WO2015068930A1 - 햅틱 엑추에이터 - Google Patents
햅틱 엑추에이터 Download PDFInfo
- Publication number
- WO2015068930A1 WO2015068930A1 PCT/KR2014/006561 KR2014006561W WO2015068930A1 WO 2015068930 A1 WO2015068930 A1 WO 2015068930A1 KR 2014006561 W KR2014006561 W KR 2014006561W WO 2015068930 A1 WO2015068930 A1 WO 2015068930A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- magnet
- coil member
- core
- weight
- yoke
- Prior art date
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/02—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with armatures moved one way by energisation of a single coil system and returned by mechanical force, e.g. by springs
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B6/00—Tactile signalling systems, e.g. personal calling systems
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/16—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with polarised armatures moving in alternate directions by reversal or energisation of a single coil system
Definitions
- the present invention relates to a haptic actuator, and more particularly, to a haptic actuator that is embedded in an electronic device requiring a vibration response by a touch such as a mobile terminal and generates vibration by interaction between a coil and a magnet.
- ringtones and vibrations are widely used for incoming calls in communication devices.
- the vibration generating device which is one of the receiving means that is applied to communication devices such as mobile phones, is a component that converts electrical energy into mechanical vibration by using the principle of electromagnetic force. .
- Such a vibration generating device is widely used for the purpose of informing the reception of a mobile phone, etc. In recent years, it is also installed in a game device to inform the user of the progress of the game or mounted on a touch phone, etc. so that the user feels that the key has been touched. Its use is increasing for purposes.
- vibration generators With the rapid expansion of the mobile phone market and the addition of various functions to mobile phones, vibration generators also improve the shortcomings of the existing products and dramatically improve the quality in the situation where miniaturization and high quality of mobile phone parts are required. There is a need for a new product development with a new structure.
- Conventional vibration generating apparatus mounted on a portable terminal is basically a secondary vibration system using a weight body, and attaches the weight body to an elastic body such as a spring, and has a coil for vibrating the weight body.
- the weight When a current is applied to the coil, the weight vibrates according to a frequency response characteristic predetermined by the elastic modulus of the weight body and the elastic body.
- Recently described portable terminals have a function of providing feedback corresponding to the input to the user by outputting voice or vibration in response to the user's touch input as described above.
- the conventional vibration generating device is to generate the up and down driving force of the weight body by the Lorentz force generated between the coil and the stator magnet, due to the limitation of the vibration generating device structure by Lorentz force in the vibration strength and vibration frequency band It was difficult to show good characteristics.
- the present invention has been made to solve the above problems, and an object thereof is to provide a haptic actuator having improved performance such as response speed and frequency band according to a user's touch by improving a magnetic force structure.
- the haptic actuator of the present invention includes a case having an accommodation space therein; Core fixedly mounted in the receiving space; A first coil member and a second coil member spaced apart from each other in the vertical direction outside the core; A center yoke disposed between the first coil member and the second coil member and mounted to the outside of the core; A magnet disposed outside the center yoke; A weight fixedly mounted to the outside of the magnet; A first elastic member having one end fixed to the magnet and the weight and the other end fixed to the upper portion of the case to elastically support the magnet and the weight; It is made, including.
- the first coil member and the second coil member are formed to be wound in opposite directions to each other,
- the magnet is formed in the vertical direction of the polarity, the thickness is formed larger than the thickness of the center yoke.
- a first auxiliary yoke mounted on an upper end of the first coil member;
- a second auxiliary yoke mounted at a lower end of the second coil member; It further comprises.
- the thickness of the first auxiliary yoke and the second auxiliary yoke is thinner than the thickness of the central yoke.
- a first cushion member disposed in the accommodation space and fixedly mounted on an upper portion of the case;
- a second cushion member disposed in the accommodation space and fixedly mounted to the lower portion of the case; It further comprises.
- a second elastic member having one end fixedly mounted to the lower end of the magnet and the weight, and the other end fixedly mounted to the bottom of the case to elastically support the magnet and the weight; It further comprises.
- the difference between the magnetic force N of the magnet and the elastic force N of the first elastic member is less than ⁇ 1.
