Vibration actuator and vibration presentation device

Abstract

This vibration actuator comprises a plurality of actuator bodies, each having: an electromagnetic part that is formed by surrounding a core with a flat circular coil; a spring stopper part that is disposed so as to surround the electromagnetic part; a magnetic member that has a lower surface facing the core from above; a spacer that is disposed on said lower surface toward the coil outer side and that vertically separates the electromagnetic part and the magnetic member from each other; and an elastic support part that connects the spring stopper part and the spacer and that supports the magnetic member in a vertically movable manner. The plurality of actuator bodies are disposed on a plate-like magnetic base part in a similar manner with the respective cores joined to the magnetic base part and the electromagnetic parts arranged adjacent to the respective spring stopper parts.

Description

Vibration actuator and vibration presentation device

[0001] The present invention relates to a vibration actuator and a vibration presentation device including the same.

[0002] A vibration presentation device that generates and presents vibrations to a user in response to user operations generally includes an actuator (vibration actuator) as a vibration generation source. By driving the vibration actuator and transmitting vibrations to the user, the vibration presentation device can provide stimulation, notify the user of incoming calls, and improve the sense of operation and realism.

[0003] Examples of the vibration presentation device include a portable game terminal, a controller (such as a game pad) for a stationary game console, a portable communication terminal such as a mobile phone or a smartphone, an information terminal device such as a tablet PC (Personal Computer), etc. The vibration presentation device may also include a healthcare device or a beauty device.

[0004] For example, a configuration is known in which a vibration actuator is mounted on an information terminal device having a touch panel, which is a sensing panel, and vibration is applied to the pads of an operator's fingers, etc., that touch the display screen displayed on the touch panel, as a touch operation sensation (the sensation of operating by touch) (Patent Document 1).

[0005] In Patent Document 1, a vibration actuator is attached to the back surface of a touch panel via a vibration transmission unit. In the vibration actuator, a mover is disposed within a housing fixed to the vibration transmission unit so that the mover can move back and forth along a guide shaft disposed perpendicular to the touch panel. The vibration actuator applies vibration to the finger pad that touches the touch panel via the vibration transmission unit, although there is a possibility of generating a collision sound when the mover hits the housing in response to an operation on the touch panel.

[0006] JP 2015-070729 A

[0007] Recently, a technology has been known in which a vibration presentation device is applied to an automobile seat and a conventional vibration actuator is mounted inside the seat of a vehicle such as an automobile. With this technology, for example, when a sensor detects an obstacle approaching the vehicle and a warning is issued, vibrations are generated in the driver's seat, allowing the driver to perceive the warning as a bodily sensation.

[0008] When mounting a vibration actuator inside a seat, rather than a structure such as that of Patent Document 1, which has a guide shaft long enough to guide the reciprocating movement of a movable element, it is desirable to have a vibration actuator that is thinner, can be mounted in a narrow space, and can vibrate with high output.

[0009] Furthermore, it is desirable for such vibration actuators to be able to express a wider variety of vibrations in response to user operations on the operation input device.

[0010] An object of the present invention is to provide a vibration actuator and a vibration presentation device that are thin and capable of producing a variety of vibration expressions.

[0011] One aspect of the vibration actuator according to the present invention comprises a plurality of actuator bodies each having: an electromagnet section formed by a flattened circular coil surrounding a core; a spring stop section arranged to surround the electromagnet section; a magnetic member having a lower surface facing the core from above; a spacer arranged on the lower surface outside the coil and separating the electromagnet section and the magnetic member in the vertical direction; and an elastic support section connecting the spring stop section and the spacer and supporting the magnetic member so that it can move freely in the vertical direction; and the plurality of actuator bodies are similarly provided on a plate-shaped magnetic base section, each of the cores is joined to the magnetic base section, and each of the electromagnet sections and the spring stop section are arranged adjacent to each other.

[0012] One aspect of the vibration presentation device according to the present invention has a configuration including the vibration actuator having the above configuration and a vibration presentation unit that presents vibrations of the vibration actuator.

[0013] According to the present invention, it is possible to achieve a slimmer design and to express a variety of vibrations.

[0014] FIG. 1 is an external perspective view of a vibration actuator according to a first embodiment of the present invention. FIG. 2 is a cross-sectional view taken along the line A-A in FIG. 1. FIG. 3 is an exploded perspective view of the vibration actuator according to the first embodiment of the present invention, with the cover and movable body removed, as viewed from above. FIG. 4 is a perspective view of the state shown in FIG. 3, as viewed from below. FIG. 5 is an exploded perspective view of the vibration actuator according to the first embodiment of the present invention, as viewed from above. FIG. 5 is an exploded perspective view of the state shown in FIG. 5, as viewed from below. FIGS. 7A, 7B, and 7C are diagrams used to explain the operation of the vibration actuator. FIG. 8 is an exploded perspective view of the vibration actuator according to a second embodiment of the present invention, with the cover and movable body removed, as viewed from above. FIG. 9 is a perspective view of the state shown in FIG. 8, as viewed from below. FIG. 10 is an exploded perspective view of the vibration actuator according to the second embodiment of the present invention, as viewed from above. FIGS. 11A, 11B, and 11C are diagrams used to explain the operation of the vibration actuator according to the second embodiment of the present invention. FIG. 12 is an exploded perspective view of the vibration actuator according to a third embodiment of the present invention, with the cover and movable body removed, as viewed from above. FIG. 13 is an exploded perspective view of a vibration actuator according to embodiment 3 of the present invention, as viewed from above. FIG. 14 is an exploded perspective view of a vibration actuator according to embodiment 4 of the present invention, with the cover and movable body removed, as viewed from above. FIG. 15 is an exploded perspective view of a vibration actuator according to embodiment 4 of the present invention, as viewed from above. FIG. 16 is an exploded perspective view of a vibration actuator according to embodiment 5 of the present invention, with the cover and movable body removed, as viewed from above. FIG. 17 is an exploded perspective view of a vibration actuator according to embodiment 5 of the present invention, as viewed from above. FIG. 18 is an exploded perspective view of a vibration actuator according to embodiment 6 of the present invention, with the cover and movable body removed, as viewed from above. FIG. 19 is a perspective view of the state shown in FIG. 18, as viewed from below. FIG. 20 is an exploded perspective view of a vibration actuator according to embodiment 6 of the present invention, as viewed from above. FIG. 21 is an exploded perspective view of a vibration actuator according to embodiment 7 of the present invention, with the cover and movable body removed, as viewed from above. FIG. 22 is an exploded perspective view of a vibration actuator according to embodiment 7 of the present invention, as viewed from below.Fig. 23 is a diagram showing an example of a control circuit that drives and controls each vibration actuator in this embodiment, Fig. 24 is a diagram showing an example of a drive signal, and Fig. 25 is a diagram showing a modified example of the vibration actuator.

[0015] Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings. Note that common components in the drawings are given the same reference numerals, and their description will be omitted as appropriate.

[0016] In the embodiments described below, a Cartesian coordinate system (X, Y, Z) is used. The lengths of the X, Y, and Z directions are described as corresponding to the width (left-right direction, long direction), depth (front-back direction, short direction), and height (up-down direction) of the vibration actuator and the vibration presentation device. However, it goes without saying that these correspondences differ depending on the usage manner of the vibration actuator and the vibration presentation device. With regard to the Z direction, the positive side of the Z direction (upper side) is the direction in which vibration feedback is given to the operator, and the negative side of the Z direction (lower side) is the direction in which the operator presses when operating.

[0017] Furthermore, the terms "upper" and "lower" in "upper side" and "lower side" are used for convenience to make it easier to understand the configuration and behavior of the vibration actuator according to this embodiment. When the vibration actuator is mounted on an electrical device (see FIG. 1), the "upper" and "lower" described here may be reversed, may be left or right, or may be diagonal. Incidentally, in this embodiment, the up-down direction is the vibration direction of the movable body in the vibration actuator, with the "upward direction" being one of the vibration directions and the "downward direction" being the other of the vibration directions.

[0018] (Embodiment 1) <Basic configuration of a vibration presentation device 10 as an electrical device having a vibration actuator 100> Fig. 1 is an external perspective view of a vibration actuator according to embodiment 1 of the present invention. In Fig. 1, a seat having a vibration presentation unit (seat portion 11) and a backrest portion 12, which are mounted together with the vibration actuator 100 to constitute the vibration presentation device 10, is shown by imaginary lines.

