阅读说明：本技术 致动器 (Actuator ) 是由 土桥将生 于 2020-03-18 设计创作，主要内容包括：一种能抑制可动体移动时的摆动的致动器。致动器(1)包括与可动体(3)和支承体(2)连接并将可动体支承为能够位移的第一连接体(41)和第二连接体(42)。第一连接体(41)在可动体(3)的第一方向Z的一侧(Z1)与可动体的第二方向(X)的一侧(X1)的端侧部分及另一侧(X2)的端侧部分连接。第二连接体(42)在可动体(3)的第一方向的另一侧与可动体(3)中的第三方向(Y)的一侧(Y1)的端侧部分及另一侧(Y2)的端侧部分连接。在使可动体沿第二方向移动时该可动体试图沿第二方向摆动的情况下,第一连接体抑制其摆动。在使可动体沿第三方向移动时该可动体试图沿第三方向摆动的情况下,第二连接体抑制其摆动。(An actuator capable of suppressing the swing of a movable body when the movable body moves. The actuator (1) is provided with a first connecting body (41) and a second connecting body (42) which are connected to the movable body (3) and the support body (2) and which support the movable body so as to be displaceable. The first connecting body (41) is connected to an end portion of one side (X1) and an end portion of the other side (X2) of the movable body (3) in the first direction Z at one side (Z1) of the movable body in the second direction X. The second connecting body (42) is connected to an end portion on one side (Y1) and an end portion on the other side (Y2) in the third direction (Y) of the movable body (3) on the other side in the first direction of the movable body (3). The first linking body suppresses the swing of the movable body in the case where the movable body attempts to swing in the second direction when the movable body is moved in the second direction. The second link restrains the swing of the movable body when the movable body attempts to swing in the third direction while moving the movable body in the third direction.)

1. An actuator, comprising:

a support;

a movable body;

a first magnetic driving circuit that moves the movable body in a first moving direction;

a second magnetic drive circuit that moves the movable body in a second movement direction intersecting the first movement direction;

and a first connecting body and a second connecting body which have at least one of elasticity and viscoelasticity, are connected to the movable body and the support body, and support the movable body so as to be displaceable in the first moving direction and the second moving direction,

the first magnetic driving circuit includes: a first coil provided on one of the support body and the movable body; and a first magnet provided on the other of the support body and the movable body and facing the first coil in a direction orthogonal to the first moving direction and the second moving direction,

the second magnetic driving circuit includes: a second coil provided on one of the support body and the movable body; and a second magnet provided on the other of the support body and the movable body and opposed to the two coils in the orthogonal direction,

the first magnetic drive circuit is located on one side of the orthogonal direction of the second magnetic drive circuit,

the first connecting body is located on one side of the orthogonal direction of the movable body,

the second connecting body is located on the other side of the orthogonal direction of the movable body,

in the first connecting body and the second connecting body, the first connecting body is connected to one end side portion in the first moving direction and the other end side portion in the movable body, and the second connecting body is connected to one end side portion in the second moving direction and the other end side portion in the movable body, or the first connecting body is connected to one end side portion in the second moving direction and the other end side portion in the movable body, and the second connecting body is connected to one end side portion in the first moving direction and the other end side portion in the first moving direction of the movable body.

2. The actuator of claim 1,

the first connecting body and the second connecting body each have a rectangular shape when viewed from the orthogonal direction.

3. The actuator of claim 1,

the first connection body includes: a one-side first connecting body connected with an end-side portion of the movable body on one side in the first moving direction or the second moving direction; and another side first connection body connected with the other side end side portion,

the second connecting body includes: a one-side second coupling body coupled to an end-side portion of the movable body in one of the first moving direction and the second moving direction, which is different from a direction in which the one-side first coupling body and the other-side first coupling body are arranged; and another side second connection body connected with the other side end side portion.

4. The actuator of claim 1,

the first connecting body and the second connecting body are connected to one end side portion and the other end side portion of the movable body in the first moving direction and to one end side portion and the other end side portion of the movable body in the second moving direction, respectively.

5. The actuator of claim 4,

the first connecting body and the second connecting body are cross-shaped when viewed from the orthogonal direction.

6. An actuator according to any of claims 1 to 5,

the first coil and the second coil are provided on the support body side,

the first magnet and the second magnet are provided on the movable body side.

7. The actuator of claim 6,

the movable body includes: a first yoke having a first plate portion to which the first magnet is fixed; and a second yoke having a second plate portion to which the second magnet is fixed,

the first plate portion is located on one side of the orthogonal direction of the first coil and the first magnet,

the second plate portion is located on the other side in the orthogonal direction of the second coil and the second magnet,

a cross shape including a pair of first plate portion first protrusions protruding to both sides in the first moving direction and a pair of first plate portion second protrusions protruding to both sides in the second moving direction when the first plate portion is viewed from the orthogonal direction,

a cross shape when the second plate portion is viewed from the orthogonal direction, the cross shape including a pair of second plate portion first protrusions protruding to both sides in the first moving direction and second plate portion second protrusions protruding to both sides in the second moving direction,

the first connecting body is connected to at least one of the pair of first plate portion first protrusions and the pair of first plate portion second protrusions,

the second connecting body is connected to at least the other of the pair of second plate portion first protruding portions and the pair of second plate portion second protruding portions.

8. The actuator of claim 7,

the movable body includes a magnetic member located between the first magnetic drive circuit and the second magnetic drive circuit in the orthogonal direction,

the first yoke includes a pair of first extending portions extending in the orthogonal direction from both ends of a pair of first plate portion first protruding portions protruding to both sides in the first moving direction,

the second yoke includes a pair of second extending portions extending in the orthogonal direction from both ends of a pair of second plate portion second protruding portions protruding to both sides in the second moving direction,

the magnetic member is connected to the other end of the pair of first extension portions in the orthogonal direction and one end of the pair of second extension portions in the orthogonal direction.

9. An actuator according to any of claims 1 to 7,

the first connecting body and the second connecting body are gel-like members.

Technical Field

The present invention relates to an actuator for generating vibrations.

Background

An actuator serving as a device for notifying information by vibration is disclosed in patent document 1. The actuator described in patent document 1 includes a support including a magnet, a movable body, and an elastic member; the movable body includes a coil facing the magnet, and the elastic member is disposed between the movable body and the support body. The movable body includes a coil holder that faces the plate thickness direction in a first direction in which the magnet and the coil face each other.

The coil holder includes two first coils at positions separated in a second direction orthogonal to the first direction, and includes two second coils at positions separated in a third direction orthogonal to the first direction and the second direction. The support body includes a first magnet on both sides in the first direction with respect to the first coil, and a second magnet on both sides in the first direction with respect to the second coil. Thus, the first coil and the first magnet constitute a first magnetic drive circuit for vibrating the movable body in the second direction, and the second coil and the second magnet constitute a second magnetic drive circuit for vibrating the movable body in the third direction. Therefore, the actuator can generate the vibration in the second direction and the vibration in the third direction.

Disclosure of Invention

Technical problem to be solved by the invention

In the movable body of the actuator described in patent document 1, the first coil and the second coil are provided in a planar manner on a holder that has a plate thickness direction oriented in a first direction. Therefore, the planar area of the movable body is large, and the planar area of the actuator is large.

If the first magnetic drive circuit and the second magnetic drive circuit are overlapped in the first direction, the planar area of the actuator can be reduced. However, in this case, the point of action of the force acting on the movable body when the first magnetic drive circuit is driven and the point of action of the force acting on the movable body when the second magnetic drive circuit is driven are at different positions in the first direction. Therefore, when the movable body is vibrated in the second direction or the third direction, the movable body is easily swung around the center of gravity. Here, if the movable body swings when the movable body is vibrated in the second direction or the third direction, the directions of the thrust forces generated by the first magnetic drive circuit and the second magnetic drive circuit are dispersed. Therefore, in the case where the actuator is used as a device or the like that informs information by vibration, the feeling that the user obtains from the device is affected.

In view of the above problems, an object of the present invention is to provide an actuator capable of preventing or suppressing a swing of a movable body even when a first magnetic drive circuit and a second magnetic drive circuit are overlapped in a direction orthogonal to a moving direction of the movable body.

