.

[0077] In this embodiment, the control device 1 can provide vibration feedback in response to contact as long as it can detect the operator's contact with the control device, even if it does not determine the amount of movement of the control device being operated. In addition, if it can detect the amount of pressure applied to the plate-shaped elastic portion 50 using a movement amount corresponding to the actual movement of the control device, it can use this detection result to realize the expression of a more natural feeling.

[0078] Furthermore, the distortion detection sensor 70 may be used to adjust the vibration period of the movable body 40 (touch panel 2, which is an operation device) when a drive current pulse is supplied by a current pulse supply unit of the control device 1, based on the detection result of a sensor that detects the operator's touch operation, i.e., the amount of depression of the movable body 40. Furthermore, apart from the distortion detection sensor 70, an operation signal indicating the operation state may be output to the control device 1 in conjunction with the display form of the operator's touch position detected on the touch panel 2, so that vibration corresponding to the display form is generated, and the control device 1 may perform control accordingly.

[0079] The strain detection sensor 70 is attached to the bellows-shaped elastic arm portion 56 of the plate-shaped elastic portion 50 near its base where strain is large, and is arranged in a so-called dead space, which is an area where it does not get in the way of other members. Instead of the strain detection sensor 70, a detection portion for detecting a push, such as a capacitance sensor, which measures the distance between the plate-shaped elastic portion 50 that is pushed and displaced, may be arranged below the plate-shaped elastic portion 50 and on the bottom surface portion 32b that faces the deformed portion of the plate-shaped elastic portion 50.

[0080] FIG. 8 is a diagram showing the magnetic circuit of the electromagnetic actuator 10. Note that FIG. 8 is a perspective view of the electromagnetic actuator 10 cut along line AA in FIG. 4, and the magnetic circuit has a magnetic flux flow M in parts not shown that is similar to that in the parts shown. Also, FIG. 9 is a cross-sectional view schematically showing the movement of the movable body by the magnetic circuit. In detail, FIG. 9A is a diagram showing a state in which the movable body 40 is held at a position separated from the core assembly 20 by the plate-shaped elastic part 50, and FIG. 9B shows the movable body 40 that has been attracted and moved toward the core assembly 20 by the magnetomotive force of the magnetic circuit.

[0081] Specifically, when current is applied to coil 22, core 24 is excited to generate a magnetic field, and both ends of core 24 become magnetic poles. For example, in FIG. 8 , magnetic pole portion 242 of core 24 becomes the north pole, and magnetic pole portion 244 becomes the south pole. Then, a magnetic circuit indicated by magnetic flux flow M is formed between core assembly 20 and yoke 41. Magnetic flux flow M in this magnetic circuit flows from magnetic pole portion 242 to the opposing attracted surface portion 46 of yoke 41, passes through surface portion fixing portion 44 of yoke 41, and reaches from attracted surface portion 47 to magnetic pole portion 244 opposing attracted surface portion 47. In this embodiment, plate-shaped elastic portion 50 is also made of a magnetic material. Therefore, the magnetic flux (indicated by magnetic flux flow M) that flows through the attracted surface portion 46 passes through the attracted surface portion 46 and the movable body side fixed portion 54 of the yoke 41, and reaches from both ends of the attracted surface portion 46 via the surface portion fixed portion 44 to the attracted surface portion 46 and both ends of the movable body side fixed portion 54 of the plate-shaped elastic portion 50-2.

[0082] As a result, due to the principle of an electromagnetic solenoid, the magnetic pole portions 242, 244 of the core assembly 20 generate an attractive force F that attracts the attracted surface portions 46, 47 of the yoke 41. Then, the attracted surface portions 46, 47 of the yoke 41 are attracted by both of the magnetic pole portions 242, 244 of the core assembly 20. As a result, the coil 22 is inserted into the opening 48 of the yoke 41, and the movable body 40 including the yoke 41 moves in the direction F against the biasing force of the plate-shaped elastic portion 50 (see FIGS. 9A and 9B).

[0083] Furthermore, when the current supply to the coil 22 is stopped, the magnetic field disappears, the attractive force F of the core assembly 20 on the movable body 40 disappears, and the biasing force of the plate-shaped elastic portion 50 causes the movable body 40 to move to its original position (in the −F direction).

[0084] By repeating this, the electromagnetic actuator 10 can move the movable body 40 linearly back and forth to generate vibration in the vibration direction (Z direction).

[0085] By linearly moving the movable body 40 back and forth, the touch panel 2, which is an operation device to which the movable body 40 is fixed, also displaces in the Z direction following the movable body 40. In this embodiment, the displacement of the movable body 40 due to driving, that is, the displacement amount G1 of the touch panel 2 (see FIG. 1), is set to a range of 0.03 mm to 0.3 mm. This range of displacement amount is a range in which a vibration corresponding to the display pressed by the operator can be applied to the screen 2a of the touch panel 2, which is an operation device. For example, if the display on the screen 2a that the operator presses is a mechanical button or one of various switches, this is the range of amplitude that can provide the same tactile sensation as when actually pressing the mechanical button or one of various switches. This range is set so that if the amplitude displacement of the movable body 40 is small, the tactile sensation will be insufficient, and if it is large, the tactile sensation will be unpleasant.

