JP2022020185A - Actuator and haptic device - Google Patents

Abstract

To provide an actuator and a haptic device, capable of suppressing a movable body from rotating around a connecting body as a fulcrum.SOLUTION: In an actuator 1, a connecting body 4 made from a viscoelastic member is provided between a supporting body 2 having a coil 6 and a holder 7, and a movable body 3 having a magnet 5 facing the coil 6 in a first direction Z and a yoke 8. The connecting body includes: a first connection 41 arranged on the other side X2 of a second direction X; a second connection 42 separated from the first connection 41 toward one side X1 of the second direction X; a third connection 43 separated from the second connection 42 toward one side Y of a third direction Y; and a fourth connection 44 separated from the third connection 43 toward the other side X2 of the second direction X. Therefore, as viewed from the first direction Z, the connecting body 4 (the first connection 41, the second connection 42, the third connection 43, and the fourth connection 44) is arranged at the corners of a rectangle.SELECTED DRAWING: Figure 6

Description

The present invention relates to an actuator and a tactile device that vibrate a movable body.

As a device that generates vibration by a magnetic drive mechanism, a connector having at least one of elasticity and viscoelasticity is connected to both a support and a movable body, while a magnet and a coil are magnetically driven so as to face each other in the first direction. An actuator has been proposed by a circuit to move a movable body relative to a support in a second direction intersecting the support in the first direction. Here, the support is provided with a holder for holding the coil, and the movable body is provided with a yoke for holding the magnet so as to cover the holder. Further, a cover is provided on the support so as to cover the movable body, and a connecting body is provided at the center of a portion where the yoke and the cover face each other in the first direction.

Japanese Unexamined Patent Publication No. 2019-013090

In the actuator described in Patent Document 1, since the holder, the yoke, the connecting body and the cover overlap in the first direction, it is difficult to reduce the thickness of the actuator. On the other hand, when trying to reduce the thickness of the actuator, for example, the connecting body is arranged in the center of the second direction. In this case, when the movable body is driven, the movable body rotates with the connecting body as a fulcrum. However, there is a problem that the coil and the magnet come into contact with each other. The problem that the movable body rotates with the connecting body as a fulcrum when the movable body is driven also occurs when the connecting body is provided in the center of the portion where the yoke and the cover face each other in the first direction. ..

In view of the above problems, an object of the present invention is to provide an actuator and a tactile device capable of suppressing rotation of a movable body with a connecting body as a fulcrum.

In order to solve the above problems, the actuator of the present invention includes a support, a movable body, a connecting body connected to both the support and the movable body, and having at least one of elastic and viscoelasticity, and a magnet. And a magnetic drive circuit comprising a coil facing the magnet in the first direction and generating a driving force to move the movable body relative to the support in a direction intersecting the first direction. The connecting body supports the first connecting portion connecting the support and the movable body at a position separated from the first connecting portion toward one side of the second direction intersecting the first direction. A second connecting portion connecting the body and the movable body, and the support at a position separated from the second connecting portion toward one side of the third direction intersecting the first direction and the second direction. A third connecting portion that connects the movable body, and a fourth connecting portion that connects the support and the movable body at a position away from the third connecting portion toward the other side in the second direction. It is characterized by including.

In the actuator according to the present invention, the connecting body includes the first connecting portion, the second connecting portion that is separated from the first connecting portion toward one side of the second direction that intersects the first direction, and the first direction and the first. It includes a third connection portion that is separated from the second connection portion toward one side of the third direction that intersects in two directions, and a fourth connection portion that is separated from the third connection portion toward the other side in the second direction. .. Therefore, when viewed from the first direction, the connecting bodies (first connecting portion, second connecting portion, third connecting portion, and fourth connecting portion) are arranged at the corners of the quadrangle. Therefore, it is unlikely that the movable body will rotate around the connecting body as a fulcrum.

In the present invention, when viewed from the first direction, the movable body has a quadrangular or substantially quadrangular planar shape, and the first connecting portion, the second connecting portion, the third connecting portion, and the fourth connecting portion. Each of the connecting portions can adopt an embodiment provided in the vicinity of the four corner portions of the quadrangle.

In the present invention, the first connection portion, the second connection portion, the third connection portion, and the fourth connection portion are all in one of the second direction and the third direction. An embodiment provided at a position where the support and the movable body face each other can be adopted.

In the present invention, the coil comprises two coil portions extending diagonally intersecting both the second direction and the third direction, and the magnet relates to the two coil portions. A mode in which different magnetic poles face each other can be adopted.

In the present invention, the coil includes two coil portions extending in one of the directions, and the magnet may adopt an embodiment in which different magnetic poles face each other with respect to the two coil portions.

In the present invention, the support includes the coil and a holder that holds the coil, and the movable body includes the magnet and a yoke that holds the magnet, and the first connection portion and the second connection portion. The unit, the third connection portion, and the fourth connection portion can all adopt the embodiment provided between the yoke and the holder.

In the present invention, the support includes the coil and a cover that covers the movable body, and the movable body includes the magnet and a yoke that holds the magnet, and the first connection portion and the second connection portion. The unit, the third connection portion, and the fourth connection portion may all adopt an embodiment provided between the yoke and the cover.

