WO2019031389A1

WO2019031389A1 - Actuator

Info

Publication number: WO2019031389A1
Application number: PCT/JP2018/029084
Authority: WO
Inventors: 亮森; 正明安藤; 直哉伊佐治
Original assignee: 日本電産サンキョー株式会社
Priority date: 2017-08-10
Filing date: 2018-08-02
Publication date: 2019-02-14

Abstract

An actuator, wherein a drive mechanism 5 for causing a mobile body 3 to vibrate in a first direction X has a first magnetic core 51 in which a plurality of first salient poles 511 are provided in the mobile body 3 along the first direction X, and a second magnetic core 52 in which a plurality of second salient poles 521 are provided in the mobile body 3 along the first direction X so as to have a phase opposite that of the first salient poles 511. In a support body 2, an armature 54 comprises a permanent magnet 56 that is magnetized along the first direction X, a first armature core 57 that overlaps the permanent magnet 56 from one side X1 in the first direction X, a second armature core 58 that overlaps the permanent magnet 56 from the other side X2 in the first direction X, and a drive coil 59 that is wound about the first armature core 57 and the second armature core 58.

Description

Actuator

The present invention relates to an actuator that generates vibration.

As a device for generating vibration, the movable body is supported against the support by a drive mechanism provided with a magnet provided on one of the support and the movable body and a coil provided on the other of the support and the movable body An actuator that vibrates in a direction intersecting with the opposing direction of the coil and the magnet has been proposed (see Patent Document 1).

Further, in the actuator described in Patent Document 1, a visco-elastic member comprising a gel-like member is disposed between the movable body and the support, and the movable body is supported by the support via the visco-elastic member. It is done. Moreover, the resonance at the time of driving a movable body is suppressed by the visco-elastic member.

Furthermore, in the actuator disclosed in Patent Document 1, a visco-elastic member made of a gel-like member is disposed between the movable body and the support, and the movable body is supported by the support via the visco-elastic member. While being driven, resonance when driving the movable body is suppressed.

JP, 2016-127789, A

However, in the actuator described in Patent Document 1, it is difficult for the user to experience a large vibration because the thrust generated by the drive mechanism is small.

In view of the above problems, a first object of the present invention is to provide an actuator capable of causing a user to experience strong vibration.

Further, in an aspect in which the support supports the movable body via the visco-elastic member as in the actuator described in Patent Document 1, when an external force is transmitted to the movable body and the movable body is displaced, it is used for the drive mechanism. The spacing between the coil and the magnet fluctuates. Therefore, in the state where the movable body is displaced, it is difficult to properly vibrate the movable body.

In view of the above problems, a second object of the present invention is to provide an actuator capable of vibrating a movable body smoothly.

Furthermore, in the actuator described in Patent Document 1, each of the movable body and the support body has a structure in which a plurality of members are arranged in an overlapping manner, and the movable body and the support body intersect in the vibration direction of the movable body. Viscoelastic members are disposed at portions facing in the direction. For this reason, when the opposing distance between the movable body and the support in the portion where the visco-elastic member is disposed varies, the thickness of the visco-elastic member varies, and there is a problem that the characteristics of the actuator vary.

In view of the above problems, a third object of the present invention is to provide an actuator in which a visco-elastic member provided between a movable body and a support exerts a stable function.

In order to solve the above problem, an actuator to which the first invention is applied includes a support, a movable body, an elastic member connected to the movable body and the support, and the movable body to the support. A drive mechanism for vibrating in the first direction, the drive mechanism being from one side in a second direction intersecting the first direction on one side member of the support and the movable body A first magnetic core provided with a plurality of first salient poles projecting toward the other side, and the first magnetic core on the one side member facing the first magnetic core on the other side in the second direction; A second magnetic core provided with a plurality of second salient poles projecting from the other side in the second direction toward the one side along the first direction in opposite phase to the first salient pole, and the support The first magnetic core in the other side member of the body and the movable body And an armature provided between the second magnetic core, and the armature is a permanent magnet magnetized along the first direction, and one of the permanent magnet in the first direction. A first armature core overlapping from the side, a second armature core overlapping the permanent magnet from the other side in the first direction, an outer surface side of the first armature core and an outer surface side of the second armature core And a drive coil wound to pass through.

In the first invention, the magnetic flux generated from the armature generates a thrust utilizing a change in magnetic flux density passing through the first magnetic core and the second magnetic core, that is, the drive mechanism operates in the same manner as a linear motor. Therefore, a large thrust can be generated in the movable body. Therefore, the user can feel strong vibration.

In the first invention, in the armature, a plurality of armature units including the permanent magnet, the first armature core, the second armature core, and a drive coil are disposed along the first direction. Can be adopted. According to this aspect, since the drive mechanism can generate a large thrust on the movable body, the user can experience strong vibration.

In the first invention, the first magnetic core and the second magnetic core may be provided on the movable body, and the armature may be provided on the support. According to this aspect, unlike the case where the movable body is provided with the drive coil, power supply to the drive coil is easy.

In the first invention, the support body includes a holder portion for holding the armature, and the movable body is a nonmagnetic first wall portion facing the holder portion on one side in the second direction; A nonmagnetic second wall opposed to the other side in the second direction in the holder, and the first magnetic core is disposed so as to overlap a surface of the first wall opposed to the holder It is possible to adopt an aspect in which the second magnetic core is disposed so as to overlap the surface of the second wall facing the holder.

In the first invention, the movable body is connected to at least one of the first wall and the second wall and intersects the drive mechanism with the first direction and the second direction. The aspect which has an output member covered from one side of 3 directions is employable. According to this aspect, since the vibration of the movable body can be output through the output member, the user who has touched the output member can feel strong vibration.

In the first invention, one end of the first wall in the first direction, the other end of the first wall in the first direction, the first direction of the second wall A guide mechanism for guiding the movable body in the first direction is provided at each of a total of four locations at one end of the second wall and the other end of the second wall in the first direction Can be adopted.

In the first invention, the guide mechanism may adopt an aspect including rolling balls supported at both sides in the second direction by the movable body and the support at each of the four locations. .

In the first invention, the elastic member is a portion where the movable body and the support body face each other in the first direction on one side in the first direction with respect to the movable body, and the elastic member The aspect by which the said movable body and the said support body are provided in the location which opposes in the said 1st direction by the other side of the said 1st direction is employable.

