Integrated statistical drive control and electronic hack device for mechanical watches

Abstract

SUMMARY OF THE INVENTION An object of the present invention is to provide a timepiece rate control device that realizes statistical pulse control with zero average external force using a single or opposing actuator, and electronic hacking including a contactless brake with zero wear. [Solution] A rate control device comprising: at least one actuator arranged opposite a balance oscillator; detection means for detecting the oscillator phase; and a control circuit for selectively executing a statistical control mode in which a probability function is generated based on the phase difference between the output of the detection means and an external reference oscillator, and symmetrical pulses are applied in an even half-cycle phase window to make the average external force zero, and a stop mode in which the actuator is continuously or intermittently driven in response to an external command to apply a brake torque and stop the oscillator.

Description

[Technical Field]

[0001] This invention relates to an integrated device for statistical drive control and electronic hacking for mechanical timepieces (hereinafter referred to as the integrated device) that uses statistical probability control pulses from an actuator to adjust the rate of the regulating mechanism (balance and escapement) of a mechanical timepiece, and also realizes a stopping function (hereinafter referred to as hacking for simplicity's sake) using the same actuator. While a piezoelectric element is used as an example of a component of the actuator, it can also be applied to non-contact actuators such as electrostatic, magnetic, and acoustic actuators. [Background technology]

[0002] Conventional methods for fine-tuning the rate (daily rate) of a mechanical watch include mechanical means such as a regulator or a free-sprung system. However, the adjustment steps are rough, and temperature and position dependence remains. Also, while methods have been proposed for applying active torque to the balance using electronic control, most of these have the problem of the average torque being non-zero, resulting in a decrease in the quality factor (Q value) of the balance and increased power consumption.

[0003] Furthermore, the hacking mechanism that stops the hands in seconds has traditionally required the addition of a mechanical lever, which increases the number of parts, resulting in high assembly costs and a high risk of failure.

[0004] Patent Document 1 describes a dedicated mechanism for temporarily stopping the operation of a mechanical (particularly tourbillon) timepiece. This mechanism allows for accurate stopping and restarting by having the stop lever come into direct contact with the resonator and balance, and does not have a non-contact stopping mechanism. Furthermore, the watch is provided with a plurality of levers arranged in a circle on the main plate, and these levers do not also have a rate control function. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2022-127576 Summary of the Invention [Problem to be solved by the invention]

[0006] An object of the present invention is to provide an integrated device having at least one of the following functions or configurations: 1. Statistical drive with zero average external force stabilizes long-term rate while maintaining Q value. 2. The electronic hack is realized using the same actuator as that for rate control. 3. The number of parts is minimized so that the integrated device can be implemented in a single actuator configuration. 4. Automatic rate correction and usage log acquisition are possible via wireless communication. [Means for solving the problem]

[0007] In a first aspect of the present invention, there is provided a rate control device for a mechanical timepiece, a) at least one actuator arranged opposite to the vibrator or in XY directions perpendicular to each other; b) a detection means for detecting the phase of the oscillator; c) a control circuit which selectively executes a statistical control mode in which a pulse application probability function is generated based on the phase difference between the output of the detection means and an external reference oscillator, and left and right symmetrical pulses are applied in an even half-cycle phase window based on the application probability function to make the average external force zero, and a stop mode in which the actuator is continuously or intermittently driven by an external command to apply a brake torque and stop the vibrator; An apparatus is provided comprising: Here, the "phase difference" refers to the phase error between the external reference oscillator and the vibrator.

[0008] The actuator may be the only one, and in the statistical control mode, symmetrical pulses may be applied to correct the rate, and in the stop mode, the actuator may be driven continuously or intermittently to stop the vibrator.

[0009] The actuators are arranged 180° apart so that they sandwich the shoulder of the balance staff. In this case, the piezoelectric actuators may operate in the same direction, or in mutually orthogonal X and Y directions when the direction of the balance staff is Z. The actuators may be two piezoelectric actuators mounted in the jewels.

[0010] The actuator may include a laminated piezoelectric stack of radially or tangentially displaceable piezoelectric and metallic layers.

[0011] As the actuator, in addition to a piezoelectric element, at least one of a magnetic, electrostatic, and acoustic actuator may be used.

[0012] The pulse application probability function may be 1-bit quantized by ΔΣ modulation. Here, the ON / OFF of the pulse external force injection successively updates the pulse application probability P(t) according to the sign and magnitude of the rate error, and a drive waveform is generated by a ΔΣ 1-bit modulator. P(t) is a continuous value between 0 and 1, and the average duty ratio converges proportionally to the rate error.

[0013] The control circuit may autonomously switch between a plurality of control algorithms based on the current consumption index.

[0014] The watch may be provided with a wireless communication module, which allows automatic rate correction based on an external time signal and remote stop commands to be received.

[0015] It may also have an electronic hack function that activates the stop mode by opening and closing conductive contacts with the crown.

[0016] The control circuit has a first configuration for driving a single actuator and a second configuration for cooperatively driving two actuators arranged 180 degrees apart. Selectively It may also be called "control."

[0017] When a pulse is applied in the statistical control mode, the actuator may be arranged at an inclination angle α (0°<α<90°) relative to the plane of rotation of the vibrator, and a tangential torque may be applied to the vibrator via cross-axis coupling due to the inclined arrangement.

