WO2023082115A1 - Haptic or tactile feedback actuator, and electronic device having same - Google Patents

Abstract

The present invention relates to a haptic or tactile feedback actuator, and an electronic device having the haptic or tactile feedback actuator. The haptic or tactile feedback actuator comprises a support and an elastic assembly, which is arranged on the support and has a bistable form, wherein a magnet is provided on the elastic assembly; an electromagnetic coil for interacting with the magnet to enable the elastic assembly to be switched between a first steady state and a second steady state is further provided on the support; in the first steady state, the elastic assembly is in a contracted state; and in the second steady state, the elastic assembly is in an expanding state. In the haptic or tactile feedback actuator of the present invention, an electromagnetic coil interacts with a magnet, which is arranged on an elastic assembly that has a bistable state, such that the elastic assembly is switched between a first steady state and a second steady state, so as to provide haptic or tactile feedback. The haptic or tactile feedback actuator has the advantages of a simple structure, a small size, low energy consumption, etc.

Description

Translated fromChinese

触觉反馈致动器以及具有该触觉反馈致动器的电子设备Haptic feedback actuator and electronic device with the same技术领域technical field

本发明涉及触觉反馈技术，更具体地说，涉及一种触觉反馈致动器以及具有该触觉反馈致动器的电子设备。The present invention relates to tactile feedback technology, and more specifically, to a tactile feedback actuator and an electronic device with the tactile feedback actuator.

背景技术Background technique

触觉反馈技术(Haptic or Tactile Feedbacks)能通过作用力、振动等一系列动作为使用者再现触感。这一力学刺激可被应用于计算机模拟中的虚拟场景或者虚拟对象的辅助创建和控制，以及加强对于机械和设备的远程操控。随着虚拟/增强现实(AR/VR)产业的发展，触觉反馈也逐渐变得重要。触觉技术被用于创造触觉效果，即在消费电子设备上的手势或触觉反馈。借助触觉技术，消费电子设备制造商可以在其设备上为特定的互动体验创造与众不同的个性化触觉反馈，从而为消费者提供更具价值且更加逼真的独特体验。真实的触觉反馈技术需要设备具有显示多种触觉信号(温度、力度、材质等)的能力。目前的触觉反馈促动器大多只能提供如震动类较为单一的触觉信号反馈。而能够精准显示多种触觉信息的技术多采用体积较大的流体驱动器以及气囊来实现信息的显示。Haptic or Tactile Feedbacks can reproduce the sense of touch for users through a series of actions such as force and vibration. This mechanical stimulation can be applied to the auxiliary creation and control of virtual scenes or virtual objects in computer simulation, and to enhance the remote control of machinery and equipment. With the development of the virtual/augmented reality (AR/VR) industry, tactile feedback is becoming increasingly important. Haptic technology is used to create haptic effects, i.e. gestures or tactile feedback on consumer electronic devices. With haptic technology, CE device manufacturers can create unique and personalized haptic feedback for specific interactive experiences on their devices, thereby providing consumers with unique and more valuable experiences. Real haptic feedback technology requires the device to have the ability to display multiple tactile signals (temperature, force, material, etc.). Most of the current tactile feedback actuators can only provide relatively simple tactile signal feedback such as vibration. The technologies that can accurately display a variety of tactile information mostly use larger fluid drivers and airbags to display information.

发明内容Contents of the invention

本发明的目的是提供一种触觉反馈致动器，该触觉反馈致动器具有体积小、能耗低等优点。The purpose of the present invention is to provide a tactile feedback actuator, which has the advantages of small size and low energy consumption.

在根据本发明的触觉反馈致动器的一实施例中，所述触觉反馈致动器包括支架，以及设置在所述支架上的具有双稳定形态的弹性组件，所述弹性组件上设置有磁体，所述支架上还设置有用于和所述磁体相互作用使所述弹性组件在第一稳态和第二稳态之间转换的电磁线圈；处于第一稳态时，所述弹 性组件呈收缩状态；处于第二稳态时，所述弹性组件呈扩张状态。In an embodiment of the tactile feedback actuator according to the present invention, the tactile feedback actuator includes a bracket, and an elastic component with a bistable configuration arranged on the bracket, and a magnet is arranged on the elastic component , the bracket is also provided with an electromagnetic coil for interacting with the magnet to switch the elastic assembly between the first stable state and the second stable state; when in the first stable state, the elastic assembly is contracted state; in the second stable state, the elastic component is in an expanded state.