In the first invention, the elastic member may be a visco-elastic member.

In order to solve the above problems, an actuator to which the second invention is applied includes a support, a movable body, a drive mechanism that causes the movable body to vibrate in a first direction with respect to the support, and the first direction. A guide mechanism provided at a position where the movable body and the support body face each other in a second direction intersecting with the guide body and guiding the movable body in the first direction, the guide mechanism being on the support body side And two first rails extending in the first direction in parallel in a third direction intersecting the first direction and the second direction, and in parallel in the third direction on the movable body side. It has two second rails extending in one direction, and rolling balls supported from both sides in the second direction by the two first rails and the two second rails. It is characterized by

In the second invention, in the guide mechanism, the rolling balls are supported by the two first rails on the support side and the two second rails on the movable body side. Thus, the movable body vibrates smoothly in the first direction while being guided by the guide mechanism. Here, the rolling balls are supported from both sides in the second direction by the two first rails on the support side and the two second rails on the movable body side. Therefore, even if an external force is applied to the movable body, the displacement of the movable body in the second direction and the third direction is suppressed by the guide mechanism. Therefore, even in the state where an external force is applied to the movable body, the movable body can be appropriately vibrated in the first direction.

In a second invention, when cut by a plane orthogonal to the first direction, the two first rails and the two second rails each have a convex curved surface for supporting the rolling balls. The aspect which has become can be adopted. According to this aspect, since the contact area between the rolling ball and the support and the contact area between the rolling ball and the movable body are small, the sliding resistance when the movable body vibrates in the first direction is small. Therefore, the movable body can be vibrated smoothly in the first direction.

In a second aspect of the invention, the two first rails and the two second rails may each be in the form of a round bar. According to this aspect, the first and second rails each have high strength. In the present invention, "round rod shape" is meant to include the case of being cylindrical.

In the v invention, the guide mechanism includes a guide unit provided with the two first rails, the two second rails, and the rolling balls at one side of the movable body in the second direction. It is possible to adopt an aspect provided at a total of four places, two places separated in one direction, and two places separated in the first direction on the other side of the movable body in the second direction. According to this aspect, the movable body can be properly guided in a stable posture.

In the second invention, the drive mechanism may adopt an aspect of being disposed in a space surrounded by the four points when viewed from the third direction.

In the second invention, the support includes a holder portion for holding a support-side component for constituting the drive mechanism, and the movable body faces the holder portion on one side in the second direction. A first wall portion and a second wall portion facing the holder portion on the other side in the second direction are provided, and the guide mechanism is an end portion on one side in the first direction of the first wall portion. An end of the other side of the first wall in the first direction, an end of the one side of the second wall in the first direction, and a side of the other side of the second wall in the first direction The aspect provided in a total of four places of an edge part is employable.

In the second invention, the movable body has an output member connected to at least one of the first wall and the second wall to cover the drive mechanism from one side in the third direction. The aspect which is carried out can be adopted. According to this aspect, since the vibration of the movable body can be output through the output member, the user who has touched the output member can feel strong vibration.

In the second invention, an aspect in which an elastic member connected to the movable body and the support is provided can be adopted.

In the second invention, the elastic member is a portion where the movable body and the support body face each other in the first direction on one side in the first direction with respect to the movable body, and the elastic member The aspect by which the said movable body and the said support body are provided in the location which opposes in the said 1st direction by the other side of the said 1st direction is employable.

In order to solve the above problems, an actuator to which the third invention is applied includes a support, a movable body, a drive mechanism that causes the movable body to vibrate in a first direction with respect to the support, and the movable body A first visco-elastic member provided on a portion facing on one side in the first direction with respect to the support, and a portion on the other side of the first direction facing the support with the movable body And a second viscoelastic member provided.

In the third invention, since the visco-elastic members (the first visco-elastic member and the second visco-elastic member) are disposed between the movable body and the support, when the movable body is vibrated, the first visco-elasticity is generated. Since the member and the second viscoelastic member exert the damper function, the movable body is less likely to resonate. The first visco-elastic member is disposed in a portion where the movable body is opposed to the support on one side in the first direction, and the second visco-elastic member is configured such that the movable body is in the first direction with respect to the support It is arranged in the opposite part on the other side. Therefore, the relative position between the movable body and the support varies in the first direction, and the distance between the movable body and the support at the portion where the first viscoelastic member is disposed, and the second viscoelasticity If the distance between one of the movable body and the support at the portion where the member is disposed is increased, the other is narrowed. Therefore, the characteristics combining the characteristics of the first viscoelastic member and the characteristics of the second viscoelastic member are less susceptible to the fluctuation of the above-mentioned interval, and the first and second viscoelastic members are stable. Demonstrate a function.

In the third invention, the first visco-elastic member is provided in a portion where the movable body and the end portion on one side of the first direction of the support body face each other in the first direction, and the second visco-elastic member The elastic member may adopt an aspect in which the other ends of the movable body and the support in the first direction are provided in portions facing each other in the first direction.

In the third invention, the first viscoelastic member and the second viscoelastic member each adopt an aspect in which the movable body is in contact with the support and the movable body when the movable body vibrates in the first direction. be able to. According to this aspect, the visco-elastic members (first and second visco-elastic members) reliably follow the movement of the movable body. Therefore, the resonance of the movable body can be effectively prevented.

The aspect in which each of the first viscoelastic member and the second viscoelastic member is compressed in the first direction can be adopted while the drive mechanism is stopped. According to this aspect, the visco-elastic members (first and second visco-elastic members) reliably follow the movement of the movable body. Therefore, the resonance of the movable body can be effectively prevented. Further, when the movable body vibrates, the first visco-elastic member and the second visco-elastic member constantly exert a force to expand in a predetermined stroke, so that the first visco-elastic member and the second visco-elastic member Demonstrates a stable damper function.

In the third invention, the drive mechanism is disposed at a portion where the movable body and the support face each other in a second direction intersecting the first direction, and the support includes a base member and the base member. A holder portion for holding a support-side component for forming the drive mechanism by protruding from one side in a third direction intersecting the first direction and the second direction, and the first portion relative to the holder portion A first protrusion projecting from the base member to one side in the third direction on one side of the direction, and one side in the third direction from the base member on the other side in the first direction with respect to the holder portion The movable body is a first wall portion facing the holder portion on one side in the second direction, and the holder portion on the other side in the second direction. The second wall facing each other, and the first convex portion in one of the first directions A third wall facing on the side and a fourth wall facing the second protrusion on the other side in the first direction, and overlapping a surface of the first wall facing the holder And a part of the movable body side component for constituting the drive mechanism is disposed, and another part of the movable body side component is disposed so as to overlap the surface of the second wall facing the holder part. And the first visco-elastic member is disposed between the first convex portion and the third wall portion, and the second visco-elastic member is disposed between the second convex portion and the fourth wall portion The embodiment which has been described can be adopted.

