JP7460332B2

JP7460332B2 - Vibration actuator and haptic device

Info

Publication number: JP7460332B2
Application number: JP2019088554A
Authority: JP
Inventors: 正明安藤; 章吾笠原; 慎司羽多野
Original assignee: Nidec Instruments Corp
Current assignee: Nidec Instruments Corp
Priority date: 2019-05-08
Filing date: 2019-05-08
Publication date: 2024-04-02
Anticipated expiration: 2039-05-08
Also published as: JP2020184843A

Description

本発明は、可動体を振動させる振動アクチュエータ及び触覚デバイスに関するものである。 The present invention relates to a vibration actuator and a haptic device that vibrate a movable body.

情報を振動によって報知するデバイスとして、永久磁石を有する支持体と、永久磁石と対向するコイルを有する可動体と、支持体と可動体とを接続する弾性又は粘弾性を有する接続とを備え、コイルに交流電流を流し、コイルに作用するローレンツ力を駆動力として、可動体を振動させるアクチュエータが知られている（特許文献１参照）。 A device that notifies information by vibration includes a support body having a permanent magnet, a movable body having a coil facing the permanent magnet, and an elastic or viscoelastic connection connecting the support body and the movable body. An actuator is known that vibrates a movable body by applying an alternating current to a coil and using Lorentz force acting on a coil as a driving force (see Patent Document 1).

特開２０１６－１２７７８９号公報JP 2016-127789 A

振動アクチュエータの共振周波数等の振動特性は、例えば可動体の重量、接続体の弾性又は粘弾性によって設定される。本発明は、振動特性を限られたスペースで効率よく設定可能な振動アクチュエータ及び触覚デバイスを提供することを目的とする。 The vibration characteristics of a vibration actuator, such as its resonant frequency, are set, for example, by the weight of the movable body and the elasticity or viscoelasticity of the connecting body. The present invention aims to provide a vibration actuator and a haptic device that can efficiently set vibration characteristics in a limited space.

本発明の一態様の振動アクチュエータは、可動体と、支持体と、弾性および粘弾性の少なくとも一方を備え、前記可動体と前記支持体とが対向する位置で前記可動体および前記支持体の双方に接するように配置された接続体と、前記可動体および前記支持体のうちの一方側部材に設けられた空芯のコイル、および前記コイルに対して第１方向の少なくとも一方側で対向するように前記可動体および前記支持体のうちの他方側部材に設けられた永久磁石を有し、前記可動体を前記支持体に対して前記第１方向と交差する第２方向に振動させる磁気駆動回路と、前記可動体、前記支持体、前記接続体、及び前記磁気駆動回路を収納するケース体と、前記コイルに電気的に接続されており、前記ケース体の前記第２方向における一方側の第１端面側から前記ケース体の外に引き出されている一対の電線と、を備え、前記ケース体は、１つ以上の第１電線収容溝を外周面に有し、前記第１電線収容溝は、前記ケース体の前記第２方向の全長に亘り、前記第１端面から反対側の第２端面まで延びている。 A vibration actuator according to one aspect of the present invention includes a movable body, a support body, and at least one of elasticity and viscoelasticity, and at a position where the movable body and the support body face each other, both the movable body and the support body a connecting body disposed so as to be in contact with the movable body and the support body, an air-core coil provided on one side member of the movable body and the support body, and facing the coil on at least one side in a first direction. a magnetic drive circuit that has a permanent magnet provided on the other side member of the movable body and the support body, and vibrates the movable body in a second direction intersecting the first direction with respect to the support body; a case body that houses the movable body, the support body, the connection body, and the magnetic drive circuit; and a case body that is electrically connected to the coil, and a second a pair of electric wires drawn out from the case body from one end surface side, the case body has one or more first electric wire accommodating grooves on an outer circumferential surface, and the first electric wire accommodating groove is , extending over the entire length of the case body in the second direction from the first end surface to the opposite second end surface.

また、本発明の一態様の振動アクチュエータユニットは、可動体と、支持体と、弾性および粘弾性の少なくとも一方を備え、前記可動体と前記支持体とが対向する位置で前記可動体および前記支持体の双方に接するように配置された接続体と、前記可動体および前記支持体のうちの一方側部材に設けられた空芯のコイル、および前記コイルに対して第１方向の少なくとも一方側で対向するように前記可動体および前記支持体のうちの他方側部材に設けられた永久磁石を有し、前記可動体を前記支持体に対して前記第１方向と交差する第２方向に振動させる磁気駆動回路と、を備え、前記支持体は、前記可動体、前記接続体、及び前記磁気駆動回路を収納するケース体を有し、前記第１方向および前記第２方向と交差する第３方向における前記ケース体の内寸は、前記ケース体の前記第１方向の両側の端部側ほど小さく、前記可動体は、前記ケース体の前記第１方向の端部に対向するウェイトを有し、前記接続体は、前記ケース体の前記第１方向の端部と前記ウェイトとの間に配置されている。 In addition, a vibration actuator unit according to one aspect of the present invention includes a movable body, a support, and at least one of elasticity and viscoelasticity, a connecting body arranged to contact both the movable body and the support at a position where the movable body and the support face each other, an air-core coil provided on one member of the movable body and the support, and a permanent magnet provided on the other member of the movable body and the support so as to face the coil on at least one side in a first direction, and a magnetic drive circuit that vibrates the movable body in a second direction intersecting with the first direction relative to the support, the support has a case body that houses the movable body, the connecting body, and the magnetic drive circuit, the inner dimensions of the case body in a third direction intersecting with the first direction and the second direction are smaller toward the ends of the case body on both sides in the first direction, the movable body has a weight that faces the end of the case body in the first direction, and the connecting body is arranged between the end of the case body in the first direction and the weight.

また、本発明の一態様の触覚デバイスは、可動体と、支持体と、弾性および粘弾性の少なくとも一方を備え、前記可動体と前記支持体とが対向する位置で前記可動体および前記支持体の双方に接するように配置された接続体と、前記可動体および前記支持体のうちの一方側部材に設けられた空芯のコイル、および前記コイルに対して第１方向の少なくとも一方側で対向するように前記可動体および前記支持体のうちの他方側部材に設けられた永久磁石を有し、前記可動体を前記支持体に対して前記第１方向と交差する第２方向に振動させる磁気駆動回路と、を備え、前記支持体は、前記可動体、前記接続体、及び前記磁気駆動回路を収納するケース体を有し、前記第１方向および前記第２方向と交差する第３方向における前記ケース体の内寸は、前記ケース体の前記第１方向の両側の端部側ほど小さく、前記可動体は、前記ケース体の前記第１方向の端部に対向するウェイトを有し、前記接続体は、前記ケース体の前記第１方向の端部と前記ウェイトとの間に配置されている。 Further, the haptic device according to one aspect of the present invention includes a movable body, a support body, and at least one of elasticity and viscoelasticity, and the movable body and the support body are arranged at a position where the movable body and the support body face each other. an air-core coil provided on one side member of the movable body and the support body, and facing the coil on at least one side in a first direction; a permanent magnet provided on the other side member of the movable body and the support body, the magnetism vibrating the movable body in a second direction intersecting the first direction with respect to the support body; a drive circuit, the support body has a case body that houses the movable body, the connection body, and the magnetic drive circuit, and the support body has a case body that houses the movable body, the connection body, and the magnetic drive circuit, and the support body has a case body that houses the movable body, the connection body, and the magnetic drive circuit, The inner dimensions of the case body are smaller toward both ends of the case body in the first direction, and the movable body has a weight that faces the ends of the case body in the first direction. The connection body is arranged between the end of the case body in the first direction and the weight.

