JPH0984323A - Linear vibration actuator - Google Patents

Abstract

PURPOSE: To make a linear vibration actuator to move strongly only in one direction of a linear reciprocating motion and to return lightly in the reverse direction by so controlling an exciting current as to become large in the half cycle of AC and small in the half cycle of the reverse direction. CONSTITUTION: Adjacent magnets 1, 2 or 3, 4 have opposite polarities, and counter magnets 1, 3 or 2, 4 have attracting polarities. When an exciting coil 6 is wound on a core 5, and so excited that the upper part becomes an S-pole, a movable element receives a force for moving to the right side by the attractive forces from the magnet pair 2, 4 of the right side and repelling forces from the magnet pair 1, 3 of the left side, and the upper N-pole of the reverse polarity receives the force of the opposite direction. At this time, when the waveform of the exciting voltage is the upper side waveform, it is energized, while when it is the lower side waveform, it is deenergized to operate the actuator. The operating shaft 16 for transmitting the operation is mounted at the movable element. As a result, it is applied to an apparatus which may obtain the motion or force only in one direction on the straight line, and efficient output is obtained as compared with dissipation power.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device which preferably moves in a straight line in one direction by a strong thrust and in which a strong motion is not applied in the opposite direction. For example, it is used for driving a reciprocating pump, a vibration feeder, and a heart massage. It is also used for pallets that give vibration to heavier objects and slowly move forward, and for multi-tiered shelves in warehouses.

[0002]

2. Description of the Related Art A conventional linear vibration actuator is roughly divided into a movable wire ring type, a movable permanent magnet type and a movable iron core type.
3 is typical. Excitation coil 3 on E-shaped yoke 35
The movable iron core 38 is swung with 6, 37 and the thrust is taken out by the lot 39.

A linear motor having a multi-pole magnetic pole array and two coils, and Japanese Patent Publication No. 27667 / 1-267.
Linear motor with special coil, Japanese Patent Publication 6
The 4-8537 is also a movable wheel type, and is characterized by high-speed response and high controllability with little excited vibration.

For the purpose of electrically generating vibration and industrially utilizing the thrust of the vibration, Japanese Patent Publication No. 1-26271
1, Japanese Patent Publication No. 1-27668, Japanese Patent Publication No. 1-25306, Japanese Patent Publication No. 1-40595, etc., use the vibrator system by electromagnetic force widely. It is considered that the power supply generally used is 50 Hz or 60 Hz, and in order to increase the amplitude width, a magnetic path is cut or a long coil is used to obtain the amplitude width.

However, the commercial frequency (50, 60H
It is considered that the short wavelength of z) hinders the new development of various vibrators. Generally, the frequency of oscillation is required to be in a relatively low range, and various motors perform deceleration rotation to obtain thrust by a cam, a rack, a pinion, or fluid pressure.

[0006]

In a linear reciprocating motion, a strong force is obtained only in one direction to move and a weak force returns in the opposite direction, or the same is true in both directions of the linear reciprocating motion. Exercise with strength.

[0007]

[Means for Solving the Problem] NS, S at intervals
When a magnetic flux N-S is produced in parallel with both magnetic fluxes in a space where parallel magnetic fluxes in the opposite direction to -N are generated, the coil is repulsive and attracts from the space. When a magnetic flux S-N is simultaneously received by the force and is attracted to the space having the magnetic flux, and when the magnetic flux has the opposite polarity, the magnetic flux is attracted in the opposite direction. At this time, a circuit for controlling the exciting current is used so that the exciting current of the coil becomes large in a half cycle of alternating current and becomes small in a subsequent half cycle in the opposite direction.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG.
Is a side view of the actuator of the present invention, showing the permanent magnets 1 to 4 of the stator, the iron core 5 and the coil 6 of the mover in a sectional view. FIG. 2 is a partial cross-sectional view taken along the line f2-f2 in FIG. In FIG. 1, adjacent magnets (1, 2, or 3, 4) are magnets of opposite polarities,
Opposing magnets (1, 3, or 2, 4) are polar magnets that attract each other. When the exciting coil 6 is wound around the iron core 5 and is excited so that the upper part becomes the S pole, the attractive force is received from the right opposing magnet pair 2 and 4, and the attractive force is received from the left opposing magnet pair 1 and 3. The mover receives a force that moves to the right, and in the case of the upper N pole having the opposite polarity, receives the force in the opposite direction.

At this time, the waveform of the excitation voltage is set as shown in FIG. 3, and the actuator is operated when the upper waveform is energized and when the lower waveform is energized. An action shaft 16 for transmitting this action is attached to the mover by screwing.

Next, referring to FIGS. 1 and 2, the stator 1 is provided with a rubber leg 24 as required to form a closed magnetic circuit.
The plate-shaped permanent magnets 1 to 4 are attached on the outer surfaces 2 and 13, and an outer box (front plate 31, upper cover 3) for holding them.
2, the side cover 33, the bottom plate 34) and the movable wheel 8
However, rail bases 11 that move above this are arranged at the four corners of the outer box. Thus, when the excitation coil is actuated, the wheels move on the rails and work outside via the working shaft.

Next, FIGS. 4 and 5 show another embodiment. 4 and 5, the above-mentioned stator and mover 5a, 5b, 5
Four sets of c and 5d are arranged, but the polarities appearing on the end faces of the permanent magnets of the stator are NS, SN, N- from the left.
Alternating with S and SN. At this time, if the winding directions of the exciting coils are all the same, thrust in the opposite direction appears alternately on the working axes of each set. Although not shown, even if all four pairs of permanent magnets are arranged to have the same polarity and the winding directions of the exciting coils are reversed every other direction, the thrust in the opposite direction can be obtained alternately.

Here, as shown in FIG. 4, the working shafts 27 are alternately mounted in opposite directions, and these shafts are moved together with the shafts and penetrate a side cover that is continuously provided and surrounds the stator.
It is provided movably. A hexagonal frame shown in the drawing expands and contracts via a link frame 26 to which a movable frame link frame 25 is attached and which is pivotally connected by a shaft 29, and changes the direction of thrust in directions different by 90 °. You can

Further, FIGS. 6 and 6a show another embodiment. In the figure, a wheel 46 is attached to a stator frame so as to be movable, and a drive shaft 44 having a friction shoe 45 which is in contact with the floor surface through an L-shaped metal fitting 43 is attached to a mover action shaft.
This structure reverses the fixed and moving parts.

