Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
  • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
  • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
  • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
  • B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
  • B06B1/045—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism using vibrating magnet, armature or coil system

Definitions

• the technology disclosed herein relates to a vibration device.
• JP 2021-186710 A discloses a technology that mechanically suppresses vibration by arranging multiple coil springs on both sides of a moving element to obtain vibration suppression effects and durability.
• the technology disclosed herein takes the above facts into consideration and aims to provide a vibration device that can achieve complex vibration control.
• One aspect of the present disclosure is a vibration device that includes a housing, a vibrator that provides vibration and includes a permanent magnet, and a cylindrical electromagnetic drive unit that is provided inside the housing and has a plurality of coils that are spaced apart along the vibration axis of the vibrator, each of the coils being connected to an independent external connection portion, and that is configured to output a drive signal or control signal to the external connection portion.
• the vibration device of the disclosed technology can achieve complex vibration control.
• FIG. 1 is a schematic diagram of a vibration device according to an embodiment of the technique of the present disclosure.
• 2 is a block diagram showing a configuration of a control unit of a vibration device according to a first embodiment of the technique of the present disclosure.
• FIG. FIG. 11 is a diagram for explaining a method of adjusting a control signal.
• 13 is a diagram for explaining a method of adjusting the level of a drive signal so as to suppress it when the compression ratio is "2:1" and the threshold value TH is "10".
• FIG. 13 is a diagram for explaining a method of adjusting the level of a drive signal so as to suppress it when the compression ratio is "3:1" and the threshold value TH is "15".
• FIG. 5 is a flowchart showing a vibration control processing routine performed by a control unit of the vibration device according to the first embodiment of the technique of the present disclosure.
• 13 is a diagram for explaining a method of adjusting the level of a drive signal so as to suppress it according to a combination of the movement direction and acceleration of a vibrator.
• FIG. 13 is a diagram for explaining a method of adjusting the level of a drive signal so as to suppress it according to a combination of the movement direction and acceleration of a vibrator.
• FIG. 13 is a diagram for explaining a method of adjusting the level of a drive signal so as to suppress it according to a combination of the movement direction and acceleration of a vibrator.
• FIG. 13 is a diagram for explaining a method of adjusting the level of a drive signal so as to suppress it according to a combination of the movement direction and acceleration of a vibrator.
• FIG. 13 is a diagram for explaining a method of adjusting the level of a drive signal so as to suppress it according to a combination of the movement direction and acceleration of a vibrator.
• FIG. 13 is a block diagram showing a configuration of a control unit of a vibration device according to a fourth embodiment of the technique of the present disclosure.
• FIG. 13 is a flowchart showing a vibration control processing routine performed by a control unit of a vibration device according to a fourth embodiment of the technique of the present disclosure.
• 13 is a block diagram showing a configuration of a control unit of a vibration device according to a fifth embodiment of the technique of the present disclosure.
• FIG. 13 is a flowchart showing a vibration control processing routine performed by a control unit of a vibration device according to a fifth embodiment of the technique of the present disclosure.
• 13 is a block diagram showing a configuration of a control unit of a vibration device according to a sixth embodiment of the technique of the present disclosure.
• FIG. 13 is a block diagram showing a configuration of a control unit of a vibration device according to a seventh embodiment of the technique of the present disclosure.
• FIG. 11 is a graph showing changes in a control signal, a magnetic force, and a position of a transducer.
• FIG. 1 is a perspective view showing a configuration of a vibration device according to a conventional technique.
• FIG. 1 is a schematic diagram showing a stationary state of a vibration device according to the prior art.
• FIG. 1 is a schematic diagram showing a driving state of a vibration device in the prior art.
• FIG. 1 is a schematic diagram showing a driving state of a vibration device in the prior art.
• FIG. 1 is a schematic diagram showing a driving state of a vibration device in the prior art.
• 13 is a schematic diagram of a vibration device according to an eighth embodiment of the technology of the present disclosure.
• FIG. 23 is a cross-sectional view showing a configuration of an actuator of a vibration device according to an eighth embodiment of the technique of the present disclosure.
• FIG. 13 is a schematic diagram showing a configuration of an actuator of a vibration device according to an eighth embodiment of the technique of the present disclosure.
• FIG. 23 is a schematic diagram showing the connection relationship between an actuator and a control unit of a vibration device according to an eighth embodiment of the technique of the present disclosure.
• FIG. 13 is a graph showing the magnitude, x-component, and z-component of magnetic flux versus displacement at the center of a side surface of a housing of a magnetic circuit having a pair of coils.
• 11 is a graph showing the magnitude, x-component, and z-component of magnetic flux versus displacement at the center of the top surface of a housing of a magnetic circuit having a pair of coils.
• Voice coil actuators as shown in Fig. 15A are used to transmit vibrations to the hand, body, etc. and to reproduce artificial sensations and tactile sensations, etc.
• Voice coil actuators are built into game controllers, massagers, etc., and are often used in environments that are not constant but constantly changing, such as being held in the hand or in contact with the body.
• the voice coil actuator has a magnet supported by a suspension inside the housing.
• Figure 15B is a cross-sectional view showing an example of the internal structure of a voice coil actuator in a stationary state.
• the internal magnet may physically come into contact with the inner wall of the housing, generating abnormal noise. This is particularly noticeable in devices that are held in the hand and are not used in a constant state (e.g., game controllers, massagers, etc.). It is also likely to occur when the voice coil actuator is driven with a drive signal close to its resonant frequency or the maximum allowable drive signal, which is used when it is desired to transmit large vibrations.