In the third invention, the movable body is connected to at least one of the first wall portion, the second wall portion, the third wall portion, and the fourth wall portion, and the drive mechanism is provided. The aspect which has an output member which covers from the one side of the said 3rd direction is employable. According to this aspect, since the vibration of the movable body can be output through the output member, the user who has touched the output member can feel strong vibration.

In a third invention, an end on one side in the first direction of the first wall, an end on the other side in the first direction of the first wall, the first direction in the second wall A guide mechanism for guiding the movable body in the first direction is provided at each of four positions in total of the one end of the second wall and the other end of the second wall in the first direction. Aspects can be employed.

In the third invention, the guide mechanism may adopt an aspect including rolling balls supported at both sides in the second direction by the movable body and the support at each of the four locations. . According to this aspect, even when the movable body is supported by the support via the rolling balls, the movable body vibrates smoothly in the first direction.

In the second invention, in the guide mechanism, the rolling balls are supported by the two first rails on the support side and the two second rails on the movable body side. For this reason, the movable body vibrates in the first direction while being guided by the guide mechanism. Here, the rolling balls are supported from both sides in the second direction by the two first rails on the support side and the two second rails on the movable body side. Therefore, even if an external force is applied to the movable body, the displacement of the movable body in the second direction and the third direction is suppressed by the guide mechanism. Therefore, even in the state where an external force is applied to the movable body, the movable body can be appropriately vibrated in the first direction.

In the third invention, since the visco-elastic members (the first visco-elastic member and the second visco-elastic member) are disposed between the movable body and the support, the movable body is a damper when the movable body is vibrated. Since the function is exhibited, the movable body is less likely to resonate. In addition, the first viscoelastic member is disposed between the movable body and the support on one side in the first direction with respect to the movable body, and the second viscoelastic member is disposed in the other side in the first direction with respect to the movable body. It is arranged on the side between the movable body and the support. Therefore, the distance between the movable body and the support on one side in the first direction with respect to the movable body and the distance between the movable body and the support on the other side in the first direction with respect to the movable body vary. Also in the case where one of the intervals is wide, the other interval becomes narrow, so the combined characteristics of the characteristics of the first viscoelastic member and the characteristics of the second viscoelastic member are affected by the variation of the above-mentioned interval. Hardly, the first and second viscoelastic members exert a stable function.

It is a perspective view of an actuator concerning an embodiment of the present invention. It is XZ sectional drawing of the actuator shown in FIG. It is YZ sectional drawing when the actuator shown in FIG. 1 is cut | disconnected in the position which passes a drive mechanism. It is YZ sectional drawing when the actuator shown in FIG. 1 is cut | disconnected in the position which passes a guide mechanism. It is a perspective view in the state where the output member of the movable body was removed from the actuator shown in FIG. It is the disassembled perspective view which isolate | separated the support body and the movable body in the actuator shown in FIG. FIG. 7 is an exploded perspective view of the support shown in FIG. 6 with the cover removed. It is a disassembled perspective view of the state which removed the support body side component for comprising a drive mechanism from the support body shown in FIG. FIG. 7 is an exploded perspective view of a movable body shown in FIG. 6 from which a movable body side component for configuring a drive mechanism is removed. It is a perspective view of the drive mechanism shown in FIG. It is a top view of the drive mechanism shown in FIG.

Embodiments of the first invention, the second invention and the third invention will be described with reference to the drawings. The present invention is the same as the embodiments of the first to third inventions. Therefore, an embodiment of the present invention will be described. In the following description, three directions intersecting with each other will be described as a first direction X, a second direction Y, and a third direction Z, respectively. The first direction X, the second direction Y, and the third direction Z are directions orthogonal to each other. In addition, X1 is attached to one side in the first direction X, X2 is attached to the other side in the first direction X, Y1 is attached to one side in the second direction Y, Y2 is attached to the other side in the second direction Y In the description, one side of the third direction Z is attached with Z1 and the other side of the third direction Z is attached with Z2.

(overall structure)
FIG. 1 is a perspective view of an actuator 1 according to an embodiment of the present invention. FIG. 2 is an XZ sectional view of the actuator 1 shown in FIG. FIG. 3 is a YZ cross-sectional view when the actuator 1 shown in FIG. 1 is cut at a position passing through the drive mechanism 5. FIG. 4 is a YZ sectional view when the actuator 1 shown in FIG. 1 is cut at a position passing through the guide mechanism 8.

As shown in FIG. 1, the actuator 1 of the present embodiment has a rectangular parallelepiped shape in which the dimension in the first direction X is larger than the dimension in the second direction Y and the dimension in the third direction Z as a whole. In addition, as described below with reference to FIGS. 2, 3 and 4 etc., the actuator 1 includes a support 2 connected to the device main body and a movable body 3 movably supported by the support 2. And the drive mechanism 5 for vibrating the movable body 3 in the first direction X with respect to the support 2. The actuator 1 further includes a guide mechanism 8 for guiding the movable body 3 in the first direction X, and elastic members (first elastic member 91 and second elastic member 92) connected to the support 2 and the movable body 3. Have. Accordingly, the movable body 3 is supported by the support 2 via the guide mechanism 8 and the elastic members (the first elastic member 91 and the second elastic member 92), and vibrates in the first direction X in this state.

(Structure of Support 2)
FIG. 5 is a perspective view of the actuator 1 shown in FIG. 1 with the output member 38 of the movable body 3 removed. 6 is an exploded perspective view in which the support 2 and the movable body 3 are separated in the actuator 1 shown in FIG. 7 is an exploded perspective view of the support 2 shown in FIG. 6 with the cover 25 removed. FIG. 8 is an exploded perspective view of the support 2 shown in FIG. 6 with the support side component 5b for constituting the drive mechanism 5 removed.

