Vibration generation device, tactile sensation imparting device, and seat system

Abstract

The present invention provides: a vibration generation device which is capable of generating vibrations in a direction perpendicular to a surface in which vibrations are to generated, with a vibrating body that vibrates in a direction along the surface in which vibrations are to be generated; a tactile sensation imparting device; and a seat system.　The vibration generation device comprises: a housing; a vibrating body that is housed in the housing and that is configured from a permanent magnet or an electromagnetic coil; an elastic support part that elastically supports the vibrating body; a driving part that is provided to the housing and that is configured from an electromagnetic coil which is capable of generating a force for magnetically attracting, in a first direction, the vibrating body configured from the permanent magnet, or that is configured from a permanent magnet which is capable of generating a force for magnetically attracting, in the first direction, the vibrating body configured from the electromagnetic coil; and a weight that is provided to a portion of the housing which is positioned on a side toward a second direction intersecting the first direction.

Description

Vibration generator, tactile presentation device, and seat system

[0001] The present disclosure relates to a vibration generating device, a tactile presentation device, and a seat system.

[0002] Conventionally, there has been a vibration motor that includes a housing, a substrate, a coil, a vibrating body, a first elastic member, and a second elastic member. When current is applied to the coil while the displacement of the vibrating body is zero, the vibrating body vibrates in the lateral direction (one of two orthogonal axes (X direction) in a plan view) due to the interaction between the magnetic field generated by the coil and the magnetic field of the magnet in the vibrating body (see, for example, Patent Document 1).

[0003] JP 2018-118231 A

[0004] Incidentally, when a vibration generator is placed in a part with a limited thickness to generate vibrations on the surface of the part, it may be easier to place a vibration generator whose vibrator vibrates in a direction parallel to the surface of the part, such as the seat or back of a seat.

[0005] However, vibration generators that vibrate in a direction parallel to the surface of the part in question transmit weak vibrations to the surface of the part in question, and do not achieve sufficient vibration strength. This problem becomes more pronounced when the part in question is a flexible part. Flexible parts include, for example, urethane sheets or sponges provided inside the seat or backrest of a seat.

[0006] Therefore, the object is to provide a vibration generating device, a tactile presentation device, and a seat system in which a vibrating body vibrates in a direction along the surface that generates the vibrations and can generate vibrations in a direction perpendicular to the surface that generates the vibrations.

[0007] A vibration generating device according to an embodiment of the present disclosure includes a housing, a vibrating body housed in the housing and composed of a permanent magnet or an electromagnetic coil, an elastic support part that elastically supports the vibrating body, a driving part provided in the housing and composed of an electromagnetic coil capable of generating a force that magnetically attracts the vibrating body composed of the permanent magnet in a first direction, or composed of a permanent magnet that can generate a force that magnetically attracts the vibrating body composed of the electromagnetic coil in the first direction, and a weight provided in a part of the housing that is located on a second direction side that intersects the first direction.

[0008] A tactile presentation device according to an embodiment of the present disclosure includes a housing, a vibrating body housed in the housing and composed of a permanent magnet or an electromagnetic coil, an elastic support section that elastically supports the vibrating body, a drive section provided in the housing and composed of an electromagnetic coil capable of generating a force that magnetically attracts the vibrating body composed of the permanent magnet in a first direction, or composed of a permanent magnet that can generate a force that magnetically attracts the vibrating body composed of the electromagnetic coil in the first direction, a weight provided in a portion of the housing that is located on a second direction side that intersects with the first direction, and a control section that controls the drive of the electromagnetic coil.

[0009] A seat system according to an embodiment of the present disclosure is a seat system including a seat having a seat portion and a backrest portion, and a tactile presentation device, wherein the tactile presentation device includes a housing provided in a flexible portion of the seat portion or the backrest portion of the seat, a vibrating body housed in the housing and composed of a permanent magnet or an electromagnetic coil, an elastic support portion that elastically supports the vibrating body, a drive unit provided in the housing and composed of an electromagnetic coil capable of generating a force that magnetically attracts the vibrating body composed of the permanent magnet in a first direction, or composed of a permanent magnet that can generate a force that magnetically attracts the vibrating body composed of the electromagnetic coil in the first direction, a weight provided in a portion of the housing located on a second direction side that intersects with the first direction, and a control unit that controls the drive of the electromagnetic coil.

[0010] It is possible to provide a vibration generating device, a tactile presentation device, and a seat system in which a vibrating body vibrates in a direction along the surface that generates the vibrations and can generate vibrations in a direction perpendicular to the surface that generates the vibrations.

[0011] 1 is a diagram showing an example of the configuration of a vehicle interior; FIG. 2 is a diagram showing an example of the configuration of a tactile presentation device of an embodiment; FIG. 3 is a diagram showing an example of the configuration of a cross section of the seat taken along the line A-A of FIG. 1; FIG. 4 is a diagram showing an example of the configuration of an actuator of an embodiment; FIG. 5 is a diagram explaining the torque that rotates the actuator of an embodiment; FIG. 6 is a diagram showing an example of the configuration of an actuator of a modified embodiment; FIG. 7 is a diagram showing an example of a simulation result; FIG. 8 is a diagram showing an example of an actual measurement result; FIG. 9 is a diagram showing an example of a simulation model used to obtain simulation results of sound pressure distribution; FIG. 10 is a diagram showing an example of a simulation result; FIG. 11 is a diagram showing an example of a simulation result; FIG. 12 is a diagram showing an example of a simulation result; FIG. 13 is a diagram showing an example of a simulation result; FIG. 14 is a diagram showing an example of a length L in the X direction of a weight of an actuator of an embodiment and a depth d from the surface of a seat portion; FIG. 15 is a diagram showing a schematic example of a Z direction component of vibration when the depth d is deep; FIG. 16 is a diagram showing a schematic example of a Z direction component of vibration when the depth d is shallow.

[0012] Hereinafter, embodiments to which the vibration generating device, tactile presentation device, and seat system of the present disclosure are applied will be described.

[0013] 1 is a diagram showing an example of the configuration of the interior of a vehicle 10. A seat 11 is arranged in the interior of the vehicle 10. The seat 11 has a backrest portion (seat back) 11A, a seat portion (seat cushion) 11B, a headrest 11C, and a seat fabric 11D. The backrest portion 11A, the seat portion 11B, and the headrest 11C are covered with the seat fabric 11D.

