Actuator, force display device, and operation device

Abstract

This actuator has: a movable body; a multi-axis rotation support part that supports the movable body so as to be rotatable around multiple axes; a fixed body to which the multi-axis rotation support part is attached; and a torque generation part that includes a magnet disposed on one of the movable body and the fixed body and a coil disposed on the other, and that by energizing the coil imparts rotation torque so that the movable body moves in an arc from an initial position.

Description

Actuator, force feedback device and operation device

[0001] The present invention relates to an actuator, a force feedback device, and an operation device.

[0002] Conventionally, a known device that gives a user carrying the device the sensation of a force being applied in a predetermined direction is a force feedback device such as that shown in Patent Document 1. The force feedback device in Patent Document 1 has a magnet fixed to a flat weight, generates a magnetic field using a coil, and vibrates the weight by reciprocating the magnet in a predetermined direction, thereby providing a sense of force to the user.

[0003] Patent No. 5898774

[0004] However, when trying to implement the above configuration, since specific structures such as a support structure for the magnet are not disclosed, it has been considered to use a device that mechanically generates vibrations using a well-known slider crank mechanism.

[0005] This device generates vibrations by reciprocating a slider using a slider-crank mechanism, which requires a large slider stroke, resulting in a large size. Furthermore, increasing the number of directional indications requires space for multiple slider-crank mechanisms, further increasing the implementation size and reducing portability.

[0006] An object of the present invention is to provide an actuator, a force feedback device, and an operating device that can express direction with a simple configuration that requires less space and is low cost.

[0007] One aspect of the actuator according to the present invention has a configuration comprising: a movable body; a multi-axis rotation support part that supports the movable body so that it can rotate freely around multiple axes; a fixed body to which the multi-axis rotation support part is attached; and a torque generating part that includes a magnet arranged on one of the movable body or the fixed body and a coil arranged on the other, and that applies a rotational torque to the movable body so that it moves in an arc from an initial position when current is applied to the coil.

[0008] The vibration presentation device of the present invention comprises an actuator having the above-described configuration; and a housing in which the actuator is mounted and which has a grip portion to be held by a user, wherein the movable body of the actuator is configured to sandwich the center of gravity of the housing with respect to the grip portion and be movable outward in a direction away from the center of gravity of the housing.

[0009] The operating device of the present invention has the actuator having the above-described configuration, and is configured to vibrate the weight portion by torque generated by the torque generating section in response to movement of the weight portion, thereby providing force feedback.

[0010] According to the present invention, direction can be expressed with a simple configuration that requires less space and is low in cost.

[0011] FIG. 1 is an external perspective view of an actuator according to a first embodiment of the present invention. FIG. 2 is a plan view of the actuator. FIG. 3 is a front view of the actuator. FIG. 4 is a cross-sectional view taken along line A-A in FIG. 2. FIG. 5 is an exploded perspective view of the actuator. FIG. 6 is an exploded view of a fixed body and a movable support unit of the actuator. FIG. 7 is an exploded view of a movable body of the actuator. FIG. 8 is a cross-sectional view showing the main configuration of the actuator. FIG. 9 is a diagram illustrating the operation of the actuator. FIG. 10A is an external perspective view of a modified example of the actuator, and FIG. 10B is a vertical cross-sectional view of the modified example of the actuator. FIG. 11 is an external perspective view of an actuator according to a second embodiment of the present invention. FIG. 12 is a plan view of the actuator. FIG. 13 is a front view of the actuator. FIG. 14 is a cross-sectional view taken along line B-B in FIG. 12. FIG. 15 is an exploded perspective view of the actuator. FIG. 16 is an exploded view of a fixed body and a movable support unit of the actuator. FIG. 17 is an exploded view of a movable body of the actuator. Fig. 18 is a cross-sectional view showing the main configuration of the actuator. Fig. 19 is a diagram explaining the operation of the actuator. Fig. 20A is an external perspective view of a modified example of the actuator, and Fig. 20B is a longitudinal cross-sectional view of the modified example of the actuator. Fig. 21 is a diagram showing an example of a haptic device including the actuator. Fig. 22 is a diagram explaining the haptic mechanism of the haptic device including the actuator. Fig. 23A is an external perspective view showing modified example 1 of the haptic device including the actuator, and Fig. 23B is a front view of modified example 2 of the haptic device.

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that common components in the drawings are denoted by the same reference numerals, and descriptions thereof will be omitted as appropriate.

[0013] In addition, a Cartesian coordinate system (X, Y, Z) is used to explain the structure of the actuator of this embodiment. The same Cartesian coordinate system (X, Y, Z) is also used in the drawings described below.

[0014] (Embodiment 1) <Overall Configuration of Actuator> Fig. 1 is an external perspective view of an actuator according to embodiment 1 of the present invention, Fig. 2 is a plan view of the actuator, Fig. 3 is a front view of the actuator, Fig. 4 is a cross-sectional view taken along line A-A in Fig. 2, Fig. 5 is an exploded perspective view of the actuator, Fig. 6 is an exploded view of the fixed body and movable support part of the actuator, and Fig. 7 is an exploded view of the movable body of the actuator.