As shown in FIGS. 2 to 8, the support 2 has a plate-like base member 21, a holder portion 22 protruding from the base member 21 on one side Z1 in the third direction Z, and a holder portion 22. The first convex portion 23 protrudes from the base member 21 to the one side Z1 in the third direction Z on one side X1 in one direction X, and the other side from the base member 21 on the other side X2 in the first direction X It has the 2nd convex part 24 projected on one side Z1 of 3 directions Z. The base member 21 is a connecting portion to the device body. The holder portion 22, the first convex portion 23, and the second convex portion 24 are each fixed to the base member 21 from the other side Z2 in the third direction Z by a screw 219 (see FIG. 2 and the like).

The holder portion 22 is a portion that holds the support-side component 5 b for configuring the drive mechanism 5. The holder portion 22 is disposed along the first direction X on the

columnar portions

221, 222, 223 disposed along the first direction X on one side Y1 in the second direction Y, and on the other side Y2 in the second direction Y. And the

columnar portions

224, 225, and 226. The

columnar portions

221, 222, 223 are connected at their root portions by the connecting portions 227 extending in the first direction X, and the

columnar portions

224, 225, 226 are root portions by the connecting portions 228 extending in the first direction X Are linked.

The cover 25 is provided at the end of one side Z1 of the columnar portions 221 to 226 in the third direction Z, the end of the one side Z1 of the first convex portion 23, and the end of the one side Z1 of the second convex portion 24. It is fixed by a screw 259. The cover 25 has a flat plate portion 250 covering the holder portion 22, a first side plate portion 251 bent from the end of the first side X1 in the first direction X of the flat plate portion 250 to the other side Z2 in the third direction Z, and a flat plate portion And a second side plate portion 252 bent from the end of the other side X2 of the first direction X 250 to the other side Z2 of the third direction Z. The first side plate portion 251 overlaps the first convex portion 23 from one side X1 in the first direction X, and the second side plate portion 252 overlaps the second convex portion 24 from the other side X2 in the first direction X. The flat plate portion 250 is formed with

holes

250b and 250c in which the rectangular opening 250a, the positioning convex portion 239 of the first convex portion 23, and the positioning convex portion 249 of the second convex portion 24 are fitted.

(Configuration of movable body 3)
FIG. 9 is an exploded perspective view of the movable body 3 shown in FIG. 6 with the movable body side component 5a for constituting the drive mechanism 5 removed. As shown in FIGS. 2 to 6 and 9, the movable body 3 has a first wall 31 facing the holder 22 on one side Y1 in the second direction Y, and the holder 22 in the second direction Y. The second wall 32 opposed on the other side Y2, the third wall 33 opposed to the first convex 23 on the one side X1 in the first direction X, and the other side of the second convex 24 in the first direction X It has the 4th wall 34 which counters by X2. The first wall 31, the second wall 32, the third wall 33, and the fourth wall 34 are respectively formed of separate members, and are connected by screws 391 to form a rectangular frame 30.

The movable body 3 includes an output member 38 connected to any one of the first wall 31, the second wall 32, the third wall 33, and the fourth wall 34 to cover the drive mechanism 5. In this embodiment, the output member 38 has a rectangular plate shape, and is connected to the end of the first wall 31 and the second wall 32 in the third direction Z on one side Z1 by a screw 392. The output member 38 is connected to only one of the first wall 31 and the second wall 32, or the first wall 31, the second wall 32, the third wall 33, and the fourth wall. The aspect connected to at least one of the parts 34 may be sufficient. In the output member 38, cylindrical

cylindrical portions

386, 387, 388, 389 project toward the one side Z1 in the third direction Z, and the

cylindrical portions

386, 387, 388, 389 contact the output member 38 with a touch panel or the like. Is used to fix the

In the first wall portion 31 and the second wall portion 32, the

inner surfaces

310, 320 side facing the holder portion 22 are portions for arranging the movable body side component 5a described later, and the first wall portion 31 and the second wall portion 32 The end of the other side Z2 in the third direction Z of the wall portion 32 constitutes

bottom plate portions

315, 325 for supporting the movable body side component 5a. Therefore, the first wall 31 and the second wall 32 are made of a nonmagnetic material so as not to magnetically affect the movable body side component 5a. In the present embodiment, the first wall 31, the second wall 32, the third wall 33, the fourth wall 34, and the output member 38 are all made of nonmagnetic material.

In the

bottom plate portions

315 and 325,

shaft portions

316, 317, 326, and 327 are formed on one end Z1 of the third direction Z on both end sides in the first direction X, respectively. The

shaft portions

316, 317, 326, 327 are adapted to be fitted into the

holes

381, 382, 383, 384 of the output member 38 at the end of the one side Z1 in the third direction Z, respectively. Further, at the bottom surfaces of the first wall 31 and the second wall 32, the

shaft portions

318 and 328 project from the central portion in the first direction X to the other side Z2 in the third direction Z. The

shaft portions

318, 328 contact the base member 21 when the movable body 3 is displaced to the other side Z1 in the third direction Z, and define the movable range of the movable body 3 to the other side Z1 in the third direction Z. doing.

(Configuration of guide mechanism 8)
The driving mechanism 5 shown in FIGS. 2, 5 and 6 etc. drives the movable body 3 to the one side X1 and the other side X2 in the first direction X with respect to the support 2 to move the movable body 3 in the first direction X Vibrate at. Therefore, in the actuator 1, as shown in FIGS. 4 and 6, the guide mechanism 8 for guiding the movable body 3 in the first direction X at a position where the movable body 3 and the support body 2 face each other in the second direction Y. It is provided.

In configuring the guide mechanism 8, in the present embodiment, the guide unit 80 having the same configuration separates in the first direction X at one side Y1 of the movable body 3 in the second direction Y, and the second of the movable body 3 The other side Y2 of the direction Y is provided at a total of four places separated in the first direction X at two places. More specifically, the guide mechanism 8 (guide unit 80) is an end of one side X1 of the first wall 31 of the movable body 3 in the first direction X, and the other in the first direction X of the first wall 31. Provided at a total of four locations at the end of the side X2, the end of one side X1 of the second wall 32 in the first direction X, and the end of the other side X2 of the second wall 32 in the first direction X There is.