In FIGS. 6 and 6a, the drive fitting 43, the drive shaft 44, the friction rubber plate 45, etc. described in the invention of claim 4 are connected to the thrust shaft 16, and four or more wheels 46 are connected to the linear vibration actuator. Attach to the bottom plate 34.

Assuming that the action of the motion performed in one cycle is as follows, when the thrust force on the mover side of the linear reciprocating motion, which is regarded as the repulsive action of the stator and the mover, is directly rubbed on the floor,
The wheels on the bottom of the stator have less friction and the base of the stator moves in the reaction direction.

Next, when the suction action is changed, the stator side is pulled partway toward the mover side, at which time the contact force between the friction rubber directly connected to the mover and the floor suddenly weakens, and the mover moves. Is attracted to the suction force on the stator side, and the initial position and the attracted position are misaligned.

The position shift is a step for each cycle. FIG. 12 has a function of quietly walking in the detailed view of the drive shaft, which has an electromagnetic coil 47, an electromagnetic yoke 48, etc. capable of selecting forward or backward according to a command signal.

FIG. 7 shows still another embodiment. In the figure, the structure in which the mover having the coil 6 wound around the iron core 5 is provided between the permanent magnets 1 and 3 attached on the yokes 12 and 13 is the same as the embodiment shown in FIGS. However, this figure is similar to the principle that the motor acts as a generator on the power supply side, but by connecting a rectifier circuit to the excitation coil instead of a power supply, the vibration applied from the outside is converted into electrical energy. Indicates that conversion is available.

FIG. 8 is a side view for explaining the function of converting the thrust of linear reciprocating motion into rotation by installing the pedestal 64 in the linear vibration actuator of claim 5 and mounting the linear vibration actuator of claims 1 and 2. It is a figure.

FIG. 9 is a plan view of the rotating mechanism. FIG. 10 is an enlarged view of the rotation mechanism section. In the enlarged view, the thrust ring 16 is attached with a fixing nut 53 to a transmission ring 54 with a connecting pin 55.

A lot is assembled to the lot end 56 to form a connecting shaft 57. One end is assembled to the connecting pin 55 and one end is assembled to the crank pin 58. The crank arm 59 with the crank pin 58 is attached to the rotary shaft 60.

When the thrust Fa1 shown in FIG. 11 is set in the direction of the left arrow, the distance between the connecting pin 55 and the crank pin 58 is sharply narrowed by the thrust shaft 16. Lot end 5
Characteristic 6 is a joint that moves the inner ring in a state with little friction, and is capable of freely adjusting distance displacement.

The connecting pin 55 is a fixed pin that does not rotate, but the lot end inner ring that wraps the outside of the pin has a structure that is rotatable and has good slippage, and the rotational angular velocity ω is equal to the rotational angle θ.
/ Inertia energy E with time t (rad / sec) =
1 / 2jω ² k (kgf · cm) ····· j is the moment of inertia (kgf · cm · sec ² ) k changes with the friction coefficient, and the narrowed connecting shaft 57 passes through the crank pin 58 and the crank arm 59. Tell.

At this time, the connecting shaft 57 changes into a rotational force and changes to Fa2 having a rotational angular velocity. The displaced Fa2 thrust having a rotation angle begins to rotate the crank arm 59 through the crank pin 58.

The rotational expansion line D-D ₁ represents the axial center of the rotary shaft 60, and the initial position 0 ° to 90 ° along the center D ₂ -D ₃ .
It shows how the Fa3 torque changes to 180 ° in the direction of.

Rotate the rotary drum 61 on the D ₁ side of the rotary shaft 60. The instantaneous energy of the linear thrust Fa1 shown in the figure is a force having an angular velocity related to time, and when the center of the lateral swing is set as the initial point and the initial position of the crank arm 59 shown in FIG. At the advanced position, it coincides with the position point of the thrust shaft 16 which is maximally swung.

At this position, the energy becomes 0 and becomes a dead point, but it can be rotated by passing through the dead point by using the rotating drum 61 that produces inertial motion by using a rotating body that is heavier than before.

Next, when the linear thrust shaft 16 acts in the reverse direction Fb1, the maximum amplitude point (dead point) is continuously passed by the rotational force of the uniform velocity motion of the rotary drum 61, and Fb1 changes instantaneously with time. Rotating shaft 60 works by pulling connecting shaft 57 with force
The crank arm 59 having the fulcrum of the central axis along the center D-D ₁ of the arrow passes through the rotation angle of 180 ° to 270 °, and Fb3 works and rotates in the direction of 360 °.

Initial position: Depending on the inclination of the crank arm 59 and the strength of the thrust Fa1 or Fb1, the crank arm 59 has a half rotation or a full rotation, and an amplitude distance (+20 m) that resonates with the selected frequency and the oscillating acceleration.
m to about -20 mm) is aligned with the length of the crank arm (between the center distances of the crank pin 58 and the rotating shaft 60) to perform continuous rotation operation in one direction. A driven body is attached to the rotary drum 61 for the purpose of performing a half-rotation operation and a rotation operation.

FIG. 11 is a plan view of the linear vibration actuator according to the sixth aspect of the present invention, in which a pedestal 70 having a rotating ring 114 is installed in the lower portion, and the linear vibration actuators according to the first and second aspects are arranged in a double row to rotate. A conversion mechanism is attached and connected to each other.

FIG. 12 shows a partial view of rotationally converting the linear reciprocating thrust. Two opposite reciprocating linear reciprocating thrusts having a rotation shaft 107 of 180 ° on the rotation converting mechanism according to the embodiment of claim 5 are provided. Is converted into a moment of inertia of half rotation and one rotation or more, and applied to the rotating shaft 70.

Two crank pins 104, 104a and crank arms 105, 105a capable of giving a dominant bias to the moment of inertia input position for converting two opposing thrusts into rotation of the rotary shaft 107 are installed. 107
Turning the.

The thrust arrow directions of the two linear vibration actuators are Fa1 → and Fa1 ←, and the forces thereof are the initial position point a and the connecting shafts 103, 103a with the lot ends 102, 102a attached to the connecting pins 101, 101a.
Then, the thrust is transmitted to the crank pins 104 and 104a by the other tip lot ends 102 and 102a by the forces corresponding to the input signals having different phases by 180 °.
Conducted to 05, 105a.