• a magnetic detection sensor is provided on the outside of the actuator housing, and the movement direction and acceleration of the vibrator are identified based on the change in position of the internal vibrator (magnet) that changes with the input. Based on the movement direction and acceleration, the level of the control signal is controlled to suppress the movement of the vibrator just before it physically hits the housing, or compared with the input drive signal and a control signal according to the difference is output to the actuator 10, thereby controlling the vibration of the vibrator 12.
• the movement of the vibrator is directly captured and used to control the drive of the vibrator, it is possible to respond to various fluctuations in physical loads. Furthermore, because the movement of the vibrator is captured, control is possible even in the event of an excessively large drive signal being input.
• the magnetic detection sensor can be installed anywhere on the outside of the housing. This makes it possible to apply the technology to existing actuators of various shapes. In other words, there is no need to modify existing actuators.
• FIG. 1 shows a schematic diagram of a vibration device 100 according to an embodiment of the disclosed technique.
• the vibration device 100 includes an actuator 10, a magnetic detection sensor 20 provided on the surface of a housing 10A, and a control unit 30.
• the actuator 10 includes a housing 10A, a vibrator 12 provided within the housing 10A, and a suspension 14 that supports the vibrator 12.
• the actuator 10 is, for example, a voice coil type actuator.
• the magnetic detection sensor 20 detects magnetic force, which is the magnitude of the magnetism from the vibrator 12, which changes in response to the input of a drive signal. As the vibrator 12 moves within the housing 10A in response to the input of a drive signal, the difference in magnetic force is detected based on the relative positions of the vibrator 12 and the magnetic detection sensor 20.
• a linear type Hall element can be used as the magnetic detection sensor 20.
• control unit 30 includes a drive signal input unit 32, a sensor signal input unit 34, an AD conversion unit 36, a determination unit 38, a signal adjustment unit 40, and a drive circuit 42.
• the drive signal input unit 32 accepts the input of a drive signal from an external source (e.g., an audio player, a game controller, a massager, etc.).
• an external source e.g., an audio player, a game controller, a massager, etc.
• a drive signal is accepted from an external source, this is not limiting.
• a signal pattern or sound source signal stored in advance, or a signal pattern or sound source signal generated by a program may be accepted as the drive signal.
• the sensor signal input unit 34 receives the input of a sensor signal corresponding to the magnetic force detected by the magnetic detection sensor 20.
• the AD conversion unit 36 performs AD conversion of the sensor signal received by the sensor signal input unit 34 and outputs a digital signal.
• the determination unit 38 determines whether the magnetic force detected by the magnetic detection sensor 20 is equal to or greater than a threshold value based on the output of the AD conversion unit 36.
• the signal adjustment unit 40 adjusts the level of the drive signal to be suppressed based on the magnetic force detected by the magnetic detection sensor 20.
• the drive circuit 42 outputs a control signal to the actuator 10 to vibrate the vibrator 12 in response to the drive signal.
• Figure 3 shows the relationship between the drive signal level and the detected magnetic force for various methods of use and fixing.
• the main body such as a game controller
• the main body may be moved in a direction greater than when it is firmly fixed, or less than when it is held somewhat loosely, and effective control is required even in such cases.
• the drive signal level is adjusted in the dot area shown in Figure 3. Also, in the dot area, the adjustment is greater the higher you go.
• the compression method is used as an example of a method for adjusting the drive signal.
• the magnetic force detected by the magnetic detection sensor 20 is used as the position of the vibrator 12 (permanent magnet), and when this value exceeds a set threshold value TH, the output level of the drive signal is adjusted at a set compression ratio.
• the output level of the drive signal is adjusted to be suppressed at a specified compression ratio when the magnetic force is "10" or more.
• the magnetic force is "20" or more, it will plateau (contact the housing 10A) (see the dotted area in Figure 4).
• the output level is permitted up to "30".
• the compression ratio is used as the ratio by which the part of the drive signal that exceeds the input level corresponding to the threshold value TH is compressed when the threshold value TH is exceeded. For example, “2:1”, “3:1”, “4:1”, etc. can be used.
• the output level for each compression ratio will be as follows:
• the output level of the drive signal is adjusted to be suppressed at a predetermined compression ratio when the magnetic force is "15” or more. If the compression ratio is "3:1", even if the maximum magnetic force is “20”, it can be handled by outputting "30", which is the upper limit of the output level of the drive signal. Note that the triangular area (gray area in FIG. 5) connecting the threshold TH “15", the magnetic force "20”, and the output level "30” becomes unusable. However, it is smaller than the triangular area when the threshold TH is "10" in FIG. 4.
• the signal adjustment unit 40 uses the magnetic force detected by the magnetic detection sensor 20 to determine the position of the vibrator 12, which is a permanent magnet, and controls the output level of the drive signal based on that value to control the position of the vibrator 12. In other words, as the vibrator 12 moves within the housing 10A due to the input of the drive signal, the signal adjustment unit 40 detects the difference in magnetic force based on the relative positions of the vibrator 12 and the magnetic detection sensor 20, and adjusts the output level of the drive signal.
• the control unit 30 receives an input of a drive signal from the outside.
