阅读说明：本技术 控制装置 (Control device ) 是由 石谷智也 高桥勇树 于 2020-10-09 设计创作，主要内容包括：本发明提供一种控制装置,能够不使用衰减材料而以简单的结构适当地赋予各种触感操作感。控制装置控制电磁致动器,该电磁致动器将由弹性支承部可弹性振动地支承的操作设备向该操作设备的振动方向的一个方向驱动而振动,该控制装置具有电流脉冲供给部,根据操作设备的接触操作,将驱动电流脉冲供给至电磁致动器的线圈来作为驱动操作设备的驱动电流,电流脉冲供给部在供给了能够启动弹性振动的驱动电流脉冲作为主驱动电流脉冲之后,供给能够调整弹性振动的衰减期间的驱动电流脉冲作为副驱动电流脉冲。(The invention provides a control device which can properly provide various tactile operation feelings with a simple structure without using an attenuation material. The control device controls an electromagnetic actuator that vibrates an operation device elastically vibratably supported by an elastic support portion in one direction of a vibration direction of the operation device, and has a current pulse supply portion that supplies a drive current pulse to a coil of the electromagnetic actuator as a drive current for driving the operation device in accordance with a contact operation of the operation device, and the current pulse supply portion supplies, as a sub-drive current pulse, a drive current pulse capable of starting elastic vibration after supplying the drive current pulse as a main drive current pulse, and capable of adjusting a damping period of the elastic vibration.)

1. A control device controls an electromagnetic actuator that vibrates an operation device supported by an elastic support portion so as to be capable of elastic vibration by driving the operation device in one direction of a vibration direction of the operation device,

it is characterized in that the preparation method is characterized in that,

the control device has a current pulse supply section that supplies a drive current pulse to a coil of the electromagnetic actuator as a drive current that drives the operation device in accordance with a contact operation of the operation device,

the current pulse supplying unit supplies, as a sub-drive current pulse, the drive current pulse in which the damping period of the elastic vibration can be adjusted after supplying the drive current pulse capable of starting the elastic vibration as a main drive current pulse.

2. The control device according to claim 1,

the current pulse supply unit supplies the sub-drive current pulse when the main drive current pulse is turned off to the elastic vibration.

3. The control device according to claim 1,

the current pulse supply unit supplies the sub-drive current pulse in the n-th cycle of the elastic vibration after the main drive current pulse is turned off, where n is a natural number,

in the elastic vibration, when the mass of the movable part is m, the spring constant of the elastic support part is Ks, and the vibration cycle isThe supply timing of the sub drive current pulse is: and ranges from T (n-1) to T (n-1) +1/2T from turning off the main drive current pulse.

4. The control device according to claim 1,

the current pulse supply unit supplies the sub-drive current pulse in the n-th cycle of the elastic vibration after the main drive current pulse is turned off, where n is a natural number,

in the elastic vibration, when the mass of the movable part is m, the spring constant of the elastic support part is Ks, and the vibration cycle isThe supply timing of the sub drive current pulse is: the range of T (n-1) +1/2T to T (n-1) + T from the time when the main drive current pulse is turned off.

5. The control device according to claim 3 or 4,

the pulse width of the sub-drive current pulse is 1/2T or less.

6. The control device according to claim 3,

the supply timing of the sub drive current pulse is: and a range of T (n-1) to T (n-1) +1/2T after a predetermined delay time has elapsed since the main drive current pulse was turned off.

7. The control device according to claim 4,

the supply timing of the sub drive current pulse is: a range of T (n-1) +1/2T to T (n-1) + T after a predetermined delay time has elapsed since the main drive current pulse was turned off.

Technical Field

The present invention relates to a control device for driving an electromagnetic actuator.

Background

Conventionally, there is known a structure including: when the touch panel as the sensing panel is operated, a vibration actuator imparts a vibration to the finger pad or the like of an operator in contact with a display screen displayed on the touch panel as a touch operation feeling (a feeling of contact and operation) (see patent documents 1 and 2).

Patent document 1 discloses a portable terminal device in which a vibration actuator is attached to the back surface of a touch panel via a vibration transmission unit. In this vibration actuator, a movable element is disposed in a housing fixed to a vibration transmission unit, and the movable element is capable of reciprocating along a guide shaft disposed perpendicularly to a touch panel. In this vibration actuator, the movable element is caused to collide with the housing in response to an operation on the touch panel, and vibration is applied to the finger pad in contact with the touch panel via the vibration transmission portion.

Further, patent document 2 discloses a vibration presentation device that applies vibration in accordance with an operation on a touch panel. In the vibration presenting device, a vibration panel as a vibration section for presenting vibration and a housing for supporting the vibration panel are interposed in parallel: a voice coil motor that generates vibration; a support portion that is disposed with the vibration panel and is compressed with a predetermined force; a damper which gives a braking action to the vibration of the vibration portion; and a spring that applies a compressive force to the support portion and the damper.

[ Prior art documents ]

[ patent document ]

Patent document 1: japanese patent laid-open publication No. 2015-070729

Patent document 2: japanese patent laid-open publication No. 2016-163854

Disclosure of Invention

Problems to be solved by the invention

However, in the vibration presenting apparatus, it is desirable to present vibrations that are designed to have various touch operation feelings depending on the use and usage of the operation device.

The present invention has been made in view of the above, and an object thereof is to provide a control device capable of expressing vibrations of various touch operation feelings.

Solution scheme

The control device of the present invention controls an electromagnetic actuator that vibrates an operation device supported by an elastic support portion so as to be capable of elastic vibration by driving the operation device in one direction of a vibration direction of the operation device, and includes a current pulse supply portion that supplies a drive current pulse as a drive current for driving the operation device to a coil of the electromagnetic actuator in accordance with a contact operation of the operation device, wherein the current pulse supply portion is configured to supply, as a sub-drive current pulse, the drive current pulse capable of adjusting a damping period of the elastic vibration after the drive current pulse capable of starting the elastic vibration is supplied as a main drive current pulse.

Effects of the invention

According to the present invention, vibrations of various touch operation feelings can be expressed.

Drawings

Fig. 1 is a side view showing a vibration presentation apparatus having a control apparatus according to an embodiment of the present invention.

Fig. 2 is a perspective view of an electromagnetic actuator as an example of drive control by the control device according to the embodiment of the present invention.

Fig. 3 is a bottom-side external perspective view of the electromagnetic actuator.

Fig. 4 is a plan view of the electromagnetic actuator.

Fig. 5 is a sectional view taken along line a-a of fig. 4.

Fig. 6 is an exploded perspective view of the electromagnetic actuator.

Fig. 7 is a cross-sectional view showing a state in which a sensor is provided in the electromagnetic actuator.

Fig. 8 is a diagram showing a magnetic circuit structure of the electromagnetic actuator.

Fig. 9 is a diagram for explaining an operation of the electromagnetic actuator.

Fig. 10 is a diagram for explaining a control device according to an embodiment of the present invention.

Fig. 11 is a diagram for explaining the displacement of the movable body when the main current pulse is supplied to the electromagnetic actuator.

Fig. 12 is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

Fig. 13 is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

Fig. 14 is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

Fig. 15 is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

Fig. 16 is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

Fig. 17 is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention.

Fig. 18 is a diagram for explaining the supply timing of the sub drive pulse.

Fig. 19 is a flowchart showing an example of an operation of driving the electromagnetic actuator by the control device according to the embodiment of the present invention.

Fig. 20 is a flowchart showing an example of an operation of driving the electromagnetic actuator by the control device according to the embodiment of the present invention.

[ description of reference numerals ]

1 control device, 10 electromagnetic actuator, 20 core assembly, 20a, 20b opposed surfaces (opposed surface portions), 22 coil, 24 core, 26 bobbin, 30 fixed body, 32 base portion, 32a mounting portion, 32b bottom surface portion, 33 stopper hole, 36 opening portion, 40 movable body, 41 yoke, 42 face fixing hole, 44 face fixing portion, 44a fixing surface, 46, 47 attracted surface portion, 48 opening portion, 49 notch portion, 50 plate-like elastic portion (elastic support portion), 52 fixed body side fixing portion, 54 movable body side fixing portion, 56 serpentine elastic arm portion, 70 strain detection sensor, 82 switch element, 84 signal generating portion, 200 vibration presenting device, 241 core body, 242, 244 magnetic pole portion, 321, 322 fixing hole.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

In this embodiment, an orthogonal coordinate system (X, Y, Z) will be used for description. The following figures are also shown by a common orthogonal coordinate system (X, Y, Z). Hereinafter, the width, depth, and height of the vibration presenting device 200 having the control device 1 are the lengths in the X direction, the Y direction, and the Z direction, respectively, and the width, depth, and height of the electromagnetic actuator 10 are also set to be the lengths in the X direction, the Y direction, and the Z direction, respectively, correspondingly. The Z-direction positive side is a direction in which vibration feedback is given to the operator, and is referred to as an "upper side", and the Z-direction negative side is a direction in which the operator presses during operation, and is referred to as a "lower side", for explanation.