The lot end 102 connected to the connecting pins 101 and 101a and the crank pins 104 and 104a,
102a is a flexible joint with little friction, which easily responds to displacement of distance and rotates as crank arms 105, 10
5a can be instantaneously converted into the rotational force of Fa2 and Fa2.

Next, when the thrust direction arrow ← Fa3 → Fa3 changes, the crank arms 105, 105a enter the position advanced by the rotation angle of 180 °, so that they become the dead points of the force of the maximum amplitude point, but they move at the same speed. Rotation in a certain direction is performed with the help of.

The rotation direction of the initial start position is determined by the position of the waveform of the electric signal, but the initial start position starts at the timing of the initial shake. The belt 113 is conducted to the transmission pulleys 108 to 111 having the rotational speed converted into the rotation to reduce the speed, and the lower rotary wheel 114 is rotated half a turn or one or more turns. The frequency matching the rotation of this machine can be easily selected by the controller having the oscillation circuit and the amplifier. Although the above embodiments have described the case where the duty ratio differs depending on the thrust direction, the present invention can be applied to the case where the duty ratio is the same in both directions of the reciprocating motion.

FIG. 14 shows that the friction shoe 45 causes the rotating disk 12 to apply different thrust forces of the linear reciprocating motion described in claim 3.
14 is a plan view of turning 3 and FIG. 14a is a sectional view taken along line f14a-f14a. The drive shaft 44 and the friction shoe 45 are attached and fixed to the thrust shaft 16 of the linear vibration actuator according to the first aspect of the present invention, in the robust one-piece box 120. The rotating disk 123 and the idler 124 of the rotating mechanism are connected and driven by the belt 122. Rotating disk 123 and idler 12
The flat plate fixed rail 121 is installed on the inner ring side of the belt 122 located in the middle of the position 4 and the belt 1 of the fixed rail 121 is installed.
A drive friction shoe 45 of linear reciprocating motion is placed on the outer ring side which is above 22. The belt 122 is driven based on the principle of misalignment between the strong force direction Fa5 and the weak force direction Fb5 to rotate the rotating shaft 128 directly connected to the rotating disk 123. The thrust Fa5, which is a strong force having different linear reciprocating motions, advances for a certain distance to displace and transmit the displacement to a small rotation angle. Thrust F of weak return force
In b5, the distance for pulling back the rotating belt 122 is extremely small, and the friction shoe 45 returns to the original position before the displacement on the belt 122 occurs. Positioning for each cycle is performed as a step angle, and rotation in a fixed direction is possible.

In FIG. 15, the driving force of the friction shoe 45 is applied to the driving angular shaft 12 to apply different forces of the linear reciprocating motion described in claim 3.
7 is a side sectional view showing a constant linear motion of 7. The drive shaft 44 and the friction shoe 45 are attached and fixed to the thrust shaft 16 of the linear vibration actuator according to the first aspect of the present invention in the robust box 125.

Driving angular shaft 127 that contacts the friction shoe 45
A fixed rail 126, which is a flat belt that gives appropriate friction, is laid on the lower part on the opposite side of the rail, and the thrust Fa in the direction of strong linear reciprocating motion is
Propagate for a distance of 6 to conduct. The thrust Fb6 in the direction of weak return has a minimal distance to pull back the drive angle shaft 127, and returns to the original drive angle shaft 127 before the friction shoe 45 is displaced. Positioning for each cycle is performed straight ahead.

FIG. 16 is a side view of a linear vibration actuator having two permanent magnets on a flat plate, and FIG. 17 is FIG.
It is f17 sectional drawing. The flat plate-shaped permanent magnets 133 and 134 are attached to the flat plate yoke 136 so that the magnetic poles N and S are attracted to each other with the space paper 135 interposed therebetween, and the flat plate yoke is screwed to the vibration base 146 with the permanent magnet shake prevention screw 137. Fix it. The vibration base 146 is also used as a rail of the iron core 130 of the mover with wheels 139 and is installed with a gap from the stator permanent magnet surfaces 133 and 134. When the exciting coil 131 is wound around the iron core 130 of the mover and an exciting current for generating a strong force is applied, if an organic magnetic flux of S polarity acts on the iron core 130, the lower magnetic pole becomes N polarity and repulsive attraction with the magnetic flux of the permanent magnet. Thrust Fa7 = W / G × aKg (W = mover weight Kg, G = 9.8 m / sec ² gravity unit, a = acceleration m) / Sec ² ) through the thrust screw shaft 141, the sound deadening holding nut 142, and the sound deadening push 143.
Tell 4. When the direction of the weak exciting current acts on the exciting coil 131 in the opposite direction, the lower part of the iron core 130 has the S polarity and the upper part has the N polarity, and the thrust Fb7 is returned to the original position. A strong thrust Fa7 that repeats the cycle is pressed against the vibration receiver 144 through the sound deadening push 143 and transmitted as vibration to the vibration base 146 stopped by the vibration receiver fixing screw 147. When the vibration base 146 is placed on a solid solid material capable of conducting vibration and is given vibration, the vibration base 146 slides on a flat floor. Up to approximately 1K with an effective output of 1.5W
The weight of g can be slowly advanced.

18 to 23 will be described below. 18 to 23 show a method of generating power by an external reciprocating vibration force, which is an improvement of the method of FIG. 7.

It is considered that there are two methods for generating electric power by the external reciprocating vibration force, that is, the magnetic field is fixed and the conductor is moved at a right angle, or the conductor is fixed and the magnetic field is moved at a right angle. Although many concrete examples of actually cutting the magnetic field at right angles by rotation are found, no reciprocating motion power generation action by walking vibration force, mechanical vibration force of automobile, etc. is seen.

FIG. 18 is a sectional view of a linear vibration actuator for generating electric power by opening a part of the iron core of the mover, and FIG. 19 is a side view. 20 is a sectional view having another magnetic path structure, and FIG. 21 is a side view. As a method of efficiently operating the magnetic force of the total magnetic flux of the permanent magnets 153 and 154, the exciting coil 151
A part of the iron core 150 through which a magnetic field crossing at right angles to the
A gap is formed on the 54th surface, and the permanent magnet magnetic field shakes due to the vibration due to the external force, or the exciting coil 151 shakes to cause the permanent magnet 1 to move.
This is a linear vibration actuator that efficiently captures the total magnetic flux of 53, 154 and raises the potential of alternating power generation.