- the core is formed in a cylindrical shaft shape, the first coil member and the second coil member is formed around the core on the outer peripheral surface of the core, and the center yoke is formed in a ring shape to the outer peripheral surface of the core It is mounted to surround, the magnet and the weight is formed in a ring shape is arranged to surround the outside of the core.
- the haptic actuator of the present invention as described above has the following effects.
- Performance and response speed of the frequency band and the like by the magnetic force line structure formed by the magnet 600, the core 200, the center yoke 400, the first auxiliary yoke 510 and the second auxiliary yoke 520 The faster the effect is generated.
- the portable terminal to which the haptic actuator is applied can be quickly generated and transmitted according to various input signal patterns, thereby improving quality and performance.
- the first cushion member and the second cushion member are respectively mounted on the upper and lower parts of the case, thereby acting as a sound absorbing material during the collision of the magnet and the weight to reduce noise generation, generate a repulsive force, and increase vibration acceleration. Is generated.
- FIG. 1 is a perspective view of a haptic actuator according to an embodiment of the present invention
- FIG. 2 is an exploded perspective view of a haptic actuator according to an embodiment of the present invention
- FIG. 3 is a cross-sectional view seen from A-A of FIG.
- FIG. 4 is a magnetic force line structure diagram of the initial state of the haptic actuator according to an embodiment of the present invention
- FIG. 5 is a structure diagram of the magnetic force line when the haptic actuator descends in accordance with an embodiment of the present invention
- FIG. 6 is a magnetic force line structure diagram when the haptic actuator is raised in accordance with an embodiment of the present invention.
- FIG. 8 is a graph showing a comparison between the magnetic force of the magnet of the haptic actuator according to the embodiment of the present invention and the elastic force of the first elastic member.
- FIG. 1 is a perspective view of a haptic actuator according to an embodiment of the present invention
- Figure 2 is an exploded perspective view of the haptic actuator according to an embodiment of the present invention
- Figure 3 is a cross-sectional view as seen from AA of Figure 1
- Figure 4 is an embodiment of the present invention
- 5 is a magnetic force line structure diagram of the initial state of the haptic actuator according to the present invention
- FIG. 1 is a perspective view of a haptic actuator according to an embodiment of the present invention
- Figure 2 is an exploded perspective view of the haptic actuator according to an embodiment of the present invention
- Figure 3 is a cross-sectional view as seen from AA of Figure 1
- Figure 4 is an embodiment of the present invention
- 5 is a magnetic force line structure diagram of the initial state of the haptic actuator according to the present invention
- FIG 5 is a magnetic force line structure diagram of the haptic actuator descending according to an embodiment of the present invention
- Figure 6 is a magnetic force line structure when the haptic actuator rises according to an embodiment of the present invention
- 7 is a performance comparison data of the haptic actuator according to the embodiment of the present invention and the vibration motor according to the prior art
- Figure 8 is the magnetic force of the magnet of the haptic actuator according to the embodiment of the present invention, the elastic force of the first elastic member This is a graph showing the comparison.
- the haptic actuator according to an embodiment of the present invention is the case 100, the core 200, the first coil member 310, the second coil member 320, the center yoke ( 400, the first auxiliary yoke 510, the second auxiliary yoke 520, the magnet 600, the weight 700, the first elastic member 810, the second elastic member 820, and the first cushion member. 910 and the second cushion member 920.
- the case 100 has a substantially cylindrical shape and includes an accommodation space 100a therein, and specifically, the bottom plate 110 and the cover 120 are formed.
- the bottom plate 110 is formed in a substantially circular plate shape, made of a SPCC material which is a ferromagnetic material.
- the cover 120 is made of a SPCC material that is a ferromagnetic material, is formed in a cylindrical shape of the lower end is open, disposed on the top of the bottom plate 110, the cylindrical receiving space (100a) is formed therein.
- the first auxiliary yoke when using the 510 and the second auxiliary yoke 520 may be made of a nonmagnetic material, that is, SUS.
- the core 200 is formed in a cylindrical shape of a long vertical axis, and made of a ferromagnetic material, specifically, SPCC material.
- the core 200 is disposed inside the case 100, that is, in the center of the accommodation space 100a, and upper and lower ends thereof are fixed to the case 100, respectively.
- the core 200 is magnetized when power is applied to the first coil member 310 and the second coil member 320, which will be described later, and forms a strong magnetic field around the core.