本発明によれば、振動特性を限られたスペースで効率よく設定可能な振動アクチュエータ及び触覚デバイスを提供できる。 The present invention provides a vibration actuator and a haptic device that can efficiently set vibration characteristics in a limited space.

本発明の実施形態を説明するための、振動アクチュエータ（触覚デバイス）の一例の斜視図である。1 is a perspective view of an example of a vibration actuator (haptic device) for explaining an embodiment of the present invention. 図１の振動アクチュエータの分解斜視図である。FIG. 2 is an exploded perspective view of the vibration actuator of FIG. 1 . 図１の振動アクチュエータのアクチュエータ本体の分解斜視図である。2 is an exploded perspective view of the actuator body of the vibration actuator of FIG. 1. 図３のアクチュエータ本体を支持体と可動体及び接続体とに分解した分解斜視図である。4 is an exploded perspective view of the actuator body of FIG. 3 disassembled into a support body, a movable body, and a connecting body. FIG. 図３のアクチュエータ本体の磁気駆動回路の分解斜視図である。FIG. 4 is an exploded perspective view of a magnetic drive circuit of the actuator body of FIG. 3. 図５の磁気駆動回路のコイルと、コイルを保持するベースプレート及びカバーとを分解した斜視図である。6 is an exploded perspective view of the coil of the magnetic drive circuit of FIG. 5 and a base plate and cover that hold the coil. 図６のカバーを裏から見た斜視図である。FIG. 7 is a perspective view of the cover of FIG. 6 seen from the back. 図１の振動アクチュエータの断面図である。FIG. 2 is a cross-sectional view of the vibration actuator of FIG. 1;

以下に、図面を参照して、本発明の実施形態を説明する。以下の説明において、可動体の振動方向（第２方向）をＸとし、第２方向Ｘの一方側をＸ１とし、他方側をＸ２とする。また、第２方向Ｘと交差する第１方向をＺとし、第１方向Ｚおよび第２方向Ｘと交差する第３方向をＹとする。 Embodiments of the present invention will be described below with reference to the drawings. In the following description, the vibration direction (second direction) of the movable body is designated as X, one side of the second direction X is designated as X1, and the other side is designated as X2. Further, a first direction that intersects with the second direction X is Z, and a third direction that intersects with the first direction Z and the second direction X is Y.

（全体構成）
図１及び図２に示す振動アクチュエータ１は円柱状を呈し、その軸方向は、可動体の振動方向である第２方向Ｘに一致している。振動アクチュエータ１は、振動アクチュエータ１を手にした利用者に対し、可動体の第２方向Ｘの振動によって情報を報知し、例えばゲーム機の操作部材等として利用可能である。また、振動アクチュエータ１は、振動によって触覚を提示する触覚デバイスとしても利用可能である。 (overall structure)
The vibration actuator 1 shown in FIGS. 1 and 2 has a cylindrical shape, and its axial direction coincides with the second direction X, which is the vibration direction of the movable body. The vibration actuator 1 notifies a user holding the vibration actuator 1 of information by vibration of the movable body in the second direction X, and can be used as, for example, an operating member of a game machine. The vibration actuator 1 can also be used as a tactile device that provides a tactile sensation through vibration.

振動アクチュエータ１は、振動アクチュエータ１の外形を規定する外ケース２と、外ケース２に収容されるアクチュエータ本体１０とを備える。外ケース２は円筒状に形成されている。なお、外ケース２の形状は、振動アクチュエータ１の利用態様に応じて種々に変更できる。 The vibration actuator 1 comprises an outer case 2 that defines the outer shape of the vibration actuator 1, and an actuator body 10 that is housed in the outer case 2. The outer case 2 is formed in a cylindrical shape. The shape of the outer case 2 can be changed in various ways depending on the usage of the vibration actuator 1.

図３から図７に示すように、アクチュエータ本体１０は、支持体１１と、可動体１２と、接続体１３とを備える。そして、支持体１１は、内ケース２０と、ベースプレート３０と、コイル４０と、カバー７０とを有し、可動体１２は、永久磁石６０と、ヨーク６１とを有する。コイル４０及び永久磁石６０によって磁気駆動回路１４が形成され、磁気駆動回路１４は、可動体１２を支持体１１に対して第２方向Ｘに振動させる。接続体１３は、弾性および粘弾性の少なくとも一方を備え、支持体１１及び可動体１２の双方に接する。接続体１３が支持体１１と可動体１２との間に介在することにより、可動体１２は、第２方向Ｘに振動可能に、支持体１１に支持される。 As shown in FIGS. 3 to 7, the actuator main body 10 includes a support body 11, a movable body 12, and a connection body 13. The support body 11 has an inner case 20, a base plate 30, a coil 40, and a cover 70, and the movable body 12 has a permanent magnet 60 and a yoke 61. A magnetic drive circuit 14 is formed by the coil 40 and the permanent magnet 60, and the magnetic drive circuit 14 causes the movable body 12 to vibrate in the second direction X with respect to the support body 11. The connecting body 13 has at least one of elasticity and viscoelasticity, and is in contact with both the support body 11 and the movable body 12 . By interposing the connecting body 13 between the support body 11 and the movable body 12, the movable body 12 is supported by the support body 11 so as to be able to vibrate in the second direction X.

（支持体１１の構成）
支持体１１の内ケース２０は筒状を呈し、その軸方向は、可動体１２の振動方向である第２方向Ｘに一致している。内ケース２０は、第１方向Ｚの一方側Ｚ１に配置される第１ケース部材２１と、他方側Ｚ２に配置される第２ケース部材２２とを有する。 (Configuration of Support 11)
The inner case 20 of the support 11 has a cylindrical shape, and its axial direction coincides with the second direction X, which is the vibration direction of the movable body 12. The inner case 20 has a first case member 21 arranged on one side Z1 of the first direction Z, and a second case member 22 arranged on the other side Z2.