• the control unit 30 also receives an input of a sensor signal from the magnetic detection sensor 20. At this time, the control unit 30 repeatedly executes a vibration control process routine shown in FIG.
• step S100 the drive signal input unit 32 acquires the input drive signal.
• step S102 the sensor signal input unit 34 acquires the input sensor signal.
• step S104 the AD conversion unit 36 performs AD conversion on the sensor signal received by the sensor signal input unit 34 and outputs a digital signal.
• step S106 the determination unit 38 determines whether the magnetic force detected by the magnetic detection sensor 20 is equal to or greater than a threshold value based on the output of the AD conversion unit 36. If the magnetic force detected by the magnetic detection sensor 20 is less than the threshold value, the process proceeds to step S110 without adjusting the drive signal. On the other hand, if the magnetic force detected by the magnetic detection sensor 20 is equal to or greater than the threshold value, the process proceeds to step S108.
• step S108 if the magnetic force detected by the magnetic detection sensor 20 is determined to be equal to or greater than the threshold value, the signal adjustment unit 40 adjusts the level of the drive signal to be suppressed.
• step S110 the drive circuit 42 outputs a control signal to the actuator 10 to drive the vibrator 12 in accordance with the drive signal acquired in step S100 or the drive signal adjusted in step S108.
• the magnetic detection sensor detects the magnetic force corresponding to the displacement of the vibrator.
• the control unit adjusts the input drive signal according to the magnetic force, and vibrates the actuator vibrator based on the adjusted drive signal. This makes it possible to prevent the vibrator from coming into contact with the housing.
• the method for adjusting the drive signal differs from that in the first embodiment.
• the signal adjustment unit 40 of the control unit 30 of the vibration device 100 adjusts the level of the drive signal based on the magnetic force detected by the magnetic detection sensor 20 and the level of the drive signal.
• the level of the drive signal is adjusted according to the combination of the magnetic force detected by the magnetic detection sensor 20 and the current level of the drive signal.
• the drive signal level is adjusted to be strongly suppressed. At this time, the drive signal level is adjusted to be strongly suppressed regardless of the current drive signal level.
• the drive signal level is adjusted to be suppressed according to the current drive signal level. At this time, if the drive signal level is high, the drive signal level is adjusted to be suppressed less. On the other hand, if the drive signal level is low, the drive signal level is adjusted to be suppressed more.
• the level of the drive signal is not adjusted regardless of the current drive signal level.
• the drive signal level is adjusted to be increased depending on the current drive signal level.
• the magnetic detection sensor detects the magnetic force corresponding to the displacement of the vibrator.
• the control unit adjusts the input drive signal according to the combination of the magnetic force and the level of the drive signal, and vibrates the actuator vibrator based on the adjusted drive signal. This prevents the vibrator from coming into contact with the housing and transmits vibrations in an optimal manner.
• the method for adjusting the drive signal differs from the first and second embodiments.
• the signal adjustment unit 40 of the control unit 30 of the vibration device 100 identifies the movement direction and acceleration of the vibrator 12 based on the change per unit time of the magnetic force detected by the magnetic detection sensor 20.
• the signal adjustment unit 40 adjusts the level of the drive signal to suppress it based on the movement direction and acceleration of the vibrator 12.
• the level of the drive signal is adjusted to be suppressed according to a combination of the movement direction of the vibrator 12, the magnetic force, the level of the drive signal, and the acceleration.
• the drive signal level is adjusted to be strongly suppressed (see FIG. 7A). At this time, the drive signal level is adjusted to be strongly suppressed regardless of the current drive signal level.
• FIG 7A an example is shown in which the level of the drive signal is adjusted to be strongly suppressed (see the dotted arrow mark in Figure 7A) when the vibrator 12 is closer to the magnetic detection sensor 20 compared to the reference position (see the dashed line in Figure 7A) and the acceleration of the vibrator 12 is large (see the hollow arrow mark in Figure 7A).
• FIG. 7B shows an example in which, compared to the reference position (see dashed dotted line in FIG. 7B), the vibrator 12 is closer to the magnetic detection sensor 20 and the acceleration of the vibrator 12 is small (see the hollow arrow mark in FIG. 7B), and the level of the drive signal is adjusted to be suppressed according to the current drive signal level (see the dotted arrow mark in FIG. 7B).
• FIG. 7C shows an example in which the vibrator 12 has moved away from the magnetic detection sensor 20 to the vicinity of the reference position (see the dashed dotted line in FIG. 7C) and the acceleration of the vibrator 12 is large (see the hollow arrow mark in FIG. 7C), and the level of the drive signal is adjusted to be suppressed in accordance with the drive signal level (see the dotted arrow mark in FIG. 7C).
• FIG. 7D shows an example in which the level of the drive signal is not adjusted when the vibrator 12 has moved away from the magnetic detection sensor 20 to near the reference position (see dashed dotted line in FIG. 7D) and the acceleration of the vibrator 12 is small (see the hollow arrow mark in FIG. 7D).
• the acceleration and direction of motion of the vibrator 12 are identified, and the level of the drive signal is adjusted so that the vibrator 12 does not collide with the housing 10A.
• the level of the drive signal is adjusted. This is done intermittently. The more frequent the adjustment, the more precise the control that can be achieved.
• the magnetic detection sensor detects the magnetic force corresponding to the displacement of the vibrator.