(basic structure of vibration presenting apparatus 200 using control apparatus 1)

The vibration presentation apparatus 200 shown in fig. 1 has a control apparatus 1, an electromagnetic actuator 10 that is drive-controlled by the control apparatus 1, and an operation device (touch panel 2) that an operator performs a contact operation. In the vibration presentation apparatus 200, vibration is given to the operation device in accordance with the contact operation of the operator to the operation device. That is, a touch operation feeling (also referred to as "tactile sensation") is given to an operator who operates in contact with the operation device via the operation device. In the present embodiment, the operation device is a touch panel 2 that displays a screen and is operated by being in contact with the screen. The touch panel 2 is an electrostatic touch panel, a resistive touch panel, an optical touch panel, or the like. The touch panel 2 detects a contact position of the operator. The touch panel 2 is controlled by the control device 1. The control device 1 can obtain information of the touch position of the user via a touch panel control unit, not shown. The screen of the touch panel 2 may be configured by a display unit of a liquid crystal system, an organic EL system, an electronic paper system, a plasma system, or the like, and controlled by the control device 1. The control device 1 controls a display information control unit, not shown, and presents an image corresponding to the type of presentation vibration to the operator on the screen.

The vibration presentation apparatus 200 is used, for example, as a touch panel apparatus of an electronic device or a car navigation system. The vibration presenting device 200 functions as a device for presenting vibrations to an operator who operates in contact with the screen 2a of the touch panel 2. In this case, the vibration presenting apparatus 200 may be any electronic device as long as it gives a tactile sensation to an operator who touches a vibration target by presenting the vibration to the operator. For example, the vibration presentation device 200 may be an image display device such as a smartphone, a tablet computer, or a television, a game machine with a touch panel, a game controller with a touch panel, or the like.

In the present embodiment, in the vibration presentation apparatus 200, when the operator touches the screen 2a of the touch panel 2 with his finger or the like to perform an operation, the control apparatus 1 drives the electromagnetic actuator 10 to vibrate in accordance with the operation. This vibration gives the operator a tactile sensation. The control device 1 of the present embodiment provides various tactile senses in accordance with a display image operated by an operator. The control device 1 gives a tactile sensation as a mechanical switch, such as a tactile switch, an alternation switch, a momentary switch, a toggle switch, a slide switch, a rotary switch, a DIP switch, or a rocker switch. In addition, in the push-type switch, the touch feeling of the switch with different degrees of push-in can be given.

In the vibration presentation apparatus 200, instead of the touch panel 2 as the operation device, an operation device that has no display function and can be operated only by touching by the operator may be used.

In the vibration presentation device 200 shown in fig. 1, the electromagnetic actuator 10 is disposed between the touch panel 2 and the base 3, which is a device back surface portion disposed on the back surface side of the touch panel 2. The control device 1 may be provided on the electromagnetic actuator 10 itself or on the base 3.

The touch panel 2 is fixed on the back side to a surface fixing portion 44 of a movable body 40 (see fig. 2) of the electromagnetic actuator 10. The base 3 is disposed to face the touch panel 2, and the fixing body 30 of the electromagnetic actuator 10 is fixed to the base 3 via the support portion 3 a. In this way, the electromagnetic actuator 10 is disposed so as to connect both the touch panel 2 and the center portion of the base 3.

The touch panel 2 itself is driven integrally with the movable body 40 of the electromagnetic actuator 10. When the operator operates the touch panel 2 by pressing the screen, a direction in which the operator's finger or the like contacts the screen, for example, a direction in which the operator presses the touch panel 2 perpendicularly to the screen, is the same direction as the Z direction which is the vibration direction of the movable body 40 of the electromagnetic actuator 10.

In this way, according to the vibration generation device 200 in which the control device 1, the touch panel 2, and the electromagnetic actuator 10 are mounted, the touch panel 2 is directly operated, that is, the touch panel 2 is driven together with the movable body 40 in the same direction as the contact direction of the finger, and therefore the touch panel 2 can be directly vibrated.

Therefore, when the operation is performed in contact with an image such as a mechanical switch displayed on the touch panel 2, the movable body 40 can be moved, and an operation feeling corresponding to the image, for example, vibration having a contact operation feeling similar to an operation feeling at the time of operating an actual mechanical switch can be given. This makes it possible to express an operation comfortable to use.

< integral Structure of electromagnetic actuator 10 >

Fig. 2 is a plan-side perspective view of an electromagnetic actuator 10 as an example of drive control performed by a control device according to an embodiment of the present invention, fig. 3 is a bottom-side perspective view of the electromagnetic actuator 10, and fig. 4 is a plan view of the electromagnetic actuator. Fig. 5 is a sectional view taken along line a-a of fig. 4, and fig. 6 is an exploded perspective view of the electromagnetic actuator 10 of the control device according to the embodiment of the present invention. Fig. 7 is a cross-sectional view showing a state in which a sensor is provided in the electromagnetic actuator.

The electromagnetic actuator 10 shown in fig. 2 to 7 is mounted in an electronic device to which the control device 1 is applied in the present embodiment, and functions as a vibration generation source of the touch panel 2 (see fig. 1) as an example of an operation device.

The electromagnetic actuator 10 functions as a vibration actuator that drives the movable body 40 in one direction and moves the movable body 40 in a direction opposite to the one direction by the biasing force of a member (plate-shaped elastic portion 50) that generates the biasing force, thereby linearly reciprocating (vibrating) the movable body 40.

In response to a touch operation of an operator on the screen 2a of the touch panel 2, vibration is transmitted to the operator and the operator feels the vibration, so that the operator touching the touch panel 2 can perform an intuitive operation. The touch panel 2 further includes a contact position output unit that receives a contact operation of the operator on the touch panel 2 and outputs the contact position. The control device 1 outputs an actuator drive signal to the electromagnetic actuator 10 to supply a drive current to generate vibration corresponding to the touch operation, based on the touch position information and the drive timing output by the touch position output section. The electromagnetic actuator 10 that receives the drive current supplied from the controller 1 generates vibration corresponding to the contact position output from the touch panel 2, and transmits the vibration to the touch panel 2 to directly vibrate the touch panel 2. In this way, the operation of the operator received by the touch panel 2 is received, and the electromagnetic actuator 10 is driven in accordance with the operation.

When an actuator drive signal is input to the electromagnetic actuator 10 via the control device 1, the movable body 40 is moved in one direction (for example, the Z-direction negative side) against the urging force. Further, by stopping the input of the actuator drive signal to the electromagnetic actuator 10, the biasing force is released, and the movable body 40 is moved in the other direction side (Z direction positive side) by the biasing force. The electromagnetic actuator 10 vibrates the movable body 40 and the operation device in accordance with the input and stop of the actuator driving signal. The electromagnetic actuator 10 drives the movable body 40 without using a magnet, vibrating the operation device.

In addition, in the present embodiment, the actuator drive signal corresponds to a plurality of drive current pulse (also referred to as "current pulse") trains supplied to the coil 22 as drive currents for driving the movable body 40 and the operation device. In the electromagnetic actuator 10, when a current pulse is supplied to the coil 22, the movable body 40 moves in one direction.

The electromagnetic actuator 10 includes: a fixed body 30 having a core assembly 20 and a base portion 32, the core assembly 20 being formed by winding a coil 22 around a core 24; a movable body 40 having a yoke 41 of a magnetic body; and plate-shaped elastic portions (elastic support portions) 50(50-1, 50-2) that elastically support movable body 40 so as to be movable in the vibration direction with respect to fixed body 30.

The electromagnetic actuator 10 drives the movable body 40 movably supported by the plate-shaped elastic portion 50 to move in one direction with respect to the fixed body 30. Further, the movable body 40 moves in the direction opposite to the one direction by the biasing force of the plate-like elastic portion 50.

Specifically, the electromagnetic actuator 10 vibrates the yoke 41 of the movable body 40 through the core assembly 20. Specifically, movable body 40 is vibrated by the attraction force between energized coil 22 and core 24 excited by energized coil 22, and the urging force of plate-like elastic portion 50(50-1, 50-2).

The electromagnetic actuator 10 is formed in a flat shape with the Z direction as the thickness direction. The electromagnetic actuator 10 vibrates the movable body 40 relative to the fixed body 30 in the Z direction, that is, in the thickness direction, which is the vibration direction, and one of the front and rear surfaces disposed apart from each other in the thickness direction of the electromagnetic actuator 10 itself is moved toward and away from the other surface in the Z direction.

In the present embodiment, the electromagnetic actuator 10 moves the movable body 40 to the negative side in the Z direction, which is one direction, by the attraction force of the iron core 24, and moves the movable body 40 to the positive side in the Z direction by the urging force of the plate-shaped elastic portion 50(50-1, 50-2).

In the electromagnetic actuator 10 of the present embodiment, the movable body 40 is elastically supported by the plurality of plate-shaped elastic portions 50(50-1, 50-2) arranged in the direction orthogonal to the Z direction at positions point-symmetric with respect to the movable center of the movable body 40, but the present invention is not limited to this configuration.