FIG. 20 is a cross-sectional view having still another structure, in which the generated electric potential generates a corresponding pulsating voltage in both N and S facing the polarities of the iron core 160 and the permanent magnet 163. FIG. 16 is a diagram of another embodiment in which the mover 160 and the exciting coil 161 are fixed, and the permanent magnet 163 side is the mover. Also in FIG. 18, the same applies when the permanent magnets 153 and 154 are installed on the mover and the iron core 150 is fixed.

FIG. 22 is a sectional view showing another structure. An exciting coil 170 having a hole at the center is wound around an insulating bobbin 172 at a right angle with a permanent magnet 173 and a magnetic pipe 177 is placed therebetween. . A permanent magnet 173 having magnetic fluxes magnetized to the left and right N and S of the permanent magnet 173 is attached to the center of the permanent magnet 173, and the permanent magnet 173 is attached to the swing shaft 176 to vibrate by an external force to generate alternating power generation. FIG. 23 is a side view of FIG.

The mechanism for generating electric power by vibrating the magnetic field by an external force is the same in both cases. At the same time, a control circuit having an oscillation circuit and an amplifier in the exciting coils 151, 161, 170 from the outside and having the same waveform duty ratio, or different alternating voltage and positive and negative potentials having different waveform duty ratios and different thrusts of right and left linear reciprocating motions By having, the small linear vibration actuator can be obtained.

Next, FIG. 24 is a plan view of a linear reciprocating electric saw application, and FIG. 25 is a front view. The stator A perpendicular to the magnetic pipe 181 having a hole in the center described in FIG.
Insulating bobbin 18 with coil 180 and stator B coil 203
4 and the resin sleeve 182 inside the magnetic pipe.
The movable body has an iron core shaft 187 that slides smoothly, the stator A and B coil units 180 and 203 are placed at the center of the two long-axis fixed tie lots 191 and 192, and the tie lot fixing plate 193 with the shock absorbing material 202 is provided. The screw nut 194 is assembled to form a stator. The magnet fixed iron plate 19 is prepared by aligning the surfaces of the permanent magnets 188, 189 having the same polarity S, S or N, N with both ends of the iron manufacturing shaft 187 of the mover.
At 0,195, the magnetic field of the permanent magnet is given to the closing shaft.

When an extremely low frequency exciting current is applied to the stator A coil 180 and a positive potential is applied, a magnetic field of N polarity is generated in the direction of the symbol A, and the iron manufacturing shaft 187 of the mover.
Attracts and repels the organic magnetic field of the coil, and similarly thrusts and repels the permanent magnets 188 and 189 attached to the tip to generate thrust Fa8 in the direction of arrow ←, and the mover moves in the left space. To do. The moving distance is related to the time tsec of the phase angle of 180 ° of the positive potential or the negative potential, and if it is a long time, it hits the shock absorbing material 202 and stops. Stator A
When the exciting current of the coil 180 advances in phase to a negative potential, the sign B
The magnetic field at the position becomes an N-polar magnetic field, and the thrust Fb8 causes the mover to move in the right space in the direction of arrow →.

The stator B coil 203 is for braking, and has a braking action that suppresses positional deviation due to overshoot due to inertial action that occurs when the mover runs and moves, and is fixed as an exciting current having a polarity opposite to that of the current exciting the stator A coil 180 at appropriate times. The control circuit according to claim 1 is used as the control circuit for the repetitive movement, which is applied to the secondary B coil 203 to enhance the accuracy of the position control and provide reliability.

Further, the action shaft 187 may be a fixed rail and the mover may be the A coil 180 and the B coil 203. Action axis 18 when the travel distance is long
The self-weight of 7 becomes heavy, the driving energy becomes large, and the coil exciting current becomes large, which causes many inconveniences. The use of wheels having a small frictional resistance with the fixed rails and the selection of relatively light A and B coils for the mover can broaden the application. It is possible to make an actuator with a large load by designing the distance of left and right movement and the driving torque by selecting the permanent magnet, the time t during which the phase of the control circuit advances and the supply power.

The linear motion reciprocating mover having a braking function can make a reliable movement for the potential deviation signal value as a measurement display. 28 to 29 show an application example in which a wire saw blade 200, a backing plate 198, a tension screw 197, and a screw nut 199 are attached to one surface of a mover as a simple wood tool to form a linear reciprocating electric saw.

Next, FIG. 26 is a plan view of a foot massage application.
FIG. 27 is a front view. The linear vibration actuator of claim 2 is placed on the base 219 at the center of the base, manual air pumps 211 and 213 having two pores are placed, and the cylinder shafts 212 and 214 are latched to the rear thrust shaft 210b of the linear vibration actuator unit. The structure is such that a thrust plate 210a is attached to the thrust shaft 210a with a wooden pressure ball 218 and a band 220 attached to the front part of the lower body of a person who is bedridden for a long time. As a training mechanism, the linear reciprocating motion of the air pump accompanies the intake and exhaust of air from the pores of the cylinder, and at the same time, applies an appropriate load to the human foot according to the expansion and contraction of the foot to maintain the physical strength of the bedridden person. It has ancillary functions that can be performed, and the anxiety of the sick person becomes stress of the body and mind, and also has a massage function to relieve the stress. In to help the long-term care.

In the case of the massage function, the latch 215 is disengaged from the air cylinder shaft, and the control power source for exciting the mover of the linear vibration actuator 210 is an amplifier having a low frequency oscillating circuit of a commercial frequency or less, so that it can be easily linearized. The thrust of reciprocating motion is generated, and it is possible to obtain from the slight vibration on the sole of the foot to the range of the vibration with an appropriate load, and the appropriate massage effect is felt by conduction from the pressure ball on the sole of the foot without the band 220, and the stress of the sick person Helps to ease care.

Next, FIG. 28 is a sectional view of a simple small linear vibration actuator, and FIG. 29 is a front view. 22 and 23 described above, a hollow magnetic pipe 223 of the improved type.
An insulating bobbin 222 is placed on the outer side of the outer diameter of the stator coil 221, and a coil length of the stator coil 221 wound at a right angle to the magnetic pipe 223 is longer than that of the magnetic pipe 223. A holder 224 made of a non-magnetic material that includes a mover rod-shaped permanent magnet 227 to which is attached so as to move freely and has a space for a linear motion action is attached, and a space for a linear motion action of a mover is held at a tip end of the non-magnetic material space. It is configured by attaching a piece 226 and a magnetic iron plug 225.