[0018] The inclination angle α may be equal to or greater than 30° and equal to or less than 60°.

[0019] The actuator may be fixed to a block having a dihedral angle, and the block may be fixed at the inclination angle α, thereby defining the actuator displacement axis at a desired angle.

[0020] In a stop mode, the actuator may be continuously driven, and the oscillator amplitude may be damped by simultaneously utilizing the tangential torque component and the radial torque component due to cross-axis coupling. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a conceptual diagram showing the state in which the statistical drive rate control and electronic hack integrated device of this embodiment is incorporated into the main body of a mechanical watch. [Figure 2] FIG. 2 is a schematic diagram of the arrangement of the actuators. [Figure 3] FIG. 3 is a diagram showing the details of the configuration and fixing arrangement of the actuator. [Figure 4] FIG. 4 is a conceptual diagram showing the state in which the statistical drive rate control and electronic hack integrated device of this embodiment is incorporated into the main body of a mechanical watch. [Figure 5] FIG. 5 is a schematic diagram of the fixed arrangement of the actuators. [Figure 6] FIG. 6 is a diagram showing the details of the configuration and fixing arrangement of the actuator. [Figure 7] FIG. 7 is a conceptual diagram showing the state in which the statistical drive rate control and electronic hack integrated device of this embodiment is incorporated into the main body of a mechanical watch. [Figure 8]FIG. 8 is a schematic diagram of the fixed arrangement of the actuators. [Figure 9] FIG. 9 is a diagram showing the details of the configuration and fixing arrangement of the actuator. [Figure 10] FIG. 10 is a diagram showing the details of the configuration and fixed arrangement of the actuator according to the modified example. [Figure 11] FIG. 11 is an image diagram showing the state in which the integrated device of this embodiment is incorporated into the main body of a mechanical watch. [Figure 12] FIG. 12 is a diagram showing the details of the configuration and fixing arrangement of the actuator. [Figure 13] FIG. 13 is an image diagram showing the state in which the integrated device of this embodiment is incorporated into the main body of a mechanical watch. [Figure 14] FIG. 14 is a diagram showing the details of the configuration and fixing arrangement of the actuator. [Figure 15] FIG. 15 is an image diagram showing the state in which the integrated device of this embodiment is incorporated into the main body of a mechanical watch. [Figure 16] FIG. 16 is a diagram showing the details of the configuration of the actuator unit and its placement in the movement. [Figure 17] FIG. 17 is an image diagram showing the state in which the integrated device of this embodiment is incorporated into the main body of a mechanical watch. [Figure 18] FIG. 18 is a diagram showing the details of the configuration of the actuator unit and its placement in the movement. [Figure 19] FIG. 19 is an image diagram showing the state in which the integrated device of this embodiment is incorporated into the main body of a mechanical watch. [Figure 20] FIG. 20 is a diagram showing the details of the configuration of the actuator unit and its placement in the movement. [Figure 21] FIG. 21 is a cross-sectional view showing the configuration of the actuator unit. DETAILED DESCRIPTION OF THE INVENTION

[0022] We have developed an integrated statistically driven rate control and electronic hacking device that uses an actuator to apply statistical probability control pulses to the regulating mechanism (balance and escapement) of a mechanical watch to adjust the rate, and also has the function of stopping (hacking) the mechanism using the same actuator. This device was developed using the following method. An external reference oscillator separate from the balance of the watch to be installed is built in, and the main control is to have an actuator thin out external force pulses with a fundamental excitation frequency of twice the balance's natural frequency F0 (2F0) with a probability P(t) and inject them into the balance support member, thereby making minute phase corrections to the external reference oscillator, and the hack mechanism that stops the hands in seconds also uses the same actuator as the actuator used for minute phase correction. It should be noted that the various values ​​shown in the examples are merely examples, and are not limited to these values ​​and may be changed as appropriate. [Example]

[0023] (Method using a single actuator) FIG. 1 is a conceptual diagram showing the state in which the statistical drive rate control and electronic hack integrated device of this embodiment is incorporated into the main body of a mechanical watch. This integrated device is configured as a system in which a mechanical watch body 1001 having a balance oscillator 1002, which is a conventional vibration mechanism consisting of a balance wheel, hairspring, bridge, balance cock, etc., is added with a sensor 1003 built into the mechanical watch body, an actuator 1004 arranged opposite the balance wheel 1005, a control unit 1006, a communication unit 1007, an external reference oscillator 1008, a power supply block 1009, and a crown mechanism 1010 for hack control. The control unit 1006 is electrically connected to the other components, receives detection signals, transmits control signals, and controls the supply of power. The communication unit 1007 is composed of a BLE module, and receives automatic rate correction commands based on an external time signal, receives remote stop commands from the outside, updates firmware, and transmits logs. The external reference oscillator 1008 oscillates at a reference frequency separately from the oscillator of the clock in which it is installed, and outputs a reference oscillation signal. The power supply block 1009 is made up of a button battery (1.55V), a DC-DC booster that boosts the voltage of the button battery to 10V, and a current monitor that monitors the average current I_avg. The crown mechanism 1010 for controlling hacking is provided with a conductive contact that opens and closes by operating the crown, and the stop mode of the control unit, which will be described later, is started / ended by turning on / off the electrical current.