[0019] The vibration actuator 100 may have a sensor that detects the approach of a person outside the vehicle or another vehicle, and a control unit that supplies drive power to the coil 32 based on the detection results from the sensor. As a result, the vibration actuator 100 applies a wide variety of vibrations to warn the driver (user) in response to the approach of an obstacle such as a person outside the vehicle or another vehicle. The vibration actuator 100 is mounted, for example, as an electrical device in a vibration presentation device 10 shown in FIG. 1. The vibration presentation device 10 is a driver's seat mounted in a vehicle, and the seat main body serving as the vibration presentation unit has a seat portion 11 and a backrest portion 12, with the vibration actuator 100 disposed in an accommodation space 11a within the seat portion 11.

[0020] For example, when operating the seat, the vibration actuator 100 generates vibrations in response to the operation, and gives the driver, who is the operator, a sense of tactile operation (also called a "tactile sensation" or "force sensation") through the seat 11.

[0021] <Vibration Presentation Unit (Seat 11)> In the vibration presentation device 10, the seat 11 has a vibration actuator 100 in the accommodation space 11a. The seat 11 presents vibrations generated by the vibration actuator 100 to a user seated on the seat surface in response to the user's operation of a mechanical switch or the like in the vehicle, allowing the user to experience the corresponding operation. The vibration actuator 100 may be disposed in the backrest 12. A control unit for driving the vibration actuator 100 may also be provided in the seat 11.

[0022] <Vibration actuator 100> Figure 2 is a cross-sectional view taken along the arrow A-A in Figure 1, Figure 3 is an exploded perspective view of the vibration actuator according to embodiment 1 of the present invention from above with the cover and movable body removed, and Figure 4 is a perspective view of the state shown in Figure 3 from below.

[0023] The vibration actuator 100 is a flat or thin plate vibration actuator, and if the Z direction is the thickness direction, it is disposed, for example, in the thickness direction within the seat portion 11 so as to face the seat surface.

[0024] The vibration actuator 100 is a thin plate-like vibrating body, and has a housing made up of the plate-like base member 42 of the fixed body 4 and a cover 90. The vibration actuator 100 imparts vibrations generated by itself to a connected object.

[0025] In the vibration actuator 100 , a plate-shaped movable body 700 is disposed inside the actuator so as to be movable in the thickness direction (up and down directions, Z and −Z directions), and is covered by a cover 90 .

[0026] As shown in FIGS. 2 to 4, the vibration actuator 100 is configured to be able to vibrate a movable part by means of a plurality of magnetic circuits (first magnetic circuits and second magnetic circuits).

[0027] The vibration actuator 100 has a first actuator part 2a having a first magnetic circuit and a second actuator part 2b having a second magnetic circuit. The vibration actuator 100 drives and controls the first actuator part 2a and the second actuator part 2b to apply vibration to a seat part 11 (see FIG. 1 ), which is a vibration presentation part, and presents a tactile sensation to the user's fingers that are in contact with the vibration presentation part (for example, the seat part 11).

[0028] The vibration actuator 100 has a fixed body 4 having a base member 42, an electromagnet portion 3 and spring stop portions 44A and 44B, a movable body 700, a thin plate-like actuator body 2 having an elastic support portion 50, and a cover 90 that covers the actuator body 2. The actuator body 2 has a first actuator portion 2a and a second actuator portion 2b.

[0029] The first actuator unit 2a and the second actuator unit 2b have basically the same configuration and function. In the following description of the first actuator unit 2a and the second actuator unit 2b, only the first actuator unit 2a will be described in detail, and the same components of the second actuator unit 2b will be denoted by the same reference numerals and names and will not be described again.

[0030] The actuator body 2 is configured by arranging a first actuator portion 2 a and a second actuator portion 2 b uniformly on the left and right sides of the same base member 42 .

[0031] The actuator main body 2 has multiple (e.g., a pair of) electromagnet parts 3 of the first actuator and the second actuator fixed to a part (base member 42) that constitutes the housing, and supports the movable body 700 within the housing via an elastic support part 50 so that it can vibrate in the vertical direction (Z direction).

[0032] FIG. 5 is an exploded perspective view of the vibration actuator according to the first embodiment of the present invention as seen from above, and FIG. 6 is an exploded perspective view of the state of FIG. 5 as seen from below.

[0033] As shown in Figures 2, 5 and 6, each of the first actuator unit 2a and the second actuator unit 2b has a base member 42, a spring stop portion 44A (44B), and a disk-shaped electromagnet portion 3, and is integrally provided with a movable body 700.

[0034] <Base member 42> The base member 42 is a flat magnetic body, and generates a magnetic attraction force together with the plurality of electromagnet portions 3 (coils 32, magnetic pole cores 34, bobbins 36, and substrate portion 38), the spring stop portions 44A and 44B, and the magnetic yoke 72 of the movable body 700. The base member 42 has, on its outer edge, engaged recesses 422 and engaged protrusions 424 that engage with the engaging protrusions 942 and engaging recesses 962 of the cover 90.

[0035] The base member 42 is provided with joint holes 421, 426 corresponding to each of the first actuator unit 2a and the second actuator unit 2b. The flat disk-shaped electromagnet units 3 and spring stop units 44A (44B) of each of the first actuator unit 2a and the second actuator unit 2b are attached to the base member 42 in the same state, side by side, via the joint holes 421, 426. The electromagnet units 3 and spring stop units 44A (44B) are arranged adjacent to each other.

[0036] The joining hole 421 is formed in the center of the base member 42, and the joining protrusion 344 of the magnetic pole core 34 is fitted into the joining hole 421. As a result, the base member 42 is in a state where the core body 342 of the magnetic pole core 34 is integrally attached to the center of the upper surface of the base member 42, protruding upward in a convex shape.

[0037] The base member 42 is formed of a magnetic material such as silicon steel plate or SECC (electro-galvanized steel plate: Steel Electrolytic Cold Commercial). This allows the base member 42 to be formed by processing the sheet metal part itself, such as by drilling holes, ensuring surface precision and enabling a thinner, lower-cost design. Furthermore, since the base member 42 can be fully opposed to the magnetic yoke 72 of the movable body 700, the opposing surface across the gap with the movable body 700 can be widened, thereby reducing magnetic resistance.

[0038] <Electromagnet section 3> The electromagnet section 3 is formed in a disk shape by disposing a coil 32 on the outer periphery of a disk-shaped (cylindrical) magnetic pole core 34 via a bobbin 36. Wiring of a substrate section 38 is connected to the coil 32.

[0039] The magnetic pole core 34 is a convex magnetic body that protrudes upward within the coil 32. The magnetic pole core 34 is disposed so as to protrude above the base member 42, and has a disk-shaped core body 342 whose upper surface is a magnetic pole surface 341, and a joint protrusion 344 that protrudes downward from the center of the lower surface of the core body 342.

[0040] The magnetic pole core 34 is arranged inside the cylindrical bobbin body 361 of the bobbin 36, and is housed within the cylindrical bobbin body 361, positioned on a step portion (inner flange) 364 formed on the lower opening edge of the cylindrical bobbin body (cylindrical body) 361.

[0041] The magnetic pole core 34 is formed by sintering a metal such as Fe, for example. Since the magnetic pole core 34 is formed by sintering, there is a high degree of freedom in the shape.

[0042] The core body 342 is formed in a flat disk shape and is surrounded by the coil 32.

[0043] The joining protrusion 344 is fitted into and joined to a joining hole 421 formed in the base member 42, forming the base member 42 and the magnetic pole core 34 as an integrated magnetic body. Since the joining hole 421 is formed in the center of the base member 42, the electromagnet part 3 is disposed in the center of the base member 42, and the magnetic pole core 34 protrudes from the center of the base member 42.

[0044] The bobbin 36 is made of an insulating material such as polyester (polybutylene terephthalate (PBT)) and insulates the coil 32 from the magnetic pole core 34. A flange 362 that protrudes radially outward is formed on the upper opening edge of the cylindrical bobbin body 361.

[0045] 2, the flange 362 holds the coil 32 in a sandwiched state between the flange 362 and the base member 42 by fitting the joining protrusion 344 of the magnetic pole core 34 into the joining hole 421 to join the flange 362. As a result, the electromagnet unit 3 can be attached to the base member 42 by crimping the magnetic pole core 34 to the base member 42, and the coil 32 can be fixed to the base member 42 via the bobbin 36 in a state where it is prevented from coming off. The stepped portion 364 is a flat annular plate, and the joining protrusion 344 is inserted inside the stepped portion 364, with the outer edge of the core body 342 engaged with its upper surface.

[0046] The joining protrusion 344 at the bottom of the core body 342 fits into the joining hole 421 of the base member 42, whereby the outer periphery of the core body 342 is fixed in a state in which the stepped portion 364 of the bobbin 36 is sandwiched between the core body 342 and the base member 42. In addition, the flange 362 of the bobbin 36 is fixed in a state in which the coil 32 is sandwiched between the bobbin 36 and the base member 42.