The attraction and repulsion of the organic magnetic field and the permanent magnet magnetic field generated in the inner diameter of the stator coil 221 that is excited by the stator coil 221 directly act to increase the distance of the linear reciprocating motion, and also the hammer thrust of the mover. It will be great. In order to suppress the large tendency of the exciting current, the stator coil 22
A magnetic iron plug 225 can be placed at the tip of the inner diameter of 1 to apply an attracting force to the mover to keep the exciting current relatively small.
The excitation control circuit has a low-frequency current below the commercial frequency and has a low-frequency oscillation circuit and an amplifier, and the waveform duty ratio is the same,
Alternatively, when an alternating voltage having a different waveform duty ratio is applied and the positive and negative potentials are also different to excite, a difference in thrust Fa9 and Fb9 occurs, and the narrow space can be advanced in one direction by the positional deviation due to the vibration described above.

Next, FIG. 30 is a sectional view of a multi-row small linear vibration actuator, and FIG. 31 is a plan view. A spring 234 and a washer 235 are added to a set 233 of the simple small linear vibration actuators, an even number of sets are arranged in a straight line in a linearly symmetrical relationship, and the sets are assembled in a storage box 231 and wired to respective stator coils from a wiring board 232. . The feature of this machine is that the linear reciprocating hammer action can be performed at an arbitrary position on a straight line by the soft electric control signal of the program computer independent of the stator coil. For example, a lot of work such as printing work by pushing and pulling as a device element can be seen. Further, the point work element can be expanded to the surface action element, and its effect is large, and the component elements are relatively simple and inexpensive.

Next, FIG. 32 shows an improvement of the structure in which the horizontal electric reciprocating saw has different thrust forces in the right and left linear reciprocating motions as described in claim 14 into a slanting or vertical up and down motion. Balance weight 251 to which a small permanent magnet 264 for braking is attached
With an elevator mechanism that facilitates vertical movement along the guide shaft 252, the movement speed is equivalent to that of a virtuoso playing a piano with a human finger, or a limit equivalent to the movement of an arm playing a violin. 33 is a vertical cross-sectional view of a high-speed linear vibration actuator for reproducing a discontinuous amplitude width and a discontinuous moving speed in the inside, and FIG. 33 shows f9-f10 in FIG.
FIG.

Conventional vertical drive is generally carried out at a constant low speed using air pressure, hydraulic pressure, a motor screw, a wire rotating drum, a gear and a rack and the like. When lowering the load, gravity is applied downward, so it is often considered that the grip is relatively small. When the load is increased, the energy becomes large.

The feature of this device is that it can move up and down under a low load, but it focuses on reproducing the amplitude range and the speed of the electric signal that changes discontinuously. The iron brake plate 26 that can respond at high speed and faces the small braking permanent magnet 264 attached to the balance weight 251 depending on the balance mechanism and purpose of use.
5 can be used in contact or non-contact depending on the purpose of loading, and can also be fully driven by having an appropriate braking mechanism, and the stator permanent magnets 240 and 242 are similar to those described in claim 14.
In addition to the above, the stator DC exciting coils 241 and 243 wound at right angles to the end of the magnetic stator working shaft 250 are installed,
Magnetic flux density B (wb / m ² ) of the stator working axis 250 cross-sectional area
Is increased and the stator permanent magnets 240 and 242 are excited in the direction of attraction.

The magnetic poles of the stator DC excitation coils 241 and 243 are excited by a DC current in the direction facing the polarity symbols S, S or N, N at both ends of the stator working shaft 250.

If a positive potential voltage is applied to the mover coil 246, it becomes an arrow ↑ thrust Fa10 and moves upward.
Small braking permanent magnet 264 connected by wire 253
The balance weight 251 attached with the arrow indicates the arrow ↓ Thrust Fa1
It becomes 1 and moves downward, and when the phase advances to negative voltage, an arrow ↓
As a result of the thrust of Fb10, the mover coil 246 moves downward, and the balance weight 251 also shows an arrow ↑ Fb11.
Moves.

If alternating voltage waveforms with the same thrust force or waveforms with different thrust forces and alternating voltages with different duty ratios are applied to the mover coil 246a and the braking coil 246b (the load polarity is applied to the opposite polarity in a timely manner), the accelerations induced are the same. , Or a difference in acceleration is created, and the thrust Fa10
If> Fb10, the positional deviation described above occurs every cycle and the entire mover moves in one direction. The co-seismic frequency of the maximum energy that moves in one direction while vibrating due to the weight of the entire mover is different, but the amplitude is driven by DC voltage, low frequency alternating voltage with the same waveform, low frequency alternating voltage with different waveform duty, pulse voltage, etc. Can be achieved, and the closer to the alternating voltage, the more power-saving it operates. It is also possible to consider the selection of a control power supply with good economy according to the application. The action of vertical reciprocating force can be applied as a high-speed linear vibration actuator.

[0063]

EFFECTS OF THE INVENTION The present invention can be applied to a device that requires movement or force only in one direction on a straight line, and an efficient output can be obtained in comparison with power consumption.

Structurally, vibration resonance is possible, external vibration is absorbed, rectified power can be easily stored, and it can be used as a DC power source.

[Brief description of drawings]

FIG. 1 a. A linear vibration actuator according to the present invention and a side view, partly in section, b. Perspective view of mover,

FIG. 2 is an elevational view, partly in section, taken along f2-f2 of FIG. 1a,

FIG. 3 a. An example of an output voltage waveform of the control circuit according to the present invention, b. Another example of the output voltage waveform of the control circuit according to the present invention,

FIG. 4 is a plan view showing an operation outline of another embodiment according to the present invention,

5 is a side view, which is a supplementary drawing of FIG. 4;

FIG. 6: a. Explanatory drawing in the case of having a drive shaft with a friction shoe drilled in another embodiment of the present invention, b. Enlarged sectional view of the friction shoe part,

FIG. 7 is an explanatory view of the case of being used as a power source in still another embodiment of the present invention,

FIG. 8 is a side view of the linear vibration actuator according to claim 5;

FIG. 9 is a plan view of the rotation mechanism,

FIG. 10 is an enlarged view of the rotation mechanism section,

FIG. 11 is a plan view of the linear vibration actuator according to claim 6;

FIG. 12 is an explanatory view of converting thrust of linear reciprocating motion into rotational force,

FIG. 13 is an explanatory view of a conventional example,

FIG. 14 a. In yet another embodiment equipped with the friction shoe of the present invention, a plan view of claim 7 in which the rotating disk is rotated by the friction shoe, b. Similarly, a cross-sectional view of the rotating disk along f14b-f14b in FIG.