The tactile device according to the present invention is the first to a support, a movable body, a connecting body connected to both the support and the movable body, and having at least one of elasticity and viscoelasticity, and a magnet and the magnet. A magnetic drive circuit that includes coils facing each other in a direction and generates a driving force that causes the movable body to move relative to the support in a direction intersecting the first direction. The support and the movable body are at positions separated from the first connection portion that connects the support and the movable body toward one side of the second direction that intersects the first direction and the first connection portion. The support and the movable body are connected to the second connecting portion to be separated from the second connecting portion toward one side of the first direction and the third direction intersecting the second direction. A third connection portion is included, and a fourth connection portion that connects the support and the movable body at a position separated from the third connection portion toward the other side in the second direction. do.

In the tactile device according to the present invention, the connecting body includes a first connecting portion, a second connecting portion that is separated from the first connecting portion toward one side of the second direction that intersects the first direction, and the first direction and. A third connection portion that is separated from the second connection portion toward one side of the third direction that intersects the second direction, and a fourth connection portion that is separated from the third connection portion toward the other side in the second direction. include. Therefore, when viewed from the first direction, the connecting bodies (first connecting portion, second connecting portion, third connecting portion, and fourth connecting portion) are arranged at the corners of the quadrangle. Therefore, it is unlikely that the movable body will rotate around the connecting body as a fulcrum.

In the present invention, the connecting body has the first connecting portion, the second connecting portion separated from the first connecting portion toward one side of the second direction intersecting the first direction, and the first direction and the second direction. It includes a third connection portion that is separated from the second connection portion toward one side of the intersecting third direction, and a fourth connection portion that is separated from the third connection portion toward the other side in the second direction. Therefore, when viewed from the first direction, the connecting bodies (first connecting portion, second connecting portion, third connecting portion, and fourth connecting portion) are arranged at the corners of the quadrangle. Therefore, it is unlikely that the movable body will rotate around the connecting body as a fulcrum.

The external perspective view of the actuator which concerns on Embodiment 1 of this invention. An exploded perspective view of the actuator of FIG. 1. XZ sectional view of the actuator shown in FIG. An exploded perspective view of the magnetic drive circuit shown in FIG. 3 as viewed from the other side in the first direction. An exploded perspective view of the magnetic drive circuit shown in FIG. 3 as viewed from one side in the first direction. The plan view of the magnetic drive circuit shown in FIG. The explanatory view which shows typically the vibration characteristic of the actuator shown in FIG. Explanatory drawing of the actuator which concerns on Embodiment 2 of this invention. Explanatory drawing of the actuator which concerns on Embodiment 3 of this invention. Explanatory drawing of the actuator which concerns on Embodiment 4 of this invention. Explanatory drawing of the actuator which concerns on Embodiment 5 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, 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 can adopt an embodiment 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. Further, the magnetic drive circuit 10 may adopt an embodiment in which the magnet 5 is provided on the side of the support 2 and the coil 6 is provided on the side of the movable body 3. 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 an XZ cross-sectional view of the actuator 1 shown in FIG. In FIG. 3, the cover 9 is not shown. In the following description, 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 intersects with the fourth direction F when viewed from the first direction Z. The direction orthogonal to each other is defined as the fifth direction 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.

(overall structure)
The actuator 1 shown in FIGS. 1, 2 and 3 has a support 2 including a polygonal cover 9, and a movable body 3 housed inside the cover 9. The support 2 includes a pair of first side surface portions 21 facing each other in the third direction Y, a pair of second side surface portions 22 facing each other in the first direction Z, and a pair of bottom surface portions 23 facing each other in the second direction X. Has. Therefore, the actuator 1 has a rectangular parallelepiped shape with the longitudinal direction directed to the second direction X.

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 by the supporting body 2 in a state of being relatively movable in the second direction X and the third direction Y by the connecting body 4. In this embodiment, the connecting body 4 is made of a rectangular parallelepiped viscoelastic body.

As will be described later, the support 2 has a coil 6, a holder 7, a cover 9, and a circuit board (not shown). The movable body 3 has a magnet 5 and a yoke 8, and the magnet 5 and the coil 6 constitute a magnetic drive circuit 10 that drives the movable body 3 in a direction orthogonal to the first direction Z. Therefore, the actuator can be used as a vibration device that gives a tactile sensation to a person who uses a device or the like to which the actuator 1 is attached. 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 of an automobile, a seat, or the like.

(Support 2)
FIG. 4 is an exploded perspective view of the magnetic drive circuit 10 shown in FIG. 3 as viewed from the other side Z2 of the first direction Z. FIG. 5 is an exploded perspective view of the magnetic drive circuit 10 shown in FIG. 3 as viewed from one side Z1 of the first direction Z.

As shown in FIGS. 1, 2 and 3, in the support 2, the cover 9 has a first cover member 91 and a second cover member 92, and the first cover member 91 and the second cover A movable body 3, a coil 6, and a holder 7 are housed between the member 92 and the movable body 3. An opening 93 is formed on the side surface of one side Y1 of the cover 9 in the third direction Y.