[0015] The actuator 1 shown in FIG. 1 has a weight portion 86 protruding from the top surface of a case 82, which is capable of reciprocating movement in the four directions indicated by the arrows relative to the housing 52 of the fixed body 5, and the weight portion 86 is capable of movement that allows displacement in all directions.

[0016] As shown in Figures 1 to 7, the actuator 1 has a fixed body 5, a case 82, a movable body 7 having a weight portion 86, a multi-axis rotation support portion 6 that supports the movable body 7 so that it can rotate freely around multiple axes, and a torque generating portion 20 having coils 33 to 36 and a magnet 40 (41, 42).

[0017] A multi-axis rotation support part 6 is attached to the fixed body 5, and the movable body 7 is provided to the fixed body 5 via the multi-axis rotation support part 6 so that it can yaw about the Z axis. The multi-axis rotation support part 6 may be configured in any way as long as it supports the movable body 7 so that it can rotate about multiple axes, and may be configured using, for example, a spherical bearing or the like.

[0018] The torque generating unit 20 has a core 32, coils 33 to 36, and a magnet 40. The coils 33 to 36 together with the core 32 constitute the coil core unit 3, and excite the core 32 to function as an electromagnet together with the core 32. The coils 33 to 36 and the magnet 40 are provided on one side of the movable body 7 and the fixed body 5, respectively.

[0019] In the coil core unit 3, when the coils 33 to 36 are energized, they act as a torque generating unit 20, working in cooperation with the magnets 41 and 42 to apply a rotational torque to the movable body 7 so that the movable body 7 moves in an arc (including reciprocating movement) from the initial position. Note that the rotational torque may be applied to the movable body 7 so that the movable body 7 moves in a direction perpendicular to the axis of the magnet 40.

[0020] The actuator 1 is an inner core, and the core 32 around which the coils 33 to 36 are wound is disposed inside the magnets 41 and 42. The magnetic poles excited by the coils 33 to 36 and the magnetic poles of the magnets 41 and 42 are disposed opposite each other in the radial direction.

[0021] 5 to 7, the actuator 1 includes a coil core 3, a housing 52, a nut 76, a damper 75, rings 74a and 74b, and a pivot shaft 71. The actuator 1 also includes a magnet 40, a magnet spacer 77, a multi-axis rotation support unit 6, a case (rotor case) 82, an axis spacer 84 as an axis adjustment unit, and a weight 86.

[0022] The core 32 of the coil core unit 3 has a cylindrical core body that fits onto the outer periphery of the housing body 522, and a magnetic pole portion that protrudes from the outer periphery of the core body and is wound with the coils 33 to 36. The tip of the magnetic pole portion has a magnetic pole surface portion that extends in the circumferential direction.

[0023] In the coil core section 3, the core 32 is attached to the outer periphery 526 of the housing main body 522, and the magnetic poles of the core 32 are arranged so as to be aligned at equal intervals along the outer periphery from the top (outer periphery 526) of the housing 52. The magnetic pole of the core 32 may be one pole, or multiple poles such as two poles or three poles; for example, the core 32 has four poles.

[0024] The housing 52 is made of a resin such as polyphenylene sulfide (PPS).

[0025] A part of the torque generating unit 20 and a part of the multi-axis rotation support unit 6 (spherical bearing unit 64 that receives the shaft fixing unit 62) are fixed to the housing 52. The housing 52 supports the pivot shaft 71 via the spherical bearing unit 64 so as to be multi-axis rotatable.

[0026] The housing 52 has a housing main body 522 and a fixing support part 524 that is fixed to the housing main body 522 and fixes the actuator 1 to the product casing.

[0027] The housing main body 522 is, for example, a rectangular cylindrical shape with a circular inner peripheral surface. A circular outer peripheral portion 526 is provided on the outer periphery of the upper portion of the housing main body 522. The spherical bearing portion 64 of the multi-axis rotation support unit 6 is fixed inside the housing main body 522 (including the inside of the outer peripheral portion 526). The spherical bearing portion 64 is movably disposed in a central opening 526a with a pivot shaft 71 inserted therethrough. An annular rib, through which the pivot shaft 71 is inserted, protrudes inward from the inner peripheral surface of the opening 526a, and the spherical bearing portion 64 is attached to the rib.

[0028] The housing main body 522 holds the movable body 7 in a balanced position via the multi-axis rotation support portion 6 and the coil core portion 3. The housing main body 522 has a rectangular outer periphery 526 on which the core 32 of the coil core portion 3 is fitted.

[0029] A relay board (wiring board) 92 is attached to the housing main body 522, and connects the coil wires at the ends of the coils 33 to 36. Position detectors 94, 96 that detect the position of the movable body are also attached to the housing 52. The position detectors 94, 96 are, for example, Hall sensors that use Hall elements, and measure and detect changes in magnetic flux in the torque generating unit 20. It is preferable to provide two or four position detectors 94, 96.