[0014] In this embodiment, an example of an object (hereinafter simply referred to as "object") to which the tactile presentation device 100 (described later) is attached is a seat 11, and an example will be described in which the seat 11 is a driver's seat. Therefore, in the following, the user of the seat 11 is the driver. However, the seat 11 may be any seat provided in the vehicle 10, such as a passenger seat or a rear seat. The seat 11 may also be provided in an object other than the vehicle 10. Furthermore, the example of the object is not limited to the seat 11, but may be any object that is used in contact with at least a part of the user's body and transmits vibrations of the object generated by the tactile presentation device 100 to at least a part of the body. For example, the object may be a wearable device (e.g., a wristband type, a belt type, a wearable suit type, etc.), a device to assist persons with hearing impairments or visual impairments, or a device such as a power-assisted suit for work assistance. While an example in which the object is the seat 11 will be described below, the content described regarding the seat 11 also applies to cases in which the object is other than the seat 11.

[0015] A vehicle 10 is equipped with a seat system 200 according to this embodiment. The seat system 200 includes a seat 11 and a tactile presentation device 100. The tactile presentation device 100 includes an actuator 110 and a control device 120. The actuator 110 is an example of a vibration generating device. In FIG. 1 , the actuator 110 is indicated by a dashed line.

[0016] The tactile presentation device 100 is a device that presents a tactile sensation to a user sitting in the seat 11 by driving and vibrating an actuator 110 provided in the seat 11. By presenting the tactile sensation, for example, information about the vehicle 10 is notified to the user.

[0017] As an example, the seat portion 11B incorporates one actuator 110. As an example, the actuator 110 is disposed inside a cushion member provided on the back side of the seat fabric 11D of the seat portion 11B. The location where the actuator 110 is disposed and the surrounding environment will be described later with reference to FIG. 3.

[0018] The control device 120 is disposed on the rear side of the dashboard, for example. The following description will be made with reference to FIG. 2 in addition to FIG.

[0019] Fig. 2 is a diagram showing an example of the configuration of the tactile presentation device 100. Fig. 2 shows an ECU (Electronic Control Unit) 12 in addition to the tactile presentation device 100. The ECU 12 is, as an example, an ECU that controls a navigation system of the vehicle 10. Note that, although a configuration in which the ECU 12 is an ECU that controls the navigation system will be described here, the ECU 12 may be an ECU other than an ECU that controls the navigation system. Furthermore, the control device 120 may be included in the ECU 12.

[0020] The actuator 110 is connected to the control device 120 via a communication cable 110A, and the control device 120 is connected to the ECU 12 via a communication cable 12A. The drive control of the actuator 110 is performed by the control device 120.

[0021] The communication cables 110A and 12A are, for example, communication cables conforming to standards such as CAN (Controller Area Network). Note that the communication between the actuator 110 and the ECU 12 and the control device 120 is not limited to wired communication via the communication cables 110A and 12A, and some or all of the communication may be wireless communication.

[0022] The control device 120 has a control unit 121 and a memory 122. The control device 120 is realized by a computer including a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), an input / output interface, an internal bus, etc. The control unit 121 represents the functions of a program executed by the control device 120 as functional blocks. The memory 122 is a functional representation of the memory of the control device 120.

[0023] When the control unit 121 is notified of an event by the ECU 12, it reads out a vibration pattern corresponding to the type of event from the memory 122 and outputs a drive signal of the read vibration pattern to the actuator 110. As a result, the actuator 110 is driven with a vibration pattern corresponding to the type of event that has occurred. The memory 122 stores programs, data, etc. that the control unit 121 uses to drive the actuator 110. The memory 122 stores data (see FIG. 10 described later) that represents a vibration pattern corresponding to the type of event.

[0024] <Environment in which the actuator 110 is arranged> The following description will be made using Fig. 3 in addition to Fig. 1 and Fig. 2. Fig. 3 is a diagram showing an example of the cross-sectional configuration of the seat 11 taken along the line A-A in Fig. 1. Fig. 3 shows the frame 11F of the seat 11 below the seat portion 11B.

[0025] In the following description, the XYZ coordinate system is defined. The X axis is an example of the first axis, the Y axis is an example of the second axis, and the Z axis is an example of the third axis. The direction parallel to the X axis (X direction), the direction parallel to the Y axis (Y direction), and the direction parallel to the Z axis (Z direction) are perpendicular to each other. In the following description, the Z direction is the vertical direction, the +Z direction may be referred to as upward, and the −Z direction may be referred to as downward. In addition, a planar view refers to a view from the XY plane. The XY plane is parallel to the horizontal plane. In the following description, the length, width, thickness, etc. of each part may be exaggerated to make the configuration easier to understand.

[0026] 3, the actuator 110 is provided inside a cushion member 11E disposed on the back side of the seat fabric 11D of the seat portion 11B. The cushion member 11E is an example of a flexible portion, and one example is urethane foam.

[0027] Here, as an example, we will explain a configuration in which the actuator 110 is arranged inside the cushion member 11E of the seat portion 11B, but the actuator 110 may also be arranged inside the cushion member 11E provided on the back side of the seat fabric 11D of the backrest portion 11A.

[0028] The actuator 110 is located below the surface 11B1 of the seat 11B and is provided at approximately the center of the thickness of the cushion member 11E in the Z direction. In other words, the actuator 110 is embedded in the center of the thickness of the cushion member 11E of the seat 11B. When a user sits on the seat 11B, both the upper and lower portions of the cushion member 11E above the actuator 110 deform, so that the user is not aware of the presence of a hard object inside the cushion member 11E.

[0029] The position where the actuator 110 is provided on the cushion member 11E in a plan view is approximately the center of the seat portion 11B in a plan view. When a user is not seated on the seat 11, the surface 11B1 of the seat portion 11B is, for example, approximately parallel to a horizontal plane.

[0030] The actuator 110 is driven by a drive signal output from a control device 120 (see FIG. 2) to generate vibrations. Driving the actuator 110 causes the seat 11, which is an object, to vibrate.