The first cover member 91 has a bottom plate portion 911 facing the second direction X and a side plate portion 912 protruding from the end edge of the bottom plate portion 911 to one side X1 of the second direction X. A notch 914 is provided at the end of one side X1 of the second direction X of the side plate portion 912. The second cover member 92 has a bottom plate portion 921 facing the second direction X and a side plate portion 922 protruding from the edge of the bottom plate portion 921 to the other side Y2 in the second direction X. A notch 924 is provided at the end of the other side X1 of the side plate portion 922 in the second direction X. In the present embodiment, of the side plate portion 912 of the first cover member 91 and the side plate portion 922 of the second cover member 92, the portions facing each other in the third direction Y constitute the first side surface portion 21 of the support 2. The second side surface portion 22 of the support 2 is formed by the portions facing each other in the first direction Z. Further, the bottom plate portion 911 of the first cover member 91 and the bottom plate portion 921 of the second cover member 92 constitute the bottom plate portion 23 of the support 2.

The holder 7 is made of a resin material. As shown in FIGS. 4 and 5, the holder 7 holds the coil 6 and the circuit board (not shown). The holder 7 has a main body portion 71 having a rectangular shape when viewed from the first direction Z, and side walls 72 protruding from the edge of the main body portion 71 on both sides of the first direction Z. The main body 71 is provided with two recesses 73 recessed in one side Z1 of the first direction Z in parallel in the second direction X, and a coil 6 is arranged in each of the two recesses 73. The recess 73 is an oval shape extending in the longitudinal direction along the fifth direction G.

The recess 73 has a central portion of the fifth direction G penetrating in the first direction Z and a bottom portion 731 at both end portions of the fifth direction G. The bottom portion 731 abuts on the coil 6 from one side Z1 of the first direction Z, thereby positioning the coil 6 arranged inside the recess 73 in the first direction Z. The coil 6 is fixed to the recess 73 of the holder 7 by an adhesive. The coil 6 is an air-core coil extending in the longitudinal direction along the fifth direction G. Therefore, the coil 6 is a curved second coil connecting two linear first coil portions 61 (effective portions) extending along the fifth direction G and the ends of the two first coil portions 61. It has a portion 62 (invalid portion).

The side wall 72 is located on the first wall portion 721 located on one side X1 of the second direction X, the second wall portion 722 located on the other side X2 of the second direction X, and one side Y1 of the third direction Y. 3rd wall part 723
And a fourth wall portion 724 located on the other side Y2 of the third direction Y. A protrusion 725 protruding outward is formed in the central portion of the third wall portion 723 in the second direction X. Further, although not shown, a protrusion 725 protruding outward is also formed in the central portion of the fourth wall portion 724 in the second direction X, similarly to the third wall portion 723.

When the first cover member 91 and the second cover member 92 configured in this way are assembled in the second direction X, they are fixed by welding or the like. Further, when the first cover member 91 and the second cover member 92 are fixed, the notch 914 and the notch 924 form an opening 93 in which the protrusion 725 is located inside. Therefore, the holder 7 and the cover 9 are fixed by fixing the protrusion 725 and the side plate portions 912 and 922 of the cover 9 by a method such as adhesion.

(Movable body 3)
As shown in FIGS. 4 and 5, in the movable body 3, the magnet 5 has two first magnets 51 and 2 facing the first coil portion 61 of the two coils 6 on one side Z1 of the first direction Z. The first coil portion 61 of one coil 6 has two second magnets 52 facing each other on the other side Z2 of the first direction Z. The magnets 5 (first magnet 51 and second magnet 52) are each held by a yoke 8 (first yoke 81 and second yoke 82) made of a magnetic material.

In the first magnet 51 and the second magnet 52, the portions facing each other via the coil 6 are magnetized to different poles. Further, in the first magnet 51 and the second magnet 52, the portions of the coil 6 facing the two first coil portions 61 are magnetized to different poles. Therefore, when the coil 6 is energized, the magnetic drive circuit 10 generates a driving force that causes the movable body 3 to move relative to the support 2 in the direction intersecting the first direction Z. In this embodiment, the driving force generation direction is the fourth direction F.

The yoke 8 is composed of a first yoke 81 and a second yoke 82 arranged on the other side Z2 of the first direction Z with respect to the first yoke 81. In the present embodiment, the first yoke 81 and the second yoke 82 have the same shape, and the shape when viewed from the third direction Y is that both the first yoke 81 and the second yoke 82 are L-shaped. .. More specifically, the first yoke 81 has a first end plate portion 811 facing the main body portion 71 of the holder 7 on one side Z1 of the first direction Z, and a second direction X of the first end plate portion 811. It has a first connecting portion 812 bent from the edge of one side X1 to the other side Z2 in the first direction Z. The second yoke 82 is from the edge of the second end plate portion 821 facing the main body portion 71 of the holder 7 on the other side Z2 of the first direction Z and the other side X2 of the second end plate portion 821 in the second direction X. It has a second connecting portion 822 bent on one side Z1 of the first direction Z. A convex portion 813 is provided at the central portion of the end portion of the other side Z2 of the first direction Z of the first connecting portion 812, and the central portion of the end portion of the one side Z2 of the first direction Z of the second connecting portion 822. Is provided with a convex portion 823. A recess 814 into which the convex portion 823 fits is provided in the central portion of the end portion of the other side X2 of the second direction X of the first end plate portion 811, and one side X1 of the second direction X of the second end plate portion 821 is provided. A concave portion 824 into which the convex portion 813 fits is provided in the central portion of the end portion of the above.