在根据本发明的触觉反馈致动器的一实施例中，所述支架上还设置有用于提供温度反馈的半导体制冷片。In an embodiment of the tactile feedback actuator according to the present invention, a semiconductor cooling chip for providing temperature feedback is also arranged on the support.

在根据本发明的触觉反馈致动器的一实施例中，所述半导体制冷片为环形，所述弹性组件设置在所述半导体制冷片内。In an embodiment of the tactile feedback actuator according to the present invention, the semiconductor cooling sheet is ring-shaped, and the elastic component is arranged in the semiconductor cooling sheet.

在根据本发明的触觉反馈致动器的一实施例中，所述弹性组件上设置有接触片，所述接触片具有用于供触摸或接触的表面。In an embodiment of the tactile feedback actuator according to the present invention, a contact piece is provided on the elastic component, and the contact piece has a surface for touching or contacting.

在根据本发明的触觉反馈致动器的一实施例中，所述半导体制冷片上设置有散热器，所述散热器与所述半导体制冷片的热端连接，所述散热器由泡沫金属、金属鳍片、高分子导热材料、热管、均热板或石墨散热片构成。In an embodiment of the tactile feedback actuator according to the present invention, the semiconductor cooling sheet is provided with a radiator, the radiator is connected to the hot end of the semiconductor cooling sheet, and the radiator is made of foam metal, metal Fins, polymer heat-conducting materials, heat pipes, vapor chambers or graphite heat sinks.

在根据本发明的触觉反馈致动器的一实施例中，所述弹性组件为隔膜结构、半球型结构或风琴伸缩管结构。In an embodiment of the tactile feedback actuator according to the present invention, the elastic component is a diaphragm structure, a hemispherical structure or an organ telescopic tube structure.

在根据本发明的触觉反馈致动器的一实施例中，所述支架上还设置有显示元件，所述显示元件为LED、电子墨水屏幕、柔性显示屏或液晶显示屏。In an embodiment of the tactile feedback actuator according to the present invention, a display element is further arranged on the support, and the display element is an LED, an electronic ink screen, a flexible display or a liquid crystal display.

在根据本发明的触觉反馈致动器的一实施例中，所述支架为环形支架，所述半导体制冷片为环形，所述半导体制冷片设置在所述环形支架内，所述散热器设置在所述半导体制冷片的下方，所述散热器为环形，所述电磁线圈设置在所述散热器内。In an embodiment of the tactile feedback actuator according to the present invention, the support is an annular support, the semiconductive cooling sheet is annular, the semiconductive cooling sheet is arranged in the annular support, and the heat sink is arranged in Below the semiconductor refrigerating sheet, the radiator is annular, and the electromagnetic coil is arranged in the radiator.

本发明的另一目的在于提供一种电子设备，所述电子设备包括多个如以上所述的触觉反馈致动器。Another object of the present invention is to provide an electronic device, which includes a plurality of tactile feedback actuators as described above.

在根据本发明的电子设备的一实施例中，所述电子设备包括若干个电连接的安装座，每个所述安装座中设置有所述触觉反馈致动器，所述安装座具有导电触点，所述触觉反馈致动器的电极与所述导电触点电连接。In an embodiment of the electronic device according to the present invention, the electronic device includes several electrically connected mounts, each of the mounts is provided with the tactile feedback actuator, and the mounts have conductive contacts. point, the electrodes of the haptic feedback actuator are electrically connected to the conductive contacts.