Technical scheme for solving technical problem

In order to solve the above-described problems, the present invention provides an actuator including: a support; a movable body; a first magnetic driving circuit that moves the movable body in a first moving direction; a second magnetic drive circuit that moves the movable body in a second movement direction intersecting the first movement direction; and a first connection body and a second connection body, each of the first connection body and the second connection body having at least one of elasticity and viscoelasticity, being connected to the movable body and the support body, and supporting the movable body so as to be displaceable in the first movement direction and the second movement direction, the first magnetic drive circuit including: a first coil provided on one of the support body and the movable body; and a first magnet provided on the other of the support body and the movable body and facing the first coil in a direction orthogonal to the first moving direction and the second moving direction, the second magnetic drive circuit including: a second coil provided on one of the support body and the movable body; and a second magnet provided on the other of the support body and the movable body and opposed to the two coils in the orthogonal direction, the first magnetic drive circuit being located on one side in the orthogonal direction of the second magnetic drive circuit, the first connecting body being located on one side in the orthogonal direction of the movable body, the second connecting body being located on the other side in the orthogonal direction of the movable body, the first connecting body being connected to an end side portion on one side and an end side portion on the other side in the first moving direction of the movable body, and the second connecting body being connected to an end side portion on one side and an end side portion on the other side in the second moving direction of the movable body, or the first connecting body being connected to an end side portion on one side and an end side portion on the other side in the second moving direction of the movable body, and the second connecting body is connected to an end side portion of one side and an end side portion of the other side of the movable body in the first moving direction.

The actuator of the present invention includes a first coupling body and a second coupling body that are coupled to a movable body and a support body and that support the movable body so as to be displaceable in the first movement direction and the second movement direction. The first connecting body and the second connecting body are positioned on one side and the other side of the movable body in the orthogonal direction. Further, in the first connecting body and the second connecting body, the first connecting body is connected to one end side portion and the other end side portion in the first moving direction of the movable body, and the second connecting body is connected to one end side portion and the other end side portion in the second moving direction of the movable body. Alternatively, in the first connecting body and the second connecting body, the first connecting body is connected to one end side portion and the other end side portion in the second moving direction of the movable body, and the second connecting body is connected to one end side portion and the other end side portion in the first moving direction of the movable body. Therefore, when the movable body attempts to swing in the first moving direction when the first magnetic drive circuit located on one side in the orthogonal direction is driven to move the movable body in the first moving direction, the connected body of the first connected body and the second connected body, which is connected to the end side portion on the one side and the end side portion on the other side of the movable body in the first moving direction, suppresses the swing. Further, when the movable body attempts to swing in the second moving direction when the second magnetic drive circuit located on the other side in the orthogonal direction is driven to move the movable body in the second moving direction, the connected body of the first connected body and the second connected body, which is connected to the end side portion on the one side and the end side portion on the other side of the movable body in the second moving direction, suppresses the swing. Thus, even when the first magnetic drive circuit and the second magnetic drive circuit are overlapped in the direction orthogonal to the moving direction of the movable body, the swing of the movable body can be prevented or suppressed.

In the present invention, the following manner may be adopted: the first connecting body and the second connecting body each have a rectangular shape when viewed from the orthogonal direction. Accordingly, the end portion on one side and the end portion on the other side in the first moving direction of the movable body can be connected to the support body using the first connecting body formed of one member. Alternatively, the end portion on one side and the end portion on the other side in the second moving direction of the movable body may be connected to the support body using a first connecting body formed of one member. Alternatively, the end portion on one side and the end portion on the other side in the first moving direction of the movable body may be connected to the support body using a second connecting body formed of one member. Alternatively, the end portion on one side and the end portion on the other side in the second moving direction of the movable body may be connected to the support body using a second connecting body formed of one member.

In the present invention, the following manner may also be adopted: the first connection body includes: a one-side first connecting body connected with an end-side portion of the movable body on one side in the first moving direction or the second moving direction; and another side first connection body connected with an end side portion of the another side, the second connection body including: a one-side second coupling body coupled to an end-side portion of the movable body in one of the first moving direction and the second moving direction, which is different from a direction in which the one-side first coupling body and the other-side first coupling body are arranged; and another side second connection body connected with the other side end side portion. Accordingly, the first connection body and the second connection body can be reduced as compared with a case where the first connection body and the second connection body are respectively constituted by one member.

In the present invention, the following manner may be adopted: the first connecting body and the second connecting body are connected to one end side portion and the other end side portion of the movable body in the first moving direction and to one end side portion and the other end side portion of the movable body in the second moving direction, respectively. Accordingly, the first connecting body can suppress the swing of the movable body in the first moving direction and the swing of the movable body in the second moving direction. Further, the second coupling body can suppress the swing of the movable body in the first moving direction and the swing of the movable body in the second moving direction.

In the present invention, the following manner may be adopted: the first connecting body and the second connecting body are cross-shaped when viewed from the orthogonal direction. Accordingly, the first connecting body formed of one member can be used to connect the end portion on one side and the end portion on the other side in the first moving direction of the movable body to the support body, and the end portion on one side and the end portion on the other side in the second moving direction of the movable body to the support body. Further, the end portion on one side and the end portion on the other side in the first moving direction of the movable body may be connected to the support body using a second connecting body formed of one member, and the end portion on one side and the end portion on the other side in the second moving direction of the movable body may be connected to the support body.

In the present invention, the following manner may be adopted: the first coil and the second coil are provided on the support body side, and the first magnet and the second magnet are provided on the movable body side. If the first coil and the second coil are provided on the support body, wiring to the first coil and the second coil is easier than in the case where the first coil and the second coil are provided on the movable body. Further, when the movable body moves, no load is generated due to deformation of the wiring to the first coil and the wiring to the second coil.

In the present invention, the following manner may be adopted: the movable body includes: a first yoke having a first plate portion to which the first magnet is fixed; and a second yoke having a second plate portion to which the second magnet is fixed, the first plate portion being positioned on one side in the orthogonal direction of the first coil and the first magnet, the second plate portion being positioned on the other side in the orthogonal direction of the second coil and the second magnet, a cross shape when the first plate portion is viewed from the orthogonal direction, the cross shape including a pair of first plate portion first protrusions protruding to both sides in the first moving direction and a pair of first plate portion second protrusions protruding to both sides in the second moving direction, and the cross shape when the second plate portion is viewed from the orthogonal direction being a cross shape including a pair of second plate portion first protrusions protruding to both sides in the first moving direction and a second plate portion second protrusion protruding to both sides in the second moving direction, the first connecting body is connected to at least one of the pair of first plate portion first protrusions and the pair of first plate portion second protrusions, and the second connecting body is connected to at least the other of the pair of second plate portion first protrusions and the pair of second plate portion second protrusions. Accordingly, even when the first yoke and the second yoke have the same shape and the number of parts is reduced, the first connecting body can be connected to the first yoke, and the end portion on one side and the end portion on the other side in the first moving direction of the movable body can be connected to the support body using the first connecting body. Alternatively, the first coupling body may be coupled to the first yoke, whereby the end portion on one side and the end portion on the other side in the second moving direction of the movable body may be coupled to the support body. In addition, according to this configuration, even when the first yoke and the second yoke have the same shape and the number of components is reduced, the second connecting body may be connected to the second yoke, and the end portion on one side and the end portion on the other side in the first moving direction of the movable body may be connected to the support body using the second connecting body. Alternatively, the second connecting body may be connected to the second yoke, and the end portion on the one side and the end portion on the other side in the second moving direction of the movable body may be connected to the support body using the second connecting body.

In the present invention, the following manner may be adopted: the movable body includes a magnetic member located between the first magnetic drive circuit and the second magnetic drive circuit in the orthogonal direction, the first yoke includes a pair of first extending portions extending in the orthogonal direction from both end portions of a pair of first plate portion first protruding portions protruding to both sides in the first moving direction, respectively, the second yoke includes a pair of second extending portions extending in the orthogonal direction from both end portions of a pair of second plate portion second protruding portions protruding to both sides in the second moving direction, respectively, and the magnetic member is connected to the pair of first extending portions at the other end in the orthogonal direction and the pair of second extending portions at the one end in the orthogonal direction. Accordingly, since a magnetic path surrounding the first coil can be formed by the first yoke and the magnetic member, leakage of magnetic flux from the first magnetic drive circuit can be suppressed. This makes it possible to easily ensure the driving force of the first magnetic driving circuit. In addition, since the magnetic path surrounding the second coil can be formed by the second yoke and the magnetic member, leakage of magnetic flux from the second magnetic drive circuit can be suppressed. Therefore, the driving force of the second magnetic driving circuit can be easily ensured.

In the present invention, the following manner may be adopted: the first connecting body and the second connecting body are gel-like members.