Therefore, when the first yoke 81 and the second yoke 82 are overlapped with each other, the first connecting portion 812 has the first end plate portion 811 and the second end plate portion 821 on one side X1 of the second direction X with respect to the holder 7. The second connecting portion 822 connects the first end plate portion 811 and the second end plate portion 821 to the holder 7 on the other side X2 of the second direction X. Further, with the convex portions 813 and 823 fitted in the concave portions 814 and 824, the edges of the convex portions 813 and 823 and the edges of the concave portions 814 and 824 are fixed by welding or the like to fix the first yoke 81 and the second yoke. It can be connected to 82.

As described above, since the first yoke 81 and the second yoke 82 have the same shape, common parts can be used as the first yoke 81 and the second yoke 82. Therefore, the types of parts used for the actuator 1 can be reduced.
In the present embodiment, the first magnet 51 is fixed to the surface of the other side Z2 of the first end plate portion 811 of the first yoke 81 in the first direction Z by an adhesive method or the like, and is fixed to the coil 6 by one of the first directions Z. Oppose on side Z1. The second magnet 52 is fixed to the surface of one side Z1 of the first direction Z of the second end plate portion 821 of the second yoke 82 by a method such as adhesion, and faces the coil 6 on the other side Z2 of the first direction Z. do.

(Magnetic drive circuit 10)
FIG. 6 is a plan view of the magnetic drive circuit 10 shown in FIG. In FIG. 6, the magnet 5 is a portion having a diagonal line rising to the right, and the alternate long and short dash line attached to the magnet 5 is a magnetized boundary line 50. As shown in FIG. 6, 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 exerts a driving force acting in the fourth direction F, which is the in-plane direction defined by the second direction X and the third direction Y and intersects the second direction X and the third direction Y. generate. For example, the fourth direction F is a direction inclined by 45 ° with respect to the second direction X and the third direction Y.

(Connector 4)
As shown in FIGS. 3 and 6, the connecting body 4 is arranged at a portion where the support body 2 and the movable body 3 face each other in the direction in which they intersect with each other in the first direction Z. In the present embodiment, the connecting body 4 is arranged at a portion where the holder 7 of the support body 2 and the yoke 8 of the movable body 3 face each other in the direction intersecting the first direction Z. Further, the connecting body 4 is arranged at a portion where the holder 7 and the yoke 8 face each other in the direction intersecting the driving force generation direction (fourth direction F) in the direction intersecting with the first direction Z. ..

In the present embodiment, the connecting body 4 is arranged at a portion where the holder 7 of the support body 2 and the yoke 8 of the movable body 3 face each other in the second direction X. Here, the yoke 8 is attached to the holder 7 and the first connecting portion 812 that connects the first end plate portion 811 and the second end plate portion 821 on one side X1 of the second direction X with respect to the holder 7. The other side X2 of the second direction X includes a second connecting portion 822 that connects the first end plate portion 811 and the second end plate portion 821. Therefore, the connecting body 4 is arranged between the holder 7 and the first connecting portion 812, and between the holder 7 and the second connecting portion 822, respectively.

More specifically, the connecting body 4 has a first connecting portion 41 arranged between the second wall portion 722 of the holder 7 and the end portion of the other side Y2 of the second connecting portion 822 in the third direction Y. Includes a second connecting portion 42 disposed between the first wall portion 721 of the holder 7 and the end of the other side Y2 of the first connecting portion 812 in the third direction Y. Further, the connecting body 4 includes a third connecting portion 43 arranged between the first wall portion 721 of the holder 7 and the end portion of one side Y1 of the third direction Y of the first connecting portion 812, and the holder 7. It includes a fourth connecting portion 44 arranged between the second wall portion 722 and the end of one side Y1 of the third direction Y of the second connecting portion 822.

Therefore, the connecting body 4 has a first connecting portion 41 that connects the support 2 and the movable body 3 on the other side X2 of the second direction X, and a first connecting portion 41 toward the one side X1 of the second direction X. The second connecting portion 42 that connects the support 2 and the movable body 3 at a position separated from the support body 2 and the movable body 2 at a position separated from the second connecting portion 42 toward one side Y of the third direction Y. A third connecting portion 43 connecting the support 3 and a fourth connecting portion 44 connecting the support 2 and the movable body 3 at a position separated from the third connecting portion 43 toward the other side X2 of the second direction X. Includes. In the present embodiment, the first connection unit 41, the second connection unit 42, the third connection unit 43, and the fourth connection unit 44 are each composed of an independent connection body 4. Further, since the movable body 3 (yoke 8) has a quadrangular or substantially quadrangular planar shape when viewed from the first direction Z, the first connecting portion 41, the second connecting portion 42, and the third connecting portion 43 , And the fourth connecting portion 44, respectively, are provided in the vicinity of the four corner portions of the quadrangle.

Here, the first connection portion 41 and the fourth connection portion 44 are fixed to the second wall portion 722 and the second connection portion 822 of the holder 7 by the adhesiveness of the connecting body itself, an adhesive, or the like, and the second connection portion. The 42 and the third connecting portion 43 are fixed to the first wall portion 721 of the holder 7 and the first connecting portion 812 by the adhesiveness or the adhesive of the connecting body itself. Further, the first connection portion 41, the second connection portion 42, the third connection portion 43, and the fourth connection portion 44 are each in a state of being compressed in the second direction X.