[0024] (actuator) The actuator 1004 is composed of a piezoelectric element having a piezoelectric laminate stack, which is made up of alternating piezoelectric layers and metal layers, and is configured to be displaceable in the tangential direction of the balance wheel circumference (hereinafter referred to as the Y direction for simplicity's sake). The actuator operates under the control of the control unit 1006 in accordance with a plurality of operation modes, which will be described later, such as applying an external pulse force to the balancing staff. Here, a piezoelectric element is used as a component of the actuator, but the components of the actuator that can be used in the present invention are not limited to this, and magnetostrictive elements, electrostatic actuators, shape memory alloy actuators, electromagnetic coils, micromachine actuators, etc. can also be used as appropriate.

[0025] 2 is a schematic diagram of the actuator arrangement. The actuator 1004 is set at a position opposite the balance wheel 1005 and is fixed to the bridge 2001. Here, the actuator is arranged opposite the balance wheel, but the arrangement of the actuator in this embodiment is not limited to this, and other arrangements such as an arrangement opposite the balance staff may be adopted as appropriate.

[0026] FIG. 3 is a diagram showing the details of the configuration and fixing arrangement of the actuator. Piezoelectric laminate stack 3001 constituting actuator 1004 is placed on one side and set by PEEK jig 3002 so that tip sapphire ball 3003 abuts with a slight preload against the outer periphery of balance wheel 1005. When ± voltages are applied, the piezoelectric laminate stack generates ± vibration displacement in the Y direction indicated by arrow 3004.

[0027] (sensor) The sensor 1003 is built into the mechanical timepiece body 1001 and detects the vibration of the balance oscillator. An optical sensor is used as the sensor 1003. The optical sensor detects the temp phase θ(t) and outputs a timestamp to the control unit at each zero crossing. Here, an optical sensor is used as the sensor, but the sensors that can be used in this embodiment are not limited to this, and a magnetic sensor, an electrostatic sensor, or the like can be used as appropriate.

[0028] (Control unit) As the control unit 1006 in this embodiment, a microcontroller unit (hereinafter referred to as MCU) is adopted. The operation of each operating mode and power saving manager shown here is realized by the MCU executing a control program such as pre-installed firmware, and by cooperating with the various devices that constitute the integrated apparatus.

[0029] The control unit is configured to control the following operations of the actuator: Each operation is started or stopped based on the autonomous operation of the control unit itself or an automatic rate correction command or a remote stop command received by the communication unit. (a) Statistical control mode operation: In statistical control mode, an applied probability P(t) is generated from the phase difference Δφ with the external reference oscillator; + / - pulse in even half-period phase window is applied with a 0° / 180° phase window to keep the average external force at zero. (b) Stop mode operation: In the stop mode, the actuator is driven continuously or intermittently to stop the vibrator. (c) Autonomous switching operation by power saving manager: Battery voltage and current consumption are monitored to autonomously switch between the ΔΣ / hopping / chirp calculation algorithms.

[0030] The ΔΣ calculation is an algorithm in which the control unit performs rate correction using only the average duty ratio D(t) based on the 1-bit stream generated by the ΔΣ modulator. The hopping calculation is an algorithm in which the control unit performs rate correction while pseudo-randomly hopping among a plurality of frequencies within ±ΔF_ppm centered on a frequency twice the balance natural frequency F0. The chirp calculation is an algorithm that injects a burst that chirp-sweeps the frequency to re-lock only when the phase difference Δφ exceeds a predetermined threshold.

[0031] The power saving manager monitors the battery voltage and current consumption, and, for example, when the power consumption calculated from the battery voltage and current consumption is less than a first threshold, selects an algorithm using ΔΣ calculation in which the control circuit performs rate correction using only the average duty ratio D(t) based on the 1-bit stream generated by the ΔΣ modulator; when the power consumption is greater than or equal to the first threshold but less than a second threshold, selects an algorithm using hopping calculation in which rate correction is performed while pseudo-randomly hopping between multiple frequencies ±ΔF_ppm centered at twice the balance natural frequency F0; and only when the power consumption is greater than or equal to the second threshold and the phase difference exceeds a predetermined threshold, selects an algorithm using chirp calculation in which a burst that chirp-sweeps the frequency is injected to attempt re-locking.

[0032] With the above-described configuration, the rate is adjusted using statistical probability control pulses applied by an actuator to the speed-regulating mechanism of a mechanical timepiece, and the same actuator also realizes a function of hacking. [Example]

[0033] (Method using XY actuator) FIG. 4 is a conceptual diagram showing the state in which the statistical drive rate control and electronic hack integrated device of this embodiment is incorporated into the main body of a mechanical watch. This integrated device is configured as a system in which a mechanical watch body 4001 having a balance oscillator 4002, which is a conventional vibration mechanism consisting of a balance wheel, a hairspring, a bridge, a balance cock, etc., is supplemented with a sensor 4003 built into the mechanical watch body, an actuator 4004 arranged opposite the balance wheel 4005, a control unit 4006, a communication unit 4007, an external reference oscillator 4008, and a power supply block 4009. The control unit 4006 is electrically connected to the other components, receives detection signals, transmits control signals, and controls the supply of power. The components of the integrated device except for the actuator 4004 and the control unit 4006 are the same as those in the first embodiment.