FIG. 15 is a side sectional view of a friction shoe according to still another embodiment of the present invention, in which the drive angular axis is linearly moved by the friction shoe.

FIG. 16 is a side view in which the mover vibration of the present invention is directly transmitted to the stator;

17 is a sectional view taken along line f5-f6 of FIG.

FIG. 18 is a sectional view of another linear vibration actuator that generates electric power by an external vibration force,

FIG. 19 is a side view of FIG.

FIG. 20 is a sectional view of yet another linear vibration actuator that generates electric power by an external vibration force.

21 is a side view of FIG. 20,

FIG. 22 is a sectional view of yet another linear vibration actuator that generates electric power by an external vibration force;

23 is a side view of FIG. 22,

FIG. 24 is a plane sectional view of a plunger type linear vibration actuator,

FIG. 25 is a front view of FIG.

FIG. 26 is a plan view of a foot massager applied with a foot exercise training function,

27 is a front view of FIG. 26,

FIG. 28 is a sectional view of a simple small linear vibration actuator,

29 is a front view of FIG. 28,

FIG. 30 is a cross-sectional view of a multi-row small linear vibration actuator,

31 is a plan view of FIG. 30,

FIG. 32 is a vertical cross-sectional view of a simple lifter,

FIG. 33 is a sectional view taken along line f9-f10 of FIG. 32,

[Explanation of symbols]

(Fig. 1-7) 1,2,3,4, SMg1,1a, SMg
2, 2a, SMg3, 3a, SMg4, 4a: Permanent magnet, 5: Iron core, 6: Excitation coil, 7: Fixed frame, 8: Wheel, 9,46: Vehicle width, 10: Space collar, 11,2
1: Rail base, 12, 13, 22: Yoke, 14: Screw, 15: Space collar, 16, 27: Working axis, 1
7, 23: External terminal, 24: Rubber leg, 25, 26: Link frame, 28, 31: Front plate, 29: Shaft, 32: Top cover, 30, 33: Side cover, 34: Bottom plate, 36, 37:
Coil (Fig. 13), 38: Vibrating iron core (Fig. 13), 39:
Thrust lot (Fig. 13), 40: Insulated coil bobbin, 4
1: rectifier, 42: capacitor, 43: L-shaped metal fitting, 4
4: drive shaft, 45: friction shoe, 46: wheel, (FIGS. 8 to 12) 47: electromagnetic coil, 48: electromagnetic yoke,
49: Bearing, 50: Spring, 51: Bearing bracket,
52: adjusting nut, 53: tightening nut, 54: conductive ring, 55: connecting shaft, 56: lot end bearing, 5
7: connecting shaft, 58: crank pin, 59: crank arm, 60: rotating shaft, 61: rotating drum, 62: bearing base, 63: bearing, 64: frame, 101, 101
a: connecting pin, 102, 102a: lot end, 10
3, 103a: connecting shaft, 104, 104a: crank pin, 105, 105a: crank arm, 106: bearing stand, 17: rotating shaft, 108, 109, 110, 111:
Transmission pulleys 112, 113: belts, 114: rotating wheels, (FIGS. 14 and 15) 120: solid box, 121: fixed rails, 122: belt, 123: rotating disk, 124: idler, 125: solid box, 126: fixed rail, 12
7: drive angle axis, 128: rotation axis, 129: bearing, (FIGS. 16-17a) 130: mover iron core, 131: exciting coil, 132: insulating bobbin, 133, 134: permanent magnet, 135: space paper, 136 : Flat plate yoke, 13
7: Permanent magnet fixing screw, 138: Movable stand, 139:
Wheels, 140: iron core connecting bar, 141: thrust screw shaft, 142: sound deadening holding nut, 143: sound deadening push, 144: vibration receiver, 145: printed board, 14
6: Stator vibration base, 147: Vibration receiving fixed screw, 148: Solid material, 149: Wheel shaft. (Fig. 18-23) 150: movable iron core, 151: exciting coil, 152: insulating bobbin, 153, 154: permanent magnet,
155: Yoke, 156: Non-magnetic material mover shaft, 157:
Rotating ring, 158: rotating ring fixed frame (non-magnetic material),
160: movable iron core, 161: exciting coil, 162: insulating bobbin, 163: permanent magnet, 164: rail, 165:
Yoke, 166: Wheel, 167: Wheel fixing base (non-magnetic material), 170: Excitation coil, 171: Coil terminal, 1
72: insulating bobbin, 173: permanent magnet, 174: fixed frame (non-magnetic material), 175: shaft, 176: magnet fixed shaft, 17
7: Magnetic pipe. (Fig. 24-31) 180: Stator A coil, 203: Stator B braking coil, 185, 186: A coil terminal, 2
04,205: B braking coil, 181,223: magnetic pipe, 183: insulating material, 184, 222: insulating bobbin,
182: non-magnetic sleeve, 185, 230: terminal, 18
7: Iron manufacturing shaft, 188, 189, 227: Mover permanent magnet, 190, 195: Magnet fixed iron plate, 196: Screw,
197, 198: Saw blade mounting bracket, 199: Wing nut, 200: Saw blade, 191, 192: Fixed tie lot,
193: Tylot fixing plate, 194: Nut, 201:
Coil solid plate, 202: shock absorbing material, 210: linear vibration actuator, 210a, 210b: thrust shaft, 2
11, 213: Air cylinder, 215: Hasp, 2
16: Nut, 217: Mounting bracket, 212, 21
4: Air cylinder shaft, 218: Wooden pressure ball, 219:
Base, 220: Band, 225: Iron stopper, 226: Space piece, 230: Simple small linear vibration actuator,
231: Multi-row holder, 232: Multi-row wiring board, 23
4: Spring, 235: Seat plate. (Fig. 32-33) 240, 242: stator permanent magnets, 2
41, 243: stator direct-current excitation coil, 244: magnetic pipe, 245: insulating bobbin, 246a, 246b: mover coil, 247: mover frame, 248: wheels, 2
49: partition wall, 250: stator working shaft, 251: balance weight, 252: guide shaft, 253: connecting wire,
254: pulley, 255: yoke plate, 256: rail,
257: cover, 258: axle, 259: pulley shaft, 2
60: load connector, 261: pulley shaft fixing plate, 262:
Guide shaft fixing plate, 263: coil lead, 264: small permanent magnet for braking, 265: iron brake plate.