第１ケース部材２１は、第１方向Ｚに対して略垂直に配置される第１平板部２１１と、第１平板部２１１の第３方向Ｙの両端から第１方向Ｚの他方側Ｚ２に延びる一対の第１側板部２１２と、第１平板部２１１の第２方向Ｘの両端から第１方向Ｚの他方側Ｚ２に延びる一対の第１蓋板部２１４とを有する。第１側板部２１２の端部には、矩形状の切り欠き部２１５と、一対の第１フランジ部２１３とが形成されおり、一対の第１フランジ部２１３は切り欠き部２１５の両側に隣設されている。 The first case member 21 includes a first flat plate part 211 arranged substantially perpendicular to the first direction Z, and extends from both ends of the first flat plate part 211 in the third direction Y to the other side Z2 in the first direction Z. It has a pair of first side plate parts 212 and a pair of first lid plate parts 214 extending from both ends of the first flat plate part 211 in the second direction X to the other side Z2 in the first direction Z. A rectangular notch 215 and a pair of first flange portions 213 are formed at the end of the first side plate portion 212 . has been done.

第２ケース部材２２は、第１方向Ｚに対して略垂直に配置される第２平板部２２１と、第２平板部２２１の第３方向Ｙの両端から第１方向Ｚの一方側Ｚ１に延びる一対の第２側板部２２２と、第２平板部２２１の第２方向Ｘの両端から第１方向Ｚの一方側Ｚ１に延びる一対の第２蓋板部２２４とを有する。第２側板部２２２の端部には第２フランジ部２２３が形成されている。 The second case member 22 has a second flat plate portion 221 arranged approximately perpendicular to the first direction Z, a pair of second side plate portions 222 extending from both ends of the second flat plate portion 221 in the third direction Y to one side Z1 in the first direction Z, and a pair of second cover plate portions 224 extending from both ends of the second flat plate portion 221 in the second direction X to one side Z1 in the first direction Z. A second flange portion 223 is formed at the end of the second side plate portion 222.

第１ケース部材２１の一対の第１フランジ部２１３と、第２ケース部材２２の第２フランジ部２２３とが接合され、筒状の内ケース２０が形成される。支持体１１のベースプレート３０、コイル４０、及びカバー７０と、可動体１２の永久磁石６０及びヨーク６１と、接続体１３とは、内ケース２０に収容されている。 A pair of first flange portions 213 of the first case member 21 and the second flange portion 223 of the second case member 22 are joined to form a cylindrical inner case 20. The base plate 30, coil 40, and cover 70 of the support 11, the permanent magnet 60 and yoke 61 of the movable body 12, and the connecting body 13 are housed in the inner case 20.

ベースプレート３０は、銅、アルミニウム合金等の非磁性金属材料からなる。ベースプレート３０は、コイル４０が固定される矩形状の平板部３１と、一対のフランジ部３２と、一対の側板部３３とを有する。一対のフランジ部３２は、平板部３１の一対の対辺から延設されており、一対の側板部３３は、平板部３１の他の一対の対辺に沿って立設されている。 The base plate 30 is made of a non-magnetic metal material such as copper or an aluminum alloy. The base plate 30 has a rectangular flat plate portion 31 to which the coil 40 is fixed, a pair of flange portions 32, and a pair of side plate portions 33. The pair of flange portions 32 extend from a pair of opposite sides of the flat plate portion 31, and the pair of side plate portions 33 stand along the other pair of opposite sides of the flat plate portion 31.

フランジ部３２は、切り欠き部２１５を通して内ケース２０から突出し、内ケース２０の第２フランジ部２２３に接合されている。ベースプレート３０は、内ケース２０の内側において、第３方向Ｙに対向する一対の第２側板部２２２に架け渡され、内ケース２０の第１方向Ｚの中央部において、内ケース２０の内側を第３方向Ｙに横断している。コイル４０が固定されている平板部３１は、内ケース２０の第１平板部２１１及び第２平板部２２１と第１方向Ｚに対向しており、平板部３１及びコイル４０と第１平板部２１１との間、及び平板部３１及びコイル４０と第２平板部２２１との間には、隙間がおかれている。 The flange portion 32 protrudes from the inner case 20 through the cutout portion 215 and is joined to the second flange portion 223 of the inner case 20. The base plate 30 is bridged between a pair of second side plate portions 222 facing in the third direction Y inside the inner case 20, and crosses the inside of the inner case 20 in the third direction Y at the center of the inner case 20 in the first direction Z. The flat plate portion 31 to which the coil 40 is fixed faces the first flat plate portion 211 and the second flat plate portion 221 of the inner case 20 in the first direction Z, and there are gaps between the flat plate portion 31 and the coil 40 and the first flat plate portion 211, and between the flat plate portion 31 and the coil 40 and the second flat plate portion 221.

一方のフランジ部３２には、給電基板４１が固定されている。給電基板４１には、一対の第１ランド４２（図６参照）と、一対の第２ランド４３（図６参照）と、第１ランド４２と第２ランド４３とを接続している回路パターンとが設けられている。第１ランド４２には、コイル４０から引き出されたコイル線の端末部４５（図６参照）が電気的に接続されており、第２ランド４３には、リード線４４の端末部が電気的に接続されている。コイル４０は、リード線４４及び給電基板４１を介して給電される。 A power supply board 41 is fixed to one of the flange portions 32. The power supply board 41 is provided with a pair of first lands 42 (see FIG. 6), a pair of second lands 43 (see FIG. 6), and a circuit pattern connecting the first lands 42 and the second lands 43. The first lands 42 are electrically connected to the terminal portions 45 (see FIG. 6) of the coil wire drawn from the coil 40, and the second lands 43 are electrically connected to the terminal portions of the lead wires 44. The coil 40 is supplied with power via the lead wires 44 and the power supply board 41.

（可動体１２の構成）
可動体１２のヨーク６１もまた筒状を呈する。ただし、ヨーク６１の軸方向は、第３方向Ｙに一致している。ヨーク６１は、第１方向Ｚの一方側Ｚ１に配置される第１ヨーク６２と、他方側Ｚ２に配置される第２ヨーク６３とを有する。第１ヨーク６２及び第２ヨーク６３は、鋼等の磁性材料からなる。 (Configuration of Movable Body 12)
The yoke 61 of the movable body 12 also has a cylindrical shape. However, the axial direction of the yoke 61 coincides with the third direction Y. The yoke 61 has a first yoke 62 disposed on one side Z1 of the first direction Z, and a second yoke 63 disposed on the other side Z2. The first yoke 62 and the second yoke 63 are made of a magnetic material such as steel.