[0047] An annular main body 382, ​​which is part of the substrate 38, is disposed on the outer periphery of the magnetic pole core 34 between the coil 32 and the base member 42. Furthermore, since the magnetic pole core 34 is disposed within the coil 32, the magnetic circuit is improved, and the electromagnetic conversion efficiency is enhanced.

[0048] The coil 32 is formed in a flattened circular ring shape (which may also be referred to as a flattened circular shape). The coil 32 is disposed on the base member 42 via the annular main body portion 382 of the substrate portion 38. The axis of the coil 32 coincides with the axis of the magnetic pole core 34. Furthermore, since the annular coil 32 does not have edge portions that are prone to variations, it is highly manufacturable as a coil with stable characteristics.

[0049] The coil 32 may be formed of, for example, UEW (polyurethane enameled copper wire). The coil 32 is connected to the wiring portion of the substrate portion 38 by the coil windings at both ends.

[0050] The substrate 38 supplies power to the coil 32. The substrate 38 is formed in a film shape, for example, a flexible printed circuit (FPC), and is configured by providing a conductive copper foil on a heat-resistant polyimide (P1) film. The substrate 38 has a wiring section to which the placed coil 32 is connected.

[0051] The base plate portion 38 includes an annular main body portion 382 having an opening 381 and an extension portion 384 extending radially outward from a portion of the annular main body portion 382 .

[0052] The annular main body 382 is formed in the shape of an insulating sheet, and insulates the coil 32 from the base member 42. The extension 384 connects the coil 32 to an external device or the like via a wiring portion of the extension 384. The substrate 38 energizes the coil 32 via the external device or the like, and excites the magnetic pole core 34.

[0053] The annular main body portion 382 of the substrate portion 38 is formed in a ring shape corresponding to the shape of the coil 32. The annular main body portion 382 is attached to the base member 42 with the magnetic pole core 34 disposed in the opening 381. The annular main body portion 382 is interposed between the coil 32 and the base member 42 and functions as an insulating film (insulator) that insulates the coil 32 from the base member 42. The substrate portion 38 has a connection substrate portion 385 that connects each of the annular main body portions 382. The substrate portion 38 is configured such that the multiple annular main body portions 382, ​​the connection substrate portion 385, and the extension portion 384 are connected, and these may be integrated into a flexible substrate.

[0054] The substrate part 38 has an insulating function and a conductive function to the coils 32 (through the wiring part), which makes it possible to avoid insulation breakdown, improve the routing of the wiring that supplies power to the coils 32, and suppress coil disconnection. Furthermore, when connection is made using a connector or the like, simply connecting the connection substrate part 385 to the connector makes it possible to electrically connect the connector to each coil 32 via the wiring part on the connection substrate part 385, making this connection easy.

[0055] <Spring stop portion 44A (44B)> The spring stop portion 44A (44B) has an attachment hole 445, and fixes the elastic support portion 50 (50a, 50b) via the attachment hole 445. The spring stop portion 44A (44B) supports the movable body 700 on the fixed body 4 via the elastic support portion 50 so that the movable body 700 can vibrate freely.

[0056] The spring stop portion 44A (44B) positions the movable body 700 via the elastic support portion 50 so as to face the magnetic pole surface 341 of the magnetic pole core 34. The spring stop portion 44A (44B) is preferably formed, for example, so that the elastic support portion 50 is at the same height as the magnetic pole surface 341.

[0057] The spring stop portion 44A (44B) is arranged on the base member 42 for each first actuator portion 2a (second actuator portion 2b) on the radial outside of the core body 342 so as to surround the core body 342. The spring stop portion 44A (44B) is preferably arranged on the base member 42 at a position point-symmetrical with respect to the center of the core body 342.

[0058] As a result, the spring stop portion 44A (44B) can support the movable body 700 on the left and right sides, across the entire surface of the base member 42, and at equal intervals from the center of each core body 342, via the attached elastic support portion 50, allowing it to move freely in the opposing direction (up and down) in a balanced manner.

[0059] The spring stop portion 44A (44B) is made of a magnetic material and is arranged to surround the electromagnet portion 3, functions as an external magnetic pole, and forms a magnetic circuit together with the electromagnet portion 3, the magnetic yoke 72, and the base member 42.

[0060] The spring stop portion 44A (44B) is configured, for example, so that the elastic support member 50 is fixed at a predetermined height on the outer circumferential side of the core body 342. The predetermined height of the spring stop portion 44A (44B) is a height that ensures a movable range for the deformed portions (springs) of the elastic support members 50a, 50b, and is equal to or greater than the length of the air gap G.

[0061] The spring stop portion 44A (44B) is an O-shaped yoke having an opening 441, and has a rectangular frame-shaped (e.g., square) frame-shaped main body 443. The opening 441 is formed in the center of the frame-shaped main body 443, and the coil 32 and the magnetic pole core 34 are arranged inside the opening 441.

[0062] A notch 447 is formed in the lower surface of the frame-shaped main body 443, and the extension portion 384 extending from the opening 441 is inserted into the notch 447. The spring stop portion 44A (44B) is made of a sintered material, which increases the degree of freedom in the shape of the spring stop portion 44A (44B) itself.

[0063] The spring stop portion 44A (44B) has mounting holes 445 on its upper surface at a height for positioning the elastic support portion 50 in a predetermined position. The upper surfaces are the upper surfaces of the four corners, and are arranged symmetrically in the X and Y directions around the core body 342. The upper surfaces are arranged on the same plane, and each has a mounting hole 445. A fastening member 62 is inserted into the mounting holes 445 to integrally fix the elastic support portion 50, the spring stop portion 44A (44B), and the base member 42.

[0064] The mounting holes 445 are provided at the same height on the top surface of the four corners of the spring stop portion 44A (44B), thereby ensuring flatness of the top surface as a spring fixing surface for each of the first actuator portion 2a and the second actuator portion 2b, and stabilizing the assembly precision in the overlapping direction of the parts related to the air gap G.

[0065] The fastening member 62 is inserted through the core side fixed end portion 52 of the core side arm 562 of the elastic support portion 50 to fix the core side fixed end portion 52 to the spring stop portion 44A (44B).

[0066] The head of the fastening member 62 engages with the core-side fixed end portion 52 of the elastic support portion 50 (50a, 50b), passes through the attachment hole 445, and is fastened to the joining hole 426 of the base member 42. As a result, the spring stop portion 44A (44B) is fixed together with the elastic support portion 50 in a stacked state to the base member 42. The fastening member 62 is, for example, a rivet.

[0067] <Elastic Supporting Parts 50 (50a, 50b)> The elastic supporting parts 50 (50a, 50b) are plate springs that connect the fixed body 4 and the movable body 700 and elastically support the movable body 700 so that it can move freely. Specifically, the elastic supporting parts 50 are disposed outside the electromagnet part 3 (coil 32), and connect the spring stop part 44A (44B) and the movable body 700 via the spacer 76.

[0068] The elastic support portion 50 (50a, 50b) is a pair of elastically deformable leaf springs made of SUS or the like, has a predetermined thickness (thickness in the Z direction), and is arranged so as to be stacked between the spring stop portion 44A (44B) and the movable body 700 in the thickness direction (Z direction).

[0069] Each of the elastic support portions 50 (50a, 50b) has a core-side fixed end portion 52, a yoke-side fixed end portion 54, and a deformable arm 56 extending between the core-side fixed end portion 52 and the yoke-side fixed end portion 54.

[0070] Each of the elastic support members 50a, 50b is formed in a rectangular shape in a plan view, with the pair of core-side fixed ends 52 and the pair of yoke-side fixed ends 54 located at the vertices of the rectangle. A deforming arm 56 is disposed between the pair of core-side fixed ends 52 and the pair of yoke-side fixed ends 54. The deforming arm 56 extends in the X direction and has linear core-side arms 562 and yoke-side arms 564 that are arranged in parallel.

[0071] A pair of core-side fixed ends 52 are provided at both ends of the core-side arm 562, and a pair of yoke-side fixed ends 54 are provided at both ends of the yoke-side arm 564.

[0072] The deformable arm 56 is formed by connecting a core-side arm 562 and a yoke-side arm 564 with a serpentine portion having a length sufficient to allow deformation into a serpentine shape.

[0073] Due to the elastic deformation of the deformation arm 56, the core side arm 562 and the yoke side arm 564 can move relative to each other in the Z direction (thickness direction), and the pair of core side fixed ends 52 and the pair of yoke side fixed ends 54 at both ends of each arm are displaced in the Z direction.

[0074] A pair of core-side fixed ends 52 are fixed to the two corners of the spring stop portion 44A (44B) via fastening members 62, and a pair of yoke-side fixed ends 54 are fixed to the movable body 700 by fastening members via spacers 76 radially outside the electromagnet portion 3.