[0034] (actuator) The actuator 4004 is composed of a piezoelectric element having a piezoelectric laminate stack, which is made up of alternating piezoelectric layers and metal layers, and is configured to be displaceable in the radial direction from the central axis of the balance wheel (hereinafter referred to as the X direction for simplicity's sake) and in the tangential direction (Y direction) of the outer periphery of the balance wheel. The actuator operates under the control of the control unit 4006 in accordance with the plurality of operation modes shown in the first embodiment, such as applying a pulse external force in the Y direction to the balance wheel or moving the actuator itself in the X direction. Here, a piezoelectric element is used as a component of the actuator, but the components of the actuator that can be used in the present invention are not limited to this, and magnetostrictive elements, electrostatic actuators, shape memory alloy actuators, electromagnetic coils, micromachine actuators, etc. can also be used as appropriate.

[0035] 5 is a schematic diagram of the fixed arrangement of the actuator. The actuator 4004 is set at a position facing the outer periphery of the balance wheel 4005 and is fixed to the bridge 5001.

[0036] FIG. 6 is a diagram showing the details of the configuration and fixing arrangement of the actuator. The actuator 4004 is composed of a Y-direction piezoelectric laminate stack 6001 , an X-direction piezoelectric laminate stack 6002 , a PEEK jig 6003 , and a tip sapphire sphere 6004 .

[0037] A PEEK jig 6003 is used to set the tip sapphire ball 6004 so that it abuts the outer periphery of the balance wheel 4005 with a slight preload. When ± voltages are applied to the Y-direction piezoelectric laminate stack 6001, ± vibration displacement occurs in the Y direction as indicated by arrow 6006. When ± voltages are applied to the X-direction piezoelectric laminate stack 6002, ± vibration displacement occurs in the X direction as indicated by arrow 6007. As will be shown later, rate correction is performed by vibration displacement due to pressure in the Y direction, and gas film / electrostatic non-contact braking is performed by bringing the tip sapphire ball 6004 close to the balance wheel due to pressure in the X direction.

[0038] (Control unit) As the control unit 4006 in this embodiment, a microcontroller unit (hereinafter referred to as MCU) is adopted. The operation of each operating mode and power saving manager shown here is realized by the MCU executing a control program such as pre-installed firmware, and by cooperating with the various devices that constitute the integrated apparatus.

[0039] The control unit is configured to control the following operations of the actuator: Each operation is started or stopped based on the autonomous operation of the control unit itself or an automatic rate correction command or a remote stop command received by the communication unit. (a) Statistical control mode operation: Generates the applied probability P(t) from the phase difference Δφ with the external reference oscillator, + / - pulse in even half-period phase window is applied with a 0° / 180° phase window to keep the average external force at zero. The even half-cycle phase window (0° / 180°) allows maximum control effect with minimum energy while keeping the torque average at zero. Table 1 shows the definitions of even and odd half-cycles. (b) Stop mode operation: In stop mode, the balance staff is stopped by continuous driving in the Y direction using contact friction braking, or by approaching it in the radial direction from the central axis (hereinafter referred to as the X direction for simplicity) using gas film and electrostatic braking. The stop is maintained by applying a low duty pulse while the balance staff is in close proximity. (c) Autonomous switching operation by power saving manager: Battery voltage and current consumption are monitored to autonomously switch between the ΔΣ / hopping / chirp calculation algorithms. The operation of the power saving manager is the same as in the first embodiment.

[0040] [Table 1]

[0041] (Non-contact brake mechanism operation and operation control) The stop mode operation of the integrated device will now be described in detail. When the stop mode is activated, the actuator is controlled by a command from the control unit to approach the balance wheel in the X direction, forming an extremely thin gas film between the actuator and the outer periphery of the balance wheel. Here, the gas is sheared as the balance wheel rotates back and forth, generating viscous resistance and dissipating energy (gas film viscous resistance). Furthermore, when a DC bias voltage is applied to the surface of the actuator in response to a command from the control unit, an electrostatic attractive force is generated, generating a force in the opposite direction to the vibration direction. These braking methods that utilize gas film viscous resistance and electrostatic attraction do not involve mechanical contact and therefore do not cause wear, and the braking torque can be continuously varied by controlling the gap amount and voltage. When the amplitude attenuates below the threshold, a command from the control unit is sent to move the actuator in a direction that widens the gap with the outer periphery of the balance wheel, release the brake, and hold the actuator in place with a low duty pulse.

[0042] With the above-described configuration, the rate is adjusted using statistical probability control pulses applied by an actuator to the speed-regulating mechanism of a mechanical timepiece, and the same actuator also realizes a function of hacking. [Example]

[0043] (Uses an actuator that uses elastic wire as a component) FIG. 7 is a conceptual diagram showing the state in which the statistical drive rate control and electronic hack integrated device of this embodiment is incorporated into the main body of a mechanical watch.

[0044] This integrated device is configured as a system in which a mechanical watch body 7001 having a balance oscillator 7002, which is a conventional vibration mechanism consisting of a balance wheel, hairspring, bridge, balance cock, etc., is added with a sensor 7003 built into the mechanical watch body, an actuator 7004 arranged opposite the balance wheel 7005, a control unit 7006, a communication unit 7007, an external reference oscillator 7008, a power supply block 7009, and a crown mechanism 7010 for hack control. The control unit 7006 is electrically connected to the other components, receives detection signals, transmits control signals, and controls the supply of power. The components of the integrated device except for the actuator 7004 are the same as those in the first embodiment.