实施本发明的触觉反馈致动器，具有以下有益效果：在本发明的触觉反馈致动器中，通过电磁线圈和设置在具有双稳定形态的弹性组件上的磁体相互作用，使弹性组件在第一稳态和第二稳态之间转换，从而提供触觉反馈，该触觉反馈致动器具有结构简单、体积小、能耗低等优点。The tactile feedback actuator implementing the present invention has the following beneficial effects: In the tactile feedback actuator of the present invention, through the interaction between the electromagnetic coil and the magnet provided on the elastic assembly having a bistable configuration, the elastic assembly The first stable state and the second stable state are switched to provide tactile feedback. The tactile feedback actuator has the advantages of simple structure, small volume, low energy consumption and the like.

附图说明Description of drawings

下面将结合附图及实施例对本发明作进一步说明，附图中：The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

图1是本发明的触觉反馈致动器的第一实施例的结构示意图；1 is a schematic structural view of the first embodiment of the tactile feedback actuator of the present invention;

图2是图1所示的触觉致动器处于第二稳态时的结构示意图；Fig. 2 is a structural schematic diagram of the tactile actuator shown in Fig. 1 when it is in a second stable state;

图3是本发明的触觉反馈致动器的第二实施例的结构示意图；3 is a schematic structural view of a second embodiment of the tactile feedback actuator of the present invention;

图4是本发明的触觉反馈致动器的第三实施例的结构示意图；4 is a schematic structural view of a third embodiment of the tactile feedback actuator of the present invention;

图5是本发明的触觉反馈致动器的第四实施例的结构示意图；FIG. 5 is a schematic structural view of a fourth embodiment of the tactile feedback actuator of the present invention;

图6是本发明的触觉反馈致动器的第五实施例的分解示意图；6 is an exploded schematic view of a fifth embodiment of the haptic feedback actuator of the present invention;

图7是图6所示的触觉反馈致动器应用于穿戴设备的示意图；FIG. 7 is a schematic diagram of the haptic feedback actuator shown in FIG. 6 being applied to a wearable device;

图8是本发明的触觉反馈致动器应用于电子设备的示意图。FIG. 8 is a schematic diagram of the application of the tactile feedback actuator of the present invention to an electronic device.

具体实施方式Detailed ways

为了对本发明的技术特征、目的和效果有更加清楚的理解，现对照附图详细说明本发明的具体实施方式。In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

下面详细描述本发明的触觉反馈致动器和具有该触觉反馈致动器的电子产品的实施例，这些实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。Embodiments of the tactile feedback actuator of the present invention and electronic products having the same are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar components or components with the same or similar functions.

在本发明的触觉反馈致动器和具有该触觉反馈致动器的电子产品的描述中，需要理解的是，术语“前”、“后”、“上”、“下”、“上端”、“下端”、“上部”、“下部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。术语“设置”既包括具有直接连接关系的情况，也包括具有间接连接关系的情况。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。In describing the haptic feedback actuator of the present invention and the electronic product having the same, it should be understood that the terms "front", "rear", "upper", "lower", "upper end", The orientation or positional relationship indicated by "lower end", "upper part" and "lower part" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device Or elements must have a certain orientation, be constructed and operate in a certain orientation, and thus should not be construed as limiting the invention. The term "setting" includes both the case of having a direct connection relationship and the case of having an indirect connection relationship. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