As the first connecting portion 41 and the second connecting portion 42, a gel-like member made of silicone gel or the like, natural rubber, diene rubber (for example, styrene / butadiene rubber, isoprene rubber, butadiene rubber, chloroprene rubber, acrylonitrile / butadiene rubber, etc.) ), Non-diene rubber (for example, butyl rubber, ethylene / propylene rubber, ethylene / propylene / diene rubber, urethane rubber, silicone rubber, fluororubber, etc.), various rubber materials such as thermoplastic elastomers, and modified materials thereof can be used. can. In this embodiment, the first connecting portion 41 and the second connecting portion 42 are gel-like members made of silicone gel or the like.

(Drive method 1)
In the actuator 1 of the present embodiment, when the coil 6 is energized, the magnetic drive circuit 10 generates a driving force in the fourth direction F orthogonal to the first direction Z. Therefore, the movable body 3 can be driven in the fourth direction F orthogonal to the first direction Z with respect to the support 2, and the movable body 3 can be vibrated in the fourth direction F. Therefore, by adjusting the AC waveform applied to the coil 6, the acceleration at which the movable body 3 moves to one side of the fourth direction F and the acceleration at which the movable body 3 moves to the other side of the fourth direction F are different. Can be. Therefore, a person who uses a device or the like to which the actuator 1 is attached can experience directional vibration in the fourth direction F.

(Drive method 2)
FIG. 7 is an explanatory diagram schematically showing the vibration characteristics of the actuator 1 shown in FIG. 1, and the horizontal axis of FIG. 7 is the drive frequency f of the magnetic drive circuit 10 and the frequency of the drive current flowing through the coil 6. .. Further, the vertical axis of FIG. 7 is the acceleration when the movable body 3 vibrates. In FIG. 6, the connecting body 4 has a different spring constant when deformed in the expansion / contraction direction and a spring constant when deforming in the shear direction. In this embodiment, the connecting body is a viscoelastic body. For example, the connecting body 4 is a gel-like member made of a silicone gel or the like. The 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 compressed and deformed by being pressed in the thickness direction, the non-linear component has a larger expansion and contraction characteristic than the linear component, while when it is pulled and stretched in the thickness direction, the linear component is larger than the non-linear component. Has large expansion and contraction characteristics.

Here, the driving force generated by the magnetic drive circuit 10 is the driving force in the fourth direction F including the component in the second direction X and the component in the third direction Y. Further, when the movable body 3 vibrates in the third direction Y, the actuator 1 constitutes a first vibration system in which the connecting body is deformed in the shearing direction. On the other hand, when the movable body 3 vibrates in the second direction X, the actuator 1 constitutes a second vibration system in which the connecting body 4 deforms in the expansion / contraction direction.

Further, in the case where the movable body 3 constitutes the first vibration system in which the movable body 3 vibrates in the third direction Y and the case where the movable body 3 constitutes the second vibration system in which the movable body 3 vibrates in the second direction X, the connecting body 4 as a whole. It is configured to deform with different spring constants. 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. 7, the two resonance frequencies fA and fB are the maximum acceleration frequencies of the movable body 3. Is getting bigger.

Therefore, when the drive frequency of the magnetic drive circuit 10 is changed, the movable body 3 vibrates greatly in the third direction Y when the drive frequency is set to a value that matches the resonance frequency fA or is close to the resonance frequency fA. As a result, the actuator 1 can output the vibration of the resonance frequency fA in the third direction Y. Further, when the drive frequency of the magnetic drive circuit 10 coincides with the resonance frequency fB or has a value close to the resonance frequency fB, the movable body 3 vibrates greatly in the second direction X. As a result, the actuator 1 can output the vibration of the resonance frequency fB in the second direction X. 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. 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 determine the directionality. You can experience the vibration that you have. Therefore, the actuator 1 is used as a tactile device that vibrates the actuator 1 or the device to which the actuator 1 is attached by vibrating the movable body 3 in the second direction X or the third direction Y. be able to.

(Main effect of this form)
As described above, in the actuator 1 (tactile device) of the present embodiment, the connecting body is directed toward the first connecting portion 41 arranged on the other side X2 of the second direction X and the one side X1 of the second direction X. A second connection portion 42 that is separated from the first connection portion 41, a third connection portion 43 that is separated from the second connection portion 42 toward one side Y of the third direction Y, and the other side X2 of the second direction X. It is composed of a fourth connecting portion 44 which is separated from the third connecting portion 43 toward the surface. Therefore, when viewed from the first direction Z, the connecting body 4 (first connecting portion 41, second connecting portion 42, third connecting portion 43, and fourth connecting portion 44) is arranged at the corner portion of the quadrangle. .. Therefore, for example, the movable body 3 rotates with the connecting body 4 as a fulcrum, as compared with the case where one connecting body 4 is provided in the center of the third direction Y for each of both sides of the second direction X. Is unlikely to occur. Therefore, it is unlikely that the movable body 3 rotates around the axis extending in the second direction X, so that the coil 6 and the magnet 5 are unlikely to come into contact with each other and be damaged.