[0030] The multi-axis rotation support unit 6 has a shaft fixing unit 62 having a spherical (curved) outer circumferential surface into which the pivot shaft 71 is inserted and fixed, and a spherical bearing unit 64 that rotatably supports the shaft fixing unit 62. The multi-axis rotation support unit 6 supports the pivot shaft 71 so that it can move in all directions from an upright state, as the spherical bearing unit 64 rotatably supports the shaft fixing unit 62. Via the multi-axis rotation support unit 6, the torque generating unit 20 of the actuator 1 applies rotational torque to the pivot shaft 71 and the movable body 7 (weight, case 82, etc.) connected to the pivot shaft 71, so that they move in an arc (including reciprocating movement) from their initial positions.

[0031] The multi-axis rotation support unit 6 has rings 74a and 74b, through which the pivot shaft 71 is inserted, disposed on both sides of the shaft fixing unit 62, through which the pivot shaft 71 is inserted. In addition, the multi-axis rotation support unit 6 has a damper 75 disposed adjacent to one of the rings 74a via the ring 74a, and a damper 75 having a larger outer diameter than the ring 74a disposed on the base end side and fixed by fastening a nut 76. The damper 75 may be configured in any manner as long as it can attenuate impact upon collision with another component. The damper 75 may be formed of, for example, silicone rubber.

[0032] Pivot shaft 71 fixed to multi-axis rotation support 6 has its protruding tip end 712 connected to weight 86 via shaft spacer 84, and is supported by housing 52 with its base end 714, to which damper 75 is attached, protruding from multi-axis rotation support 6. Pivot shaft 71 is inserted through insertion portion 527, which is continuous with the portion to which spherical bearing 64 is attached, at opening 526a.

[0033] As a result, even if the pivot shaft 71 moves beyond its movable range around the multi-axis rotation support portion 6 due to an external impact, the damper 75 will abut against the inner surface of the insertion portion 527 within the opening 526a, thereby mitigating the impact when the impact occurs.

[0034] The magnet 40, together with the core 32 of the coil core portion 3, constitutes a magnetic spring for maintaining the position of the movable body 7, particularly for maintaining the position of the movable body when not energized.

[0035] The magnet 40 is attached to the case 82 as an outer rotor. That is, the magnet 40 is an outer magnet, and compared to a configuration in which an inner magnet is used, the magnet 40 itself can be made larger for the same size, making it possible to realize an actuator with high torque and high conversion efficiency. In addition, it is easy to increase the amplitude, and power consumption can be reduced.

[0036] The magnet 40 is disposed so as to surround the outer periphery of the coil core portion 3, and is disposed in a position facing the magnetic pole of the core 32. The magnet 40 is, for example, an Nd bond magnet, and can set the inertia as a movable body.

[0037] The magnet 40 is ring-shaped and used as a movable body for each magnetic pole of the core 32. The magnet 40 has two magnets 41, 42 aligned in the axial direction, and has multiple magnetic pole pairs with different magnetic poles on the upper and lower sides of the inner circumference, with the magnetic poles of each magnetic pole pair arranged alternately in the circumferential direction. The magnetic poles of the magnet 40 are arranged in a lattice pattern on the inner circumference surface so that adjacent poles have different magnetic poles.

[0038] The magnetic poles of the magnet 40 are formed by magnetizing each magnetic pole in the axial direction of the core 32. The magnet 40 is configured with four sets of two poles (two poles facing each other in the axial direction) in the axial direction of the coils 33 to 36, each made up of magnets 41 and 42.

[0039] The magnet 40 is arranged so that a pair of magnetic poles arranged above and below face one magnetic pole of the coil core portion 3. The magnets 41 and 42 may be formed integrally. Furthermore, the magnet 40 may be formed by joining multiple magnetic pole pairs that are different in the axial direction (up and down) in the circumferential direction. In this case, the magnet 40 is ring-shaped and is joined integrally so that different magnetic poles are adjacent in the circumferential direction.

[0040] If the magnet 40 is configured as a single ring-shaped piece, manufacturability is improved and variations in assembly dimensions can be suppressed.

[0041] The magnet 40 functions as a magnetic spring by generating a magnetic attraction force between itself and the magnetic poles of the core 32, and moves the movable body to its initial position. The magnetic poles of the core 32 are positioned facing each other in the magnetizing direction of the magnet 40, and the pivot shaft 71 is positioned so as to extend in a direction perpendicular to the axes of the coils 33 to 36. In this state, the movable body is located at its initial position, which serves as a reference position for operation.

[0042] This reference position is located at the same distance regardless of the direction of rotation when the pivot shaft rotates around the multi-axis rotation support portion 6.

[0043] The magnet 40 is attached within the case (rotor case) 82 via a magnet spacer portion 77 with its height position adjusted to correspond to the height of the coil core portion 3 .