• the control unit determines the movement direction and acceleration of the vibrator based on the change in magnetic force, adjusts the input drive signal according to the combination of the movement direction and acceleration of the vibrator, and vibrates the actuator vibrator based on the adjusted drive signal. This makes it possible to prevent the vibrator from coming into contact with the housing.
• the fourth embodiment differs from the first to third embodiments in that a brake signal is generated to stop the vibration of the vibrator 12.
• the control unit 430 includes a drive signal input unit 32, a sensor signal input unit 34, an AD conversion unit 36, a determination unit 38, a brake signal generation unit 440, and a drive circuit 42.
• the brake signal generating unit 440 outputs a brake signal to stop driving the vibrator 12 when it is determined that the magnetic force detected by the magnetic detection sensor 20 is equal to or greater than the threshold value.
• the brake signal generating unit 440 generates a signal opposite to the movement of the vibrator 12 or a signal with a DC component and outputs it as a brake signal to forcibly stop the vibration of the vibrator 12.
• the movement of the vibrator 12 is predicted from the change in magnetic force detected by the magnetic detection sensor 20.
• the brake signal generating unit 440 uses the magnetic force detected by the magnetic detection sensor 20 to generate a brake signal according to that value and control the position of the vibrator 12. In other words, the stronger the magnetic force, the more the brake signal is generated to forcibly stop the vibration of the vibrator 12.
• the drive circuit 42 outputs a control signal to the actuator 10 to vibrate the vibrator 12 in response to the drive signal and the brake signal. Specifically, the drive circuit 42 switches the drive signal to a brake signal and outputs a control signal to the actuator 10 to vibrate the vibrator 12.
• the control unit 30 receives an input of a drive signal from the outside.
• the control unit 30 also receives an input of a sensor signal from the magnetic detection sensor 20. At this time, the control unit 30 repeatedly executes a vibration control process routine shown in FIG.
• step S100 the drive signal input unit 32 acquires the input drive signal.
• step S102 the sensor signal input unit 34 acquires the input sensor signal.
• step S104 the AD conversion unit 36 performs AD conversion on the sensor signal received by the sensor signal input unit 34 and outputs a digital signal.
• step S106 the determination unit 38 determines whether the magnetic force detected by the magnetic detection sensor 20 is equal to or greater than a threshold value based on the output of the AD conversion unit 36. If the magnetic force detected by the magnetic detection sensor 20 is less than the threshold value, the process proceeds to step S402 without generating a brake signal. On the other hand, if the magnetic force detected by the magnetic detection sensor 20 is equal to or greater than the threshold value, the process proceeds to step S400.
• step S400 the brake signal generating unit 440 outputs a brake signal to stop driving the vibrator 12.
• step S402 the drive circuit 42 outputs a control signal corresponding to the drive signal acquired in step S100 and the brake signal generated in step S400 to the actuator 10, thereby driving the actuator 10.
• the magnetic detection sensor detects the magnetic force corresponding to the displacement of the vibrator.
• the control unit generates a brake signal according to the magnetic force, and vibrates the actuator vibrator based on the drive signal and the brake signal. This makes it possible to prevent the vibrator from coming into contact with the housing.
• the fifth embodiment differs from the fourth embodiment in that a stop signal is generated to stop the output of a control signal to the actuator 10.
• the control unit 530 includes a drive signal input unit 32, a sensor signal input unit 34, an AD conversion unit 36, a determination unit 38, a stop signal generation unit 540, and a drive circuit 42.
• the stop signal generating unit 540 outputs a stop signal to stop the output of the control signal to the actuator 10.
• the stop signal generating unit 540 outputs a stop signal that stops the output of the drive circuit 42 in order to stop the vibration of the vibrator 12.
• the drive circuit 42 vibrates the vibrator 12 in response to the drive signal. At this time, when a stop signal is input, the drive circuit 42 stops outputting the control signal to the actuator 10.
• the control unit 30 receives an input of a drive signal from the outside.
• the control unit 30 also receives an input of a sensor signal from the magnetic detection sensor 20. At this time, the control unit 30 repeatedly executes a vibration control process routine shown in FIG.
• step S100 the drive signal input unit 32 acquires the input drive signal.
• step S102 the sensor signal input unit 34 acquires the input sensor signal.
• step S104 the AD conversion unit 36 performs AD conversion on the sensor signal received by the sensor signal input unit 34 and outputs a digital signal.
• step S106 the determination unit 38 determines whether the magnetic force detected by the magnetic detection sensor 20 is equal to or greater than a threshold value based on the output of the AD conversion unit 36. If the magnetic force detected by the magnetic detection sensor 20 is less than the threshold value, the process proceeds to step S502 without generating a stop signal. On the other hand, if the magnetic force detected by the magnetic detection sensor 20 is equal to or greater than the threshold value, the process proceeds to step S500.
• step S500 the stop signal generating unit 540 outputs a stop signal that stops the output of the drive circuit 42.
• step S502 the drive circuit 42 vibrates the vibrator 12 in response to the drive signal acquired in step S100. At this time, when the stop signal output in step S500 is input, the drive circuit 42 stops outputting the control signal to the actuator 10.
• the magnetic detection sensor detects the magnetic force corresponding to the displacement of the vibrator, and the control unit generates a stop signal according to the magnetic force, and vibrates the actuator vibrator based on the drive signal and the stop signal. This makes it possible to prevent the vibrator from coming into contact with the housing.
• the sixth embodiment differs from the first embodiment in that the drive circuit performs feedback control using the sensor signal as a feedback signal.