[0075] As a result, the elastic support portions 50a, 50b elastically support the movable body 700 with a pair of yoke side fixed ends 54 relative to a pair of core side fixed ends 52 fixed to the fixed body 4, so that the movable body 700 can be supported in a balanced manner and can vibrate stably.

[0076] The thickness of the elastic support parts 50a, 50b ensures a deformation region for the elastic support parts 50a, 50b. Furthermore, as shown in Figures 2 and 3, the elastic support parts 50a, 50b are located in approximately the same layer as the core body 342, whose upper surface is the pole face 341, in the magnetic pole core 34. This results in a thinner thickness compared to a configuration in which the elastic support parts 50a, 50b are stacked on the layer in which the core body 342 is located, enabling the overall thickness to be reduced.

[0077] In the elastic support portions 50a and 50b, the pair of yoke-side fixed ends 54, the serpentine portion of the deforming arm 56, and the yoke-side arm 564 are disposed on the base member 42 in positions that do not interfere with the electromagnet portion 3, and are deformed and displaced in the Z direction. The deforming arm 56 including the serpentine portion enables stable assembly while ensuring a long spring length.

[0078] The elastic support members 50a, 50b are arranged symmetrically about the magnetic pole core 34. That is, the elastic support members 50a, 50b are arranged on the base member 42 on the outer periphery of the magnetic pole core 34 of each of the first actuator unit 2a and the second actuator unit 2b, at positions surrounding the coil 32 on all four sides with the axis of the coil 32 at the center.

[0079] The elastic support members 50a of the first actuator member 2a and the elastic support members 50b of the second actuator member 2b are arranged side by side on the base member 42, with the elastic support members 50a and the elastic support members 50b arranged side by side.

[0080] In this way, the pair of elastic support members 50a, 50b sandwiches the coil 32 for each coil 32 and is positioned symmetrically about the coil 32, elastically supporting the movable body 700 at positions symmetrical about the center of the movable body 700. This allows for well-balanced support of the movable body 700, resulting in stable drive. Furthermore, a serpentine portion is provided between the parallel yoke-side arm 564 and core-side arm 562, ensuring sufficient length for elastic deformation, enabling effective use of space (downsizing).

[0081] Note that, for example, when the movable body 700 moves relative to the fixed body 4, the elastic support members 50a, 50b can determine the displacement amount and natural frequency of the movable body 700 by setting the spring constant, and can also adjust the resonance frequency. Furthermore, when the movable body 700 moves, that is, when current is applied to the coil 32, displacement occurs, which creates a mechanical tactile sensation.

[0082] <Movable body 700> The movable body 700 is a plate-like body that moves up and down relative to the fixed body 4 having the plurality of electromagnet portions 3. The lower surface (lower surface 722 of the magnetic yoke 72) of the movable body 700 faces the base member 42 along with the plurality of electromagnet portions 3 on its entire surface. A magnetic attraction force is generated on the lower surface 722 when the coil is energized.

[0083] The movable body 700 has a notch 71 provided on the outer periphery to avoid the head of the fastening member 62 that fastens the core side fixed end 52 of each elastic support portion 50a, 50b to the spring stop portion 44A, 44B, and an escape hole 711 provided near the center.

[0084] The movable body 700 has a plate-shaped magnetic yoke 72 and plate-shaped weight portions 74A and 74B that are stacked on top of and arranged side by side on the magnetic yoke 72. The magnetic yoke 72 is arranged on the elastic support portions 50a and 50b via spacers 76 so as to be stacked on the layer on which the spacers 76 are located.

[0085] <Magnetic Yoke (Magnetic Member) 72> The magnetic yoke 72 is provided facing the electromagnet portion 3 and is movable toward the electromagnet portion 3. Movement of the magnetic yoke 72 causes the vibration actuator 100 to generate vibrations.

[0086] The magnetic yoke 72 is a thin plate-shaped magnetic body, and is disposed facing almost the entire surface of the base member 42, including the magnetic pole surface 341 of the core body 342 of each electromagnet unit 3. The magnetic yoke 72 is also disposed on the base member 42 facing the upper surface of each spring stop portion 44A (44B). The magnetic yoke 72 forms separate magnetic circuits between the base member 42 and the spring stop portion 44A and between the base member 42 and the spring stop portion 44B, i.e., forms a magnetic circuit for each of the first actuator unit 2a and the second actuator unit 2b.

[0087] The magnetic yoke 72 attracts the magnetic pole surface 341 of the electromagnet portion 3, the upper surfaces of the spring stop portions 44A and 44B, and the base member 42 due to magnetic attraction forces generated between them.

[0088] The magnetic yoke 72 is formed from a single sheet of soft magnetic material and has a high degree of flatness. The magnetic yoke 72 may be formed from soft magnetic materials such as silicon steel, permalloy, or ferrite. The magnetic yoke 72 may also be formed from electromagnetic stainless steel, sintered material, MIM (metal injection molding) material, laminated steel, or SECC (electro-galvanized steel sheet: Steel Electrolytic Cold Commercial). The magnetic yoke 72 is preferably formed from silicon steel or SECC. The magnetic yoke 72 is preferably formed from a magnetic thin sheet material having a thickness of, for example, 1 mm or less, more preferably 0.7 mm or less, and even more preferably 0.5 mm or less. This allows the vibration actuator itself to be made thinner without narrowing the vibration area.

[0089] As described above, the magnetic yoke 72 is made from a single thin plate, which reduces the number of parts, reduces costs, and simplifies assembly. Furthermore, because the magnetic yoke 72 is a highly flat, planar body, it can be positioned opposite the entire surface of the magnetic pole surface 341 of the core body 342 of the magnetic pole core, with an equal air gap G between them. Furthermore, the magnetic yoke 72 improves the precision of the air gap G surface, and can effectively exert a magnetic attraction force between itself and the electromagnet section 3.

[0090] <Weight portion 74A (74B)> The weight portion 74A (74B) is formed in a flat plate shape laminated on the magnetic yoke 72. The weight portion 74A (74B) has a shape corresponding to each of the electromagnet portions 3 of the first actuator portion 2a and the second actuator portion 2b, has the same shape, and has an outer shape obtained by dividing the magnetic yoke 72 into two portions with the same area, and is fixed integrally to the magnetic yoke 72. The two weight portions 74A, 74B are provided so as to cover the upper surface of the magnetic yoke 72, and form a plate-like movable body 700.

[0091] Weight portion 74A (74B) increases the generated vibration by increasing the weight of movable body 700. Weight portion 74A (74B) can adjust its weight to set the natural frequency of movable body 700. The weight of weight portion 74A (74B) can be changed by adjusting its thickness and the area where it is placed relative to magnetic yoke 72.

[0092] The weight portion 74A (74B) has recessed portions 742 formed at the four corners of the upper surface, and joining holes 744 formed in the recessed portions 742 (see FIG. 8).

[0093] A fastening member 64 such as a rivet is inserted into the joining hole 744, and the fastening member 64 passes through the through hole 724 of the magnetic yoke 72 and is joined to the yoke-side fixed end 54 of the elastic support part 50. The weight part 74 is disposed so that its upper surface faces the top surface of the cover 90 with a predetermined gap therebetween.

[0094] <Spacer 76> The spacer 76 is intended to ensure an air gap G, which is the movable area of ​​the movable body 700. The spacer 76 is disposed outside the electromagnet section 3 between the lower surface 722 of the magnetic yoke 72 and the elastic support sections 50a and 50b, and separates the magnetic yoke 72 from the electromagnet section 3 in the vertical direction. The spacer 76 is preferably, for example, a flat, annular body, but may also be a cylindrical body. The spacer 76 is provided at the four corners of the lower surface 722 of the magnetic yoke 72. The spacer 76 is fixed to the yoke-side fixed end section 54 via a rivet, which is the fastening member 64, and is interposed between the magnetic yoke 72 and the elastic support section 50.

[0095] The thickness of the spacer 76 separates the magnetic yoke 72 from the magnetic pole faces 341 that are arranged flush with the surfaces of the core bodies 342. The thickness of the spacer 76 forms the gap between the magnetic yoke 72 and the magnetic pole faces 341, 341, i.e., the air gap G. This allows the magnetic yoke 72 of the movable body 700 to move to a layer in the default position of the spacer 76 when the coil 32 is in an excited state. This allows the movable range of the movable body in the vibration actuator 100 to be sufficiently set, and favorable vibration characteristics can be obtained.

[0096] The air gap G is formed in the same manner in each embodiment described later. At this time, the core body 342 has a hard stop function that restricts downward movement of the magnetic yoke 72 (movement toward the base member 42) by the magnetic pole surface 341 abutting against the magnetic yoke 72.

