WO2020022029A1 - Actuator - Google Patents

Abstract

Provided is an actuator that can exhibit desired vibration characteristics while suppressing an increase in size. The present invention includes: a support body; a movable body supported by the support body so as to be movable; and a magnetic driving circuit having a coil provided on the support body, and a first magnet provided on the movable body and facing the coil in a first direction, the magnetic driving circuit driving the movable body in a second direction intersecting the first direction, wherein a yoke, made of a magnetic material, that fixes the first magnet to the movable body is provided, and the yoke has a weight adjusting member for adjusting the weight of the movable body.

Description

Actuator

The present invention relates to an actuator that generates various vibrations.

機器 As an actuator that is used for an operation member of a game machine and generates various vibrations, a device that generates vibration by a magnetic drive mechanism described in Patent Document 1 has been proposed. The actuator vibrates the movable body in a second direction or a third direction that intersects the first direction with respect to the support by a magnetic drive circuit including a coil and a magnet opposed in the first direction. In the case of the structure described in Patent Document 1, the magnet is held by a yoke made of a magnetic material provided on a support. In addition, a connecting body made of a gel damper member is provided between the support and the movable body so as to connect the both.

JP 2016-127789 A

In the actuator described in Patent Literature 1, vibration is required to be strong in order for an operator to feel tactile sensation. For this reason, the movable body requires a certain amount of weight, and by adjusting the weight, desired vibration characteristics can be exhibited.
However, when making the movable body heavier, it is conceivable to make the components of the movable body thicker or increase the area.However, in order to secure the movable range of the movable body, the entire thickness is increased by the increase in the thickness and area. There is a possibility that the size of the product increases and the product size increases.

The present invention has been made in view of such circumstances, and has as its object to provide an actuator that can exhibit desired vibration characteristics while suppressing an increase in size.

The actuator according to the present invention includes a support, a movable body movably supported by the support, a coil provided on the support, and a coil provided on the movable body and facing the coil in a first direction. A yoke comprising a first magnet, a magnetic drive circuit for driving the movable body in a second direction intersecting the first direction, and a yoke made of a magnetic material for fixing the first magnet to the movable body The yoke is provided with a weight adjusting member for adjusting the weight of the movable body.

In the present invention, since the weight adjusting member is provided on the movable body, an actuator having desired vibration characteristics can be obtained by appropriately designing the weight and arrangement of the weight adjusting member.
Further, since a weight adjusting member can be provided as a member separate from the yoke, it is possible to suppress an increase in the size of the apparatus by, for example, installing the movable member at a position where the movable body has little influence on the movable range.

In the actuator according to the aspect of the invention, the weight adjusting member is provided on a surface of the yoke that faces the support in the first direction.
The increase in size due to the weight adjustment member can be performed in the first direction, which is advantageous in suppressing an increase in size. Further, by adopting this aspect, attachment of the weight adjusting member to the yoke becomes easy.

In the actuator according to the aspect of the invention, the weight adjustment member may be provided point-symmetrically with respect to a center of gravity of the movable body when viewed from one side in the first direction.
Since the weight adjustment member is provided point-symmetrically with respect to the center of gravity, the weight balance is balanced, and stable vibration can be performed.

The actuator according to the present invention has elasticity or viscoelasticity arranged between the position where the support and the movable body face each other in the first direction so as to be in contact with both the support and the movable body. A connection mechanism; and a stopper mechanism for restricting a movable range of the movable body along the first direction within a range in which the connection body can restore the movable body. And a receiving portion provided on the support and capable of contacting the convex portion.

The connecting body disposed between the support and the movable body is formed of a viscous or viscoelastic material, and deforms in the shearing direction when moving in the vibration direction. On the other hand, if it is crushed strongly by a drop impact, its function may be destroyed.
In the present invention, by providing the stopper mechanism in which the protrusion provided along the first direction abuts on the support, the connection body is limited to a range where it can be restored without being crushed. Thereby, the connection body can be reliably protected.

In the actuator of the present invention, the movable body is provided with a second magnet facing the coil on a side opposite to the side facing the first magnet, and the yoke is a first plate for fixing the first magnet. Part, and a second plate part for fixing the second magnet, wherein the support has a case surrounding the outside of the yoke, and the connection body is provided between the first plate part and the case. And the weight adjustment member may be provided between the first plate portion and the second plate portion, respectively, and may be provided between the second plate portion and the case.

ア ク チ ュ エ ー タ Since this actuator has a symmetrical structure on both sides of the coil and is balanced, stable vibration can be generated.

In the actuator according to the aspect of the invention, it is preferable that the weight adjusting member is an auxiliary yoke member made of a magnetic material bonded to the yoke.
Since the weight adjusting member provided on the yoke is made of a magnetic material, the magnetic flux from the first magnet can be concentrated, and the magnetic leakage from the yoke can be prevented.

In the actuator according to the aspect of the invention, the weight adjustment member may be a plate-shaped auxiliary yoke member made of a magnetic material bonded to the yoke, and the protrusion may have a part of the weight adjustment member facing the support. It may be formed by bending.
The auxiliary yoke member can form a part of the magnetic drive circuit and is relatively thickly formed of a magnetic material. Difficult projections can be obtained.

According to the present invention, a desired vibration characteristic can be exhibited by the weight adjusting member while suppressing an increase in size.