Effects of the invention

According to the present invention, one of the first connecting body and the second connecting body, which has at least one of elasticity and viscoelasticity, connects the end portion of the movable body on one side and the end portion on the other side in the first moving direction to the support body. The other of the first connecting body and the second connecting body, which has at least one of elasticity and viscoelasticity, connects the end portion of the movable body on one side and the end portion on the other side in the second movement direction to the support body. Therefore, when the first magnetic driving circuit or the second magnetic driving circuit is driven to move the movable body in the first moving direction or the second moving direction, the first connecting body and the second connecting body prevent or suppress the swing of the movable body in the first moving direction and the movement of the movable body in the second moving direction.

Drawings

Fig. 1 is a perspective view of an actuator to which the present invention is applied.

Fig. 2 is an explanatory diagram of the case where the actuator is cut in the first direction and the second direction.

Fig. 3 is an explanatory diagram of the case where the actuator is cut in the first direction and the third direction.

Fig. 4 is an exploded perspective view of the actuator in a state where the restricting member is removed, as viewed from the other side in the first direction.

Fig. 5 is an exploded perspective view of the actuator in a state where the restricting member is removed, as viewed from one side in the first direction.

Fig. 6 is an exploded perspective view of the actuator with the magnetic drive circuit exploded from the other side in the first direction.

Fig. 7 is an exploded perspective view of the magnetic drive circuit for the actuator in an exploded state as viewed from the first direction side.

Fig. 8 is an exploded perspective view of the first magnetic driving circuit.

Fig. 9 is an exploded perspective view of the second magnetic driving circuit.

Fig. 10 (a) and 10 (b) in fig. 10 are explanatory views of the connecting body of modification 1.

Fig. 11 (a) and 11 (b) in fig. 11 are explanatory views of the connecting body of modification 2 and modification 3.

Fig. 12 (a) and 12 (b) in fig. 12 are explanatory views of the connecting body of modification 4 and modification 5.

Fig. 13 (a) and 13 (b) in fig. 13 are explanatory views of the connecting body of modification 6 or 7.

Description of the reference numerals

1 … actuator; 2 … a support; 3 … movable body; 4. 4A-4G … linkers; 6 … a first magnetic drive circuit; 7 … second magnetic drive circuit; 9 … flexible wiring board; 11 … a first coil support; 12 … second coil support; 20 … pins; 27 … a restraining member; 28 … a first plate-like member; 29 … second plate-like member; 41 … first connector; 41a … side first connecting body; 41b … another side first connector; 41c … second side first connector; 41d … second other side first connection body; 42 … second connector; 42a … side second connector; 42b … second connecting body on the other side; 42c … second side second connector; 42d … second other side second connector; 61 … first coil; 64 … a first yoke; 66 … a first frame portion; 67 … a first reinforcing frame; 69 … a first cylindrical portion; 71 … second coil; 72 … second coil; 74 … second yoke; 76 … second frame portion; 77 … second reinforcing frame; 79 … a second cylindrical portion; 84 … third yoke (magnetic part); 90 … bends; 90 … curved bends; 91 … first part; 92 … second part; 93 … third part; 94 … fourth part; 281 … first end plate part; 281a … first end plate central portion; 281b … first end panel first projection; 281c … first end panel second projection; 282 … first side panel portion; 291 … second end panel portion; 291a … second end panel center portion; 291b … second end panel first tab; 291c … second end panel second projection; 292 … second side panel portion; 611. 612 … a first effective edge portion; 613. 614 … a first dead edge portion; 621. 622 … a first magnet; 640 … a first panel portion; 640a … first plate portion central portion; 640b … first plate portion first projection; 640c … first plate portion second projection; 641. 642 … a first extended setting; 641. 642 … a pair of first extension settings; 641a … recess; 660 … a first opening; 661. 662 … a first seat; 665 … recess; 666 … projection; 711. 712 … second effective edge portion; 713. 714 … second dead edge portion; 721. 722 … a second magnet; 722 … a second magnet; 740 … second panel portion; 740a … second plate portion central portion; 740b … second panel portion first projection; 740c … second plate portion second projection; 741. 742 … a second extension setting part; 741a … recess; 760 … second opening; 761. 762 … a second seat; 765 … recess; 766 … convex part; 840 … board portion; e1 … first action point; e2 … second point of action; x … second direction (first moving direction); y … third direction (second moving direction); z … first direction (orthogonal direction).

Detailed Description

An actuator according to an embodiment of the present invention will be described below with reference to the drawings. In the following description, three directions intersecting each other are referred to as a second direction X, a third direction Y, and a first direction Z. The first direction Z is a direction orthogonal to the second direction X and the third direction Y. Further, X1 is denoted by one side X1 in the second direction X, X2 is denoted by the other side in the second direction X, Y1 is denoted by one side in the third direction Y, Y2 is denoted by the other side in the third direction Y, Z1 is denoted by one side Z1 in the first direction Z, and Z2 is denoted by the other side in the first direction Z.

(Overall Structure)

Fig. 1 is a perspective view of an actuator to which the present invention is applied. Fig. 2 is an explanatory diagram of the case where the actuator is cut in the first direction Z and the second direction X. Fig. 3 is an explanatory diagram of the case where the actuator is cut in the first direction Z and the third direction Y. Fig. 4 is an exploded perspective view of the actuator in a state where the restricting member is removed, as viewed from the other side in the first direction. Fig. 5 is an exploded perspective view of the actuator in a state where the restricting member is removed, as viewed from one side in the first direction.

As shown in fig. 1, the actuator 1 of the present embodiment has a substantially rectangular parallelepiped shape. As shown in fig. 2 and 3, the actuator 1 includes a support 2, a movable body 3, and a connecting body 4 (a first connecting body 41 and a second connecting body 42) disposed between the support 2 and the movable body 3. The connecting body 4 has elasticity or viscoelasticity and is connected to the movable body 3 and the support 2.

The actuator 1 includes a first magnetic drive circuit 6 that moves (vibrates) the movable body 3 relative to the support 2 in a first movement direction, and a second magnetic drive circuit 7 that moves (vibrates) the movable body 3 relative to the support 2 in a second movement direction. The first magnetic drive circuit 6 moves the movable body 3 in a first movement direction orthogonal to the second movement direction in which the second magnetic drive circuit 7 moves the movable body 3. The first moving direction in which the first magnetic drive circuit 6 moves the movable body 3 is the second direction X. The second moving direction in which the second magnetic drive circuit 7 moves the movable body 3 is the third direction Y. The orthogonal direction orthogonal to the first moving direction and the second moving direction is the first direction Z.

Here, the actuator 1 can vibrate the movable body 3 in the second direction X and the third direction Y by driving the first magnetic drive circuit 6 and the second magnetic drive circuit 7. Therefore, the user using the actuator 1 or the device to which the actuator 1 is attached can be made to feel the vibration in the second direction X, the vibration in the third direction Y, or the vibration in which the vibration in the second direction X and the vibration in the third direction Y are combined. Therefore, the actuator 1 can be used as a haptic device that gives a user a sense of touch by the vibration described above, and can be incorporated into an operation member of a game machine, an operation panel, a handle of an automobile, a seat, or the like for use, for example. Power is supplied to the actuator 1, that is, to the first magnetic drive circuit 6 and the second magnetic drive circuit 7, via the flexible wiring board 9 (see fig. 1).

As shown in fig. 4 and 5, the support body 2 includes a first coil support 11 and a second coil support 12 that are arranged to overlap in the first direction Z, and a restraining member 27 that restrains the first coil support 11 and the second coil support 12 from both sides in the first direction Z. As shown in fig. 5, first coupling body 41 is disposed on one side Z1 of movable body 3 in first direction Z. The first connecting body 41 connects the restricting member 27 and the movable body 3 on one side Z1 in the first direction Z. As shown in fig. 4, the second link body 42 is disposed on the other side Z2 of the movable body 3 in the first direction Z. The second connecting body 42 connects the restricting member 27 and the movable body 3 at the other side Z2 in the first direction Z. As shown in fig. 2 and 3, the first connecting body 41 and the second connecting body 42 are both compressed in the first direction Z. The connected body 4 (the first connected body 41 and the second connected body 42) supports the movable body 3 so as to be displaceable in the first direction Z, the second direction X, and the third direction Y.