第１ヨーク６２は平板状に形成されており、ベースプレート３０に固定されたコイル４０と内ケース２０の第１平板部２１１との間で、第１方向Ｚに対して略垂直に配置されている。第２ヨーク６３は、平板部６３１と、一対の側板部６３２とを有する。平板部６３１は、ベースプレート３０と内ケース２０の第２平板部２２１との間で、第１方向Ｚに対して略垂直に配置されている。側板部６３２は、平板部６３１の第２方向Ｘの両端端から第１方向Ｚの一方側Ｚ１に延びており、ベースプレート３０及びコイル４０を第２方向Ｘに挟んで配置されている。そして、側板部６３２の端部が第１ヨーク６２の第２方向Ｘの両端に接合され、筒状のヨーク６１が形成される。ベースプレート３０及びコイル４０は、筒状のヨーク６１の内側に配置されている。 The first yoke 62 is formed in a flat plate shape and is disposed approximately perpendicular to the first direction Z between the coil 40 fixed to the base plate 30 and the first flat plate portion 211 of the inner case 20. The second yoke 63 has a flat plate portion 631 and a pair of side plate portions 632. The flat plate portion 631 is disposed approximately perpendicular to the first direction Z between the base plate 30 and the second flat plate portion 221 of the inner case 20. The side plate portions 632 extend from both ends of the flat plate portion 631 in the second direction X to one side Z1 in the first direction Z, and are disposed to sandwich the base plate 30 and the coil 40 in the second direction X. The ends of the side plate portions 632 are joined to both ends of the first yoke 62 in the second direction X to form a cylindrical yoke 61. The base plate 30 and the coil 40 are disposed inside the cylindrical yoke 61.

第１ヨーク６２は、内ケース２０の第１平板部２１１と第１方向Ｚに対向しており、第２ヨーク６３の平板部６３１は、内ケース２０の第２平板部２２１と第１方向Ｚに対向している。第１ヨーク６２と内ケース２０の第１平板部２１１との間、及び第２ヨーク６３の平板部６３１と内ケース２０の第２平板部２２１との間には、接続体１３がそれぞれ設けられている。ヨーク６１は、これらの接続体１３を介して内ケース２０に支持されており、ベースプレート３０、コイル４０及びカバー７０と非接触に配置されている。 The first yoke 62 faces the first flat plate part 211 of the inner case 20 in the first direction Z, and the flat plate part 631 of the second yoke 63 faces the second flat plate part 221 of the inner case 20 in the first direction Z. is facing. Connection bodies 13 are provided between the first yoke 62 and the first flat plate portion 211 of the inner case 20 and between the flat plate portion 631 of the second yoke 63 and the second flat plate portion 221 of the inner case 20. ing. The yoke 61 is supported by the inner case 20 via these connecting bodies 13 and is arranged without contacting the base plate 30, the coil 40, and the cover 70.

第１ヨーク６２には、第３方向Ｙの両端部から第１方向Ｚの他方側Ｚ２に向けてＬ字形状に曲げられた第１規制部（規制部）６２１が設けられている。この第１規制部６２１は、落下等により衝撃を受けて、ヨーク６１が相対的にコイル４０側に移動した際に、コイル４０を覆うカバー７０の第１方向Ｚの一方側Ｚ１の面に当接する。また、第２ヨーク６３には、平板部６３１における第３方向Ｙの両端部から第１方向Ｚの一方側Ｚ１に向けてＬ字形状に曲げられた第２規制部（規制部）６３３が設けられている。この第２規制部６３３は、落下等により衝撃を受けてヨーク６１が相対的にコイル４０側に移動した際に、コイル４０を保持しているベースプレート３０の第１方向Ｚの他方側Ｚ２の面に当接する。 The first yoke 62 is provided with a first restricting portion (restricting portion) 621 bent in an L-shape from both ends in the third direction Y toward the other side Z2 in the first direction Z. When the yoke 61 receives an impact due to a fall or the like and moves relatively toward the coil 40, the first restricting portion 621 abuts against a surface on one side Z1 in the first direction Z of the cover 70 covering the coil 40. The second yoke 63 is provided with a second restricting portion (restricting portion) 633 bent in an L-shape from both ends in the third direction Y of the flat plate portion 631 toward one side Z1 in the first direction Z. When the yoke 61 receives an impact due to a fall or the like and moves relatively toward the coil 40, the second restricting portion 633 abuts against a surface on the other side Z2 in the first direction Z of the base plate 30 holding the coil 40.

本例では、第１ヨーク６２と接続体１３との間にウェイト６４が介装され、ウェイト６４は第１ヨーク６２に固定されている。また、第２ヨーク６３の平板部６３１と接続体１３との間にウェイト６５が介装され、ウェイト６５は第２ヨーク６３の平板部６３１に固定されている。これらのウェイト６４，６５によって、可動体１２の振動特性（例えば共振周波数）が適宜調整されている。ウェイト６４、６５の材料は特に限定されない。ウェイト６４、６５は、非磁性材料によって形成されてもよいが、磁束の漏洩を抑制する観点から、磁性材料によって形成されることが好ましい。 In this example, a weight 64 is interposed between the first yoke 62 and the connecting body 13, and the weight 64 is fixed to the first yoke 62. A weight 65 is interposed between the flat plate portion 631 of the second yoke 63 and the connecting body 13, and the weight 65 is fixed to the flat plate portion 631 of the second yoke 63. The vibration characteristics (e.g., resonant frequency) of the movable body 12 are appropriately adjusted by these weights 64, 65. The material of the weights 64, 65 is not particularly limited. The weights 64, 65 may be made of a non-magnetic material, but are preferably made of a magnetic material from the viewpoint of suppressing leakage of magnetic flux.

可動体１２の永久磁石６０は、第１磁石６６と、第２磁石６７とを有する。第１磁石６６は、筒状のヨーク６１の内側において、第１ヨーク６２上に固定されており、コイル４０と第１方向Ｚに対向している。第２磁石６７は、筒状のヨーク６１の内側において、第２ヨーク６３の平板部６３１上に固定されており、コイル４０と第１方向Ｚに対向している。 The permanent magnet 60 of the movable body 12 has a first magnet 66 and a second magnet 67. The first magnet 66 is fixed on the first yoke 62 inside the cylindrical yoke 61 and faces the coil 40 in the first direction Z. The second magnet 67 is fixed on the flat plate portion 631 of the second yoke 63 inside the cylindrical yoke 61 and faces the coil 40 in the first direction Z.

