JP2011125843A - Acceleration generation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an acceleration generation device capable of, when the waveform of a voltage to be applied is inverted, changing the direction of sense of force obtained when gripping the device before and after the waveform of the voltage is inverted. <P>SOLUTION: The linear motor 100 (acceleration generation device) includes a planar coil 4, a movable part 2 reciprocated by a magnetic field generated by the planar coil 4, a chassis 7 vibrated by the reciprocation of the movable part 2, and spring parts 3a and 3b. The linear motor 100 is configured so that an alternate current voltage V(t) having an asystematic waveform is applied to the planar coil 4 and the waveform of acceleration in the vibration direction of the chassis 7 becomes asymmetrical on one direction and the other direction sides with respect to the reference line in which acceleration is zero. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an acceleration generating device, and more particularly to an acceleration generating device that includes a movable part and allows a user to perceive a pseudo force sense.

  2. Description of the Related Art Conventionally, there is known an acceleration generating device that includes a movable part and makes a user perceive a pseudo force sensation (for example, see Patent Document 1).

  In Patent Document 1, a cylindrical bobbin (movable part) around which a coil is wound, a first permanent magnet (movable part) attached to one end side of the cylindrical bobbin, and the other side of the bobbin. A second permanent magnet provided separately from the bobbin; a cylindrical frame that houses the coil, bobbin, first permanent magnet, and second permanent magnet; and a spring provided between the first permanent magnet and the frame. An acceleration generator is disclosed. In the acceleration generator disclosed in Patent Document 1, a spring is disposed on one side of the moving direction of the first permanent magnet (the direction in which the cylindrical bobbin extends), and the second permanent magnet is disposed on the other side. Therefore, the acceleration generator has a structurally asymmetric shape with respect to the center in the moving direction of the first permanent magnet.

  In this acceleration generator, a magnetic field is generated by supplying a sinusoidal alternating current (alternating voltage) to the coil. The elastic force of the spring acts on one side of the first permanent magnet, and the magnetic field of the coil and the magnetic field of the second permanent magnet act on the other side. The magnitude of the force acting on one side and the other side of the first permanent magnet differs depending on the positions of the first permanent magnet and the bobbin, and the acceleration waveform of the first permanent magnet (bobbin) is the first permanent magnet (bobbin). ) In the moving direction in FIG. 3 is different from the other side. As a result, the user can perceive a force sense (pseudo force sense) that is pulled in a predetermined direction when holding the acceleration generator.

WO2007 / 086426

  However, in the acceleration generator disclosed in Patent Document 1, a sinusoidal current is passed through the coil, but the acceleration generator is held even when a current (voltage) whose waveform is reversed is passed through the coil. There is a problem that the direction of the pseudo force sense obtained in this case does not change before and after the current waveform (voltage waveform) is reversed.

  The present invention has been made to solve the above-described problems, and one object of the present invention is to provide a device before and after the reversal of the voltage waveform when the voltage waveform to be applied is reversed. It is an object of the present invention to provide an acceleration generating device capable of changing the direction of the force sense obtained when the user grasps the finger.

  In order to achieve the above object, an acceleration generating device according to a first aspect of the present invention includes a spiral coil, a movable part that reciprocates by a magnetic field generated by the spiral coil, and a movable part is housed. A casing that vibrates by the reciprocating movement of the movable part and a spring part provided between the movable part and the casing are provided, and an alternating voltage with an asymmetric waveform is applied to the spiral coil, and the casing The waveform of the acceleration in the vibration direction is configured to be asymmetric between the one direction side and the other direction side with respect to the reference line where the acceleration is zero.

  The acceleration generating device according to the second aspect of the present invention is arranged to face the first movable portion, the first movable portion and the second movable portion each including a permanent magnet, and the first movable portion is the first movable portion. A first coil that reciprocates in a first direction and a second direction, and a second coil that is disposed opposite to the second movable portion and reciprocates the second movable portion in the first direction and the second direction. A control unit that independently controls the currents flowing through the first coil and the second coil, respectively, and a housing that houses the first movable unit and the second movable unit. The first coil and the second coil are arranged so that the acceleration waveform during one reciprocation of the first movable part and the second movable part is asymmetric between movement in the first direction and movement in the second direction. The current flowing through the two coils is controlled.

  The acceleration generating device according to the third aspect of the present invention is arranged such that a movable part including a permanent magnet and a movable part are opposed to the movable part, and the movable part is reciprocated in a first direction and a second direction. Coil and the second coil, a housing that houses the movable part, and a control part that independently controls the currents flowing through the first coil and the second coil. The current flowing in the first coil and the second coil is controlled so that the acceleration waveform during one reciprocation is asymmetric between the movement in the first direction and the movement in the second direction. Yes.

  With the above configuration, even when the waveform of the applied voltage is reversed, the magnitude of the force sense obtained when the device is held can be made substantially the same before and after the voltage waveform is reversed.

  Further, with the above configuration, it is possible to generate a pseudo force sense in an arbitrary direction with a simple configuration.

1 is a plan view of a linear motor according to a first embodiment of the present invention. It is sectional drawing of the linear motor by 1st Embodiment of this invention. It is a figure showing the waveform of the ideal acceleration of a linear motor. It is a figure for demonstrating the frequency characteristic of a linear motor. It is a figure which shows the frequency characteristic of the acceleration and impedance of the linear motor by 1st Embodiment of this invention. It is a figure which shows the waveform of the voltage applied to the linear motor calculated | required by simulation by 1st Embodiment of this invention. It is a figure which shows the waveform of the acceleration of the linear motor calculated | required by simulation by 1st Embodiment of this invention. It is a figure which shows the waveform of the voltage at the time of reversing the voltage shown in FIG. It is a figure which shows the waveform of the acceleration calculated | required by the simulation at the time of applying the voltage shown in FIG. 8 to the linear motor by 1st Embodiment of this invention. It is a figure which shows the waveform of the voltage applied to the linear motor calculated | required by simulation by 1st Embodiment of this invention. It is a figure which shows the waveform of the acceleration of the linear motor calculated | required by simulation by 1st Embodiment of this invention. It is a figure which shows the waveform of the voltage at the time of reversing the voltage shown in FIG. It is a figure which shows the waveform of the acceleration calculated | required by the simulation at the time of applying the voltage shown in FIG. 12 to the linear motor by 1st Embodiment of this invention. It is a figure which shows the frequency characteristic of the electric power of the linear motor calculated | required by simulation by 1st Embodiment of this invention. It is a disassembled perspective view which shows schematic structure of the acceleration generation device by 2nd Embodiment of this invention. It is a disassembled perspective view which shows schematic structure of the 1st movable part of the acceleration generation device by 2nd Embodiment of this invention, a 2nd movable part, and a spring member. It is sectional drawing which shows the structure of the 1st coil board | substrate of the acceleration generating device by 2nd Embodiment of this invention. It is the top view which looked at the 1st coil board | substrate of the acceleration generation device by 2nd Embodiment of this invention from the lower surface. It is sectional drawing for demonstrating operation | movement of the acceleration generating device by 2nd Embodiment of this invention. It is a figure which shows the simulation result of the vibration amount of the acceleration generation device by 2nd Embodiment of this invention. It is sectional drawing which shows schematic structure of the acceleration generation device by 3rd Embodiment of this invention. It is a top view which shows schematic structure of the acceleration generation device by 4th Embodiment of this invention. It is a disassembled perspective view which shows schematic structure of the acceleration generation device by 5th Embodiment of this invention. It is a disassembled perspective view which shows schematic structure of the movable part and spring member of an acceleration generation device by 5th Embodiment of this invention. It is sectional drawing which shows the structure of the upper side coil board | substrate of the acceleration generating device by 5th Embodiment of this invention. It is the top view which looked at the upper coil board | substrate of the acceleration generation device by 5th Embodiment of this invention from the upper surface. It is sectional drawing for demonstrating operation | movement of the acceleration generation device by 5th Embodiment of this invention. It is a disassembled perspective view which shows schematic structure of the acceleration generation device by 6th Embodiment of this invention. It is sectional drawing of the linear motor by the modification of 1st Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
As shown in FIGS. 1 and 2, a linear motor 100 (linear drive vibration motor) 100 according to the first embodiment of the present invention includes a frame 1, a movable part 2 housed in the frame 1, and a movable part. 2 is provided with a pair of spring portions 3 a and 3 b that support 2, and a planar coil 4 that is disposed so as to face the movable portion 2. The linear motor 100 is an example of the “acceleration generating device” in the present invention. The planar coil 4 is an example of the “coil” in the present invention.

  The frame body 1 is formed in a substantially rectangular shape when seen in a plan view, and the frame body 1 has a substantially rectangular opening 1a penetrating in the vertical direction (arrow Z1 direction and arrow Z2 direction). As shown in FIG. 2, the frame body 1 is provided with a printed circuit board 5 so as to close the opening 1a on the upper side (arrow Z1 direction side), and on the lower side (arrow Z2 direction side). The bottom plate 6 is disposed so as to close the opening 1a. Moreover, the frame 1, the printed circuit board 5, and the bottom plate 6 are formed of glass epoxy resin or the like. The frame 7, the printed circuit board 5, and the bottom plate 6 constitute a housing 7.

  As shown in FIGS. 1 and 2, the movable portion 2 is formed in a substantially rectangular shape when seen in a plan view, and is configured by a plate-like permanent magnet (a magnet made of a ferromagnetic material such as ferrite or neodymium). Has been. Further, the side surface of the movable portion 2 is supported by a pair of spring portions 3a and 3b so as to be positioned at substantially the center of the opening portion 1a of the frame body 1 when seen in a plan view.

  As shown in FIG. 2, the movable part 2 is composed of two permanent magnets including a first magnet 2a and a second magnet 2b. Specifically, the first magnet 2a is arranged on the arrow X1 direction side with the vicinity of the center line C1 (see FIG. 1) of the reciprocating movement of the movable portion 2 as the boundary, and the second magnet 2b is arranged on the arrow X2 direction side. It is configured to be. On the side of the first magnet 2 a facing the printed circuit board 5, an N pole surface 21 a magnetized with N poles in the thickness direction is provided. Further, on the side of the first magnet 2a facing the bottom plate 6, an S pole surface 22a magnetized to the S pole in the thickness direction is provided. Further, on the side of the second magnet 2b facing the printed circuit board 5, there is provided an S pole surface 21b magnetized to the S pole in the thickness direction. Further, on the side of the second magnet 2b facing the bottom plate 6, an N pole surface 22b magnetized to the N pole in the thickness direction is provided. The first magnet 2a and the second magnet 2b are fixed to each other with an adhesive or the like.