[0031] The tactile presentation device 100 vibrates the actuator 110 and transmits the vibrations to the user seated on the seat 11, thereby presenting a tactile sensation to the user. Note that, although a configuration in which the actuator 110 is provided in the seat portion 11B will be described here, the same applies if the actuator 110 is provided inside the cushion member 11E of the backrest portion 11A.

[0032] <Vibration Direction of the Vibrating Body of the Actuator 110> Generally, to generate vibrations of a certain magnitude on the surface of an object, it is preferable to vibrate the vibrating body perpendicular to the surface. However, the thickness of the cushion member 11E of the seat portion 11B of the seat 11 in the Z direction is limited, and it is difficult to vibrate the vibrating body in the Z direction inside the cushion member 11E. This is because it is difficult to ensure a sufficient stroke of the vibrating body in the Z direction.

[0033] Under these constraints, as an example, the actuator 110 vibrates the vibrating body in the X direction. That is, by vibrating in the X direction, the vibrating body of the actuator 110 generates vibrations on the surface 11B1 of the seat portion 11B, which is substantially parallel to the XY plane.

[0034] Furthermore, since the actuator 110 is embedded in the cushion member 11E, which has a low vibration transmission efficiency, some ingenuity is required to transmit vibrations of a certain strength to the surface 11B1 of the seat portion 11B.

[0035] From this perspective, the actuator 110 employs a configuration that vibrates the vibrating body in the X direction while also being capable of generating vibrations having a Z-direction component. More specifically, the actuator 110 realizes vibrations having a Z-direction component by generating vibrations that involve rotation in the entire actuator 110 like a cradle due to the vibration of the vibrating body in the X direction. The configuration and operation of the actuator 110 will be described in detail below.

[0036] <Details of Configuration and Operation of Actuator 110> Fig. 4A is a diagram showing an example of the configuration of the actuator 110. The actuator 110 has a housing 111, a vibrating body 112, a spring 113, an electromagnetic coil 114, and a weight 115. The spring 113 is an example of an elastic support section that elastically supports the vibrating body 112. The electromagnetic coil 114 is an example of a drive section. Fig. 4A shows the center of gravity CG of the actuator 110 when the vibrating body 112 is in a stopped state.

[0037] <Housing 111> The housing 111 is, for example, a hollow box-shaped member and serves as a case for the actuator 110. For example, the housing 111 is rectangular parallelepiped-shaped and is composed of six walls and six outer surfaces. For example, the housing 111 can be formed from resin, metal, or the like. However, from the viewpoint of ensuring the strength described below, the housing 111 is preferably formed from a metal material. Because the Z-direction thickness of the cushion member 11E of the seat portion 11B is limited, the housing 111 is a thin plate-shaped case that is thin in the Z direction. Here, the housing 111 is described as a thin rectangular parallelepiped case as an example. However, the housing 111 only needs to be thin in the thickness direction (Z direction) of the cushion member 11E, and the overall shape of the housing 111 does not have to be rectangular.

[0038] Furthermore, the housing 111 is a part that functions as a vibration generating part when vibrations generated by the vibrating body 112 are transmitted to the housing 111 and the actuator 110 vibrates. The housing 111 is provided inside the cushion member 11E of the seat 11B, and a load is applied to the housing 111 in the Z direction when a user sits on it. Therefore, the housing 111 only needs to be able to function as a vibration generating part for the actuator 110 and to have enough strength to withstand the load.

[0039] <Vibration body 112> The vibration body 112 is disposed inside a thin plate-like housing 111 that is thin in the Z direction, and vibrates in the X direction. In addition, it is preferable that the length of the actuator 110 in the X direction, which is parallel to the vibration direction of the vibration body 112 in a plan view, is longer than the length in the Y direction, which is perpendicular to the vibration direction of the vibration body 112 in a plan view, in order to generate larger vibrations.

[0040] For this reason, the vibrating body 112 is composed of a permanent magnet whose longitudinal direction is in the vibration direction (X direction). The X direction in which the vibrating body 112 vibrates is an example of a first direction. Ends of springs 113, one on each of the ±X direction sides of the vibrating body 112, are fixed to both ends of the vibrating body 112 in the X direction. The vibrating body 112 vibrates back and forth in the X direction when electromagnetic coils 114, one on each of the ±X direction sides of the vibrating body 112, are driven. The actuator 110 including such a vibrating body 112 is a linear actuator in which the vibrating body 112 vibrates in the X direction, and may be either a resonant type or a non-resonant type.

[0041] Although the following describes an example in which the vibrating body 112 has a longitudinal direction in the vibration direction (X direction), the vibrating body 112 may have a shape that does not have a longitudinal direction in the vibration direction (X direction). For example, the vibrating body 112 may be square in plan view, and may have a configuration in which the longitudinal direction is in the Y direction and the lateral direction is in the X direction.

[0042] Also, as an example, a configuration will be described here in which the actuator 110 employs a moving magnet type configuration in which the vibrating body 112 is a permanent magnet and the electromagnetic coil 114 is fixed to the housing 111. The advantage of the moving magnet type actuator 110 is that it can produce larger vibrations than a moving coil type. However, the actuator 110 may employ a moving coil type configuration in which the vibrating body 112 is composed of an electromagnetic coil. This configuration will be described later together with the electromagnetic coil 114.

[0043] Also, here, as an example, a configuration of the actuator 110 will be described in which one electromagnetic coil 114 is provided on each of the ±X direction sides of the vibrating body 112. However, the actuator 110 may also be configured such that, for example, an electromagnetic coil is provided on the lower side, upper side, or side of the vibrating body 112 when it is in a stopped state, so that the vibrating body 112 vibrates in the X direction.

[0044] Furthermore, although a configuration in which the actuator 110 vibrates the vibrating body 1112 in the X direction under the constraints described above will be described here, the actuator 110 may also be configured to vibrate the vibrating body 112 in the Y direction. In this case, the longitudinal direction of the vibrating body 112 is the Y direction.

[0045] <Springs 113> The springs 113 are provided one on each of the ±X direction sides of the vibrating body 112. One end of each spring 113 is fixed to the end of the vibrating body 112 in the X direction, and the other end is fixed to the inner wall of the housing 111. The springs 113 are elastic members having elasticity that allows them to expand and contract in the X direction. It is sufficient for the springs 113 to be able to elastically support the vibrating body 112 with respect to the housing 111 while the vibrating body 112 is able to vibrate in the X direction. The springs 113 may be, for example, coil springs, leaf springs, or the like.