[Procedure amendment]

[Submission date] June 11, 1993

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0058

[Correction method] Change

[Correction contents]

Conventional vertical drive is generally carried out at a constant low speed using air pressure, hydraulic pressure, a motor screw, a wire rotating drum, a gear and a rack and the like. When lowering the load, it is considered that gravity is applied downward, so that the energy can often be relatively small. When the load is increased, the energy becomes large. ─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] July 20, 1993

[Procedure amendment 1]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG.

Claims (18)

[Claims] 1. Two flat plate-shaped magnets are attached side by side with adjacent polarities opposite to each other on a flat plate yoke which forms a magnetic path and is arranged in parallel at a distance. The stator and a mover having an action axis at the center that moves within the interval, and the organic magnetic flux of the mover is parallel to the magnetic flux of the stator, and the coil wound around the iron core and the A mover having means capable of moving within an interval, and a control circuit for exciting a coil of the mover with a low-frequency current equal to or lower than a commercial frequency, the control circuit providing an equal current in both directions of the excitation circuit. It consists of a control circuit that is a circuit that allows a large current to flow in only one direction, and when a current flows in the excitation circuit, the movable coil is moved by obtaining equal thrust in both directions of the excitation direction, Great in one direction A linear vibration actuator characterized in that when a current is applied, a large thrust force is applied to the movable coil to move, and when a reverse current is applied, the movable coil is repeatedly returned to its original position. 2. A set of the stator and the mover is arranged in a straight line in an even number in a straight line relationship, and the direction in which a large thrust is obtained is reversed when the large current flows through the exciting circuit. The direction is defined as the direction of movement, and a framework for converting a longitudinal motion into a motion perpendicular to the action axes of the two movers is connected.
The linear vibration actuator described. 3. The mechanism according to claim 1, wherein a means provided with a friction shoe made of a material having a large friction coefficient is connected to a portion of the movable element which comes into contact with the floor surface, and a wheel is connected to the stator.
The linear vibration actuator described. 4. The linear vibration actuator according to claim 3, further comprising means for causing the mover to capture the external vibration and rectifying the current generated by the exciting coil. 5. An actuator main body and a rotation conversion mechanism section are mounted on a pedestal 64 and connected to each other, and one linear reciprocating motion thrust is rotated to one rotation load crank arm 59 and crank pin 58 having a function of rotation conversion. The inertia energy of the rotary shaft 60 that has been converted and converted into rotation is converted into rotation.
Control circuit that has an oscillation circuit and an amplifier that conducts to 1 to rotate the driven body and has the same waveform duty ratio, or different alternating voltage and positive and negative potentials with different waveform duty ratios, and different thrust forces for left and right linear reciprocating motion The linear vibration actuator according to claim 1 or 2, further comprising: 6. Two crank arms having two linear vibration actuator main bodies arranged in parallel, a rotation conversion mechanism section attached to a gantry 70 and connected to each other, and a function of converting linear reciprocating motion thrust in two opposite directions into rotation. 105,10
5a, crank pin 104, 104a is a shaft fulcrum 1 which gives inertia energy to the rotating shaft 107 which is one inertia load.
An alternating circuit with an equivalent waveform duty ratio or different waveform duty ratio, having an oscillation circuit and an amplifier that convert the crankshaft fulcrum at a position displaced by 80 ° into rotation and transmit the reduced shaft speed to the pedestal lower rotating wheel 114. 6. The linear vibration actuator according to claim 1, further comprising a control circuit having different positive and negative electric potentials and different right and left linear reciprocating thrust forces. 7. An actuator body, a drive friction shoe 45, and a rotary disk 123 are provided in a solid box 120 which is integrated.
And the idler 124 are connected to each other by a belt 122, and a flat rail 1 is provided below the belt 122 located between the rotating disk 123 and the idler 124.
21 is installed. Belt 1 located on fixed rail 121
The rotary shaft 128 directly connected to the rotary disk 123 is rotated at a slight speed in a fixed direction by a thrust force of a driving friction shoe 45 of a linear reciprocating motion on 22 to apply a rotary force to a driven body.
The linear vibration actuator described. 8. An actuator body, a drive friction shoe 45, and a drive angular shaft 127 that makes a linear motion in contact with a flat plate fixing rail 126 of a linear motion mechanism are installed in a solid box 125 that is integrated. The linear vibration actuator according to claim 1, wherein the thrust of the linear reciprocating motion of the driving friction shoe 45 linearly advances the driving angular axis 127 at a minute speed to give a linear motion to the driven body. 9. The thrust generated in the scope of claims 1 and 2 is oscillated to a vibration receiver 144 connected to a stator yoke through a muffling push 143 of acceleration energy of a low frequency vibrating movable element having different lateral forces. When it is placed on a solid material 148 that is conductive to the base 146 and can transmit vibration, it quietly advances in the direction of strong force. It has a low frequency oscillation circuit and an amplifier, and the alternating voltage and positive and negative potentials with different waveform duty ratios are different.
A linear vibration actuator having a control circuit in which the thrust forces of left and right reciprocating motions are different. 10. A pair of flat magnets 153 and 154, which are adjacent to each other, are attached on a flat yoke 155 so that they are adjacent to each other and have opposite polarities. A part of the magnetic path 150 of the mover having an action axis at the center of movement of the stator permanent magnet 15
3, a part of the mover core facing the 3,154 surface is cut, and the total magnetic flux of the permanent magnets is effectively captured in the mover magnetic path 150.
The external linear motion thrust causes the mover to resonate, which promotes the generation of electromotive force in the coil 151 wound in the mover iron core.
The linear vibration actuator according to claim 4, wherein the movable element has four wheels 157 at 58 and is easily moved by an external force. 11. A control circuit for exciting a coil 151 of a mover with a low frequency current equal to or lower than a commercial frequency, the control circuit comprising:
An equal current is applied in both directions of the excitation circuit.