[0086] In the electromagnetic actuator 10, the magnetic circuit efficiency is improved by arranging the attracted surface portions 46, 47 of the yoke 41 in close proximity to the magnetic pole portions 242, 244 of the core assembly 20, thereby achieving high output. Furthermore, since the electromagnetic actuator 10 does not use magnets, it has a low-cost structure. The bellows-shaped springs that make up the plate-like elastic portions 50 (50-1, 50-2) enable stress dispersion, improving reliability. In particular, since the movable body 40 is supported by multiple plate-like elastic portions 50 (50-1, 50-2), stress dispersion is more effective. Thus, the electromagnetic actuator 10 can provide a direct tactile sensation to the operator who touches the screen 2a in the vertical direction by driving it in the vertical direction.

[0087] A core assembly 20 having a core 24 around which a coil 22 is wound is fixed to a fixed body 30. This core assembly 20 is disposed within an opening 48 in a yoke 41 of a movable body 40, which is supported by a plate-shaped elastic portion 50 so as to be freely movable in the Z direction relative to the fixed body 30. This eliminates the need to provide overlapping components in the Z direction on the fixed body and the movable body to generate magnetism and drive the movable body in the Z direction (e.g., by arranging the coil and magnet facing each other in the Z direction), thereby enabling a thinner electromagnetic actuator. Furthermore, by linearly moving the movable body 40 back and forth without using a magnet, vibrations can be imparted to the operating device as a tactile sensation. This simple support structure simplifies the design, saving space and enabling a thinner electromagnetic actuator 10. Furthermore, because this is not an actuator that uses magnets, it is less expensive than a magnet-based configuration.

[0088] The driving principle of the electromagnetic actuator 10 will be briefly explained below. The electromagnetic actuator 10 can also be driven by generating a resonance phenomenon using pulses based on the following equations of motion and circuit equations. Note that the operation is not a resonance drive, but rather represents the operational feel of a mechanical switch displayed on a touch panel as an operating device, and in this embodiment, it is driven by inputting multiple current pulses via the control device 1. Examples of mechanical switches include tactile switches, alternate switches, momentary switches, toggle switches, slide switches, rotary switches, DIP switches, and rocker switches.

[0089] The movable body 40 in the electromagnetic actuator 10 performs reciprocating motion based on the formulas (1) and (2).

[0090]

number

[0091]

number

[0092] That is, the mass m [Kg], displacement x(t) [m], thrust constant K f [N / A], current i(t) [A], spring constant K sp [N / m], damping coefficient D [N / (m / s)], etc. can be changed as appropriate within the range that satisfies formula (1). In addition, voltage e(t) [V], resistance R [Ω], inductance L [H], back electromotive force constant K e [V / (rad / s)] can be changed as appropriate within a range that satisfies formula (2).

[0093] In this way, the mass m of the electromagnetic actuator 10, the movable body 40, and the spring constant K of the metal spring (elastic body, plate spring in this embodiment) serving as the plate-shaped elastic portion 50 are sp is determined by.

[0094] Furthermore, in the electromagnetic actuator 10, screws 62, 64 are used to fix the base portion 32 and the plate-shaped elastic portion 50, and to fix the plate-shaped elastic portion 50 and the movable body 40. This allows the plate-shaped elastic portion 50, which needs to be firmly fixed to the fixed body 30 and the movable body 40 in order for the movable body 40 to be driven, to be mechanically and firmly fixed in a state that allows reworking.

[0095] <Control device 1> The control device 1 controls an electromagnetic actuator 10 that drives an operating device (touch panel 2 in FIG. 1) that is supported so as to be able to vibrate elastically in one of the vibration directions.

[0096] In response to a touch operation of the control device, the control device 1 supplies a drive current to the electromagnetic actuator 10 to generate a magnetic field, which moves the elastically vibrating movable body 40 in one direction, in this case the negative Z direction, relative to the fixed body 30. As a result, the control device 1 gives the operator a tactile sensation of vibration when the operator touches the control device. Note that the touch operation may be, for example, a signal indicating the contact state input from the touch panel 2, or a signal detected by the strain detection sensor 70.

[0097] In this embodiment, the control device 1 supplies a train of multiple current pulses to the coil 22 as an electromagnetic actuator drive signal for driving the electromagnetic actuator 10.

[0098] When the control device 1 supplies a current pulse to the coil 22, the movable body 40 is pulled toward the coil 22, i.e., toward the negative Z direction, by magnetic attraction against the biasing force of the plate-shaped elastic member 50, and is displaced. Following this, the touch panel 2 also moves toward the negative Z direction relative to the base 3 to which the fixed body 30 is fixed. Furthermore, by stopping the supply of the drive current to the coil 22, the biasing force is released, and the movable body 40 is released from its position on the negative Z direction side relative to the reference position. As a result, the movable body 40 is biased by the biasing force of the plate-shaped elastic member 50 to move in the opposite direction (positive Z direction) to the pulled-in direction (negative Z direction) from the maximum displacement position on the negative Z direction side, and vibration is fed back.