第１磁石６６は、第２方向Ｘに隣り合って配置される一対の磁石６６１，６６２を有する。磁石６６１，６６２は、平板状に形成されており、厚さ方向に着磁されている。そして、磁石６６１，６６２それぞれのコイル４０との対向面の磁極は、互いに逆の極性とされている。第２磁石６７もまた、第２方向Ｘに隣り合って配置される一対の磁石６７１，６７２を有する。磁石６７１，６７２は、平板状に形成されており、厚さ方向に着磁されている。そして、磁石６７１，６７２それぞれのコイル４０との対向面の磁極は、互いに逆の極性とされている。 The first magnet 66 has a pair of magnets 661, 662 arranged adjacent to each other in the second direction X. The magnets 661, 662 are formed in a flat plate shape and are magnetized in the thickness direction. The magnetic poles of the surfaces of the magnets 661, 662 facing the coil 40 are opposite to each other. The second magnet 67 also has a pair of magnets 671, 672 arranged adjacent to each other in the second direction X. The magnets 671, 672 are formed in a flat plate shape and are magnetized in the thickness direction. The magnetic poles of the surfaces of the magnets 671, 672 facing the coil 40 are opposite to each other.

そして、第２磁石６７の一方の磁石６７１は、第１磁石６６の一方の磁石６６１と第１方向Ｚに対向しており、磁石６６１，６７１それぞれのコイル４０との対向面の磁極は、互いに逆の極性とされている。同様に、第２磁石６７の他方の磁石６７２は、第１磁石６６の他方の磁石６６２と第１方向Ｚに対向しており、磁石６６２，６７２それぞれのコイル４０との対向面の磁極は、互いに逆の極性とされている。例えば、第１磁石６６の一方の磁石６６１のコイル４０との対向面がＳ極である場合に、第１磁石６６の他方の磁石６６２のコイル４０との対向面はＮ極である。そして、第２磁石６７の一方の磁石６７１のコイル４０との対向面はＮ極であり、第２磁石６７の他方の磁石６７２のコイル４０との対向面はＳ極である。 The first magnet 671 of the second magnet 67 faces the first magnet 661 of the first magnet 66 in the first direction Z, and the magnetic poles of the surfaces of the magnets 661 and 671 facing the coil 40 are opposite to each other. Similarly, the other magnet 672 of the second magnet 67 faces the other magnet 662 of the first magnet 66 in the first direction Z, and the magnetic poles of the surfaces of the magnets 662 and 672 facing the coil 40 are opposite to each other. For example, when the surface of the first magnet 661 of the first magnet 66 facing the coil 40 is an S pole, the surface of the other magnet 662 of the first magnet 66 facing the coil 40 is an N pole. The surface of the first magnet 671 of the second magnet 67 facing the coil 40 is an N pole, and the surface of the other magnet 672 of the second magnet 67 facing the coil 40 is an S pole.

（磁気駆動回路１４の構成）
コイル４０は、コイル線を長円状に多数巻回してなる空芯のコイルである。コイル線は、第１磁石６６の一方の磁石６６１と第２磁石６７の一方の磁石６７１との間を第３方向Ｙの一方側Ｙ１から他方側Ｙ２に向けて横断し、且つ第１磁石６６の他方の磁石６６２と第２磁石６７の他方の磁石６７２との間を第３方向Ｙの他方側Ｙ２から一方側Ｙ１に向けて横断するように巻回されている。 (Configuration of magnetic drive circuit 14)
The coil 40 is an air-core coil formed by winding a coil wire in a large number of oval shapes. The coil wire crosses between one magnet 661 of the first magnet 66 and one magnet 671 of the second magnet 67 from one side Y1 to the other side Y2 in the third direction Y, and It is wound so as to cross between the other magnet 662 of the second magnet 67 and the other magnet 672 of the second magnet 67 from the other side Y2 to the one side Y1 in the third direction Y.

コイル４０は、カバー７０を用いて、ベースプレート３０の平板部３１における所定位置に固定される。カバー７０は、矩形板状に形成されており、ベースプレート３０の平板部３１に載置される。カバー７０は、コイル４０に対応する長円状に形成された凹部７１を有し、コイル４０は凹部７１に嵌合する。カバー７０が、ベースプレート３０に位置決め固定されることにより、コイル４０もまた、平板部３１における所定位置に固定される。 The coil 40 is fixed at a predetermined position on the flat plate portion 31 of the base plate 30 using the cover 70 . The cover 70 is formed into a rectangular plate shape and is placed on the flat plate portion 31 of the base plate 30. The cover 70 has an oblong recess 71 corresponding to the coil 40 , and the coil 40 fits into the recess 71 . By positioning and fixing the cover 70 to the base plate 30, the coil 40 is also fixed at a predetermined position on the flat plate portion 31.

カバー７０をベースプレート３０に固定するための固定手段として、カバー７０を第２方向Ｘに挟むベースプレート３０の一対の側板部３３と、側板部３３に接するカバー７０の側面とに、係合部が設けられている。本例では、側板部３３の係合部は、係合穴３４によって構成されており、係合穴３４は、側板部３３の第３方向Ｙの両端部に形成されている。一方、カバー７０の係合部は、係合穴３４に嵌合する係合爪７３によって構成されている。カバー７０がベースプレート３０の平板部３１に載置されることにより、係合爪７３が係合穴３４に嵌合し、これにより、カバー７０は、平板部３１における所定位置に配置され、そして位置決めされた状態でベースプレート３０に固定される。なお、係合穴がカバー７０に設けられ、係合爪が側板部３３に設けられてもよい。 As a fixing means for fixing the cover 70 to the base plate 30, engaging parts are provided on a pair of side plate parts 33 of the base plate 30 that sandwich the cover 70 in the second direction X, and on a side surface of the cover 70 in contact with the side plate parts 33. It is being In this example, the engagement portion of the side plate portion 33 is constituted by an engagement hole 34, and the engagement hole 34 is formed at both ends of the side plate portion 33 in the third direction Y. On the other hand, the engaging portion of the cover 70 is constituted by an engaging claw 73 that fits into the engaging hole 34. When the cover 70 is placed on the flat plate part 31 of the base plate 30, the engaging claws 73 fit into the engaging holes 34, whereby the cover 70 is placed at a predetermined position on the flat plate part 31, and the positioning It is fixed to the base plate 30 in this state. Note that an engagement hole may be provided in the cover 70 and an engagement claw may be provided in the side plate portion 33.

凹部７１の側壁部７４には一対のスリット７５が設けられており、また、凹部７１の底壁部７２には貫通穴７６が設けられている。コイル４０が凹部７１に嵌合しており且つカバー７０がベースプレート３０に固定されている状態で、コイル線の端末部４５は、スリット７５を通してカバー７０の外側に引き出され、給電基板４１に電気的に接続される。また、コイル４０の一部が貫通穴７６を通して露出している。 A pair of slits 75 are provided in the side wall portion 74 of the recessed portion 71, and a through hole 76 is provided in the bottom wall portion 72 of the recessed portion 71. With the coil 40 fitted into the recess 71 and the cover 70 fixed to the base plate 30, the end portion 45 of the coil wire is pulled out to the outside of the cover 70 through the slit 75, and is electrically connected to the power supply board 41. connected to. Further, a portion of the coil 40 is exposed through the through hole 76.