Each of the first magnetic drive circuit 6 and the second magnetic drive circuit 7 has a coil and a magnet facing the coil in the first direction Z. The coil is provided on one of the support 2 and the movable body 3, and the magnet is provided on the other. In the present embodiment, the coils (the first coil 61 and the second coil 71) are fixed to the coil holders (the first coil holder 11 and the second coil holder 12). The coil (the first coil 61 and the second coil 71), the coil holder (the first coil holder 11 and the second coil holder 12), and the constraining member 27 constitute the support body 2. Further, magnets ( first magnets 621, 622 and second magnets 721, 722) and yokes (first yoke 64, second yoke 74 and third yoke 84 (magnetic member)) are provided on movable body 3. That is, the magnet (the first magnet 621, 622 and the second magnet 721, 722) and the yoke (the first yoke 64, the second yoke 74 and the third yoke 84) constitute the movable body 3.

The first magnetic driving circuit 6 is disposed to overlap one side Z1 of the second magnetic driving circuit 7 in the first direction Z. Therefore, the dimension (planar area) of the actuator 1 when viewed from the first direction Z is small. Thus, the actuator 1 of the present embodiment is suitable for being attached to a handheld controller or the like.

(first and second magnetic drive circuits)

The basic structure of the first magnetic drive circuit 6 and the second magnetic drive circuit 7 is the same. As shown in fig. 2 and 3, the first magnetic drive circuit 6 and the second magnetic drive circuit 7 are configured such that two magnetic drive circuits having the same configuration are symmetrically arranged in the first direction Z and one magnetic drive circuit is rotated by 90 ° about a central axis line extending in the first direction Z.

The first magnetic drive circuit 6 has the first coil 61, a first magnet 621 opposed to the first coil 61 on one side Z1 in the first direction Z, and a first magnet 622 opposed to the first coil 61 on the other side Z2 in the first direction Z. The second magnetic drive circuit 7 includes a second coil 71, a second magnet 721 facing the second coil 71 on the other side Z2 in the first direction Z, and a second magnet 722 facing the second coil 71 on the one side Z1 in the first direction Z. The second magnetic drive circuit 7 (the second coil 71 and the second magnets 721, 722) overlaps the other side Z2 of the first magnetic drive circuit 6 in the first direction Z.

In order to arrange the first magnetic drive circuit 6 and the second magnetic drive circuit 7 configured as described above so as to overlap in the first direction Z, the support body 2 has a first coil holder 11 for holding the first coil 61 and a second coil holder 12 for holding the second coil 71, as shown in fig. 4 and 5. The first coil bobbin 11 and the second coil bobbin 12 are arranged to overlap in order from one side Z1 to the other side Z2 in the first direction Z. The first coil support 11 and the second coil support 12 are connected.

On the other hand, as shown in fig. 2 and 3, the movable body 3 includes a first yoke 64 disposed on one side Z1 in the first direction Z of the first coil 61, a second yoke 74 disposed on the other side Z2 in the first direction Z of the second coil 71, and a third yoke 84 disposed between the first coil 61 and the second coil 71. First magnets 621 and 622 are held on the surfaces of first yoke 64 and third yoke 84 that face first coil 61. Second magnets 721, 722 are held on the surfaces of the second yoke 74 and the third yoke 84 that face the second coil 71.

(first magnetic drive circuit)

Fig. 6 is an exploded perspective view of the actuator 1 in an exploded state as viewed from the other side Z2 in the first direction Z. Fig. 7 is an exploded perspective view of the actuator 1 in an exploded state, as viewed from one side Z1 in the first direction Z. Fig. 8 is an exploded perspective view of the first magnetic drive circuit 6. Fig. 9 is an exploded perspective view of the second magnetic drive circuit 7.

As shown in fig. 6 and 8, the first coil holder 11 includes a first frame portion 66 that holds the first coil 61 inside, a first reinforcing frame 67 disposed on one side Z1 of the first frame portion 66 in the first direction Z, and a plurality of first columnar portions 69 that connect an end of the first frame portion 66 and an end of the first reinforcing frame 67. The first frame portion 66 and the first reinforcing frame 67 have a quadrangular outer shape when viewed from the first direction Z, and a first columnar portion 69 is provided at each of the four corners. The first column portion 69 protrudes from the first frame portion 66 toward the second coil holder 12. The first coil holder 11 is made of resin or metal. In the present embodiment, the first coil holder 11 is made of resin.

As shown in fig. 8, the first coil 61 used in the first magnetic drive circuit 6 is an oblong air-core coil having first effective side portions 611, 612 (long side portions) extending in the third direction Y. Corresponding to this shape, the first frame portion 66 of the first coil holder 11 is formed with an oval first opening portion 660 having a longer diameter direction oriented in the third direction Y, and the first coil 61 is fixed to the inside of the first opening portion 660 by bonding or the like.

In the first coil support 11, first seating portions 661, 662 are formed on one side Z1 in the first direction Z of the first frame portion 66, the first seating portions 661, 662 support first ineffective side portions 613, 614 (short side portions) on one side Z1 in the first direction Z, and the first ineffective side portions 613, 614 (short side portions) extend in the second direction X at both end portions of the first coil 61 at positions overlapping both end portions in the third direction Y of the first opening 660. The first seats 661, 662 project from the first frame 66 to the first direction Z side Z1, and form bottom portions of the first direction Z side Z1 at both ends of the first opening 660 in the third direction Y. A recess 665 is formed in a surface of the second side Z2 of the first frame 66 in the first direction Z at a position adjacent to the first opening 660 on the first side Y1 in the third direction Y. The recess 665 is a guide portion through which a lead-out portion at which winding of the coil wire constituting the first coil 61 starts and a lead-out portion at which winding ends pass. The thickness (dimension in the first direction Z) of the first frame portion 66 is larger than the thickness (dimension in the first direction Z) of the first coil 61. Therefore, in a state where the first coil 61 is accommodated inside the first opening 660, the first coil 61 does not protrude from the first frame 66 to the other side Z2 in the first direction Z. The first coil holder 11 has a protrusion 666 formed on the outer surface of the first frame 66 so as to protrude toward one side Y1 in the third direction Y.

The first magnets 621, 622 each have a rectangular planar shape. The first magnets 621 and 622 have their longitudinal directions oriented in the second direction X. The first magnets 621 and 622 are polarized in the second direction X, and the N pole and the S pole are respectively opposed to the first effective edge portions 611 and 612 of the first coil 61. Therefore, if first coil 61 is energized, first magnetic drive circuit 6 generates a drive force that drives movable body 3 in second direction X.

In the first magnetic drive circuit 6, the first yoke 64 has a flat plate-like first plate portion 640, and the first plate portion 640 holds the first magnet 621 on the other surface Z2 in the first direction Z. The first plate portion 640 is located on one side Z1 in the first direction Z of the first coil 61 and the first magnet 621. As shown in fig. 8, the first plate portion 640 has a cross shape when viewed from the first direction Z. That is, the first plate portion 640 includes a rectangular first plate portion central portion 640a, a pair of first plate portion first protrusions 640b protruding from the first plate portion central portion 640a to both sides in the second direction X, and a pair of first plate portion second protrusions 640c protruding from the first plate portion central portion 640a to both sides in the third direction Y. The first yoke 64 has a pair of first extended portions 641 and 642, and the pair of first extended portions 641 and 642 are formed by plate-like portions bent from both ends of the pair of first plate portion first protrusions 640b in the second direction X toward the other side Z2 in the first direction Z.

The third yoke 84 is flat. The third yoke 84 has a cross shape when viewed from the first direction. The first extension portions 641 and 642 of the first yoke 64 are connected to the third yoke 84, respectively. More specifically, concave portions 641a and 642a are formed at the end portions of the other side Z2 of the first extended portions 641 and 642 in the first direction Z, and convex portions 841 and 842 into which the concave portions 641a and 642a are fitted are formed at the end portions of the one side X1 and the other side X2 of the plate portion 840 of the third yoke 84 in the second direction X. In the present embodiment, the first extension portions 641 and 642 of the first yoke 64 and the third yoke 84 are connected by welding, caulking, or the like.

In the first magnetic drive circuit 6 configured as described above, as shown in fig. 6, the first plate portion 640 and the first magnet 621 of the first yoke 64 that face the first coil 61 are disposed between the first frame portion 66 and the first reinforcing frame 67 of the first coil holder 11 in the first direction Z. The first extension portions 641 and 642 protrude from between the first frame portion 66 and the first reinforcing frame 67 toward the third yoke 84.