[0099] The plurality of current pulse trains have a main drive pulse that generates a main vibration in response to a touch operation, and a sub drive pulse that forms a damping period for the vibration caused by the main drive pulse.

[0100] When an operator touches an operating device (screen 2a of touch panel 2 in FIG. 1), a main drive current pulse (hereinafter also referred to as "main drive pulse") is supplied to coil 22, which drives electromagnetic actuator 10 to generate a main vibration corresponding to the touch operation, which is fed back to the operator.

[0101] The secondary drive pulse is supplied to the coil 22 after the main drive pulse is supplied, and forms vibrations during the decay period of the main vibrations caused by the main drive pulse, that is, the remaining damped vibrations of the vibrations that are fed back.

[0102] The main drive pulse may generate vibrations of any magnitude as long as they constitute the main vibrations that are fed back to the operator who performed the contact operation, and may also be formed by multiple current pulses. The auxiliary drive pulse is a drive pulse that is supplied to the coil 22 after the main drive pulse is supplied. In this embodiment, the auxiliary drive pulse has a brake pulse for shortening the vibration that is damped after the feedback vibration caused by the main drive pulse (the vibration damping period), and a damping additional pulse for extending the vibration damping period after the vibration caused by the main drive pulse. Note that the auxiliary drive pulse only needs to have at least one of the brake pulse and the damping additional pulse.

[0103] Various types of vibration forms can be generated by adjusting the amplitude, wavelength, and timing of supply of the main drive pulse and the secondary drive pulse, and supplied to the electromagnetic actuator 10 as an actuator drive signal, which gives the operator a physical sensation.

[0104] The control device 1 includes, for example, a current pulse supply unit and a voltage pulse application unit. The current pulse supplying unit supplies a plurality of drive current pulses to the coil 22 of the electromagnetic actuator 10 as a drive current for driving the operating device in response to a touch operation on the operating device (touch panel 2).

[0105] In this embodiment, the plurality of drive current pulses are a drive current pulse train as an actuator drive signal, which is a set of a main drive pulse and a sub drive pulse.

[0106] When an operator touches an operating device (screen 2a of touch panel 2 in FIG. 1), the control device 1 of this embodiment outputs a train of drive current pulses to coil 22 of electromagnetic actuator 10, vibrating the electromagnetic actuator and providing the operator with a tactile sensation. The drive current pulse train including the main drive pulse and the drive current pulse will be described in detail later.

[0107] The voltage pulse application unit intermittently applies a plurality of control voltage pulses to the current pulse supply unit, which respectively generate a plurality of drive current pulses (main drive pulse and secondary drive pulse (brake pulse and attenuation additional pulse)) that constitute the actuator drive signal. Specifically, the voltage pulse application unit applies a main drive pulse as a main drive signal that activates vibrations having a predetermined amplitude and wavelength that become the main tactile sensation when the operator touches the screen 2a. In addition, the voltage pulse application unit applies a vibration attenuation period adjustment signal, which is a secondary drive pulse, to the current pulse supply unit after the main drive signal.

[0108] FIG. 10 is a circuit diagram showing an example of the configuration of a control device according to an embodiment of the present invention.

[0109] The control device 1 shown in FIG. 10 includes a switching element 82 as a current pulse supply unit configured by a MOSFET (metal-oxide-semiconductor field-effect transistor), a signal generation unit 84 as a voltage pulse application unit, resistors R1 and R2, and SBDs (Schottky Barrier Diodes).

[0110] In the control device 1, a signal generating unit 84 connected to a power supply voltage Vcc is connected to the gate of a switching element 82. The switching element 82 is a discharge changeover switch, and is connected to the electromagnetic actuator 10 and SBD, as well as to the electromagnetic actuator 10 (shown as [Actuator] in FIG. 10) to which voltage is supplied from a power supply unit Vact.

[0111] The control device 1 may also include a central processing unit (CPU), read-only memory (ROM), random access memory (RAM), and the like (not shown) for controlling the operation of the components of the vibration presentation device. The CPU reads a program corresponding to the processing content from the ROM, loads it into the RAM, and controls the operation of the components of the vibration presentation device, including the electromagnetic actuator 10, in cooperation with the loaded program. At this time, various data including various vibration damping period occurrence patterns stored in a memory unit (not shown) is referenced. The memory unit (not shown) may be configured, for example, with a non-volatile semiconductor memory (so-called flash memory). For example, the memory unit, ROM, RAM, or the like stores main drive pulse waveform data, brake pulse waveform data, and various patterns of damping additional pulse waveform data. The ROM stores various programs for controlling the vibration presentation device, including a vibration presentation program that drives the electromagnetic actuator to present vibration. Examples of the vibration presentation program include a program that reads brake pulse waveform data and damping additional pulse waveform data to generate an actuator drive signal that generates vibrations corresponding to the contact information when information indicating a contact state is input from an operating device or the distortion detection sensor 70, a program that combines the read data to generate an actuator drive signal corresponding to the contact information, and a program that supplies the generated actuator drive signal to a coil. The actuator drive signal is a combination of multiple current pulses that are applied to the coil via a driver that drives the electromagnetic actuator. The CPU may use these programs and data to control the operation of the components of the vibration presentation device, and may also control the current pulse supply unit and voltage pulse application unit.