[0044] The magnet spacer portion 77 has a main body 771 of a predetermined thickness disposed in the case 82 and has a central hole 772 in the central portion thereof into which the pivot shaft 71 is inserted.

[0045] The magnet spacer portion 77 can position the magnet 40. Specifically, the magnet spacer portion 77 has a protrusion 774 that engages with a recess on the top surface of the magnet 42 and a rod portion 775 that extends inside the magnet 40 and abuts against the inside of the magnet 42. The protrusions 774 restrict rotation of each other in the circumferential direction. The rod portion 775 is disposed inside the core 32 with a gap between them. This allows the rod portion 775 to abut against the core 32 when the rotation around the axis of the movable body 7 or the tilt in the drive direction reaches a certain position, thereby functioning as a hard stop.

[0046] Furthermore, the height position of the magnet 40 in the axial direction relative to the case 82 (specifically, the upper surface of the case 82) can be set by the thickness of the main body 771. As a result, the magnet spacer 77 adjusts the height position of the coil core 3, and the case 82 can be attached at a desired position relative to the magnet 40 and the coil core 3.

[0047] The magnet spacer portion 77 is preferably made of a non-magnetic material, and may be made of PPS (Polyphenylenesulfide) or the like.

[0048] The case 82 is a rotor case that serves as the rotor body. The case 82 is made of a magnetic material, such as electro-galvanized steel sheet (SECE). The case 82 covers the magnet 40 and the coil core 3, and forms a magnetic path together with the magnet 40 and the coil core 3.

[0049] The pivot shaft 71 is connected to the inside of the case 82, and a shaft spacer 84 is connected to the outside of the case 82. A weight 86 is connected via the shaft spacer 84.

[0050] The pivot shaft 71 has its tip 712 inserted through the opening of the case 82, protruding from the surface of the case 82, and threadedly coupled to the base end of the shaft spacer 84. This results in a configuration in which the entire rotor, which is a movable body, is fastened to the case 82.

[0051] The tip end of the shaft spacer 84 is detachably attached to the weight 86, and the base end is joined to the pivot shaft 71 across the case 82. The shaft spacer 84 functions as a shaft adjuster that can adjust the distance from the case 82 to the weight 86 simply by changing the length of the shaft.

[0052] As a result, when the weight portion 86 is separated from the case 82, that is, the center of rotation, via the shaft spacer 84, the increased inertia can be set to a desired value, resulting in suitable inertia for vibration.

[0053] Furthermore, since the position of the weight 86 is adjustable, it is possible to suppress variations and improve the ease of verification. The inertia of the weight 86 can be adjusted by moving its position away from the center of rotation, and it is possible to adjust the inertia to the optimal position.

[0054] For example, by locating the weight portion 86 at a position at a certain distance from the center of rotation, it is possible to increase the inertia with a small weight, thereby optimizing the tactile sensation of directional expression.

[0055] The weight portion 86 is made of a material such as stainless steel, and may be made of a material with a high specific gravity. The weight portion 86 is provided on the outer surface of the rotor, and therefore, interference with other components can be avoided compared to a configuration in which the weight portion 86 is provided on the inside of the rotor.

[0056] <Operation> Fig. 8 is a cross-sectional view showing the main configuration of the actuator, and Fig. 9 is a diagram used to explain the operation of the actuator according to the first embodiment. For convenience, the weights are omitted. Magnet 40 has different magnetic poles for magnets 41 and 42, and in magnet 41, the magnetic poles facing each other across the axis of the actuator are north poles, and in magnet 42, the magnetic poles facing each other similarly are south poles.

[0057] In the actuator 1, as shown in FIG. 8, when the coils 33 to 36 are in a non-energized state, the magnetic poles (321, 322) of the core 32 are attracted by the magnetic attractive force of the magnets 41, 42 that are closest to them.

[0058] The magnetic poles of the non-magnetized core 32 are attracted to the magnetic poles on the inner peripheral surfaces of the cylindrical magnets 41 and 42 on all four sides centered on the pivot shaft 71. As a result, the distances from the multi-axis rotation support part 6 to the magnetic poles (inner peripheral surfaces) of the magnet 40 to the magnetic poles 321 and 322 of the core 32 are the same, and the core 32 is placed in its initial position.

[0059] Then, by energizing the coils (34, 35) via the relay board 92, the core 32 is excited. As shown in Figure 9, when the coils 34, 35 are energized, the coil core portion 3 becomes an electromagnet with the magnetic pole 321 of the core being an N pole and the magnetic pole 322 being an S pole, and they attract and repel the magnetic poles of the magnets 41, 42. As a result, one side on either side of the pivot shaft 71 moves upward and the other moves downward, causing the pivot shaft 71 to rotate in the direction of the arrow.