• the control unit 630 of the vibration device 100 according to the sixth embodiment includes a drive signal input unit 32 , a sensor signal input unit 34 , and a drive circuit 642 .
• the sensor signal of the magnetic detection sensor 20 is returned to the drive circuit 642 as a feedback signal.
• the drive circuit 642 compares it with the input drive signal and outputs a control signal according to the difference to the actuator 10, thereby controlling the vibration of the vibrator 12 according to the magnetic force detected by the magnetic detection sensor 20.
• the control unit 630 receives an input of a drive signal from an external device, and also receives an input of a sensor signal from the magnetic detection sensor 20.
• the drive signal input unit 32 acquires the input drive signal.
• the sensor signal input unit 34 acquires the input sensor signal.
• the drive circuit 642 then outputs a control signal to the actuator 10 according to the difference between the acquired drive signal and the acquired sensor signal, thereby driving the actuator 10.
• the magnetic detection sensor detects the magnetic force corresponding to the displacement of the vibrator and outputs a sensor signal
• the control unit uses the sensor signal as a feedback signal to vibrate the vibrator of the actuator. This makes it possible to prevent the vibrator from coming into contact with the housing.
• control configuration is simple, and conventional feedback circuits can be applied. Furthermore, complex control programs and algorithms are not required. Furthermore, the sensor signal from the magnetic detection sensor is sent directly to the drive circuit, minimizing delays and enabling rapid control.
• the feedback control described in the sixth embodiment may be applied to each of the first to fifth embodiments. Specifically, as shown in Figs. 2, 8, and 10, the sensor signal input unit 34 outputs a sensor signal as a feedback signal to the drive circuit 42. The drive circuit 42 outputs a control signal to the actuator 10 according to the difference between the acquired drive signal and the acquired sensor signal, thereby driving the actuator 10.
• the seventh embodiment differs from the first embodiment in that the output of the drive circuit is stopped at the timing when a sensor signal is acquired from the magnetic detection sensor.
• the control unit 730 of the vibration device 100 according to the seventh embodiment includes a drive signal input unit 32, a sensor signal input unit 34, an AD conversion unit 36, a judgment unit 38, a signal adjustment unit 40, a drive circuit 42, and a stop signal generation unit 740.
• the stop signal generating unit 740 outputs a stop signal that stops the output of the drive circuit 42 when the sensor signal input unit 34 acquires a sensor signal from the magnetic detection sensor 20.
• the output of the control signal is stopped for a short period during which the magnetic force is measured (a period during which the movement of the transducer is not impeded), allowing for a more accurate measurement of the magnetic force and the position of the transducer 12 to be determined.
• the magnetic force measured by the magnetic detection sensor is considered to be the sum of the magnetic force of the vibrator, including the permanent magnet, and the magnetic force generated by the coil in the actuator. To detect the exact position of the vibrator, it is desirable to detect only the magnetic force of the vibrator. Therefore, in this embodiment, the effect of the magnetic force generated by the coil can be suppressed by stopping the output of the control signal when measuring the magnetic force.
• the eighth embodiment differs from the first embodiment in that a magnetic detection sensor 20 is provided in the center of the side of the housing 10A, and that a voice coil type actuator having a pair of coils is used to generate a control signal to the actuator to provide a traction force.
• the vibration device 800 includes an actuator 901, a magnetic detection sensor 20 provided on the surface of the housing 10A, and a control unit 900.
• the magnetic detection sensor 20 is provided on the side surface of the housing 10A.
• Fig. 17 shows an example in which the magnetic detection sensor 20 is provided in the center of the side surface of the housing 10A.
• the actuator 901 is mainly composed of a housing 10A forming an outer shell, an electromagnetic drive unit 3 provided within the housing 10A, a vibrator 12 that can be vibrated by the electromagnetic drive unit 3, a first support unit 5a and a second support unit 5b that elastically support both ends of the vibrator 12, and a first inner guide 6a and a second inner guide 6b that regulate the movement of the first support unit 5a and the second support unit 5b.
• the housing 10A has a cylindrical housing body, with both open ends closed by a first cover case 11a and a second cover case 11b.
• the electromagnetic drive unit 3 has a cylindrical yoke 41 made of soft magnetic material arranged inside the housing 10A, and a first coil 21a and a second coil 21b attached to the inner surface of the yoke 41 while being electrically insulated from the yoke 41.
• the first coil 21a and the second coil 21b are wound around the inner surface of the yoke 41.
• the first coil 21a and the second coil 21b can generate a magnetic field when electricity is passed through the terminals.
• the vibrator 12 is surrounded by the first coil 21a and the second coil 21b and is arranged to vibrate along the vibration axis O.
• the vibrator 12 is composed of a disk-shaped magnet 50, a disk-shaped first pole piece 51a and a disk-shaped second pole piece 51b arranged to sandwich the magnet 50, and a first mass (weight, weight) 52a and a second mass (weight, weight) 52b arranged to sandwich the magnet 50, the first pole piece 51a, and the second pole piece 51b.
• the magnet 50 is magnetized in the direction of the vibration axis O.
• the first pole piece 51a and the second pole piece 51b are made of a soft magnetic material and are attached to the magnet 50 by the magnetic attraction of the magnet 50 and adhesives or the like.