[0112] <Vibration operation by control device> The control device 1 supplies a current pulse to the coil 22 to drive the movable body 40 in one direction of vibration. By supplying a current pulse to the coil 22, the movable body 40 is displaced in one direction of vibration against the biasing force of the plate-shaped elastic portion 50. The displacement of the movable body 40 in one direction of vibration continues while the current pulse is being supplied. By stopping the supply of the current pulse, that is, by turning off the input of the current pulse to the coil 22, the force that displaces the movable body 40 in one direction of vibration (the Z direction) is released. Turning off the input of the current pulse means that the voltage that generates the current pulse is turned off. At the point when the voltage is turned off, the current pulse is not completely turned off but is in a damped state. The movable body 40 moves and displaces in the other direction of vibration (the positive Z direction) due to the biasing force of the plate-shaped elastic portion 50 accumulated at the maximum displaceable position in the retraction direction (the negative Z direction). A strong vibration is transmitted to the operation device via the movable body 40 that has moved in the other direction, that is, toward the operation device, and the operator is given a tactile sensation. In response to an operator's contact with the screen 2a, the control device 1 supplies a plurality of current pulses to the coil 22, including a main drive pulse as the first pulse and secondary drive pulses (brake pulses, additional attenuation pulses) as the second and subsequent pulses. In vibration of the movable body 40, the control device 1 supplies the main drive pulse, and also adjusts the vibration that remains and continues even after the supply of the main drive pulse is stopped, that is, the vibration attenuation period, by using the secondary drive pulse that is supplied after the supply of the main drive pulse.

[0113] <Supply of main drive pulse> 11 is a diagram illustrating the displacement of the movable body when a main drive pulse is supplied to the electromagnetic actuator. In response to an operator's contact with the screen 2a, the control device 1 supplies a main drive pulse to the coil 22. As a result, the movable body 40 is driven in response to the main drive pulse, and displaces, i.e., vibrates, as shown in FIG. 11, causing a vibration damping period. As a result, the control device 1 adjusts the strength of the vibration damping period, the length of the vibration damping period, or whether or not there is a vibration damping period, thereby providing various types of tactile sensations when the operator touches the operating device.

[0114] Here, the vibration period T of the electromagnetic actuator 10 is expressed by the following equation (3), where m is the mass of the movable body 40 (which includes the touch panel 2 but will be described as the movable body 40 for convenience), which is the movable part, and Ks is the spring constant of the leaf spring, which is the plate-shaped elastic part 50 that elastically supports the movable body 40.

[0115]

number

[0116] <Supply of secondary drive pulses> After supplying the main drive pulse, the second and subsequent current pulses to be supplied to the coil 22 are supplied at predetermined timing as auxiliary drive pulses (brake pulse and damping additional pulse) to the coil 22. In other words, the current pulse supply unit supplies a drive current pulse capable of starting elastic vibration as the main drive current pulse, and then supplies drive current pulses (brake pulse and damping additional pulse) capable of adjusting the damping period of the elastic vibration as the auxiliary drive current pulse.

[0117] This adjusts the damping period of the vibration caused by the main drive pulse, i.e., the secondary drive pulse adjusts the magnitude and length of the free vibration that follows the main vibration caused by the main drive pulse.

[0118] The predetermined timing is a range from the timing Ts at which the main drive pulse supplied to the coil 22 as the first pulse is turned off to 1 / 2T before and after the maximum displacement (peak) on the positive side in the vibration period T(n) of the elastic vibration caused by the plate-like elastic part 50 that supports the touch panel 2 and the movable body 40, and can also be said to be a timing excluding the maximum displacement (peak) on the positive and negative sides. This causes the operating device to vibrate, giving the operator a variety of tactile sensations.

[0119] <Brake pulse supply> The brake pulse can attenuate vibrations caused by the current pulse, and in this embodiment, it is supplied so as to shorten the attenuation period of vibrations caused by the main drive pulse.

[0120] Specifically, after supplying a main drive pulse to coil 22, control device 1 sets the input (supply) timing of the second and subsequent current pulses to coil 22 (n-1) to T(n-1)+1 / 2T (n is a natural number) from timing Ts, when the first main drive pulse is turned off. n indicates the timing of the oscillation cycle of the current pulses supplied as auxiliary drive pulses (brake pulses) in the train of multiple current pulses that constitute the electromagnetic actuator drive signal. Note that if n is a natural number greater than or equal to 2, the attenuation period of the oscillation after the maximum positive displacement caused by the main drive pulse can be shortened without attenuating the maximum positive displacement caused by the first main drive pulse.