[0045] (actuator) 8 is a schematic diagram of the fixed arrangement of the actuator. Actuator 7004 is composed of a piezoelectric stack 8001 and a contact 8002, which is an arc-shaped elastic wire. The outer arc surface of contact 8002 faces the outer periphery of balance wheel 7005 and is set so as to abut with a slight preload, and is fixed to bridge 8003 on the piezoelectric stack 8001 side.

[0046] FIG. 9 is a diagram showing the details of the configuration and fixing arrangement of the actuator. The actuator 7004 is provided so that the outer arc surface of its contact 8002 faces the balance wheel 7005 and abuts against it with a slight preload. Piezoelectric stack 8001 has its displacement axis set in the Y direction (tangential direction to the outer periphery of the balance wheel) indicated by arrow 9001, and when a ± voltage is applied, it obtains ± vibration displacement in the Y direction. At this time, contactor 8002 injects the displacement of the piezoelectric stack directly into the balance wheel as a torque pulse.

[0047] (Modification: Two elastic wire contacts in the positive and negative Y-axis directions) 10 is a diagram showing the details of the configuration and fixed arrangement of the actuator according to the modified example. The same parts as those explained above will be omitted and the description will focus on the features of the modified example.

[0048] The actuator 7004 is composed of a piezoelectric stack 10001 and a contact 10002 with two elastic wires in the positive and negative Y-axis directions. The outer arc surface of the contact 10002 faces the outer periphery of the balance wheel 7005 and is set so as to abut with a slight preload, and is fixed to the bridge on the piezoelectric stack 8001 side.

[0049] Piezoelectric stack 10001 has a displacement axis set in the Y direction (tangential direction to the outer periphery of the balance wheel) indicated by arrow 10003, and when a ± voltage is applied, it obtains ± vibration displacement in the Y direction. At this time, contactor 10002 injects the displacement of the piezoelectric stack directly into the balance wheel as a torque pulse. Since there are two contacts, one in the positive and one in the negative direction of the Y axis, one of the protrusions can come into contact with the outer periphery of the balance wheel, making it possible to inject an external force pulse into both the positive and negative half-cycle phases of the balance wheel. [Example]

[0050] (Actuators placed on both shoulders of the balance staff) FIG. 11 is an image diagram showing the state in which the integrated device of this embodiment is incorporated into the main body of a mechanical watch. This integrated device is configured as a system in which a mechanical watch body 11001 having a balance oscillator 11002, which is a conventional vibration mechanism consisting of a balance wheel, hairspring, bridge, balance cock, etc., is supplemented with a sensor 11003 built into the mechanical watch body, actuators 11004 and 11005 arranged opposite each shoulder of a balance staff 11006, a control unit 11007, a communication unit 11008, an external reference oscillator 11009, a power supply block 11010, and a crown mechanism 11011 for hack control. The control unit 11007 is electrically connected to the other components, receives detection signals, transmits control signals, and controls the supply of power. The components of the integrated device, except for the actuators 11004 and 11005 and the control unit 11007, are the same as those in the first embodiment.

[0051] (actuator) The actuators 11004 and 11005 are composed of piezoelectric elements with at least one piezoelectric laminate stack, in which piezoelectric layers and metal layers are alternately stacked, and are arranged 180 degrees opposite each other on both shoulders of the balancing staff, sandwiching the shoulders, and are arranged so that they can be displaced in the tangential direction (Y direction) of the outer periphery of the balancing staff. The actuator operates under the control of the control unit 11007, for example, by applying a pulse external force to the balance wheel in accordance with a plurality of operation modes to be described later. Here, a piezoelectric element is used as the actuator, but the actuators that can be used in the present invention are not limited to this, and magnetostrictive elements, electrostatic actuators, shape memory alloy actuators, electromagnetic coils, micromachine actuators, etc. can also be used as appropriate.

[0052] FIG. 12 is a diagram showing the details of the configuration and fixing arrangement of the actuator. The two actuators are fixedly positioned on the hole stone 12001 at 180 degrees opposite each other, sandwiching both shoulders of the balance staff. The actuators 11004 and 11005 are set in a position where they abut against the shoulder of the balance staff 11006 with a slight preload, with the actuators 11004 and 11005 displacing in the Y direction with respect to the contact points with the balance staff indicated by arrows 12002 and 12003.

[0053] (Control unit) As the control unit 11007 in this embodiment, a microcontroller unit (hereinafter referred to as MCU) is adopted. The operation of each operating mode and power saving manager shown here is realized by the MCU executing a control program such as pre-installed firmware, and by cooperating with the various devices that constitute the integrated apparatus.

[0054] A control unit is provided to control the following operations of the actuator: (a) Statistical control mode operation: An application probability P(t) is generated from the phase difference Δφ with the external reference oscillator, and for piezoelectric elements 11004 and 11005, which are arranged opposite each other at 180 degrees, a + pulse is applied to piezoelectric element 11004 and a - pulse is applied to piezoelectric element 11005 in a 0 degree ±Δθ window of an even half cycle, and a - pulse is applied to piezoelectric element 11004 and a + pulse is applied to piezoelectric element 11005 in a 180 degree ±Δθ window, each with probability P(t), to keep the average external force at zero. Here, the statistical control mode operation of this embodiment is not limited to the above method, and a method of selectively or cooperatively controlling at least one of a first configuration in which a single actuator, either piezoelectric element 11004 or 11005, is driven, and a second configuration in which two actuators arranged 180 degrees opposite each other and composed of both piezoelectric elements 11004 and 11005 are cooperatively driven, can be appropriately adopted.

