JP2021057993A - Actuator and tactile device - Google Patents

Abstract

To secure a large movement distance (amount of movement) of a movable body without increasing an actuator and a tactile device in size.SOLUTION: In an actuator 1, a supporting body 2 includes: a pair of first side parts 221 facing each other in a second direction X orthogonal to a first direction Z; and a pair of second side parts 22 facing each other in a third direction Y orthogonal to the first direction Z and crossing the second direction X. A magnetic driving circuit 10 drives a movable body 3, with respect to the supporting body 2, in a fourth direction F different from the second direction X and the third direction Y. A coil 6 has a long circular shape extending in a fifth direction G orthogonal to the fourth direction F. A magnet 5 is magnetized in the fourth direction F. Thus, since the magnetic driving circuit 10 drives the movable body 3 in the fourth direction F, a large movement distance of the movable body (an amount of movement) can be secured.SELECTED DRAWING: Figure 7

Description

The present invention relates to actuators and tactile devices that vibrate a movable body.

As a device that generates vibration by a magnetic drive mechanism, a second or third direction in which a movable body intersects the support with respect to the first direction by a magnetic drive circuit provided with coils and magnets facing each other in the first direction. An actuator that vibrates the magnet has been proposed. For example, in the actuator described in Patent Document 1, the movable body has a yoke, and a magnet is held in the yoke. The support has a holder, and a coil is arranged in the holder. The magnetic drive mechanism is composed of a magnet and a coil, and the magnetic drive mechanism drives a movable body by supplying power to the coil. This coil is an oval shape composed of a straight line portion and a curved line portion, and the straight line portion extends along the second direction.

Japanese Unexamined Patent Publication No. 2019-013090

In recent years, when a user uses a device that generates vibration by an actuator, it is desired that the magnitude of vibration felt by the user is larger, which is a movable body in a magnetic drive mechanism that generates vibration of the actuator. It is also important to increase the distance traveled by. The moving distance (moving amount) of this movable body depends on the size of the coil, the size of the magnetic force of the magnet, and the like. Therefore, for example, when the coil is enlarged, the longitudinal direction of the coil becomes longer, so that the actuator becomes larger. There is a problem.

In view of the above problems, an object of the present invention is to secure a large moving distance of a movable body without increasing the actuator and the tactile device.

In order to solve the above problems, the actuator of the present invention is arranged on one side of the support, the movable body, the support and the connection body connected to the movable body, and the support and the movable body. The support is provided with a magnetic drive circuit that is arranged on the other side of the support and the movable body and has a coil that faces the magnet in the first direction, and the support is in the first direction. It has a pair of first side sides facing each other in a second direction orthogonal to each other, and a pair of second side sides facing each other in a third direction orthogonal to the first direction and the second direction. The coil is an oval extending in a fifth direction orthogonal to a fourth direction diagonally intersecting the second direction and the third direction when viewed from the first direction, and the magnet. Is magnetized in the fourth direction, and the magnetic drive circuit is characterized in that the movable body is driven in the fourth direction with respect to the support.

In the present invention, the support has a pair of first side sides facing each other in the second direction orthogonal to the first direction, and a pair of supports facing each other in the third direction orthogonal to the first direction and intersecting the second direction. Having a second side side portion, the magnetic drive circuit drives the movable body with respect to the support in a fourth direction different from the second direction and the third direction, and the coil is orthogonal to the fourth direction. It is an oval extending in five directions, and the magnet is magnetized in the fourth direction. Therefore, in this actuator, since the magnetic drive circuit is driven in the fourth direction, it is possible to secure a large movement distance (movement amount) of the movable body.

In the present invention, the coil has a linear portion extending in the fifth direction when viewed from the first direction, and the magnet has the linear portion of the coil when viewed from the first direction. It is preferable that it overlaps with at least a part of. In this way, the driving force generated by the magnetic driving circuit in the fourth direction can be efficiently increased.

In the present invention, the connecting body is an elastic body or a viscoelastic body, and adopts an embodiment in which the connecting body is arranged between the support and the movable body in at least one of the second direction and the third direction. can do.

In the present invention, the connecting body constitutes a first vibration system in which the movable body vibrates in the second direction with respect to the support, and the movable body vibrates in the third direction with respect to the support. It is preferable that the second vibration system vibrates in a similar manner, and the resonance frequency of the first vibration system is different from the resonance frequency of the second vibration system. In this way, the resonance frequency of the vibration system that vibrates the movable body differs between when the movable body vibrates in the second direction and when it vibrates in the third direction. Therefore, a plurality of vibration systems having different resonance frequencies can be configured depending on the connection body. Moreover, not only the resonance frequency but also the direction of vibration is different. Therefore, it is possible to output vibrations of two types of resonance frequencies and two types of directions with a simple configuration.

In the present invention, it is preferable that the movable body has a yoke, and the yoke has a positioning portion for positioning the magnet. In this way, it becomes easy to position the magnet on the yoke.

In the present invention, the yoke is formed between the pair of plate portions facing each other in the first direction and the pair of plate portions on either side of the pair of plate portions in either the second direction or the third direction. It is possible to adopt an embodiment having a pair of connecting portions for connecting the pair of plate portions.