[0121] For example, when n=2, in the vibration cycles from the second pulse onwards, movable body 40 is displaced to the maximum negative displacement amount (one direction) and braked during displacement from the maximum negative displacement amount side (one direction) to the maximum positive displacement amount side (the other direction) in the second vibration cycle. This shortens the amplitude of movable body 40 (the length to the maximum negative displacement amount) during the attenuation period of the main drive pulse, suppressing vibration during the attenuation period and shortening the attenuation period, making it possible to impart vibration with a sharp tactile sensation.

[0122] Fig. 12 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of a control device according to an embodiment of the present invention. Fig. 12 shows a pattern in which n=2 and a brake pulse is supplied in the second period of the vibration period of the electromagnetic actuator in terms of the displacement of the movable body (including the control device) when a main drive pulse is supplied (see Fig. 11).

[0123] In FIG. 12, after supplying the main drive pulse to the coil 22, the control device 1 supplies the second current pulse during the damping period of the vibration caused by the main drive pulse, during which the displacement from the maximum negative displacement (peak) to the maximum positive displacement (peak). Specifically, the second pulse is supplied during the period from the maximum negative displacement (after T) to the maximum positive displacement (peak) in the second vibration cycle. That is, the brake pulse exerts an attractive force in the negative direction on the movable body 40, which is moving from the negative side to the positive side. Note that the current pulse is not supplied at the peak of the displacement of the movable body 40. The supply of the current pulse is turned off when the vibration displacement (corresponding to the displacement of the movable body 40) reaches its peak on the positive side. In this embodiment, the current pulse is not supplied when the vibration displacement is at the maximum positive and negative displacements.

[0124] This suppresses the subsequent displacement after the peak of the displacement caused by the main drive pulse, shortening the vibration damping period, and thus providing the operator with a crisp tactile sensation.

[0125] FIG. 13 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of a control device according to an embodiment of the present invention. FIG. 13 shows a pattern in which a brake pulse is supplied in the third period of the vibration cycle of the electromagnetic actuator, where n=3, to damp the main vibration of the movable body (including the operating device) when a main drive pulse is supplied.

[0126] After the main drive pulse is supplied to the coil 22, the timing of supplying the second current pulse is set to the time when the displacement in the third cycle maximum displacement changes from the maximum negative displacement amount (peak) to the maximum positive displacement amount (peak) during the damping period of the vibration caused by the main drive pulse. Note that the supply of the current pulse is turned off when the displacement reaches the maximum positive displacement amount (peak). That is, during the vibration cycle from the second pulse onwards, during the displacement from the maximum negative displacement amount (one direction) to the maximum positive displacement amount (the other direction) of the vibration cycle, movable body 40 is displaced to the maximum negative displacement amount side (one direction) and braked. Note that the displacement to the maximum negative displacement amount side is a displacement of movable body 40 to one direction side (negative side in the Z direction), and the displacement to the maximum positive displacement amount side is a displacement of movable body 40 to the other direction side (positive side in the Z direction). This shortens the amplitude of the movable body 40 (the length up to the maximum displacement on the negative side) during the vibration damping period, suppressing the vibration during the damping period and shortening the damping period, and after the main vibration is applied, it is possible to apply vibration that provides a sharp tactile sensation.

[0127] <Providing an attenuated additional pulse> The attenuation additional pulse attenuates vibration caused by the current pulse. In this embodiment, the attenuation additional pulse is supplied so as to lengthen the attenuation period of vibration caused by the supply of the main drive pulse. When the attenuation additional pulse is supplied, the control device 1 sets the input (supply) timing of the second and subsequent current pulses to be supplied to the coil 22 from the timing Ts at which the first main drive pulse is turned off to a range of vibration periods T(n-1)+1 / 2T to T(n-1)+T (n is a natural number). Note that n indicates the timing of the vibration period of the current pulse supplied as the sub-drive pulse (attenuation additional pulse) in the train of multiple current pulses that is the electromagnetic actuator drive signal.

[0128] After supplying the main drive pulse to the coil 22, the control device 1 supplies the second and subsequent current pulses at a timing corresponding to the displacement from the maximum positive displacement (peak) to the maximum negative displacement during the attenuation period of the vibration caused by the main drive pulse. That is, during the displacement from the maximum positive displacement to the maximum negative displacement in the vibration cycle (from the other direction to one side) during the vibration cycle from the maximum positive displacement to the maximum negative displacement, an additional biasing force is applied to the movable body 40 toward the maximum negative displacement (one direction), thereby urging the displacement toward the maximum negative displacement.

[0129] As a result, during the vibration attenuation period, the amplitude of the movable body 40 increases, the time during which the operator is given a tactile sensation due to the vibration increases, and it becomes possible to express a vibration with a deep tactile sensation.

[0130] Fig. 14 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of a control device according to an embodiment of the present invention. Fig. 14 shows a pattern in which n=2 and a damped additional pulse is supplied in the second period of the vibration period of the electromagnetic actuator in terms of the displacement of a movable body (including an operating device) when a main drive pulse is supplied (see Fig. 11).

[0131] The electromagnetic actuator drive signal shown in FIG. 14 provides a main drive pulse followed by an attenuated additional pulse.