[0097] The spacer 76 has a shape that avoids the coil 32 when the magnetic yoke 72 is displaced due to deformation of the elastic support portion 50, and is located in the portion that becomes the magnetic pole surface of the magnetic yoke 72 (the central portion of the lower surface 722 facing the magnetic pole core 34), outside the electromagnet portion 3 including the coil 32.

[0098] Although the spacer 76 is made of a non-magnetic material, it may be made of a magnetic material. The spacer 76 is made of a material such as austenitic stainless steel (SUS).

[0099] Depending on the design of the spacer 76, the degree of freedom of the movable area of ​​the movable body 700 and the elastic support parts such as leaf springs used in the elastic support parts 50 can be increased.

[0100] The spacer 76 can set the air gap G by adjusting its thickness (length in the Z direction), thereby improving the accuracy of the air gap G. The spacer 76 can also function as a weight when moving the movable body 700. For example, using a material with a high specific gravity for the spacer 76 increases the movable weight, which can increase the generated vibration.

[0101] <Cover 90> The cover 90 covers the actuator body 2 from above. The cover 90 is attached to the base member 42 so as to close the bottom surface of the cover 90, thereby forming a housing that covers the movable body 700 and the electromagnet portion 3.

[0102] The cover 90 protects the movable body 700 and the electromagnet unit 3 by preventing external interference. The cover 90 has a rectangular top surface 92 and side wall portions 94, 96 that hang down from the outer edge of the top surface 92. The side wall portions 94, 96 have different shapes and include engaging portions (engaging protrusions 942, engaging recesses 962) that engage with the engaged recessed portions 422 and engaged protrusions 424 of the base member 42, respectively. Because the engaging protrusions 942 and engaging recesses 962 have different shapes, the cover 90 can be easily fitted into the base member 42 during assembly without making a mistake in the orientation.

[0103] The top surface of the cover 90 functions as a hard stop in the direction of removal of the movable body 700. The cover 90 may also be configured to have a damper (buffer material) on the surface facing the weight portion 74, so that the damper has the hard stop function.

[0104] By placing a damper inside the cover 90, it is possible to achieve a sharp tactile sensation with just the device itself. Furthermore, the vibration actuator 1 can be mounted in any orientation and position on the product via the cover 9, allowing for greater freedom in component layout.

[0105] <Magnetic Circuit and Operation of Vibration Actuator 100> Figures 7A, 7B, and 7C are diagrams used to explain the operation of the vibration actuator. Note that Figures 7A, 7B, and 7C each correspond to the partial cross-sectional view of Figure 2, with Figure 7A showing the vibration actuator in a non-excited state, and Figure 7B showing the vibration actuator generating thrust in an excited state, and the magnetic flux flow M. Figure 7C shows the vibration actuator in a non-excited state after excitation.

[0106] 7A, that is, in the vibration actuator 100 in a non-energized state in which no current is passed through the coil, the movable body 700 is disposed at a default predetermined distance L1 from the base member 42, with a gap G formed between the lower surface 722 and the magnetic pole surface 341. With the movable body 700 in the default position, for example, a current is passed through the coil 32 to excite the electromagnet portion 3, as shown in FIG.

[0107] Electricity can be supplied to the first actuator unit 2a and the second actuator unit 2b as needed. For example, in FIG. 7B , electricity is supplied to the coil 32 simultaneously via the control unit. As a result, a magnetic field (flow of magnetic flux M) is generated through the movable body 700, with the magnetic pole surface (top surface) 341 of the magnetic pole core 34 of the first actuator unit 2a as the north pole and the joint surface with the base member 42 as the south pole. On the other hand, a magnetic field (flow of magnetic flux M) is generated through the movable body 700, with the magnetic pole surface (top surface) 341 of the magnetic pole core 34 of the second actuator unit 2b as the south pole and the joint surface with the base member 42 as the north pole.

[0108] Based on the principle of an electromagnetic solenoid, the movable body 700 attracts the magnetic pole surface 341 of the magnetic pole core 34, the spring stop portion 44A (44B), and the surface of the base member 42, forming the magnetic circuit shown in the drawing. Because the magnetic pole core 34, the spring stop portion 44A (44B), and the base member 42 are fixed, a thrust is generated in the direction of the white arrow in the movable body 700, causing it to move in a direction approaching the magnetic pole surface 341 of the magnetic pole core 34.

[0109] Next, when the power supply to the coil 32 is de-energized, the magnetic field disappears, the magnetic attraction force of the electromagnet unit 3 disappears, and the unit enters a de-energized state. This releases the biasing force of the elastic support units 50a, 50b, which have deformed toward the base member 42. That is, as shown in FIG. 7C , a spring reaction force is generated as the elastic support units 50a, 50b, and the reaction force of the elastic support units 50a, 50b moves the movable body 700 back to its original position. At this time, the reaction force of the elastic support units 50a, 50b moves the movable body 700 to a position displaced away from the magnetic pole core 34 from its stationary position (indicated by the predetermined distance L1), which is an immovable state, and generates strong vibrations.

[0110] This vibration repeats reciprocating movement in the Z direction while attenuating as the biasing force decays, resulting in free vibration. Alternatively, vibration may be generated by repeatedly energizing and deenergizing the coil 32 to cause the movable body 700 to reciprocate in the Z direction. In this way, in the vibration actuator 100, the movable body 700, which is supported in a state where it is suspended from the electromagnet section 3 by the elastic support section 50, is mechanically displaced by the magnetic attraction force generated between it and the opposing electromagnet section 3 when current is applied, and then undergoes free vibration.

[0111] This magnetic attraction force causes one of the base member 42, the electromagnet unit 3, and the movable body 700 to move closer to the other, resulting in displacement. This movement causes vibration of the movable body 700 due to the elastic force (biasing force) generated in the elastic support unit 50, providing a tactile sensation to the user.

[0112] In Fig. 7, the control unit inputs drive signals of the same phase to the multiple coils 32. In this way, signals that cause vibration are input simultaneously at the same timing, so it is possible to obtain an output that is twice as high as when there is only one actuator unit, and to generate vibrations with clear differences in strength and weakness.

[0113] In the vibration actuator 100, a flat, annular coil 32 and a core body 342 of a disk-shaped magnetic pole core 34 arranged inside the coil 32 are disposed on a flat, plate-shaped base member 42 within the cover 90.

[0114] In the vibration actuator 100, a fixed body 4 having a plurality of electromagnet portions 3, a plurality of spring stop portions 44A, 44B, and a base member 42 supports a flat-plate-shaped movable body 700 via plate-shaped elastic support portions 50a, 50b so that the movable body 700 can move freely in the approaching and separating directions.

[0115] With this configuration, the opening of the cover 90 is closed by the thin-plate base member 42, and inside the base member 42, the coil 32, the magnetic pole core 34, and the spring stop portion 44A (44B) are arranged in the same layer. In addition, the elastic support portions 50a, 50b are arranged in a layer laminated on the spring stop portion 44A (44B) so as to be flush with the magnetic pole surface 341 (the upper surface of the electromagnet portion 3), and a layer including the air gap G is laminated on that layer with the spacer 76. The magnetic yoke 72 and weight portion 74 of the movable body 700 are movably arranged on the layer of the air gap G, resulting in a thin vibration actuator 100. In this way, assembly accuracy is determined by the overlapping of parts, enabling high-precision assembly.

[0116] In vibration actuator 100, movable body 700 is covered by cover 90, which prevents interference such as external contact with the inside of the actuator, and allows the outer surface of the housing, excluding the surface from which the wiring is drawn (extension 384), to be attached to the product, which improves layout flexibility when mounted on a product and makes it possible to change the vibration direction of the actuator.

[0117] Furthermore, the vibration actuator 100 has a thin plate configuration (a thinner flat plate compared to a configuration in which the coil 32, magnetic pole core 34, and elastic support portion 50 are stacked), which allows for space saving in placement space.

[0118] The vibration actuator 100 has a plurality of actuator units 2a, 2b, and therefore can provide vibrations that provide a variety of tactile sensations by appropriately energizing the coils 32 of these actuator units and combining the vibrations they generate.

[0119] Furthermore, drive signals are input to the coils 32 of the multiple actuator units 2a, 2b with phase shifts. This allows the movable body 700 to shift the timing at which the magnetic attractive forces generated at the magnetic pole faces 341 of the magnetic pole cores 34 of the first actuator unit 2a and the second actuator unit 2b occur. These shifted signals control the actuator units 2a, 2b, causing the movable body 700 to move sequentially while tilting. This allows the movable body 700 to perform a variety of movements, such as swinging and rotating, thereby enabling the expression of a wide variety of tactile sensations.