[0046] <Electromagnetic Coil 114> The electromagnetic coil 114 is wound when viewed in the YZ plane, and a spring 113 is passed through the center of the electromagnetic coil 114. The spring 113 is fixed to the inner wall of the housing 112 with the spring 113 passing through the center of the electromagnetic coil 114.

[0047] The electromagnetic coil 114 is connected to the control device 120 via a cable or the like. The electromagnetic coil 114 generates a magnetic field capable of magnetically attracting the vibrating body 112, which is made up of a permanent magnet, in the X direction by current control performed by the control unit 121. The control unit 121 periodically changes the polarity of the current flowing through the electromagnetic coil 114, causing a magnetic attraction force to act between the vibrating body 112, which is made up of a permanent magnet, and the electromagnetic coil 114, causing the vibrating body 112 to vibrate in the X direction.

[0048] When the actuator 110 is a moving coil type, the vibrating body 112 is an electromagnetic coil, and a permanent magnet is fixed to the housing 111 instead of the electromagnetic coil 114. In this case, the permanent magnet fixed to the housing 111 instead of the electromagnetic coil 114 is an example of a drive unit.

[0049] That is, when the actuator 110 is of a moving magnet type, the driving unit is an electromagnetic coil 114 that is provided on the housing 111 side, is capable of magnetically attracting the vibrating body 112 in the longitudinal direction, and is capable of generating a magnetic attraction force between the vibrating body 112 that is made up of a permanent magnet. When the actuator 110 is of a moving coil type, the driving unit is provided on the housing 111 side, is capable of magnetically attracting the vibrating body 112 in the longitudinal direction, and is configured of a permanent magnet that is capable of generating a magnetic attraction force between the vibrating body 112 that is made up of an electromagnetic coil.

[0050] <Weight 115> Weight 115 is provided, as an example, on the back surface (inner surface) of the wall portion on the upper surface of housing 111. Therefore, weight 115 is located, as an example, above vibrating body 112. In this case, the up-and-down direction (Z direction) is an example of a second direction that intersects with the vibration direction (X direction, an example of a first direction) of vibrating body 112. The back surface of the wall portion on the upper surface of housing 111 on which weight 115 is provided is an example of a part of housing 111 that is located on the second direction side.

[0051] The second direction is not limited to the up-down direction (Z direction) but may be the short-side direction (Y direction) of the vibrating body 112. The weight 115 may be provided on the back surface (inner surface) of the bottom wall or side wall of the housing 111. The weight 115 may also be provided on the surface of the top wall, bottom wall, or side wall of the housing 111. In this way, the weight 115 is provided on one surface of the wall of the housing 111.

[0052] With weight 115 fixed to housing 111, the center of gravity CG of actuator 110 is shifted from the center of actuator 110 and also from the center of gravity of vibrating body 112. The shifting of the center of gravity CG of actuator 110 from the center of actuator 110 means that the center of gravity CG of actuator 110 is eccentric.

[0053] The weight 115 is provided to decenter the center of gravity CG of the actuator 110, thereby causing a cradle-like vibration with rotation throughout the entire actuator 110 when the vibrating body 112 vibrates in the X direction. The center of gravity CG is the center of gravity of the entire actuator 110 when the vibrating body 112 is stationary.

[0054] Because the actuator 110 is provided inside the cushion member 11E, when the vibrating body 112 starts vibrating in the X direction, the cushion member 11E around the actuator 110 bends. Therefore, the center of gravity CG of the actuator 110 is at the position shown in Fig. 4A when the vibrating body 112 is at rest, but when the vibrating body 112 starts vibrating, it shifts from the position shown in Fig. 4A. Even when the vibrating body 112 is vibrating, the center of gravity CG of the actuator 110 is eccentric.

[0055] When the vibrating body 112 starts vibrating from a stopped state, the actuator 110 starts vibrating by causing an axis passing through the center of gravity CG in the Y direction at the position shown in Fig. 4A to become the axis along which a rotational moment is generated. Then, the actuator 110 repeatedly vibrates, including a rotational moment, while the center of gravity CG is displaced from the position shown in Fig. 4A and in a state where the center of gravity CG is eccentric. In Fig. 4A, the direction of the vibration including the rotational moment is indicated by a double-headed arrow.

[0056] Such vibrations include a Z-direction component. That is, even if there is a restriction such as cushion member 11E, which has a limited thickness in the Z direction and cannot vibrate vibrating body 112 in the Z direction, actuator 110 can generate vibrations that include a Z-direction component perpendicular to surface 11B1 of seat portion 11B. Actuator 110 oscillates as a whole, vibrating in the X direction while also vibrating in the Z direction.

[0057] Here, the center of gravity CG of the actuator 110 is also eccentric when the position of the center of gravity of the vibrating body 112 is shifted relative to the center of the housing 111, but by attaching the weight 115 to the housing 111, the center of gravity CG of the actuator 110 can be shifted more significantly relative to the center of the actuator 110. In other words, by using the weight 115, the rotational moment can be significantly increased, and sufficient vibration intensity can be obtained when presenting vibrations to a user seated on the seat 11B. In this way, by attaching the weight 115 to the housing 111, it is possible to generate a rotational moment at a level that can be used as the tactile presentation device 100.

[0058] Furthermore, it is considered that the heavier the weight 115, the greater the degree of eccentricity of the center of gravity CG of the actuator 110 when stopped, and the larger the Z-direction component of the vibration. For this reason, the heavier the weight 115, the better, and it is considered that a weight heavier than the vibrating body 112 will result in a larger Z-direction component of the vibration.

[0059] Furthermore, as an example, the weight 115 is provided on one surface of a wall portion of the housing 111 that is located in the thickness direction (Z direction) of the cushion member 11E (flexible portion). This can increase the Z direction component of the eccentricity of the center of gravity CG of the actuator 110. As a result, the Z direction component of the vibration of the actuator 110 increases, and a haptic sensation can be presented with a larger vibration.

[0060] Furthermore, when vibration is stopped, the center of gravity CG of weight 115 may be shifted from the center of gravity CG of vibrating body 112 in a direction horizontally away from the end of seat 11B having cushion member 11E. With this configuration, the Z-direction component of vibration is biased toward the center of seat 11B in a plan view, and more vibration is propagated toward the center of seat 11B in a plan view, making it easier for the vibration to be transmitted to the occupant.