(second magnetic drive circuit)

As shown in fig. 7 and 9, the second coil holder 12 includes a second frame portion 76 that holds the second coil 71 inside, a second reinforcing frame 77 disposed on the other side Z2 of the second frame portion 76 in the first direction Z, and a plurality of second column portions 79 that connect the end portions of the second frame portion 76 and the end portions of the second reinforcing frame 77. The outer shape of the second frame portion 76 and the second reinforcing frame 77 when viewed from the first direction Z is a quadrangle, and a second columnar portion 79 is provided at each of the four corners. The second column portion 79 protrudes from the second frame portion 76 toward the first coil support 11, and abuts against the front end surface of the first column portion 69 of the first coil support 11. Therefore, an appropriate interval is provided between the first coil 61 held by the first coil holder 11 and the second coil 71 held by the second coil holder 12. The second coil holder 12 is made of resin or metal. In the present embodiment, the second coil holder 12 is made of resin.

As shown in fig. 9, the second coil 71 used for the second magnetic drive circuit 7 is an oblong air-core coil having second effective side portions 711, 712 (long side portions) extending in the second direction X. Corresponding to this shape, a second opening 760 having an oval shape with the longer diameter direction oriented in the second direction X is formed in the second frame portion 76 of the second coil holder 12, and the second coil 71 is fixed to the inside of the second opening 760 by bonding or the like.

In the second coil holder 12, second seats 761, 762 are formed on the other side Z2 in the first direction Z of the second frame portion 76, the second seats 761, 762 support second ineffective side portions 713, 714 (short side portions) on the other side Z2 in the first direction Z, and the second ineffective side portions 713, 714 (short side portions) extend in the third direction Y at both ends of the second coil 71 at positions overlapping with both ends in the second direction X of the second opening portion 760. The second seats 761, 762 project from the second frame portion 76 toward the other side Z2 in the first direction Z, and form a bottom portion of the other side Z2 in the first direction Z at both ends of the second opening portion 760 in the second direction X. A recess 765 is formed in a surface of the second frame member 76 on the side Z1 in the first direction Z, at a position adjacent to the second opening 760 on the side X1 in the second direction X. The recessed portion 765 is a guide portion through which a drawn-out portion where winding of the coil wire constituting the second coil 71 starts and a drawn-out portion where winding ends are supplied. The thickness (dimension in the first direction Z) of the second frame portion 76 is larger than the thickness (dimension in the first direction Z) of the second coil 71. Therefore, in a state where the second coil 71 is accommodated inside the second opening 760, the second coil 71 does not protrude from the second frame portion 76 toward the one side Z1 in the first direction Z. In the second coil holder 12, a convex portion 766 protruding to one side X1 in the second direction X is formed on the outer surface of the second frame portion 76.

The second magnets 721, 722 each have a rectangular planar shape. The second magnets 721 and 722 have their longitudinal directions oriented in the third direction Y. The second magnets 721 and 722 are polarized in the third direction Y, and the N-pole and the S-pole are respectively opposed to the second effective edge portions 711 and 712 of the second coil 71. Therefore, if the second coil 71 is energized, the second magnetic driving circuit 7 generates a driving force that drives the movable body 3 in the third direction Y.

In the second magnetic drive circuit 7, the second yoke 74 has a flat second plate portion 740, and the second plate portion 740 holds the second magnet 721 on the surface of one side Z1 in the first direction Z. The second plate portion 740 is located on the other side Z2 of the second coil 71 and the second magnet 721 in the first direction Z. As shown in fig. 9, the second plate portion 740 has a cross shape when viewed from the first direction Z. That is, the second plate portion 740 includes a rectangular second plate portion center portion 740a, a pair of second plate portion first protruding portions 740b protruding from the second plate portion center portion 740a to both sides in the second direction X, and a pair of second plate portion second protruding portions 740c protruding from the second plate portion center portion 740a to both sides in the third direction Y. The second yoke 74 also has a pair of second extended portions 741 and 742, and the pair of second extended portions 741 and 742 are plate-shaped portions bent from both ends of the pair of second plate portion second protrusions 740c in the third direction Y toward the other side Z2 in the first direction Z.

The second extended portions 741 and 742 are connected to the third yoke 84, respectively. More specifically, concave portions 741a and 742a are formed at the end portions of the second extension portions 741 and 742 on the one side Z1 in the first direction Z, and convex portions 843 and 844 that fit into the concave portions 741a and 742a are formed at the end portions of the plate portion 840 of the third yoke 84 on the one side Y1 and the other side Y2 in the third direction Y. In the present embodiment, the second extended portions 741 and 742 of the second yoke 74 and the third yoke 84 are connected by welding, caulking, or the like.

Here, the third yoke 84 is shared with the first magnetic drive circuit 6. The plate portion 840 of the third yoke 84 holds the second magnet 722 on the other side Z2 surface in the first direction Z. The third yoke 84 has a larger thickness in the first direction Z than the other yokes (the first yoke 64 and the second yoke 74). Therefore, even if the third yoke 84 is used as a common yoke in the first magnetic drive circuit 6 and the second magnetic drive circuit 7, magnetic saturation or the like is less likely to occur.

As shown in fig. 7, in the second magnetic drive circuit 7 having such a configuration, the second plate 740 and the second magnet 721 facing the second coil 71 in the second yoke 74 are disposed between the second frame 76 and the second reinforcing frame 77 of the second coil support 12 in the first direction Z. The second extended portions 741 and 742 protrude from between the second frame portion 76 and the second reinforcing frame 77 toward the third yoke 84.

(connection Structure of first coil holder and second coil holder and Flexible Wiring Board)

As shown in fig. 6 and 7, the first coil support 11 and the second coil support 12 have a plurality of holes 690, 790 with closed bottoms that are partially open and face each other in the first direction Z. The first coil support 11 and the second coil support 12 are connected by being positioned by pins embedded in the respective holes 690, 790. The pin 20 is formed of a metal round bar. In a state where the first coil support 11 and the second coil support 12 are connected, the front end surfaces of the plurality of first columnar portions 69 of the first coil support 11 and the plurality of second columnar portions 79 of the second coil support 12 abut against each other.

As shown in fig. 4 and 5, the flexible wiring board 9 includes a first portion 91 extending along a surface of one side Y1 of the first coil support 11 in the third direction Y, a bent portion 90 bent from the first portion 91 to the other side Y2 of the third direction Y, and a second portion 92 extending from the bent portion 90 and extending along a surface of one side X1 of the first coil support 11 and the second coil support 12 in the second direction X. The second portion 92 has a third portion 93 extending from the bend 90 along another side Z2 facing the first direction Z of one side X1 of the second direction X of the first coil support 11 and a fourth portion 94 in a belt shape extending from the third portion 93 to another side Y2 of the third direction Y. The first portion 91 is locked to the protrusion 666 of the first coil holder 11 and fixed to the first coil holder 11 by an adhesive. The fourth portion 94 is locked to the convex portion 766 of the second coil holder 12 and fixed to the second coil holder 12 by an adhesive. The first portion 91 is connected to a coil wire constituting the first coil 61, and the second portion 92 is connected to a coil wire constituting the second coil 71. The second portion 92 is provided with a plurality of terminals for external connection.

(restraining Member and connecting body)

As shown in fig. 4 and 5, the constraining member 27 includes a first plate-like member 28 and a second plate-like member 29, the first plate-like member 28 includes a first end plate portion 281 overlapping with the first coil support 11 from one side Z1 in the first direction Z, and the second plate-like member 29 includes a second end plate portion 291 overlapping with the second coil support 12 from the other side Z2 in the first direction Z. The first plate-like member 28 and the second plate-like member 29 are each formed of a metal plate.

As shown in fig. 4 and 5, the first end plate portion 281 of the first plate-like member 28 has a cross shape when viewed in the first direction Z. That is, the first end plate portion 281 includes a rectangular first end plate central portion 281a, a pair of first end plate first protruding portions 281b protruding from the first end plate central portion 281a to both sides in the second direction X, and a pair of first end plate second protruding portions 281c protruding from the first end plate central portion 281a to both sides in the third direction Y. In addition, the first plate-like member 28 includes two first side plate portions 282 that are bent from both ends (ends of the first end plate second protrusions 281 c) of the first end plate portion 281 in the third direction Y to the other side Z2 of the first direction Z.