  As shown in FIGS. 1 and 2, the spring portions 3 a and 3 b are made of a leaf spring, a coil spring, or the like, and are respectively disposed on the arrow X1 direction side and the arrow X2 direction side of the movable portion 2. The spring portions 3a and 3b are arranged so as to be substantially symmetrical with respect to the center line C1 of the reciprocating movement of the movable portion 2. The casing 7 (the frame body 1, the printed circuit board 5, and the bottom plate 6) also has a substantially symmetric shape with respect to the center line C1 of the reciprocating movement of the movable portion 2. The spring portions 3a and 3b are the same. That is, the spring portions 3a and 3b are made of the same material and have the same spring characteristics. Thereby, the linear motor 100 has a substantially symmetrical shape structurally with respect to the center line C1 of the reciprocating movement of the movable part 2 as a whole.

  As shown in FIG. 2, the planar coil 4 is disposed inside the printed board 5. The planar coil 4 has a substantially rectangular outline in plan view, and is formed in a spiral shape so as to spread in the XY plane direction from the inside to the outside. The planar coil 4 extends in the Y direction and extends in the Y direction from the center line C1 of the reciprocating movement of the movable portion 2, and extends in the Y direction and further from the center line C1. And a second portion 4b disposed on the arrow X2 direction side. The planar coil 4 is configured to be applied with an alternating voltage having an asymmetric waveform between the positive side and the negative side. Here, an AC voltage having an asymmetric waveform between the positive side and the negative side means that the voltage waveform is not point-symmetric (for example, a sine wave) with respect to a point where the voltage is zero. . For example, it means a case where the voltage has a maximum value on the positive side and the negative side of the voltage (see FIG. 6).

  Next, with reference to FIG. 1 and FIG. 2, the operation | movement of the reciprocating movement of the linear motor 100 by 1st Embodiment is demonstrated.

  First, a voltage is applied to the planar coil 4. As shown in FIG. 1, it is assumed that a current is supplied in the A1 direction. Thereby, the first portion 4a of the planar coil 4 is caused by the magnetic field in the arrow Z1 direction generated on the N pole surface 21a of the movable portion 2 and the current flowing in the first portion 4a of the planar coil 4 in the arrow Y1 direction. Lorentz force works in the direction of arrow X2. Further, the second portion 4b of the planar coil 4 has an arrow formed by the magnetic field in the arrow Z2 direction generated on the S pole surface 21b of the movable portion 2 and the current flowing in the second portion 4b of the planar coil 4 in the arrow Y2 direction. Lorentz force works in the X2 direction. Since the planar coil 4 is fixed to the printed circuit board 5, the movable part 2 linearly moves in the direction of the arrow X1 opposite to the direction of the Lorentz force received by the planar coil 4. Then, after a predetermined time, by supplying a current in the A2 direction, the movable part 2 linearly moves in the arrow X2 direction as described above. In this way, by switching the direction of the drive current at a predetermined frequency, the movable portion 2 is linearly moved (reciprocated) alternately in the directions of the arrows X1 and X2. As a result, the linear motor 100 reciprocates alternately in the arrow X1 direction and the arrow X2 direction.

  Next, a method for adjusting the voltage applied to the planar coil 4 of the linear motor 100 according to the first embodiment will be described with reference to FIGS.

  As shown in FIG. 3, an ideal acceleration shape of the linear motor 100 is assumed. In the first embodiment, it is assumed that one cycle is T (sec), and the acceleration is a rectangular wave whose maximum value is GP (G) and whose minimum value is GN (G). In FIG. 3, h × T and k × T respectively indicate the time when the acceleration is from the minimum (GN) to the maximum (GP) and the time when the acceleration is from the maximum (GP) to the minimum (GN). Show. Also, an ideal acceleration shape is assumed so that the positive-side acceleration area S1 and the negative-side acceleration area S2 are substantially equal in one acceleration cycle. Note that the shape of acceleration shown in FIG. 3 is expressed by the following equations (1) and (2).

  Then, the following formulas (3), (4), and (5) are obtained by expanding the above formulas (1) and (2) into a Fourier cosine series.

  Next, the displacement y (t) of the linear motor 100 represented by the following equation (6) is obtained by performing time integration twice for the acceleration represented by the above equation (3). Note that y (0) = 0 and dy (0) / dt = 0.

When the displacement y (t) represented by the above equation (6) is output and the transfer function having the voltage V (t) as input is G _y (s), the following equation (7) is obtained. .

Further, the voltage V (t) may be expressed by the following expression (8) so that the above expression (7) is established. Note that when a ₀ ≠ 0, the voltage V (t) diverges. Here, when the voltage V (t) diverges, the voltage V (t) gradually increases with time, and eventually the voltage V (t) becomes infinite. Means. Therefore, | a ₀ | << 1 is desirable. In this case, the following formula (9) is established. When the following equation (9) holds, the value of the time integration in one cycle of the acceleration waveform becomes substantially zero.

  Next, in the linear motor 100 shown in FIG. 1, a transfer function of the linear motor 100 is obtained so as to realize an acceleration having an asymmetric waveform with respect to a reference line where the acceleration is zero. Note that the asymmetric acceleration waveform means that the acceleration waveform is not line-symmetric with respect to the reference line where the acceleration is zero. For example, this is the case when the maximum value on the positive side of acceleration is different from the maximum value on the negative side (see FIG. 3). The transfer function of the linear motor 100 is expressed by a voltage equation expressed by the following equation (10), an equation of motion of the movable part 2 expressed by the following equation (11), and the following equation (12). It can be obtained from the equation of motion of the housing 7.

Here, y and x represent the displacement of the housing 7 and the movable part 2, respectively. M and m represent the mass of the casing 7 and the mass of the movable part 2, respectively. Also, _{k 1} and _{k 2,} respectively, represent the spring constant of the spring constant and the spring portion 3b of the spring portion 3a. Also, κ ₁ and κ ₂ represent the damping coefficient of the spring portion 3a and the damping coefficient of the spring portion 3b, respectively. V (t) and I (t) represent voltage and current, respectively. R and L represent the resistance of the coil and the self-inductance of the coil, respectively. Ke and Kf represent an induced voltage constant and a thrust constant, respectively.

Here, when the self-inductance L of the coil is 0, the transfer function of the linear motor 100 is expressed by the following equations (13) and (14). The relationship between the damping coefficients of the spring portions 3a and 3b and the angular frequency ω ₀ is expressed by the following equation (15). The angular frequency ω ₀ represents the angular frequency (resonance angular frequency) when the impedance becomes maximum in the frequency characteristics of the impedance of the linear motor 100 shown in FIG. 4 described later.

When the coil self-inductance L is 0, | G _y (j × n × ω) | and ∠G _y (j × n × ω) are expressed by the following equations (16) and (17). And represented by equation (18).

Next, from the frequency characteristics of the impedance of the linear motor 100 shown in FIG. 4, | G _y (j × n × ω) | expressed by the above equation (16), and the above equations (17) and (18). ∠ G _y (j × n × ω) represented by The frequency characteristic of the impedance of the linear motor 100 is generally a curve having a peak at the angular frequency ω ₀ . Specifically, first, r ₁ is calculated by the following equation (19).

Next, the angular frequencies γ ₁ and γ _{2 in} which the impedance Z (ω) of the linear motor 100 satisfies the following equation (20) are obtained.

The relationship between the sum of the damping coefficients of the spring portion 3a and the spring portion 3b (κ ₁ + κ ₂ ) and the angular frequencies γ ₁ and γ ₂ is expressed by the following equation (21). The relationship between the product of the induced voltage constant and the thrust constant Kf × Ke and the angular frequencies γ ₁ and γ ₂ is expressed by the following equation (22). The reduced mass μ is represented by the following formula (23).

  Then, the following formulas (24) to (26) are obtained by the above formulas (16) to (18) and the above formulas (21) to (23).

Then, a ₀ obtained by the above equation (4), a _n obtained by the equation (5), G _y (0) obtained by the equation (14), and | G _y (j × n) obtained by the equation (24). The voltage V (t) is obtained by substituting ωG _y (j × n × ω) obtained by (× ω) | and equations (25) and (26) into the above equation (8).

  Next, a simulation performed on the voltage V (t) obtained by the above method and the acceleration obtained by inputting the voltage V (t) will be described.

First, parameters of the linear motor 100 are defined. Here, the mass m of the movable part 2 and the mass M of the housing 7 are 5 g and 100 g, respectively. Thus, the converted mass μ was calculated to be 4.761476762 using the above formula (23). Further, the spring constant _{k 2} of the spring constant _{k 1} and the spring portion 3b of the spring portion 3a, respectively, was 0.28 N / mm and 0.28 N / mm. In addition, the angular frequency ω _{0 at} which the impedance is maximum is set to 342.9 rad / s. The resistance R of the planar coil 4 was 2Ω. Further, the damping coefficient kappa ₂ of the damping coefficient kappa ₁ and spring portion 3b of the spring portion 3a, respectively, it was 0.216 and 0.216. The thrust constant Kf and the induced voltage constant Ke were 0.29 N / A and 0.29 V / (m / s), respectively. From the above parameters, as shown in FIG. 5, the impedance of the linear motor 100 and the frequency characteristics of the acceleration were obtained. Here, the resonance frequency of the linear motor 100 was 55 Hz.

Then, as described above, r ₁ was calculated from the frequency characteristic of the impedance of the linear motor 100 by the equation (19). Next, angular frequencies γ ₁ and γ _{2 in} which the impedance Z (ω) of the linear motor 100 satisfies Expression (20) were obtained. Then, | G _y (j × n × ω) | and ∠G _y (j × n × ω) were obtained by Expressions (24) to (26). The coefficient a ₀ included in the equation (8) of the voltage V (t) was obtained from the ideal acceleration waveform shown in FIG. 3 and the equation (4). Similarly, the coefficients a _n, was determined from the ideal acceleration waveform shown in FIG. 3 equation (5). Further, the transfer function G _y (0) was obtained from the above defined parameters (Kf, M, R, ω ₀ ) and the equation (14). Then, by substituting the values of a ₀ , a _n , G _y (0), | G _y (j × n × ω) |, and ∠G _y (j × n × ω) into equation (8) A voltage V (t) was obtained.

As a result of the above simulation, the waveform of the voltage V (t) shown in FIG. 6 was obtained. In FIG. 6, up to the fifth order of a _{1 to} a ₅ (n = 1 to 5) are added to the voltage V (t) shown in the equation (8). As shown in FIG. 6, it was confirmed that the waveform of the voltage V (t) was an alternating shape having an asymmetric shape between the positive (+) side and the negative (−) side. Moreover, the waveform of the acceleration of the linear motor 100 shown in FIG. 7 was obtained by the simulation which applies the voltage V (t) shown in FIG. 6 to the planar coil 4 of the linear motor 100. In FIG. 7, a rectangular waveform represented by a one-dot chain line is an ideal waveform of the acceleration of the linear motor 100 (see FIG. 3). As shown in FIG. 7, when adding up to the fifth order of a _{1 to} a ₅ (n = 1 to ₅ ) in the voltage V (t) shown in the equation (8), an ideal acceleration waveform ( It has been found that the one-dot chain line) and the acceleration waveform (dotted line) obtained by the simulation are slightly shifted. Note that when one cycle of the acceleration waveform of the linear motor 100 shown in FIG. 7 is integrated over time, the value of the time integration becomes substantially zero. That is, the areas of the region S3 and the region S4 indicated by diagonal lines in FIG. 7 are substantially equal.