如图1和图2所示，在本发明的触觉反馈致动器的第一实施例，在该实施例中，触觉反馈致动器包括支架1，支架1用作安装其他元器件的载体，其形式可以是多样的，可以是独立的部件，也可以由其他部件兼做支架的作 用。在支架1上设置有具有双稳定形态的弹性组件2，弹性组件2可以直接或间接设置在支架1上。弹性组件2具有两种稳定形态，包括第一稳态(如图1所述)和第二稳态(如图2所示)，弹性组件2可以在外力的作用下在两种稳定形态之间切换，处于第一稳态时，弹性组件呈收缩状态；处于第二稳态时，弹性组件呈扩张状态。弹性组件2可以是隔膜结构、半球型结构或风琴伸缩管结构等各种适宜的具有双稳定形态的结构，图1和图2所示的弹性组件2为风琴管伸缩结构，弹性组件2可以由硅胶、塑料或金属等各种适宜的材料制成。As shown in Figures 1 and 2, in the first embodiment of the tactile feedback actuator of the present invention, in this embodiment, the tactile feedback actuator includes abracket 1, and thebracket 1 is used as a carrier for installing other components, Its form can be various, it can be an independent part, and it can also be used as a support by other parts. Anelastic component 2 with a bistable shape is arranged on thebracket 1 , and theelastic component 2 can be directly or indirectly arranged on thebracket 1 . Theelastic component 2 has two stable states, including a first stable state (as shown in FIG. 1 ) and a second stable state (as shown in FIG. 2 ), and theelastic component 2 can move between the two stable states under the action of an external force. Switching, when in the first stable state, the elastic component is in a contracted state; in the second stable state, the elastic component is in an expanded state. Theelastic assembly 2 can be a diaphragm structure, a hemispherical structure or an organ telescopic tube structure and other suitable structures with bistable forms. Theelastic assembly 2 shown in Fig. 1 and Fig. 2 is an organ pipe telescopic structure, and theelastic assembly 2 can be composed of It can be made of any suitable material such as silicone, plastic or metal.

参看图1和图2，弹性组件2上设置有磁体3，磁体3可以是由各种永磁材料、铁磁体或其他具有磁性材料制成。支架1上还设置有用于和磁体3相互作用使弹性组件2在第一稳态和第二稳态之间转换的电磁线圈4，电磁线圈4在通有电流的情况下产生电磁场，通过控制电流的方向和大小可以控制磁场的方向和大小，从而驱动磁体3运动，以产生不同的反馈力，电磁线圈4和磁体3之间的作用力超过弹性组件2的形态变换的临界点时，弹性组件2的形态便会由一种形态变换为另一种形态，例如由第一稳态变为第二稳态，或由第二稳态变为第一稳态。为了一提供更好的触觉反馈效果，弹性组件2上设置有接触片5，接触片5具有用于供触摸或接触的表面，比如一些类肤质的表面，接触片5也可以与弹性组件2是一体结构，即接触片5是弹性组件2的一部分。Referring to Fig. 1 and Fig. 2, amagnet 3 is disposed on theelastic component 2, and themagnet 3 may be made of various permanent magnet materials, ferromagnets or other magnetic materials. Thebracket 1 is also provided with anelectromagnetic coil 4 for interacting with themagnet 3 to make theelastic assembly 2 switch between the first stable state and the second stable state. Theelectromagnetic coil 4 generates an electromagnetic field when the current is passed through it. By controlling the current The direction and size of the magnetic field can control the direction and size of the magnetic field, thereby driving themagnet 3 to move to generate different feedback forces. When the force between theelectromagnetic coil 4 and themagnet 3 exceeds the critical point of the shape transformation of theelastic component 2, theelastic component 2 will change from one form to another, for example, from the first stable state to the second stable state, or from the second stable state to the first stable state. In order to provide a better tactile feedback effect, theelastic component 2 is provided with acontact piece 5, thecontact piece 5 has a surface for touching or touching, such as some skin-like surfaces, thecontact piece 5 can also be connected with theelastic component 2 It is an integral structure, that is, thecontact piece 5 is a part of theelastic component 2 .