Here, the guide mechanism 8 (guide unit 80) is provided with rolling balls 83 supported from both sides in the second direction Y by the movable body 3 and the support 2 at each of four places. More specifically, the guide mechanism 8 includes two first rails 81 extending in the first direction X in parallel in the third direction Z on the support 2 side, and the third direction Z on the movable body 3 side. Rolling balls supported from both sides in the second direction Y by the two second rails 82 extending in the first direction X and the two first rails 81 and the two second rails 82 in parallel And 83.

The two first rails 81 are formed on the side surface of the first protrusion 23 on the side surface of the one side Y1 in the second direction Y, and the side surface of the first protrusion 23 on the other side Y2 of the second direction Y Recessed portion 232, a recessed portion 241 formed on the side surface of one side Y1 in the second direction Y of the second protrusion 24, and a recessed portion formed on the side surface of the other side Y2 in the second direction Y Both ends are fixed at each of 232. Further, in the recessed

portions

231, 232, 241, 242, reinforcing

convex portions

231a, 232a, 241a, 242a for supporting the two first rails 81 from the side opposite to the rolling balls 83 are formed.

The two second rails 82 are a recess 311 formed on the inner surface of the end of one side X1 of the first wall 31 in the first direction X, and the other side X2 of the first wall 31 in the first direction X. A recess 312 formed on the inner surface of the end, a recess 321 formed on the inner surface of the end of one side X1 of the second wall 32 in the first direction X, and the other in the first direction X of the second wall 32 Both ends are fixed at each of the concave portions 322 formed on the inner surface of the end of the side X2. Further, in the

concave portions

311, 312, 321, 322, reinforcing

convex portions

311a, 312a, 321a, 322a for supporting the two second rails 82 from the side opposite to the rolling balls 83 are formed.

(Configuration of visco-elastic member)
As shown in FIGS. 2 and 6, in the actuator 1, a first elastic member 91 is provided at a portion where the movable body 3 opposes the support 2 on one side X1 in the first direction X, and the first elastic member A second elastic member 92 is provided at a position where the movable body 3 opposes the support 2 on the other side X2 in the first direction X at a position separated in the first direction X with respect to 91.

In the present embodiment, the first elastic member 91 is provided at a portion where the ends of the movable body 3 and the support 2 on the one side X1 in the first direction X oppose each other in the first direction X. The second elastic member 92 is provided at a portion where the end portions of the movable body 3 and the support 2 on the other side X2 in the first direction X oppose each other in the first direction X. More specifically, the first elastic member 91 has a third wall 33, which is an end of the movable body 3 on one side X1 in the first direction X, and one side X1 on the one side X of the support 2 in the first direction X. It is provided between the end and the first convex portion 23. The second elastic member 92 is a fourth wall 34 which is an end of the movable body 3 in the other direction X2 in the first direction X, and a second elastic member 92 which is an end of the other side X2 in the first direction X of the support 2. It is provided between the convex portion 24.

In this embodiment, since the first side plate portion 251 of the cover 25 overlaps the one side X1 in the first direction X of the first convex portion 23, the first elastic member 91 includes the first side plate portion 251 and the third side plate portion 251. It is provided between the wall portion 33. Further, since the second side plate portion 252 of the cover 25 overlaps the other side X2 in the first direction X of the second convex portion 24, the second elastic member 92 includes the second side plate portion 252 and the fourth wall portion It is provided between 34 and.

Each of the first elastic member 91 and the second elastic member 92 is composed of a spring, a visco-elastic member or the like. In the present embodiment, the first elastic member 91 is a first viscoelastic member 910 such as a gel-like member or rubber. The second elastic member 92 is a second viscoelastic member 920 such as a gel-like member or rubber. The visco-elasticity is a property combining both viscosity and elasticity, and is a property which is remarkably observed in polymer substances such as gel-like members, plastics, rubber and the like. Therefore, various gel-like members can be used as the first viscoelastic member 910 and the second viscoelastic member 920. In addition, as the first viscoelastic member 910 and the second viscoelastic member 920, natural rubber, diene rubber (for example, styrene butadiene rubber, isoprene rubber, butadiene rubber), chloroprene rubber, acrylonitrile butadiene rubber, etc., non-diene Various rubber materials such as a base rubber (eg, butyl rubber, ethylene / propylene rubber, ethylene / propylene / diene rubber, urethane rubber, silicone rubber, fluororubber, etc.), thermoplastic elastomers and the like and modified materials thereof may be used.

In the present embodiment, a gel-like member is used as the first viscoelastic member 910 and the second viscoelastic member 920. More specifically, the first viscoelastic member 910 and the second viscoelastic member 920 are silicone gels having a penetration of 10 degrees to 110 degrees. The penetration degree is defined in JIS-K-2207 and JIS-K-2220, and the smaller the value, the harder it is. The visco-elastic member has linear or non-linear expansion and contraction characteristics depending on the expansion and contraction direction. For example, when a visco-elastic member is pressed in the thickness direction to be compressed and deformed, it has an expansion and contraction characteristic in which a non-linear component (spring coefficient) is larger than a linear component (spring coefficient). On the other hand, when it is pulled and extended in the thickness direction, it has an expansion and contraction characteristic in which a linear component (spring coefficient) is larger than a non-linear component (spring coefficient).

Here, the first viscoelastic member 910 and the second viscoelastic member 920 are respectively fixed to the movable body 3 and the support 2 by a method such as adhesion. Therefore, each of the first viscoelastic member 910 and the second viscoelastic member 920 is in contact with the support 2 and the movable body 3 when the movable body 3 vibrates in the first direction X. Further, while the drive mechanism 5 is stopped (period in which the vibration of the movable body 3 is stopped), the first viscoelastic member 910 and the second viscoelastic member 920 are each compressed in the first direction X The first viscoelastic member 910 and the second viscoelastic member 920 are each compressed in the first direction X within a predetermined stroke of the movable body 3.

(Configuration of drive mechanism 5)
FIG. 10 is a perspective view of the drive mechanism 5 shown in FIG. FIG. 11 is a plan view of the drive mechanism 5 shown in FIG. As shown in FIGS. 10 and 11, the drive mechanism 5 has a first protrusion protruding from one side Y1 to the other side Y2 in the second direction Y on one side member of the support 2 and the movable body 3. A plurality of poles 511 are provided along the first direction X, and the second magnetic core 52 is opposed to the first magnetic core 51 on the other side Y2 in the second direction Y. In the second magnetic core 52, a plurality of second salient poles 521 protruding in the second direction Y from the other side Y2 to the one side Y1 are provided along the first direction X. Here, the second salient pole 521 is in reverse phase to the first salient pole 511. That is, in the first magnetic core 51, the concave portion 512 is formed between the first salient poles 511, and the convex portion formed by the second salient pole 521 in the second magnetic core 52 is formed between the first salient poles 511. The concave portion 512 is opposed to the concave portion 512 in the second direction Y. Further, in the second magnetic core 52, the concave portion 522 is formed between the second salient poles 521, and the convex portion formed by the first salient pole 511 in the first magnetic core 51 is formed between the second salient poles 521. The concave portion 522 formed is opposed in the second direction Y.