  Next, an acceleration waveform shown in FIG. 9 is obtained by simulation in which the voltage V (t) shown in FIG. 8 obtained by inverting the waveform of the voltage V (t) shown in FIG. 6 is applied to the planar coil 4 of the linear motor 100. It was. The acceleration waveform shown in FIG. 9 is found to be substantially symmetrical with the acceleration waveform shown in FIG. 7 with respect to the reference line where the acceleration is zero. In other words, in the first embodiment, when the waveform of the voltage V (t) applied to the planar coil 4 is inverted, the acceleration of the acceleration is zero relative to the reference line before and after the inversion of the voltage V (t). It was confirmed that the waveform has a substantially symmetrical shape.

Next, in the voltage V (t) shown in Expression (8), when the 10th order of a _{1 to} a ₁₀ (n = 1 to 10) is added, the voltage V (t) shown in FIG. The waveform was obtained by simulation. Then, the acceleration waveform shown in FIG. 11 was obtained by a simulation in which the voltage V (t) shown in FIG. 10 was applied to the planar coil 4 of the linear motor 100. As shown in FIG. 11, in the case of adding up to the 10th order of a _{1 to} a ₁₀ (n = 1 to ₁₀ ) in the voltage V (t) shown in Equation (8), it is shown in Equation (8). Compared with the case where up to the fifth order of a _{1 to} a ₅ (n = 1 to 5) are added to the voltage V (t) (see FIG. 7), the acceleration waveform (dotted line) obtained by the simulation is obtained. It was confirmed that it was closer to the ideal acceleration waveform (dashed line). Accordingly, it is considered that the acceleration waveform obtained by the simulation becomes closer to the ideal acceleration waveform as the order (n) to be added is increased in the voltage V (t) shown in the equation (8).

  Moreover, the waveform of the acceleration shown in FIG. 13 is obtained by the simulation in which the voltage V (t) shown in FIG. 12 obtained by inverting the waveform of the voltage V (t) shown in FIG. 10 is applied to the planar coil 4 of the linear motor 100. It was. Then, it has been found that the acceleration waveform shown in FIG. 13 has a shape that is substantially symmetric with respect to the acceleration waveform shown in FIG. That is, when the waveform of the voltage V (t) applied to the planar coil 4 is inverted, the acceleration waveform is substantially symmetrical with respect to the reference line where the acceleration is 0 before and after the inversion of the voltage V (t). It was confirmed that

  Next, with reference to FIG. 14, a simulation performed on the frequency characteristics of the electric power P (W) consumed by the linear motor 100 will be described.

First, in this simulation, the resonance frequency of the linear motor 100 is 55 (Hz), and the resonance angular frequency ω ₀ corresponding to the resonance frequency of the resonance frequency 55 (Hz) is 2π × 55 (rad / s). Moreover, in this simulation, when adding up to the fifth order of a _{1 to} a ₅ (n = 1 to ₅ ) in the voltage V (t) shown in Expression (8), and a _{1 to} a ₁₀ (n = 1 to 10) The simulation of the power P (W) was performed for the case of adding up to the 10th order. As shown in FIG. 14, the frequency is smaller than 52 Hz (angular frequency ω is 2π × 52 rad / s) in both cases of adding up to the fifth order or adding up to the tenth order. In the range, it was found that the power P (W) decreased rapidly as the frequency increased. It was also found that the power P (W) gradually increased as the frequency increased in the range where the frequency was 52 Hz (angular frequency ω was 2π × 52 rad / s) or higher. That is, it was confirmed that the power P (W) was minimized when the frequency was 52 Hz (angular frequency ω was 2π × 52 rad / s). When it is assumed that the electric power P (W) consumed by the linear motor 100 is allowed up to twice the minimum value of the electric power P (W) consumed by the linear motor 100, the allowable angular frequency ω is the resonance angular frequency. it was confirmed that omega ₀ of 3 minutes 2 times or less and the resonance angular frequency omega ₀ or 2 times _{(2ω 0/3 ≦ ω ≦} 2ω 0).

  In the linear motor 100 according to the first embodiment, the following effects can be obtained.

  (1) An AC voltage having an asymmetric waveform is applied to the planar coil 4 so that the waveform of acceleration in the vibration direction of the housing 7 (linear motor 100) is one side and the other with respect to the reference line where the acceleration is zero. It was configured to be asymmetric with respect to the direction side. As a result, when the waveform of the voltage applied to the planar coil 4 is inverted, the waveform of the voltage applied to the planar coil 4 is asymmetrical. Therefore, the casing 7 (linear motor 100) before and after the voltage waveform is inverted. It is possible to change the direction of the force sense obtained when the hand is held.

  (2) When a voltage obtained by inverting the waveform of the AC voltage is applied to the planar coil 4, the acceleration waveform of the housing 7 (linear motor 100) before and after the waveform of the voltage V (t) is inverted, The voltage V (t) applied to the planar coil 4 was adjusted so that the acceleration was substantially symmetric with respect to the reference line of 0. As a result, the waveform of the AC voltage applied to the planar coil 4 is reversed, and the force sensation that is felt to be pulled in one direction of the linear motor 100 is switched to the force sensation that is felt to be pulled in the other direction. In this case, it is possible to obtain force sensations of substantially the same magnitude on one side and the other side of the gripped linear motor 100. As a result, unlike the case where the voltage waveform is obtained in each of obtaining the force sense in one direction of the linear motor 100 and obtaining the force sense in the other direction, the one direction side and the other direction side of the linear motor 100 are obtained. Thus, it is possible to easily obtain a force sense of approximately the same size.

  (3) The waveform of the voltage applied to the planar coil 4 is configured to be asymmetric between the positive side and the negative side. Thus, unlike the case where a voltage that is point-symmetric between the positive side and the negative side is applied to the planar coil 4 like a sinusoidal AC voltage, the linear motor 100 can be easily and easily arranged without making the configuration of the linear motor 100 asymmetric. The waveform of the acceleration in the vibration direction of 100 can be made asymmetric between the one direction side and the other direction side with respect to the reference line where the acceleration is zero. As a result, even if the configuration of the linear motor 100 is not asymmetrical, it is possible to easily give a force sense in one direction or the other direction.

  (4) The spring portions 3a and 3b are respectively disposed on one side and the other side in the direction along the moving direction of the movable portion 2, and the spring portions 3a and 3b are disposed on the center line C1 of the reciprocating movement of the movable portion 2. It arrange | positioned so that it might become substantially symmetrical. Thereby, when the spring part is arranged on either one side or the other side in the direction along the moving direction of the movable part 2, the spring parts 3a and 3b are placed on the center line C1 of the reciprocating movement of the movable part 2. Unlike the case of being arranged asymmetrically, the shape of the linear motor 100 can be easily made symmetrical with respect to the center line C1 of the reciprocating movement of the movable portion 2. In addition, a linear motor having an asymmetric shape with respect to the center line of the reciprocating movement of the movable part (for example, when the elastic force of the spring acts on one side of the movable part and the magnetic field of a permanent magnet acts on the other side) In addition, when a voltage having an asymmetric waveform is inverted and applied, the acceleration of the linear motor does not become symmetric with respect to the reference line where the acceleration is zero before and after the voltage waveform is inverted. As a result, the magnitude of the force sense that is felt when the linear motor is gripped differs before and after the voltage waveform is inverted.

  (5) The acceleration waveform of the linear motor 100 is configured so as to fluctuate between a positive side and a negative side with respect to a reference line where the acceleration is 0, and one cycle T of the acceleration waveform of the linear motor 100 having periodicity The time integration value at is set to be substantially zero. Thereby, it can suppress that voltage V (t) represented by the said Formula (8) diverges.

(6) Impedance Z (ω ₀ ) and angular frequency (ω ₀ , γ ₁ ) derived from the acceleration waveform of the linear motor 100 (housing 7) having an ideal shape and the frequency characteristics of the impedance of the linear motor 100, Based on (γ ₂ ), the waveform of the voltage V (t) applied to the planar coil 4 was obtained. Thus, by applying the voltage V (t) obtained from the acceleration waveform having an ideal shape and the frequency characteristics of the impedance to the planar coil 4 of the linear motor 100, it is easily close to the ideal shape. The acceleration of the linear motor 100 can be obtained.

(7) The angular frequency ω of the vibrating linear motor 100 (housing 7) is configured to be not less than two-thirds and not more than twice the resonance angular frequency ω ₀ of the vibrating linear motor 100. Thereby, as shown in the said FIG. 14, the electric power P (W) which the linear motor 100 consumes can be suppressed to 2 times or less of the minimum value.

  (8) The planar coil 4 is formed in a spiral shape so as to be flat along the moving direction of the movable portion 2. Thereby, compared with the case where the winding surface of the coil is arranged in a direction orthogonal to the moving direction of the movable part, it is not necessary to provide a region in the height direction by the winding surface of the coil, and the thickness in the Z direction is reduced. Can be small. As a result, it is possible to reduce the thickness of the linear motor 100 that allows the user to perceive a pseudo force sense.

(Second Embodiment)
Next, a second embodiment will be described with reference to FIGS. In the second embodiment, unlike the first embodiment in which one movable part 2 is provided, two first movable parts 204 and a second movable part 205 are provided. The first movable portion 204 and the second movable portion 205 are examples of the “first movable portion” and the “second movable portion” in the present invention, respectively.

  As shown in FIG. 15, the acceleration generating device 201 according to the second embodiment includes an upper housing 202, a lower housing 203, a first movable portion 204, a second movable portion 205, a spring member 206, The first coil substrate 207 and the second coil substrate 208 are configured. The upper casing 202 and the lower casing 203 form a rectangular parallelepiped casing 209 by fitting the openings of each other. A first movable part 204, a second movable part 205, and a spring member 206 are housed inside the housing 209. The first coil substrate 207 and the second coil substrate 208 are fixed to the lower housing 203.

  The acceleration generating device 201 causes the first movable portion 204 and the second movable portion 205 to reciprocate in the housing 209 by flowing current through the first coil substrate 207 and the second coil substrate 208, and is movable by the spring member 206. It is configured to vibrate upon receiving the movement of the part. The upper housing 202 and the lower housing 203 are made of a magnetic material, and the magnetic flux generated from the first movable portion 204 and the second movable portion 205 is prevented from leaking out from the housing 209.