It is a perspective view showing one embodiment of an actuator of the present invention. FIG. 2 is a YZ sectional view of a center position in the X direction of the actuator shown in FIG. 1. FIG. 2 is an XZ sectional view of a center position in a Y direction of the actuator illustrated in FIG. 1. FIG. 2 is an XY cross-sectional view of the actuator shown in FIG. 1 at a center position in a Z direction. FIG. 2 is a plan view in which a second case member has been removed from the actuator shown in FIG. 1. FIG. 2 is a perspective view in which a case is disassembled from the actuator shown in FIG. 1. FIG. 7 is a perspective view in which a case is removed from FIG. 6 and a first yoke and a second yoke are disassembled. It is the perspective view which removed the yoke from FIG. 7, and disassembled the coil etc. from the coil holder. It is a perspective view which shows the assembly state of the movable body which has a yoke and a magnet.

Hereinafter, embodiments of the actuator according to the present invention will be described with reference to the drawings.
In the following description, three directions that intersect each other are referred to as a first direction, a second direction, and a third direction, respectively. In the present embodiment, the first direction is the Z-axis direction, the second direction is the X-axis direction, and the third direction is the third direction. The direction is referred to as a Y-axis direction, and hereinafter, a first direction Z, a second direction X, and a third direction Y will be described. The first direction Z, the second direction X, and the third direction Y are directions orthogonal to each other. Also, X1 is attached to one side in the second direction X, X2 is attached to the other side in the second direction X, Y1 is attached to one side in the third direction Y, and Y2 is attached to the other side in the third direction Y. , Z1 is added to one side in the first direction Z, and Z2 is added to the other side in the first direction Z.

(overall structure)
FIG. 1 is a perspective view illustrating an appearance of an actuator 1 according to an embodiment.
The actuator 1 shown in FIG. 1 has a rectangular parallelepiped shape whose longitudinal direction is oriented in the third direction Y, and notifies a user holding the actuator 1 of information by vibration in the second direction X. Therefore, the actuator 1 can be used as an operation member or the like of a game machine, and a new feeling can be realized by vibration or the like.
As shown in FIGS. 2, 3, and 5, the actuator 1 includes a support 2 including a rectangular case 3 that defines the outer shape of the actuator 1, and a second support 2 inside the case 3. A movable body 6 movably supported in the direction X; and a magnetic drive circuit 1a for moving the movable body 6 in the second direction X with respect to the support 2. The movable body 6 is moved by the magnetic drive circuit 1a. Output information by vibrating in the second direction X. The magnetic drive circuit 1a has a coil 5 and permanent magnets 71 and 72 facing each other in the first direction Z. In this embodiment, the coil 5 is provided on the support 2 side, and the permanent magnets 71 and 72 are provided on the movable body 6 side.
In the present embodiment, as described below, the support 2 has a case 3, a coil holder 4, a coil 5, and a power supply substrate 10, and the movable body 6 includes a permanent magnet (the first magnet 71 and the first magnet 71). 2) and a yoke (first yoke 81 and second yoke 82). In this case, with respect to the coil 5 held by the coil holder 4, the first magnet 71 is arranged on one side Z1 in the first direction Z, and the second magnet 72 is arranged on the other side Z2. Further, the movable body 6 is supported by the support 2 via connectors 91 and 92 provided between the movable body 6 and the support 2.
The connection bodies 91 and 92 are formed of a material having at least one of elasticity and viscoelasticity.

(Configuration of movable body 6)
As shown in FIGS. 2 and 3, the movable body 6 includes a first yoke 81 made of a magnetic plate disposed on one side Z1 in the first direction Z with respect to the coil 5, and The first yoke 81 has a plate-like first magnet 71 held on a surface of the other side Z2 in the first direction Z so as to face the one side Z1. Further, the movable body 6 is opposed to the second yoke 82 made of a magnetic plate disposed on the other side Z2 in the first direction Z with respect to the coil 5 so as to face the coil 5 on the other side Z2 in the first direction Z. The second yoke 82 has a plate-shaped second magnet 72 held on a surface on one side Z1 in the first direction Z. In the present embodiment, the movable body 6 includes a first yoke 81, a first magnet 71, a second yoke 82, and a second magnet 72.

The first yoke 81 has a first plate portion 811 to which the first magnet 71 is fixed, and one side X1 in the second direction X and an intermediate portion of the first plate portion 811 in the third direction Y. It has a pair of overhangs 812 that overhang the other side X2.
The second yoke 82 includes a first plate portion 821 to which the second magnet 72 is fixed, and a pair of first plate portions 821 that are bent from both ends in the second direction X to one side Z1 in the first direction Z. And a connecting portion 822. In the present embodiment, tips of a pair of connecting portions 822 of the second yoke 82 are connected to a pair of overhanging portions 812 of the first yoke 81 by a method such as welding.
A plate-shaped first weight adjustment member 85 is overlapped on one side Z1 of the first plate portion 811 of the first yoke 81 in the first direction Z (the side opposite to the side where the first magnet 71 is provided). Fixed. Further, a plate-shaped second weight adjusting member 86 is stacked on the other side Z2 of the second yoke 82 in the first direction Z on the other side Z2 (the side opposite to the side on which the second magnet 72 is provided). Fixed. That is, both weight adjusting members 85 and 86 are connected to one side Z1 of the first plate 811 of the first yoke 81 in the first direction Z and the other side Z2 of the second plate 821 of the second yoke 822 in the first direction Z. Are respectively provided on the surface of the. Since the weight adjusting members 85 and 86 are fixed to the first yoke 81 and the second yoke 82, the weight of the entire movable body 6 increases. Therefore, by appropriately setting the weights of the weight adjusting members 85 and 86, it is possible to adjust the weight of the movable body 6 and obtain desired vibration characteristics.
In the present embodiment, these weight adjusting members 85 and 86 are formed of the same magnetic material as the first yoke 81 and the second yoke 82. Therefore, the two yokes 81 and 82 form a part of a magnetic circuit. The first yoke 81 and the first weight adjustment member 85 and the second yoke 82 and the second weight adjustment member 86 are fixed by welding, respectively.
The weight adjustment members 85 and 86 are formed in a plate shape as a whole, and have flat plate portions 851 and 861, respectively. In addition, the first auxiliary yoke 85 has convex portions 852 formed at both ends of the flat plate portion 851 in the third direction Y by bending both edges in the second direction X to one side Z1 in the first direction Z. The second auxiliary yoke 86 has convex portions 862 formed at both ends in the third direction Y of the flat plate portion 861 by bending both edges in the second direction X to the other side Z2 in the first direction Z.
Each of the first magnet 71 and the second magnet 72 is magnetized to a different pole on one side X1 in the first direction and on the other side X2 in the first direction.