• the first mass 52a and the second mass 52b are made of a non-magnetic material and are attached to the first pole piece 51a and the second pole piece 51b by adhesives or the like. Therefore, the magnet 50, the first pole piece 51a, the second pole piece 51b, the first mass 52a, and the second mass 52b that constitute the vibrator 12 are integrated.
• the first mass 52a and the second mass 52b have flat contact surfaces with the first pole piece 51a and the second pole piece 51b. The surface opposite to this contact surface is formed in a spiral shape with the vibration axis O as the central axis and the tips 53a and 53b on the central axis protruding furthest outward.
• the vibrator 12 thus configured has both ends in the direction of the vibration axis O, i.e., the tips 53a and 53b of the first mass 52a and the second mass 52b, supported by the first support unit 5a and the second support unit 5b.
• the first support unit 5a is composed of a first damper 60a (first leaf spring) and a first elastic member 61a provided on one side of the first damper 60a.
• the first damper 60a has a support portion 71a with a hole 70a formed in the center.
• the first damper 60a is connected to the vibrator 12 through the hole 70a. More specifically, the tip portion 53a of the first mass 52a is inserted into the hole 70a, and the tip portion 53a is crimped by being crushed.
• the first damper 60a also has three arms 72a that extend in a spiral shape from the support portion 71a to the outer periphery.
• the arms 72a are formed at equal intervals at 120° intervals around the vibration axis O.
• the outer periphery of each arm 72a is connected to an annular frame portion 73a that runs along the inner surface of the housing body.
• the frame portion 73a is connected to flange portions 13a that protrude radially inward at three points on the inner surface of the housing body, at positions spaced 120° apart around the vibration axis O.
• the first damper 60a is made of one or more metal leaf springs; for example, in this embodiment, a processed thin plate of stainless steel (spring material) is used.
• the material of the first damper 60a is not limited to metal, and may be a composite material containing resin or fiber. A material that is resistant to fatigue and has excellent flexibility is desirable.
• the first damper 60a thus configured can be elastically deformed within a predetermined range in the direction of the vibration axis O and in intersecting directions including the radial direction perpendicular to the vibration axis O.
• This predetermined range corresponds to the amplitude range of the vibrator 12 when normally used as the actuator 901. Therefore, this predetermined range is at least a range in which the first damper 60a does not come into contact with the housing 10A and does not exceed the limit of elastic deformation of the first damper 60a.
• the first elastic member 61a is plate-shaped with an outer shape that matches the shape of the support portion 71a of the first damper 60a to a certain range of each arm portion 72a, and is fixed to one side of the first damper 60a.
• the first elastic member 61a elastically deforms to damp the vibration of the first damper 60a.
• the second support unit 5b has the same configuration as the first support unit 5a, and has a second damper 60b (second leaf spring) and a second elastic member 61b.
• the second damper 60b and the first damper 60a have the same shape and are made of the same material
• the second elastic member 61b and the first elastic member 61a have the same shape and are made of the same material.
• the three arms 72b of the second damper 60b extend from the support portion 71b, in which the hole 70b is formed, to the annular frame portion 73b.
• the second damper 60b is connected to the vibrator 12 by inserting the tip portion 53b of the second mass 52b into the hole 70b and crushing and crimping it.
• the second damper 60b is connected to three flanges 13b, each of which has an annular frame 73b protruding from the inner surface of the housing body, by inserting the boss 14b of the flange 13b into a through hole formed in the frame 73b and crimping it.
• the spiral direction of each arm 72b of the second damper 60b is opposite to the spiral direction of each arm 72a of the first damper 60a.
• the first inner guide 6a is provided on one side of the actuator 901 in the direction of the vibration axis O, and is located on the other side of the actuator 901 in the direction of the vibration axis O (closer to the center of the housing 10A) than the first support unit 5a.
• the second inner guide 6b is provided on the other side of the actuator 901 in the direction of the vibration axis O, and is located on one side of the actuator 901 in the direction of the vibration axis O (closer to the center of the housing 10A) than the second support unit 5b.
• the first inner guide 6a and the second inner guide 6b are provided on the central side of the actuator 901 in the direction of the vibration axis O than the first support unit 5a and the second support unit 5b within the housing 10A.
• alternating current is passed through the first coil 21a and the second coil 21b in a direction that generates magnetic fields of alternately opposite polarities.
• the same polarity is generated in adjacent portions of the first coil 21a and the second coil 21b.
• a thrust is generated in the vibrator 12 toward the other side of the vibration axis O direction indicated by solid arrow A (to the right in FIG. 18B), and if the current flowing through the first coil 21a and the second coil 21b is reversed, a thrust is generated in the vibrator 12 toward one side of the vibration axis O direction indicated by dotted arrow B (to the left in FIG. 18B).
• the vibrator 12 vibrates along the vibration axis O while receiving the biasing forces from the first damper 60a and the second damper 60b on both sides.
• the first coil 21a and the second coil 21b are each connected to an independent external connection part 912, and the control part 900 controls the level of the drive signal output to each independent external connection part 912 based on the detection information of the magnetic detection sensor 20.
• control unit 900 senses the amplitude of the vibrator 12 based on the detection information of the magnetic detection sensor 20, and controls the level of the drive signal output to each independent external connection unit 912 so as to control the bias in the positive and negative directions of the amplitude.
• independent signal control of the first coil 21a and the second coil 21b enables highly accurate and more complex vibration control (such as presentation of traction force). This makes it possible to realize vibration expressions such as traction force, a sense of resistance on the surface of an object, and a sense of fine unevenness on the surface of an object.