[0061] 4A is separate from the housing 111, but the weight 115 may be a part of the housing 111 and may be formed by folding a part of the wall of the housing 111. For example, when the housing 111 is formed by bending a metal plate, the wall on the top side of the housing 111 may be made long and then folded to form the weight 115 shown in FIG. 4A. The weight 115 can be easily formed by folding.

[0062] Furthermore, the above-mentioned portion of the housing 111 may be made of a material having a higher specific gravity than the other portions of the housing 111. By making the portion of the housing 111 out of a material with a higher specific gravity, the weight 115 can be easily formed, and the weight 115 can also be made thin.

[0063] <Torque that Rotates Actuator 110> Fig. 4B is a diagram illustrating the torque that rotates the actuator 110. Here, we will explain the torque T that acts on the center of gravity CG of the actuator 110 when the vibration of the vibrating body 112 stops. Fig. 4B shows the center of gravity CG1 of the weight 115 and the center of gravity CG2 of the vibrating body 112.

[0064] The mass of the weight 115 is m １ , the mass of the vibrating body 112 is m ２ Furthermore, the distance between the center of gravity CG of the actuator 110 and the center of gravity CG1 of the weight 115 is set to l １ , the distance between the center of gravity CG of the actuator 110 and the center of gravity CG2 of the vibrating body 112 is l ２ Furthermore, the force generated at the center of gravity CG2 when the vibrating body 112 vibrates is denoted by F. Fig. 4B shows, as an example, a state in which the vibrating body 112 vibrates in the +X direction.

[0065] The torque T that rotates the actuator 110 is T=F×l ２ That is, the distance l between the center of gravity CG of the actuator 110 and the center of gravity CG2 of the vibrating body 112 is ２ The longer the distance, the greater the torque T.

[0066] Also, m １ ×l １ = m ２ ×l ２ The position of the center of gravity CG of the actuator 110 is determined by multiplying the distance l between the vibrating body 112 and the mass 115 by the mass m of the mass 115. １ and the mass m of the vibrating body 112 ２ To increase the torque T, the distance l ２ To do this, the mass m of the weight 115 should be increased. １ Just make it larger.

[0067] 4C is a diagram showing an example of the configuration of an actuator 110M according to a modification of the embodiment. In the actuator 110M shown in FIG. 4C, the weight 115 is provided on the surface of the wall portion on the upper surface side of the housing 111.

[0068] In actuator 110M, the length of weight 115 in the X direction is, for example, longer than the length of housing 111 in the X direction. In the X direction in which vibrating body 112 vibrates, weight 115 is longer than housing 111, which increases the degree of eccentricity of the center of gravity CG of actuator 110 when stopped, and increases the Z direction component of vibration. By providing weight 115 outside housing 111, the length of weight 115 in the X direction can be made longer than the length of housing 111 in the X direction.

[0069] Furthermore, in a plan view, the area of ​​weight 115 is, for example, larger than the area of ​​housing 111. By making the area of ​​weight 115 larger than the area of ​​housing 111, when vibrating body 112 vibrates, the area over which vibration propagates to cushion member 11E increases, and the vibration propagates to surface 11B1 of seat portion 11B intensifies. By providing weight 115 outside housing 111, the area of ​​weight 115 in a plan view can be made larger than the area of ​​housing 111 in a plan view.

[0070] Furthermore, for example, the area of ​​weight 115 is larger than the area of ​​housing 111 in a plan view, and weight 115 is disposed so as to enclose housing 111 in a plan view. Enclosing weight 115 within housing 111 in a plan view means that the outer edge of weight 115 is located outside the outer edge of housing 111 in a plan view. When weight 115 encloses housing 111 in a plan view, the balance of actuator 110 in a plan view is improved, thereby increasing the Z-direction component of the eccentricity of the center of gravity CG of actuator 110. Therefore, by making the area of ​​weight 115 larger than the area of ​​housing 111 and increasing the Z-direction component of the eccentricity of the center of gravity CG of actuator 110, when vibrating body 112 vibrates, the area through which vibration propagates to cushion member 11E is increased, and the Z-direction component of the vibration propagating to surface 11B1 of seat portion 11B is also increased.

[0071] Furthermore, the weight 115 may be provided on the housing 111 via a support. The support is a member that is located between the housing 111 and the weight 115 and fixes the weight 115 to the housing 111 when the weight 115 is spaced apart from the housing 115. A spacer, for example, can be used as such a support. For example, in the actuator 110M shown in FIG. 4C , by sandwiching a spacer between the housing 111 and the weight 115, the distance between the weight 115 and the vibrating body 112 can be increased. This allows the center point of generation of the rotational moment to be shifted away from the vibrating body 112 even if the weights of the weight 115 and the vibrating body 112 are approximately the same, and therefore a large cradle vibration can be generated.

[0072] 5A is a diagram showing an example of a simulation result, in which the acceleration of the vibration of the actuator 110 obtained when the vibration frequency of the vibrating body 112 is changed is calculated by simulation.

[0073] Here, the frequency characteristics of the vibration acceleration of the actuator 110 were calculated for (1) the actuator 110 in which the weight 115 was an iron plate, and (2) the actuator 110 in which the weight 115 was an ABS resin plate. In addition, the frequency characteristics of the vibration acceleration were calculated for (3) a comparative actuator in which the weight 115 was omitted, and (4) a comparative actuator in which the weight 115 was omitted and the vibrating body vibrated in the Z direction.

[0074] The comparative actuator (4) does not include the weight 115, but because the vibrating body vibrates in the Z direction, the vibration acceleration rises from 50 Hz and peaks at 200 Hz. The peak value of the acceleration was approximately twice that of (1), which was the largest among (1) to (3).

[0075] The comparative actuator (3) has a configuration in which the weight 115 is omitted from the actuator 110, so the center of gravity of the actuator is approximately the same as the center of gravity of the vibrating body 112. Since almost no rotational moment is obtained, the vibration acceleration was the smallest.

[0076] In the actuator 110 of (1), the weight 115 is a heavy iron plate, and therefore, the vibration acceleration obtained from about 100 Hz to about 170 Hz is equivalent to that of the comparative actuator of (4) (the vibrating body vibrates in the Z direction).