  The upper housing 202 includes a rectangular bottom surface 202a, a side surface 202b along the longitudinal direction of the bottom surface 202a, and a side surface 202c along the short side direction of the bottom surface 202a. The lower housing 203 includes a substantially rectangular bottom surface 203a and a side surface 203b along the longitudinal direction of the bottom surface 203a. The upper housing 202 and the lower housing 203 form a housing 209 by fitting the side surfaces 202b and 202c of the upper housing 202 and the side surface 203b of the lower housing 203 together.

  Openings 231 and 232 having substantially the same shape as the rectangular first coil substrate 207 and second coil substrate 208 are formed on the bottom surface 203 a of the lower housing 203. In addition, openings 233 and 234 corresponding to the thicknesses of the first coil substrate 207 and the second coil substrate 208 are formed on the two side surfaces 203b of the lower housing 203, respectively. The first coil substrate 207 is fixed to the lower housing 203 by being fitted into the openings 231 and 233. The second coil substrate 208 is fixed to the lower housing 203 by being fitted into the openings 232 and 234.

  A pair of rails 210 protruding upward are formed on the upper surface of the bottom surface 203 a of the lower housing 203. The pair of rails 210 extends along the longitudinal direction (X direction) of the lower housing 203, from one end in the X direction to the opening 231, from the opening 231 to the opening 232, and the opening 232. To the other end. The cross-sectional shape of the rail 210 is formed in a substantially arc shape with corners cut off.

  In addition, the fluororesin process is given to the surface of the upper housing | casing 202, the rail 210, and the lower housing | casing 203. FIG. Specifically, Nimflon treatment (Nimflon is a registered trademark) is applied. The Nimflon treatment is a plating treatment having both characteristics of Teflon (registered trademark) (polytetrafluoroethylene: PTFE) having a low friction coefficient and electroless Ni. The Nimflon treatment is performed by mixing PTFE particles in an electroless plating solution and plating.

  As shown in FIG. 16, the first movable portion 204 and the second movable portion 205 are each composed of a permanent magnet 211, a weight 212, and a magnet cover 213. The permanent magnet 211 has a rectangular parallelepiped shape and is made of a ferromagnetic material such as ferrite or neodymium. The permanent magnet 211 includes a first magnet 211a and a second magnet 211b in which a pair of magnetic poles are magnetized in the thickness direction (Y direction). The first magnet 211a and the second magnet 211b have magnetic poles. The reverse direction.

  The weight 212 has a rectangular parallelepiped shape, and the width of the weight 212 in the longitudinal direction (X direction) and the lateral direction (Z direction) is the longitudinal direction (X direction) and the lateral direction (Z direction) of the permanent magnet 211. ) Greater than the width. Further, the weight 212 is formed with a through hole 212 a having substantially the same shape as the permanent magnet 211 and penetrating in the Y direction. A permanent magnet 211 is fitted into the through hole 212a, and the permanent magnet 211 is fixed to the through hole 212a with an adhesive or the like. The weight 212 is made of, for example, tungsten, which is a material having a large specific gravity. The thickness of the weight 212 in the Y direction is substantially the same as the thickness of the permanent magnet 211 in the Y direction.

  The magnet cover 213 is made of a non-magnetic material, covers the upper surfaces of the permanent magnet 211 and the weight 212, and has both end portions on the X direction side to the side surface on the X direction side of the weight 212 and a part of the lower surface of the weight 212. It is formed to extend. The magnet cover 213 is fixed to the permanent magnet 211 and the weight 212 with an adhesive or the like. The magnet cover 213 is made of, for example, phosphor bronze. Note that the outer surface of the magnet cover 213 is subjected to nymphon treatment.

  The spring member 206 is made of a non-magnetic material, and two plate portions 206a and 206b and three plate springs 206c, 206d and 206e having the same spring constant are integrally formed. The first movable portion 204 is fixed to the plate portion 206a of the spring member 206, and the second movable portion 205 is fixed to the plate portion 206b. Further, both side surfaces in the moving direction (X direction) of the first movable portion 204 and the second movable portion 205 are sandwiched and supported by leaf springs 206c, 206d and 206e. Thereby, the movement of the 1st movable part 204 and the 2nd movable part 205 is received by the leaf | plate springs 206c, 206d, and 206e. The spring member 206 is formed of, for example, SUS301 or SUS304. The leaf springs 206c, 206d, and 206e are examples of the “first elastic member”, “second elastic member”, and “third elastic member” of the present invention, respectively.

  The dish parts 206a and 206b are dish-like members having substantially the same shape as the upper surface of the magnet cover 213, and the lower surfaces of the dish parts 206a and 206b and the upper surfaces of the first movable part 204 and the second movable part 205, respectively. And are fixed by bonding. Openings 261 and 262 having substantially the same shape as the magnetic pole surface of the permanent magnet 211 are formed in the central portions of the plates 206a and 206b, respectively.

  The leaf spring 206c is provided between the side surface on the X2 direction side of the first movable portion 204 and the side surface 202c of the upper housing 202, and the leaf spring 206d is disposed on the side surface on the X1 direction side of the first movable portion 204 and the second side surface. 2 It is provided between the side surface of the movable part 205 on the X2 direction side. The leaf spring 206e is provided between the side surface on the X1 direction side of the second movable portion 205 and the side surface 202c of the upper housing 202. Further, each of the leaf springs 206c, 206d, and 206e has one bending point X in order to receive movement of the first movable portion 204 and the second movable portion 205.

  Next, the configuration of the first coil substrate 207 will be described with reference to FIGS. 17 and 18. The first coil substrate 207 is disposed on the lower housing 203 so as to be parallel to the magnetic pole surface of the permanent magnet 211 of the first movable portion 204. Here, the term “parallel” includes not only a state parallel to each other but also a state shifted from a parallel state to the extent that the first movable portion 204 including the permanent magnet 211 does not interfere with the reciprocating movement.

  The first coil substrate 207 includes a planar coil 273 in which an upper layer coil 271 and a lower layer coil 272 are laminated, a wiring layer 274, and a yoke 275. Each component of the first coil substrate 207 is integrally formed by insulating resin layers 276, 277, and 278 stacked in this order from the upper side. The planar coil 273 is an example of the “first coil” in the present invention.

  Specifically, the insulating resin layer 276 covers the upper coil 271 and the insulating resin layer 277 covers the lower coil 272 and the yoke 275. Further, the insulating resin layer 278 covers a part of the wiring layer 274. An opening 278a (see FIG. 18) is formed on the lower surface of the insulating resin layer 278, and the wiring layer 274 is exposed from the opening 278a.

  The upper coil 271 of the planar coil 273 is wound in a spiral shape counterclockwise from the outside to the inside of the first coil substrate 207. The lower layer coil 272 is wound in a spiral shape counterclockwise from the inside to the outside of the first coil substrate 207. The inner end of the upper coil 271 and the inner end of the lower coil 272 are connected to each other in the vicinity of the center of the first coil substrate 207. An outer end portion of the upper layer coil 271 is connected to the wiring layer 274 via a connection line 279 extending in the thickness direction of the first coil substrate 207. The outer end of the lower layer coil 272 is connected to the wiring layer 274 via a connection line 280 extending in the thickness direction of the first coil substrate 207. The planar coil 273 has regions 273A and 273B including a plurality of coil wires extending along the longitudinal direction of the first coil substrate 207, and is formed so that current flows in the same direction for each region.

  The wiring layer 274 is for supplying a driving current to the upper layer coil 271 and the lower layer coil 272 of the planar coil 273, and the wiring layer 274 is connected to a driving current control circuit 290 for controlling the driving current. . The drive current control circuit 290 switches the direction of the drive current supplied to the planar coil 273 at a predetermined cycle. The drive current control circuit 290 is an example of the “control unit” in the present invention.

  Further, the second coil substrate 208 is arranged in the lower casing 203 in parallel with the first coil substrate 207 so as to face the magnetic pole surface of the permanent magnet 211 of the second movable portion 205. The second coil substrate 208 has the same configuration as the first coil substrate 207, and includes a planar coil 283 in which an upper layer coil 281 and a lower layer coil 282 are laminated, a wiring layer 284, and a yoke 285. The outer ends of the upper layer coil 281 and the lower layer coil 282 of the planar coil 283 are connected to the drive current control circuit 290. The drive current control circuit 290 is configured to independently control the drive current supplied to the planar coil 273 of the first coil substrate 207 and the planar coil 283 of the second coil substrate 208. The planar coil 283 is an example of the “second coil” in the present invention.

  As described above, in the acceleration generating device 201, the magnet cover 213 extends to the lower surface of the weight 212 in the first movable portion 204 and the second movable portion 205, and the rail 210 is formed in the lower housing 203. . As described above, since the surface of the lower housing 203 and the outer surface of the magnet cover 213 are subjected to Nimflon treatment, when the first movable unit 204 and the second movable unit 205 move, the magnet cover 213 Even if the rail 210 comes into contact with the rail 210, the generated friction can be reduced. As a result, since the acceleration generating device 201 can efficiently move the first movable unit 204 and the second movable unit 205, the amount of vibration can be increased.

  In the acceleration generating device 201, the first coil substrate 207 includes a yoke 275, the second coil substrate 208 includes a yoke 285, and the upper casing 202 and the lower casing 203 are made of a magnetic material. Therefore, the magnetic flux generated by the permanent magnet 211 selectively passes through the yoke and the housing. Thereby, it is possible to suppress the magnetic flux of the permanent magnet 211 from leaking to the outside of the housing 209.

  Next, the operation of the acceleration generating device 201 will be described with reference to FIGS. Note that the horizontal axis of FIG. 20 indicates the time after the drive current is supplied to the planar coils 273 and 283, and the vertical axis indicates the vibration amount (acceleration) of the acceleration generating device 201. Moreover, the vibration amount on the vertical axis is positive for the vibration amount in the X1 direction and negative for the vibration amount in the X2 direction.

  First, the movement of the first movable unit 204 will be described. The drive current control circuit 290 (see FIG. 18) supplies a drive current to the planar coil 273 of the first coil substrate 207 in the direction A shown in FIG. 18 via the wiring layer 274. As a result, as shown in FIG. 19, a current flows in the region 273 </ b> A of the planar coil 273 from the back side to the near side, that is, the Z <b> 2 direction along the longitudinal direction of the first coil substrate 207. In addition, a current flows in the region 273B of the planar coil 273 from the front side to the back side, that is, in the Z1 direction along the longitudinal direction of the first coil substrate 207.