In the present invention, the yoke is composed of a first yoke and a second yoke arranged so as to be overlapped in the first direction, and it is preferable that the first yoke and the second yoke have the same shape. By doing so, the first yoke and the second yoke constituting the yoke can be shared, so that the number of parts can be reduced.

In the present invention, the support has a coil holder that holds the coil between the pair of connecting portions, and the connecting body is arranged between each of the pair of connecting portions and the coil holder. Is desirable. In this way, the mass of the yoke increases as the yoke becomes larger. As a result, the mass of the movable body increases, so that the resonance frequency of the actuator can be lowered.

In the present invention, the coil holder preferably has a recess for accommodating the coil. In this way, it becomes easy to hold the coil with the coil holder.

In the present invention, the support has a case for accommodating the movable body, and the case and the yoke are holes or holes in the second direction and the third direction in the direction in which the connecting body is arranged. It is preferable to have a notch. In this way, when assembling the actuator, a positioning pin for positioning the movable body and the coil holder with respect to the case can be used, so that the movable body and the coil holder can be positioned and adjusted with respect to the case. Becomes easier.

In the present invention, since the magnetic drive circuit is driven in the fourth direction, a large moving distance of the movable body can be secured.

The external perspective view of the actuator which concerns on Embodiment 1 of this invention. An exploded perspective view of the actuator of FIG. FIG. 3 is a cross-sectional view of the actuator of FIG. An exploded perspective view of the actuator with the case removed from the other side in the first direction. An exploded perspective view of the actuator with the case removed from one side Z1 in the first direction. An exploded perspective view of the coil, coil holder and circuit board. Top view of coil holder, connector and magnetic drive circuit. The explanatory view which shows typically the vibration characteristic of an actuator. The perspective view of the yoke of Embodiment 2. The perspective view of the 1st yoke of Embodiment 2 of this invention. Sectional drawing of the actuator of Embodiment 3 of this invention.

Hereinafter, embodiments of the exemplary actuator of the present invention will be described with reference to the drawings. In the following description, the three directions orthogonal to each other will be described as the first direction Z, the second direction X, and the third direction Y, respectively. Further, the direction that intersects the second direction X and the third direction Y when viewed from the first direction Z is defined as the fourth direction F, and the direction orthogonal to the fourth direction F when viewed from the first direction Z is the first direction. Let it be 5 directions G. In the embodiments described below, the fourth direction F and the fifth direction G are orthogonal to the first direction Z because they are parallel to the virtual plane defined by the second direction X and the third direction Y. Further, X1 is attached to one side of the second direction X, X2 is attached to the other side of the second direction X, Y1 is attached to one side of the third direction Y, and Y2 is attached to the other side of the third direction Y. , Z1 is attached to one side of the first direction Z, and Z2 is attached to the other side of the first direction Z.

The actuator 1 described below has a magnetic drive circuit 10 that moves the movable body 3 relative to the support body 2. The magnetic drive circuit 10 has a magnet 5 and a coil 6 facing the magnet 5 in the first direction Z. The magnetic drive circuit 10 has a mode in which the coil 6 is provided on the side of the support 2 and the magnet 5 is provided on the side of the movable body 3, and the magnet 5 is provided on the side of the support 2 and the coil 6 is provided on the movable body. The mode provided on the side of 3 can be adopted. In the embodiment described below, the coil 6 is provided on the support 2 and the magnet 5 is provided on the movable body 3.

[Embodiment 1]
FIG. 1 is an external perspective view of the actuator 1 according to the first embodiment of the present invention. FIG. 2 is an exploded perspective view of the actuator 1 of FIG. FIG. 3 is a cross-sectional view of the actuator 1 of FIG. FIG. 4 is an exploded perspective view of the actuator 1 from which the case 9 has been removed as viewed from the other side Z2 in the first direction Z. FIG. 5 is an exploded perspective view of the actuator 1 from which the case 9 has been removed as viewed from one side Z1 of the first direction Z. FIG. 6 is an exploded perspective view of the coil 6, the coil holder 7, and the circuit board 11. FIG. 7 is a plan view of the coil holder 7, the connector 4, and the magnetic drive circuit 10.

(overall structure)
As shown in FIGS. 1 and 2, the actuator of the first embodiment of the present invention has a support 2 including a polygonal case 9, and a movable body 3 housed inside the case 9. As shown in FIG. 3, the movable body 3 is supported by the support body 2 via a connecting body 4 arranged between the movable body 3 and the support body 2. The connecting body 4 is made of an elastic body or a viscoelastic body, and the movable body 3 is supported so as to be relatively movable in the second direction X and the third direction Y with respect to the support body 2. In this embodiment, the connecting body 4 is made of a viscoelastic body.

The support 2 has a pair of first side sides 21 facing each other in the second direction X and a pair of second side sides 22 facing each other in the third direction Y. That is, as shown in FIG. 1, the actuator 1 has a rectangular parallelepiped shape in which the longitudinal direction is directed to the third direction Y. The support 2 has a coil 6, a coil holder 7, a case 9, and a circuit board 11. The movable body 3 has a shape in which the longitudinal direction is directed to the third direction Y. The movable body 3 has a magnet 5 (see FIGS. 4 and 5) and a yoke 8.