The drive mechanism 5 further includes an armature 54 provided between the first magnetic core 51 and the second magnetic core 52 on the other side member of the support 2 and the movable body 3. The armature 54 includes a permanent magnet 56 magnetized in the first direction X, a first armature core 57 overlapping the permanent magnet 56 from the one side X1 in the first direction X, and a permanent magnet 56 in the first direction X A second armature core 58 overlapping from the other side X2 and a drive coil 59 wound so as to pass through the outer surface side of the first armature core 57 and the outer surface side of the second armature core 58 are provided. In the present embodiment, the drive coil 59 is wound around the insulating bobbin 55, and the first armature core 57 and the second armature core 58 are disposed inside the body of the bobbin 55 in the second direction Y. It consists of

core members

57a and 58a inserted from one side Y1 and

core members

57b and 58b inserted from the other side Y2 in the second direction Y.

In the armature 54, a plurality of armature units 540 including the permanent magnet 56, the first armature core 57, the second armature core 58, and the drive coil 59 are arranged in the first direction X. In the present embodiment, in the armature 54, two armature units 540 are arranged along the first direction X.

In the present embodiment, the one side member is the movable body 3 and the other side member is the support 2. Therefore, the first magnetic core 51 and the second magnetic core 52 are provided on the movable body 3 as the movable body side component 5 a for configuring the drive mechanism 5. More specifically, the first magnetic core 51 and the second magnetic core 52 overlap the

inner surfaces

310 and 320 of the first wall portion 31 and the second wall portion 32 of the movable body 3 as the movable body side component 5a. Arranged and fixed. Here, in the first magnetic core 51 and the second magnetic core 52, holes 516, 517, 526, and 527 are formed at two places separated in the first direction X, and the first magnetic core 51 and the second magnetic When the core 52 is fixed to the first wall portion 31 and the second wall portion 32, the

holes

516, 517, 526, and 527 of the first magnetic core 51 and the second magnetic core 52 are the first wall portion 31 and the second wall portion. The 32

shaft parts

316, 317, 326, 327 are fitted and positioned.

Further, the armature 54 (armature unit 540) is provided in the holder portion 22 of the movable body 3 as a support body side component 5b for configuring the drive mechanism 5. More specifically, one armature unit 540 is disposed between the

pillars

221 and 224 and the

pillars

222 and 225 provided in the holder portion 22, and the

pillars

222 and 225 and pillars provided in the holder 22. One armature unit 540 is disposed between the

portions

223 and 226. Here, on the surface (outer surface) opposite to the permanent magnet 56 of the first armature core 57 and the second armature core 58, engaging

concave portions

571 and 581 to be engaged with the columnar portions 221 to 226 are formed. ing. Therefore, the first armature core 57 and the second armature core 58 are fixed to the support 2 in a state of being positioned in the first direction X and the second direction Y with respect to the holder portion The end of the one side Z1 in the third direction Z of the daughter unit 540) is located inside the opening 250a of the cover 25.

In this state, the first salient pole 511 and the second salient pole 521 of the first magnetic core 51 and the second magnetic core 52 are respectively the second armature core 57 of the armature 54 and the second armature core 58 of the second armature core 58. The end face in the direction Y is opposed in the second direction Y via a gap. Thus, when the drive mechanism 5 is configured, when viewed in the third direction Z, the drive mechanism 5 is configured in the space surrounded by the four places where the guide mechanism 8 (guide unit 80) is disposed. . In the present embodiment, the entire support 2 is made of a nonmagnetic material.

(basic action)
In the actuator 1 of the present embodiment, when an alternating current is applied to the drive coil 59, the drive mechanism 5 linearly drives the movable body 3 to the one side X1 and the other side X2 in the first direction X as in the linear motor. Therefore, since the movable body 3 vibrates in the first direction X, the center of gravity of the actuator 1 vibrates in the first direction X. For this reason, the user who touches the actuator 1 can feel the vibration in the first direction X. At this time, the AC waveform applied to the drive coil 59 is adjusted to accelerate the movable body 3 to move to one side X1 in the first direction X and to accelerate the movable body 3 to move to the other side X2 in the first direction X. And the user can feel the vibration having the directivity in the first direction X.

In this embodiment, since the output member 38 is exposed, if the user touches the output member 38, it is possible to directly feel the vibration of the movable body 3.

(Main effects of this form)
Next, the main effects of the present embodiment will be described, but as described above, the embodiments of the first invention, the second invention and the third invention are the same embodiment.
As described above, in the actuator 1 of the present embodiment, the drive mechanism 5 uses the change in magnetic flux density where the magnetic flux generated from the armature 54 passes through the first magnetic core 51 and the second magnetic core 52 to generate thrust. Because the drive mechanism 5 operates in the same manner as a linear motor, it can generate a large thrust on the movable body 3. Therefore, the user can feel strong vibration.

A first magnetic core 51 and a second magnetic core 52 are provided on the movable body 3, and an armature 54 is provided on the support 2. Therefore, unlike the case where the movable body 3 is provided with the drive coil 59, power supply to the drive coil 59 is easy.

The movable body 3 has an output member 38 that covers the drive mechanism 5 from one side Z1 in the third direction Z, and the output member 38 is exposed. Therefore, since the vibration of the movable body 3 can be output through the output member 38, the user who touches the output member 38 can feel strong vibration.

In the guide mechanism 8, the rolling balls 83 are supported by the two first rails 81 on the support 2 side and the two second rails 82 on the movable body 3 side. Thus, the movable body 3 vibrates smoothly in the first direction X while being guided by the guide mechanism 8. Here, the rolling balls 83 are supported from both sides in the second direction Y by the two first rails 81 on the support 2 side and the two second rails 82 on the movable body 3 side. Therefore, even if an external force is applied to the movable body 3, the displacement of the movable body 3 in the second direction Y and the third direction Z is suppressed by the guide mechanism 8. Therefore, even in the state where an external force is applied to the movable body 3, the movable body 3 can be appropriately vibrated in the first direction X.