  Here, the direction of the magnetic field generated between the N-pole surface 211A and the S-pole surface 211B of the surface of the first movable portion 204 facing the first coil substrate 207 of the permanent magnet 211 is below the N-pole surface 211A. , The direction from the surface of the N pole surface 211A toward the first coil substrate 207, that is, the Y2 direction. Further, below the S pole surface 211B, the direction is from the first coil substrate 207 toward the S pole surface 211B, that is, the Y1 direction. As described above, the magnetic field generated by the permanent magnet 211 of the first movable portion 204 is orthogonal to the direction of the current flowing through the regions 273A and 273B of the planar coil 273 of the first coil substrate 207.

  Therefore, the current flowing through each region of the planar coil 273 receives a force in the X1 direction from the magnetic field of the permanent magnet 211. That is, a force in the X1 direction acts on the first coil substrate 207. However, since the first coil substrate 207 is fixed to the lower housing 203, the first movable portion 204 receives a force in the X2 direction due to the reaction and moves in the X2 direction.

  Also for the second movable portion 205, as in the first movable portion 204, the drive current control circuit 290 is connected to the planar coil 283 of the second coil substrate 208 in the direction A shown in FIG. 18 via the wiring layer 284. By supplying the drive current, the second movable unit 205 moves in the X2 direction. Then, after a predetermined time, by switching the direction of the drive current that the drive current control circuit 290 supplies to the planar coils 273 and 283 from the A direction to the B direction, the first movable unit 204 and the second movable unit 205 are moved in the X1 direction. Moving.

  In this way, when the drive current control circuit 290 switches the direction of the drive current at a predetermined frequency, the first movable unit 204 and the second movable unit 205 reciprocate alternately in the X1 direction and the X2 direction.

  At this time, the drive current control circuit 290 controls the frequency of the alternating voltage applied to the planar coil 273 to be about twice the frequency of the alternating voltage applied to the planar coil 283. As a result, as shown in FIG. 20, the acceleration waveform (time change) during one reciprocation of the first movable unit 204 and the second movable unit 205 changes in the X1 direction (positive direction) and the X2 direction (negative). Direction) and asymmetric with respect to movement. As a result, a pseudo force sense in the X1 direction can be presented to the user. This is a phenomenon that occurs when the acceleration of the first movable part 204 and the acceleration of the second movable part 205 are alternately strengthened and weakened.

  Here, by adjusting the phase difference between the AC voltage applied to the planar coil 273 and the AC voltage applied to the planar coil 283, a pseudo force sense in a desired direction in the X1 direction or the X2 direction is given to the user. It can be presented. That is, by adjusting the phase difference between the AC voltage applied to the planar coil 273 and the AC voltage applied to the planar coil 283, the acceleration waveform is shown in FIG. It becomes possible to obtain a waveform obtained by inverting the positive / negative of the waveform.

  The acceleration generating device 201 according to the second embodiment can obtain the following effects.

  (9) The acceleration generating device 201 includes the planar coil 273 and the planar coil 283, the spring member 206, and the permanent magnet 211. Thereby, unlike the case where an acceleration generating device is comprised with a spring, a permanent magnet, a bobbin, a coil, etc., a structure can be simplified. Further, the planar coil 273 and the planar coil 283 are configured so that the acceleration waveform during one reciprocation of the first movable unit 204 and the second movable unit 205 is asymmetric between movement in the positive direction and movement in the negative direction. The drive current control circuit 290 is configured to control the flowing current. As a result, unlike the case where the acceleration generating device is configured by a spring, a permanent magnet, a bobbin, a coil, etc., and the relative position of the spring, the permanent magnet, the bobbin, etc. is adjusted to generate a pseudo force sense, it is easy. The pseudo force sense can be generated in any direction.

  (10) The frequency of the alternating voltage applied to the planar coil 273 is about twice the frequency of the alternating voltage applied to the planar coil 283. Thereby, a clear pseudo force sense can be presented to the user in the X1 direction or the X2 direction. The frequency of the alternating voltage applied to the planar coil 273 is not limited to about twice the frequency of the alternating voltage applied to the planar coil 283, and may be between 1.5 and 2.5 times. Further, the frequency of the AC voltage applied to the planar coil 283 may be 1.5 to 2.5 times the frequency of the AC voltage applied to the planar coil 273. By setting the ratio of the frequency of the AC voltage applied to the planar coils 273 and 283 to 1.5 times or more and 2.5 times or less, a clear pseudo force sense can be presented to the user in the X1 direction or the X2 direction. it can.

  Also, the same effect as described above can be obtained by adjusting the phase difference by setting the frequency of the AC voltage applied to the planar coil 273 and the frequency of the AC voltage applied to the planar coil 283 to be the same.

  Furthermore, even if the frequency ratio of the AC voltage applied to the planar coils 273 and 283 is fixed to 1.5 times or more and 2.5 times or less and the frequency is continuously changed, the same effect as described above is obtained. The effect of can be obtained.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIG. In the third embodiment, unlike the second embodiment in which the first coil substrate 207 and the second coil substrate 208 are disposed adjacent to each other, the first coil substrate 207 and the second coil substrate 208 are mutually connected. Are stacked. In addition, about the component which has the same function as the acceleration generation device 201 of 2nd Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 21, the acceleration generating device 301 according to the third embodiment has a first coil substrate 207 and a second coil substrate 208 laminated on each other. The first movable portion 204 is disposed so as to face the surface of the first coil substrate 207 opposite to the surface in contact with the second coil substrate 208, and the first coil substrate of the second coil substrate 208 is arranged. The second movable portion 205 is disposed so as to face the surface opposite to the surface in contact with 207. Here, the first coil substrate 207 and the second coil substrate 208 are laminated so that the surfaces (see FIG. 18) where the wiring layers 274 and 284 are exposed are overlapped.

  The acceleration generating device 301 includes a first spring member 361 and a second spring member 362. The first spring member 361 is made of a nonmagnetic material, and one plate portion 361a and two plate springs 361b and 361c are integrally formed. In the first spring member 361, the first movable portion 204 is fixed to the plate portion 361a, and both side surfaces in the moving direction (X direction) of the first movable portion 204 are sandwiched between the leaf springs 361b and 361c. It is supported. Thereby, the movement of the first movable portion 204 is received by the first spring member 361. The second spring member 362 has the same configuration as the first spring member 361, and the movement of the second movable portion 205 is received by the second spring member 362. Note that the first spring member 361 and the second spring member 362 have the same spring constant. The first spring member 361 and the second spring member 362 are examples of the “fourth elastic member” and the “fifth elastic member” of the present invention, respectively.

  Since the other configuration and operation of the acceleration generating device 301 are the same as those of the acceleration generating device 201 of the second embodiment, the description thereof is omitted here. The effect of the acceleration generating device 301 of the third embodiment is the same as that of the acceleration generating device 201 of the second embodiment.

  However, in the acceleration generating device 301, the first movable portion 204 and the second movable portion are adjusted by adjusting the positional relationship among the first movable portion 204, the second movable portion 205, the first coil substrate 207, and the second coil substrate 208. In addition to the movement in the X1 direction and the X2 direction, it is possible to cause the movement in the Y1 direction and the Y2 direction. Thereby, the acceleration generating device 301 can present a variety of pseudo force sensations to the user.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described with reference to FIG. In the fourth embodiment, the first movable portion 204 and the second movable portion 205 are arranged along the direction in which the first movable portion 204 and the second movable portion 205 move. In contrast, the first movable part 204 and the second movable part 205 are arranged along a direction intersecting with the direction in which the first movable part 204 and the second movable part 205 move.

  The acceleration generating device 302 does not have a configuration in which the first movable portion 204 and the second movable portion 205 are arranged in series as in the acceleration generation device 201 of the second embodiment, but the first movable portion 204 and the second movable portion. The unit 205 is arranged in parallel. That is, the first movable unit 204 and the second movable unit 205 are arranged along the X direction that intersects the Z direction in which the first movable unit 204 and the second movable unit 205 move. The first movable portion 204 and the second movable portion 205 are supported by the first spring member 361 and the second spring member 362, respectively.

  Further, since the other configuration and operation of the acceleration generating device 302 are the same as those of the acceleration generating device 201 of the second embodiment, description thereof is omitted here. The acceleration generating device 302 has the same effect as the acceleration generating device 201.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described with reference to FIGS. In the fifth embodiment, unlike the first embodiment in which one planar coil 4 is provided for one movable part 2, two planar coils 463 and a planar surface are provided for one movable part 404. A coil 473 is provided.

  As shown in FIGS. 23 and 24, the acceleration generating device 401 includes an upper housing 402, a lower housing 403, a movable portion 404, a spring member 405, a first coil substrate 406, and a second coil substrate. 407. The upper casing 402 and the lower casing 403 form a rectangular parallelepiped casing 408 by fitting the openings of each other. A movable part 404 and a spring member 405 are housed inside the housing 408. Further, inside the housing 408, the first coil substrate 406 is fixed to the upper housing 402, and the second coil substrate 407 is fixed to the lower housing 403.

  The acceleration generating device 401 causes the movable portion 404 to reciprocate in the housing 408 by passing a current through the first coil substrate 406 and the second coil substrate 407, and receives the movement of the movable portion 404 by the spring member 405 to vibrate. It is the structure to do. The upper casing 402 and the lower casing 403 are made of a magnetic material, and the magnetic flux generated from the movable portion 404 is suppressed from leaking out from the casing 408 to the outside.

  The upper housing 402 includes a rectangular bottom surface 402a, a side surface 402b along the longitudinal direction of the bottom surface 402a, and a side surface 402c along the short side direction of the bottom surface 402a. The lower housing 403 includes a substantially rectangular bottom surface 403a and a side surface 403b along the longitudinal direction of the bottom surface 403a. Upper housing 402 and lower housing 403 form housing 408 by fitting side surface 402b and side surface 402c of upper housing 402 and side surface 403b of lower housing 403 together.

  An opening 402 d having substantially the same shape as the rectangular first coil substrate 406 is formed on the bottom surface 402 a of the upper housing 402. Further, an opening 402 e corresponding to the thickness of the first coil substrate 406 is formed on the side surface 402 b of the upper housing 402. The first coil substrate 406 is fixed to the upper casing 402 by being fitted into the openings 402d and 402e.

  Similarly, an opening 403d having substantially the same shape as the rectangular second coil substrate 407 is formed on the bottom surface 403a of the lower housing 403. An opening 403e corresponding to the thickness of the second coil substrate 407 is formed on the side surface 403b of the lower housing 403. The second coil substrate 407 is fixed to the lower housing 403 by being fitted into the openings 403d and 403e.

  A pair of rails 409 projecting upward is formed on the upper surface of the bottom surface 403 a of the lower housing 403. The pair of rails 409 are formed along the longitudinal direction (X direction) of the lower casing 403 between one end in the X direction and the opening 403d and between the opening 403d and the other end. . The pair of rails 409 are formed so as to extend in parallel. The cross-sectional shape of the rail 409 is formed in a substantially arc shape with corners cut off.