(Configuration of the support 2)
As shown in FIGS. 1 and 6, in the support 2, the case 3 includes a first case member 31 located on one side Z1 in the first direction Z and a first case member 31 on the other side Z2 in the first direction Z. A second case member 32 overlaps the first case member 31, and a pair of side plate portions 311 provided on both sides of the first case member 31 in the second direction X, and both sides of the second case member 32 in the second direction X Are partially overlapped with each other, and the side plate portions 311 and 321 and the plate-shaped portions 312 and 322 therebetween constitute a rectangular cylindrical case 3. At that time, the coil holder 4, the coil 5, and the movable body 6 are accommodated between the first case member 31 and the second case member 32. In this embodiment, the case 3 has openings at both ends in the third direction Y. The case 3 is made of a metal plate such as stainless steel, but may be made of resin.

に お い て In the pair of side plates 311 of the first case member 31 and the pair of side plates 321 of the second case member 32, notches 313 and 323 are formed at both ends in the third direction Y. A cutout recess 324 is formed in the side plate portion 321 of the second case member 32 for disposing a part of the side plate portion 311 of the first case member 31 when the two case members 31 and 32 are overlapped. Have been. The two side plate portions 311 of the first case member 31 are formed with two engagement holes 314 separated from each other in the third direction Y. The side plate portions 311 on one side X1 in the second direction X A window 315 is formed so as to be located between the engagement holes 314. On the other hand, on both side plate portions 321 of the second case member 32, two engagement holes 325 are formed separately in the third direction Y.

コ イ ル As shown in FIG. 8, the coil 5 is an air-core coil having an annular planar shape wound in an elliptical shape and held by the coil holder 4. The coil 5 has two long sides 51 extending in the third direction Y in parallel in the second direction X, and two arc-shaped short sides connecting both ends of the two long sides 51 in the third direction Y. A part 52. The first magnet 71 faces the long side portion 51 on one side Z1 in the first direction Z, and the second magnet 72 faces the other side Z2 in the first direction Z with the coil 5 configured as described above. are doing.

As shown in FIGS. 6 to 8, the coil holder 4 has an overall shape of a rectangular parallelepiped housed in a rectangular cylindrical case 3, and has an intermediate portion in the first direction Z. Except for the above, the one side Z1 and the other side Z2 are formed into a shape that is cut out, so that a coil arrangement hole 410 formed of an oval through hole in which the coil 5 is arranged inside is located at an intermediate position in the first direction Z. It has a plate portion 41 that opens in the first direction Z.
Further, on one side X1 and the other side X2 in the second direction X, side plate portions 411 and 412 extending to both the one side Z1 and the other side Z2 in the first direction Z of the plate portion 41 are formed. Each of the side plate portions 411 and 412 has an opening 413 formed at an intermediate position in the third direction Y so as to cut off one side Z1 in the first direction Z. The second portion of the plate portion 41 is formed in the opening 413. The end faces on both sides in the direction X are exposed. Therefore, the side plate portions 411 and 412 have a shape separated in the third direction Y on one side Z1 in the first direction Z, and have a shape connected by the connecting portions 411c and 412c on the other side Z2.

On the other hand, on one side Y1 in the third direction Y of the coil holder 4, a side plate portion 414 is formed so as to extend from the plate portion 41 to one side Z1 in the first direction Z, and on the other side Y2 in the third direction Y. And a side plate portion 415 extending to both one side Z1 and the other side Z2 of the plate portion 41 in the first direction Z.
Further, a plurality of groove-shaped recesses 411a and 412a along the first direction Z are formed on the inner surfaces of the side plate portions 411 and 412 arranged on both sides in the second direction X, and a plurality of recesses on the surface of the plate portion 41 are formed. It communicates with each of the groove-shaped concave portions 41a.
Further, at four corners of the coil holder 4, prismatic reinforcing portions 42 extending to one side Z <b> 1 and the other side Z <b> 2 in the first direction Z are formed, and the first case member 31 and the second case member 32 are formed. When combined, the reinforcing portion 42 comes into engagement with the notches 313 and 323 formed in the pair of side plate portions 311 of the first case member 31 and the pair of side plate portions 321 of the second case member 32. I have.
Further, on outer surfaces of the side plate portions 411 and 412, a claw portion 43 is formed in which an engagement hole 314 of the first case member 31 and an engagement hole 325 of the second case member 32 are engaged.