- the first coil member 310 and the second coil member 320 is formed of an enamel line, and is formed in a shape wound in a cylindrical shape around the core 200, and the first coil member 310 and The winding directions of the second coil member 320 are opposite to each other.
- first coil member 310 is disposed above the core 200 and the second coil member 320 is disposed below the core 200, and the first coil member 310 and the first coil member 310.
- the second coil member 320 is spaced apart by a predetermined interval in the vertical direction.
- the first coil member 310 is wound in the clockwise direction on the upper outer peripheral surface of the core 200
- the second coil member 320 is wound in the counterclockwise direction on the lower outer peripheral surface of the core 200.
- the center yoke 400 is made of a ferromagnetic material, specifically, SPCC material, the diameter is the same cylindrical shape as the first coil member 310 and the second coil member 320, the first coil member 310 ) And the second coil member 320 is disposed.
- the center yoke 400 is disposed at the center of the core 200 in the vertical direction and is mounted to surround the outer circumferential surface of the core 200.
- the center yoke 400 functions to induce a magnetic field to move the magnet 600 up and down when current is applied to the first coil member 310 and the second coil member 320.
- a first auxiliary yoke 510 is provided at an upper portion of the first coil member 310, and a second auxiliary yoke 520 is provided at a lower portion of the second coil member 320.
- the first auxiliary yoke 510 and the second auxiliary yoke 520 are made of a SPCC material, the diameter is formed in the same cylindrical shape as the first coil member 310 and the second coil member 320, the thickness Is formed thinner than the thickness of the center yoke (400).
- the first subsidiary yoke 510 and the second subsidiary yoke 520 may be manufactured.
- the thickness of the first coil member 310 and the second coil member 320 may be greater than that of the first auxiliary yoke 510 and the second auxiliary yoke 520.
- the thickness of the auxiliary yoke 510 and the second auxiliary yoke 520 is increased, and the material of the bottom plate 110 and the cover 120 must be made of a ferromagnetic material.
- the first auxiliary yoke 510 and the second auxiliary yoke 520 are provided at the upper portion of the first coil member 310 and the lower portion of the second coil member 320, respectively.
- an effect of increasing the driving force is induced by inducing a magnetic field to move the magnet 600 up and down.
- the core 200, the center yoke 400, the first auxiliary yoke 510, and the second auxiliary yoke 520 are made of the same material, they may be integrally formed.
- the magnet 600 is formed in a ring shape whose inner diameter is larger than the outer diameter of the center yoke 400, it is disposed to surround the outside of the center yoke 400.
- the magnet 600 has a polarity is formed in the vertical direction. That is, the north pole is formed at the top, and the south pole is formed at the bottom.
- the polarity of the magnet 600 may be reversed.
- the upper part of the magnet 600 may be formed as the S pole and the lower part as the N pole.
- the winding directions of the first coil member 310 and the second coil member 320 may also be reversed. .
- the magnetic field generated by the magnet 600 is induced by the core 200, the first auxiliary yoke 510, and the second auxiliary yoke 520 to form a strong magnetic force line.
- the magnet 600 has a thickness greater than that of the central yoke 400, and before the power is applied to the first coil member 310 and the second coil member 320, that is, the initial state. In the air gap portion of the magnet 600 is disposed to match the center yoke (400).
- the weight 700 is formed to surround the outside of the magnet 600, and the frequency of the power applied to the first coil member 310 and the second coil member 320 together with the magnet 600; It has the same resonant frequency, and when the power is applied to the first coil member 310 and the second coil member 320 is translated along with the magnet 600 in the vertical direction, and generates vibration.
- the magnet 600 and the weight 700 is elastically supported in the case 100 by the first elastic member 810.
- the first elastic member 810 is a leaf spring, a ring-shaped first fixing portion 800a, a ring-shaped second fixing portion 800b having a larger diameter than the first fixing portion 800a, It consists of a spiral leg portion 800c connecting the first fixing portion 800a and the second fixing portion 800b.
- Four leg portions 800c are formed in a spiral shape.
- leg portion 800c may be changed in various cases.
- One end of the first elastic member 810 that is, the first fixing part 800a is fixed to the upper end of the magnet 600 and the weight 700, and the other end, that is, the second fixing part 800b is fixed to the first elastic member 810.