  Note that the surfaces of the upper casing 402, the rail 409, and the lower casing 403 are subjected to fluororesin processing. Specifically, Nimflon treatment (Nimflon is a registered trademark) is applied. The Nimflon treatment is a plating treatment having both characteristics of Teflon (registered trademark) (polytetrafluoroethylene: PTFE) having a low friction coefficient and electroless Ni. The Nimflon treatment is performed by mixing PTFE particles in an electroless plating solution and plating.

  As shown in FIG. 24, the movable portion 404 includes a permanent magnet 410, a weight 411, and a magnet cover 412. The permanent magnet 410 has a rectangular parallelepiped shape and is made of a ferromagnetic material such as ferrite or neodymium. The permanent magnet 410 includes a first magnet 410a and a second magnet 410b in which a pair of magnetic poles are magnetized in the thickness direction (Y direction). The first magnet 410a and the second magnet 410b have magnetic poles. The reverse direction.

  The weight 411 has a rectangular parallelepiped shape, and the width of the weight 411 in the longitudinal direction (X direction) and the short direction (Z direction) is the same as that of the permanent magnet 410 in the long direction (X direction) and the short direction (Z direction). Greater than width. Further, the weight 411 is formed with a through hole 411a having substantially the same shape as the permanent magnet 410 and penetrating in the Y direction. A permanent magnet 410 is fitted in the through hole 411a and is fixed by an adhesive or the like. The weight 411 is made of, for example, tungsten which is a material having a large specific gravity. The thickness of the weight 411 in the Y direction is the same as the thickness of the permanent magnet 410 in the Y direction.

  The magnet cover 412 is made of a nonmagnetic material, covers the upper surfaces of the permanent magnet 410 and the weight 411, and both end portions on the X direction side extend to the side surface on the X direction side of the weight 411 and part of the lower surface of the weight 411. It is formed to extend. The magnet cover 412 is fixed to the permanent magnet 410 and the weight 411 with an adhesive or the like. The magnet cover 412 is made of, for example, phosphor bronze. Note that the outer surface of the magnet cover 412 is subjected to nymphon treatment.

  The spring member 405 is made of a nonmagnetic material, and a plate portion 405a and two plate springs 405b and 405c are integrally formed. The spring member 405 fixes the plate portion 405a and the movable portion 404, and supports both side surfaces in the moving direction (X direction) of the movable portion 404 with the plate springs 405b and 405c sandwiched therebetween. As a result, the movement of the movable portion 404 is received by the spring member 405. The spring member 405 is made of, for example, SUS301 or SUS304. The leaf springs 405c and 405b are examples of the “first elastic member” and the “second elastic member” of the present invention, respectively.

  The dish part 405 a is a dish-like member having substantially the same shape as the upper surface of the magnet cover 412, and is fixed by bonding the lower surface of the dish part 405 a and the upper surface of the movable part 404. An opening 451 having substantially the same shape as the magnetic pole surface of the permanent magnet 410 is formed at the center of the dish 405a.

  The leaf springs 405b and 405c are provided between both side surfaces in the X direction of the movable portion 404 and the side surface 402c (see FIG. 23) of the upper housing 402. Specifically, the leaf springs 405b and 405c are connected to the plate portion 405a on one end side of the leaf springs 405b and 405c, and are fixed to the side surface 402c of the upper housing 402 on the other end side. Further, the leaf springs 405 b and 405 c have one bending point X between the side surface of the movable portion 404 and the side surface 402 c of the upper housing 402 in order to catch the movement of the movable portion 404. Accordingly, the leaf springs 405b and 405c bias each other in the opposite directions along the X direction with respect to the movable portion 404.

  As shown in FIG. 23, the first coil substrate 406 is arranged in the upper housing 402 so as to be parallel to one magnetic pole surface of the permanent magnet 410. Here, the term “parallel” includes not only a state parallel to each other but also a state deviated from a parallel state to the extent that the movable portion 404 including the permanent magnet 410 does not interfere with the reciprocating movement.

  As shown in FIG. 25, the first coil substrate 406 includes a planar coil 463 in which an upper layer coil 461 and a lower layer coil 462 are stacked, a wiring layer 464, and a yoke 465. Each component of the first coil substrate 406 is integrally formed by insulating resin layers 466, 467, and 468 laminated in this order from the upper side. The planar coil 463 is an example of the “first coil” in the present invention.

  Specifically, the insulating resin layer 466 covers a part of the wiring layer 464, and the insulating resin layer 467 covers the yoke 465 and the upper layer coil 461. The insulating resin layer 468 covers the lower coil 462. As shown in FIG. 26, an opening 466a is formed on the upper surface of the insulating resin layer 466, and the wiring layer 464 is exposed from the opening 466a.

  The upper coil 461 of the planar coil 463 is wound in a spiral shape counterclockwise from the outside to the inside of the first coil substrate 406. The lower layer coil 462 is wound in a spiral shape counterclockwise from the inside to the outside of the first coil substrate 406. The inner end portion of the upper coil 461 and the inner end portion of the lower coil 462 are connected to each other in the vicinity of the center portion of the first coil substrate 406. The outer end of the upper layer coil 461 is connected to the wiring layer 464 via a connection line 469 extending in the thickness direction of the first coil substrate 406. The outer end of the lower layer coil 462 is connected to the wiring layer 464 via a connection line 470 extending in the thickness direction of the first coil substrate 406. Further, as shown in FIG. 26, the planar coil 463 has regions 463A and 463B including a plurality of coil wires extending along the longitudinal direction of the first coil substrate 406, and current flows in the same direction for each region. It is formed to flow.

  The wiring layer 464 is for supplying a driving current to the upper layer coil 461 and the lower layer coil 462 of the planar coil 463, and is connected to a driving current control circuit 490 for controlling the driving current. The drive current control circuit 490 switches the direction of the drive current supplied to the planar coil 463 at a predetermined cycle.

  Also, as shown in FIG. 25, the second coil substrate 407 has the same configuration as the first coil substrate 406, and the other magnetic pole surface of the permanent magnet 410 in a state of being upside down with respect to the first coil substrate 406. It arrange | positions in the lower housing | casing 403 so that it may become parallel (refer FIG. 23). Specifically, the second coil substrate 407 includes a planar coil 473 in which an upper layer coil 471 and a lower layer coil 472 are laminated, a wiring layer 474, and a yoke 475. The outer ends of the upper layer coil 471 and the lower layer coil 472 of the planar coil 473 are connected to the drive current control circuit 490 via the wiring layer 474. The drive current control circuit 490 independently controls the drive current supplied to the planar coil 463 and the drive current supplied to the planar coil 473, and switches the direction of the drive current supplied to the planar coil 473 at a predetermined cycle. . The planar coil 473 is an example of the “second coil” in the present invention.

  Further, as shown in FIG. 26, the planar coil 473 has regions 473A and 473B including a plurality of coil wires extending along the longitudinal direction of the second coil substrate 407, and current flows in the same direction for each region. It is formed to flow. Note that the regions 463A and 463B of the planar coil 463 are disposed so as to overlap the regions 473A and 473B of the planar coil 473, respectively.

  As described above, in the acceleration generating device 401, the magnet cover 412 extends to the lower surface of the weight 411 in the movable portion 404, and the rail 409 is formed in the lower housing 403. As described above, since the surface of the lower housing 403 and the outer surface of the magnet cover 412 are subjected to Nimflon treatment, even if the magnet cover 412 and the rail 409 come into contact with each other when the movable unit 404 moves. It is possible to reduce the generated friction. As a result, the acceleration generating device 401 can move the movable part 404 efficiently, and can increase the amount of vibration.

  In the acceleration generating device 401, the first coil substrate 406 includes a yoke 465, the second coil substrate 407 includes a yoke 475, and the upper casing 402 and the lower casing 403 are made of a magnetic material. Therefore, the magnetic flux generated by the permanent magnet 410 selectively passes through the yoke and the housing. Therefore, it is possible to suppress leakage of the magnetic flux of the permanent magnet 410 to the outside of the housing 408.

  Next, the operation of the acceleration generating device 401 will be described with reference to FIGS. 20, 26 and 27.

  First, the drive current control circuit 490 supplies drive current to the planar coil 463 of the first coil substrate 406 in the direction A shown in FIG. 26 via the wiring layer 464. As a result, a current flows in the region 463A of the planar coil 463 from the back side to the near side, that is, the Z2 direction along the longitudinal direction of the first coil substrate 406. In addition, a current flows in the region 463B of the planar coil 463 from the front side to the back side, that is, the Z1 direction along the longitudinal direction of the first coil substrate 406.

  In addition, the drive current control circuit 490 supplies drive current to the planar coil 473 of the second coil substrate 407 in the B direction shown in FIG. 26 via the wiring layer 474. As a result, a current flows in the region 473A of the planar coil 473 from the front side to the back side, that is, in the Z1 direction along the longitudinal direction of the second coil substrate 407. Further, a current flows in the region 473B of the planar coil 473 from the back side to the near side, that is, the Z2 direction along the longitudinal direction of the second coil substrate 407.

  Here, the direction of the magnetic field generated between the N-pole surface 410A and the S-pole surface 410B on the surface facing the first coil substrate 406 of the permanent magnet 410 is the same as that of the N-pole surface 410A on the N-pole surface 410A. The direction is the direction from the surface toward the first coil substrate 406 (Y1 direction). On the S pole surface 410B, the direction is the direction from the first coil substrate 406 to the S pole surface 410B (Y2 direction).

  The direction of the magnetic field generated between the N-pole surface 410C and the S-pole surface 410D of the permanent magnet 410 facing the second coil substrate 407 is the surface of the N-pole surface 410C below the N-pole surface 410C. Direction toward the second coil substrate 407 (Y2 direction). In addition, below the S pole surface 410D, the direction is from the second coil substrate 407 toward the S pole surface 410D (Y1 direction). In this way, the magnetic field generated by the permanent magnet 410 is orthogonal to the direction of the current flowing through each area of the planar coils 463 and 473.

  As a result, the current flowing through the regions of the planar coils 463 and 473 receives a force in the X2 direction from the magnetic field of the permanent magnet 410. That is, a force in the X2 direction acts on the first coil substrate 406 and the second coil substrate 407. However, since the first coil substrate 406 is fixed to the upper housing 402 and the second coil substrate 407 is fixed to the lower housing 403, the movable portion 404 receives a force in the X1 direction due to the reaction, Move in the X1 direction.

  After a predetermined time, the direction of the drive current supplied to the planar coil 463 by the drive current control circuit 490 is switched from the A direction to the B direction, and the direction of the drive current supplied to the planar coil 473 is switched from the B direction to the A direction. As a result, the movable portion 404 moves in the X2 direction. In this way, when the drive current control circuit 490 switches the direction of the drive current at a predetermined frequency, the movable portion 404 reciprocates alternately in the X1 direction and the X2 direction.