[0060] The actuator 1 has four magnetic poles of the cores 32, each of which is an electromagnet that generates magnetic force. Therefore, power can be supplied to generate magnetic force by appropriately energizing or de-energizing each pole, in a variety of combinations. The pivot shaft 71 can be moved in various ways, such as by vertically rotating back and forth in one direction, yawing, or vibrating in two axes. Vibration can also be generated by moving slowly in one direction and then moving faster in the opposite direction. According to this embodiment, vibrations in two directions on a plane can be generated, allowing for suitable directional expression.

[0061] According to this embodiment, directional expression can be achieved with a space-saving, low-cost, and simple configuration. Furthermore, since this embodiment includes position detection units 94 and 96, when the actuator 1 is applied as a tactile sensation providing device using the weight unit 86 as an operation unit, vibrations corresponding to the position of the operated operation unit may be generated and provided to the user via the operation unit. Because the actuator 1 can thus detect the operation position, it can be used as an input device having both input and force feedback functions.

[0062] Furthermore, the actuator 1 may express direction not only by providing a tactile sensation of vibration, but also by using the weight 86 as an operating unit to provide force feedback by applying vibrations in response to the operation of the operating unit. The weight 86 is an operating unit that can be adjusted by displacement, and when touched and operated, vibrations are generated in two rotational directions, providing force feedback.

[0063] The resonant frequency at which power is supplied to the coils 33-36 via the relay board 92 is preferably set to 150 Hz or less, so that the actuator 1 has a resonant structure of 150 Hz or less, and the movable body 7 is driven at a frequency of 150 Hz or less. For example, the resonant frequency of the movable body is preferably approximately 50 Hz or less, and more preferably 20 Hz or less. It is also preferably 1 or more, and may be, for example, 5 Hz. It may also be 10-20 Hz. The actuator 1 may be driven at 5 Hz or 10 Hz, with frequencies between 5 Hz and 10 Hz being more effective. This reduces the vibration period for directional expression, enabling the generation of a wide variety of vibrations with clear directional expression, including weak vibrations that are difficult to achieve with mechanical springs. The relay board 92 may also have a control unit mounted with a microcomputer, actuator driver, etc., to control the actuator. This control unit supplies power to the coils 33-36 as described above, driving the torque generating unit 20 to express direction. The control unit can also control the movement of the movable body 7 by energizing the coils 33 to 36 via the position detection units 94 and 96. The control unit does not have to be provided on the relay board 92 or the actuator 1.

[0064] Furthermore, the input signals supplied to the coils 33 to 36 when driving the actuator 1 are preferably asymmetrical signal waveforms with different speeds in the driving direction to cause asymmetric vibration. For example, a sawtooth wave is used. This allows the moving part to move slowly to one side and quickly to the other to create a tactile sensation, making it possible to clearly express direction. A sawtooth wave provides the clearest movement, allowing for excellent directional expression.

[0065] <Modification 1> FIG. 10A is an external perspective view of a modification of the actuator, and FIG. 10B is a vertical cross-sectional view of the modification of the actuator.

[0066] 10 is an actuator 1A that does not have position detection units 94, 96 in the configuration of the actuator 1. Since the actuator 1A has the same effects as the actuator 1, the actuator 1A can be applied to a device that presents a simpler directional expression.

[0067] (Embodiment 2) Fig. 11 is an external perspective view of an actuator according to embodiment 1 of the present invention, Fig. 12 is a plan view of the actuator, Fig. 13 is a front view of the actuator, Fig. 14 is a cross-sectional view taken along line B-B in Fig. 12, Fig. 15 is an exploded perspective view of the actuator, Fig. 16 is an exploded view of the fixed body and movable support part of the actuator, and Fig. 17 is an exploded view of the movable body of the actuator.

[0068] The actuator 1B shown in Figure 11 has the same appearance as the actuator 1 in Figure 1, and has a weight portion 86 protruding from the upper surface of the case 82, which can move back and forth in all directions relative to the housing 52B of the fixed body 5B as shown by the arrows.

[0069] The difference between the actuator 1B and the actuator 1 is that the actuator 1 has a moving magnet structure, whereas the actuator 1B has a moving coil structure.

[0070] As shown in Figures 11 to 17, actuator 1B has a fixed body 5B, a case 82, a movable body 7B having a weight portion 86, a multi-axis rotation support portion 6 that supports movable body 7B so that it can rotate about multiple axes, and a torque generating portion 20B having coils 33B to 36B and magnets 40B (41B, 42B).

[0071] In the following, only the different configurations will be explained, and explanations of the similar configurations will be omitted.

[0072] A multi-axis rotation support section 6 is attached to the fixed body 5B, and a movable body 7B is provided to the fixed body 5B via the multi-axis rotation support section 6 so as to be able to yaw about the Z axis.

[0073] Torque generating unit 20B has core 32B, coils 33B to 36B, and magnet 40B. Coils 33B to 36B, together with core 32B, constitute coil core unit 3B, and excite core 32B to function as an electromagnet together with core 32B. Coils 33B to 36B are provided on movable body 7B, and magnet 40B is provided on fixed body 5B.