The plate-shaped elastic portion 50 is fixed between the movable body 40 and the fixed body 30, and may be provided as long as it has a serpentine portion that elastically deforms and elastically supports the movable body 40 relative to the fixed body 30 so as to be movable at least in a direction facing one of the two end portions (magnetic pole portions 242, 244) of the core 24. For example, the plate-shaped elastic portion 50 may elastically support the movable body 40 to be movable in a direction facing one end portion (the magnetic pole portion 242 or the magnetic pole portion 244) of the core 24 with respect to the fixed body 30 (the core assembly 20). The plate-like elastic portions 50-1 and 50-2 may be arranged in line symmetry with respect to the center of the movable body 40, or two or more plate-like elastic portions 50 may be used. Each of the plate-like elastic portions 50-1 and 50-2 is fixed to the fixed body 30 at one end side and fixed to the movable body 40 at the other end side, and supports the movable body 40 movably in the vibration direction (Z direction, in this case, the vertical direction) with respect to the fixed body 30.

< immobilization body 30>

As shown in fig. 5 to 9, the fixing body 30 has a core assembly 20 and a base portion 32, and the core assembly 20 has a coil 22 and a core 24.

The base part 32 fixes the core assembly 20 and movably supports the movable body 40 in the vibration direction via plate-shaped elastic parts 50(50-1, 50-2). The base portion 32 is a flat member and forms a bottom surface of the electromagnetic actuator 10. The base part 32 has a mounting part 32a for fixing one end of the plate-like elastic part 50(50-1, 50-2) so as to sandwich the core assembly 20. The mounting portions 32a are disposed at the same intervals from the core assembly 20. The interval is set to be the interval of the deformation region of the plate-like elastic portion 50(50-1, 50-2).

The attachment portion 32a has a fixing hole 321 for fixing the plate-like elastic portion 50(50-1, 50-2) and a fixing hole 322 for fixing the base portion 32 to the base 3 (see fig. 1). The fixing holes 322 are provided at both ends of the mounting portion 32a so as to sandwich the fixing hole 321. Thereby, the base portion 32 is stably fixed to the entire surface of the base 3 (see fig. 1).

In the present embodiment, the base portion 32 is configured by processing a sheet metal, and one side portion and the other side portion of the mounting portion 32a are located at positions separated in the depth direction with the bottom portion 32b interposed therebetween. A recessed portion having a bottom surface portion 32b lower in height than the mounting portion 32a is provided between the mounting portions 32 a. The space in the concave portion, i.e., on the front surface side of the bottom portion 32b, ensures the elastically deformable region of the plate-like elastic portion 50(50-1, 50-2), and is a space for ensuring the movable region of the movable body 40 supported by the plate-like elastic portion 50(50-1, 50-2).

The bottom surface portion 32b has a rectangular shape, an opening 36 is formed in the center portion thereof, and the core assembly 20 is disposed in the opening 36.

The opening 36 has a shape corresponding to the shape of the core assembly 20. In the present embodiment, the opening portion 36 is formed in a square shape. Thus, the core assembly 20 and the movable body 40 are disposed in the center portion of the electromagnetic actuator 10, and the entire electromagnetic actuator 10 can be made substantially square in a plan view. Further, the opening portion 36 may be rectangular (including square).

The split body 26b of the bobbin 26 below the core assembly 20 and the lower portion of the coil 22 are inserted into the opening 36, and the core 24 is fixed so as to be positioned on the bottom surface portion 32b when viewed from the side. This reduces the length (thickness) in the Z direction compared to the structure in which the core assembly 20 is attached to the bottom surface portion 32 b. Further, since a part of the core assembly 20, here, a part of the bottom surface side is fixed in a state of being fitted into the opening portion 36, the core assembly 20 is firmly fixed in a state of being less likely to fall off from the bottom surface portion 32 b.

The core assembly 20 is configured by winding the coil 22 around the outer periphery of the core 24 via the bobbin 26.

When the coil 22 is energized, the core assembly 20 vibrates (linearly reciprocates in the Z direction) the yoke 41 of the movable body 40 by the cooperative operation with the plate-like elastic portion 50(50-1, 50-2).

In the present embodiment, the core assembly 20 is formed in a rectangular plate shape. Magnetic pole portions 242 and 244 are disposed on two sides separated in the longitudinal direction of the rectangular plate.

These magnetic pole portions 242 and 244 can be disposed to face the attracted surface portions 46 and 47 of the movable body 40 with a gap therebetween in the X direction. In the present embodiment, the facing surfaces (facing surfaces) 20a and 20b as the upper surfaces are diagonally adjacent to the lower surfaces of the attracted surface portions 46 and 47 of the yoke 41 in the vibration direction (Z direction) of the movable body 40.

As shown in fig. 2, the winding axis of the coil 22 is fixed to the base portion 32 in a direction (X direction orthogonal to the vibration direction) in which the attachment portions 32a separated from each other in the base portion 32 face each other. In the present embodiment, the core assembly 20 is disposed in the center of the base portion 32, specifically, in the center of the bottom surface portion 32 b. As shown in fig. 3 to 9, the core assembly 20 is fixed to the bottom surface portion 32b such that the core 24 is parallel to the bottom surface portion 32b and positioned on the bottom surface across the opening 36. The core assembly 20 is fixed in a state where the coil 22 and the portion wound around the coil 22 (core body 241) are positioned in the opening 36 of the base portion 32. Specifically, the core assembly 20 is fixed to the bottom surface portion 32b by fastening the screw 68 through the fixing hole 28 and the stopper hole 33 (see fig. 6) of the bottom surface portion 32b in a state where the coil 22 is disposed in the opening portion 36. The core assembly 20 and the bottom surface portion 32b sandwich the coil 22 with screws 68 as stopper members at both side portions of the opening portion 36 and the magnetic pole portions 242 and 244 separated in the Y direction, and are joined at two positions on the axial center of the coil 22.

The coil 22 is a solenoid that generates a magnetic field by being energized when the electromagnetic actuator 10 is driven. The coil 22 constitutes a magnetic path (magnetic path) that attracts and moves the movable body 40 together with the iron core 24 and the movable body 40. Further, power is supplied from an external power supply to the coil 22 via the control device 1. For example, the electromagnetic actuator 10 is driven by supplying a drive current from the control device 1 to the electromagnetic actuator 10 and supplying power to the coil 22.

The core 24 has: a core main body 241 around which the coil 22 is wound; and magnetic pole portions 242 and 244 provided at both end portions of the core main body 241 and excited by energizing the coil 22. The core 24 may have any structure as long as it has a length such that both ends become the magnetic pole portions 242 and 244 by the energization of the coil 22. For example, although the core 24 may be formed in a straight (I-shaped) flat plate shape, the core is formed in an H-shaped flat plate shape in a plan view.

In the case of the I-shaped core, the surfaces (air-gap side surfaces) on the surfaces 46 and 47 to be attracted facing each other with the air gap G therebetween are narrowed at both end portions (magnetic pole portions) of the I-shaped core. This increases the magnetic resistance in the magnetic circuit, and may reduce the conversion efficiency. In addition, when the bobbin is mounted on the core, since the positioning member of the bobbin in the longitudinal direction of the core is eliminated or becomes small, it is necessary to provide a separate member. On the other hand, since the core 24 is H-shaped, the air gap side surfaces can be expanded in the front-rear direction (Y direction) at both ends of the core main body 241 to be longer than the width of the core main body 241 around which the coil 22 is wound, and the magnetic resistance can be reduced, thereby improving the efficiency of the magnetic circuit. Further, in the magnetic pole portions 242 and 244, the coil 22 can be positioned only by fitting the bobbin 26 between the portions protruding from the core main body 241, and there is no need to separately provide a positioning member for the bobbin 26 with respect to the core 24.

The core 24 has magnetic pole portions 242 and 244 projecting in a direction orthogonal to the winding axis of the coil 22 at both ends of a plate-like core body 241 around which the coil 22 is wound.

The core 24 is a magnetic body made of a soft magnetic material or the like, and is formed of, for example, a silicon steel plate, permalloy, ferrite, or the like. The core 24 may be made of electromagnetic stainless steel, a sintered material, an MIM (metal injection molding) material, a laminated steel sheet, an electrolytic zinc-plated steel Sheet (SECC), or the like.

The magnetic pole portions 242 and 244 are excited by energization of the coil 22, and attract and move the yoke 41 of the movable body 40 separated in the vibration direction (Z direction). Specifically, the magnetic pole portions 242 and 244 attract the attracted surface portions 46 and 47 of the movable body 40 disposed to face each other with the gap G therebetween by the generated magnetic flux.

In the present embodiment, the core body 241 extends in the X direction and is a plate-like body extending in the Y direction, which is a perpendicular direction. Since the magnetic pole portions 242 and 244 are long in the Y direction, the area of the facing surfaces 20a and 20b facing the yoke 41 is larger than that of the structure formed at both ends of the core body 241.

The bobbin 26 is disposed so as to surround the core main body 241 of the core 24 in a direction orthogonal to the vibration direction. The bobbin 26 is formed of, for example, a resin material. This ensures electrical insulation from another member made of metal (for example, the iron core 24), thereby improving reliability as a circuit. By using a high-flow resin as the resin material, the moldability is improved, and the thickness of the bobbin 26 can be reduced while ensuring the strength. The bobbin 26 is formed into a cylindrical body covering the periphery of the core body 241 by attaching the divided bodies 26a and 26b to sandwich the core body 241. The bobbin 26 has flanges at both ends of the cylindrical body, and the coil 22 is defined to be positioned on the outer periphery of the core body 241.