具有双稳定形态的弹性组件2是具有两种稳定形态的机械结构，从势能的角度来讲，该结构拥有两个势能低点，当该结构处于两势能低点之间时，势能较高。系统需要外界提供相应能量才能够从其中一势能低点移动到另一势能低点。对于本发明而言，两势能低点对应该触觉反馈致动器开与关的状态，电磁线圈4通过给磁体3提供能量来帮助弹性组件2跨越开与关的势能壁垒。该弹性组件2可由许多不同的材料及结构来实现，如隔膜结构、半球型结构、或风琴伸缩管结构或者其他可延伸结构等。在触觉反馈致动器作为传感器时，从势能的角度去理解就是用户在握持真实物体时给予触觉反馈致动器的能量不足矣让该结构跨越势能壁垒(从开启模式变成关闭模式)，但足 够让磁体发生位移并在电磁线圈中产生感应电流。Theelastic component 2 with bistable form is a mechanical structure with two stable forms. From the perspective of potential energy, the structure has two low points of potential energy. When the structure is between the two low points of potential energy, the potential energy is higher. The system needs the corresponding energy from the outside world to move from one low point of potential energy to another low point of potential energy. For the present invention, the two low points of potential energy correspond to the on and off states of the tactile feedback actuator, and theelectromagnetic coil 4 helps theelastic component 2 to overcome the on and off potential energy barrier by providing energy to themagnet 3 . Theelastic component 2 can be realized by many different materials and structures, such as a diaphragm structure, a hemispherical structure, or an organ telescopic tube structure or other extensible structures. When the tactile feedback actuator is used as a sensor, it is understood from the perspective of potential energy that the energy given to the tactile feedback actuator by the user when holding the real object is not enough to allow the structure to cross the potential energy barrier (from the open mode to the closed mode), But enough to displace the magnet and induce a current in the solenoid coil.

为了提供更多种反馈信息，参看图1和图2，在该实施例中，支架1上还设置有用于提供温度反馈的半导体制冷片6，半导体制冷片6在通电的情况下可以在热端和冷端产生温度差，从而产生温度反馈的效果。在本实施例中，半导体制冷片6可以设计为环形，弹性组件2设置在半导体制冷片6内。为了获得更好的温度反馈效果，半导体制冷片6上设置有散热器7，散热器7与半导体制冷片6的热端连接，散热器7可以快速的将半导体制冷片6热端的热量向外扩散，从而产生更为显著的温度差。散热器7可以由泡沫金属、金属鳍片、高分子导热材料、热管、均热板或石墨散热片等构成。散热器7也可以由支架1的一部分构成，例如，支架1是金属的情况下，支架1的一部分可以作为散热器7使用。在该实施例中，支架1可以为环形支架，半导体制冷片6为环形，半导体制冷片6可以设置在环形支架1内，散热器7可以设置在半导体制冷片6的下方，散热器7为环形，电磁线圈4设置在散热器7内。当多个触觉反馈致动器组合起来时，可以利用热烤架错觉(thermal grill illusion)来形成感知温度远高于单个触觉反馈致动器的真实温度的错觉。该错觉由冷热交替的触觉反馈致动器形成，冷点温度稍低于人体温度，热点温度略高于人体温度。当使用者触摸该触觉反馈致动器阵列时，感知温度会远远高于真实触觉反馈致动器的温度。In order to provide more kinds of feedback information, refer to Fig. 1 and Fig. 2, in this embodiment, asemiconductor cooling chip 6 for providing temperature feedback is also provided on thebracket 1, and thesemiconductor cooling chip 6 can be at the hot end when the power is turned on. There is a temperature difference with the cold end, thereby producing the effect of temperature feedback. In this embodiment, thesemiconductive cooling sheet 6 can be designed in a ring shape, and theelastic component 2 is arranged inside thesemiconducting cooling sheet 6 . In order to obtain a better temperature feedback effect, aradiator 7 is arranged on thesemiconductor cooling sheet 6, and theradiator 7 is connected to the hot end of thesemiconductor cooling sheet 6, and theradiator 7 can quickly spread the heat of the hot end of thesemiconductor cooling sheet 6 outward. , resulting in a more significant temperature difference. Theheat sink 7 can be made of foamed metal, metal fins, polymer thermally conductive material, heat pipe, vapor chamber or graphite heat sink. Theradiator 7 may also be constituted by a part of thebracket 1 , for example, when thebracket 1 is made of metal, a part of thebracket 1 can be used as theradiator 7 . In this embodiment, thebracket 1 can be an annular bracket, thesemiconductor cooling fin 6 is annular, thesemiconductor cooling fin 6 can be arranged in theannular bracket 1, theradiator 7 can be arranged under thesemiconductor cooling fin 6, and theradiator 7 is annular , Theelectromagnetic coil 4 is set in theradiator 7 . When multiple haptic feedback actuators are combined, the thermal grill illusion can be exploited to create the illusion that the perceived temperature is much higher than the true temperature of a single haptic feedback actuator. The illusion is created by alternating hot and cold haptic feedback actuators, with a cold spot slightly cooler than human body temperature and a hot spot slightly warmer than human body temperature. When a user touches the array of haptic feedback actuators, the perceived temperature will be much higher than the temperature of real haptic feedback actuators.