[0077] The actuator 110 (2) had a smaller vibration acceleration than the actuator 110 (1) because the weight 115 was made of ABS resin and was light, but at approximately 170 Hz, it achieved a vibration acceleration that was approximately twice that of the comparative actuator (3).

[0078] From the above simulation results, it was found that a heavier weight 115 is preferable, and that there is a frequency band in which vibration acceleration similar to that of the comparative actuator (1) (vibration body vibrating in the Z direction) can be obtained.

[0079] 5B is a diagram showing an example of the results of actual measurements, in which the acceleration of the actuator 110 obtained when the vibration frequency of the vibrating body 112 was changed was measured.

[0080] Here, the frequency characteristics of the vibration acceleration of the actuator 110 were measured for (1A) an actuator 110 with a single iron plate as the weight 115, (1B) an actuator 110 with two iron plates as the weight 115, and (1C) an actuator 110 with three iron plates as the weight 115. Furthermore, the frequency characteristics of the vibration acceleration were measured for (3) a comparative actuator in which the weight 115 was omitted, and (4) a comparative actuator in which the weight 115 was omitted and the vibrating body vibrated in the Z direction. A triaxial acceleration sensor was used to measure the vibration acceleration.

[0081] The comparative actuator (4) does not include a weight 115, but because the vibrating body vibrates in the Z direction, a large vibration acceleration was obtained. The vibration acceleration started at 50 Hz and peaked at about 200 Hz. The peak acceleration value was about twice that of (1B), which was the largest among (1A) to (1C) and (3).

[0082] The comparative actuator (3) has a configuration in which the weight 115 is omitted from the actuator 110, so the center of gravity of the actuator is approximately the same as the center of gravity of the vibrating body 112. Since almost no rotational moment is obtained, the vibration acceleration was the smallest.

[0083] The actuator 110 of (1A) has a single iron plate as the weight 115. From about 120 Hz to about 180 Hz, a larger vibration acceleration was obtained than the comparative actuator of (3) (without weight 115), and the peak value at about 175 Hz was about 1.5 times the peak value of (3) at about 220 Hz.

[0084] The actuator 110 of (1B) has a weight 115 consisting of two iron plates, which is twice as heavy as the weight 115 of (1A). From approximately 120 Hz to approximately 160 Hz, vibration acceleration was obtained that was about twice as large as that of the actuator 110 of (1A) and equivalent to that of the comparative actuator (4) (Z-direction vibration). The peak value of the vibration acceleration at approximately 160 Hz was larger than the peak value at approximately 140 Hz of the actuator 110 of (1C).

[0085] The actuator 110 of (1C) has a weight 115 made of three iron plates, which is three times heavier than the weight 115 of (1A). From about 100 Hz to about 140 Hz, a vibration acceleration equivalent to that of the comparative actuator of (4) (Z-direction vibration) was obtained.

[0086] From the above measurement results, it was confirmed that a heavier weight 115 is preferable, and that there is a frequency band in which vibration acceleration similar to that of the comparative actuator (1) (vibration body vibrating in the Z direction) can be obtained. The measurement results showed the same tendency as the simulation results shown in Figure 5A.

[0087] <Simulation Results of Sound Pressure Distribution> Fig. 6 is a diagram showing an example of a simulation model used to obtain the simulation results of sound pressure distribution. In Fig. 6, the positions of the actuator 110 and the two microphones 20A and 20B that measured the sound pressure are indicated by white circles. The actuator 110 is located at a position of 0 m in the Z direction, and its length in the X direction is, for example, 60 mm.

[0088] The microphone 20A is positioned 0.5 m in the −X direction and 1 m in the +Z direction from the actuator 110. The microphone 20B is positioned 0.5 m in the +X direction and 1 m in the +Z direction from the actuator 110.

[0089] The space in which the simulation was performed was a space ranging from 1 m in the +Z direction from the actuator 110 to 1 m in the X direction between the microphones 20A and 20B, as shown in Fig. 6. In the simulation, the speed of sound was set to 343.24 m / s, which is the speed of sound at 1 atmosphere and 20°C.

[0090] In such a simulation model, the frequencies of the drive signals that drive the pair of actuators 110 (see FIG. 3) were set to 50 Hz, 100 Hz, 200 Hz, and 400 Hz, and the sound pressure distribution of the sound generated from the bottom portion 11B of the seat 11 was calculated, resulting in the sound pressure distributions shown in FIG. 7A to FIG. 7D. Note that the bottom portion 11B of the seat 11 is omitted from FIG. 6.

[0091] 7A to 7D are diagrams showing an example of the simulation results. These figures show the sound pressure distribution of the sound generated from the bottom portion 11B of the seat 11 when the actuator 110 is driven. In these figures, the range of sound pressure from low to high is shown in stages using gray gradations between white and black. The sound pressure distributions shown in these figures are those at the timing when the amplitude of the sound pressure is at its maximum.

[0092] As shown in Figure 7A, in the case of a 50 Hz drive signal (wavelength λ = approximately 6.8 m), the sound level was almost silent, so that it was inaudible to humans, within approximately 0.5 m from the actuator 110, and the sound pressure decreased at positions further away.

[0093] Furthermore, similar trends were confirmed in the case of the 100 Hz drive signal (wavelength λ = approximately 3.4 m) shown in Figure 7B, the case of the 200 Hz drive signal (wavelength λ = approximately 1.7 m) shown in Figure 7C, and the case of the 400 Hz drive signal (wavelength λ = approximately 0.8 m) shown in Figure 7D.

[0094] The reason why there was almost no sound around actuator 110 is thought to be that inside actuator 110, vibrating body 112 was vibrating in the X direction, and vibrations of opposite phases were generated on the +X direction side and the −X direction side of vibrating body 112, causing the sounds to cancel each other out.

[0095] From the results of FIGS. 7A to 7D, it was confirmed that even when the actuator 110 is provided inside the seat portion 11B, no sound audible to humans is generated, and the seat is substantially silent.

[0096] <Relationship between length L and depth d of weight 115 in the X direction> Fig. 8A is a diagram showing length L of weight 115 in the X direction of actuator 110 and depth d from surface 11B1 of seat portion 11B. Fig. 8B is a diagram showing an example of the Z direction component of vibration when depth d is large. Fig. 8C is a diagram showing an example of the Z direction component of vibration when depth d is shallow.