Further, on each of both sides of the second direction X, a large connecting body 4 in which the first connecting portion 41 and the fourth connecting portion 44 are integrated, and the second connecting portion 42 and the third connecting portion 43 are integrated. It is easy to set the damper characteristics of the connecting body 4 to appropriate conditions, unlike the case where the large-sized second connecting portion 42 is provided. Further, since the deformable amount of each of the plurality of connecting bodies 4 can be reduced, it is possible to further suppress the movable body 3 from rotating with the connecting body 4 as a fulcrum.

Further, the connecting body 4 is a second direction X orthogonal to the first direction Z in which the magnet 5 and the coil 6 face each other, and the holder 7 provided on the support 2 and the yoke 8 provided on the movable body 3 are provided. A connecting body 4 is provided at a portion facing the above. Therefore, the dimension of the actuator 1 in the first direction Z can be reduced. Further, unlike the case where the connecting body is provided between the cover 9 provided so as to cover the yoke 8 and the yoke 8, a large space for providing the connecting body 4 on the outside of the yoke 8 is not required. Therefore, among the directions orthogonal to the first direction Z, even if the size of the actuator 1 in the second direction X provided with the connecting body 4 is reduced, it is necessary to reduce the yoke 8 and the holder 7 in the second direction X. do not have. Therefore, since the sizes of the magnet 5 and the coil 6 can be increased, a large driving force can be obtained. Therefore, according to the actuator 1 of the present embodiment, both miniaturization and an increase in driving force can be achieved.

[Embodiment 2]
FIG. 8 is an explanatory diagram of the actuator 1 according to the second embodiment of the present invention, and shows the planar structure of the magnetic drive circuit 10 and the connection body 4. Since the basic configurations of this embodiment and the third, fourth, and fifth embodiments described later are the same as those of the first embodiment, the common parts are designated by the same reference numerals and the description thereof will be omitted. As shown in FIG. 8, in the actuator 1 of the present embodiment, the magnetic drive circuit 10 is provided with magnets 5 on both one side Z1 and the other side Z2 of the first direction Z with respect to one coil 6. .. Here, in the coil 6, two linear first coil portions 61 (effective portions) extend in the second direction X, and in the magnet 5, different magnetic poles face the two first coil portions 61. ing. Therefore, the magnetic drive circuit 10 generates a driving force in the third direction Y orthogonal to the first direction Z and the second direction X. Therefore, the movable body 3 is. It vibrates in the third direction Y with respect to the support 2.

Also in this embodiment, as in the first embodiment, the connecting body 4 is a gel-like member made of a silicone gel or the like. Further, the holder 7 of the support 2 and the yoke 8 of the movable body 3 are arranged at a portion facing each other in the second direction X. More specifically, the connecting body 4 has a first connecting portion 41 arranged between the second wall portion 722 of the holder 7 and the end portion of the other side Y2 of the second connecting portion 822 in the third direction Y. Includes a second connecting portion 42 disposed between the first wall portion 721 of the holder 7 and the end of the other side Y2 of the first connecting portion 812 in the third direction Y. Further, the connecting body 4 includes a third connecting portion 43 arranged between the first wall portion 721 of the holder 7 and the end portion of one side Y1 of the third direction Y of the first connecting portion 812, and the holder 7. It includes a fourth connecting portion 44 arranged between the second wall portion 722 and the end of one side Y1 of the third direction Y of the second connecting portion 822.

Therefore, the connecting body 4 has a first connecting portion 41 arranged on the other side X2 of the second direction X and a second connecting portion 42 separated from the first connecting portion 41 toward the one side X1 of the second direction X. A third connection portion 43 that is separated from the second connection portion 42 toward one side Y of the third direction Y, and a fourth connection that is separated from the third connection portion 43 toward the other side X2 of the second direction X. Includes part 44. Therefore, when viewed from the first direction Z, the connecting body 4 (first connecting portion 41, second connecting portion 42, third connecting portion 43, and fourth connecting portion 44) is arranged at the corner portion of the quadrangle. .. Therefore, it is unlikely that the movable body 3 rotates with the connecting body 4 as a fulcrum, and the same effect as that of the first embodiment is obtained.

[Embodiment 3]
FIG. 9 is an explanatory diagram of the actuator 1 according to the third embodiment of the present invention, and shows the planar structure of the magnetic drive circuit 10 and the connection body 4. In the first embodiment, the connecting body 4 is provided between the holder 7 of the support body 2 and the yoke 8 of the movable body 3, but as shown in FIG. 9, in the present embodiment, the cover 9 of the support body 2 is provided. A connecting body 4 is provided at a portion where the yoke 8 of the movable body 3 faces the yoke 8 in the second direction X.

More specifically, the connecting body 4 is arranged between the bottom plate portion 911 of the first cover member 91 and the end portion of the second connecting portion 822 of the yoke 8 on the other side Y2 in the third direction Y. Includes a connecting portion 41 and a second connecting portion 42 arranged between the bottom plate portion 921 of the second cover member 92 and the end of the other side Y2 of the first connecting portion 812 of the yoke 8 in the third direction Y. I'm out. Further, the connecting body 4 has a third connecting portion 43 arranged between the bottom plate portion 921 of the second cover member 92 and the end portion of one side Y1 of the first connecting portion 812 of the yoke 8 in the third direction Y. Includes a fourth connecting portion 44 disposed between the bottom plate portion 911 of the first cover member 91 and the end of one side Y1 of the second connecting portion 822 of the yoke 8 in the third direction Y.