[0120] Furthermore, in the vibration actuator 100, the movable range of the elastic support member 50 can be ensured by the thickness of the elastic support member 50. Furthermore, the thickness of the spacer 76, together with the thickness of the elastic support member 50 and the thickness of the magnetic pole core 34, sets the air gap G between the magnetic pole faces that attract the electromagnet unit 3 and the movable body 700. The air gap G ensures the vibration characteristics of the vibration actuator, which is the movable range of the elastic support member 50 that moves the magnetic core 34 of the electromagnet unit 3 and the magnetic yoke 72 closer to or farther apart.

[0121] In this way, it is possible to obtain favorable vibration characteristics without providing separate members for forming each gap G, and it is possible to achieve a thinner structure, easier assembly, and lower costs with a simple configuration. Furthermore, by making each component flat, it is possible to use, for example, an unprocessed steel plate for the magnetic yoke 72, thereby enabling a thinner structure and lower costs.

[0122] Furthermore, because the elastic support member 50 is a leaf spring with a high manufacturing precision in thickness, variations in the gap between the base member 42 and the spacer 76 are suppressed, resulting in a stable gap, ensuring a movable gap, and enabling the setting of the gap G. Furthermore, in the vibration actuator 100, the direction of the current flowing circumferentially through the coil 32 may be either rightward or leftward.

[0123] <Driving principle of vibration actuator 100> Below, a brief explanation will be given of the driving principle of the vibration actuator 100. The vibration actuator 100 can also be driven by generating a resonance phenomenon using pulses using the following equations of motion and circuit equations. Note that the operation is not a resonance drive, but rather represents a bodily sensation corresponding to a predetermined operation, and for example, the actuator may be driven by inputting a current pulse (which may be single or multiple) via a control unit (not shown).

[0124] In the vibration actuator 100, the movable body 700 performs a reciprocating motion based on the equations (1) and (2).

[0125]

[0126]

[0127] That is, the mass m [kg], the displacement x(t) [m], the thrust constant K ｆ [N / A], current i(t) [A], spring constant K ｓｐ [N / m], damping coefficient D [N / (m / s)], etc. can be changed as appropriate within the range that satisfies formula (1). In addition, voltage e(t) [V], resistance R [Ω], inductance L [H], back electromotive force constant K ｅ [V / (rad / s)] can be changed as appropriate within a range that satisfies formula (2).

[0128] In this way, the vibration in the vibration actuator 100 is generated by the mass m of the movable body 700 and the spring constant K of the metal spring (a leaf spring in this embodiment) serving as the elastic support member 50. ｓｐ Furthermore, the vibration generated by the vibration actuator 100 can be set and changed by the input voltage (pulse).

[0129] Furthermore, in the vibration actuator 100, the base member 42 and the elastic support member 50, and the elastic support member 50 and the movable body 700 are joined together using a fastening member such as an adhesive or welding. Screws may also be used as fastening members.

[0130] (Embodiment 2) Fig. 8 is an exploded perspective view of a vibration actuator according to embodiment 2 of the present invention with the cover and movable body removed, as viewed from above, and Fig. 9 is a perspective view of the state shown in Fig. 8, as viewed from below. Also, Fig. 10 is an exploded perspective view of the vibration actuator according to embodiment 2 of the present invention, as viewed from above.

[0131] The vibration actuator 110 according to the second embodiment is formed by modifying or adding some of the configuration of the vibration actuator 100 according to the first embodiment, and when it has the same functions as the components described above, the same names and symbols are used and the explanation is omitted.

[0132] As shown in a vibration actuator 110 according to a second embodiment shown in FIGS. 8 to 10, the magnetic yokes 72A, 72B of the movable body 700 in the vibration actuator 1 of the first embodiment may be separated.

[0133] The magnetic yokes 72A, 72B are arranged in parallel, and the weight portions 74A, 74B and the spacer 76 constitute the first movable body 7a and the second movable body 7b of the first actuator part 2a and the second actuator part 2b, respectively. The first movable body 7a and the second movable body 7b are arranged on the left and right, and constitute the movable body 701 of the vibration actuator 100.

[0134] The first movable body 7a and the second movable body 7b are respectively the first actuator section 2a and the second actuator section 2b and are capable of moving independently up and down (in the vibration direction).

[0135] Figures 11A, 11B, and 11C are diagrams used to explain the operation of the vibration actuator according to embodiment 2, and each diagram corresponds to the cross section of Figure 2 of embodiment 1. Figure 11A shows the vibration actuator in a non-excited state, and Figure 11B shows the vibration actuator generating thrust in an excited state, as well as the magnetic flux flow M. Figure 11C shows the vibration actuator in a non-excited state after excitation.

[0136] 11A, that is, in a non-energized state in which the coil is not energized, the first movable body 7a and second movable body 7b of the movable body 701 are arranged at a default predetermined distance D from the base member 42. A gap G is also formed between the lower surfaces 722a, 722b of the first movable body 7a and second movable body 7b and the magnetic pole surface 341. With the movable body 700 in the default position, for example, a current is passed through the coil 32 to excite the electromagnet portion 3 as shown in FIG.

[0137] 11B, current is applied to the coils 32 of the first actuator unit 2a and the second actuator unit 2b via the control unit. As a result, a loop of a magnetic field (flow of magnetic flux M) is generated, with the magnetic pole surface (top surface) 341 of the magnetic pole core 34 of the first actuator unit 2a as the north pole and the joint surface with the base member 42 as the south pole, passing through the movable body 700. On the other hand, a loop of a magnetic field (flow of magnetic flux) is generated, with the magnetic pole surface (top surface) 341 of the magnetic pole core 34 of the second actuator unit 2b as the south pole and the joint surface with the base member 42 as the north pole, passing through the movable body 701.

[0138] According to the principle of an electromagnetic solenoid, the movable body 701, the magnetic pole surface 341 of the magnetic pole core 34, the spring stop portions 44A and 44B, and the surface of the base member 42 attract each other, forming the magnetic circuit shown in the figure.

[0139] Because the magnetic pole core 34, the spring stop portions 44A and 44B, and the base member 42 are fixed, a thrust is generated in the direction of the white arrow on the movable body 701 (first movable body 7a, second movable body 7b). As a result, the first movable body 7a and the second movable body 7b move in a direction approaching the magnetic pole surface 341 of the magnetic pole core 34.

[0140] 11C, by de-energizing the coil 32, a reaction force of the springs serving as the elastic support members 50a and 50b is generated, and the reaction force of the elastic support members 50a and 50b moves the movable bodies (first movable body 7a and second movable body 7b) 701 to their original positions. At this time, the first movable body 7a and the second movable body 7b move to positions displaced in a direction away from the magnetic pole core 34 from their stationary positions (shown by the predetermined distance D) in an immovable state, and strong vibrations are generated as in the first embodiment.

[0141] In this embodiment, the movable body 701 is composed of a first movable body 7a and a second movable body 7b that can move up and down independently. This vibration occurs freely by repeating reciprocating movement in the Z direction while attenuating as the biasing force attenuates. Alternatively, the movable body 700 may be caused to reciprocate in the Z direction by repeatedly energizing and deenergizing the coil 32, thereby generating vibration.

[0142] In the operation of the movable body 701 in this embodiment, the vibrations of the first movable body 7a and the second movable body 7b that make up the movable body 701 can be driven independently by independently passing current through the coils of the first actuator unit 2a and the second actuator unit 2b.

[0143] This allows the timing of driving the first actuator unit 2a and the second actuator unit 2b, the magnitude of the vibration, etc. to be adjusted, thereby providing the user with a variety of tactile sensations.

[0144] For example, when the first movable body 7a and the second movable body 7b are to be vibrated at the same timing and with the same magnitude, the control unit (control circuit) inputs actuator drive signals of the same phase (in-phase) to each coil 32. This generates vibrations with a higher output than a single unit, making it possible to present a crisp tactile sensation with clear differences in strength and weakness.

[0145] Additionally, phase-shifted actuator drive signals are input to the coils 32 of the first actuator unit 2a and the second actuator unit 2b. In this case (for example, when signals with a phase shift of n / 180° are input), the first actuator unit 2a and the second actuator unit 2b are driven with different timing. This allows for the creation of tactile sensations with various expressions, such as rotation and oscillation.

[0146] (Embodiment 3) Figure 12 is an exploded oblique view from above of a vibration actuator according to embodiment 3 of the present invention with the cover and movable body removed, and Figure 13 is an exploded oblique view from above of the vibration actuator according to embodiment 3 of the present invention.

[0147] The vibration actuator 120 according to embodiment 3 is formed by partially modifying or adding to the configuration of the vibration actuator 100 according to embodiment 1. Therefore, the following will only describe the different components, and when components have the same functions as those described above, the same names and symbols will be used and their description will be omitted.

[0148] As shown in a vibration actuator 120 according to embodiment 3 shown in Figures 12 and 13, in the vibration actuator 1 of embodiment 1, auxiliary weight portions 78 may be added to the weight portions 74A, 74B of the movable body 702 to adjust and increase the weight.