(Configuration of First Plate 47 and Second Plate 48)
The support 2 has a first plate 47 overlapping the coil arrangement hole 410 of the coil holder 4 and the plate portion 41 from one side Z1 in the first direction Z, and is filled at least in the air core portion 50 of the coil 5. The coil 5 is fixed to the first plate 47 and the plate portion 41 by an adhesive. Therefore, the coil 5 is opposed to the first magnet 71 in the first direction Z via the first plate 47. Further, the first plate 47 is fixed to the plate portion 41 by an adhesive.
The support 2 has a second plate 48 that overlaps the coil arrangement hole 410 and the plate portion 41 from the other side Z2 in the first direction Z, and at least the adhesive filled in the air core portion 50 of the coil 5. The coil 5 is fixed to the second plate 48 by an adhesive composed of Therefore, the coil 5 is opposed to the second magnet 72 via the second plate 48 in the first direction Z. Further, the second plate 48 is fixed to the plate portion 41 by an adhesive.
The concave portion 41a and the like formed in the plate portion 41 serve as a reservoir for the adhesive.
In this embodiment, the first plate 47 and the second plate 48 are made of a non-magnetic material.
In the present embodiment, the first plate 47 and the second plate 48 are made of a metal plate. More specifically, the first plate 47 and the second plate 48 are made of a non-magnetic stainless steel plate.

Here, as shown in FIG. 8, the first plate 47 has a claw-shaped convex portion 472 projecting obliquely from both sides in the second direction X to one side Z1 in the first direction Z. Further, the second plate 48 has a claw-shaped convex portion 482 projecting obliquely from both sides in the second direction X to the other side Z2 in the first direction Z. The protrusions 472 and 482 elastically abut inside groove-shaped recesses 411 a and 412 a formed on the inner surfaces of the side plates 411 and 412, and are held by the coil holder 4.
The first plate 47 has a bent portion 473 bent at one end Z1 in the first direction Z at both ends in the third direction Y, and a bent portion 474 bent at the other end Z2 in the first direction Z at both ends in the second direction X. And The second plate 48 has a bent portion 483 bent at both ends in the third direction Y to the other side Z2 in the first direction Z, and a bent portion 484 bent at both ends in the second direction X to one side Z1 in the first direction Z. And Therefore, the bending strength of the first plate 47 and the second plate 48 is increased by the bent portions 473, 474, 483, and 484.

As described above, in the actuator 1 of the present embodiment, the coil 5 is arranged inside the coil arrangement hole 410 penetrating the plate portion 41 of the coil holder 4 in the first direction Z, and the coil arrangement hole 410 and the plate portion 41 The first plate 47 is disposed so as to overlap from one side Z1 in the first direction Z. For this reason, when the adhesive is filled in the air core 50 of the coil 5, the adhesive is applied between the coil 5 and the coil holder 4, between the coil 5 and the first plate 47, and between the first plate 47 and the coil holder. Flows in between 4. Therefore, when the adhesive is cured, the coil 5, the first plate 47, and the coil holder 4 are fixed by the adhesive. For this reason, the coil 5 arranged in the coil arrangement hole 410 of the coil holder 4 can be properly bonded to the coil holder 4. Further, a first plate 47 is interposed between the first magnet 71 and the coil 5. Therefore, even when the movable body 6 moves to one side Z1 in the first direction Z, the first magnet 71 and the coil 5 do not directly come into contact with each other, so that the coil 5 is hardly damaged.

When the second plate 48 is overlaid after the air core 50 of the coil 5 is filled with the adhesive, the adhesive is applied between the coil 5 and the coil holder 4, between the coil 5 and the first plate 47, And flows smoothly between the first plate 47 and the coil holder 4, and also flows between the coil 5 and the second plate 48 and between the second plate 48 and the coil holder 4. Therefore, when the adhesive is cured, the coil 5, the first plate 47, the second plate 48, and the coil holder 4 are fixed by the adhesive. In this state, the second plate 48 is interposed between the second magnet 72 and the coil 5. For this reason, even when the movable body 6 moves to the other side Z2 in the first direction Z, the second magnet 72 and the coil 5 do not directly contact with each other, so that the coil 5 is not easily damaged.

Since the first plate 47 and the second plate 48 are made of a non-magnetic material, the magnetic flux from the first magnet 71 and the magnetic flux from the second magnet 72 are affected by the first plate 47 and the second plate 48. Instead, it is linked with the coil 5. Further, since the first plate 47 and the second plate 48 are made of a metal plate, heat generated in the coil 5 can be efficiently released through the first plate 47 and the second plate 48. Further, since the first plate 47 and the second plate 48 are made of a stainless steel plate, the first plate 47 and the second plate 48 have sufficient strength even when the plate thickness is small.
In addition, the coil holder 4 has concave portions 411 a and 421 a that engage with the claw-shaped protrusion 472 of the first plate 47 or the protrusion 482 of the second plate 48 to hold the first plate 47. Therefore, there is no need to support the first plate 47 and the second plate 48 with a jig or the like until the adhesive is cured.

(Configuration of the connection bodies 91 and 92)
As shown in FIGS. 2, 3, 7 and 9, the movable body 6 is connected to the second body X and the third direction Y by connecting bodies 91 and 92 provided between the movable body 6 and the support 2. It is movably supported.