[0074] In the coil core portion 3B, when current is applied to the coils 33B to 36B, they cooperate with the magnets 41B and 42B to apply a rotational torque to the movable body 7B so as to move it in a direction perpendicular to the axis of the magnet 40B. The actuator 1B is an outer core, and the core 32B around which the coils 33B to 36B are wound is disposed outside the magnets 41B and 42B. The magnetic poles excited by the coils 33B to 36B and the magnetic poles of the magnets 41B and 42B are disposed opposite each other in the radial direction.

[0075] As shown in Figures 15 to 17, the actuator 1B has a coil core portion 3B, a housing 52B, a nut 76, a damper 75, rings 74a and 74b, a pivot shaft 71, a magnet 40B, a core spacer portion 77B, a multi-axis rotation support portion 6, a case 82, an axis spacer 84, and a weight portion 86.

[0076] The core 32B of the coil core unit 3B is disposed inside the peripheral wall of the case 82 together with a core spacer portion 77B. The core spacer portion 77B has a rod portion 775B and the like similar to the magnet spacer portion 77 (see FIG. 7). The rod portion 775B is disposed with a gap inside the core 32B, and functions as a hard stop by coming into contact with the core 32B when the rotation around the axis of the movable body 7B or the tilt in the drive direction reaches a certain position.

[0077] Core 32B has magnetic poles that protrude toward the inner periphery of a cylindrical core body whose outer periphery abuts against the inner periphery of case 82, and coils 33B to 36B are wound around each of the magnetic poles to form magnetic pole portions. The tips of the magnetic pole portions have magnetic pole face portions that extend in the circumferential direction.

[0078] Housing 52B has a similar structure to housing 52, but instead of a core, a magnet 40B is attached to an outer periphery 526B of housing body 522B. A part of multi-axis rotation support unit 6 (spherical bearing 64 that receives shaft fixing unit 62) is fixed within opening 526a. Housing 52B supports pivot shaft 71 via spherical bearing 64 so that it can rotate around multiple axes.

[0079] A relay board (wiring board) 92B is attached to the housing main body 522B, which connects the coil wires of the coil ends of the coils 33B to 36B. Position detectors 94, 96 that detect the position of the movable body are also attached to the housing 52B. The position detectors 94, 96 are, for example, Hall sensors that use Hall elements, and measure and detect changes in magnetic flux in the torque generating section. It is preferable to provide two or four position detectors 94, 96.

[0080] The pivot shaft 71 fixed to the multi-axis rotation support 6 has a protruding tip end 712 connected to the weight 86 via a shaft spacer 84, and is supported by the housing 52B with a base end 714 to which a damper 75 is attached protruding from the multi-axis rotation support 6. The pivot shaft 71 is inserted through an insertion portion 527 in the opening 526a, which is continuous with the portion to which the spherical bearing 64 is attached.

[0081] As a result, even if the pivot shaft 71 moves beyond its movable range around the multi-axis rotation support portion 6 due to an external impact, the damper 75 will abut against the inner surface of the insertion portion 527 within the opening 526a, thereby mitigating the impact when the impact occurs.

[0082] The magnet 40B, together with the core 32B of the coil core portion 3B, constitutes a magnetic spring for holding the position of the movable body 7B, particularly for holding the position of the movable body when not energized.

[0083] In this way, the magnet 40B is disposed inside the coil core portion 3B, and is disposed in a position facing the magnetic pole of the core 32B.

[0084] Magnet 40B is ring-shaped and used as a fixed body for each magnetic pole of core 32B. Magnet 40B has two magnets 41B and 42B aligned in the axial direction, and has multiple magnetic pole pairs on the outer periphery with different magnetic poles on the top and bottom, with the magnetic poles of each magnetic pole pair arranged alternately in the circumferential direction. In magnet 40B, the magnetic poles are arranged in a lattice pattern on the outer periphery so that adjacent poles have different magnetic poles.

[0085] The magnetic poles of the magnet 40B are formed by magnetizing each magnetic pole of the core 32B in the axial direction. The magnet 40B is configured with four sets of two poles in the axial direction of the coils 33B to 36B by the magnets 41B and 42B.

[0086] The magnet 40B is arranged so that a pair of magnetic poles arranged above and below faces one magnetic pole of the coil core portion 3B. The magnets 41B and 42B may be formed integrally. Furthermore, the magnet 40B may be formed by joining multiple magnetic pole pairs that are different in the axial direction (up and down) in the circumferential direction. In this case, the magnet 40B is ring-shaped, and the different magnetic poles are joined integrally so that they are adjacent to each other in the circumferential direction.

[0087] If the magnet 40B is configured as a single ring-shaped piece, manufacturability is improved and variations in assembly dimensions can be suppressed.

[0088] Magnet 40B functions as a magnetic spring by generating a magnetic attraction force between itself and the magnetic poles of core 32B, moving the movable body to its initial position. The magnetic poles of core 32B are positioned facing each other in the magnetization direction of the magnet, and pivot shaft 71 is positioned to extend in a direction perpendicular to the axes of coils 33B to 36B. In this state, the movable body is located at its initial position, which serves as a reference position for operation.