The two first rails 81 and the two second rails 82 each have a convex curved surface for supporting the rolling balls 83, so the rolling ball 823 support 2 side (first rail 81) And the contact area between the rolling ball 83 and the movable body 3 side (second rail 82) are narrow. Therefore, since the sliding resistance when the movable body 3 vibrates in the first direction X is small, the movable body 3 can be vibrated in the first direction X smoothly. Further, since each of the first rail 81 and the second rail 82 has a round bar shape, each of the first rail 81 and the second rail 82 has high strength.

The guide mechanism 8 (guide unit 80) is disposed at one side Y1 of the movable body 3 in the second direction Y at two points separated in the first direction X, and in the other side Y2 of the movable body 3 in the second direction Y It is provided in a total of four places of two places separated by X. Therefore, the movable body 3 can be properly guided in a stable posture.

Further, since the visco-elastic members (the first visco-elastic member 910 and the second visco-elastic member 920) are disposed between the movable body 3 and the support body 2, when the movable body 3 is vibrated, the first viscosity The elastic member 910 and the second viscoelastic member 920 exhibit a damper function. Therefore, the movable body 3 does not easily resonate. In addition, the first viscoelastic member 910 is disposed at a portion where the movable body 3 is opposed to the support 2 on the one side X1 in the first direction X, and the second viscoelastic member 920 has the movable body 3 as a support It is arrange | positioned in the part which opposes by the other side X2 of 1st direction X with respect to 2. FIG. Therefore, the relative position between the movable body 3 and the support 2 fluctuates in the first direction X, and the distance between the movable body 3 and the support 2 at the portion where the first viscoelastic member 910 is disposed. When one of the distances between the movable body 3 and the support 2 at the portion where the second viscoelastic member 920 is disposed becomes wide, the other distance becomes narrow. Therefore, the characteristic obtained by combining the characteristic of the first viscoelastic member 910 and the characteristic of the second viscoelastic member 920 is not susceptible to the fluctuation of the above-mentioned interval. Therefore, the first viscoelastic member 910 and the second viscoelastic member 920 exert a stable function.

Each of the first viscoelastic member 910 and the second viscoelastic member 920 is in contact with the support 2 and the movable body 3 when the movable body 3 vibrates in the first direction X. Therefore, since the first viscoelastic member 910 and the second viscoelastic member 920 reliably follow the movement of the movable body 3, the resonance of the movable body 3 can be effectively prevented.

Further, while the drive mechanism 5 is at rest, the first viscoelastic member 910 and the second viscoelastic member 920 are each compressed in the first direction X. For this reason, since the first viscoelastic member 910 and the second viscoelastic member 920 reliably follow the movement of the movable body 3, the resonance of the movable body 3 can be effectively prevented. In addition, when the movable body 3 vibrates, the first visco-elastic member 910 and the second visco-elastic member 920 always exert a force to tend to expand within a predetermined stroke. The viscoelastic member 920 exhibits a stable damper function. That is, when pressed in the thickness direction (axial direction) and compressed and deformed, the visco-elastic member has an expansion and contraction characteristic in which a non-linear component (spring coefficient) is larger than a linear component (spring coefficient). On the other hand, when it is pulled and extended in the thickness direction (axial direction), it has an expansion and contraction characteristic in which a linear component (spring coefficient) is larger than a non-linear component (spring coefficient). Therefore, as in the present embodiment, when the first viscoelastic member 910 and the second viscoelastic member 920 are in the state of being compressed in the first direction X, the first viscoelastic member 910 and the second viscoelastic member 920 are used. The spring force by the direction of movement becomes constant. Therefore, as in the present embodiment, since the repeatability of the vibration acceleration with respect to the input signal can be improved, it is possible to realize the vibration having a subtle nuance.

(Other embodiments)
In the above embodiment, the present invention is applied to the actuator 1 that drives the movable body 3 only in the first direction X. However, the present invention is applied to the actuator 1 that drives the movable body 3 in the first direction X and the second direction Y You may

X ... 1st direction, Y ... 2nd direction, Z ... 3rd direction, 1 ... actuator, 2 ... support body, 3 ... movable body, 5 ... drive mechanism, 5a ... movable body side component, 5b ... support body side component 8, 8: guide mechanism, 21: base member, 22: holder portion, 23: first convex portion, 24: second convex portion, 25: cover, 30: frame body, 31: first wall portion, 32: second portion Wall part 33: Third wall part 34: Fourth wall part 38: Output member 51: First magnetic core 52: Second magnetic core 54: Armature 55: Bobbin 56: Permanent magnet DESCRIPTION OF SYMBOLS 57 ... 1st armature core, 58 ... 2nd armature core, 59 ... Drive coil, 80 ... Guide unit, 81 ... 1st rail, 82 ... 2nd rail, 83 ... Rolling ball, 91 ... 1st elastic member , 92: second elastic member, 221 to 226, columnar portion, 250: flat plate portion, 250a: opening, 251, ... 1 side plate portion 252: second side plate portion 310, 320: inner surface 315, 325:

bottom plate portion

316, 317, 318, 326, 327, 328: shaft portion 511: first salient pole, 521: second Salient pole, 540 ... armature unit, 571, 581 ... engagement recess, 910 ... first visco-elastic member, 920 ... second visco-elastic member