The magnet 5 and the coil 6 form a magnetic drive circuit 10 (see FIG. 7) that drives the movable body 3 in the fourth direction F. As will be described later, in the present embodiment, the connecting body 4 constitutes a first vibration system in which the movable body 3 vibrates in the second direction X with respect to the support body 2, and the movable body 3 with respect to the support body 2. The magnetic drive circuit 10 moves the movable body 3 in the fourth direction because the resonance frequency of the first vibration system and the resonance frequency of the second vibration system are different from each other to form the second vibration system that vibrates in the third direction Y. When driven to F, the actuator 1 outputs vibrations in the second direction X and the third direction Y. In this embodiment, two sets of magnetic drive circuits 10 are arranged in the third direction Y. The connection body 4 has a first connection body 41 and a second connection body 42.

The actuator 1 can be used as a tactile device that gives a tactile sensation to a person who uses the actuator 1 or a device to which the actuator 1 is attached by vibrating the movable body 3 in the second direction X or the third direction Y. .. For example, the actuator 1 can be used by being incorporated into an operation member of a game machine, an operation panel, a steering wheel or a seat of an automobile, or the like. When the actuator 1 is used as a tactile device, the resonance frequency fA (see FIG. 8) when the movable body 3 vibrates in the second direction X and the resonance frequency fB (see FIG. 8) when the movable body 3 vibrates in the third direction Y (see FIG. 8). Since it is different from (see FIG. 8), the frequency of the AC waveform applied to the coil 6 can be adjusted to vibrate the movable body 3 in two different directions and frequencies. Therefore, the user can experience two types of different vibrations. Further, if the AC waveform applied to the coil 6 is adjusted so that the acceleration at which the movable body 3 moves to one side and the acceleration at which the movable body 3 moves to the other side are different, the user can change the directionality. You can experience the vibration that you have.

(Movable body 3)
As shown in FIGS. 4 and 5, in the movable body 3, the magnet 5 has a first magnet 51 and a second magnet 52. The first magnet 51 faces the coil 6 on one side Z1 of the first direction Z. The second magnet 52 faces the coil 6 on the other side Z2 of the first direction Z. In the first magnet 51 and the second magnet 52, at least the surface facing the coil 6 is magnetized to a pole on which one side and the other side of the fourth direction F intersecting the second direction X and the third direction Y are different. ing. In the present embodiment, the surface of the first magnet 51 facing at least the coil 6 has one side X1 of the second direction X and the other side Y2 of the third direction Y magnetized to the N pole, and the other side of the second direction X. The S pole is magnetized on one side Y1 of X2 and the third direction Y. On the other hand, on the surface of the second magnet 52 facing at least the coil 6, the other side X2 of the second direction X and one side Y1 of the third direction Y are magnetized to the N pole, and one of the second directions X is magnetized. The side X1 and the other side Y2 in the third direction Y are magnetized to the S pole. Therefore, in the first magnet 51 and the second magnet 52, the surfaces facing each other via the coil 6 are different poles. In this embodiment, since the magnetic drive circuits 10 are provided in two sets, the first magnet 51 and the second magnet 52 are arranged in the third direction Y in a state of being tilted in the fourth direction F.

The yoke 8 is made of a magnetic material and is formed by press working in this embodiment. The yoke 8 holds the magnet 5. As shown in FIGS. 4 and 5, the yoke 8 is composed of a first yoke 81 and a second yoke 82 located on the other side Z2 of the first yoke 81 in the first direction Z. The first yoke 81 has a first plate portion 811 and a connecting portion 812 bent from the edges of both ends of the first plate portion 811 in the third direction Y to the other side Z2 in the first direction Z. The second yoke 82 has a flat plate-shaped second plate portion 821.

As shown in FIG. 4, the first magnet 51 is held on the surface of the first plate portion 811 of the first yoke 81 on the other side Z2 in the first direction Z. At this time, the first magnet 51 is positioned on the first plate portion 811 by the positioning portion 83 provided on the first plate portion 811. In this embodiment, the positioning portion 83 is composed of a plurality of dowels 831 formed by half-cutting. The first magnet 51 is fitted into the portion partitioned by the dowel 831, so that the first magnet 51 is positioned on the first plate portion 811.

As shown in FIG. 5, the second magnet 52 is held on the surface of one side Z1 of the second plate portion 821 of the second yoke 82 in the first direction Z. At this time, the second magnet 52 is positioned on the second plate portion 821 by the positioning portion 83 provided on the second plate portion 821. In this embodiment, the positioning portion 83 is composed of a plurality of dowels 831 formed by half-cutting. The second magnet 52 is fitted into the portion partitioned by the dowel 831, so that the second magnet 52 is positioned on the second plate portion 821.

The connecting portion 812 has a first connecting portion 8121 arranged on one side Y1 of the third direction Y and a second connecting portion 8122 arranged on the other side Y2 of the third direction Y. Notches 814 are provided at both ends of the first connecting portion 8121 and the second connecting portion 8122 in the second direction X. In the first connecting portion 8121, the notch portion 814 provided on the end surface of one side X1 of the second direction X of the first connecting portion 8121 is closer to one side Z1 of the first direction Z, and the first connecting portion 8121. The notch 814 provided at the end of the other side X2 of the second direction X of the 8121 is closer to the other side Z2 of the first direction Z. In the second connecting portion 8122, the notch portion 814 provided on the end surface of one side X1 of the second direction X of the second connecting portion 8122 is closer to the other side Z2 of the first direction Z, and is closer to the other side Z2 of the first direction Z. The notch 814 provided at the end of the other side X2 of the second direction X of the 8122 is closer to the one side Z1 of the first direction Z.