Therefore, the connecting body 4 has a first connecting portion 41 arranged on the other side X2 of the second direction X and a second connecting portion 42 separated from the first connecting portion 41 toward the one side X1 of the second direction X. A third connection portion 43 that is separated from the second connection portion 42 toward one side Y of the third direction Y, and a fourth connection that is separated from the third connection portion 43 toward the other side X2 of the second direction X. Includes part 44. Therefore, when viewed from the first direction Z, the connecting body 4 (first connecting portion 41, second connecting portion 42, third connecting portion 43, and fourth connecting portion 44) is arranged at the corner portion of the quadrangle. .. Therefore, it is unlikely that the movable body 3 rotates with the connecting body 4 as a fulcrum, and the same effect as that of the first embodiment is obtained.

[Embodiment 4]
FIG. 10 is an explanatory diagram of the actuator 1 according to the fourth embodiment of the present invention, and shows the planar structure of the magnetic drive circuit 10 and the connection body 4. In the first embodiment, the connecting body 4 is provided at a portion where the holder 7 of the support body 2 and the yoke 8 of the movable body 3 face each other in the second direction X, but as shown in FIG. 10, in the present embodiment, the connecting body 4 is provided. A connecting body 4 is provided at a portion where the holder 7 of the support body 2 and the yoke 8 of the movable body 3 face each other in the third direction Y.

In order to realize such a configuration, in the present embodiment, the first connecting portion 812 and the second connecting portion 822 of the yoke 8 are provided with holders 7 on both sides of the third direction Y. Further, the connecting body 4 includes a first connecting portion 41 arranged between the end portion of the other side X2 of the second direction X of the fourth wall portion 724 of the holder 7 and the second connecting portion 822, and the holder 7. It includes a second connecting portion 42 arranged between the end of one side X1 of the second direction X of the fourth wall portion 724 and the first connecting portion 812. Further, the connecting body 4 includes a third connecting portion 43 arranged between the end portion of one side X1 of the second direction X of the third wall portion 723 of the holder 7 and the first connecting portion 812, and the holder 7. It includes a fourth connecting portion 44 arranged between the end of the other side X2 of the third wall portion 723 in the second direction X and the second connecting portion 822.

Therefore, the connecting body 4 has a first connecting portion 41 arranged on the other side X2 of the second direction X and a second connecting portion 42 separated from the first connecting portion 41 toward the one side X1 of the second direction X. A third connection portion 43 that is separated from the second connection portion 42 toward one side Y of the third direction Y, and a fourth connection that is separated from the third connection portion 43 toward the other side X2 of the second direction X. Includes part 44. Therefore, when viewed from the first direction Z, the connecting body 4 (first connecting portion 41, second connecting portion 42, third connecting portion 43, and fourth connecting portion 44) is arranged at the corner portion of the quadrangle. .. Therefore, it is unlikely that the movable body 3 rotates with the connecting body 4 as a fulcrum, and the same effect as that of the first embodiment is obtained.

[Embodiment 5]
FIG. 11 is an explanatory diagram of the actuator 1 according to the fifth embodiment of the present invention, and shows the planar structure of the magnetic drive circuit 10 and the connection body 4. In the fourth embodiment, the connecting body 4 is provided between the holder 7 of the support body 2 and the yoke 8 of the movable body 3, but as shown in FIG. 11, in the present embodiment, the cover 9 of the support body 2 and the cover 9 are provided. A connecting body 4 is provided at a portion where the yoke 8 of the movable body 3 faces the yoke 8 in the second direction X.

More specifically, the connecting body 4 includes the end portion of the side plate portion 912 located on the other side Y2 of the third direction Y in the first cover member 91 and the end portion of the other side X2 of the second direction X and the second connecting portion 822. The first connecting portion 41 arranged between the two, and the end portion and the first connecting portion of the one side X1 of the second direction X of the side plate portion 922 located on the other side Y2 of the third direction Y in the second cover member 92. It includes a second connecting portion 42 arranged between the 812 and the second connecting portion 42. Further, the connecting body 4 is arranged between the end of the one side X1 of the second direction X of the side plate portion 922 located on the one side Y1 of the third direction Y in the second cover member 92 and the first connecting portion 812. Between the third connecting portion 43 and the end of the other side X2 of the second direction X of the side plate portion 912 located on one side Y1 of the third direction Y in the first cover member 91 and the second connecting portion 822. It includes a fourth connection portion 44 arranged in.

Therefore, the connecting body 4 has a first connecting portion 41 arranged on the other side X2 of the second direction X and a second connecting portion 42 separated from the first connecting portion 41 toward the one side X1 of the second direction X. A third connection portion 43 that is separated from the second connection portion 42 toward one side Y of the third direction Y, and a fourth connection that is separated from the third connection portion 43 toward the other side X2 of the second direction X. Includes part 44. Therefore, when viewed from the first direction Z, the connecting body 4 (first connecting portion 41, second connecting portion 42, third connecting portion 43, and fourth connecting portion 44) is arranged at the corner portion of the quadrangle. .. Therefore, it is unlikely that the movable body 3 rotates with the connecting body 4 as a fulcrum, and the same effect as that of the first embodiment is obtained.