  At this time, the drive current control circuit 490 controls the frequency of the alternating voltage applied to the planar coil 463 to be about twice the frequency of the alternating voltage applied to the planar coil 473. As a result, as shown in FIG. 20, the acceleration waveform (time change) during one reciprocation of the movable portion 404 is asymmetric between movement in the X1 direction (positive direction) and movement in the X2 direction (negative direction). Become. As a result, a pseudo force sense in the X1 direction can be presented to the user. This is because the acceleration of the movable part 404 caused by supplying a driving current to the planar coil 463 and the acceleration of the movable part 404 caused by passing a current through the planar coil 473 mutually strengthen or weaken each other. It is a phenomenon that occurs by repeating it alternately.

  Here, by adjusting the phase difference between the AC voltage applied to the planar coil 463 and the AC voltage applied to the planar coil 473, a pseudo force sense in a desired direction in the X1 direction or the X2 direction is given to the user. It can be presented.

  The acceleration generating device 401 according to the fifth embodiment can obtain the following effects.

  (11) The acceleration generating device 401 includes the planar coil 463 and the planar coil 473, the spring member 405, and the permanent magnet 410. Thereby, unlike the case where an acceleration generating device is comprised with a spring, a permanent magnet, a bobbin, a coil, etc., a structure can be simplified. Further, driving is performed so as to control the currents flowing in the planar coil 463 and the planar coil 473 so that the acceleration waveform during one reciprocation of the movable portion 404 is asymmetric between the movement in the positive direction and the movement in the negative direction. A current control circuit 490 is configured. As a result, unlike the case where the acceleration generating device is configured by a spring, a permanent magnet, a bobbin, a coil, etc., and the relative position of the spring, the permanent magnet, the bobbin, etc. is adjusted to generate a pseudo force sense, it is easy. The pseudo force sense can be generated in any direction.

  (12) The frequency of the AC voltage applied to the planar coil 463 is about twice the frequency of the AC voltage applied to the planar coil 473. Thereby, a clear pseudo force sense can be presented to the user in the X1 direction or the X2 direction. The frequency of the alternating voltage applied to the planar coil 463 is not limited to about twice the frequency of the alternating voltage applied to the planar coil 473, and may be between 1.5 and 2.5 times. Further, the frequency of the AC voltage applied to the planar coil 473 may be about 1.5 to 2.5 times the frequency of the AC voltage applied to the planar coil 463. By setting the frequency ratio of the AC voltage applied to the planar coils 463 and 473 to 1.5 times or more and 2.5 times or less, a clear pseudo force sense can be presented to the user in the X1 direction or the X2 direction. it can.

  The same effect as described above can be obtained even when the frequency ratio of the AC voltage applied to the planar coils 463 and 473 is fixed to 1.5 to 2.5 times and each frequency is continuously changed. The effect of can be obtained.

(Sixth embodiment)
Next, a sixth embodiment of the present invention will be described with reference to FIG. In the sixth embodiment, unlike the fifth embodiment in which the first coil substrate 406 and the second coil substrate 407 are arranged on the Y1 direction side and the Y2 direction side of the permanent magnet 410, respectively, The coil substrate 406 is disposed on the X2 direction side of the permanent magnet 410, and the second coil substrate 407 is disposed on the Y2 direction side of the permanent magnet 410.

  As shown in FIG. 28, the acceleration generating device 402 differs from the acceleration generating device 401 of the fifth embodiment in that the first coil substrate 406 is arranged on the side surface of the housing 408 instead of the upper surface. The other configuration is the same as that of the acceleration generating device 401, and thus the description thereof is omitted here. The leaf spring 405b provided between the first coil substrate 406 and the movable portion 404 is an example of the “third elastic member” in the present invention.

  Next, the operation of the acceleration generating device 402 will be described. The drive current control circuit 490 supplies drive current in the direction B shown in FIG. 26 to the planar coil 473 of the second coil substrate 407. In this case, as in the fifth embodiment, the current flowing through the planar coil 473 receives the force in the X2 direction from the magnetic flux of the permanent magnet 410, and the force that moves the movable portion 404 in the X1 direction due to the reaction of the force received by the current. work.

  Further, the drive current control circuit 490 supplies drive current in the direction A shown in FIG. 26 to the planar coil 463 of the first coil substrate 406. At this time, the current flowing through the planar coil 463 crosses the magnetic flux of the permanent magnet 410 obliquely. Therefore, the current flowing through the planar coil 463 receives forces in the X2, Y1, and Y2 directions from the magnetic flux of the permanent magnet 410. Since the force in the Y1 direction and the force in the Y2 direction cancel each other, the current flowing through the planar coil 463 receives the force only in the X2 direction, and the force that moves the movable portion 404 in the X1 direction due to the reaction of the force received by the current. work.

  In this way, the drive current is supplied to the planar coil 463 in the direction A shown in FIG. 26 and the drive current is supplied to the planar coil 473 in the direction B shown in FIG. Move in the X1 direction. After a predetermined time, the direction of the drive current supplied to the planar coil 463 by the drive current control circuit 490 is switched from the A direction to the B direction, and the direction of the drive current supplied to the planar coil 473 is switched from the B direction to the A direction. As a result, the movable portion 404 moves in the X2 direction.

  At this time, similarly to the fifth embodiment, the drive current control circuit 490 sets the frequency of the AC voltage applied to the planar coil 463 to 1.5 times 2.5 times the frequency of the AC voltage applied to the planar coil 473. It is controlled so as to be less than twice, particularly about twice. Thus, the acceleration waveform (time change) during one reciprocation of the movable unit 404 is asymmetric between the movement in the X1 direction and the movement in the X2 direction.

  Here, by adjusting the phase difference between the AC voltage applied to the planar coil 463 and the AC voltage applied to the planar coil 473, a pseudo force sense in a desired direction in the X1 direction or the X2 direction is given to the user. It can be presented.

  In the sixth embodiment, the coil substrate is disposed only on the side surface of the housing 408 on the X2 direction side, but the coil substrate is disposed on both the X1 direction side and the X2 direction side of the housing 408. It may be a configuration.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent.

  For example, in the first embodiment, an example in which a rectangular waveform is used as an ideal acceleration waveform has been described, but the present invention is not limited to this. In the present invention, the acceleration waveform may be asymmetric with respect to a reference line with zero acceleration.

  In the first embodiment, the example in which the voltage V (t) is obtained from the acceleration waveform having an ideal shape and the frequency characteristics of the impedance of the linear motor has been described. However, the present invention is not limited to this. Absent. In the present invention, the voltage V (t) may be obtained from a frequency characteristic other than the impedance so that an acceleration waveform having an ideal shape can be reproduced.

  Moreover, although the example which uses the linear motor which has one planar coil and one movable part was shown in the said 1st Embodiment, this invention is not limited to this. For example, you may use the linear motor which has two planar coils arrange | positioned adjacent to the moving direction of a movable part, and one movable part. In this case, the directions of the magnetic fields generated by the two planar coils are different from each other. Further, the movable part is formed of a permanent magnet whose side facing the planar coil is one of the N or S poles and whose side opposite to the planar coil is the other of the N or S poles.

  Moreover, although the example which uses a planar coil as an example of the spiral coil of this invention was shown in the said 1st Embodiment, this invention is not limited to this. For example, a coil having a predetermined thickness in a direction orthogonal to the moving direction of the movable part may be used.

  Moreover, although the example which uses the linear motor which has one planar coil was shown in the said 1st Embodiment, this invention is not limited to this. For example, you may laminate | stack a several planar coil in the direction orthogonal to the moving direction of a movable part.

  Moreover, in the said 1st Embodiment, although the spring part was each arrange | positioned at the one side and the other side of the direction along the moving direction of a movable part, this invention is not limited to this. For example, the spring part may be arranged only on one side or the other side in the direction along the moving direction of the movable part.

  In the first embodiment, the linear motor has an example of a substantially symmetrical shape with respect to the center line of the reciprocating movement of the movable part. However, the present invention is not limited to this. The present invention is also applicable to a linear motor having a shape that is structurally asymmetric with respect to the center line of the reciprocating movement of the movable portion.

In the first embodiment, the spring portions 3a and 3b the spring constant of (k ₁ and k ₂₎ are respectively disposed on the one side and the other side in the direction along the moving direction of the movable portion indicates equal example However, the present invention is not limited to this. For example, the spring constants of the spring portions 3a and 3b may be different.

  In the first embodiment, the example in which the movable portion that reciprocates along the direction along the surface of the planar coil is shown, but the present invention is not limited to this. For example, as shown in FIG. 29, a cylindrical housing 11, a permanent magnet 12 housed in the housing 11 and having a magnetic pole surface (N pole, S pole) on the X direction side, The present invention is also applicable to a linear motor 101 that includes a coil 13 and a coil 14 that are wound around the outer periphery and to which voltages (currents) in opposite directions are applied. The permanent magnet 12 is configured to reciprocate in the X direction by the magnetic field generated by the coil 13 and the coil 14 and the magnetic field of the permanent magnet 12.

  Moreover, in the said 2nd Embodiment, although the leaf | plate springs 206c, 206d, and 206e of the spring member 206 showed the example which has the same spring constant, this invention is not limited to this. For example, the leaf spring 206c and the leaf spring 206e may have different spring constants. The acceleration generating device 201 includes two movable parts, a first movable part 204 and a second movable part 205. Therefore, when the spring constants of the leaf spring 206c and the leaf spring 206e are different, the first movable part 201 The unit 204 and the second movable unit 205 resonate at different frequencies. Therefore, the ratio of the resonance frequency of the first movable part 204 and the resonance frequency of the second movable part 205 is approximately doubled, and the ratio of the frequency of the AC voltage applied to the planar coils 273 and 283 is approximately doubled. In this case, the acceleration waveform (time change) during one reciprocation of the first movable unit 204 and the second movable unit 205 is asymmetric between movement in the X1 direction and movement in the X2 direction.

  Here, the drive current control circuit 290 adjusts the phase difference between the frequency of the AC voltage applied to the planar coil 273 and the frequency of the AC voltage applied to the planar coil 283, so that the X1 direction or X2 with respect to the user. It is possible to present a pseudo force sense in a desired direction.

  Note that the resonance frequency of the first movable portion 204 is related to the spring constant of the leaf spring 206c, and the resonance frequency of the second movable portion 205 is related to the spring constant of the leaf spring 206e. Therefore, when an AC voltage having the same frequency is applied to the planar coils 273 and 283, the spring constants of the leaf springs 206c and 206e are set to the resonance frequency of the first movable part 204 and the resonance frequency of the second movable part 205. Set the ratio to be approximately double. At this time, the spring constant of the leaf spring 206d does not affect the effect of presenting a pseudo force sense in a desired direction in the X1 direction or the X2 direction to the user.