In the present embodiment, the connecting body 91 is provided at a portion where the flat plate portion 851 of the first weight adjustment member 85 and the plate-shaped portion 312 of the first case member 31 face each other in the first direction Z. The connector 92 is provided at a portion where the flat plate portion 861 of the second weight adjustment member 86 and the plate-shaped portion 322 of the second case member 32 face each other in the first direction Z. Each of the connecting bodies 91 and 92 is formed in a rectangular parallelepiped shape, and is formed between the flat plate portion 851 of the first weight adjusting member 85 and the plate portion 312 of the first case member 31 and the flat plate of the second weight adjusting member 86. Two each are provided between the portion 861 and the plate portion 322 of the second case member 32. More specifically, the connecting body 91 is located at both ends in the third direction Y at the center position of the flat plate portion 851 in the second direction X of the first weight adjusting member 85 and the plate-shaped portion 312 of the first case member 31. Are provided at portions facing each other in the first direction Z, and both end surfaces of the connecting body 91 in the first direction Z are fixed to the flat plate portion 851 and the plate-shaped portion 312 of the first weight adjusting member 85, respectively. The connecting body 92 is configured such that both end positions in the third direction Y at the center position of the flat plate portion 861 in the second direction X of the second weight adjusting member 86 and the plate-shaped portion 322 of the second case member 32 are in the first direction Z. The two end surfaces of the connecting body 92 in the first direction Z are fixed to the flat plate portion 861 and the plate-shaped portion 322 of the second weight adjusting member 86, respectively.

In this embodiment, the connection bodies 91 and 92 are viscoelastic members. Therefore, the movable body 6 can be supported movably in the second direction X without using a plate spring or the like.
Here, the viscoelasticity is a property combining both viscosity and elasticity, and is a property remarkably observed in a polymer material such as a gel-like member, plastic, and rubber. Therefore, various gel members can be used as the viscoelastic member. As the viscoelastic member, natural rubber, diene rubber (for example, styrene / butadiene rubber, isoprene rubber, butadiene rubber), chloroprene rubber, acrylonitrile / butadiene rubber, and the like, non-diene rubber (for example, butyl rubber, ethylene / propylene) Various rubber materials such as rubber, ethylene / propylene / diene rubber, urethane rubber, silicone rubber, fluorine rubber, and thermoplastic elastomers, and modified materials thereof may be used.

In this embodiment, the connectors 91 and 92 are made of silicone gel having a penetration of 90 to 110 degrees. The penetration is defined as the depth of penetration of a 1/4 cone needle with a total load of 9.38 g at 25 ° C for 5 seconds as specified in JIS-K-2207 and JIS-K-2220. In units of 1/10 mm, the smaller the value, the harder it is.
The connection bodies 91 and 92 are fixed to the flat plate portion 851 of the first weight adjustment member 85 and the flat plate portion 861 of the second weight adjustment member 86, and the connection bodies 91 and 92 are fixed to the first case member 31 and the second case member. Fixation with the adhesive 32 is performed by using an adhesive, a pressure-sensitive adhesive, or the tackiness of a silicone gel.

As described above, in the actuator 1 according to the present embodiment, since the connectors 91 and 92 are provided between the movable body 6 and the support 2, resonance of the movable body 6 can be suppressed.
Here, since the connecting bodies 91 and 92 are provided at positions opposed to each other in the first direction Z that intersects the second direction X (the vibration direction) between the support 2 and the movable body 6, When vibrated in the second direction X, it is deformed in the shear direction to prevent resonance. For this reason, even if the movable body 6 vibrates in the second direction X, the change in the elastic modulus of the connecting bodies 91 and 92 is small, so that the resonance of the movable body 6 can be effectively suppressed.

That is, the connection bodies (connection bodies 91 and 92) are viscoelastic members (plate-like gel-like members) and have linear or non-linear expansion / contraction characteristics depending on the expansion / contraction direction. For example, when the connecting bodies 91 and 92 are compressed in the thickness direction (axial direction) by being pressed in the thickness direction (axial direction), they have expansion / contraction characteristics in which a non-linear component is larger than a linear component (spring coefficient). When it is stretched by being pulled (in the axial direction), it has expansion and contraction characteristics in which a linear component (spring coefficient) is larger than a non-linear component (spring coefficient). Further, when the connecting bodies 91 and 92 are deformed in a direction (shear direction) intersecting with the thickness direction (axial direction), they are deformed in a direction in which the connecting bodies 91 and 92 are pulled and extended even if they move in any direction. The linear component (spring coefficient) has a larger deformation characteristic than the component (spring coefficient). In this embodiment, when the movable body 6 vibrates in the second direction X, the connecting bodies 91 and 92 are configured to deform in the shear direction. Therefore, in the connecting bodies 91 and 92, when the movable body 6 vibrates in the second direction X, the spring force due to the movement direction becomes constant. Therefore, the reproducibility of the vibration acceleration with respect to the input signal can be improved by using the spring elements of the connecting bodies 91 and 92 in the shear direction, so that the vibration can be realized with subtle nuances.

The connecting bodies 91 and 92 are both connected to the movable body 6 and the support 2 by a method such as bonding on both surfaces in the first direction Z. Therefore, since the connecting bodies 91 and 92 reliably follow the movement of the movable body 6, resonance of the movable body 6 can be effectively prevented.
In this case, the connecting bodies 91 and 92 are in a state of being compressed in the first direction Z between the support 2 and the movable body 6. Therefore, since the connecting bodies 91 and 92 reliably follow the movement of the movable body 6, resonance of the movable body 6 can be effectively prevented. For example, the connecting members 91 and 92 are compressed to a thickness that is smaller by about 10% than the thickness in a free state. In FIG. 2, the end portions of the connectors 91 and 92 are shown as overlapping the flat plate portion 851 of the first weight adjusting member 85 or the flat plate portion 861 of the second weight adjusting member 86, but the overlapping portion is the connecting member 91. , 92 are shown.