[0132] In FIG. 14, when the control device 1 supplies an attenuation additional pulse after supplying the main drive pulse, the control device 1 supplies a current pulse as the attenuation additional pulse to the coil 22 as the second pulse.

[0133] 14, while movable body 40 is displacing from the maximum positive displacement in the second cycle to the maximum negative displacement in the third cycle, that is, while movable body 40 is displacing in one direction (the direction of biasing, the negative side) after the maximum positive displacement in the second cycle, a current pulse is supplied to coil 22. In other words, the biasing force is increased, movable body 40 is displaced toward the maximum negative displacement, the maximum negative displacement becomes deeper than in the vibration cycle during the damping period, and vibration continues.

[0134] This makes the vibration damping period longer than the vibration damping period when only the main drive pulse is applied, and provides the operator with a deeper tactile sensation.

[0135] Fig. 15 is a diagram showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of a control device according to an embodiment of the present invention. Fig. 15 shows a pattern in which n=3 and an attenuated additional pulse is supplied in the third period of the vibration period of the electromagnetic actuator in terms of the displacement of a movable body (including an operating device) when a main drive pulse is supplied (see Fig. 11).

[0136] After the main drive pulse is supplied to coil 22, the timing of supplying the second current pulse is set to the period during which the displacement from the maximum positive displacement (peak) in the third cycle to the maximum negative displacement (peak) in the fourth cycle is occurring while the vibration caused by the main drive pulse is attenuating. Note that the supply of the current pulse is turned off when the displacement reaches the maximum positive displacement and the maximum negative displacement.

[0137] That is, in the vibration cycle from the second pulse onwards, during displacement from the maximum positive displacement (other direction) to the maximum negative displacement (one direction), movable body 40 is displaced to the negative side (one direction) and braked. This increases the amplitude of movable body 40 (length to the maximum negative displacement) during the vibration damping period, increases the biasing force, lengthens the damping period, and makes it possible to apply vibrations that provide a deep tactile sensation after the main vibration has been applied.

[0138] In this way, in an actuator drive signal having multiple current pulses including a main drive pulse, the vibration damping period can be changed by supplying a brake pulse, a damping additional pulse, or both at the timing of the vibration period T(n-1) corresponding to the train of main drive pulses to be supplied, thereby realizing the expression of vibrations with various touch operation sensations.

[0139] <Brake pulse + damping additional pulse supply> 16 and 17 are diagrams showing an example of an electromagnetic actuator drive signal input to an electromagnetic actuator of a control device according to an embodiment of the present invention, and show an example in which the damping period of elastic vibration is adjusted using a brake pulse and a damping additional pulse.

[0140] When adjusting vibration damping using both the brake pulse and the damping additional pulse, the timing of supplying the brake pulse is in the range of T(n-1) to T(n-1)+1 / 2T (n is a natural number) after the main drive current pulse is turned off in elastic vibration. Also, the timing of supplying the damping additional pulse is in the range of T(n-1)+1 / 2T to T(n-1)+T (n is a natural number) after the main drive current pulse is turned off in elastic vibration.

[0141] In Fig. 16, a brake pulse and a damping additional pulse are supplied to the coil 22 as auxiliary drive pulses. Note that n, which determines the timing of supplying the brake pulse, and n, which determines the timing of supplying the damping additional pulse, may be the same or different. For example, the supply timing of the brake pulse is set to n1 = 2, and the damping additional pulse is added in the second vibration cycle within the range of T(n-1) to T(n-1) + 1 / 2T after the main drive current pulse is turned off. Furthermore, the supply timing of the damping additional pulse is set to n2 = 2, and the damping additional pulse is added in the second vibration cycle within the range of T(n-1) + 1 / 2T to T(n-1) + T after the main drive pulse is turned off.

[0142] As such, Figure 16 shows the pattern of a current pulse train that adds a brake pulse and a damping additional pulse based on their respective supply conditions to the second cycle of the vibration period, and the displacement of the elastic vibration (corresponding to the displacement of the movable body 40) due to that pattern. This allows the damping of vibration after vibration feedback by the main drive pulse to be shortened by the brake pulse and lengthened by the damping additional pulse, thereby providing the operator with a sharp and deep tactile sensation.

[0143] 17 shows a case in which a brake pulse and a damping additional pulse are supplied as auxiliary drive pulses to the coil 22. The supply timing of the brake pulse is n1=3, the supply timing of the damping additional pulse is n2=3, and a pattern in which both the brake pulse and the damping additional pulse are added to the third period of the vibration cycle, and the displacement of the elastic vibration at that time is shown. The pattern shown in Figure 17 differs from the pattern in Figure 16 in that the damping of the vibration after vibration feedback by the main drive pulse can be shortened by the brake pulse and lengthened by the damping additional pulse. This provides the operator with a deep tactile sensation in addition to a sharp one.

[0144] In this way, the control device 1 can provide a variety of variations in the sharp tactile sensation and the deep tactile sensation caused by the brake pulse.