The second end plate 291 of the second plate 29 is formed in a cross shape when viewed in the second direction X. That is, the second end plate portion 291 includes a rectangular second end plate central portion 291a, a pair of second end plate first protrusions 291b protruding from the second end plate central portion 291a to both sides in the second direction X, and a pair of second end plate second protrusions 291c protruding from the second end plate central portion 291a to both sides in the third direction Y. In addition, the second plate-like member 29 includes two second side plate portions 292 that are bent from both ends of the second end plate portion 291 in the third direction Y (the ends of the second end plate second protrusions 291 c) to one side Z1 of the first direction Z.

Here, the end of the other side Z2 in the first direction Z of each first side plate portion 282 is connected to the second end plate portion 291 of the second plate-like member 29 by welding. Further, the end of one side Z1 in the first direction Z of each second side plate portion 292 is connected to the first end plate portion 281 of the first plate-like member 28 by welding or the like. In a state where the first plate-like member 28 and the second plate-like member 29 are connected, the first coil holder 11 and the second coil holder 12 are restrained in a state where the restraining member 27 is pressed from both sides in the first direction Z.

As shown in fig. 2 and 3, in a state where the constraining member 27 is superposed on the first coil holder 11 and the second coil holder 12, the first end plate portion 281 of the first plate-like member 28 faces the first plate portion 640 of the first yoke 64 of the movable body 3 in the first direction Z. The first end plate portion 281 and the first plate portion 640 overlap each other in a cross shape when viewed from the first direction. The first connecting body 41 is located between the first end plate portion 281 and the first plate portion 640. In addition, in a state where the restriction member 27 is superposed on the first coil holder 11 and the second coil holder 12, the second end plate portion 291 of the second plate-like member 29 faces the second plate portion 740 of the second yoke 74 of the movable body 3 in the first direction Z. The second end plate portion 291 and the second plate portion 740 overlap each other in a cross shape when viewed from the first direction. The second connecting body 42 is located between the second end plate portion 291 and the second plate portion 740.

The first connecting body 41 and the second connecting body 42 are viscoelastic bodies having viscoelasticity. In the present embodiment, the first connecting body 41 and the second connecting body 42 are gel-like members in the shape of rectangular parallelepiped. As shown in fig. 5, the first connecting body 41 is disposed on the first plate portion 640 of the first yoke 64 with the longitudinal direction thereof oriented in the second direction X, and thereby connected to one end side portion and the other end side portion of the movable body 3 in the second direction X (first moving direction). That is, the first connecting body 41 is connected to the first plate portion central portion 640a and either one of the pair of first plate portion first protrusions 640b protruding on both sides in the second direction X in the first yoke 64. The first coupling body 41 couples the support 2 and the movable body 3 in a state of being compressed in the first direction Z between the first end plate portion 281 and the first yoke 64. First coupling body 41 supports movable body 3 so as to be displaceable in second direction X and third direction Y with respect to support body 2. Both surfaces of first coupling body 41 in first direction Z are fixed to movable body 3 and constraining member 27 with an adhesive.

As shown in fig. 4, second connecting body 42 is connected to one end side portion and the other end side portion of movable body 3 in third direction Y (second moving direction) by second plate portion 740 fixed to second yoke 74 with its longitudinal direction oriented in third direction Y. That is, the second connecting body 42 is connected to the pair of second plate portion second protruding portions 740c and the second plate portion center portion 740a protruding to both sides in the third direction Y in the second yoke 74. The second connecting body 42 connects the support 2 and the movable body 3 in a state of being compressed between the second end plate portion 291 and the second yoke 74 in the first direction Z. The second connecting body 42 supports the movable body 3 so as to be displaceable in the second direction X and the third direction Y with respect to the support 2. Both surfaces of second coupling body 42 in first direction Z are fixed to movable body 3 and constraining member 27 with an adhesive. The longitudinal direction of the first connecting body 41 is orthogonal to the longitudinal direction of the second connecting body 42 when viewed from the first direction Z.

Here, the gel-like members constituting the first connecting body 41 and the second connecting body 42 have linear or nonlinear expansion and contraction characteristics depending on the expansion and contraction direction thereof. For example, a plate-like gel-like material has a stretching property in which a nonlinear component is larger than a linear component when it is compressed and deformed in the thickness direction (axial direction), and a stretching property in which a linear component is larger than a nonlinear component when it is stretched and elongated in the thickness direction (axial direction). In addition, even when the strain is applied in a direction (shear direction) intersecting the thickness direction (axial direction), the strain has a strain characteristic in which a linear component is larger than a nonlinear component. In the present embodiment, the configuration is: when the movable body 3 vibrates in the second direction X and the third direction Y, the connection body 4 (viscoelastic body) deforms in the shearing direction. Therefore, since the connected body 4 is deformed in a highly linear range, a vibration characteristic having good linearity can be obtained.

(positional relationship between magnetic center of magnetic drive circuit and center of gravity of movable body)

In the actuator 1 configured as described above, the first coil 61, the second coil 71, the first coil support 11, and the second coil support 12 are configured to be symmetrical about a virtual line passing through the center of the movable body 3 in the second direction X and extending in the third direction Y, and to be symmetrical about a virtual line passing through the center of the third direction Y and extending in the second direction X. The first magnets 621 and 622, the second magnets 721 and 722, and the first and second yokes 64 and 74 are configured to be symmetrical about a virtual line passing through the center of the movable body 3 in the second direction X and extending in the third direction Y, and about a virtual line passing through the center of the third direction Y and extending in the second direction X. Therefore, as shown in fig. 2 and 3, the center of gravity G of the actuator 1 is located at the center (the center in the first direction Y, the center in the second direction X, and the center in the third direction Y) or substantially at the center of the actuator 1.

The magnetic center position of first magnetic drive circuit 6, that is, first operating point E1 of the driving force applied to movable body 3 when first magnetic drive circuit 6 is driven, is located at a position that coincides with the center of gravity of movable body 3 in second direction X and third direction Y, and is located at a position shifted from center of gravity G to one side Z1 in first direction Z. The magnetic center position of second magnetic drive circuit 7, i.e., second operating point E2 of the drive force acting on movable body 3 when second magnetic drive circuit 7 is driven, is located at a position matching gravity center G of movable body 3 in second direction X and third direction Y, and is located at a position shifted from gravity center G to the other side Z2 in first direction Z.

(action)

In the actuator 1 of the present embodiment, when the alternating current is applied to the first coil 61 and, on the other hand, the energization to the second coil 71 is stopped, the center of gravity G in the actuator 1 fluctuates in the second direction X because the movable body 3 vibrates in the second direction X. Therefore, the user can feel the vibration in the second direction X. At this time, if the alternating current waveform applied to first coil 61 is adjusted such that the acceleration at which movable body 3 moves to one side X1 of second direction X and the acceleration at which movable body 3 moves to the other side X2 of second direction X are different, the user can feel the vibration having directivity in second direction X.

Further, if the alternating current is applied to the second coil 71, and the energization of the first coil 61 is stopped, the movable body 3 vibrates in the third direction Y, and therefore the center of gravity G in the actuator 1 fluctuates in the third direction Y. Therefore, the user can feel the vibration in the third direction Y. At this time, if the ac waveform applied to second coil 71 is adjusted such that the acceleration at which movable body 3 moves to one side Y1 of third direction Y and the acceleration at which movable body 3 moves to the other side Y2 of third direction Y are different, the user can feel the vibration having directivity in third direction Y.

Also, if the energization of the first coil 61 and the second coil 71 is combined, the user can obtain a feeling of combining the vibration in the second direction X and the vibration in the third direction Y.

Here, in the present embodiment, first point of action E1 of the driving force acting on movable body 3 when first magnetic drive circuit 6 is driven and second point of action E2 of the force acting on movable body 3 when second magnetic drive circuit 7 is driven are located at positions different from center of gravity G in first direction Z. Therefore, when movable body 3 is vibrated in second direction X or third direction Y, movable body 3 tends to swing around center of gravity G. When the movable body 3 is vibrated in the second direction X or the third direction Y, the directions of the thrusts generated by the first magnetic drive circuit 6 and the second magnetic drive circuit 7 are dispersed. Therefore, when the actuator is used as a device or the like that notifies information by vibration, the feeling that the user receives from the device may be affected.