(Structure of stopper mechanism)
In this embodiment, a stopper mechanism is provided to limit the movable range when the movable body 6 moves in the first direction Z, the second direction X, and the third direction Y due to an external impact.
More specifically, as described above, a protrusion 852 is formed on one side Z1 of the flat plate portion 851 of the first weight adjustment member 85 in the first direction Z toward the plate-like portion 312 of the first case member 31. In addition, a convex portion 862 is formed on the other side Z2 of the flat plate portion 861 in the first direction Z of the second weight adjusting member 86 toward the plate-shaped portion 322 of the second case member 32. When the movable body 6 moves in the first direction Z due to an external impact, when the movable body 6 moves to the one side Z1, the convex portion 852 of the first weight adjusting member 81 contacts the plate-like portion 312 of the first case member 31. In contact therewith, the range of movement to one side Z1 is regulated. When the movable body 6 moves to the other side Z2 in the first direction Z, the convex portion 862 of the second weight adjusting member 86 comes into contact with the plate-shaped portion 322 of the second case member 32 and moves to the other side Z2. Regulate the range of movement. In other words, the projections 852 and 862 and the plate-shaped portions (receiving portions) 312 and 322 of the case members 31 and 32 where the projections 852 and 862 are opposed to each other, in the first direction Z of the movable body 6. A first stopper mechanism for limiting a moving range is configured.
In this case, as shown in FIGS. 2 and 3, when viewed from one side Z1 or the other side Z2 in the first direction Z, the protrusions 852 and 862 are point-symmetric with respect to the center of gravity C of the movable body 6. Is provided. Looking at the flat plate portions 851 and 861 of the respective weight adjusting members 85 and 86, the figure center when viewed from one side Z1 or the other side Z2 of the flat plate portions 851 and 861 in the first direction Z (reference numeral C in FIG. 5). The projections 852 and 862 are provided point-symmetrically with respect to the position (indicated by). The height H of each convex portion 852, 862 is the same as each of the weight adjusting members 85, 86. The height H of the protrusions 852 and 862 is determined by the height of the connecting body 91 provided between the first weight adjustment member 85 and the first case member 31 and the height of the second weight adjustment member 86 and the second case member 32. The thickness of the connecting member 92 provided therebetween (the interval T between the flat portions 851 and 861 of the weight adjusting members 85 and 86 and the plate portions 312 and 322 of the case members 31 and 32) is smaller than the thickness. Are the distances between the flat portions 851 and 861 of the weight adjusting members 85 and 86 and the flat portions 312 and 322 of the case members 31 and 32 when the convex portions 852 and 862 abut against the flat portions 312 and 322 ( That is, even when the connecting bodies 91 and 92 are compressed to the height H) of the protrusions 852 and 862, the function is set to such an extent that the functions of the connecting bodies 91 and 92 can be restored to their original positions without being destroyed.
In this case, the moving range of the movable body 6 in the first direction Z is limited to the range of g1 on one side Z1 and the other side Z2, respectively, as shown in FIG.

In the movable body 6, both end surfaces in the second direction X of the first plate portion 811 of the first yoke 81 and the second plate portion 821 of the second yoke 82 are connected to the inner surfaces 411 b of the side plate portions 411 and 412 of the coil holder 4. , 412b in the second direction X. Therefore, when the movable body 6 moves in the second direction X due to an external impact, the end surfaces of the respective plate portions 811 and 812 and the inner surfaces 411b and 412b of the side plate portions 411 and 412 abut on the movable body 6. The second stopper mechanism defines a movable range in the second direction X. In the second stopper mechanism, as shown in FIG. 5, the movable range of the movable body 6 in the second direction X is limited to a range of g2 on one side X1 and the other side X2.
Further, in the movable body 6, the projecting portion 812 of the first yoke 81 and the connecting portion 822 of the second yoke 82 are respectively disposed in openings 413 formed in the side plates 411 and 412 of the coil holder 4. . Projections 822 a are formed at both ends in the third direction Y of the connecting portion 822, and the tips of the projections 822 a are attached to the end surfaces 413 a of the side plates 411 and 421 forming the opening 413. Are facing each other. Therefore, the protruding portion 822a of the connecting portion 822 and the end surface 413a of the side plate portions 411, 412 come into contact with each other when the movable body 6 moves in the third direction Y due to an external impact, and move in the third direction Y. The third stopper mechanism defines a range. In the third stopper mechanism, as shown in FIG. 5, the moving range of the movable body 6 in the third direction Y is limited to a range of g3 on one side Y1 and the other side Y2.

(Configuration of the power supply substrate 10)
In the actuator 1 of the present embodiment, the power supply substrate 10 is provided at one end Y1 of the coil holder 4 in the third direction Y. A coil wire 56 constituting the coil 5 is connected to the lands 16a and 16b of the power supply board 10 by soldering or the like. In the present embodiment, the power supply substrate 10 is a rigid substrate.
In the present embodiment, the power supply substrate 10 is held in an opening surrounded by the side plates 411, 412, and 414 on one side in the third direction Y of the coil holder 4. In the present embodiment, the coil wire 56 passes from the coil 5 in the third direction Y through two guide grooves 41c formed on the other side Z2 of the end of the plate portion 41 of the coil holder 4 in the first direction Z. After being pulled out to one side Y1 of the first direction Z, it extends from one side Z1 in the first direction Z to the other side Z2 and is connected to the power supply board 10.