- the upper portion of the case 100 that is, fixed to the cover 120.
- the first elastic member 810 facilitates the vertical translation of the magnet 600 and the weight 700 by adding an elastic force to the magnet 600 and the weight 700 in the vertical direction. .
- the second elastic member 820 is formed in the same manner as the first elastic member 810, the first fixing portion 800a is fixed to the lower end of the magnet 600 and the weight 700, The second fixing part 800b is fixed to the bottom plate 110.
- the second elastic member 820 adds an elastic force to the magnet 600 and the weight 700 so that the magnet 600 and the weight 700 of the second elastic member 820 may be formed. It facilitates up and down translation.
- the first cushion member 910 and the second cushion member 920 is made of a rubber material with a sense of elasticity, is formed in a circular ring shape, the inner diameter is larger than the inner diameter of the magnet 600, The outer diameter is formed smaller than the outer diameter of the weight 700.
- first cushion member 910 is disposed in the accommodation space (100a), is fixedly mounted on the top of the cover 120, the second cushion member 920 is inside the accommodation space (100a) It is disposed in, and is fixedly mounted on the base plate 110.
- the first cushion member 910 and the second cushion member 920 collide with each other when the magnet 600 and the weight 700 move upward and downward to generate a repulsive force, and increase vibration acceleration.
- first cushion member 910 and the second cushion member 920 act as a sound absorbing material when colliding with the magnet 600 and the weight 700 to reduce the generation of noise.
- the power supply is applied in the direction of the center yoke 400 around the second coil member 320.
- Magnetic poles are formed so that the S pole is disposed and moves from the lower portion of the second coil member 320 to the second auxiliary yoke 520, the magnet 600, the center yoke 400, and the core 200. Is formed.
- the magnet 600 is moved downward.
- the central yoke 400 when power is applied from the second coil member 320 toward the first coil member 310, the central yoke 400 is disposed around the first coil member 310.
- the magnet 600 moves upward.
- the haptic actuator according to an embodiment of the present invention, the closed loop between the first coil member 310 and the second coil member 320 and the magnet 600, as shown in the arrow direction shown in FIG. Magnetic field lines of the structure are formed.
- the magnet 600 and the weight 700 is in a state of semi-stiffness when vibrating.
- the magnet 600 generates a force to be disposed on the center yoke 200.
- the conventional vibration motor shows a response speed of about 27.5ms
- the haptic actuator according to an embodiment of the present invention is about 5.5ms
- the reaction rate is shown.
- reaction frequency range of the haptic actuator (T2) according to the embodiment of the present invention is wider than the conventional vibration motor (T1).
- FIG. 7 compares the acceleration of the conventional vibration motor T1 and the haptic actuator T2 of the present invention according to the frequency of the power applied to the first coil member 310 and the second coil member 320.
- the response frequency range is about 20 to 30 Hz for the conventional vibration motor T1
- the response frequency range is about 170 Hz for the haptic actuator T2 of the present invention.
- the haptic actuator according to the embodiment of the present invention is formed by the magnet 600 and the core 200, the center yoke 400, the first auxiliary yoke 510 and the second auxiliary yoke 520.
- the magnetic structure improves the performance and response speed of the frequency band.
- the portable terminal to which the haptic actuator is applied can be quickly generated and transmitted according to various input signal patterns, thereby improving quality and performance.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
Description
Claims (8)
- 내부에 수용공간이 형성된 케이스;상기 수용공간에 고정 장착되는 코아;상기 코아의 외측에 상하 방향으로 이격되게 장착되는 제1코일부재 및 제2코일부재;상기 제1코일부재와 상기 제2코일부재 사이에 배치되며, 상기 코아의 외측에 장착되는 중심요크;상기 중심요크의 외측에 배치되는 마그네트;상기 마그네트의 외측에 고정 장착되는 무게추;일단이 상기 마그네트와 상기 무게추에 고정되고, 타단이 상기 케이스의 상부에 고정되어 상기 마그네트와 상기 무게추를 탄성적으로 지지하는 제1탄성부재; 를 포함하여 이루어지는 것을 특징으로 하는 햅틱 엑추에이터.