A convex portion 813 is provided at the central portion of the ends of the first connecting portion 8121 and the other side Z2 of the second connecting portion 8122 in the first direction Z. Recesses 822 are provided at the central portions of both ends of the second plate portion 821 in the third direction Y. The first yoke 81 and the second yoke 82 are connected by fitting the convex portion 813 and the concave portion 822. Then, the first yoke 81 and the second yoke 82 are connected by fixing the convex portion 813 and the concave portion 822 by welding or the like.

(Support 2)
As shown in FIGS. 1 and 2, in the support 2, the case 9 has a first case member 91 and a second case member 92. A movable body 3, a coil 6, and a coil holder 7 are housed between the first case member 91 and the second case member 92. An opening 93 is formed on the side surface of one side X1 of the second direction X of the case 9, and the circuit board 11 is exposed from the opening 93. The first case member 91 has a bottom plate portion 911 facing the third direction Y and a side plate portion 912 protruding from the edge of the bottom plate portion 911 to the other side Y2 in the third direction Y. The bottom plate portion 911 is provided with two through holes 913. A notch 914 is provided in the central portion of the side plate portion 912 on one side X1 of the second direction X. Similarly, the second case member 92 has a bottom plate portion 921 facing the third direction Y and a side plate portion 922 protruding from the end edge of the bottom plate portion 921 to one side Y1 of the third direction Y. The bottom plate portion 921 is provided with two through holes 923. A notch 924 is provided at the center of the side plate portion 922 of one side X1 of the second direction X. In the present embodiment, of the side plate portion 912 of the first case member 91 and the side plate portion 922 of the second case member 92, the pair of first side side portions 21 of the support 2 are formed by the portions facing each other in the second direction X. It is composed. Further, the bottom plate portion 911 of the first case member 91 and the bottom plate portion 921 of the second case member 92 form a pair of second side side portions 22 of the support body 2.

The through hole 913 is provided at a position corresponding to the notch 814 of the first yoke 81 in the second direction X, and the through hole 923 corresponds to the notch 814 of the second yoke 82 in the second direction X. It is provided at the position to be used. Specifically, when assembling the actuator 1, a positioning pin is inserted from the through hole 913 or the through hole 923 in the third direction Y in order to position the movable body 3 and the coil holder 7 with respect to the case 9. .. At this time, the through hole is set so that the side surface of the positioning pin inserted from the through holes 913 and 923 is at a position where it fits with the notch 814 of the first yoke 81 and the notch 814 of the second yoke 82. 913 and 923 are provided.

The first case member 91 and the second case member 92 are fixed by welding or the like in a state of being assembled in the second direction X. When the first case member 91 and the second case member 92 are fixed, the notch 914 and the notch 924 form an opening 93.

The coil holder 7 is made of a resin material. As shown in FIGS. 4, 5, and 6, the coil holder 7 holds the coil 6 and the circuit board 11. The coil holder 7 has a main body portion 71 having a rectangular shape when viewed from the first direction Z, and a side surface portion 72 projecting from the edge of the main body portion 71 in the first direction Z. The main body 71 has a recess 73 recessed in one side Z1 of the first direction Z. A coil 6 is arranged in the recess 73. The recess 73 has an oval shape in which the fifth direction G orthogonal to the fourth direction F is the longitudinal direction, and the fifth direction G orthogonal to the fourth direction F is long. The recess 73 has a central portion penetrating in the first direction Z and bottom portions 731 at both end portions in the fourth direction F. The bottom portion 731 comes into contact with the coil 6 in the first direction Z, so that the coil 6 is positioned with respect to the recess 73 in the first direction Z.

The side surface portion 72 includes a side wall 721 located on one side X1 of the second direction X, a side wall 722 located on the other side X2 of the second direction X, and a side wall 723 located on one side Y1 of the third direction Y. It has a side wall 724 located on the other side Y2 of the third direction Y. The side wall 722 is provided with a positioning step portion 740 recessed on one side X1 of the second direction X. The circuit board 11 is fitted into the positioning step portion 740 from one side X1 of the second direction X.

At both ends of the side wall 723 in the second direction X, a pair of first columnar portions 75 projecting to one side Y1 of the third direction Y and extending in the first direction Z are provided. As shown in FIG. 3, the length of the first columnar portion 75 in the first direction Z is the dimensional length at which the first columnar portion 75 fits into the inner wall portion of the first case member 91. Similarly, at both ends of the side wall 724 in the second direction X, a pair of second columnar portions 76 projecting to the other side Y2 of the third direction Y and extending in the first direction Z are provided. As shown in FIG. 3, the length of the second columnar portion 76 in the first direction Z is the dimensional length at which the second columnar portion 76 fits into the inner wall portion of the second case member 92.