[0097] The Z-direction component of the vibration generated at the +X-direction end of weight 115 and the Z-direction component of the vibration generated at the −X-direction end of weight 115 are considered to be in opposite phase because vibrating body 112 vibrates in the X direction.

[0098] When the depth d is large, it is thought that the Z-direction components of the vibrations generated at the +X-direction end and the −X-direction end of the weight 115 are combined inside the cushion member 11E, cancel each other out, and are attenuated, as shown in FIG. 8B.

[0099] Furthermore, if the depth d is shallow, it is thought that the Z-direction components of the vibrations generated at the +X-direction end and the −X-direction end of the weight 115 will not be combined inside the cushion member 11E and will reach the surface 11B1 of the seat portion 11B, as shown in Figure 8C.

[0100] If d<L / 2 is satisfied, it is thought that Z-direction components of vibrations generated at the +X-direction end and the -X-direction end of weight 115 are less likely to combine inside cushion member 11E, and cancellation of vibrations can be suppressed. For this reason, it is preferable to provide actuator 110 inside cushion member 11E so that d<L / 2 is satisfied for length L of weight 115 of actuator 110 in the X-direction and depth d from surface 11B1 of seat portion 11B.

[0101] <Effects> The vibration generating device (actuator 110) includes a housing 111, a vibrating body 112 housed in the housing 111 and configured as a permanent magnet or an electromagnetic coil, a spring (elastic support portion) 113 that elastically supports the vibrating body 112, a drive unit that is provided in the housing 111 and configured as an electromagnetic coil 114 capable of generating a force that magnetically attracts the vibrating body 112 configured as a permanent magnet in a first direction, or a drive unit that is configured as a permanent magnet that can generate a force that magnetically attracts the vibrating body 112 configured as an electromagnetic coil in the first direction, and a weight 115 provided in a portion of the housing 111 that is located on a side that intersects with the first direction. With a simple configuration in which weight 115 is provided in a portion of the housing 111 that is located on a side that intersects with the first direction, a rotational moment can be generated, and cradle vibrations (arc-shaped vibrations) that vibrate in two directions, that is, up and down (vertical) and left and right (horizontal).

[0102] Therefore, it is possible to provide a vibration generator in which the vibrating body vibrates in a direction along the surface on which vibrations are generated, and which can generate vibrations in a direction perpendicular to the surface on which vibrations are generated.

[0103] Furthermore, the weight 115 may be heavier than the vibrating body 112. This increases the degree of eccentricity of the center of gravity CG of the actuator 110, and can increase the Z-direction component of vibration.

[0104] Furthermore, weight 115 may be provided on one surface of a wall of housing 111. By providing weight 115 on one surface of housing 111 that is away from vibrating body 112, weight 115 can be easily fixed away from vibrating body 112.

[0105] Furthermore, the weight 115 may be provided on the housing 111 via a support. Increasing the distance between the weight 115 and the vibrating body 112 increases the degree of eccentricity of the center of gravity of the actuator 110, and the Z-direction component of the vibration can be increased due to a larger rotational moment. Furthermore, even if the weights of the weight 115 and the vibrating body 112 are approximately the same, the Z-direction component of the vibration can be increased due to a larger rotational moment.

[0106] Furthermore, the housing 111 may be formed of a metal material and may be a part of the housing 111. The weight 115 and the housing 111 can be integrated, eliminating the need to provide the weight 115 separately from the housing 111, and thus realizing a simple configuration.

[0107] Furthermore, the weight 115 may be formed by folding a part of the housing 111. The weight 115 can be easily formed by folding a metal plate or the like.

[0108] A portion of the housing 111 may be made of a material having a higher specific gravity than the remaining portion of the housing 111. By making the portion of the housing 111 out of a material having a higher specific gravity, the weight 115 can be easily formed.

[0109] The tactile presentation device 100 includes a housing 111, a vibrating body 112 housed in the housing 111 and configured as a permanent magnet or an electromagnetic coil, a spring (elastic support unit) 113 that elastically supports the vibrating body 112, a drive unit configured as an electromagnetic coil 114 provided in the housing 111 and capable of generating a force that magnetically attracts the vibrating body 112 configured as a permanent magnet in a first direction, or a drive unit configured as a permanent magnet that can generate a force that magnetically attracts the vibrating body 112 configured as an electromagnetic coil in the first direction, a weight 115 provided in a portion of the housing 111 located on a side in a direction intersecting the first direction, and a control unit 121 that controls the drive of the electromagnetic coil. A rotational moment can be generated with a simple configuration in which the weight 115 is provided in a portion of the housing 111 located on a side in a direction intersecting the first direction, and cradle vibrations (arc-shaped vibrations) that vibrate in two directions, that is, up and down (vertical) and left and right (horizontal).

[0110] Therefore, it is possible to provide a tactile presentation device in which the vibrator vibrates in a direction along the surface that generates the vibrations, and which is capable of generating vibrations in a direction perpendicular to the surface that generates the vibrations.

[0111] The seat system 200 includes a seat 11 having a seat portion 11B and a backrest portion 11A, and a tactile presentation device 100. The tactile presentation device 100 includes a housing 111 provided on a cushion member 11E (flexible portion) of the seat portion 11B or the backrest portion 11A of the seat 11, a vibrating body 112 housed in the housing 111 and composed of a permanent magnet or an electromagnetic coil, a spring (elastic support portion) 113 that elastically supports the vibrating body 112, a drive unit provided in the housing 111 and composed of an electromagnetic coil 114 capable of generating a force that magnetically attracts the vibrating body 112 composed of a permanent magnet in a first direction, or composed of a permanent magnet that can generate a force that magnetically attracts the vibrating body 112 composed of an electromagnetic coil in the first direction, a weight 115 provided in a portion of the housing 111 located on the side in a direction that intersects the first direction, and a control unit 121 that controls the drive of the electromagnetic coil. A rotational moment can be generated by a simple configuration in which weight 115 is provided in a part of housing 111 located on the side that intersects with the first direction, and a cradle vibration (arc-shaped vibration) that vibrates in two directions, up and down (vertical) and left and right (horizontal).