- 제 1 항에 있어서,상기 제1코일부재와 상기 제2코일부재는 서로 반대 방향으로 감김 형성되고,상기 마그네트는, 극성이 상하 방향으로 형성되며, 두께가 상기 중심요크의 두께보다 크게 형성되는 것을 특징으로 하는 햅틱 엑추에이터.
- 제 1 항에 있어서,상기 제1코일부재의 상단에 장착되는 제1보조요크;상기 제2코일부재의 하단에 장착되는 제2보조요크; 를 더 포함하여 이루어지는 것을 특징으로 하는 햅틱 엑추에이터.
- 제 3 항에 있어서,상기 제1보조요크 및 상기 제2보조요크의 두께는 상기 중심요크의 두께보다 얇은 것을 특징으로 하는 햅틱 엑추에이터.
- 제 1 항에 있어서,상기 수용공간에 배치되며, 상기 케이스의 상부에 고정 장착되는 제1쿠션부재;상기 수용공간에 배치되며, 상기 케이스의 하부에 고정 장착되는 제2쿠션부재; 를 더 포함하여 이루어지는 것을 특징으로 하는 햅틱 엑추에이터.
- 제 1 항에 있어서,일단이 상기 마그네트 및 무게추의 하단에 고정 장착되고, 타단이 상기 케이스의 하부에 고정 장착되어 상기 마그네트와 상기 무게추를 탄성 지지하는 제2탄성부재; 를 더 포함하여 이루어지는 것을 특징으로 하는 햅틱 엑추에이터.
- 제 1 항에 있어서,상기 마그네트의 자력(N)과 상기 제1탄성부재의 탄성력(N)의 차는 ±1 미만인 것을 특징으로 하는 햅틱 엑추에이터.
- 제 1 항 내지 제 7 항 중 어느 한 항에 있어서,상기 코아는 원통형의 축 형상으로 형성되며,상기 제1코일부재와 상기 제2코일부재는 상기 코아의 외주면에 상기 코아를 중심으로 감김 형성되고,상기 중심요크는 링 형상으로 형성되어 상기 코아의 외주면을 감싸게 장착되며,상기 마그네트와 상기 무게추는 링 형상으로 형성되어 상기 코아의 외측을 감싸게 배치되는 것을 특징으로 하는 햅틱 엑추에이터.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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US14/779,683 US9619981B2 (en) | 2013-11-05 | 2014-07-18 | Haptic actuator |
CN201480013990.0A CN105103421B (zh) | 2013-11-05 | 2014-07-18 | 触觉致动器 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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KR20130133454A KR101491456B1 (ko) | 2013-11-05 | 2013-11-05 | 햅틱 엑추에이터 |
KR10-2013-0133454 | 2013-11-05 |
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WO2015068930A1 true WO2015068930A1 (ko) | 2015-05-14 |
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PCT/KR2014/006561 WO2015068930A1 (ko) | 2013-11-05 | 2014-07-18 | 햅틱 엑추에이터 |
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US (1) | US9619981B2 (ko) |
KR (1) | KR101491456B1 (ko) |
CN (1) | CN105103421B (ko) |
WO (1) | WO2015068930A1 (ko) |
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KR20160114313A (ko) * | 2015-03-24 | 2016-10-05 | 주식회사 하이소닉 | 코어리스 햅틱 액추에이터 |
CN105553217B (zh) * | 2016-02-27 | 2019-12-13 | 歌尔股份有限公司 | 振动马达 |
KR101855335B1 (ko) * | 2016-07-01 | 2018-05-08 | 주식회사 예일전자 | 차체를 이용하여 소리를 발생시키는 장치 |
KR102100358B1 (ko) * | 2016-09-28 | 2020-04-20 | 자화전자(주) | 진동 발생장치 |
CN106329871A (zh) * | 2016-09-30 | 2017-01-11 | 歌尔股份有限公司 | 线性振动马达以及电子设备 |
CN106329870A (zh) * | 2016-09-30 | 2017-01-11 | 歌尔股份有限公司 | 线性振动马达 |
CN106357080A (zh) * | 2016-09-30 | 2017-01-25 | 歌尔股份有限公司 | 线性振动马达 |
US10049536B2 (en) * | 2016-10-04 | 2018-08-14 | Immersion Corporation | Haptic actuator incorporating electropermanent magnet |
US10404149B2 (en) * | 2016-11-03 | 2019-09-03 | Immersion Corporation | Electromagnetic haptic actuator with high definition capability |