[0145] FIG. 18 is a diagram illustrating the supply timing of the secondary drive pulse. In addition, in the electromagnetic actuator 10, when the inductance increases, the timing (oscillation period or half period) at which the displacement of the movable body 40 reaches its maximum (peak) may be delayed from the timing Ts at which the current pulse is turned off due to the transient current. In this case, the timing at which the auxiliary drive pulse corresponding to the oscillation period is supplied may deviate from the actual oscillation period.

[0146] In response to this, the control device 1 provides a delay time LT for the input timing of the second and subsequent current pulses. That is, after the main drive pulse is supplied, the second current pulse, which is a brake pulse or additional attenuation pulse, is supplied at a timing that is the delay time LT from the timing Ts when the main drive pulse is turned off. That is, when a brake pulse is supplied, it is supplied at a timing in the range of T(n-1) to T(n-1)+1 / 2T after a predetermined delay time LT has elapsed since the main drive pulse was turned off (timing Ts). Also, when a damping additional pulse is supplied, it is supplied at a timing in the range of T(n-1)+1 / 2T to T(n-1)+T after a predetermined delay time LT has elapsed since the main drive pulse was turned off (timing Ts).

[0147] This allows the timing of supplying the secondary drive pulse to be matched to the actual vibration period or half period, making it possible to perform suitable vibration damping adjustment and provide an excellent tactile sensation.

[0148] In the vibration presentation device, when an operator touches an operation device, the control device 1 vibrates the contact point in response to the touch, thereby providing the operator with a tactile sensation.

[0149] Specifically, touch position information and / or contact information indicating that an operator has made contact is input to the control device 1 from the distortion detection sensor 70. Upon receiving the contact information, the control device 1 drives the electromagnetic actuator to generate vibrations. An actuator drive signal that generates vibrations is generated in response to the contact information.

[0150] The control device 1 generates the actuator drive signal using the above-mentioned main drive pulse, brake pulse, and attenuation additional pulse. The main drive pulse, brake pulse, and attenuation additional pulse may be combined in any way to form the electromagnetic actuator drive signal, as long as the main drive pulse is combined with an auxiliary drive pulse (brake pulse, attenuation additional pulse). Furthermore, multiple types of main drive pulses, brake pulses, and attenuation additional pulses, each with different amplitudes and pulse widths, may be preset, and the main drive pulses and auxiliary drive pulses may be combined in any way.

[0151] 19 and 20 are flowcharts showing an example of the operation of the control device 1 according to the embodiment of the present invention to drive the electromagnetic actuator 10. Through the operations shown in Fig. 19 and 20, the control device 1 drives the electromagnetic actuator 10 to generate feedback vibration.

[0152] 19 and 20, the main drive pulse, brake pulse, and damping additional pulse are expressed as a main vibration signal, a vibration damping period brake signal, and a vibration damping period additional signal, based on their functions.

[0153] When a main drive pulse is supplied to the electromagnetic actuator (specifically, coil 22), as shown in Fig. 19, when an operator touches the control device, the control device 1 outputs a main vibration signal, which is a main drive pulse, as an actuator drive signal (step S10). The output main vibration signal is supplied to coil 22, which generates an electromagnetic force, driving and vibrating movable body 40. This vibration is fed back to the operator as the main vibration via the control device, providing the operator with a tactile sensation.

[0154] The displacement of movable body 40 caused by the supply of the main drive pulse to coil 22 reaches a peak of maximum displacement in the positive direction due to the main drive pulse, generates feedback vibration, and then decays (see FIG. 11).

[0155] 20A to 20C show control for generating vibrations with an adjusted damping period for the vibrations to be fed back. As shown in FIGS. 20A to 20C, after the main vibration is output (step S10), the damping period of the vibrations is adjusted. As a step for adjusting the vibration damping period, after step S10 of outputting the main drive signal, step S20 of supplying a vibration damping period brake signal and step S30 of outputting a vibration damping period additional signal can be combined as appropriate to adjust the vibration damping. This allows the damping of the vibrations to be adjusted to generate various vibration patterns and provide a variety of tactile sensations.

[0156] As described above, according to this embodiment, costs can be reduced without using magnets or the like, and vibrations with various touch operation sensations can be expressed while reducing the cost of the entire device. Furthermore, according to this embodiment, output can be increased even in small products through efficient driving. Furthermore, low power consumption can be achieved.

[0157] While achieving cost reduction, it is possible to efficiently generate a thrust force of the movable body 40 that provides a pleasant tactile sensation to the operator operating the operating device.

[0158] In this embodiment, the vibrations that cause various touch operation sensations are not adjusted using damping materials such as rubber, so there is no dependency on the damping material itself, and the vibration damping period is not uniform due to the damping material, and the types of operation sensations that can be expressed are not limited due to a lack of variation in the vibration damping period.Furthermore, there is no change in resonance frequency due to individual differences in the damping material, and the characteristics do not differ from product to product.