• the traction illusion is the unclear perception of slowly changing acceleration due to nonlinearity in perception.
• the conditions for generating the illusion are, for example, the application of vibrations with a waveform that is asymmetric in the time direction (a shape similar to a sawtooth wave).
• the vibration frequencies that are effective for the human body are in the low range (100 Hz or less).
• the resonant frequency of the actuator 901 is lowered while maintaining a high acceleration, the amount of vibration of the vibrator tends to increase, making it more likely to exceed the amplitude limit.
• the magnetic detection sensor 20 monitors the amplitude and controls the vibration, making it possible to avoid contact with the housing 10A and operate at a low frequency.
• the cylindrical electromagnetic drive unit has multiple coils, each of which is connected to an independent external connection unit, and the control unit controls the level of the control signal output to the external connection unit, thereby realizing complex vibration control, such as preventing the vibrator from coming into contact with the housing and achieving the desired vibration expression of the vibrator.
• amplitude control can be achieved by detecting the amount of displacement, it does not require a structure that mechanically limits the amplitude of the actuator. For example, vibration control is possible even if there is no cover case in the vibration direction.
• vibration device 800 is the same as in the first embodiment, so the description will be omitted.
• vibration control may be performed in the same manner as the control unit 30 described in the first embodiment.
• the determination unit 38 of the control unit 30 determines whether the distance between the position of the vibrator 12 detected by the magnetic detection sensor 20 and the housing 10A is less than a threshold value based on the output of the AD conversion unit 36. If it is determined that the distance between the position of the vibrator 12 detected by the magnetic detection sensor 20 and the housing 10A is less than the threshold value, the signal adjustment unit 40 performs the following process. That is, the signal adjustment unit 40 adjusts the level of the drive signal to suppress it based on the distance between the position of the vibrator 12 detected by the magnetic detection sensor 20 and the housing 10A.
• vibration control may be performed in the same manner as the control unit 30 described in the second embodiment.
• the determination unit 38 of the control unit 30 determines whether or not the distance between the position of the vibrator 12 detected by the magnetic detection sensor 20 and the housing 10A is less than a threshold value based on the output of the AD conversion unit 36. If it is determined that the distance between the position of the vibrator 12 detected by the magnetic detection sensor 20 and the housing 10A is less than the threshold value, the signal adjustment unit 40 performs the following process. That is, the signal adjustment unit 40 adjusts the level of the drive signal according to the combination of the distance between the position of the vibrator 12 detected by the magnetic detection sensor 20 and the housing 10A, and the level of the drive signal.
• vibration control may be performed in the same manner as the control unit 30 described in the third embodiment.
• the determination unit 38 of the control unit 30 determines whether the distance between the position of the vibrator 12 detected by the magnetic detection sensor 20 and the housing 10A is less than a threshold value based on the output of the AD conversion unit 36.
• the signal adjustment unit 40 identifies the movement direction and acceleration of the vibrator 12 based on the change in the position of the vibrator 12 detected by the magnetic detection sensor 20, and adjusts the level of the drive signal to suppress it based on the movement direction and acceleration of the vibrator 12.
• vibration control may be performed in the same manner as the control unit 430 described in the fourth embodiment.
• the brake signal generating unit 440 of the control unit 430 outputs a brake signal to stop driving the vibrator 12 when the distance between the position of the vibrator 12 detected by the magnetic detection sensor 20 and the housing 10A is less than a threshold value.
• vibration control may be performed in the same manner as the control unit 530 described in the fifth embodiment.
• the stop signal generating unit 540 of the control unit 530 outputs a stop signal to stop the output of a control signal to the actuator 10 when the distance between the position of the vibrator 12 detected by the magnetic detection sensor 20 and the housing 10A is less than a threshold value.
• vibration control may be performed in the same manner as the control unit 630 described in the sixth embodiment.
• the sensor signal of the magnetic detection sensor 20 is returned as a feedback signal to the drive circuit 642 of the control unit 630.
• the drive circuit 642 compares the input drive signal with the input drive signal and outputs a control signal according to the difference to the actuator 10, thereby controlling the vibration of the vibrator 12 according to the magnetic force detected by the magnetic detection sensor 20.
• vibration control may be performed in the same manner as the control unit 730 described in the seventh embodiment.
• the stop signal generating unit 740 of the control unit 730 outputs a stop signal to stop the output of the drive circuit 42 at the timing when the sensor signal input unit 34 acquires a sensor signal from the magnetic detection sensor 20.
• control unit 900 controls the levels of the control signals output to the independent external connection units 912, but this is not limited to the above.
• the control signals output to the independent external connection units 912 may be common.
• the control unit 900 may also detect the electromotive force using one of the multiple coils 21a and 21b. In this case, the control unit 900 may control the level of the control signal output to the external connection unit 912 based on the detected electromotive force.
• Example> As an experimental example for examining the mounting position of a magnetic sensor for detecting the position of a vibrator by detecting changes in leakage magnetic flux with a magnetic sensor, a magnetic field analysis was performed using FEMTET (registered trademark) to confirm the distribution of leakage magnetic flux.
• the magnetic sensor Since the magnetic sensor only picks up the magnetic flux density value in one axial direction, the magnetic flux density was evaluated not in terms of magnitude but in terms of the x component (radial direction) and z component (axial direction) (see Figure 19).