[Embodiment 6]
Although the above-described embodiments 3, 4, and 5 are based on the first embodiment, the features of the above-mentioned embodiments 3, 4, and 5 may be applied to the second embodiment.

[Embodiment 7]
In the above embodiment, the situation in which the movable body 3 rotates with the connecting body 4 as a fulcrum and the coil 6 and the magnet 5 abut against each other and are damaged is suppressed, but the movable body 3 rotates with the connecting body 4 as a fulcrum. From the viewpoint of suppressing this, the present invention may be applied in arranging the connecting body 4 at the portion where the support 2 and the movable body 3 face each other in the first direction Z.

[Other embodiments]
In the above embodiment, the first connection portion 41, the second connection portion 42, the third connection portion 43, and the fourth connection portion 44 are each composed of an independent connection body 4, but the first connection portion 41 and the first connection portion 44 are configured. At least two of the two connection portions 42, the third connection portion 43, and the fourth connection portion 44 may be connected. For example, the first connection portion 41 and the second connection portion 42 are connected, the third connection portion 43 and the fourth connection portion 44 are connected, or the first connection portion 41 and the fourth connection portion 44 are connected. , The second connection portion 42 and the third connection portion 43 may be connected to each other.

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

1 ... Actuator (tactile device), 2 ... Support, 3 ... Movable body, 4 ... Connection, 5 ... Magnet, 6 ... Coil, 7 ... Holder, 8 ... York, 9 ... Cover, 10 ... Magnetic drive circuit, 41 ... 1st connection, 42 ... 2nd connection, 43 ... 3rd connection, 44 ... 4th connection, 50 ... Magnetization boundary line, 51 ... 1st magnet, 52 ... 2nd magnet, 61 ... 1st Coil part, 62 ... second coil part, 71 ... main body part, 72 ... side wall, 81 ... first yoke, 82 ... second yoke, 91 ... first cover member, 92 ... second cover member, 721 ... first wall Part, 722 ... 2nd wall part, 723 ... 3rd wall part, 724 ... 4th wall part, 811 ... 1st end plate part, 812 ... 1st connecting part, 821 ... 2nd end plate part, 822 ... 2nd Connecting part, 911, 921 ... Bottom plate part, 912, 922 ... Side plate part, F ... 4th direction, G ... 5th direction, X ... 2nd direction, Y ... 3rd direction, Z ... 1st direction

Claims (8)

With the support,
Movable body and
A connector that is connected to both the support and the movable body and has at least one of elasticity and viscoelasticity.
A magnetic drive circuit provided with a magnet and a coil facing the magnet in the first direction to generate a driving force for moving the movable body relative to the support in a direction intersecting the first direction.
Have,
The connecting body supports the first connecting portion connecting the support and the movable body at a position separated from the first connecting portion toward one side in the second direction intersecting the first direction. A second connecting portion connecting the body and the movable body, and the support at a position separated from the second connecting portion toward one side of the third direction intersecting the first direction and the second direction. A third connecting portion that connects the movable body, and a fourth connecting portion that connects the support and the movable body at a position away from the third connecting portion toward the other side in the second direction. An actuator characterized by including. In the actuator according to claim 1,
When viewed from the first direction, the movable body has a quadrangular or substantially quadrangular planar shape.
An actuator characterized in that the first connection portion, the second connection portion, the third connection portion, and the fourth connection portion are each provided in the vicinity of four corner portions of a quadrangle. In the actuator according to claim 1 or 2.
The first connection portion, the second connection portion, the third connection portion, and the fourth connection portion all have the support in one of the second direction and the third direction. An actuator characterized in that it is provided at a position facing the movable body. In the actuator according to claim 3,
The coil comprises two coil portions extending diagonally intersecting both the second and third directions.
The magnet is an actuator characterized in that different magnetic poles face each other with respect to the two coil portions. In the actuator according to claim 3,
Of the coils, the two coil portions extending in one of the directions are provided.
The magnet is an actuator characterized in that different magnetic poles face each other with respect to the two coil portions. In the actuator according to any one of claims 1 to 5.
The support includes the coil and a holder that holds the coil.
The movable body includes the magnet and a yoke that holds the magnet.
An actuator characterized in that the first connection portion, the second connection portion, the third connection portion, and the fourth connection portion are all provided between the yoke and the holder. In the actuator according to any one of claims 1 to 5.
The support includes the coil and a cover covering the movable body.
The movable body includes the magnet and a yoke that holds the magnet.
An actuator characterized in that the first connection portion, the second connection portion, the third connection portion, and the fourth connection portion are all provided between the yoke and the cover. With the support,
Movable body and
A connector that is connected to both the support and the movable body and has at least one of elasticity and viscoelasticity.
A magnetic drive circuit provided with a magnet and a coil facing the magnet in the first direction to generate a driving force for moving the movable body relative to the support in a direction intersecting the first direction.
Have,
The connecting body supports the first connecting portion connecting the support and the movable body at a position separated from the first connecting portion toward one side in the second direction intersecting the first direction. A second connecting portion connecting the body and the movable body, and the support at a position separated from the second connecting portion toward one side of the third direction intersecting the first direction and the second direction. A third connecting portion that connects the movable body, and a fourth connecting portion that connects the support and the movable body at a position away from the third connecting portion toward the other side in the second direction. A tactile device characterized by including.

Images