< Movable body 40>

The movable body 40 is disposed to face the core assembly 20 with a gap in a direction orthogonal to the vibration direction (Z direction). The movable body 40 is provided to be movable in a reciprocating manner in a vibration direction with respect to the core assembly 20.

The movable body 40 has a yoke 41 and a movable body side fixing portion 54 including plate-like elastic portions 50-1 and 50-2 fixed to the yoke 41.

The movable body 40 is movable in the approaching/separating direction (Z direction) with respect to the bottom surface portion 32b via the plate-shaped elastic portions 50(50-1, 50-2), and is disposed in a state of being separated substantially in parallel and suspended (reference normal position).

The yoke 41 is a magnetic path of magnetic flux generated when the coil 22 is energized, and is a plate-like body made of magnetic material such as electromagnetic stainless steel, sintered material, MIM (metal injection molding) material, laminated steel sheet, and electrolytic zinc-plated steel Sheet (SECC). In the present embodiment, the yoke 41 is formed by processing a SECC plate.

The yoke 41 is suspended by plate-like elastic portions 50(50-1, 50-2) fixed to the attracted surface portions 46, 47 separated in the X direction so as to face the core assembly 20 in the vibration direction (Z direction) with a gap G (see fig. 7).

The yoke 41 has a face fixing portion 44 to which an operation device (see the touch panel 2 shown in fig. 1) is attached, and attracted face portions 46 and 47 disposed to face the magnetic pole portions 242 and 244.

The yoke 41 is formed in a rectangular frame shape having an opening 48 in the center, and has a surface fixing portion 44 surrounding the opening 48 and attracted surface portions 46 and 47.

The opening 48 faces the coil 22. In the present embodiment, the opening 48 is positioned directly above the coil 22, and the opening of the opening 48 is shaped so that the coil 22 of the iron core assembly 20 can be partially inserted when the yoke 41 moves toward the bottom surface portion 32 b.

By configuring the yoke 41 to have the opening 48, the thickness of the entire electromagnetic actuator can be reduced as compared with the case where the opening 48 is not provided.

Further, since the core assembly 20 is positioned in the opening 48, the yoke 41 is not disposed near the coil 22, and a reduction in conversion efficiency due to leakage flux leaking from the coil 22 can be suppressed, and high output can be achieved.

The face fixing portion 44 has a fixing surface 44a for fixing the touch panel 2, which is an example of an operation device, by surface contact. The fixing surface 44a is trapezoidal in plan view, and is brought into surface contact with the touch panel 2 fixed to the surface fixing portion 44 by a stopper member such as a screw inserted into the surface fixing hole 42.

The movable body side fixing portions 54 of the plate-like elastic portions 50-1 and 50-2 are fixed to the sucked surface portions 46 and 47 in a layered state, respectively. The sucked surface portions 46 and 47 are provided with notch portions 49 that avoid the heads of the screws 64 of the core assembly 20 when moving toward the bottom surface portion 32 b.

Accordingly, even if the movable body 40 moves toward the bottom surface portion 32b, the attracted surface portions 46 and 47 approach the magnetic pole portions 242 and 244, and the movable region of the yoke 41 in the Z direction can be secured without coming into contact with the screws 68 that fix the magnetic pole portions 242 and 244 to the bottom surface portion 32 b.

< plate-like elastic part 50(50-1, 50-2) >

The plate-shaped elastic portion 50(50-1, 50-2) supports the movable body 40 to move relative to the fixed body 30. The plate-shaped elastic portions 50(50-1, 50-2) support the upper surface of the movable body 40 at the same height as the upper surface of the core assembly 20, or support the upper surface of the fixed body 30 (the upper surface of the core assembly 20 in the present embodiment) in parallel with each other on the lower surface side. The plate-like elastic portions 50-1 and 50-2 have a symmetrical shape with respect to the center of the movable body 40, and are formed in the same manner in the present embodiment.

The plate-like elastic portion 50 is disposed substantially in parallel so that the yoke 41 faces the magnetic pole portions 242 and 244 of the core 24 of the core assembly 20 with a gap G therebetween. Plate-like elastic portion 50 supports the lower surface of movable body 40 movably in the vibration direction at a position closer to bottom surface portion 32b than a level substantially equal to the height level of the upper surface of core assembly 20.

The plate-like elastic portion 50 is a plate spring, and includes a fixed body-side fixed portion 52, a movable body-side fixed portion 54, and a serpentine elastic arm portion 56 connecting the fixed body-side fixed portion 52 and the movable body-side fixed portion 54.

The plate-like elastic portion 50 has a fixed body-side fixing portion 52 attached to the surface of the attaching portion 32a, a movable body-side fixing portion 54 attached to the surface of the attracted surface portions 46 and 47 of the yoke 41, and the movable body 40 attached to the serpentine elastic arm portion 56 in parallel with the bottom surface portion 32 b.

The fixed body side fixing portion 52 is in surface contact with the mounting portion 32a and is joined and fixed by a screw 62, and the movable body side fixing portion 54 is in surface contact with the surface to be adsorbed 46, 47 and is joined and fixed by a screw 64.

The serpentine elastic arm portion 56 is an arm portion having a serpentine portion. In the present embodiment, the serpentine elastic arm portion 56 has a shape that extends and is folded back in the facing direction of the fixed body side fixing portion 52 and the movable body side fixing portion 54. In the serpentine elastic arm portion 56, end portions joined to the fixed body side fixing portion 52 and the movable body side fixing portion 54 are formed at positions shifted in the Y direction. The serpentine elastic arm portion 56 is disposed at a position point-symmetrical or line-symmetrical with respect to the center of the movable body 40.

Accordingly, the movable body 40 is supported on both sides by the serpentine elastic arm portions 56 having the serpentine springs, and therefore, stress can be dispersed during elastic deformation. That is, the plate-like elastic portion 50 can move the movable body 40 in the vibration direction (Z direction) without inclining with respect to the core assembly 20, and can improve the reliability of the vibration state.

The plate-like elastic portion 50 has at least two or more serpentine elastic arm portions 56, respectively. As a result, compared to the case where the plate-shaped elastic portion 50 has one serpentine elastic arm portion, the stress at the time of elastic deformation is dispersed, and reliability can be improved, and stability can be improved by improving the support balance with respect to the movable body 40.

In the present embodiment, the plate-like elastic portion 50 is made of a magnetic material. The movable body side fixing portion 54 of the plate-like elastic portion 50 is disposed at a position facing the both end portions (magnetic pole portions 242 and 244) of the core in the coil winding axis direction or at a position above the both end portions, and serves as a magnetic path. In the present embodiment, the movable body-side fixing portion 54 is fixed to the upper side of the sucked surface portions 46 and 47 in a laminated state. This can increase the thickness (length in the Z direction and the vibration direction) H (see fig. 7) of the attracted surface portions 46 and 47 facing the magnetic pole portions 242 and 244 of the core assembly to the thickness of the magnetic body. Since the plate-like elastic portion 50 has the same thickness as the yoke 41, the cross-sectional area of the magnetic body portion facing the magnetic pole portions 242 and 244 can be 2 times larger. This makes it possible to expand the magnetic path of the magnetic circuit, reduce the deterioration of characteristics due to magnetic saturation in the magnetic circuit, and improve the output, as compared with the case where the plate spring is nonmagnetic.

In the electromagnetic actuator 10 according to the present embodiment, a detection unit may be provided that detects the amount of pushing of the movable body 40 when the operation surface portion fixed by the surface fixing portion 44 is operated. In the present embodiment, for example, as shown in fig. 6 to 7, a strain detection sensor 70 that detects strain of the plate-like elastic portion 50 may be provided as the detection portion.

The strain detection sensor 70 detects strain of the plate-like elastic portion 50 that deforms when the face fixing portion 44 is pressed toward the bottom face portion 32b side. The detected strain is output to a control device or the like, and the coil 22 is energized to attract and move the yoke 41 so as to obtain a movement amount of the movable body 40 corresponding to the deformation.

In the present embodiment, even if the control device 1 does not determine the amount of movement of the operated operation device, if the contact of the operator with the operation device can be detected, the vibration feedback to the contact can be realized. Further, if the amount of pressing into the plate-like elastic portion 50 can be detected by the amount of movement corresponding to the actual amount of movement of the operating device, more natural expression of the sense of touch can be realized using the detection result.

The strain detection sensor 70 may be used to adjust the vibration cycle of the movable body 40 (the touch panel 2 as the operation device) when the drive current pulse is generated by the current pulse supply unit of the control device 1, based on the contact operation by the operator, that is, the detection result of the sensor that detects the pushing amount of the movable body 40. In addition, unlike the strain detection sensor 70, an operation signal indicating the operation state may be output to the control device 1 so as to generate vibration corresponding to the display mode in conjunction with the display mode of the contact position of the operator detected on the touch panel 2, and the control device 1 may perform control in accordance with this operation.