• the magnetic circuit with a pair of coils uses a magnetic circuit in which a magnet is sandwiched between pole pieces around a cylindrical yoke, and a neodymium magnet is used as the magnet that constitutes the vibrator 12, with a configuration that is symmetrical in the z-axis (axial) direction.
• Figure 20A shows, from left to right, the magnitude, x-component, and z-component of magnetic flux versus displacement at the center of the side of the housing of a magnetic circuit with a pair of coils.
• Figure 20B shows, from left to right, the magnitude, x-component, and z-component of magnetic flux versus displacement at the center of the top surface of the housing of a magnetic circuit having a pair of coils.
• the x component of the magnetic flux with respect to the displacement at the center of the side of the housing varies as a linear function, with no offset.
• the z component of the magnetic flux with respect to the displacement at the center of the side of the housing varies as a quadratic function, and is minimal at a displacement of 0.
• the x component of the magnetic flux in response to displacement at the center of the top surface of the housing varies as a linear function, there is an offset, and the offset amount is greater than the amount of change.
• the z component of the magnetic flux in response to displacement at the center of the top surface of the housing varies as a linear function, there is an offset, and the offset amount is greater than the amount of change.
• a displacement detection unit detects the displacement of the vibrator or the housing. Then, a control unit vibrates the vibrator based on the input drive signal and the detection information of the displacement detection unit.
• the displacement detection unit is a magnetic detection sensor that detects the magnetic force according to the position of the vibrator, which changes in response to the input of the drive signal, and the control unit can control the level of a control signal for vibrating the vibrator according to the drive signal based on the detection information of the displacement detection unit.
• the control unit can control the level of the control signal based on the detection information of the displacement detection unit and the level of the drive signal.
• the control unit can determine the movement direction and acceleration of the vibrator based on changes in the detection information of the displacement detection unit, and control the level of the control signal based on the movement direction and acceleration.
• the control unit can stop outputting the control signal in response to the timing of detection by the displacement detection unit.
• the control unit can control the level of the control signal by adjusting the level of the drive signal based on the detection information of the displacement detection unit.
• the control unit can adjust the level of the drive signal at a set compression ratio when the detected magnetic force exceeds a threshold value.
• the control unit can adjust the level of the drive signal by replacing the drive signal with a brake signal when the detected magnetic force exceeds a threshold value.
• the control unit can stop outputting the control signal when the detected magnetic force exceeds a threshold value.
• the control unit can control the level of the control signal by using the detected magnetic force as a feedback signal.
• the magnetic detection sensor according to the disclosed technology can be disposed on the side of the housing.
• the vibration device further includes a cylindrical electromagnetic drive unit provided inside the housing, and a pair of leaf springs that respectively support one end and the other end of the vibrator in the vibration axis direction of the vibrator, the vibrator is provided radially inside the electromagnetic drive unit and is supported so as to be vibrated along the vibration axis, the vibrator has a magnet whose magnetization direction is in the vibration axis direction, a pair of pole pieces made of a soft magnetic material that sandwich the magnet from both sides along the vibration axis, and a pair of weights made of a non-magnetic material that sandwich the pair of pole pieces from both sides along the vibration axis, the electromagnetic drive unit has a pair of coils that are arranged at intervals along the vibration axis and each of which is formed into a cylindrical shape, and a cylindrical yoke that is arranged radially outside the pair of coils and is formed to protrude outward in the vibration axis direction beyond the pair of coils and is made of a soft magnetic material, and
• the control unit can control the level of the drive signal output to each of the independent external connection units based on the detection information of the displacement detection unit.
• the magnetic detection sensor detects the composite magnetic flux of the magnetic flux leaking from the drive coil and the magnetic flux of the vibrator, making it difficult to detect the displacement of the vibrator with high accuracy. Therefore, in the control unit according to this embodiment, the magnetic force from the actuator's drive coil may be predicted from the drive signal, and the predicted magnetic force may be subtracted from the detection data of the magnetic detection sensor to more accurately calculate the magnetic flux of the vibrator. By calculating the magnetic flux of the vibrator more accurately, it becomes possible to detect the displacement of the vibrator with higher accuracy.
• the technology disclosed herein may be applied to products that use multiple actuators (e.g., chairs, beds, floors, etc.). In this case, it is not necessary to provide a displacement detection unit for all actuators; it is sufficient to provide a displacement detection unit for at least one actuator.
• actuators e.g., chairs, beds, floors, etc.
• a voice coil type actuator is used as the actuator, but this is not limited to this, and actuators other than a voice coil type actuator may be used.
• a magnetic detection sensor has been used as an example of a displacement detection unit that detects the displacement of the vibrator, this is not limiting.
• a displacement detection unit that detects the displacement of the housing may also be used.
• an electrostatic film sensor may be used to detect deformation of the housing of the voice coil actuator, the magnitude of vibration, pressure on the device, etc., and the drive of the actuator may be controlled based on the detection results and the drive signal.
• the magnetic detection sensor is provided on the outside of the actuator housing, this is not limiting.
• the magnetic detection sensor may be provided on the inside of the actuator housing. In this case, by incorporating the magnetic detection sensor itself inside the actuator, it is possible to achieve miniaturization and a constant positional relationship with the vibration element.
• the vibration device may be such that the actuator and the control unit are integrated or separate.
• the control unit may also control the remaining vibration of the vibrator after the vibrator is vibrated by the drive signal.

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• 2023
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