（動作）
交流電流がコイル４０に供給される。コイル４０への給電に伴い、第２方向Ｘのローレンツ力が支持体１１側のコイル４０に作用し、反力が可動体１２側の第１磁石６６及び第２磁石６７に作用する。この第１磁石６６及び第２磁石６７に作用する反力に起因して、接続体１３の第２方向Ｘのせん断変形を伴い、可動体１２が第２方向Ｘに変位する。そして、ローレンツ力の作用方向が交流の半周期毎に逆転する。これにより、可動体１２が第２方向Ｘに振動する。 (motion)
An alternating current is supplied to the coil 40. As power is supplied to the coil 40, a Lorentz force in the second direction X acts on the coil 40 on the support body 11 side, and a reaction force acts on the first magnet 66 and the second magnet 67 on the movable body 12 side. Due to the reaction force acting on the first magnet 66 and the second magnet 67, the movable body 12 is displaced in the second direction X with shear deformation of the connecting body 13 in the second direction X. Then, the direction of action of the Lorentz force is reversed every half cycle of alternating current. As a result, the movable body 12 vibrates in the second direction X.

可動体１２の振動特性は、ウェイト６４、６５の重量及び接続体１３のせん断断面積によって調整され得る。例えば、ウェイト６４、６５の重量を大きくすることによって共振周波数を低周波数側にシフトさせることができ、逆に、ウェイト６４、６５の重量を小さくすることによって共振周波数を高周波数側にシフトさせることができる。また、接続体１３のせん断断面積を小さくすることによって共振周波数を低周波数側にシフトさせることができ、接続体１３のせん断断面積を大きくすることによって共振周波数を高周波数側にシフトさせることができる。 The vibration characteristics of the movable body 12 can be adjusted by the weights of the weights 64, 65 and the shear cross-sectional area of the connecting body 13. For example, the resonant frequency can be shifted to a lower frequency by increasing the weights of the weights 64, 65, and conversely, the resonant frequency can be shifted to a higher frequency by decreasing the weights of the weights 64, 65. In addition, the resonant frequency can be shifted to a lower frequency by decreasing the shear cross-sectional area of the connecting body 13, and the resonant frequency can be shifted to a higher frequency by increasing the shear cross-sectional area of the connecting body 13.

ここで、可動体１２及び接続体１３を収納する支持体１１の内ケース２０は、第１方向Ｚの両側の端部に向かって内寸が小さくなっており、全体として円筒状に形成されている。具体的には、図８に示すように、内ケース２０を構成する第１ケース部材２１の第１側板部２１２は、第１平板部２１１の第３方向Ｙの両端から第１方向Ｚの他方側Ｚ２に向かって外側に凸状に湾曲して設けられた第１湾曲部２１２ａと、第１湾曲部２１２ａの第１方向Ｚの他方側Ｚ２の端部から第１方向の他方側Ｚ２に向かって延びる第１鉛直部２１２ｂを有する。第１ケース部材２１の第３方向Ｙの内寸Ｌ１は、第１平板部２１１側に向かって小さくなっている。第２ケース部材２２の第２側板部２２２は、第２平板部２２１の第３方向Ｙの両端から第１方向Ｚの一方側Ｚ１に向かって外側に凸状に湾曲して設けられた第２湾曲部２２２ａと、第２湾曲部２２２ａの第１方向Ｚの一方側Ｚ１の端部から第１方向の一方側Ｚ１に向かって延びる第２鉛直部２２２ｂを有する。第２ケース部材２２の第３方向Ｙの内寸Ｌ２は、第２平板部２２１側に向かって小さくなっている。 Here, the inner case 20 of the support body 11 that houses the movable body 12 and the connection body 13 has an inner dimension that decreases toward both ends in the first direction Z, and is formed in a cylindrical shape as a whole. There is. Specifically, as shown in FIG. 8, the first side plate portion 212 of the first case member 21 constituting the inner case 20 extends from both ends of the first flat plate portion 211 in the third direction Y to the other side in the first direction Z. A first curved portion 212a that is curved outwardly in a convex shape toward side Z2, and a first curved portion 212a that extends from the end of the first curved portion 212a on the other side Z2 in the first direction Z toward the other side Z2 in the first direction. It has a first vertical portion 212b that extends. The inner dimension L1 of the first case member 21 in the third direction Y becomes smaller toward the first flat plate portion 211 side. The second side plate part 222 of the second case member 22 is a second side plate part 222 that is curved outwardly from both ends of the second flat plate part 221 in the third direction Y toward one side Z1 in the first direction Z. It has a curved portion 222a and a second vertical portion 222b extending from the end of the second curved portion 222a on one side Z1 in the first direction Z toward the one side Z1 in the first direction. The inner dimension L2 of the second case member 22 in the third direction Y becomes smaller toward the second flat plate portion 221 side.

第１ヨーク６２に固定されているウェイト６４を厚くしてウェイト６４の重量を大きくした場合に、ウェイト６４と第１平板部２１１との間に介装される接続体１３は、第１平板部２１１側に向かって小さくなる第１ケース部材２１の内寸Ｌ１に制約され、第３方向Ｙの寸法が小さくなり、せん断断面積が小さくさなる。したがって、ウェイト６４の重量増加に基づいて共振周波数が高周波数側にシフトし、さらに接続体１３のせん断断面積の縮小に基づいて共振周波数が高周波数側にシフトし、内ケース２０内部の限られたスペースにおいて効果的に振動特性が調整される。 When the weight 64 fixed to the first yoke 62 is made thicker to increase the weight of the weight 64, the connection body 13 interposed between the weight 64 and the first flat plate part 211 is Restricted by the inner dimension L1 of the first case member 21 that decreases toward the 211 side, the dimension in the third direction Y decreases, and the shear cross-sectional area decreases. Therefore, the resonant frequency shifts to a higher frequency side based on the weight increase of the weight 64, and the resonant frequency shifts to a higher frequency side based on the reduction in the shear cross-sectional area of the connecting body 13. Vibration characteristics can be effectively adjusted in a space with