[0112] Therefore, it is possible to provide a seat system in which the vibrating body vibrates in a direction along the surface that generates the vibrations, and which can generate vibrations in a direction perpendicular to the surface that generates the vibrations.

[0113] Furthermore, when vibration is stopped, the center of gravity of weight 115 may be shifted from the center of gravity of vibrating body 112 in a direction horizontally away from the end of seat portion 11B or backrest portion 11A having cushion member 11E (flexible portion). The Z-direction component of vibration is biased toward the center of seat portion 11B in a plan view, and the propagation of vibration toward the center of seat portion 11B in a plan view increases, making it easier for the vibration to be transmitted to the occupant.

[0114] Furthermore, in a plan view, the area of ​​weight 115 may be larger than the area of ​​housing 111. By making the area of ​​weight 115 larger than the area of ​​housing 111, when vibrating body 112 vibrates, the area over which vibration propagates to cushion member 11E increases, and the vibration propagating to surface 11B1 of seat portion 11B becomes stronger.

[0115] Furthermore, the weight 115 may be provided on one surface of the wall of the housing 111 that is located in the thickness direction of the cushion member 11E (flexible portion). This increases the Z-direction component of the eccentricity of the center of gravity CG of the actuator 110. As a result, the Z-direction component of the vibration of the actuator 110 increases, allowing for the presentation of a tactile sensation with greater vibration.

[0116] The above describes exemplary embodiments of the vibration generating device, tactile presentation device, and seat system of the present disclosure. However, the present disclosure is not limited to the specifically disclosed embodiments, and various modifications and variations are possible without departing from the scope of the claims.

[0117] This international application claims priority based on Japanese Patent Application No. 2023-062800, filed on April 7, 2023, the entire contents of which are incorporated herein by reference.

[0118] REFERENCE SIGNS LIST 10 Vehicle 11 Seat (an example of an object) 11A Backrest 11B Seat 11B1 Surface 11E Cushion member 100 Tactile presentation device 110 Actuator (an example of a vibration generating device) 111 Housing 112 Vibrating body 113 Spring (an example of an elastic support part) 114 Electromagnetic coil (an example of a driving part) 115 Weight 120 Control device 121 Control part 122 Memory 200 Seat system

Claims

1. A vibration generating device attached to an object used in contact with at least a part of a user's body, which transmits vibrations to at least a part of the user's body by vibrating the object, The housing and a vibrating body accommodated in the housing and configured as a permanent magnet or an electromagnetic coil; an elastic support portion that is housed in the housing and elastically supports the vibrating body; a drive unit that is accommodated in the housing and fixed to the housing, and that is composed of an electromagnetic coil capable of generating a force that magnetically attracts the vibrator composed of the permanent magnet in a first direction, or that is composed of a permanent magnet capable of generating a force that magnetically attracts the vibrator composed of the electromagnetic coil in a first direction; a weight provided in a portion of the housing that is located on a second direction side that intersects with the first direction; A vibration generating device comprising:

2. The vibration generator according to claim 1 , wherein the weight is heavier than the vibrating body.

3. The vibration generator according to claim 1 , wherein the weight is provided on one surface of a wall of the housing.

4. The vibration generator according to claim 1 , wherein the weight is provided on the housing via a support.

5. The vibration generator according to claim 1 , wherein the housing is made of a metal material, and the weight is a part of the housing.

6. The vibration generator according to claim 5 , wherein the weight is formed by folding a part of the housing.

7. The electromagnetic exciter according to claim 5 , wherein the part of the housing is made of a material having a higher specific gravity than the other part of the housing.

8. A vibration generating device attached to an object used in contact with at least a part of a user's body, which transmits vibrations to at least a part of the user's body by vibrating the object; Control unit and A tactile presentation device comprising: The vibration generating device is The housing and a vibrating body accommodated in the housing and configured as a permanent magnet or an electromagnetic coil; an elastic support portion accommodated in the housing and elastically supporting the vibrating body; a drive unit that is accommodated in the housing and fixed to the housing, and that is composed of an electromagnetic coil capable of generating a force that magnetically attracts the vibrator composed of the permanent magnet in a first direction, or that is composed of a permanent magnet capable of generating a force that magnetically attracts the vibrator composed of the electromagnetic coil in a first direction; a weight provided in a portion of the housing that is located on a second direction side that intersects with the first direction; and The control unit controls the driving of the electromagnetic coil.

9. a seat having a seat portion and a backrest portion; Tactile presentation device A seating system comprising: The tactile presentation device includes: A vibration generator; Control unit and Equipped with The vibration generating device is a housing provided on a cushion member of the seat portion or the backrest portion of the seat; a vibrating body accommodated in the housing and configured as a permanent magnet or an electromagnetic coil; an elastic support portion that is housed in the housing and elastically supports the vibrating body; a drive unit that is accommodated in the housing and fixed to the housing, and that is composed of an electromagnetic coil capable of generating a force that magnetically attracts the vibrator composed of the permanent magnet in a first direction, or that is composed of a permanent magnet capable of generating a force that magnetically attracts the vibrator composed of the electromagnetic coil in a first direction; a weight provided in a portion of the housing that is located on a second direction side that intersects with the first direction; and the control unit controls the driving of the electromagnetic coil, the housing is embedded in the cushion member so that both an upper portion and a lower portion of the housing in a thickness direction of the cushion member are deformed as a seat user sits on the seat, the housing is disposed on the cushion member so that the first direction is parallel to a surface of the seat portion or the backrest portion; The vibration generator is configured such that the center of gravity of the vibration generator and the center of gravity of the vibrating body are offset from each other, A seat system in which the vibrating body is vibrated in the first direction to generate vibrations including a rotational moment in the vibration generating device, thereby generating vibrations in the surface of the seat portion or the backrest portion in a direction perpendicular to the surface.

10. 10. The seat system according to claim 9, wherein the center of gravity of the weight is shifted from the center of gravity of the vibrating body in a direction horizontally away from the end of the seat portion or the backrest portion having the cushion member when vibration stops.

11. The seat system according to claim 9 , wherein an area of ​​the weight is larger than an area of ​​the housing in a plan view.

12. The seat system according to claim 9 , wherein the weight is provided on one surface of the wall of the housing that is positioned in a thickness direction of the cushion member.