[0089] The other configurations are the same as those of the actuator 1, so the explanation will be omitted.

[0090] <Operation> Figure 18 is a cross-sectional view showing the main configuration of the actuator, and Figure 19 is a diagram used to explain the operation of the actuator. Note that for convenience, weights have been omitted. Furthermore, magnet 40B has different magnetic poles on the upper and lower sides of the same outer peripheral surface of magnets 41B and 42B, and is arranged so that the magnetic poles on the upper and lower sides also differ in the circumferential direction. In magnet 41B, the magnetic poles on opposite sides of the actuator axis are north poles, and in magnet 42B, the magnetic poles on opposite sides are similarly south poles.

[0091] In the actuator 1B, as shown in FIG. 18, when the coils 33B to 36B are in a non-energized state, the magnetic poles (3201, 3202) of the core 32B are attracted by the magnetic attractive force of the opposing magnets 41B and 42B which are closest to each other.

[0092] The magnetic poles of the non-magnetized core 32B are attracted to the magnetic poles on the inner peripheral surfaces of the cylindrical magnets 41B and 42B on all four sides centered on the pivot shaft 71. As a result, the distances from the multi-axis rotation support part 6 to the magnetic poles (inner peripheral surface) of the magnet 40B of the magnetic poles 3201 and 3202 of the core 32B are the same, and the core 32B is positioned in its initial position.

[0093] By energizing the coils 34B and 35B via the relay board 92, the actuator 34B is driven in the same manner as the actuator 1 and has the same function. In particular, directional vibrations can be generated, which makes it possible to suitably express directions.

[0094] According to this embodiment, direction expression can be performed with a simple configuration that is space-saving and low cost. Furthermore, since this embodiment has position detection units 94 and 96, when the device is applied as a tactile sensation providing device with weight unit 86 as the operation unit, vibrations corresponding to the position of the operated operation unit may be generated and provided to the user via the operation unit.

[0095] The resonance frequency for supplying power to the coils 33B to 36B via the relay board 92 is also the same as that of the actuator 1, and therefore a description thereof will be omitted.

[0096] <Modification 2> FIG. 20A is an external perspective view of a modification of the actuator, and FIG. 20B is a longitudinal sectional view of the modification of the actuator.

[0097] 20 is an actuator 1C that does not have the position detection units 94 and 96 in the configuration of actuator 1B. Since actuator 1C has the same effects as actuators 1 and 1B, actuator 1C can be applied to devices that present simpler directional expressions.

[0098] <Haptic Presentation Device> Fig. 21 is a diagram showing an example of a haptic presentation device including an actuator. The haptic presentation device 100 shown in Fig. 21 includes a housing 110 with a built-in power source such as a battery, and an actuator 120 provided in the housing 110. The actuator 120 may be any of actuators 1, 1A, 1B, and 1C. The haptic presentation device 100 has a fixed body for the actuator 120 attached to one end surface of the rod-shaped housing 110 that is easy to grip. The haptic presentation device 100 may also be used as an operation device that is held by a user and generates vibrations to present a tactile sensation, like a game controller, or operated by a weight portion 86.

[0099] Fig. 22 is a diagram illustrating the force sense presentation mechanism of the force sense presentation device equipped with the actuator. As shown in Fig. 22, the force sense presentation device 200 has the actuator 120 attached to one end of a rod-shaped housing 210, with the movable body 7 (e.g., the weight part 86) positioned outward from the center of gravity of the mounting housing, and a gripping part 212 that pinches the multi-axis rotation support part 6 to present the tactile sensation is also positioned.

[0100] By positioning the gripping unit 212, which is the tactile sensation providing unit, in a predetermined position, vibrations can be generated in a desired direction, and the amplitude can be increased to further enhance the directional expression. The actuator 120 may be configured to be covered by a hood 220. This makes the actuator 120 invisible, allowing for a vibration expression to be given to the force sense that is different from when it is visible.

[0101] <First Modification of Haptic Device> FIG. 23A is an external perspective view showing a first modification of a haptic device including the actuator, and FIG. 23B is a front view of the first modification of the haptic device.

[0102] The haptic device 300 shown in Figures 23A and 23B has an actuator 120 provided on a portion of the peripheral wall of a cylindrical housing 310. This allows the haptic device 300 to express directions in two directions around the axis of the housing 310 by moving the movable body. In other words, the actuator 120 can express directions according to the shape of the housing to which it is attached. In this case, more effective directional expression can be achieved depending on how the housing 310 is held. The haptic devices 100, 200, and 300 may also be used as vibration presentation devices.

[0103] The embodiments of the present invention have been described above. Note that the above description is an example of a preferred embodiment of the present invention, and the scope of the present invention is not limited to this. In other words, the description of the configuration of the above device and the shape of each part is one example, and it is clear that various modifications and additions to these examples are possible within the scope of the present invention.