[0149] In the vibration actuator 120, the magnetic yoke 72 that constitutes the movable body 702 has weight portions 740A and 740B that are stacked with auxiliary weight portions.

[0150] The weight portions 740A and 740B are arranged side by side on the magnetic yoke 72. The weight portion 740A has a weight portion main body 77 and an auxiliary weight portion 78 made of a high specific gravity material. The weight portion 740B has the same configuration as the weight portion 740A.

[0151] The weight portion main body 77 is formed in a rectangular frame shape having an opening 771 in the center, and is joined to the magnetic yoke 72 and the elastic support portions 50a and 50b via joining holes 744 provided at the corners.

[0152] The joining hole 744 is formed in the seat recess 742, and the head of the fastening member 64 is positioned therein when the fastening member 64 is attached to the elastic support members 50a and 50b, and is at the same height level as or lower than the surface of the weight portion main body 77. As a result, when the movable body 702 vibrates, even if it moves away from the base member 42, the fastening member 64 does not protrude in the direction of separation.

[0153] The weight portion main body 77 is made of SUS, copper, or the like, and together with the auxiliary weight portion 78, increases the weight of the movable body 702 and increases the vibration output.

[0154] The auxiliary weight portion 78 is disposed within the opening 771 of the weight portion main body 77 and is made of a material having a greater specific gravity than the weight portion main body 77 .

[0155] Auxiliary weight portion 78 is made of a high specific gravity material, such as phosphor bronze, SUS, tungsten, etc. In this way, weight portion 740A (740B) is made of a high specific gravity material or has auxiliary weight portion 78 made of a high specific gravity material, so the weight of movable body 702 can be further increased, thereby increasing the generated vibration.

[0156] In the weight portion 74A, the movable weight mass can be increased and the vibration output can be increased, that is, a higher output can be achieved, by appropriately changing the ratio between the weight portion main body 77 and the auxiliary weight portion 78. In addition, the natural frequency of the movable body can be set by adjusting the weight of these weight portions 74A.

[0157] The magnetic circuit configuration and operation of the vibration actuator 120 of this embodiment are similar to those of the vibration actuator 100 of the first embodiment, and therefore a description thereof will be omitted.

[0158] According to the vibration actuator 120, the weight of the movable body 702 can be increased without changing the external dimensions of the vibration actuator 120 or its components themselves.

[0159] By using a weight component made of a high specific gravity material as a moving component separate from the magnetic yoke, it is possible to increase the vibration output. Furthermore, by making the weight an integrated component, the number of parts and labor can be reduced, thereby lowering costs. Furthermore, a high specific gravity material such as tungsten is used for the auxiliary weight portion 78, which is mounted as a sub-weight inside the weight portion main body 77. This ensures part workability even with tungsten, which is difficult to process, and allows for even higher vibration output.

[0160] Furthermore, vibration actuators may be formed by partially modifying or adding to the configuration of vibration actuator 100 of embodiment 1. In vibration actuators 130, 140, 150, and 160 of embodiments 4 to 7 below, different components will be described, and when components have the same functions as those described above, the same names and symbols will be used and descriptions will be omitted.

[0161] (Embodiment 4) Figure 14 is an exploded oblique view from above of a vibration actuator according to embodiment 4 of the present invention with the cover and movable body removed, and Figure 15 is an exploded oblique view from above of the vibration actuator according to embodiment 4 of the present invention.

[0162] As shown in a vibration actuator 130 according to the fourth embodiment shown in FIGS. 14 and 15, in the vibration actuator 1 of the first embodiment, the spring stop portions 44A and 44B may be integrated into a spring stop portion 440.

[0163] The spring stop portion 440 is disposed on the base member 42 and has a plurality of openings 441 that are open side by side on the left and right. The electromagnet portions 3 of the first actuator portion 2 a and the second actuator portion 2 b are disposed in the plurality of openings 441, respectively.

[0164] (Embodiment 5) Figure 16 is an exploded oblique view from above of a vibration actuator according to embodiment 5 of the present invention with the cover and movable body removed, and Figure 17 is an exploded oblique view from above of the vibration actuator according to embodiment 5 of the present invention.

[0165] 16 and 17, in the vibration actuator 1 of embodiment 1, the elastic support portions 50a, 50a and the elastic support portions 50b, 50b may be integrated together. For example, the elastic support portions 50a, 50a are integrated into elastic support portion 500A, and the elastic support portions 50b, 50b are integrated into elastic support portion 500B.

[0166] Sixth Embodiment Fig. 18 is an exploded perspective view of a vibration actuator according to a sixth embodiment of the present invention with the cover and movable body removed, as viewed from above, and Fig. 19 is a perspective view of the state shown in Fig. 18, as viewed from below. Also, Fig. 20 is an exploded perspective view of the vibration actuator according to the sixth embodiment of the present invention, as viewed from above.

[0167] As shown in a vibration actuator 150 according to a sixth embodiment shown in FIGS. 18 to 20, in the vibration actuator 1 of the first embodiment, the weight portions 74A and 74B may be formed as a weight portion 740 that is an integrated component.

[0168] (Embodiment 7) Figure 21 is an exploded oblique view of a vibration actuator according to embodiment 7 of the present invention, viewed from above, with the cover and movable body removed, and Figure 22 is an exploded oblique view of the vibration actuator according to embodiment 7 of the present invention, viewed from below.

[0169] As shown in a vibration actuator 160 according to embodiment 6 shown in Figures 21 and 22, in the vibration actuator 1 of embodiment 1, the weight portions 74A and 74B may be integrated to form weight portion 740. In addition, the elastic support portions 50a and 50a may be integrated to form elastic support portion 500A, and the elastic support portions 50b and 50b may be integrated to form elastic support portion 500B. Furthermore, in this vibration actuator 160, the spring stop portions 44A and 44B are integrated to form spring stop portion 440.

[0170] In this way, in the configuration of vibration actuators 130, 140, 150, and 160, by appropriately integrating parts with the same functions in the first actuator section 2a and the second actuator section 2b into one component, the number of parts and labor can be reduced, thereby achieving cost reductions.

[0171] In particular, in vibration actuator 160, magnetic yoke 72, weight portion 740, elastic support portions 500A and 500B, and spring stop portion 440 are integrated into one component, which further reduces the number of components and labor required, thereby achieving lower costs.

[0172] <Drive Circuit of Vibration Actuator 100> FIG. 23 shows an example of a drive circuit for the actuator body that drives the actuator in each vibration actuator.

[0173] The drive circuit shown in Fig. 23 is included in, for example, the control unit. The drive circuit connects a current pulse supply unit (switching element) composed of a MOSFET (metal-oxide-semiconductor field-effect transistor) 12 to an actuator ("Actuator") 100. In addition to the MOSFET, the circuit unit has a port 1 ("Port-1") 15 such as a signal generation unit (Signal generation) that applies a voltage pulse, a gate resistor RG13, and a gate-source resistor RGS14. Note that vibration actuator 100 in Fig. 23 can be replaced with vibration actuators 110, 120, 130, 140, 150, and 160 and controlled in the same way.

[0174] In the control section, port 1 ("Port-1") 15 is connected to the gate of a MOSFET via a gate resistor RG. The MOSFET is a discharge switch or the like, and is connected to a vibration actuator 100 (shown as [Actuator] in FIG. 23) to which a voltage is supplied from a power supply section Vin, and a gate-source resistor RGS14. In FIG. 24, an input voltage is shown as an example of an actuator drive signal input to the actuator 1.

[0175] When the input of the actuator drive signal is stopped, the vibration actuator 100 releases the biasing force, and the biasing force moves the movable body 700 in the other direction (the positive Z direction). The vibration actuator 100 vibrates the movable body 700 by inputting and stopping the actuator drive signal. The vibration actuator 100 vibrates the movable body 700 without using a magnet.

[0176] As described above, the actuator drive signals are input to each of the multiple (first and second) actuator units 2a, 2b as appropriate, with phase-shifted drive signals or phase-matched drive signals.

[0177] This allows for highly efficient, high-output vibration, and by operating with phase-shifted input signals, it is possible to shift the timing at which attractive force is generated at each magnetic pole position. This allows the movable body to move in sequence while tilting. This allows the movable body to oscillate and rotate, enabling a variety of expressions.

[0178] In particular, with vibration actuator 110 according to the second embodiment, the amplitude can be increased because each moving part is completely independent, and when a phase-shifted signal is input, the oscillation or rotation can be expressed more clearly.