In the coil holder 7, the side wall 723 faces the first connecting portion 8121 of the yoke 8 on the other side Y2 of the third direction Y, and the side wall 724 is one side of the second connecting portion 8122 of the yoke 8 and the third direction Y. Oppose at Y1. Therefore, the side wall 723 and the side wall 724 function as a hit portion that defines a movable range when the movable body 3 moves in the third direction Y.

In the coil holder 7, the first columnar portion 75 faces the first connecting portion 8121 of the yoke 8 in the second direction X, and the second columnar portion 76 faces the second connecting portion 8122 of the yoke 8 in the second direction X. opposite. Therefore, the first columnar portion 75 and the second columnar portion 76 function as a percussion portion that defines a movable range when the movable body 3 moves in the second direction X.

The coil 6 is fixed to the recess 73 of the coil holder 7 by an adhesive. The coil 6 has an oval shape in which the fifth direction G orthogonal to the fourth direction F is the longitudinal direction, and the fifth direction G orthogonal to the fourth direction F is long. That is, the support 2 extending in the second direction X and the third direction Y
And since the longitudinal direction of the coil 6 is the fifth direction G orthogonal to the fourth direction F with respect to the shape of the movable body 3, the longitudinal direction is compared with the coil extending in the second direction X or the third direction Y. Therefore, the coil 6 of this embodiment has a large longitudinal direction. The coil 6 has a straight portion 61 and a curved portion 62. The straight line portion 61 extends in the fifth direction G orthogonal to the fourth direction F. The coil 6 has a drawer portion 63 drawn from one side X1 of the second direction X. The lead-out portion 63 is electrically connected to the circuit board 11.

The actuator 1 supplies power to the coil 6 from the outside (upper device) via the circuit board 11. The circuit board 11 is held by the coil holder 7 and exposed from the opening 93 of the case 9.

(Connector)
As shown in FIG. 2, the movable body 3 has a second direction X and a third direction with respect to the support body 2 by the first connecting body 41 and the second connecting body 42 connected to the movable body 3 and the support body 2. It is supported so that it can move relative to Y. The first connecting body 41 is arranged between the first case member 91 and the first connecting portion 8121 of the yoke 8, and is fixed by an adhesive or the like. The second connecting body 42 is arranged between the second case member 92 and the second connecting portion 8122 of the yoke 8, and is fixed by an adhesive or the like. The first connecting body 41 and the second connecting body 42 are in a state of being compressed in the third direction Y.

When the movable body 3 vibrates in the second direction X, the actuator 1 constitutes a first vibration system in which the first connecting body 41 and the second connecting body 42 are deformed in the shearing direction. When the movable body 3 vibrates in the third direction Y, the actuator 1 constitutes a second vibration system in which the first connecting body 41 and the second connecting body 42 are deformed in the expansion / contraction direction.

The first connecting body 41 and the second connecting body 42 have different spring constants when they are deformed in the expansion and contraction direction and when they are deformed in the shear direction. In this embodiment, the first connecting body 41 and the second connecting body 42 are viscoelastic bodies. For example, the first connecting body 41 and the second connecting body 42 are gel-like members made of silicone gel or the like. Silicone gel is a viscoelastic body in which the spring constant when deformed in the expansion and contraction direction is about three times the spring constant when deformed in the shear direction. When the viscoelastic body is deformed in the direction intersecting the thickness direction (shearing direction), the viscoelastic body is deformed in the direction of being pulled and stretched, and therefore has a deformation characteristic in which the linear component is larger than the non-linear component. Further, when the component is pressed in the thickness direction and is compressed and deformed, the non-linear component has a larger expansion / contraction characteristic than the linear component, while when the component is pulled in the thickness direction and stretches, the linear component is larger than the non-linear component. Has large expansion and contraction characteristics.

As the first connector 41 and the second connector 42, natural rubber, diene rubber (for example, styrene / butadiene rubber, isoprene rubber, butadiene rubber, chloroprene rubber, acrylonitrile / butadiene rubber, etc.), non-diene rubber (for example, Various rubber materials such as butyl rubber, ethylene / propylene rubber, ethylene / propylene / diene rubber, urethane rubber, silicone rubber, fluororubber, etc., and various rubber materials thereof and modified materials thereof may be used.

(Magnetic drive circuit)
As shown in FIG. 7, the actuator 1 has two sets of magnetic drive circuits 10 including a pair of a magnet 5 and an oval coil 6. Each magnetic drive circuit 10 generates a driving force acting in a fourth direction F, which is an in-plane direction including the second direction X and the third direction Y and is different from the second direction X and the third direction Y. For example, the fourth direction F is a direction inclined by 45 ° with respect to the second direction X and the third direction Y. In each magnetic drive circuit 10, the surface of the magnet 5 facing the coil 6 is magnetized to the north and south poles, and the magnetizing polarization line 50 is in the fifth direction G orthogonal to the fourth direction F. Extend. In this embodiment, the magnet 5 is magnetized in the fourth direction F. The first magnet 51 and the second magnet 52 are arranged so as to overlap a part of the linear portion 61 of the coils 6 facing each other in the first direction Z when viewed from the first direction Z.