[0104] The disclosures of the specification, drawings and abstract contained in Japanese Patent Application No. 2023-131509, filed on August 10, 2023, are incorporated herein by reference in their entirety.

[0105] The actuator and operating device of the present invention have the advantage of being able to express direction in a space-saving, low-cost, and simple configuration, and are useful for use in tactile presentation devices such as directional expression presentation devices and force presentation devices.

[0106] DESCRIPTION OF SYMBOLS 1, 1A, 1B, 1C, 120 Actuator 3, 3B Coil core portion 5, 5B Fixed body 6 Multi-axis rotation support portion 7, 7B Movable body 20, 20B Torque generating portion 32, 32B Core 321, 322 Magnetic pole 33, 33B, 34, 34B, 35, 35B, 36, 36B Coil 40, 40B, 41, 41B, 42, 42B Magnet 52, 52B Housing 62 Shaft fixing portion 64 Spherical bearing portion 71 Pivot shaft 74a, 74b Ring 75 Damper 76 Nut 77 Magnet spacer portion 77B Core spacer portion 82 Case 84 Shaft spacer 86 Weight portion 92, 92B Relay board (wiring board) 94, 96 Position detection portion 100, 200, 300 Force feedback device 110, 210, 310 Housing 212 Grip portion 220 Hood 321, 322, 3201, 3202 Magnetic pole 522, 522B Housing main body 524 Fixed portion support portion 526 Outer periphery 526a Opening 526B Outer periphery 712 Tip portion 714 Base end portion 771 Main body 772 Central hole 774 Protrusion 775 Rod portion

Claims

1. An actuator having: a movable body; a multi-axis rotation support part that supports the movable body so that it can rotate freely around multiple axes; a fixed body to which the multi-axis rotation support part is attached; and a torque generating part that includes a magnet arranged on one of the movable body or the fixed body and a coil arranged on the other, and that applies rotational torque so that the movable body moves in an arc from an initial position when current is applied to the coil.

2. The actuator according to claim 1, wherein the multi-axis rotation support portion has a pivot shaft connected to the movable body located at the initial position, and the torque generating portion generates a torque relative to the pivot shaft in a direction perpendicular to the pivot shaft.

3. An actuator according to claim 1, wherein the coil is disposed in a core, the magnet is magnetized with different poles in the axial direction relative to the core, the core has a plurality of core poles on either side of an axial position, and the core poles are excited with different poles at the poles opposite the axial position.

4. The actuator according to claim 1, wherein the fixed body is an inner core and the movable body is an outer rotor.

5. An actuator as described in claim 3, wherein the core has four poles, the multi-axis rotation support unit is connected to the movable body located at the initial position and has a pivot shaft extending in a direction perpendicular to the axial direction of the coil, and the torque generating unit generates torque via the pivot shaft to vertically rotate the movable body from the initial position in two directions.

6. The actuator according to claim 1, wherein the magnet is ring-shaped and has a plurality of magnetic pole pairs on the inner circumference, the magnetic poles of which differ between the upper and lower poles, and the magnetic poles of the magnetic pole pairs are arranged so that they alternate in the circumferential direction.

7. The actuator according to claim 6, wherein the magnet is composed of a ring in which all magnetic poles are integrally formed into multiple poles, or a ring separated into upper and lower parts.

8. The actuator of claim 1, wherein the magnet is a neodymium bonded magnet.

9. The actuator according to claim 1, wherein the movable body has a weight for adding inertia.

10. The actuator according to claim 1, wherein the movable body is a weight portion.

11. The actuator according to claim 10, wherein the distance of the weight portion from the multi-axis rotation support portion is adjustable.

12. The actuator according to claim 1, wherein the fixed body and the movable body form a resonant structure of 150 Hz or less, and the movable body is driven at a frequency of 150 Hz or less.

13. The actuator according to claim 1, wherein the resonant frequency of the movable body is 20 Hz or less.

14. The actuator according to claim 1, further comprising a control unit which receives an input signal for power supply to said coil in the form of an asymmetric signal waveform with positive and negative polarities, and drives and controls said movable body with asymmetric vibration having different speeds in the driving direction.

15. The actuator of claim 14, wherein the input signal is a sawtooth wave.

16. An actuator as claimed in claim 1, wherein the movable body is a weight portion, and the actuator comprises: a position detection portion which detects movement of the weight portion; and a control portion which drives the torque generation portion to impart vibration corresponding to the detected position of the weight portion.

17. A force feedback device comprising: an actuator according to claim 1; and a housing in which the actuator is mounted and which has a gripping portion to be held by a user, wherein the movable body of the actuator is positioned with the gripping portion sandwiching the center of gravity of the housing, and movable outward in a direction away from the center of gravity of the housing.

18. An operating device comprising the actuator according to claim 1, wherein the movable body is vibrated by a torque generated by the torque generating section in response to the movement of the movable body, thereby providing force feedback.

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