Alternatively, it consists of a control circuit that is a circuit that allows a large current to flow in only one direction, and when a current flows in the excitation circuit, the moving coil is moved in one direction by obtaining the same thrust in both directions of the excitation direction. 11. The linear vibration actuator according to claim 10, wherein when a large current is generated, a large thrust is obtained to move the movable coil, and when a reverse current is applied, the movable coil is repeatedly returned to its original position. 12. An insulating bobbin 172 is provided on the outside of a hollow magnetic pipe 177, a coil 170 is wound on the outside thereof to form a stator coil, and a gap is provided in the magnetic pipe to form a rod-shaped permanent magnet 173 of the mover. 5. The linear vibration according to claim 4, wherein the slotted holes that can be resonated by the external linear motion thrust are provided on the left and right sides, the movement distance is limited by the pin 175 from the side surface of the outer frame 174, and the electromotive force is generated by the vibration of the magnet due to the external force. Actuator. 13. A stator coil 170 is excited with a low-frequency current of a commercial frequency or less, and a thrust force of left and right linear motions is extracted within a slotted hole of a mover bar magnet 173 and a magnet fixing shaft 176, and a control circuit is informed. 13. The linear vibration actuator according to claim 12, comprising the control circuit means according to any one of claims 1 and 11. 14. A hollow magnetic pipe 181 is provided with an insulating bobbin 184 on the outside thereof, and a fixed A coil 180 and a stator B are provided.
The coil 203 is wound at a right angle, and the A coil winding first terminal 18
5, a winding end terminal 186, a B coil winding start terminal 204, and a winding end terminal 205, which are assembled in the left and right center of two long axis fixed tie lots 191 and 192 which define the movement range of the mover action, and a tie lot fixing plate 193. Then, it is tightened with a screw nut 194 into a parallel structure to form a stator, and the action shaft 187 of the mover is placed horizontally on the inner center of the hollow magnetic pipe 181 with the non-magnetic material sleeve 182 provided with a gap, Flat permanent magnets 188 are attached to the left and right ends of the action shaft 187.
189 is attached to the same polarity S, S, and the working axis 1 of the iron material
87 has a magnetic field from a permanent magnet, and the structure is such that the fixed iron pieces 190 and 195 are used to fix the magnet, and work pieces are assembled on one side or both ends of the mover or on the lower surface. The stator A coil 180 is excited by a low frequency current equal to or lower than the commercial frequency, and the braking action B coil 2
A control circuit for exciting to 03, the control circuit is a linear vibration actuator having the control circuit means according to claim 1 or 11. 15. The base 2 of the linear vibration actuator
The air cylinder hand pumps 211 and 213 having two tail holes are placed in parallel on 19 and the hand shaft 21
2,214 is a linear actuator rear working shaft 210
b has a structure that can be connected with a latch 215, and when there is no power source, two wooden pressure balls 218 are set to a set piece 217 connected to the front working shaft 210a, and a person's sole is applied to the wooden pressure ball to apply a band. 220 has a structure to fasten both feet, and when the feet are expanded and contracted back and forth, a load is exerted on the feet by the pulling of a manual air cylinder, the suction and exhaust of air by the linear reciprocating motion of the push, and the motion mechanism of a bedridden person for a long time. If you remove the latch 215 connected to the air cylinder and remove the band 220 of the foot, it becomes a vibrator with a massage effect, and the control circuit that excites the mover coil is a control circuit of a low frequency oscillator and an amplifier below the commercial frequency. The control circuit is a linear vibration actuator having the control means according to any one of claims 1, 2, 10, and 11. 16. A linear vibration actuator is modified so that the movement of the mover becomes large, whereby the axial length of the stator coil 221 wound at a right angle to the outer diameter of the magnetic pipe 223 is made smaller and the magnetic pipe is made smaller. 223 Non-magnetic material holder 224 having a space for linear motion of the mover at the center of the inner diameter
, A mover bar magnet 227 having a vibrating hammer 228 attached therein is included so as to move freely, an appropriate working space is held and provided, and a non-magnetic space piece 226 and a magnetic iron plug 225 are assembled. And a control circuit for exciting a fixed coil 221 that performs a horizontal movement or a vertical movement of the mover in a space inside the non-magnetic material holder 224. The control circuit is a control circuit for exciting a low-frequency current below a commercial frequency. The linear vibration actuator according to any one of claims 1, 12, and 13. 17. A set of stator and mover groups arranged in an even number in a straight line in a line-symmetrical relationship, linear vibration actuators arranged in multiple rows, and a control electric line according to an independent program for each stator coil. 14. The linear vibration actuator according to claim 1 or 13, wherein the linear vibration actuator is excited by a low-frequency current having a signal and is incorporated in a mechanism capable of arbitrarily controlling the vertical motion action of the mover. 18. A stator working shaft 250 standing vertically is placed at the center of rails 256 at four corners which are parallel and stand vertically with a space therebetween, and flat plate-shaped stator permanent magnets 240, 24 are provided at the tips thereof.
2 is attached according to the polarities S, S or N, N, and the stator DC exciting coils 241 and 243 for heavy load are further placed to align with the same polar arrangement S, S or N, N as the polarities attracted by the stator permanent magnets. A stator DC excitation of an electric signal is applied to both ends of the stator working shaft 250 to form a yoke plate 255, and the mover is composed of a magnetic stationary working shaft 250 at the center and radial rails 2 at four corners.
An upper and lower space with respect to 56 is a space for motion action, the mover is provided with an insulating bobbin 245 on the outside of a hollow magnetic pipe 244, and a movable coil 246a and a braking coil 246b are wound at a right angle to the stator working shaft 250. A small permanent magnet 264 for braking which moves the stator working shaft 250 through the inner diameter of the hollow magnetic pipe 244, which is placed in the center of the movable frame 247 to which the wheel 248 is attached, and which vertically moves outside the rails 256 at the four corners. The balance weight 251 to which is attached is connected to the mover frame 247 by the connection wire 253 through the pulley 254, and a mechanism having a vertical elevator action by contact or non-contact with the brake plate 265 of the magnetic force adsorption longitudinal plate made of iron is provided. Alternatively, a load connector 26 which is placed vertically and reproduces a discontinuous speed change electric signal within a limited amplitude and conducts it to the outside The with the mover frame 247, or the control circuit is an oscillation circuit and an amplifier to provide a DC reciprocating thrust mover, waveform Deyute ratio has a DC power supply is equal,
Alternatively, the alternating voltage having different waveform duty ratios has different positive and negative potentials, and the control circuit has a control circuit that discontinuously changes the thrust force of the upper and lower linear reciprocating motions. The control circuit is a linear circuit having the control circuit means according to claim 1 or 14. Vibration actuator.