(Actuator positioning adjustment)
When assembling the actuator 1, the movable body 3 and the coil holder 7 are positioned and adjusted with respect to the case 9. For positioning, a positioning pin (not shown) is inserted through the through hole 913 or through hole 923 in the third direction Y. At this time, the side surface of the positioning pin inserted from the through holes 913 and 923 is fitted with the notch 814 of the first yoke 81 and the notch 814 of the second yoke 82, and the tip of the positioning pin is , Contact the coil holder 7 in the second direction X. As a result, by adjusting the position of the positioning pin, the movable body 3 and the coil holder 7 can be positioned and adjusted with respect to the case 9.

(Actuator drive method)
FIG. 8 is an explanatory diagram schematically showing the vibration characteristics of the actuator 1. The horizontal axis of FIG. 8 is the drive frequency f of the magnetic drive circuit 10, and is the frequency of the drive current flowing through the coil 6. The vertical axis of FIG. 8 is the acceleration when the movable body 3 vibrates. As described above, the actuator 1 constitutes a first vibration system in which the movable body 3 vibrates in the second direction X and a second vibration system in which the movable body 3 vibrates in the third direction Y. Therefore, the connecting body 4 is configured to be deformed with a different spring constant as a whole. Therefore, in the actuator 1, the resonance frequency fA of the first vibration system and the resonance frequency fB of the second vibration system are different, and as shown in FIG. 8, the two resonance frequencies fA and fB are the maximum acceleration frequencies of the movable body 3. Is getting bigger.

The driving force generated by the magnetic drive circuit 10 is a driving force in the fourth direction F including a component in the second direction X and a component in the third direction Y. Therefore, when the drive frequency of the magnetic drive circuit 10 is changed, the movable body 3 vibrates greatly in the second direction X when the drive frequency is set to match the resonance frequency fA or a value close to the resonance frequency fA. As a result, the actuator 1 can output the vibration of the resonance frequency fA in the second direction X. Further, when the drive frequency of the magnetic drive circuit 10 matches the resonance frequency fB or is set to a value close to the resonance frequency fB, the movable body 3 vibrates greatly in the third direction Y. As a result, the actuator 1 can output the vibration of the resonance frequency fB in the third direction Y. Therefore, the actuator 1 can output vibrations in different vibration directions and different frequencies only by adjusting the drive frequency of the common magnetic drive circuit 10.

(Main effect of this form)
In the present embodiment, the support 2 has a pair of first side edges 21 that face each other in the second direction X that is orthogonal to the first direction Z, and a third that is orthogonal to the first direction Z and intersects the second direction X. It has a pair of second side portions 22 facing each other in the direction Y. The magnetic drive circuit 10 drives the movable body 3 with respect to the support 2 in a fourth direction F different from the second direction X and the third direction Y. The coil 6 is an oval extending in the fifth direction G orthogonal to the fourth direction F. The magnet 5 is magnetized in the fourth direction F. Therefore, since the magnetic drive circuit 10 is driven in the fourth direction F, a large moving distance (moving amount) of the movable body 3 can be secured. Further, the coil 6 has a fourth direction with respect to the support 2 having a pair of first side side portions 21 facing each other in the second direction X and a pair of second side side portions 22 facing each other in the third direction Y. It is an oval extending in the fifth direction G orthogonal to F. Therefore, the length of the coil 6 in the longitudinal direction can be increased as compared with the oval shape in which the coil 6 extends in either the second direction X or the third direction Y. As a result, in the actuator 1, the driving force generated by the magnetic drive circuit 10 in the fourth direction F can be increased.

In this embodiment, the coil 6 has a straight line portion 61 extending in the fifth direction G orthogonal to the fourth direction F, and the magnet 5 has at least a straight line portion 61 of the coil 6 when viewed from the first direction Z. It overlaps with a part. In this way, the driving force generated by the magnetic driving circuit 10 in the fourth direction F can be efficiently increased.

In the present embodiment, the connecting body 4 constitutes a first vibration system in which the movable body 3 vibrates in the second direction X with respect to the support 2, and the movable body 3 constitutes a third direction Y with respect to the support 2. The resonance frequency fA of the first vibration system and the resonance frequency fB of the second vibration system are different from each other. In this way, the resonance frequency of the vibration system that vibrates the movable body 3 differs between when the movable body 3 vibrates in the second direction X and when it vibrates in the third direction Y. Therefore, the connection body 4 can form a plurality of vibration systems having different resonance frequencies. Moreover, not only the resonance frequency but also the direction of vibration is different. Therefore, it is possible to output vibrations of two types of resonance frequencies and two types of directions with a simple configuration.

In this embodiment, the movable body 3 has a yoke 8, and the yoke 8 has a positioning portion 83 for positioning the magnet 5. In this way, it becomes easy to position the magnet 5 on the yoke 8.

In the present invention, the yoke 8 is composed of a first yoke 81 and a second yoke 82 divided in the first direction Z, and the first yoke 81 and the second yoke 82 have the same shape. By doing so, the first yoke 81 and the second yoke 82 constituting the yoke 8 can be shared, so that the number of parts can be reduced.

In this embodiment, the coil holder 7 has a recess 822 that houses the coil 6. In this way, it becomes easy to hold the coil 6 in the coil holder 7.