The strain detection sensor 70 is mounted in the vicinity of the root of the plate-like elastic arm portion 56 of the plate-like elastic portion 50 where the strain is large, and is disposed in a so-called dead space (dead space) which is a region where other members are not obstructed. Further, instead of the strain detection sensor 70, a detection portion for detecting press-fitting, such as a capacitance sensor, which measures the distance from the plate-like elastic portion 50 displaced by being pressed, may be disposed below the plate-like elastic portion 50 on the bottom surface portion 32b facing the deformed portion of the plate-like elastic portion 50.

Fig. 8 is a diagram showing a magnetic circuit of the electromagnetic actuator 10. Fig. 8 is a perspective view of the electromagnetic actuator 10 cut along the line a-a in fig. 4, and the portion of the magnetic circuit not shown also has the same flow M of magnetic flux as the portion shown in the figure. Fig. 9 is a sectional view schematically showing the movement of the movable body by the magnetic circuit. Specifically, (a) of fig. 9 is a diagram showing a state where the movable body 40 is held at a position away from the core assembly 20 by the plate-shaped elastic portion 50, and (b) of fig. 9 shows the movable body 40 moved by being attracted to the core assembly 20 side by magnetomotive force generated by the magnetic circuit.

Specifically, when the coil 22 is energized, the core 24 is excited to generate a magnetic field, and both ends of the core 24 become magnetic poles. For example, in fig. 8, in the core 24, the magnetic pole portion 242 is an N pole, and the magnetic pole portion 244 is an S pole. Then, a magnetic path indicated by a flow M of the magnetic flux is formed between the core assembly 20 and the yoke 41. The flow M of the magnetic flux in the magnetic path flows from the magnetic pole portion 242 to the attracted surface portion 46 of the opposing yoke 41, passes through the surface fixing portion 44 of the yoke 41, and reaches the magnetic pole portion 244 opposing the attracted surface portion 47 from the attracted surface portion 47. In the present embodiment, the plate-like elastic portion 50 is also a magnetic body. Therefore, the magnetic flux (indicated by the flow M of the magnetic flux) flowing to the attracted surface portion 46 passes through the attracted surface portion 46 of the yoke 41 and the movable body-side fixing portion 54, and reaches the attracted surface portion 46 and both ends of the movable body-side fixing portion 54 of the plate-like elastic portion 50-2 from both ends of the attracted surface portion 46 through the surface fixing portions 44.

Accordingly, the magnetic pole portions 242 and 244 of the core assembly 20 generate the attraction force F that attracts the attracted surface portions 46 and 47 of the yoke 41 according to the principle of the electromagnetic solenoid. Then, the attracted surface portions 46 and 47 of the yoke 41 are attracted to both the magnetic pole portions 242 and 244 of the core assembly 20. As a result, the coil 22 is inserted into the opening 48 of the yoke 41, and the movable body 40 including the yoke 41 moves in the F direction against the urging force of the plate-shaped elastic portion 50 (see fig. 9 (a) and 9 (b)).

When the energization of the coil 22 is released, the magnetic field disappears, the attraction force F of the core assembly 20 to the movable body 40 disappears, and the core assembly is moved to the original position (moved in the-F direction) by the urging force of the plate-like elastic portion 50.

By repeating these operations, the electromagnetic actuator 10 can generate vibration in the vibration direction (Z direction) by reciprocating and linearly moving the movable body 40.

By linearly reciprocating the movable body 40, the touch panel 2 as an operation means for fixing the movable body 40 is also displaced in the Z direction following the movable body 40. In the present embodiment, the displacement of the movable body 40 by the driving, that is, the displacement amount G1 (see fig. 1) of the touch panel 2 is in the range of 0.03mm to 0.3 mm. The range of the displacement amount is a range in which vibration corresponding to a display pressed by the operator on the screen 2a of the touch panel 2 as the operation device can be given. For example, when the display to be pressed by the operator on the screen 2a is a mechanical button or various switches, the range is such that the same tactile sensation as that when the mechanical button or various switches are actually pressed can be given. This range is set so that if the displacement of the amplitude of the movable body 40 is small, the feeling is insufficient, and if it is large, the feeling is uncomfortable.

In the electromagnetic actuator 10, the attracted surface portions 46 and 47 of the yoke 41 are provided close to the magnetic pole portions 242 and 244 of the core assembly 20, so that the magnetic path efficiency can be improved and high output can be achieved. In addition, since the electromagnetic actuator 10 does not use a magnet, it has a low-cost structure. The serpentine spring serving as the plate-like elastic portion 50(50-1, 50-2) can disperse stress and improve reliability. In particular, since the movable body 40 is supported by the plurality of plate-like elastic portions 50(50-1, 50-2), stress can be dispersed more effectively. In this way, the electromagnetic actuator 10 can provide a direct tactile sensation to the operator who is in contact with the screen 2a in the vertical direction by driving in the vertical direction.

The core assembly 20 having the core 24 for winding the coil 22 is fixed to the fixed body 30, the core assembly 20 is disposed in the opening 48 of the yoke 41 of the movable body 40, and the movable body 40 is supported by the plate-like elastic portion 50 so as to be movable in the Z direction with respect to the fixed body 30. Thus, since there is no need to provide members provided on the fixed body and the movable body in a superposed manner in the Z direction in order to generate a magnetic force to drive the movable body in the Z direction (for example, a coil and a magnet are arranged to face each other in the Z direction), the thickness in the Z direction can be reduced as the electromagnetic actuator. Further, by linearly reciprocating the movable body 40 without using a magnet, vibration having a tactile sensation can be imparted to the operation device. In this way, since the support structure is simple, the design is simplified, space saving can be achieved, and the electromagnetic actuator 10 can be thinned. Further, since the actuator is an actuator that does not use a magnet, the cost can be reduced compared to a structure that uses a magnet.

Hereinafter, the driving principle of the electromagnetic actuator 10 will be briefly described. The electromagnetic actuator 10 can be driven by using a pulse resonance phenomenon using a motion equation and a circuit equation described below. In addition, the operation is not resonance driving, but the operation feeling of a mechanical switch displayed on a touch panel as an operation device is expressed, and in the present embodiment, the operation is performed by inputting a plurality of current pulses through the control device 1. Examples of the mechanical switch include a tactile switch, an alternation switch, a momentary switch, a toggle switch, a slide switch, a rotary switch, a DIP switch, and a rocker switch.

The movable body 40 of the electromagnetic actuator 10 reciprocates according to expressions (1) and (2).

[ numerical formula 1]

m mass [ kg ]

x (t): displacement [ m ]

K_f: constant of thrust [ N/A ]]

i (t): electric current [ A ]

K_sp: spring constant [ N/m ]]

D: attenuation coefficient [ N/(m/s) ]

[ numerical formula 2]

e (t): voltage [ V ]

R: resistance [ omega ]

L: inductance [ H ]

K_e: back electromotive force constant [ V/(rad/s)]

I.e. the mass m [ kg ] in the electromagnetic actuator 10]Displacement x (t) m]Thrust constant K_f[N/A]Current i (t) A]Spring constant K_sp[N/m]Attenuation coefficient D [ N/(m/s)]And the like may be appropriately modified within a range satisfying the formula (1). In addition, the voltage e (t) [ V ]]Resistance R omega]Inductor L [ H ]]Counter electromotive force constant K_e[V/(rad/s)]The reaction can be appropriately modified within the range satisfying the formula (2).

In this way, the mass m of the electromagnetic actuator 10 and the movable body 40, and the spring constant K of the metal spring (elastic body, leaf spring in the present embodiment) as the plate-like elastic portion 50 are used_spTo decide.

In the electromagnetic actuator 10, the screws 62 and 64 are used for fixing the base portion 32 and the plate-shaped elastic portion 50 and fixing the plate-shaped elastic portion 50 and the movable body 40. As a result, the plate-like elastic portion 50 that needs to be firmly fixed to the fixed body 30 and the movable body 40 for driving can be firmly fixed mechanically in a reworkable state.

< control device 1>

The control device 1 controls an electromagnetic actuator 10, and the electromagnetic actuator 10 drives an operating device (touch panel 2 in fig. 1) supported to be capable of elastic vibration in one direction of the vibration direction thereof.

The control device 1 supplies a drive current to the electromagnetic actuator 10 in accordance with a contact operation of the operation device, generates a magnetic field, and moves the movable body 40 that can elastically vibrate in one direction, in this case, the Z direction negative side, with respect to the fixed body 30. Thus, when the operator touches the operation device, the control device 1 gives the vibration as a tactile sensation. The contact operation may be, for example, a signal indicating a contact state input from the touch panel 2 or a signal detected by the strain detection sensor 70.

In the present embodiment, the control device 1 supplies a plurality of current pulse trains to the coil 22 as electromagnetic actuator drive signals for driving the electromagnetic actuator 10.

When the control device 1 supplies a current pulse to the coil 22, the movable body 40 is pulled toward the coil 22 side, that is, the Z-direction negative side by the magnetic attractive force against the urging force of the plate-shaped elastic portion 50 and is displaced. Following this, the touch panel 2 also moves to the negative side in the Z direction with respect to the base 3 to which the fixing body 30 is fixed. Further, by stopping the supply of the driving current to the coil 22, the biasing force is released, and the holding state of the movable body 40 at the position on the Z direction negative side with respect to the reference position is released. As a result, the movable body 40 is urged by the urging force of the plate-shaped elastic portion 50 from the maximum displacement position on the Z-direction negative side to move in the direction (Z-direction positive side) opposite to the direction in which the movable body is pulled (Z-direction negative side), and vibration is fed back.