[0055] (b) Stop mode operation: In stop mode, continuous drive in the Y direction is performed with contact friction braking. (c) Autonomous switching operation by power saving manager: Battery voltage and current consumption are monitored to autonomously switch between the ΔΣ / hopping / chirp calculation algorithms.

[0056] The operation of the power saving manager is the same as in the first embodiment.

[0057] With the above-described configuration, the rate is adjusted using statistical probability control pulses applied by an actuator to the speed-regulating mechanism of a mechanical timepiece, and the same actuator also realizes a function of hacking. [Example]

[0058] (Actuator featuring cross-axis coupling) FIG. 13 is an image diagram showing the state in which the integrated device of this embodiment is incorporated into the main body of a mechanical watch. This integrated device is configured as a system in which a mechanical watch body 13001 having a balance oscillator 13002, which is a conventional vibration mechanism consisting of a balance wheel, hairspring, bridge, balance cock, etc., is added with a sensor 13003 built into the mechanical watch body, actuators 13004 and 13005 arranged in cross-axis coupling on both shoulders of a balance staff 13006, a control unit 13007, a communication unit 13008, an external reference oscillator 13009, a power supply block 13010, and a crown mechanism 13011 for hack control. The control unit 13007 is electrically connected to other components, receives detection signals, transmits control signals, and controls the supply of power. The components of the integrated device, except for the actuators 13004 and 13005 and the control unit 13007, are the same as those in the first embodiment.

[0059] (actuator) The actuators 13004 and 13005 are constructed from at least one piezoelectric element with a piezoelectric laminate stack, where the stack is made up of alternating piezoelectric and metal layers and is arranged in cross-axis coupling with both shoulders of the balancing staff, sandwiching the shoulders. The actuator operates under the control of the control unit 13007 in accordance with one of the plurality of operation modes described in the first embodiment, such as applying a pulsed external force to the balancing staff.

[0060] Here, a piezoelectric element is used as the actuator, but the actuators that can be used in the present invention are not limited to this, and magnetostrictive elements, electrostatic actuators, shape memory alloy actuators, electromagnetic coils, micromachine actuators, etc. can also be used as appropriate.

[0061] FIG. 14 is a diagram showing the details of the configuration and fixing arrangement of the actuator. The two actuators are fixed to the holed stone 14001 so as to sandwich both shoulders of the balance staff, and the displacement axis of the actuators is set at an inclination angle α (0°<α<90°) with respect to the XY plane, which is the rotation plane of the balance wheel, and is positioned so that it abuts the shoulder of the balance staff 13006 with a slight preload. At the contact points with the balance staff, actuators 13004 and 13005 are displaced in the directions of their respective displacement axes 14002 and 14003 to apply a pulse external force.

[0062] (torque injection via cross-axis coupling) In this embodiment, "cross-axis coupling" refers to a phenomenon in which the displacement axis of the actuator and the rotation axis of the vibrator (balance wheel) are arranged in a non-orthogonal relationship, and the displacement is transmitted as a tangential torque via an off-diagonal term in the mechanical compliance matrix. Here, if the direction of the balance wheel's rotation axis is defined as the Z direction, the actuator is fixed at an inclination angle α (0°<α<90°) with respect to the XY plane, which is the rotation plane of the balance wheel. When the actuator is displaced in the Z direction as the Z component of the stroke along the displacement axis, part of it is projected in the tangential direction, applying a ±torque in the direction of rotation of the balance wheel.

[0063] If the inclination angle α is too small, torque efficiency decreases, and if α is too large, the radial component force increases, causing increased wear. Simulation and measurement results showed that a range of 30°≦α≦60° provided a good balance between the reduction in Q factor under static drive and torque efficiency.

[0064] (Application to statistical control mode) Cross-axis coupling is applied in the (a) statistical control mode by the control unit 13007 as follows. In statistical control mode, + / - symmetric pulses are applied to the tilt axis to keep the average external force at zero. By using cross-axis coupling, the tangential torque component is amplified even at the same voltage, allowing the pulse width to be shortened, contributing to power savings.

[0065] (Stop mode application) In stop mode, by continuously driving the same tilt axis, the tangential and radial components synergistically damp the amplitude, ensuring highly efficient braking torque. In particular, when combined with a non-contact brake (gas film + electrostatic braking), complete stopping with zero wear is possible. [Example]

[0066] (Actuators arranged in mutually orthogonal X and Y directions) FIG. 15 is an image diagram showing the state in which the integrated device of this embodiment is incorporated into the main body of a mechanical watch. This integrated device is configured as a system in which a mechanical watch body 15001 having a balance oscillator 15002, which is a conventional vibration mechanism consisting of a balance wheel, hairspring, bridge, balance cock, etc., is added with a sensor 15003 built into the mechanical watch body, actuators 15004 and 15005 arranged in XY directions perpendicular to each other around a balance staff 15006, a control unit 15007, a communication unit 15008, an external reference oscillator 15009, a power supply block 15010, and a crown mechanism 15011 for hack control. The control unit 15007 is electrically connected to other components, receives detection signals, transmits control signals, and controls the supply of power. The components of the integrated device, except for the actuators 15004 and 15005 and the control unit 15007, are the same as those in the first embodiment.