To address such a problem, the actuator 1 of the present embodiment includes the first connecting body 41 and the second connecting body 42, and the first connecting body 41 and the second connecting body 42 are connected to the movable body 3 and the support 2, and support the movable body 3 so as to be displaceable in the second direction X and the third direction Y. The first connecting body 41 is connected to the end portion of one side X1 and the end portion of the other side X2 in the second direction X of the movable body 3 at one side Z1 in the first direction Z of the movable body 3. The second connecting body 42 is connected to the end portion of one side Y1 and the end portion of the other side Y2 in the third direction Y of the movable body 3 on the other side in the first direction Z of the movable body 3. Therefore, when the movable body 3 attempts to swing in the second direction X when the first magnetic drive circuit 6 is driven to move the movable body 3 in the second direction X, the first connecting body 41 connected to the end portion of one side X1 and the end portion of the other side X2 of the movable body 3 in the second direction X suppresses the swing. In addition, when the second magnetic drive circuit 7 is driven to move the movable body 3 in the third direction Y, the second link 42 suppresses the swing of the movable body 3 when the movable body 3 tries to swing in the third direction Y. Therefore, even when the first magnetic drive circuit 6 and the second magnetic drive circuit 7 are overlapped in the first direction Z orthogonal to the moving direction of the movable body 3, the movable body 3 can be prevented or suppressed from swinging during movement.

Here, each of the first connecting body 41 and the second connecting body 42 has a rectangular shape when viewed from the first direction Z. Therefore, the end portion of one side X1 and the end portion of the other side X2 in the second direction X of the movable body 3 can be connected to the support 2 using the first connecting body 41 formed of one member. Further, the end portion of one side Y1 and the end portion of the other side Y2 of the movable body 3 in the third direction Y can be connected to the support body 2 using the second connecting body 42 formed of one member.

In the present embodiment, in the movable body 3, the first plate portion 640 of the first yoke 64 to which the first connecting body 41 is fixed is formed in a cross shape including a pair of first plate portion first protrusions 640b protruding to both sides in the second direction X and a pair of first plate portion second protrusions 640c protruding to both sides in the third direction Y when viewed from the first direction Z. The second plate portion 740 of the second yoke 74 to which the second connecting body 42 is fixed has a cross shape when the second plate portion 740 is viewed from the first direction Z, and the cross shape includes a pair of second plate portion first protrusions 740b protruding to both sides in the second direction X and second plate portion second protrusions 740c protruding to both sides in the third direction Y. The first connector 41 is connected to the pair of first plate portion first protrusions 640b and the first plate portion center portion 640a, and the second connector 42 is connected to the pair of second plate portion second protrusions 740c and the second plate portion center portion 740 a.

In this way, since the yoke 64 includes the projection projecting in the second direction X and the yoke 74 includes the projection projecting in the third direction Y, even when the first yoke 64 and the second yoke 74 are formed in the same shape to reduce the number of components, by connecting the first connecting body 41 to the first yoke 64, the end side portion of the one side X1 and the end side portion of the other side X2 in the second direction X of the movable body 3 can be connected to the support 2 using the first connecting body 41. Further, by connecting the second connecting body 42 to the second yoke 74, the end portion of one side Y1 and the end portion of the other side Y2 in the third direction Y of the movable body 3 can be connected to the support 2 using the second connecting body 42.

Here, in the present embodiment, the movable body 3 includes the third yoke 84 (magnetic member) between the first magnetic drive circuit 6 and the second magnetic drive circuit 7 in the first direction Z. The first yoke 64 includes a pair of first extension portions 641 and 642, the pair of first extension portions 641 and 642 extending in the first direction Z from both end portions of a pair of first plate portion first protrusions 640b protruding on both sides in the second direction X, respectively, and the second yoke 74 includes a pair of second extension portions 741 and 742 extending in the first direction Z from both end portions of a pair of second plate portion second protrusions 740c protruding on both sides in the third direction Y, respectively. Further, the third yoke 84 is connected to the end of the other side Z2 in the first direction Z of the pair of first extension portions 641 and 642 and the end of the one side Z1 in the first direction Z of the pair of second extension portions 741 and 742. Thus, since a magnetic path surrounding the first coil 61 can be formed by the first yoke 64 and the third yoke 84, leakage of magnetic flux from the first magnetic drive circuit 6 can be suppressed. Thereby, the driving force of the first magnetic driving circuit 6 can be easily ensured. In addition, since a magnetic circuit surrounding the second coil 71 can be formed by the second yoke 74 and the third yoke 84, leakage of magnetic flux from the second magnetic drive circuit 7 can be suppressed. Therefore, the driving force of the second magnetic driving circuit 7 can be easily ensured.

In the present embodiment, first coil 61 and second coil 71 are provided on the support body 2 side, and first magnets 621 and 622 and second magnets 721 and 722 are provided on the movable body 3 side. Therefore, wiring to the first coil 61 and the second coil 71 is facilitated as compared with the case where the first coil 61 and the second coil 71 are provided on the movable body 3. Further, when the movable body 3 moves, no load is generated due to deformation of the wiring to the first coil 61 and the wiring to the second coil 71.

(modification example)

Further, the first connecting body 41 may be connected to the end portion of one side Y1 and the end portion of the other side Y2 in the third direction Y of the movable body 3, and the second connecting body 42 may be connected to the end portion of one side X1 and the end portion of the other side X2 in the second direction X of the movable body 3. That is, the longitudinal direction of the first connecting body 41 may be reversed from the longitudinal direction of the second connecting body 42. The same effects as described above can also be obtained.

In the case of configuring the actuator 1, a connecting body according to the following modification may be used instead of the connecting body 4 (the first connecting body 41 and the second connecting body 42). Fig. 10 (a) and 10 (b) are explanatory views of a connecting body of modification 1. FIG. 11 (a) and FIG. 11 (b) are explanatory views of modified examples 2 and 3 of the connecting body. FIG. 12 (a) and FIG. 12 (b) are explanatory views of modified examples 4 and 5 of the connecting body. FIG. 13 (a) and FIG. 13 (b) are explanatory views of modified examples 6 and 7 of the connecting body.

As shown in fig. 10 (a), in a connected body 4A of modification 1, a first connected body 41 disposed on one side Z1 in a first direction Z of a movable body 3 includes: a one-side first link body 41a, the one-side first link body 41a being connected to an end-side portion of the movable body 3 on one side in the second direction X or the third direction Y; and the other side first connection body 41b, the other side first connection body 41b being connected with the other side end side portion. In the example shown in fig. 10 (a), the first connecting body 41a on the one side and the first connecting body 41b on the other side are connected to a pair of first plate portion first protrusions 640b protruding in the first direction X on the one side X1 and the other side X2 in the first plate portion 640 of the first yoke 64, respectively.

Further, the second connecting body 42 disposed on the other side Z2 in the first direction Z of the movable body 3 includes: a first connecting body 42a connected to an end portion of the movable body 3 on one side in a direction different from the direction in which the first connecting body 41a and the first connecting body 41b are arranged in the second direction X and the third direction Y; and a second other connecting body 42b, the second other connecting body 42b being connected to the other end side portion of the movable body 3. In the example shown in fig. 10 (b), the one-side second connection body 42a and the other-side second connection body 42b are connected to a pair of second plate portion second protrusions 740c protruding in the third direction Y in the second plate portion 740 of the second yoke 74, respectively.

Even in the case of using the link body 4A (the first link body 41 and the second link body 42) of the present embodiment, the swing of the movable body 3 can be prevented or suppressed when the movable body 3 moves in the second direction X or the third direction Y. In addition, according to the present embodiment, the first connecting body 41 and the second connecting body 42 can be made smaller than the case where the first connecting body 41 and the second connecting body 42 are each formed of one member. In addition, the first plate portion 640 of the first yoke 64 may have the first connecting body 41a and the first connecting body 41b arranged in the third direction Y, and the second plate portion 740 of the second yoke 74 may have the second connecting body 42a and the second connecting body 42b arranged in the second direction X.

Next, in the coupling body 4B of modification 2 and the coupling body 4C of modification 3 shown in fig. 11 (a) and 11 (B), the first coupling body 41 disposed on one side Z1 in the first direction Z of the movable body 3 and the second coupling body 42 disposed on the other side Z2 in the first direction Z of the movable body 3 are connected to the end side portion of one side X1 and the end side portion of the other side X2 in the second direction X of the movable body 3 and the end side portion of one side Y1 and the end side portion of the other side Y2 in the third direction Y of the movable body 3, respectively. Accordingly, the swing of movable body 3 in second direction X and the swing of movable body 3 in third direction Y can be suppressed by first coupling body 41. Moreover, the second coupling body 42 can suppress the swing of movable body 3 in second direction X and the swing of movable body 3 in third direction Y.