The plurality of current pulse trains have: a main drive pulse generating a main vibration corresponding to the touch operation; and a sub drive pulse forming a damping period based on the vibration of the main drive pulse.

When an operator comes into contact with an operation device (screen 2a of touch panel 2 in fig. 1), a main drive current pulse (hereinafter, also referred to as "main drive pulse") is supplied to coil 22, electromagnetic actuator 10 is driven, and main vibration corresponding to the contact operation is generated to be fed back to the operator.

After the main drive pulse is supplied, the sub drive pulse is supplied to the coil 22, and vibration in the decay period based on the main vibration of the main drive pulse, that is, residual damped vibration of the fed-back vibration is formed.

The main drive pulse may be any drive pulse that constitutes a main vibration to be fed back to an operator who performs a touch operation, and may be formed of a plurality of current pulses.

The sub drive pulse is a drive pulse supplied to the coil 22 after the main drive pulse is supplied. In the present embodiment, the sub-drive pulse includes: a brake pulse for shortening damped vibration (damping period of vibration) after feedback vibration by the main drive pulse; and an attenuation additional pulse for continuing a vibration attenuation period after the vibration by the main drive pulse. The sub-drive pulse may have at least one of a brake pulse and an attenuation additional pulse.

Various vibration modes are generated based on the amplitudes, the wavelengths, the supply timings, and the like of the main drive pulse and the sub drive pulse, and are supplied to the electromagnetic actuator 10 as an actuator drive signal, whereby the generated signals are provided to the operator as body feeling.

The control device 1 includes, for example, a current pulse supply unit and a voltage pulse application unit.

The current pulse supply section supplies a plurality of driving current pulses as a driving current for driving the operation device to the coil 22 of the electromagnetic actuator 10 in accordance with the contact operation of the operation device (touch panel 2).

In the present embodiment, the plurality of driving current pulses are a driving current pulse train as an actuator driving signal in which a main driving pulse and a sub-driving pulse are combined into one set.

When the operator touches the operation device (the screen 2a of the touch panel 2 in fig. 1), the control device 1 of the present embodiment outputs a train of driving current pulses to the coil 22 of the electromagnetic actuator 10, vibrates the electromagnetic actuator, and gives the tactile sensation to the operator.

The details of the drive current pulse train including the main drive pulse and the drive current pulse will be described later.

The voltage pulse applying unit intermittently applies a plurality of control voltage pulses, each of which generates a plurality of drive current pulses (a main drive pulse and a sub drive pulse (a brake pulse and an attenuation additional pulse)) constituting an actuator drive signal, to the current pulse supplying unit.

Specifically, the voltage pulse application unit applies a main drive pulse as a main drive signal that starts a vibration having a predetermined amplitude and wavelength, which is a main tactile sensation when the operator touches the screen 2 a. Further, the voltage pulse applying section applies a vibration attenuation period adjustment signal as a sub-drive pulse to the current pulse supplying section after the main drive signal.

Fig. 10 is a circuit diagram showing an example of the configuration of the control device according to the embodiment of the present invention.

The control device 1 shown in fig. 10 includes: a switching element 82 as a current pulse supply unit formed of a MOSFET (metal-oxide-semiconductor field-effect transistor), a Signal generation unit (Signal generation)84 as a voltage pulse application unit, resistors R1, R2, and an SBD (Schottky Barrier Diodes).

In the control device 1, a signal generating section 84 connected to the power supply voltage Vcc is connected to the gate of the switching element 82. The switching element 82 is a discharge changeover switch, is connected to the electromagnetic Actuator 10 and the SBD, and is connected to the electromagnetic Actuator (denoted by [ Actuator ] in fig. 10) 10 to which a voltage is supplied from the power supply unit Vact.

Although not shown, the control device 1 may include a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like for controlling operations of components of the vibration presentation device. The CPU reads out a program corresponding to the processing content from the ROM, loads the program into the RAM, and controls the operation of the components of the vibration presentation apparatus including the electromagnetic actuator 10 so as to cooperate with the loaded program. At this time, various data including various vibration damping period generation patterns stored in a storage unit (not shown) are referred to. The storage unit (not shown) may be formed of, for example, a nonvolatile semiconductor memory (so-called flash memory) or the like. For example, the storage unit, ROM, RAM, or the like stores brake pulse waveform data and various attenuation additional pulse waveform data in a plurality of patterns in addition to the main drive pulse waveform data. Various programs for controlling the vibration presenting device including a vibration presenting program for driving the electromagnetic actuator to present vibration are stored in the ROM. The vibration presenting program is, for example, a program for reading out brake pulse waveform data and attenuation additional pulse waveform data in order to generate an actuator driving signal for generating vibration corresponding to contact information when information indicating a contact state is input from the operation device or the strain detection sensor 70, a program for combining the read out data to generate an actuator driving signal corresponding to contact information, a program for supplying the generated actuator driving signal to the coil, or the like. The actuator drive signal is applied to the coil as a combination of a plurality of current pulses via an actuator that drives the electromagnetic actuator. The CPU may control the operations of the components of the vibration presentation apparatus using the programs and data, or may control the current pulse supply unit and the voltage pulse application unit.

< vibration operation by control device >

The control device 1 supplies a current pulse to the coil 22 and drives the movable body 40 in one direction of the vibration direction. By supplying a current pulse to coil 22, movable body 40 is displaced in one direction of the vibration direction against the urging force of plate-like elastic portion 50. During the supply of the current pulse, the movable body 40 continues to be displaced in one direction of the vibration direction. By stopping the supply of the current pulse, that is, by interrupting the input of the current pulse to the coil 22, the force that displaces the movable body 40 in one direction (Z direction) of the vibration direction is released. The turning off of the input of the current pulse means a timing at which the voltage generating the current pulse becomes off. At the point in time when the voltage becomes off, the current pulse is not completely off but in a decaying state. The movable body 40 is displaced by being moved in the other direction (positive side in the Z direction) of the vibration direction by the biasing force of the plate-like elastic portion 50 accumulated at the maximum displaceable position in the pull-in direction (negative side in the Z direction). Strong vibration is propagated to the operation device via the movable body 40 moving to the other direction side as the operation device side, and the operator is given a tactile sensation.

The control device 1 supplies a plurality of current pulses including a main drive pulse as a first pulse and a sub drive pulse (a brake pulse, an attenuation additional pulse) as a second pulse and subsequent pulses to the coil 22 in response to the operator's contact with the screen 2 a. In the vibration of the movable body 40, the control device 1 supplies a main drive pulse, and adjusts a vibration that continues after the supply of the main drive pulse is stopped, that is, a so-called vibration damping period, by a sub drive pulse supplied after the main drive pulse is supplied.

< supply of Main drive pulse >

Fig. 11 is a diagram for explaining the displacement of the movable body when the main drive pulse is supplied to the electromagnetic actuator. In response to the operator's contact with the screen 2a, the control device 1 supplies a main drive pulse to the coil 22. As a result, the movable body 40 is driven by the main drive pulse, and as shown in fig. 11, displacement, that is, vibration occurs, and a vibration damping period occurs.

Thus, the control device 1 adjusts the intensity of the vibration damping period, the length of the vibration damping period, the presence or absence of the vibration damping period, and the like, thereby giving various tactile sensations to the control device 1 when the operator comes into contact with the operation device.

Here, the vibration cycle T of the electromagnetic actuator 10 is expressed by the following equation (3) so that the mass m of the movable body 40 (including the touch panel 2, but for convenience, the movable body 40 is described here) as a movable portion and the spring constant Ks of the plate-like elastic portion 50, i.e., the plate spring, which elastically supports the movable body 40 are assumed.

[ numerical formula 3]

In the present embodiment, the vibration period T is an interval of time from the timing of the maximum displacement on the negative side to the timing of the next maximum displacement.

< supply of sub-drive pulse >

After the main drive pulse is supplied, the current pulses after the second pulse supplied to the coil 22 are supplied to the coil 22 at predetermined timings as the sub drive pulses (brake pulse and attenuation additional pulse). In other words, the current pulse supplying unit supplies, as the sub-drive current pulse, a drive current pulse (a brake pulse or an attenuation additional pulse) in which the attenuation period of the elastic vibration can be adjusted after supplying the drive current pulse capable of initiating the elastic vibration as the main drive current pulse.

Thereby, the attenuation period of the vibration by the main drive pulse is adjusted. That is, the sub drive pulse adjusts the length of the free vibration following the main vibration by the main drive pulse.

The predetermined timing is a range of 1/2T before and after the maximum displacement amount (peak value) on the positive side in the vibration period T (n) of the elastic vibration generated by the plate-shaped elastic portion 50 supporting the touch panel 2 and the movable body 40 from the timing Ts at which the main drive pulse supplied to the coil 22 as the first pulse is turned off, and may be a timing at which the maximum displacement amount (peak value) on the positive side and the maximum displacement amount (peak value) on the negative side are removed. This causes the operation device to vibrate, and gives the operator various tactile sensations.