[0067] (actuator) The actuators 15004 and 15005 are composed of at least one piezoelectric element having a piezoelectric laminate stack, in which piezoelectric layers and metal layers are alternately laminated, and are arranged and fixed in mutually orthogonal X and Y directions around the balance staff. The actuator operates under the control of the control unit 15007 in accordance with one of the plurality of operation modes described in the first embodiment, such as applying a pulsed external force to the balancing staff.

[0068] Here, a piezoelectric element is used as the actuator, but the actuators that can be used in the present invention are not limited to this, and magnetostrictive elements, electrostatic actuators, shape memory alloy actuators, electromagnetic coils, micromachine actuators, etc. can also be used as appropriate.

[0069] FIG. 16 is a diagram showing the details of the configuration and fixing arrangement of the actuator. Two actuators are fixed to a hole stone 16001 in X and Y directions that are orthogonal to each other, with the balance staff at the center. The X and Y directions are as shown by a compass 16002 in a bird's-eye view. The actuator displacement axis is set at an angle to the rotation plane of the balance wheel and is positioned so that it abuts against the shoulder of the balance staff 15006 with a slight preload in the X and Y directions that are orthogonal to each other. At the contact points with the balance staff, actuators 15004 and 15005 are displaced in the directions of their respective displacement axes to apply a pulse external force. [Example]

[0070] (Features an actuator that includes a tilt block) FIG. 17 is an image diagram showing the state in which the integrated device of this embodiment is incorporated into the main body of a mechanical watch. This integrated device is configured as a system in which a mechanical watch body 17001 having a balance oscillator 17002, which is a conventional vibration mechanism consisting of a balance wheel, hairspring, bridge, balance cock, etc., is added with a sensor 17003 built into the mechanical watch body, an actuator unit 17004 arranged on the movement base plate 17005, a control unit 17006, a communication unit 17007, an external reference oscillator 17008, a power supply block 17009, and a crown mechanism for hack control 17010. The components of the integrated device except for the actuator unit 17004 are the same as those in the first embodiment.

[0071] FIG. 18 is a diagram showing the details of the configuration of the actuator unit and its placement in the movement. The actuator unit 17004 is composed of a triangular prism block 18001, a first piezoelectric element 18004 fixed to a first side surface 18003 that sandwiches the dihedral angle 18002 of the triangular prism block, and a second piezoelectric element 18006 fixed to a second side surface 18005 that sandwiches the dihedral angle of the triangular prism block. The side of triangular prism block 18001 facing dihedral angle 18002 (hereinafter referred to as the bottom surface of the block) is fixed to movement base plate 17005. Each piezoelectric element is set so that its fixed side displaces along the inclined surface that forms with respect to the movement. Here, a piezoelectric element is used as a component of the actuator unit, but the components of the actuator unit that can be used in the present invention are not limited to this, and magnetostrictive elements, electrostatic actuators, shape memory alloy actuators, electromagnetic coils, micromachine actuators, etc. can also be used as appropriate.

[0072] The actuator operates under the control of the control unit 17006 in accordance with one of the plurality of operation modes described in the first embodiment, such as applying a pulsed external force to the balancing staff. Here, first and second piezo elements 18004, 18006 are embedded in a triangular prism block 18001 (for example, a 100% infill made of PETG can be used), and the bottom surface of the block is fixed to the movement base plate 17005 to obtain an inclination of α=45°. [Example]

[0073] FIG. 19 is an image diagram showing the state in which the integrated device of this embodiment is incorporated into the main body of a mechanical watch. This integrated device is configured as a system in which a mechanical watch body 19001 having a balance oscillator 19002, which is a conventional vibration mechanism consisting of a balance wheel, hairspring, bridge, balance cock, etc., is supplemented with a sensor 19003 built into the mechanical watch body, an actuator unit 19004 having a ring-shaped structure in which a piezoelectric ceramic layer is sintered integrally onto the outer periphery of a jewel that passes through a balance shaft 19005, a control unit 19006, a communication unit 19007, an external reference oscillator 19008, a power supply block 19009, and a crown mechanism for hack control 19010. The components of the integrated device except for the actuator unit 19004 are the same as those in the first embodiment.

[0074] FIG. 20 is a diagram showing the details of the configuration of the actuator unit and its placement in the movement. The actuator unit 19004 is composed of two actuators 20001 and 20002 with integrated bearing stones. The main body 20003 of the jewel (hole jewel and jewels) is formed from single-crystal sapphire, and a ring-shaped piezoelectric ceramic layer 20004 with a thickness of 50 to 80 micrometers is co-sintered around its outer ring. Electrodes are formed on the top and bottom surfaces, allowing the ring to be driven in Z-axis thickness mode. Two jewel-integrated actuators are positioned radially opposite each other across the balance shaft 19005, and are excited in opposite phases by the control unit 19006, causing the ±Z-axis expansion and contraction of the ring to be converted into ±radial displacement of the hole center, applying torque to the balance. The external forces and moments generated by the two actuators are constantly canceled out, preventing vibration of the case or baseplate.