In the present embodiment, the support 2 has a case 9 for accommodating the movable body 3, and the case 9 has a through hole 913 in the direction in which the connecting body 4 is arranged among the second direction X and the third direction Y. It has 923, and the yoke 8 has a notch 814 in the direction in which the connecting body 4 is arranged in the second direction X and the third direction Y. In this way, when assembling the actuator 1, a positioning pin for positioning the movable body 3 and the coil holder 7 with respect to the case 9 can be used, so that the movable body 3 and the coil holder 7 can be used as the case 9. It becomes easy to position and adjust the position.

[Embodiment 2]
FIG. 9 is a perspective view of the yoke 8 of the second embodiment of the present invention. FIG. 10 is a perspective view of the first yoke 86 of the second embodiment. In the second embodiment, the shape is different from the shapes of the first yoke 81 and the second yoke 82 of the yoke 8 of the above-described embodiment, and the other configurations are the same.

As shown in FIG. 9, the yoke 8 includes a first yoke 86 and a second yoke 87 that overlap in the first direction Z. The first yoke 86 and the second yoke 87 have the same shape. Specifically, as shown in FIG. 10, the shape of the first yoke 86 when viewed from the second direction X is an L-shape. The first yoke 86 has a plate portion 881 and a connecting portion 882 protruding from the edge of the plate portion 881 on the other side Y2 in the third direction Y to the other side Z2 in the first direction Z. A convex portion 883 is provided at the central portion of the end portion of one side Z1 of the first direction Z of the connecting portion 882. A recess 884 is provided in the central portion of the end portion of Y1 on one side of the third direction Y of the plate portion 881. Notches 885 are provided at both ends of the connecting portion 882 in the second direction X. Here, since the second yoke 87 has the same shape as the first yoke 86, the same parts are designated by the same reference numerals. Therefore, as shown in FIG. 9, the first yoke 86 and the second yoke 87 are assembled by fitting the convex portion 883 and the concave portion 884. Then, the first yoke 86 and the second yoke 87 are connected by fixing the convex portion 883 and the concave portion 884 by welding or the like. As described above, since the first yoke 86 and the second yoke 87 have the same shape, the number of parts can be reduced.

[Embodiment 3]
FIG. 11 is a cross-sectional view of the actuator 1 of the third embodiment of the present invention. The third embodiment is different from the second embodiment in the position where the connecting body 4 is arranged, and the other configurations are the same. As shown in FIG. 11, in the third embodiment, the connecting body 4 has a first connecting body 41 and a second connecting body 42. The first connecting body 41 is arranged inside the connecting portion 882 of the second yoke 87 (Y2 on the other side of the third direction Y) between the connecting portion 882 of the second yoke 87 and the coil holder 7. The second connecting body 42 is arranged inside the connecting portion 882 of the first yoke 86 (one side Y1 of the third direction Y) between the connecting portion 882 of the first yoke 86 and the coil holder 7. More specifically, the first connecting body 41 is arranged between the connecting portion 882 of the second yoke 87 and the side wall 723. The second connecting body 42 is arranged between the connecting portion 882 of the first yoke 86 and the side wall 724. By doing so, the yoke 8 becomes larger in the third direction Y, and the mass of the yoke 8 increases. As a result, since the mass of the movable body 3 can be increased, the thrust can be improved or maintained even if the moving distance (moving amount) of the movable body 3 is the same or small. Further, even if an external force is applied to the case 9, the external force is not directly transmitted to the connecting body 4, so that the deformation of the connecting body 4 can be suppressed. Further, in the shape of the first yoke 86 and the second yoke 87 of the present embodiment, it becomes easy to arrange the connecting body 4 inside the yoke 8.

[Other Embodiments]
In the above embodiment, the connecting body 4 is arranged at a position where the movable body 3 and the supporting body 2 face each other in the third direction Y, but the position of the connecting body 4 is such that the movable body 3 and the supporting body 2 are opposed to each other. It may be a position facing each other in the second direction X. Further, the position where the connecting body 4 is arranged is both a position where the movable body 3 and the support body 2 face each other in the second direction X and a position where the movable body 3 and the support body 2 face each other in the third direction Y. May be.

In the above embodiment, magnets 5 (first magnet 51 and second magnet 52) are arranged on both sides of the first direction Z with respect to the coil 6, but only one side Z1 or the other side Z2 of the first direction Z with respect to the coil 6 is arranged. The magnet 5 may be arranged in the.

In the above embodiment, the coil 6 and the coil holder 7 are provided on the support 2, and the magnets 5 (first magnet 51 and second magnet 52) and the yoke 8 (first yoke 81 and second yoke 82) are provided on the movable body 3. However, the coil 6 and the coil holder 7 are provided on the movable body 3, and the magnet 5 (first magnet 51 and second magnet 52) and the yoke 8 (first yoke 81 and second yoke 82) are provided on the support 2. The present invention may be applied to the actuator.

In the above embodiment, two sets of the magnet 5 and the coil 6 are provided, but one set or three sets or more may be provided. Further, when there are three or more sets of the magnet 5 and the coil 6, a plurality of sets may be arranged in the second direction X and the third direction Y, respectively.