[0179] In this embodiment, the actuator drive signal corresponds to a drive current pulse (also referred to as a "current pulse") supplied to the coil 32 as a drive current for driving the movable part and the control device. In the vibration actuator 100, when a current pulse is supplied to the coil 32, the magnetic attraction force between the electromagnet part 3 and the movable body 700 causes the movable body 700 to move in one direction toward the electromagnet part 3, causing mechanical displacement, the supply of current is stopped, and then the movable body 700 is allowed to vibrate freely. The vibrations generated thereby are applied to the control device. The elastic support part 50 can control the displacement due to the magnetic attraction force and the free vibration period.

[0180] The actuator drive signal is generated by inputting a signal from a detection unit that detects the operator's operation. The detection unit may be, for example, a pressure sensor that detects the pressure caused by the operator's operation as a pressure signal and converts the pressure signal into an electrical signal for output. The detection unit may also be a capacitance type or a proximity sensor that detects the position of the operator's finger (pressing object) pressing the vibration presentation unit by detecting capacitive coupling between the operator's finger and the detection unit.

[0181] <Modification> Figure 25 is a diagram showing a modification of a vibration actuator according to an embodiment of the present invention. The actuator body 2 of the vibration actuator shown in Figure 25 comprises a strain detection section (strain detection sensor) 82 and a capacitance detection section (proximity sensor) 84 as a proximity detection section. The actuator body 2 can be applied to the actuator bodies of the vibration actuators 100, 110, 120, 130, 140, 150, and 160 of the above-mentioned embodiments. Note that when detecting an operating load, the vibration actuator may be configured to have either the strain detection section 82 or the capacitance detection section 84.

[0182] The strain detection unit 82 has a strain gauge. The strain detection unit 82 detects the strain of the yoke-side arm 564 of the elastic support unit 50, which is deformed when the movable body 700 serving as the movable part is pressed toward the bottom side of the opening (in the pressing operation direction). The detected strain is output to a control unit or the like, and the coil 32 is energized to attract and move the magnetic yoke 72 so that the amount of movement of the movable part (e.g., the movable body 700) corresponds to the strain.

[0183] Specifically, the distortion detection unit 82 is used to detect the operator's contact operation, that is, the amount of depression of the movable part (for example, the movable body 700).

[0184] Based on the sensor detection result of the strain detection unit 82, the vibration period of the movable part (e.g., movable body 700) may be adjusted when a drive current pulse is supplied from port 1 (current pulse supply unit) 15. In other words, it is possible to adjust the vibration generated by driving in accordance with the strain detection result.

[0185] The capacitance detection unit 84 is provided on the base member 42 and detects a change in capacitance in the base member 42 due to movement of the movable body 700. The capacitance detection unit 84 may be provided in any manner as long as it detects the relative distance, i.e., proximity, between the movable body 700 (magnetic yoke 72, spacer 76, etc.) and a portion of the electromagnet unit 3. This allows the movable unit to detect a pressing operation by the operator, and the vibration actuator generates vibrations corresponding to the operation via the control unit and applies them to the operator. In this way, the vibration can be adjusted according to the capacitance detection result, and if the vibration actuator is positioned so that the capacitance changes depending on the operating load, the operating load can also be detected.

[0186] In the vibration actuators 100, 110, 120, 130, 140, 150, and 160 of each embodiment, a damper (damping member) may be provided between the first movable body 7a, the second movable body 7b, and the movable bodies 700, 701, 702, and 704 and the fixed body 4 (specifically, the surface of the electromagnet portion 3). This damps vibrations in the vibration actuators 100, 110, 120, 130, 140, 150, and 160. By incorporating a damper within the vibration actuator, it is possible to suppress lingering vibrations in the vibration actuator itself, i.e., the device itself, and improve the impact resistance of the movable body 700. Furthermore, by using a hard stop material for the damper disposed between the movable body and the fixed body, it is possible to suppress knocking sounds and provide damping properties to improve the sharpness of the vibrations of the movable body. In this case, dampers may be disposed as suppression members between the cover 90 and the first movable body 7a, the second movable body 7b, and the movable bodies 700, 701, 702, and 704. The suppression members may be provided on at least one of the opposing surfaces of the cover 90 and the movable bodies, so as to function as a hard stop when the movable bodies move in the protruding direction opposite to the magnetic attractive force.

[0187] Furthermore, it goes without saying that the expressions relating to shapes used in the following description are merely expedient expressions for the purpose of describing simple outlines, and do not necessarily represent geometrically accurate definitions of figures. The shapes of the entire device or each component described herein are merely examples, and the present invention is not limited to the shapes exemplified in this embodiment.

[0188] The disclosures of the specification, drawings and abstract contained in Japanese Patent Application No. 2024-105642, filed on June 28, 2024, are incorporated herein by reference in their entirety.

[0189] The vibration actuator and vibration presentation device according to the present invention are easy to assemble, have the advantage of being able to be placed in a space-saving manner and vibrate suitably, and are useful for use in, for example, PCBs, track pads, operation panels, and the like.

[0190] 2 Actuator body, 2a First actuator part (actuator body), 2b Second actuator part (actuator body), 3 Electromagnet part, 4 Fixed body, 700, 701, 702, 704 Movable body, 7a First movable body, 7b Second movable body, 10 Vibration presentation device, 11 Seat part (vibration presentation part), 11a Storage space, 32 Coil, 34 Magnetic pole core, 36 Bobbin, 38 Substrate part, 42 Base member, 44A, 44B, 440 Spring stop part, 50, 50a, 50b, 500A, 500B Elastic support part, 52 Core side fixed end part, 54 Yoke side fixed end part, 56 Deformable arm, 62, 64 Fastening member, 71 Notch part, 72, 72A, 72B Magnetic yoke, 74, 74A, 74B Weight portion, 76 Spacer, 77 Weight portion main body, 78 Auxiliary weight portion, 82 Strain detection portion, 84 Capacitance detection portion (proximity sensor), 90 Cover, 92 Top surface portion, 94, 96 Side wall portion, 100, 110, 120, 130, 140, 150, 160 Vibration actuator, 341 Magnetic pole surface (top surface), 342 Core body, 344 Joint protrusion portion, 361 Cylindrical bobbin body, 362 Flange, 364 Step portion, 381 Opening portion, 382 Annular main body portion, 384 Extension portion, 385 Connection board portion, 421, 426, 744 Joint hole, 422 Engaged recess portion, 424 Engaged protrusion portion, 441, 771 Opening, 443 Frame-shaped main body, 445 Mounting hole, 562 Core-side arm, 564 Yoke-side arm, 700, 701, 702 Movable body, 711 Hole, 722, 722a, 722b Lower surface, 724 Through-hole, 740, 740A, 740B Weight portion, 742 Seat groove portion, 942 Engaging protrusion portion, 962 Engaging recess portion

Claims

1. A vibration actuator comprising a plurality of actuator bodies each having: an electromagnet section formed by a flattened circular coil surrounding a core; a spring stop section arranged to surround the electromagnet section; a magnetic member having a lower surface facing the core from above; a spacer arranged on the lower surface outside the coil and separating the electromagnet section and the magnetic member in the vertical direction; and an elastic support section connecting the spring stop section and the spacer and supporting the magnetic member so that it can move freely in the vertical direction; wherein the plurality of actuator bodies are similarly provided on a plate-shaped magnetic base section, each of the cores is joined to the magnetic base section, and each of the electromagnet sections and the spring stop section are arranged adjacent to each other.

2. The vibration actuator according to claim 1, wherein at least one set of the spring stop portion, the magnetic member, and the elastic support portion is an integral part.

3. The vibration actuator according to claim 1, wherein drive signals with different phases are input to the coils of the plurality of actuator bodies.

4. The vibration actuator according to claim 1, wherein drive signals of the same phase are input to the coils of the plurality of actuator bodies.

5. The vibration actuator according to claim 1, wherein the plurality of magnetic members are arranged in parallel.

6. A vibration actuator as described in claim 1, wherein each of the plurality of magnetic members has a plate-shaped magnetic yoke and a weight portion laminated on the magnetic yoke, and at least one of the plurality of magnetic yokes and weight portions that are the same member is formed as an integral part.

7. The vibration actuator according to claim 1, wherein the core is a convex magnetic body that protrudes upward within the coil.

8. The vibration actuator according to claim 1, wherein the spring stop portion is made of a magnetic material.

9. The vibration actuator according to claim 1, wherein the magnetic member has a weight portion.

10. The vibration actuator according to claim 9, wherein the weight portion comprises a weight body and an auxiliary weight portion made of a material having a higher specific gravity than the weight body.

11. The vibration actuator according to claim 1, further comprising a capacitance detection unit between the core and the magnetic member.

12. The vibration actuator according to claim 1, wherein the elastic support portion is a leaf spring and has a strain detection portion that detects strain of the spring.

13. A vibration presentation device comprising: a vibration actuator according to any one of claims 1 to 12; and a vibration presentation unit that presents vibrations of the vibration actuator.

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