< supply of brake pulse >

The brake pulse is a pulse that can attenuate the vibration generated by the current pulse, and in the present embodiment, is supplied to shorten the attenuation period of the vibration generated by the main drive pulse.

Specifically, the control device 1 sets the input (supply) timing of the current pulse subsequent to the second pulse supplied to the coil 22 after the main drive pulse is supplied to the coil 22 among the plurality of current pulses to be within the following range: the oscillation period T (n-1) to T (n-1) +1/2T (n is a natural number) from the timing Ts at which the main drive pulse of the first pulse is turned off. n represents the timing of the oscillation period of the current pulse supplied as the sub-drive pulse (brake pulse) in the plurality of current pulse trains as the electromagnetic actuator drive signals. Further, if n is a natural number of 2 or more, the attenuation period of the vibration after the maximum displacement amount on the positive side generated by the main drive pulse of the first pulse is shortened without attenuating the maximum displacement amount on the positive side generated by the main drive pulse.

For example, when n is 2, in the oscillation period after the second pulse, the movable body 40 is displaced to the maximum displacement amount side (one direction side) on the negative side in the displacement from the maximum displacement amount side (one direction side) on the negative side to the maximum displacement amount side (the other direction side) on the positive side in the second oscillation period, and braking is performed. Thus, the amplitude (the length of the maximum displacement amount to the negative side) of the movable body 40 is shortened in the attenuation period of the main drive pulse, and vibration in the attenuation period is suppressed, whereby the attenuation period is shortened, and vibration with sharp feeling can be imparted.

Fig. 12 is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention. Fig. 12 shows a pattern in which, in the displacement amount (see fig. 11) of the movable body (including the operation device) when the main drive pulse is supplied, n is 2, and the brake pulse is supplied in the second cycle of the vibration cycle of the electromagnetic actuator.

In fig. 12, after the main drive pulse is supplied to the coil 22, the control device 1 sets the supply timing of the current pulse of the second pulse to a period shifted from the maximum displacement amount (peak value) on the negative side to the maximum displacement amount (peak value) on the positive side in the attenuation period of the vibration generated by the main drive pulse. Specifically, the second pulse is supplied during a period from the maximum displacement amount (after T) on the negative side to the maximum displacement amount (peak) on the positive side in the oscillation cycle. That is, the brake pulse applies an attractive force in a negative direction to the movable body 40 moving from the negative side to the positive side. Further, the current pulse is not supplied at the peak of the displacement of the movable body 40. When the displacement of the vibration (corresponding to the displacement of the movable body 40) reaches the positive peak, the supply of the current pulse is turned off. In the present embodiment, when the displacement of the vibration is the maximum displacement amount on the positive side and the negative side, no current pulse is supplied.

This suppresses the next displacement after the peak of the displacement by the main drive pulse, and shortens the vibration attenuation period. Therefore, the operator is given a sharp feeling.

Fig. 13 is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention, and fig. 13 shows a pattern in which the damping portion of the main vibration of the movable body (including the operation device) when the main drive pulse is supplied is n-3, that is, the brake pulse is supplied in the third cycle in the vibration cycle of the electromagnetic actuator.

After the main drive pulse is supplied to the coil 22, the current pulse of the second pulse is supplied at a timing shifted from the maximum displacement amount (peak value) on the negative side of the maximum displacement in the third cycle to the maximum displacement amount (peak value) on the positive side in the attenuation period of the vibration generated by the main drive pulse. Further, the supply of the current pulse when the displacement reaches the maximum displacement amount (peak value) on the positive side is turned off.

That is, in the oscillation cycle after the second pulse, the movable body 40 is displaced to the side of the maximum displacement amount on the negative side (one direction side) in the displacement from the maximum displacement amount on the negative side (one direction side) to the maximum displacement amount on the positive side (the other direction side) in the oscillation cycle, and braking is performed. The displacement toward the maximum displacement amount on the negative side is the displacement of the movable body 40 toward one direction side (Z-direction negative side), and the displacement toward the maximum displacement amount on the positive side is the displacement of the movable body 40 toward the other direction side (Z-direction positive side).

Accordingly, the amplitude (the length of the maximum displacement amount to the negative side) of the movable body 40 is shortened during the attenuation period of the vibration, the vibration during the attenuation period is suppressed, the attenuation period is shortened, and after the main vibration is applied, the vibration having a sharp feeling can be applied.

< supply of attenuation additional pulse >

The attenuation additional pulse attenuates the vibration generated by the current pulse. In the present embodiment, the attenuation additional pulse is supplied so as to extend the attenuation period of the vibration generated by the supply of the main drive pulse. When the attenuation additional pulse is supplied, the control device 1 sets the input (supply) timing of the current pulse subsequent to the second pulse to be supplied to the coil 22 among the plurality of current pulses to be in the following range: the oscillation period T (n-1) +1/2T to T (n-1) + T (n is a natural number) from the timing Ts at which the main drive pulse of the first pulse is turned off. Note that n represents the timing of the oscillation period of the current pulse supplied as the sub-drive pulse (attenuation additional pulse) in the plurality of current pulse trains as the electromagnetic actuator drive signals.

After the main drive pulse is supplied to the coil 22, the control device 1 sets the timing of supplying the current pulse after the second pulse as a period of displacement from the maximum displacement amount (peak value) on the positive side to the maximum displacement amount on the negative side in the attenuation period of the vibration generated by the main drive pulse. That is, in the oscillation period after the second pulse, in the displacement of the maximum displacement amount from the positive side to the negative side (from the other direction side to the one direction side) in the oscillation period, a force is added to the maximum displacement amount side (the one direction side) on the negative side of movable body 40, and a force is applied to the displacement on the maximum displacement amount side on the negative side.

As a result, the amplitude of the movable body 40 increases during the attenuation period of the vibration, the time for giving the operator a tactile sensation by the vibration becomes long, and the vibration having a deep tactile sensation can be expressed.

Fig. 14 is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention. Fig. 14 shows a pattern in which, in the displacement amount (see fig. 11) of the movable body (including the operation device) when the main drive pulse is supplied, n is 2, and the damping additional pulse is supplied in the second cycle in the vibration cycle of the electromagnetic actuator.

The electromagnetic actuator drive signal shown in fig. 14 is supplied with the attenuation additional pulse after the main drive pulse.

In fig. 14, when the attenuation additional pulse is supplied after the main drive pulse is supplied, the control device 1 supplies a current pulse as the attenuation additional pulse to the second pulse supplied to the coil 22.

Thus, as shown in fig. 14, a current pulse is supplied to the coil 22 while the movable body 40 is displaced from the maximum displacement amount on the positive side of the second cycle to the maximum displacement amount on the negative side of the third cycle, that is, while it is displaced in one direction (in the direction of the applied force, on the negative side) after the maximum displacement amount on the positive side of the second cycle. That is, the applied force increases, the movable body 40 is displaced to the negative side of the maximum displacement amount, and the negative side of the maximum displacement amount is deeper than the vibration period in the attenuation period, and the vibration continues.

Thus, the vibration damping period is longer than the vibration damping period in the case of only the main drive pulse, and a feeling with depth can be given to the operator.

Fig. 15 is a diagram showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention. Fig. 15 shows a pattern in which, in the displacement amount (see fig. 11) of the movable body (including the operation device) when the main drive pulse is supplied, n is 3, and the damping additional pulse is supplied in the third cycle in the vibration cycle of the electromagnetic actuator.

When the current pulse of the second pulse is supplied after the main drive pulse is supplied to the coil 22, the period during which the vibration generated by the main drive pulse is attenuated is shifted from the maximum displacement amount (peak value) on the positive side of the third period to the maximum displacement amount (peak value) on the negative side of the fourth period. When the displacement reaches the maximum displacement amount on the positive side and the maximum displacement amount on the negative side, the supply of the current pulse is turned off.

That is, in the vibration cycle after the second pulse, the movable body 40 is displaced to the negative side (one direction side) in the displacement from the maximum displacement amount on the positive side (the other direction side) to the maximum displacement amount on the negative side (one direction side), and braking is performed. Accordingly, the amplitude (the length of the maximum displacement amount to the negative side) of the movable body 40 increases during the attenuation period of the vibration, the biasing force increases, the attenuation period becomes longer, and after the main vibration is applied, the vibration having a deep tactile sensation can be applied.

In this way, in the actuator drive signal having a plurality of current pulses including the main drive pulse, the vibration damping period can be changed by supplying the main drive pulse, the damping additional pulse, and both at the timing of the vibration period T (n-1) corresponding to the supplied main drive pulse train. Therefore, various kinds of vibration expression of the touch operation feeling can be realized.

< supply of brake pulse + attenuation additional pulse >

Fig. 16 and 17 are diagrams showing an example of an electromagnetic actuator drive signal input to the electromagnetic actuator of the control device according to the embodiment of the present invention, and show an example of adjusting the damping period of the elastic vibration by the brake pulse and the damping additional pulse.

When the damping of the vibration is adjusted using both the brake pulse and the damping additional pulse, the supply timing of the brake pulse is in the following range: in the elastic vibration, the range of T (n-1) to T (n-1) +1/2T (n is a natural number) from the time when the main drive current pulse is turned off. The supply timing of the attenuation additional pulse is in the following range: in the elastic vibration, the range from T (n-1) +1/2T to T (n-1) + T (n is a natural number) from the time when the main drive current pulse is turned off.