Claims

A support,
Movable body,
An elastic member connected to the movable body and the support;
A drive mechanism that vibrates the movable body in the first direction with respect to the support;
Have
The driving mechanism is configured such that a first salient pole, which protrudes from one side in a second direction intersecting the first direction in one side member of the support and the movable body, to the other side in the first direction A plurality of first magnetic cores provided along the first side, and the one side member faces the first magnetic core on the other side in the second direction and protrudes from the other side in the second direction toward the one side In the second magnetic core in which two salient poles are provided in a phase opposite to the first salient pole along the first direction, and in the other side member of the support and the movable body, the first magnetic core And an armature provided between the second magnetic core and the second magnetic core,
The armature includes a permanent magnet magnetized in the first direction, a first armature core overlapping the permanent magnet from one side in the first direction, and a permanent magnet from the other side in the first direction. An actuator comprising: an overlapping second armature core; and a drive coil wound so as to pass through the outer surface side of the first armature core and the outer surface side of the second armature core.
In the armature, a plurality of armature units including the permanent magnet, the first armature core, the second armature core, and a drive coil are disposed along the first direction. The actuator according to claim 1.
The first magnetic core and the second magnetic core are provided on the movable body,
The actuator according to claim 1, wherein the armature is provided on the support.
The support comprises a holder portion for holding the armature,
The movable body is a nonmagnetic first wall facing the holder on one side in the second direction;
The holder portion includes a nonmagnetic second wall opposed on the other side in the second direction;
The first magnetic core is disposed so as to overlap the surface of the first wall facing the holder.
The actuator according to claim 3, wherein the second magnetic core is disposed so as to overlap a surface of the second wall facing the holder.
The movable body is connected to at least one of the first wall and the second wall and is connected to at least one of the first wall and the second wall from the one side in a third direction intersecting the first direction and the second direction. The actuator according to claim 4, further comprising a covering output member.
One end of the first wall in the first direction, the other end of the first wall in the first direction, and one end of the second wall in the first direction A guide mechanism for guiding the movable body in the first direction is provided at each of four places in total at the other end of the second wall in the first direction on the other side. The actuator according to 4 or 5.
The actuator according to claim 6, wherein the guide mechanism comprises rolling balls supported at both sides in the second direction by the movable body and the support at each of the four locations.
The elastic member is a portion where the movable body and the support body face in the first direction on one side in the first direction with respect to the movable body, and the other in the first direction with respect to the movable body. The actuator according to claim 3, wherein the movable body and the support body are provided on the side facing each other in the first direction.
The actuator according to claim 8, wherein the elastic member is a visco-elastic member.
A support,
Movable body,
A drive mechanism for vibrating the movable body in a first direction with respect to the support;
A guide mechanism provided at a position where the movable body and the support body face each other in a second direction intersecting the first direction, and guiding the movable body in the first direction;
Have
The guide mechanism includes two first rails extending in the first direction in parallel in a third direction intersecting the first direction and the second direction on the support side, and the second guide mechanism on the movable body side Rolling supported from both sides in the second direction by the two second rails extending in the first direction in parallel in three directions, the two first rails, and the two second rails And a ball.
When cut by a plane perpendicular to the first direction, the two first rails and the two second rails each have a convex curved surface for supporting the rolling balls. The actuator according to claim 10, wherein
The actuator according to claim 11, wherein the two first rails and the two second rails are each in a round bar shape.
The guide mechanism includes a guide unit including the two first rails, the two second rails, and the rolling balls in one side of the movable body in the second direction. 13. The apparatus according to any one of claims 10 to 12, characterized in that it is provided at a total of four places, two places apart and two places separated in the first direction on the other side of the second direction of the movable body. The actuator according to the item.
The actuator according to claim 13, wherein the drive mechanism is disposed in the space surrounded by the four points when viewed in the third direction.
The support includes a holder for holding a support-side component for configuring the drive mechanism,
The movable body includes a first wall facing the holder on one side in the second direction, and a second wall facing the holder on the other side in the second direction,
The guide mechanism includes an end on one side of the first wall in the first direction, an end on the other side in the first direction of the first wall, and the first direction of the second wall. The actuator according to claim 14, wherein the actuator is provided at four locations in total: one end and the other end of the second wall in the first direction.
The movable body has an output member connected to at least one of the first wall portion and the second wall portion to cover the drive mechanism from one side in the third direction. The actuator according to claim 15, wherein
The actuator according to claim 13, further comprising an elastic member connected to the movable body and the support.
The elastic member is a portion where the movable body and the support body face in the first direction on one side in the first direction with respect to the movable body, and the other in the first direction with respect to the movable body. 18. The actuator according to claim 17, wherein the movable body and the support are provided on the side facing each other in the first direction.
A support,
Movable body,
A drive mechanism for vibrating the movable body in a first direction with respect to the support;
A first visco-elastic member provided at a portion where the movable body is opposed to the support on one side in the first direction;
A second visco-elastic member provided at a portion where the movable body is opposed to the support on the other side in the first direction;
An actuator characterized by having.
The first visco-elastic member is provided at a portion where the end portions on one side of the movable body and the support in the first direction face each other in the first direction,
20. The apparatus according to claim 19, wherein the second visco-elastic member is provided at a portion where the movable body and the other end of the support in the first direction face each other in the first direction. Actuator described.
The first and second visco-elastic members are each in contact with the support and the movable body when the movable body vibrates in the first direction. The actuator described in.
The actuator according to claim 21, wherein the first visco-elastic member and the second visco-elastic member are each compressed in the first direction while the drive mechanism is stopped.
The driving mechanism is disposed at a portion where the movable body and the support body face in a second direction intersecting the first direction.
The holder for holding the support member for forming the drive mechanism by projecting the base member and one side of a third direction intersecting the first direction and the second direction from the base member Portion, a first convex portion projecting from the base member to one side in the third direction on one side in the first direction with respect to the holder portion, and the other side in the first direction with respect to the holder portion And a second convex portion protruding from the base member in one of the third directions,
The movable body has a first wall facing the holder on one side in the second direction, a second wall facing the holder on the other side in the second direction, and the first protrusion. A third wall facing one side in the first direction, and a fourth wall facing the second protrusion on the other side in the first direction,
A part of the movable-body-side component for configuring the drive mechanism is disposed to overlap the surface of the first wall facing the holder, and the surface of the second wall facing the holder is provided. The other part of the movable body side component is disposed so as to overlap, the first viscoelastic member is disposed between the first convex portion and the third wall portion, and the second convex portion and the second convex portion 22. An actuator according to any one of the preceding claims, characterized in that the second visco-elastic member is arranged between the four walls.
The movable body is connected to at least one wall of the first wall, the second wall, the third wall, and the fourth wall so that the driving mechanism can move in the third direction. The actuator according to claim 23, further comprising an output member that covers from one side.
One end of the first wall in the first direction, the other end of the first wall in the first direction, and one end of the second wall in the first direction And a guide mechanism for guiding the movable body in the first direction is provided at each of four places in total at the other end of the second wall in the first direction on the other side. Item 25. The actuator according to item 23 or 24.
26. The actuator according to claim 25, wherein the guide mechanism comprises rolling balls supported on both sides in the second direction by the movable body and the support at each of the four locations.