In the above embodiment, the first case member 91 and the second case member 92 have through holes 913 and 923, but may be notched portions. Further, although the connecting portion 812 has a notched portion 814, it may be a hole. In either case, when assembling the actuator 1, the movable body 3 and the coil holder 7 can be positioned with respect to the case 9 by using the positioning pin.

In the above embodiment, the fourth direction F is a direction inclined by 45 ° with respect to the second direction X and the third direction Y, but the present invention is not limited to this. For example, the fourth direction F may be a direction inclined by 30 ° with respect to the second direction X and the third direction Y. Even with this configuration, the length of the coil 6 in the longitudinal direction can be increased as compared with the oval shape in which the coil 6 extends in either the second direction X or the third direction Y.

1 ... actuator, 2 ... support, 3 ... movable body, 4 ... connector, 5 ... magnet, 6 ... coil, 7 ... coil holder, 8 ... yoke, 9 ... case, 10 ... magnetic drive circuit, 11 ... circuit board , 21 ... 1st side side, 22 ... 2nd side, 41 ... 1st connection, 42 ... 2nd connection, 50 ... Magnetized polarization line, 51 ... 1st magnet, 52 ... 2nd magnet, 61 ... straight part, 62 ... curved part, 63 ... drawer part, 71 ... main body part, 72 ... side part, 721, 722, 723, 724 ... side wall, 73 ... concave part, 731 ... bottom part, 75 ... first columnar part, 76 ... 2nd columnar part, 740 ... Positioning step part, 81 ... 1st yoke, 811 ... 1st plate part, 812 ... Connecting part, 8121 ... 1st connecting part, 8122 ... 2nd connecting part, 813 ... Convex part, 814 ... Notch, 82 ... 2nd yoke, 821 ... 2nd plate, 822 ... Recess, 83 ... Positioning, 831 ... Dove, 86 ... 1st yoke, 87 ... 2nd yoke, 881 ... Plate, 882 ... Connecting part, 883 ... Convex part, 884 ... Concave part, 885 ... Notch part, 91 ... First case member, 911 ... Bottom plate part, 912 ... Side plate part, 913 ... Through hole, 914 ... Notch part, 92 ... 2 case member, 921 ... bottom plate, 922 ... bottom plate, 923 ... through hole, 924 ... notch, 93 ... opening

Claims (11)

With the support
Movable body and
With the support and the connection body connected to the movable body,
A magnetic drive circuit having a magnet arranged on one side of the support and the movable body, and a coil arranged on the other side of the support and the movable body and facing the magnet in the first direction. With
The support has a pair of first side edges facing each other in a second direction orthogonal to the first direction, and a pair of first sides facing each other in a third direction intersecting the first direction and the second direction. It has two side parts and
The coil is an oval extending in a fifth direction orthogonal to a fourth direction diagonally intersecting the second direction and the third direction when viewed from the first direction, and the magnet. Is magnetized in the fourth direction, and the magnetic drive circuit is an actuator characterized in that the movable body is driven in the fourth direction with respect to the support. In claim 1,
The coil has a linear portion extending in the fifth direction when viewed from the first direction.
An actuator characterized in that the magnet overlaps at least a part of the straight line portion of the coil when viewed from the first direction. In claim 1 or 2,
The actuator is an elastic body or a viscoelastic body, and is arranged between the support and the movable body in at least one of the second direction and the third direction. In claim 3,
The connecting body constitutes a first vibration system in which the movable body vibrates in the second direction with respect to the support, and the movable body vibrates in the third direction with respect to the support. Consists of two vibration systems,
An actuator characterized in that the resonance frequency of the first vibration system and the resonance frequency of the second vibration system are different. In claim 3 or 4,
The movable body has a yoke and
The yoke is an actuator characterized by having a positioning portion for positioning the magnet. In claim 5,
The yoke is formed between the pair of plate portions facing each other in the first direction and the pair of plate portions on either side of the second direction and the third direction of the pair of plate portions. An actuator characterized by having a pair of connecting portions for connecting plate portions. In claim 6,
The yoke is composed of a first yoke and a second yoke arranged so as to be overlapped in the first direction.
An actuator characterized in that the first yoke and the second yoke have the same shape. In claim 6 or 7,
The support has a coil holder that holds the coil between the pair of connecting portions.
An actuator characterized in that the connecting body is arranged between each of the pair of connecting portions and the coil holder. In claim 8.
The coil holder is an actuator characterized by having a recess for accommodating the coil. In any one of claims 5 to 9,
The support has a case for accommodating the movable body.
An actuator characterized in that the case and the yoke have a hole or a notch in the direction in which the connecting body is arranged in the second direction and the third direction. With the support
Movable body and
With the support and the connection body connected to the movable body,
A magnetic drive circuit having a magnet arranged on one side of the support and the movable body, and a coil arranged on the other side of the support and the movable body and facing the magnet in the first direction. With
The support has a pair of first side edges facing each other in a second direction orthogonal to the first direction, and a pair of first sides facing each other in a third direction intersecting the first direction and the second direction. It has two side parts and
The coil is an oval extending in a fifth direction orthogonal to a fourth direction diagonally intersecting the second direction and the third direction when viewed from the first direction, and the magnet. Is magnetized in the fourth direction, and the magnetic drive circuit is a tactile device characterized in that the movable body is driven in the fourth direction with respect to the support.

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