In fig. 16, the brake pulse and the attenuation additional pulse are supplied to the coil 22 as the sub-drive pulse. Note that n for determining the supply timing of the brake pulse may be different from n for determining the supply timing of the attenuation additional pulse, or may be the same. For example, the timing of supplying the brake pulse is set such that n1 is 2, and the brake pulse is added to the second cycle of the oscillation within the range from T (n-1) to T (n-1) +1/2T from the time when the main drive current pulse is turned off. The supply timing of the attenuation additional pulse is set to be n2 equal to 2, and the attenuation additional pulse is added to the second cycle of the oscillation within the range of T (n-1) +1/2T to T (n-1) + T from the time when the main drive pulse is turned off.

As described above, fig. 16 shows a pattern of adding a brake pulse and a current pulse train for attenuating the additional pulse based on the respective supply conditions, and a displacement of elastic vibration (corresponding to a displacement of the movable body 40) based on the pattern, in the second cycle of the cycle of vibration.

Thus, the attenuation of the vibration after the vibration feedback generated by the main drive pulse can be shortened by the brake pulse, and can be extended by attenuating the additional pulse. This can give the operator a sharp and deep feeling.

In fig. 17, the brake pulse and the attenuation additional pulse are supplied to the coil 22 as the sub-drive pulse. A pattern in which the brake pulse and the damping additional pulse are added to the third cycle of the vibration together with each other and the displacement of the elastic vibration at this time are shown, with the supply timing of the brake pulse set to n1 equal to 3, the supply timing of the damping additional pulse set to n2 equal to 3.

Unlike the mode of fig. 16, the mode of fig. 17 can shorten the attenuation of the vibration after the vibration feedback by the main drive pulse by the brake pulse and lengthen the attenuation of the additional pulse. This can provide the operator with a sharp feeling and a deep feeling.

In this way, the control device 1 can give a sharp feeling and a feeling with depth by the brake pulse with various changes.

Fig. 18 is a diagram for explaining the supply timing of the sub drive pulse.

In the electromagnetic actuator 10, when the inductance increases, the timing (oscillation period or half period) at which the displacement of the movable body 40 becomes maximum (peak) may be delayed from the timing Ts at which the current pulse is turned off by the transient current. In this case, the timing of supplying the sub drive pulse corresponding to the oscillation period deviates from the actual oscillation period.

On the other hand, the control device 1 sets the delay time LT at the input timing of the current pulse after the second pulse. That is, when a brake pulse or an attenuation additional pulse, which is a current pulse of the second pulse, is supplied after the main drive pulse is supplied, the control is performed at a timing that is spaced by the delay time LT from the timing Ts at which the main drive pulse is turned off.

That is, when the brake pulse is supplied, the main drive pulse is turned off (timing Ts) and then the predetermined delay time LT is elapsed, and the timing is in the range of T (n-1) to T (n-1) + 1/2T. When the attenuation additional pulse is supplied, the main drive pulse is turned off (timing Ts) and then the delay time LT is set to a predetermined value in a range from T (n-1) +1/2T to T (n-1) + T.

This makes it possible to match the timing of supplying the sub drive pulse with the actual vibration period or half period, and to appropriately adjust the attenuation of the vibration, thereby providing a good tactile sensation.

In the vibration presenting apparatus, when the operator comes into contact with the operation device, the control device 1 vibrates the contact portion in accordance with the contact, and gives the operator a tactile sensation.

Specifically, touch position information and/or contact information indicating operator contact from the strain detection sensor 70 is input to the control device 1. The control device 1 receives the contact information and drives the electromagnetic actuator to generate vibration. An actuator driving signal generating the vibration is formed corresponding to the contact information.

The control device 1 generates an actuator drive signal using the main drive pulse, the brake pulse, and the attenuation additional pulse. The main drive pulse, the brake pulse, and the attenuation additional pulse may be combined with any other sub-drive pulse (brake pulse, attenuation additional pulse) to form the electromagnetic actuator drive signal, as long as the sub-drive pulse is combined with the main drive pulse. The main drive pulse, the brake pulse, and the attenuation additional pulse are each set in advance to have a plurality of kinds of different amplitudes and pulse widths, and the main drive pulse and the sub drive pulse can be arbitrarily combined.

Fig. 19 and 20 are flowcharts showing an example of an operation of driving the electromagnetic actuator 10 by the control device 1 according to the embodiment of the present invention. Through the operations shown in fig. 19 and 20, the control device 1 drives the electromagnetic actuator 10 to generate feedback vibration.

In fig. 19 and 20, the main drive pulse, the brake pulse, and the damping addition pulse are expressed as a main vibration signal, a vibration damping period brake signal, and a vibration damping period addition signal according to their functions.

When the main drive pulse is supplied to the electromagnetic actuator (specifically, the coil 22), as shown in fig. 19, the control device 1 outputs the main vibration signal as the main drive pulse as the actuator drive signal when the operator touches the operation device (step S10). The output main vibration signal is supplied to the coil 22, electromagnetic force is generated, and the movable body 40 is driven to vibrate. The vibration is fed back to the operator as a main vibration via the operation device, and is given to the operator as a tactile sensation.

Further, the displacement of the movable body 40 caused by the supply of the main drive pulse to the coil 22 reaches the peak of the maximum displacement amount in the positive direction in accordance with the main drive pulse, and attenuates after the occurrence of the feedback vibration (see fig. 11).

Fig. 20A to 20C show control of vibration in which the damping period of vibration fed back is adjusted. As shown in fig. 20A to 20C, after the main vibration is output (step S10), the damping period of the vibration is adjusted. As a step of adjusting the vibration damping period, after the step S10 of outputting the main drive signal, the step S20 of supplying the vibration damping period brake signal and the step S30 of outputting the vibration damping period additional signal may be appropriately combined as vibration damping adjustment. This enables the generation of various vibration modes by adjusting the attenuation of vibration, thereby imparting various tactile sensations.

As described above, according to the present embodiment, it is possible to reduce the cost without using a magnet or the like, to reduce the cost of the entire device, and to express vibrations of various contact operation feelings. Further, according to the present embodiment, the output can be increased even with a small product by the efficient driving. In addition, low power consumption can be achieved.

The thrust of the movable body 40 suitable for the tactile sensation of the operator who operates the operation device can be efficiently generated while achieving cost reduction.

As described above, in the present embodiment, since the vibration to be various touch operation feelings is not adjusted by the damping material such as rubber, the vibration damping period is made single by the damping material without depending on the damping material itself, and the kind of operation feeling expressed by lack of change in the vibration damping period is not limited. In addition, the resonance frequency is not changed due to individual differences of the attenuation material, and the characteristics are not different depending on the product.

It is preferable that a plurality of plate-shaped elastic portions 50 are fixed at positions symmetrical with respect to the center of the movable body 40, but as described above, the movable body 40 may be supported by one plate-shaped elastic portion 50 so as to be capable of vibrating with respect to the fixed body 30. The plate-shaped elastic portion 50 may include at least two or more arm portions that connect the movable body 40 and the fixed body 30 and have a serpentine elastic arm portion 56. The plate-like elastic portion 50 may be made of a magnetic material. In this case, the movable body side fixing portions 54 of the plate-like elastic portion 50 are disposed in the winding axis direction of the coil 22 or in the direction orthogonal to the winding axis direction with respect to both end portions of the core 24, and constitute a magnetic path together with the core 24 when the coil 22 is energized.

In the structure of the electromagnetic actuator 10, rivets may be used instead of the screws 62, 64, and 68 for fixing the base portion 32 and the plate-shaped elastic portion 50 and fixing the plate-shaped elastic portion 50 and the movable body 40. The rivet is composed of a head portion and a body portion having no screw portion, and is inserted into the member having the hole, whereby the end portion on the opposite side is riveted and plastically deformed, and the member having the hole is joined to each other. The caulking may be performed by, for example, a press working machine or a dedicated tool.

The cycle of the input pulse may be corrected based on the data of the strain acquired by the strain detection sensor 70, based on individual differences of the respective constituent elements of the electromagnetic actuator 10, and the like.

The embodiments of the present invention have been described above. The above description is an example of a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. That is, the description of the structure of the above-described apparatus and the shape of each part is only an example, and various changes and additions may be made to the examples within the scope of the present invention.

In the present embodiment, the driving direction of the electromagnetic actuator driven and controlled by the control device 1 is the Z direction, but the present invention is not limited thereto, and the above-described effective driving and vibration strengthening effects can be obtained also in the direction parallel to the contact surface of the operator, specifically, in the X direction or the Y direction.

[ Industrial Applicability ]

The electromagnetic actuator according to the present invention has an effect of being able to express vibrations of various touch operation feelings, and is useful for an operation device such as a touch display device equipped with a touch panel device capable of feeding back an operation feeling similar to an operation feeling when various images such as a mechanical switch displayed on an image are touched, for example, an operation device for inputting an operation by bringing a finger or the like into contact with an image on a screen in an in-vehicle product or an industrial device.