  Thus, by making the spring constants of the leaf springs 206c and 206e different, the asymmetry of the acceleration of the first movable part 204 and the second movable part 205 can be increased compared to the second embodiment.

  Note that the ratio between the resonance frequency of the first movable part 204 and the resonance frequency of the second movable part 205 is not limited to approximately twice, and may be between 1.5 times and 2.5 times. Further, the ratio of the frequency of the AC voltage applied to the planar coils 273 and 283 is not limited to about twice, and may be between 1.5 times and 2.5 times. By adjusting within these ranges, a clear pseudo force sense can be presented to the user in the X1 direction or the X2 direction.

  Moreover, in the said 2nd Embodiment, in order to catch the movement of the 1st movable part 204 and the 2nd movable part 205, the example which uses the leaf | plate springs 206c, 206d, and 206e was shown, However, This invention is not limited to this. For example, a spring having another configuration such as a torsion spring may be used. Magnets are provided on both side surfaces of the first movable portion 204 and the second movable portion 205 in the X direction and both side surfaces 202c of the upper housing 202, respectively, and the first movable portion 204 and the second movable portion 204 are caused by the repulsive force between the magnets. You may make it receive the movement of the movable part 205. FIG.

  In the second embodiment, the planar coils 273 and 283 are used. However, the present invention is not limited to this, and for example, in the thickness direction of the first coil substrate 207 and the second coil substrate 208 like a spiral coil. A thick coil may be used.

  In the third embodiment, the example in which the first coil substrate 207 and the second coil substrate 208 are stacked is shown, but the present invention is not limited to this. For example, the first coil substrate 207 may be disposed on the bottom surface 202 a of the upper housing 202 and the second coil substrate 208 may be disposed on the bottom surface 203 a of the lower housing 203.

  Also in the third and fourth embodiments, the spring constants of the first spring member 361 and the second spring member 362 are made different from each other, like the spring constants of the leaf springs 206c and 206e of the second embodiment. The same effects as those of the modification of the second embodiment can be obtained.

  Moreover, in the said 5th Embodiment, in order to catch the movement of the movable part 404, the example which uses the leaf | plate springs 405b and 405c was shown, However, This invention is not limited to this. For example, a spring having another configuration such as a torsion spring may be used. Further, a configuration may be adopted in which magnets are provided on both side surfaces in the X direction of the movable portion 404 and both side surfaces 402c of the upper housing 402, and the movement of the movable portion 404 is received by a repulsive force between the magnets.

  Moreover, in the said 5th Embodiment, although the example which uses the planar coils 463 and 473 was shown, this invention is not limited to this. For example, a coil having a thickness in the thickness direction of the first coil substrate 406 and the second coil substrate 407 may be used like a spiral coil.

  In the second to fourth embodiments, two planar coils are provided so as to face the two movable parts, respectively. In the fifth and sixth embodiments, one movable part is provided. Although the example in which two planar coils are provided so as to face each other is shown, the present invention is not limited to this. For example, three or more planar coils may be provided so as to face three or more movable parts, respectively, or three or more planar coils may be provided so as to face one movable part. May be. In this case, an AC voltage V (t) having an asymmetric waveform shown in the above equation (8) is applied to one of the three or more planar coils, and the waveform is applied to the other planar coils. A sine wave-like voltage may be applied. Thus, by applying an alternating voltage with an asymmetric waveform to one of the plurality of planar coils, an asymmetrical acceleration waveform can be obtained. In addition, among the three or more planar coils, one of the waveforms represented by the above formula (8) is applied to one planar coil, for example, n is a waveform from the first to the tenth, and another planar coil. A waveform of acceleration having an asymmetric shape can also be obtained by applying a waveform of nth to 20th order to one of the planar coils. Furthermore, an asymmetrical acceleration waveform can also be obtained by applying sinusoidal voltages having different frequencies to two of the three or more planar coils.

1 frame (housing)
2, 404 Movable part 3a, 3b Spring part 4 Planar coil (coil)
5 Printed circuit board (housing)
6 Bottom plate (housing)
100 linear motor (acceleration generating device)
201, 301, 401, 402 Acceleration generating device 211, 410 Permanent magnet 204 First movable part (first movable part)
205 2nd movable part (2nd movable part)
206c, 405c Leaf spring (first elastic member)
206d, 405b Leaf spring (second elastic member)
206e, 405b Leaf spring (third elastic member)
209, 408 Housing 273, 463 Planar coil (first coil)
283, 473 Planar coil (second coil)
290, 490 Drive current control circuit (control unit)
361 First spring member (fourth elastic member)
362 Second spring member (fifth elastic member)

Claims (21)

A spiral coil,
A movable part that reciprocates by a magnetic field generated by the spiral coil;
A housing that houses the movable portion and vibrates by reciprocating movement of the movable portion;
A spring portion provided between the movable portion and the housing;
An alternating voltage with an asymmetric waveform is applied to the spiral coil,
The acceleration generating device is configured such that an acceleration waveform in a vibration direction of the housing is asymmetrical on one side and the other side with respect to a reference line where acceleration is zero.   When the AC voltage waveform is inverted and applied to the spiral coil, the acceleration waveform of the housing is substantially symmetrical with respect to the reference line where the acceleration is 0 before and after the voltage waveform is inverted. The acceleration generating device according to claim 1, wherein a voltage applied to the spiral coil is adjusted.   The said movable part has a magnetic pole surface facing the said spiral coil, and is arrange | positioned so that it may reciprocate along the direction along the surface of the said spiral coil. Acceleration generating device.   The spring portions are respectively disposed on one side and the other side in a direction along the moving direction of the movable portion, and the spring portions are substantially symmetric with respect to the center line of the reciprocating movement of the movable portion. The acceleration generating device according to claim 1, wherein the acceleration generating device is arranged as described above. The waveform of the voltage applied to the spiral coil is determined based on the acceleration waveform of the casing having a desired shape and the impedance and angular frequency derived from the frequency characteristics of the impedance of the casing. Configured,
The angular frequency of the casing that vibrates is configured to be not less than two-thirds and not more than twice the resonance angular frequency of the casing that vibrates. The acceleration generating device described in 1. A first movable part and a second movable part each including a permanent magnet;
A first coil disposed opposite to the first movable part and reciprocatingly moving the first movable part in a first direction and a second direction;
A second coil that is disposed opposite to the second movable part and moves the second movable part back and forth in the first direction and the second direction;
A housing that houses the first movable part and the second movable part;
A control unit for independently controlling the currents flowing through the first coil and the second coil,
The control unit is configured so that an acceleration waveform during one reciprocation of the first movable unit and the second movable unit is asymmetric between movement in the first direction and movement in the second direction. An acceleration generating device configured to control a current flowing through the first coil and the second coil.   The control unit applies an AC voltage having a first frequency to the first coil, and applies an AC voltage having a second frequency not less than 1.5 times and not more than 2.5 times the first frequency. The acceleration generating device according to claim 6, wherein the acceleration generating device is configured to be applied to the second coil.   The control unit continues the first frequency and the second frequency in a state where the ratio between the first frequency and the second frequency is fixed to 1.5 times or more and 2.5 times or less. The acceleration generating device according to claim 7, wherein the acceleration generating device is configured to change in a moving manner.   The control unit adjusts a phase difference between the AC voltage having the first frequency and the AC voltage having the second frequency, thereby controlling one of the first movable unit and the second movable unit. The acceleration generating device according to claim 7 or 8, wherein the acceleration generating device is configured to adjust an asymmetry of an acceleration waveform during a reciprocation.   The said 1st movable part and the said 2nd movable part are any one of Claims 6-9 arrange | positioned along the moving direction of the said 1st movable part and the said 2nd movable part. The acceleration generating device described.   The said 1st movable part and said 2nd movable part are any one of Claims 6-9 arrange | positioned along the direction which cross | intersects the moving direction of a said 1st movable part and a said 2nd movable part. The acceleration generating device according to claim 1. The first movable part and the second movable part are arranged along the moving direction of the first movable part and the second movable part,
A first elastic member provided between the housing and the first movable part; a second elastic member provided between the first movable part and the second movable part; A third elastic member provided between the movable part and the housing,
The acceleration generating device according to claim 6, wherein the first elastic member has a spring constant different from that of the third elastic member. The first movable part and the second movable part are arranged along a direction intersecting a moving direction of the first movable part and the second movable part,
A fourth elastic member provided between the casing and the first movable section along a moving direction of the first movable section and the second movable section; and the casing and the second movable section. A fifth elastic member provided between the movable portion and the movable portion;
The acceleration generating device according to claim 6, wherein the fourth elastic member has a spring constant different from that of the fifth elastic member. A movable part including a permanent magnet;
A first coil and a second coil that are arranged to face the movable part, and reciprocate the movable part in a first direction and a second direction;
A housing that houses the movable part;
A control unit for independently controlling the currents flowing through the first coil and the second coil,
The control unit includes the first coil and the second coil such that an acceleration waveform during one reciprocation of the movable unit is asymmetric between movement in the first direction and movement in the second direction. An acceleration generating device configured to control the current flowing in the coil of the. The first coil is disposed to face one magnetic pole surface of the permanent magnet, and the second coil is disposed to face the other magnetic pole surface of the permanent magnet,
The acceleration generating device according to claim 14, wherein the control unit is configured to vary the frequency of an alternating voltage applied to the first coil and the second coil. A first elastic member disposed between a side surface on the first direction side of the movable portion and the housing;
The acceleration generating device according to claim 15, further comprising a second elastic member disposed between a side surface on the second direction side of the movable portion and the housing. The first coil is disposed to face one magnetic pole surface of the permanent magnet, and the second coil is disposed to face a side surface on the second direction side of the permanent magnet. And
The acceleration generating device according to claim 14, wherein the control unit is configured to vary the frequency of an alternating voltage applied to the first coil and the second coil. A first elastic member disposed between a side surface on the first direction side of the movable portion and the housing;
The acceleration generating device according to claim 17, further comprising a third elastic member disposed between a side surface on the second direction side of the movable portion and the second coil.   The control unit applies an AC voltage having a first frequency to the first coil, and applies an AC voltage having a second frequency not less than 1.5 times and not more than 2.5 times the first frequency. The acceleration generating device according to claim 15, wherein the acceleration generating device is configured to be applied to the second coil.   The control unit continues the first frequency and the second frequency in a state where the ratio between the first frequency and the second frequency is fixed to 1.5 times or more and 2.5 times or less. The acceleration generating device according to claim 19, wherein the acceleration generating device is configured to change in a moving manner.   The control unit adjusts a phase difference between the AC voltage having the first frequency and the AC voltage having the second frequency to thereby reduce the asymmetry of the acceleration waveform during one round trip of the movable unit. 21. An acceleration generating device according to claim 19 or 20, configured to adjust.

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