[0159] It is preferable that a plurality of plate-shaped elastic members 50 are fixed at positions symmetrical with respect to the center of the movable body 40. However, as described above, a single plate-shaped elastic member 50 may support the movable body 40 so that it can vibrate relative to the fixed body 30. The plate-shaped elastic member 50 may connect the movable body 40 and the fixed body 30 and include at least two or more arm members each having a bellows-shaped elastic arm member 56. The plate-shaped elastic member 50 may be made of a magnetic material. In this case, the movable body-side fixed members 54 of the plate-shaped elastic member 50 are arranged at both ends of the core 24 in the direction of the winding axis of the coil 22 or in a direction perpendicular to the winding axis, and form a magnetic path together with the core 24 when current is applied to the coil 22.

[0160] Furthermore, in the configuration of the electromagnetic actuator 10, rivets may be used instead of the screws 62, 64, 68 used to fasten the base portion 32 to the plate-shaped elastic portion 50 and to fasten the plate-shaped elastic portion 50 to the movable body 40. Rivets each consist of a head and a body portion without a thread, and are inserted into members with holes and the opposite end is crimped to cause plastic deformation, thereby joining the members with holes together. Crimping may be performed using, for example, a press machine or a dedicated tool.

[0161] Based on the strain data acquired by the strain detection sensor 70, the period of the input pulse may be corrected according to the individual differences of the components of the electromagnetic actuator 10, etc.

[0162] The embodiments of the present invention have been described above. Note that the above description is an example of a preferred embodiment of the present invention, and the scope of the present invention is not limited to this. In other words, the description of the configuration of the above device and the shape of each part is one example, and it is clear that various modifications and additions to these examples are possible within the scope of the present invention.

[0163] In this embodiment, the driving direction of the electromagnetic actuator controlled by the control device 1 is the Z direction, but this is not limited to this, and the effects of efficient driving and enhanced vibration described above can also be obtained in a direction parallel to the contact surface of the operator, specifically, in the X direction or Y direction. [Industrial Applicability]

[0164] The electromagnetic actuator of the present invention has the effect of being able to express vibrations with various touch operation sensations, and is useful, for example, in operating devices in automotive products and industrial equipment where operations are input by touching an image on a screen with a finger or the like, for example, in operating devices such as touch display devices equipped with a touch panel device that can provide feedback of an operating sensation similar to the operating sensation felt when touching various images such as mechanical switches displayed on an image. [Explanation of symbols]

[0165] 1. Control device 10 Electromagnetic Actuator 20 Core assembly 20a, 20b Opposing surface (opposing surface part) 22 coils 24 cores 26 Bobbin 30 Fixed body 32 Base 32a Mounting part 32b Bottom part 33 Fastening hole 36 Opening 40 Movable body 41 York 42 Surface fixing hole 44 Surface fixing part 44a Fixed surface 46, 47 Adsorption surface part 48 Opening 49 Notch 50 Plate-shaped elastic part (elastic support part) 52 Fixed part on fixed body side 54 Movable body side fixed part 56 bellows-shaped elastic arm 70 Strain detection sensor 82 Switching element 84 Signal Generator 200 Vibration presentation device 241 Core body 242, 244 Magnetic pole part 321, 322 fixing hole

Claims

1. an actuator body including a core assembly having a coil wound around a core, a yoke disposed opposite the core assembly and surrounding the coil, and an elastic portion connecting the core assembly and the yoke; a control device having a circuit for supplying to the coil a main drive current pulse and a secondary drive current pulse, both of which are drive current pulses for driving the operating device in the same direction in a vibration direction in response to a contact operation of an operating device supported so as to be capable of elastic vibration, the main drive current pulse being capable of starting the elastic vibration, the secondary drive current pulse being capable of adjusting a damping period of the elastic vibration, and the main drive current pulse and the secondary drive current pulse being pulses of the same polarity; Equipped with Actuator.

2. An actuator body having a core assembly with a coil wound around a core, a yoke arranged opposite the core assembly and shaped to surround the coil, and an elastic portion connecting the core assembly and the yoke, the actuator body driving the yoke in one direction in a vibration direction by magnetic attraction of the core when current is passed through the coil; a control device including a circuit for supplying a main drive current pulse and a secondary drive current pulse, both of which are drive current pulses for driving the operating device in one direction in response to a contact operation of an operating device supported so as to be capable of elastic vibration, to the coil, the main drive current pulse being capable of starting the elastic vibration, the secondary drive current pulse being capable of adjusting a damping period of the elastic vibration, and the main drive current pulse and the secondary drive current pulse being pulses of the same polarity; Equipped with Actuator.

3. The auxiliary driving current pulse includes a brake pulse that is supplied during a first half period of a vibration period of the elastic vibration to make the damping period of the elastic vibration shorter than before the supply, and a damping additional pulse that is supplied during a second half period different from the first half period to make the damping period of the elastic vibration longer than before the supply. The actuator according to claim 1 or 2.

4. The control device controls the circuit to supply a combination of at least one of the brake pulses and at least one of the attenuation additional pulses as the secondary drive current pulse to the coil after the main drive current pulse is turned off. The actuator according to claim 3.

5. The timings of supplying the brake pulse and the damping additional pulse are different from each other in the vibration period. The actuator according to claim 4.

6. The timing of supplying the brake pulse and the damping additional pulse is the same as the vibration period. The actuator according to claim 4.

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