CN106655695B (zh) * | 2016-11-30 | 2020-08-25 | 歌尔股份有限公司 | 一种线性振动马达 |
US11347188B2 (en) | 2017-01-25 | 2022-05-31 | Microsoft Technology Licensing, Llc | Stepper motor for use in rotary control assembly of input device |
CN106849588B (zh) * | 2017-03-14 | 2022-04-05 | 歌尔股份有限公司 | 线性振动马达及电子设备 |
CN106849587B (zh) * | 2017-03-14 | 2022-04-05 | 歌尔股份有限公司 | 线性振动马达及电子设备 |
KR101924357B1 (ko) | 2017-05-22 | 2018-12-03 | (주)파트론 | 진동모터 |
US10222863B1 (en) * | 2017-09-05 | 2019-03-05 | Apple Inc. | Linear haptic actuator including field members and biasing members and related methods |
KR101987068B1 (ko) * | 2019-03-04 | 2019-09-27 | 주식회사 블루콤 | 리니어 진동 엑츄에이터 |
CN109907410A (zh) * | 2019-04-03 | 2019-06-21 | 深圳市安泉科技有限公司 | 按摩振子及其控制方法和按摩腰带 |
CN215772886U (zh) * | 2020-07-10 | 2022-02-08 | 日本电产株式会社 | 振动马达及触觉器件 |
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KR101254211B1 (ko) * | 2012-04-05 | 2013-04-18 | 크레신 주식회사 | 선형 진동자 |
KR101265452B1 (ko) * | 2012-03-26 | 2013-05-16 | 나영목 | 리니어 진동자 |
KR20130120040A (ko) * | 2012-04-25 | 2013-11-04 | 삼성전기주식회사 | 선형진동모터 |
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JP2001060328A (ja) * | 1999-08-24 | 2001-03-06 | Pioneer Electronic Corp | ディスクプレーヤのレンズ駆動装置 |
US7190247B2 (en) * | 2002-04-01 | 2007-03-13 | Med-El Elektromedizinische Geraete Gmbh | System and method for reducing effect of magnetic fields on a magnetic transducer |
JP2007229582A (ja) * | 2006-02-28 | 2007-09-13 | Sanyo Electric Co Ltd | 往復振動発生器 |
JP2010104864A (ja) * | 2008-10-28 | 2010-05-13 | Sanyo Electric Co Ltd | 往復振動発生器 |
JP5659426B2 (ja) * | 2010-02-16 | 2015-01-28 | 日本電産セイミツ株式会社 | 振動発生装置 |
KR101055562B1 (ko) | 2010-12-30 | 2011-08-08 | 삼성전기주식회사 | 선형진동모터 |
US8872394B2 (en) * | 2011-06-16 | 2014-10-28 | Jahwa Electronics Co., Ltd. | Linear vibration generating apparatus |
KR101250288B1 (ko) | 2011-09-29 | 2013-04-03 | (주)엠투시스 | 햅틱 엑추에이터 |
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JP2010178419A (ja) * | 2009-01-27 | 2010-08-12 | Sanyo Electric Co Ltd | 振動発生器 |
KR20120054685A (ko) * | 2010-11-20 | 2012-05-31 | 이인호 | 선형 진동기 |
KR20120139524A (ko) * | 2011-06-16 | 2012-12-27 | 자화전자(주) | 선형 진동 발생장치 |
KR101265452B1 (ko) * | 2012-03-26 | 2013-05-16 | 나영목 | 리니어 진동자 |
KR101254211B1 (ko) * | 2012-04-05 | 2013-04-18 | 크레신 주식회사 | 선형 진동자 |
KR20130120040A (ko) * | 2012-04-25 | 2013-11-04 | 삼성전기주식회사 | 선형진동모터 |
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CN105103421B (zh) | 2018-01-23 |
KR101491456B1 (ko) | 2015-02-23 |
US9619981B2 (en) | 2017-04-11 |
US20160247368A1 (en) | 2016-08-25 |
CN105103421A (zh) | 2015-11-25 |
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