同様に、第２ヨーク６３に固定されているウェイト６５を厚くしてウェイト６５の重量を大きくした場合に、ウェイト６５と第２平板部２２１との間に介装される接続体１３は、第２平板部２２１側に向かって小さくなる第２ケース部材２２の内寸Ｌ２に制約され、第３方向Ｙの寸法が小さくなり、せん断断面積が小さくさなる。したがって、ウェイト６５の重量増加に基づいて共振周波数が高周波数側にシフトし、さらに接続体１３のせん断断面積の縮小に基づいて共振周波数が高周波数側にシフトし、内ケース２０内部の限られたスペースにおいて効果的に振動特性が調整される。 Similarly, when the weight 65 fixed to the second yoke 63 is made thicker to increase the weight of the weight 65, the connecting body 13 interposed between the weight 65 and the second flat plate part 221 is Restricted by the inner dimension L2 of the second case member 22 that becomes smaller toward the second flat plate portion 221 side, the dimension in the third direction Y becomes smaller and the shear cross-sectional area becomes smaller. Therefore, the resonant frequency is shifted to a higher frequency side based on the weight increase of the weight 65, and the resonant frequency is further shifted to a higher frequency side based on a reduction in the shear cross-sectional area of the connecting body 13. Vibration characteristics can be effectively adjusted in a space with

また、コイル４０を保持するホルダとしてのベースプレート３０及びカバー７０は、第３方向Ｙの内寸が相対的に大きい内ケース２０の第１方向Ｚの中央部において、内ケース２０の内側を第３方向Ｙに横断して固定されている。そして、ヨーク６１の第１規制部６２１及び第２規制部６３３は、ベースプレート３０及びカバー７０の第３方向Ｙの両側の端部に対向して配置されている。これにより、第１規制部６２１及び第２規制部６３３と、ベースプレート３０及びカバー７０との接触面積を、内ケース２０内部の限られたスペースにおいて確保でき、落下等により衝撃が作用した際には、可動体１２の過度の移動を確実に規制できる。 The base plate 30 and cover 70, which serve as holders for holding the coil 40, are fixed across the inside of the inner case 20 in the third direction Y at the center in the first direction Z of the inner case 20, which has a relatively large internal dimension in the third direction Y. The first and second restricting portions 621 and 633 of the yoke 61 are disposed opposite the ends of the base plate 30 and cover 70 on both sides in the third direction Y. This ensures that the contact areas between the first and second restricting portions 621 and 633 and the base plate 30 and cover 70 are sufficient within the limited space inside the inner case 20, and ensures that excessive movement of the movable body 12 is prevented when an impact is applied due to a fall or the like.

（他の実施の形態）
なお、上述した振動アクチュエータ１では、コイル４０が支持体１１に設けられ、永久磁石６０が可動体１２に設けられているが、コイル４０が可動体１２に設けられ、永久磁石６０が支持体１１に設けられてもよい。 (Other embodiments)
Note that in the vibration actuator 1 described above, the coil 40 is provided on the support 11 and the permanent magnet 60 is provided on the movable body 12; may be provided.

以上、説明したとおり、本明細書に開示された振動アクチュエータは、可動体と、支持体と、弾性および粘弾性の少なくとも一方を備え、前記可動体と前記支持体とが対向する位置で前記可動体および前記支持体の双方に接するように配置された接続体と、前記可動体および前記支持体のうちの一方側部材に設けられた空芯のコイル、および前記コイルに対して第１方向の少なくとも一方側で対向するように前記可動体および前記支持体のうちの他方側部材に設けられた永久磁石を有し、前記可動体を前記支持体に対して前記第１方向と交差する第２方向に振動させる磁気駆動回路と、を備え、前記支持体は、前記可動体、前記接続体、及び前記磁気駆動回路を収納するケース体を有し、前記第１方向および前記第２方向と交差する第３方向における前記ケース体の内寸は、前記ケース体の前記第１方向の両側の端部側ほど小さく、前記可動体は、前記ケース体の前記第１方向の端部に対向するウェイトを有し、前記接続体は、前記ケース体の前記第１方向の端部と前記ウェイトとの間に配置されている。 As described above, the vibration actuator disclosed in this specification includes a movable body, a support body, and at least one of elasticity and viscoelasticity, and the vibration actuator is movable at a position where the movable body and the support body face each other. a connecting body disposed so as to be in contact with both the movable body and the supporting body; an air-core coil provided on one side member of the movable body and the supporting body; and a connecting body arranged in a first direction with respect to the coil. a permanent magnet provided on the other side member of the movable body and the support body so as to face each other on at least one side; a magnetic drive circuit that vibrates in a direction, the support body has a case body that houses the movable body, the connection body, and the magnetic drive circuit, and the support body has a case body that houses the movable body, the connection body, and the magnetic drive circuit, and the support body has a case body that houses the movable body, the connection body, and the magnetic drive circuit, and the support body has a case body that houses the movable body, the connection body, and the magnetic drive circuit, and The inner dimension of the case body in the third direction is smaller toward both end portions of the case body in the first direction, and the movable body has a weight opposite to the end portion of the case body in the first direction. The connection body is disposed between the end of the case body in the first direction and the weight.

また、本明細書に開示された振動アクチュエータは、前記ケース体が円筒状に形成されており、前記ケース体の軸方向は前記第２方向に一致している。 Furthermore, in the vibration actuator disclosed in this specification, the case body is formed in a cylindrical shape, and the axial direction of the case body coincides with the second direction.

また、本明細書に開示された振動アクチュエータは、前記ウェイトが、磁性材料からなる。 In addition, in the vibration actuator disclosed in this specification, the weight is made of a magnetic material.

また、本明細書に開示された振動アクチュエータは、前記可動体が、前記第１方向の変位に対して前記支持体と当接することにより、前記第１方向の移動を規制する規制部を有する。 The vibration actuator disclosed in this specification also has a restricting portion that restricts movement of the movable body in the first direction by contacting the support body against displacement in the first direction.

また、本明細書に開示された振動アクチュエータは、前記支持体が、前記コイルおよび前記永久磁石の一方を保持するホルダを有し、前記ホルダは、前記ケース体の前記第１方向の中央部において、前記ケース体の内側を前記第３方向に横断しており、前記規制部は、前記ホルダの前記第３方向の両側の端部に当接する。 Further, in the vibration actuator disclosed in the present specification, the support body includes a holder that holds one of the coil and the permanent magnet, and the holder is located at a central portion of the case body in the first direction. , which traverses the inside of the case body in the third direction, and the restriction portion abuts on both ends of the holder in the third direction.