As shown in fig. 11 (a), in the connected body 4B of modification 2, the first connected body 41 and the second connected body 42 have a cross shape when viewed from the first direction Z. The first connecting body 41 is connected to each of the pair of first plate portion first protrusions 640b protruding to both sides in the second direction X, each of the pair of first plate portion second protrusions 640c protruding in the third direction Y, and the first plate portion central portion 640a in the first yoke 64. The second connection body 42 is connected to each of the pair of second plate portion first protruding portions 740b protruding to both sides in the second direction X, each of the pair of second plate portion second protruding portions 740c protruding in the third direction Y, and the second plate portion central portion 740a in the second yoke 74.

According to the present embodiment, the first link 41 can suppress the swing of movable body 3 in second direction X and the swing of movable body 3 in third direction Y. Moreover, the second coupling body 42 can suppress the swing of movable body 3 in second direction X and the swing of movable body 3 in third direction Y. Further, according to the present embodiment, the end side portion of one side X1 and the end side portion of the other side X2 in the second direction X of the movable body 3 can be connected to the support 2, and the end side portion of one side Y1 and the end side portion of the other side Y2 in the third direction Y of the movable body 3 can be connected to the support 2, using the first connecting body 41 composed of one member. Further, the end portion of one side X1 and the end portion of the other side X2 in the second direction X of the movable body 3 may be connected to the support body 2, and the end portion of one side Y1 and the end portion of the other side Y2 in the third direction Y of the movable body 3 may be connected to the support body 2, using the second connecting body 42 formed of one member.

As shown in fig. 11 (b), in a connected body 4C of modification 2, a first connected body 41 includes: a first one-side first link body 41a that is linked with an end-side portion of one side X1 of the movable body 3 in the second direction X; a first other-side first connection body 41b, the first other-side first connection body 41b being connected to an end-side portion of the other side X2; a second one-side first link body 41c that is linked to an end-side portion of one side Y1 of the movable body 3 in the third direction Y; and a second other-side first connection body 41d, the second other-side first connection body 41d being connected to an end-side portion of the other side Y2. The second connecting body 42 includes, similarly to the first connecting body 41: a first one-side second link body 42a, the first one-side second link body 42a being linked to an end-side portion of one side X1 of the movable body 3 in the second direction X; a first other side second connection body 42b, the first other side second connection body 42b being connected to an end side portion of the other side X2; a second one-side second link body 42c, the second one-side second link body 42c being linked to an end side portion of one side Y1 of the movable body 3 in the third direction Y; and a second other side second connection body 42d, the second other side second connection body 42d being connected to an end side portion of the other side Y2. The first one-side first connecting body 41a and the first other-side first connecting body 41b are connected to a pair of first plate portion first protrusions 640b protruding on both sides in the second direction X in the first yoke 64, respectively. The second one-side first coupling body 41c and the second other-side first coupling body 41d are coupled to a pair of first plate portion second protrusions 640c protruding in the third direction Y in the first yoke 64, respectively. The first one-side second connection body 42a and the first other-side second connection body 42b are connected to a pair of second plate portion second protrusions 740c protruding toward both sides in the second direction X in the second yoke 74, respectively. The second one-side second connection body 42c and the second other-side second connection body 42d are connected to a pair of second plate portion second protrusions 740c protruding in the third direction Y in the second yoke 74, respectively.

According to the present embodiment, the first link 41 can suppress the swing of movable body 3 in second direction X and the swing of movable body 3 in third direction Y. Moreover, the second coupling body 42 can suppress the swing of movable body 3 in second direction X and the swing of movable body 3 in third direction Y.

As shown in fig. 12 (a), in the connected body 4D of modification 4, the first connected body 41 and the second connected body 42 are circular when viewed from the first direction Z. As shown in fig. 12 (b), in the connected body 4E of modification 5, the first connected body 41 and the second connected body 42 are rectangular when viewed from the first direction Z. The connecting body of modification 5 has two diagonal corner portions oriented in the second direction X and the third direction Y. In modifications 4 and 5, the first connecting body 41 is connected to each of the pair of first plate portion first protrusions 640b protruding in the second direction X, each of the pair of first plate portion second protrusions 640c protruding in the third direction Y, and the first plate portion central portion 640a in the first yoke 64. The second connection body 42 is connected to each of the pair of second plate portion first protruding portions 740b protruding to both sides in the second direction X, each of the pair of second plate portion second protruding portions 740c protruding in the third direction Y, and the second plate portion central portion 740a in the second yoke 74.

According to modifications 4 and 5, the first link 41 can suppress the swing of movable body 3 in second direction X and the swing of movable body 3 in third direction Y. Moreover, the second coupling body 42 can suppress the swing of movable body 3 in second direction X and the swing of movable body 3 in third direction Y. Further, according to the present embodiment, the end side portion of one side X1 and the end side portion of the other side X2 in the second direction X of the movable body 3 can be connected to the support 2, and the end side portion of one side Y1 and the end side portion of the other side Y2 in the third direction Y of the movable body 3 can be connected to the support 2, using the first connecting body 41 composed of one member. Further, the end portion of one side X1 and the end portion of the other side X2 in the second direction X of the movable body 3 may be connected to the support body 2, and the end portion of one side Y1 and the end portion of the other side Y2 in the third direction Y of the movable body 3 may be connected to the support body 2, using the second connecting body 42 formed of one member.

In the connected body 4F of the modification 6 shown in fig. 13 (a), the first connected body 41 and the second connected body 42 are circular when viewed from the first direction Z. In the connected body 4G of modification 7 shown in fig. 13 (b), the first connected body 41 and the second connected body 42 are rectangular when viewed from the first direction Z. The first connecting body 41 and the second connecting body 42 have opposite directions of the two sides directed in the second direction X and the third direction Y. The connecting body 4F of modification 6 and the connecting body 4G of modification 7 have a size including a protruding portion protruding from the yokes 64 and 74 toward the outer peripheral side when viewed in the first direction Z. In modifications 6 and 7, the first connecting body 41 covers each of the pair of first plate portion first protrusions 640b protruding to both sides in the second direction X, each of the pair of first plate portion second protrusions 640c protruding in the third direction Y, and the first plate portion central portion 640a of the first yoke 64. The second connecting body 42 covers each of the pair of first plate portion first protruding portions 740b protruding to both sides in the second direction X, each of the pair of first plate portion second protruding portions 740c protruding in the third direction Y, and the second plate portion central portion 740a in the second yoke 74.

According to modifications 6 and 7, the first linking body 41 can suppress the swing of movable body 3 in second direction X and the swing of movable body 3 in third direction Y. Moreover, the second coupling body 42 can suppress the swing of movable body 3 in second direction X and the swing of movable body 3 in third direction Y. Further, according to the present embodiment, the end side portion of one side X1 and the end side portion of the other side X2 in the second direction X of the movable body 3 can be connected to the support 2, and the end side portion of one side Y1 and the end side portion of the other side Y2 in the third direction Y of the movable body 3 can be connected to the support 2, using the first connecting body 41 constituted by one member. Further, the end portion of one side X1 and the end portion of the other side X2 in the second direction X of the movable body 3 can be connected to the support 2, and the end portion of one side Y1 and the end portion of the other side Y2 in the third direction Y of the movable body 3 can be connected to the support 2, using the second connecting body 42 formed of one member.

(other embodiments)

In the above embodiment, a gel-like member is used as the connecting body 4, but rubber, a spring, or the like may be used as the connecting body 4. The shape of the connecting body 4 may be an ellipse or another polygon in addition to the above-described shape.

In the above embodiment, the first yoke 64, the first magnet 621, the first coil 61, the first magnet 622, the third yoke 84, the second magnet 721, the second coil 71, the second magnet 722, and the second yoke 74 are arranged in this order from one side Z1 toward the other side Z2 in the first direction Z. In contrast, the present embodiment can be applied to a case where one magnet is used for each of the first magnetic drive circuit 6 and the second magnetic drive circuit 7. For example, the present embodiment may also be applied to the actuator 1 in which the first yoke 64, the first coil 61, the first magnet 622, the third yoke 84, the second magnet 721, the second coil 71, and the second yoke 74 are arranged in this order. In addition, the present embodiment can also be applied to the actuator 1 in which the first yoke 64, the first magnet 621, the first coil 61, the third yoke 84, the second coil 71, the second magnet 722, and the second yoke 74 are arranged in this order.

In the above embodiment, the coil and the coil holder are provided on the support body 2, and the magnet and the yoke are provided on the movable body 3, but the present embodiment can be applied to a case where the coil and the coil holder are provided on the movable body 3, and the magnet and the yoke are provided on the support body 2.