In the present embodiment, the coil holder 4 has the other end in the first direction Z between the end of one side Y1 in the second direction Y of the side plates 411 and 412 facing each other in the second direction X and the side plate 414. A slit 44 that opens on the side Z2 is formed, and an end of the power supply board 10 on one side Z1 in the first direction fits inside the slit 44. Accordingly, the power supply board 10 is held by the coil holder 4 along the side plate 414 of the coil holder 4 at a position exposed from the case 3. In the present embodiment, after the end portion of the power supply substrate 10 is fitted into the slit 44, the coil holder 4 and the power supply substrate 10 are further fixed with an adhesive to suppress vibration of the power supply substrate 10.

As described above, in the present embodiment, since the power supply board 10 is held by the coil holder 4 covered by the case 3, it is difficult for an impact at the time of drop to propagate to the power supply board 10 via the case 3. In addition, even when the impact at the time of the drop propagates to the coil holder 4, the power supply board 10 moves together with the coil holder 4, so that the situation where the coil wire 56 is pulled hardly occurs. Therefore, it is unlikely that the coil wire 56 will be disconnected due to the impact at the time of dropping, so that the drop impact resistance can be improved.

(5) As shown in FIG. 5, the power supply board 10 is provided along the side surface of the coil holder 4. For this reason, a situation in which a shock at the time of a drop is directly applied to the power supply board 10 is unlikely to occur, and a situation in which the coil wire 56 is disconnected due to a shock at the time of a fall is less likely to occur.

The distance L between the power supply substrate 10 and the movable body 6 is determined by the distance between the protrusion 822 a of the connecting portion 822 of the yoke 81, 82, which is the third stopper mechanism, and the opening of the side plate portions 411, 412 of the coil holder 4. The distance g3 is set to be larger than the distance g3 from the end face 413a facing the portion 413. Therefore, even if the movable body 6 moves due to the impact at the time of dropping and hits the coil holder 4 and the movable body 6, the movable body 6 does not collide with the power supply board 10, so that the impact at that time hardly propagates to the power supply board 10. Therefore, it is unlikely that the coil wire 56 will be disconnected due to the impact at the time of dropping.

(motion)
In the actuator 1 of the present embodiment, when power is supplied to the coil 5 from the outside (upper device) via the power supply substrate 10, the movable body 6 is driven by the magnetic drive circuit 1 a including the coil 5, the first magnet 71, and the second magnet 72. Reciprocates in the second direction X. Therefore, a user holding the actuator 1 can obtain information by the vibration from the actuator 1. At this time, the frequency of the signal waveform applied to the coil 5 is changed according to the information to be transmitted. The polarity of the signal waveform applied to the coil 5 is inverted. At this time, a difference between the change in the voltage and the change in the voltage between the negative period and the positive period of the drive signal is provided. As a result, a difference occurs between the acceleration when the movable body 6 moves to one side X1 in the second direction X and the acceleration when the movable body 6 moves to the other side X2 in the second direction X. Therefore, the user can feel an illusion that the actuator 1 moves to one side X1 or the other side X2 in the second direction X.
In this case, the feeling transmitted to the operator by the vibration differs depending on the weight of the movable body 6. As the movable body 6 becomes heavier, a stronger vibration is felt. In the present embodiment, the first yoke 81 of the movable body 6 is provided with the first weight adjusting member 85, and the second yoke 82 is provided with the second weight adjusting member 86, respectively. The weight of the movable body 6 is large. Therefore, by appropriately setting the weights of the weight adjusting members 85 and 86, the weight of the movable body 6 can be adjusted and the vibration characteristics can be controlled to a desired one.
Here, the resonance frequency F of the movable body 6 is obtained by F = (1 / 2π) × √ (K / m). K is the spring constant of the vibration system, and m is the mass of the vibration system. Therefore, the resonance frequency can be set to a desired value by adjusting the mass of the movable body 6 by the weight adjusting members 85 and 86.
In this embodiment, since the weight adjusting members 85 and 86 are formed of a magnetic material, the magnetic flux from the magnets 71 and 72 can be concentrated to prevent magnetic leakage.

Then, when an impact is applied from the outside due to dropping or the like, the first plate portion 811 and the second plate portion 821 and the side plate portions 411 and 412 of the coil holder 4 are prevented from moving in the second direction X of the movable body 6. The movable range of the movable body 6 is regulated by the second stopper mechanism including the inner surfaces 411b and 412b. In addition, for the movement of the movable body 6 in the third direction Y, the end face of the protrusion 822 a provided on the connecting portion 822 of the second yoke 82 and the opening 413 of the side plate portion 411 of the coil holder 4. The movable range of the movable body 6 is regulated by the third stopper mechanism 413a.
In the movement in the second direction X and the third direction Y, the connectors 91 and 92 are deformed in the shearing direction.