また、本明細書に開示された触覚デバイスは、可動体と、支持体と、弾性および粘弾性の少なくとも一方を備え、前記可動体と前記支持体とが対向する位置で前記可動体および前記支持体の双方に接するように配置された接続体と、前記可動体および前記支持体のうちの一方側部材に設けられた空芯のコイル、および前記コイルに対して第１方向の少なくとも一方側で対向するように前記可動体および前記支持体のうちの他方側部材に設けられた永久磁石を有し、前記可動体を前記支持体に対して前記第１方向と交差する第２方向に振動させる磁気駆動回路と、を備え、前記支持体は、前記可動体、前記接続体、及び前記磁気駆動回路を収納するケース体を有し、前記第１方向および前記第２方向と交差する第３方向における前記ケース体の内寸は、前記ケース体の前記第１方向の両側の端部側ほど小さく、前記可動体は、前記ケース体の前記第１方向の端部に対向するウェイトを有し、前記接続体は、前記ケース体の前記第１方向の端部と前記ウェイトとの間に配置されている。 The tactile device disclosed in this specification includes a movable body, a support, and at least one of elasticity and viscoelasticity, a connecting body arranged to contact both the movable body and the support at a position where the movable body and the support face each other, an air-core coil provided on one member of the movable body and the support, and a permanent magnet provided on the other member of the movable body and the support so as to face the coil on at least one side in a first direction, and a magnetic drive circuit that vibrates the movable body in a second direction intersecting with the first direction relative to the support, the support has a case body that houses the movable body, the connecting body, and the magnetic drive circuit, the inner dimensions of the case body in a third direction intersecting with the first direction and the second direction are smaller toward the end sides of both sides of the case body in the first direction, the movable body has a weight that faces the end of the case body in the first direction, and the connecting body is arranged between the end of the case body in the first direction and the weight.

１振動アクチュエータ
２外ケース
１０アクチュエータ本体
１１支持体
１２可動体
１３接続体
１４磁気駆動回路
２０内ケース
２１第１ケース部材
２１１第１平板部
２１２第１側板部
２１３第１フランジ部
２１４第１蓋板部
２１５切り欠き部
２２第２ケース部材
２２１第２平板部
２２２第２側板部
２２３第２フランジ部
２２４第２蓋板部
３０ベースプレート
３１平板部
３２フランジ部
３３側板部
３４係合穴
４０コイル
４１給電基板
４４リード線
６０永久磁石
６１ヨーク
６２第１ヨーク
６２１第１規制部
６３第２ヨーク
６３１平板部
６３２側板部
６３３第２規制部
６４ウェイト
６５ウェイト
６６第１磁石
６６１磁石
６６２磁石
６７第２磁石
６７１磁石
６７２磁石
７０カバー
７１凹部
７３係合爪
Ｘ第２方向
Ｙ第３方向
Ｚ第１方向
1 vibration actuator 2 outer case 10 actuator body 11 support 12 movable body 13 connection body 14 magnetic drive circuit 20 inner case 21 first case member 211 first flat plate portion 212 first side plate portion 213 first flange portion 214 first cover plate portion 215 notch portion 22 second case member 221 second flat plate portion 222 second side plate portion 223 second flange portion 224 second cover plate portion 30 base plate 31 flat plate portion 32 flange portion 33 side plate portion 34 engagement hole 40 coil 41 power supply board 44 lead wire 60 permanent magnet 61 yoke 62 first yoke 621 first restricting portion 63 second yoke 631 flat plate portion 632 side plate portion 633 second restricting portion 64 weight 65 weight 66 first magnet 661 magnet 662 magnet 67 second magnet 671 magnet 672 magnet 70 Cover 71 Recess 73 Engagement claw X Second direction Y Third direction Z First direction

Claims

A movable body,
A support;
a connector having at least one of elasticity and viscoelasticity, and arranged to be in contact with both the movable body and the support at a position where the movable body and the support face each other;
a magnetic drive circuit having an air-core coil provided on one of the movable body and the support, and a permanent magnet provided on the other of the movable body and the support so as to face the coil on at least one side in a first direction, and vibrating the movable body in a second direction intersecting with the first direction relative to the support;
Equipped with
the support body has a case body that houses the movable body, the connection body, and the magnetic drive circuit,
an inner dimension of the case body in a third direction intersecting the first direction and the second direction is smaller at both end portions of the case body in the first direction than at a central portion of the case body in the first direction ;
the movable body has a weight facing an end of the case body in the first direction,
The connector is disposed between the end of the case body in the first direction and the weight,
The case body has flat plate portions at both ends in the first direction that are substantially perpendicular to the first direction, and has curved portions that are curved outward from both ends of the flat plate portions in the third direction toward the first direction, and vertical portions that extend from the ends of the curved portions toward the first direction ,
the support includes a holder that holds one of the coil and the permanent magnet,
the holder crosses an inside of the case body in the third direction at a center portion of the case body in the first direction,
the movable body includes a yoke disposed between the holder and the flat plate portion,
a vibration actuator in which one end surface of the connecting body contacts the flat plate portion, one end surface of the weight contacts the other end surface of the connecting body, and the yoke contacts the other end surface of the weight .

2. The vibration actuator according to claim 1,
The case body is formed in a cylindrical shape,
The axial direction of the case body coincides with the second direction.

3. The vibration actuator according to claim 1,
The weight is a vibration actuator made of a magnetic material.

4. The vibration actuator according to claim 1,
The movable body has a restricting portion that restricts movement in the first direction by abutting against the support body against displacement in the first direction.

5. The vibration actuator according to claim 4,
The restricting portion is a vibration actuator that abuts against both end portions of the holder in the third direction.

A movable body,
a support and
a connecting body having at least one of elasticity and viscoelasticity and arranged so as to be in contact with both the movable body and the support body at a position where the movable body and the support body face each other;
an air-core coil provided on one side member of the movable body and the support body; and an air-core coil provided on one side member of the movable body and the support body so as to face the coil on at least one side in the first direction. a magnetic drive circuit that has a permanent magnet provided on the other side member and vibrates the movable body in a second direction intersecting the first direction with respect to the support body;
Equipped with
The support body has a case body that houses the movable body, the connection body, and the magnetic drive circuit,
The inner dimension of the case body in a third direction intersecting the first direction and the second direction is such that both ends of the case body in the first direction are at the center of the case body in the first direction. smaller than
The movable body has a weight facing the end of the case body in the first direction,
The connection body is disposed between the end of the case body in the first direction and the weight,
The case body is configured such that the end portions on both sides in the first direction are formed by flat plate portions that are substantially perpendicular to the first direction, and the flat plate portions extend toward the first direction from both ends in the third direction. a curved portion curved outwardly, and a vertical portion extending from an end of the curved portion toward the first direction ;
The support body has a holder that holds one of the coil and the permanent magnet,
The holder crosses the inside of the case body in the third direction at a central portion of the case body in the first direction,
The movable body includes a yoke disposed between the holder and the flat plate portion,
A tactile device , wherein one end surface of the connecting body contacts the flat plate portion, one end surface of the weight contacts the other end surface of the connecting body, and the yoke contacts the other end surface of the weight .