[0075] FIG. 21 is a cross-sectional view showing the configuration of the actuator unit. 21002 is a cross-sectional view taken along the cutting line AA' in the plan view 21001 of the actuator unit. The two jewel-integrated actuators 20001 and 20002 are composed of a single crystal sapphire layer 20003 of the jewel body and a ring-shaped piezoelectric ceramic layer 20004 .

[0076] For example, the actuator unit 19004 is configured by attaching a piezoelectric ring (piezoelectric constant d31 ≧ 200×10 ―12 The diameter of the hole through which the balance shaft passes is φ0.11 mm, and is kept to the size of the watch it will be installed in. Assuming the ring width w = 0.08 mm and the inner diameter r = 0.07 mm, the center of the hole will be displaced laterally by approximately ±0.035 micrometers when driven at 1 V. These actuator operations are applied by the control unit 19006 to operations such as applying a pulsed external force to the balance staff in accordance with one of the plurality of operation modes described in the first embodiment.

[0077] By providing the above-described integrated device for statistically driven rate control and electronic hack, the convenience and reliability of mechanical watches can be greatly improved, while at the same time achieving one or more of the following effects: (a) The configuration is simplified because both rate correction and stop control can be achieved with a single stack. (b) The non-contact brake enables quiet and variable braking with zero wear. (c) Because the average external force of statistically driven rate control is zero, the reduction in balance Q value is negligible. (d) This integrated device can be easily retrofitted to commercially available movements with minimal impact on appearance. It is possible to improve the accuracy of existing mechanical watches to a level comparable to that of quartz watches without removing the balance or escapement. [Industrial Applicability]

[0078] The device of the present invention can be applied to all mechanical timepieces that require long-term rate stability, such as marine chronometers for ships and mechanical clocks, in addition to high-end mechanical wristwatches. [Explanation of symbols]

[0079] 1001 Mechanical watch body 1002 balance oscillator 1003 Sensor 1004 Actuator 1005 Balance Wheel 1006 control section 1007 Communications Department 1008 External Reference Oscillator 1009 Power Block 1010 Hack control crown mechanism

Claims

1. In a rate control device for a mechanical timepiece, a) at least one actuator arranged opposite to the vibrator or in X and Y directions perpendicular to each other; b) a detection means for detecting the phase of the oscillator; c) a control circuit which selectively executes a statistical control mode in which a pulse application probability function is generated based on the phase difference between the output of the detection means and an external reference oscillator, and left and right symmetrical pulses are applied in an even half-cycle phase window based on the application probability function to make the average external force zero, and a stop mode in which the actuator is continuously or intermittently driven by an external command to apply a brake torque and stop the vibrator; A rate control device comprising:

2. 2. A rate control device according to claim 1, wherein the actuator is the only one, and in the statistical control mode, symmetrical pulses are applied to correct the rate, and in the stop mode, the actuator is driven continuously or intermittently to apply a brake torque and stop the oscillator.

3. 2. A rate control device according to claim 1, wherein said actuators are two piezoelectric actuators arranged 180 degrees apart and facing each other so as to sandwich the shoulder of the balance staff.

4. 4. A rate control device according to claim 3, wherein the piezoelectric actuators operate in the same direction, or in mutually orthogonal X and Y directions when the direction of the balance staff is Z.

5. 4. A rate control device according to claim 3, wherein said piezoelectric actuators are two piezoelectric actuators incorporated in the jewel.

6. 2. The apparatus of claim 1, wherein said actuator comprises a laminated piezoelectric stack of radially or tangentially displaceable piezoelectric and metallic layers.

7. 2. The rate control device according to claim 1, wherein the actuator is at least one selected from the group consisting of a piezoelectric element, a magnetic actuator, an electrostatic actuator, and an acoustic actuator.

8. 2. The rate control device according to claim 1, wherein the applied probability function is 1-bit quantized by delta-sigma modulation.

9. 2. The rate control device according to claim 1, wherein said control circuit autonomously switches between a plurality of control algorithms based on a current consumption index.

10. 2. A rate control device according to claim 1, further comprising a wireless communication module, capable of automatic rate correction based on an external time signal and receiving a remote stop command.

11. 2. A rate control device according to claim 1, further comprising an electronic hack function for activating said stop mode by means of conductive contacts which are opened and closed by operating the crown.

12. 2. A rate control device according to claim 1, wherein the rate control device selectively controls one of a first configuration for driving a single actuator and a second configuration for cooperatively driving two actuators arranged 180 degrees apart.

13. 2. A rate control device according to claim 1, wherein, when a pulse is applied in the statistical control mode, the displacement axis of the actuator is arranged at an inclination angle α (0°<α<90°) with respect to the plane of rotation of the oscillator, and a tangential torque is applied to the oscillator through cross-axis coupling due to said inclination arrangement.

14. 14. A rate control device according to claim 13, wherein the inclination angle α is between 30° and 60°.

15. 14. A rate control device according to claim 13, wherein the actuator is fixed to a block having a dihedral angle, and the surfaces of the block sandwiching the dihedral angle are fixed at the inclination angle α with respect to the oscillator rotation plane, thereby defining the displacement axis of the actuator at the inclination angle α.

16. 14. A rate control device according to claim 13, wherein said actuator is continuously driven in said stop mode, and the oscillator amplitude is attenuated by simultaneously utilizing the tangential torque and the radial component due to cross-axis coupling.

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