On the other hand, when the movable body 6 moves in the first direction Z due to an external impact or moves in one side Z1, the movable body 6 is disposed between the first weight adjustment member 85 and the first case member 31. The connecting member 91 is compressed, and the connecting member 92 disposed between the second weight adjusting member 86 and the second case member 32 is expanded. Of these, the connecting body 91 disposed between the first weight adjusting member 85 and the first case member 31 is connected when the convex portion 852 of the first weight adjusting member 85 comes into contact with the first case member 31. The compression range is regulated and no more crushing.
On the other hand, when the movable body 6 moves to the other side Z2 in the first direction Z, the connecting body 92 disposed between the second weight adjusting member 86 and the second case member 32 is compressed, and the first weight is reduced. The connecting body 91 disposed between the adjusting member 85 and the first case member 31 is stretched. Of these, the connector 92 disposed between the second weight adjusting member 86 and the second case member 32 is compressed when the convex portion 862 of the second auxiliary yoke 86 contacts the second case member 32. The range is regulated and will not be crushed any further.
Therefore, regardless of the movement in any direction in the first direction Z, the compression range of the connectors 91 and 92 is limited by the first stopper mechanism to a range in which the connectors 91 and 92 can be restored, and the function is effectively maintained. can do.
The moving range in the first direction Z can be appropriately set by adjusting the height H of the convex portions 852 and 862.

In addition, since the weight adjusting members 85 and 86 are formed in a plate shape and are overlapped only on the first plate portion 811 of the first yoke 81 and the second plate portion 821 of the second yoke, the first direction Z direction is used. And the dimensions in the second direction X and the third direction do not change. It is conceivable to increase the thickness of the first yoke and the second yoke by the thickness of the weight adjusting members 85 and 86. In this case, the dimension is not only in the first direction Z but also in the second direction X. Increase the size of the device. By stacking and fixing the plate-shaped weight adjustment members 85 and 86 on the first plate portion 811 and the second plate portion 821, it is possible to suppress an increase in the size of the device.
(Other embodiments)
In the above embodiment, the weight adjusting members 85 and 86 are formed of a magnetic material and function as auxiliary yoke members. However, the weight adjusting members may be made of resin or the like.
In this case, the yokes 81 and 82 may be fixed with an adhesive or the like. When the weight adjusting member is formed of a non-magnetic material such as a resin, even if the weight adjusting member is changed to one having a different weight, there is no effect on the magnetic circuit. Therefore, the weight may be designed without considering the effect on the magnetic circuit. .
Further, although the weight adjusting member is formed in a plate shape, it may be formed in a block shape or the like. For example, a block-shaped weight adjusting member may be provided at a position where the protrusions 852 and 862 are provided, instead of the protrusion.
Furthermore, according to the present invention, the second magnet 72 is provided on the side of the first yoke 81 on which the first magnet 71 is provided in the first plate portion 811 and on the second plate portion 821 of the second yoke 82. It does not prevent providing the weight adjusting member on the side.

DESCRIPTION OF SYMBOLS 1 ... Actuator, 1a ... Magnetic drive circuit, 2 ... Support body, 3 ... Case, 4 ... Coil holder, 5 ... Coil, 6 ... Movable body, 10 ... Power supply board, 16a, 16b ... Land, 31 ... First case member , 32: second case member, 41: plate portion, 41c: guide groove, 44: slit, 47: first plate, 48: second plate, 50: air core portion, 51: long side portion, 52: short side Part, 56 ... coil wire, 71 ... first magnet, 72 ... second magnet, 81 ... first yoke, 82 ... second yoke, 91, 92 ... connector, 411, 412, 413, 415 ... side plate part, 410 ... Coil arrangement holes, 413. , 86 ... second weight adjusting member, 851, 8 1 ... plate portion, 852 and 862 ... projecting portion, C ... centroid, X ... second direction, Y ... third direction, Z ... first direction

Claims (7)

1. A support, a movable body movably supported by the support, a coil provided on the support, and a first magnet provided on the movable body and facing the coil in a first direction; A magnetic drive circuit that drives the movable body in a second direction that intersects the first direction; and a yoke made of a magnetic material that fixes the first magnet to the movable body is provided. A weight adjustment member for adjusting the weight of the movable body.
2. The actuator according to claim 1, wherein the weight adjusting member is provided on a surface of the yoke facing the support in the first direction.
3. The actuator according to claim 1, wherein the weight adjustment member is provided point-symmetrically with respect to a center of gravity of the movable body when viewed from one side in the first direction.
4. A connecting member having elasticity or viscoelasticity arranged between the position where the support and the movable body oppose each other in the first direction, so as to be in contact with both the support and the movable body; A stopper mechanism for regulating a moving range of the movable body along one direction within a range in which the connecting body can be restored, and the stopper mechanism is provided on the weight adjusting member along the first direction. The actuator according to any one of claims 1 to 3, comprising a convex portion and a receiving portion provided on the support and capable of contacting the convex portion.
5. The movable body is provided with a second magnet facing the coil on a side opposite to the side facing the first magnet, and the yoke includes a first plate portion fixing the first magnet; A second plate portion for fixing a magnet, wherein the support has a case surrounding the outside of the yoke, and the connecting member is provided between the first plate portion and the case, and the second plate. 5. The actuator according to claim 4, wherein the actuator is provided between the unit and the case, and the weight adjustment member is provided on each of the first plate unit and the second plate unit. 6.
6. The actuator according to any one of claims 1 to 5, wherein the weight adjusting member is an auxiliary yoke member made of a magnetic material joined to the yoke.
7. The weight adjustment member is a plate-shaped auxiliary yoke member made of a magnetic material bonded to the yoke, and the protrusion is formed by bending a part of the weight adjustment member toward the support. The actuator according to claim 4, wherein the actuator is provided.

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