为了提供更多种反馈信息，参看图1和图2，在该实施例中，支架1上还设置有显示元件8，用于视觉信息反馈，显示元件8为LED、电子墨水屏幕、柔性显示屏或液晶显示屏等能够提供视觉反馈的元件。多个触觉反馈致动器组成阵列时，各自的显示元件8也可以组成显示阵列，以显示更为复杂的信息，比如图案等。In order to provide more feedback information, referring to Fig. 1 and Fig. 2, in this embodiment, adisplay element 8 is also provided on thesupport 1 for visual information feedback, and thedisplay element 8 is an LED, an electronic ink screen, a flexible display Or components such as LCD screens that provide visual feedback. When multiple tactile feedback actuators form an array, therespective display elements 8 can also form a display array to display more complex information, such as patterns.

在本发明的触觉反馈致动器中，弹性组件2起到的作用是在电磁线圈4通电后控制磁体3及接触片5的位置。触觉反馈致动器默认状态为关闭状态，即接触片5位于环形开口内部，用户无法接触到。当电磁线圈4通电，电磁线圈4产生的磁场与磁体3的磁场产生排斥力；当该力量大于双稳态结构的变形力量时，该结构变形，将接触片5从环形开口内弹出，与用户皮肤 接触并生成力量信息。该力量大小可由控制磁铁重量，触点重量、形状，双稳态结构形状，电流大小等方式进行调节。将线圈电流方向调换，电磁线圈4所产生的磁场方向调换，对磁体3产生吸力。当该吸力大于双稳态结构的变形力量时，该结构变形，将接触片5从环形开口外吸入，回到关闭状态。当触觉反馈致动器位于开启状态时，通过调整电磁线圈4的电流大小和频率，与用户皮肤接触的接触片5同时可以产生不同震动效果用于模拟不同虚拟材料的材质或虚拟物品的动作，如引擎的震动，枪械工作时的抖动等。而在触觉反馈致动器开启状态下，由于用户皮肤的可延展性，当使用者在抓握真实物品时会使接触片5以及磁体3产生移动。当磁体3产生移动时，磁场线切割电磁线圈4并产生感应电流。此时可以通过测量感应电流的大小来感知用户发力的大小，而此时触觉反馈致动器也成为了力量传感器。力量传感不限于该方法，可同时使用其他原理，如压电感应，电阻感应等传感器实现。In the tactile feedback actuator of the present invention, the function of theelastic component 2 is to control the positions of themagnet 3 and thecontact piece 5 after theelectromagnetic coil 4 is energized. The default state of the tactile feedback actuator is the closed state, that is, thecontact piece 5 is located inside the annular opening and cannot be touched by the user. When theelectromagnetic coil 4 is energized, the magnetic field generated by theelectromagnetic coil 4 and the magnetic field of themagnet 3 generate a repulsive force; when the force is greater than the deformation force of the bistable structure, the structure deforms, and thecontact piece 5 is ejected from the annular opening to communicate with the user Skin contact and generate force information. The magnitude of the force can be adjusted by controlling the weight of the magnet, the weight and shape of the contacts, the shape of the bistable structure, and the magnitude of the current. The direction of the coil current is reversed, the direction of the magnetic field generated by theelectromagnetic coil 4 is reversed, and an attraction force is generated on themagnet 3 . When the suction force is greater than the deformation force of the bistable structure, the structure deforms to suck thecontact piece 5 from the annular opening and return to the closed state. When the tactile feedback actuator is in the open state, by adjusting the current magnitude and frequency of theelectromagnetic coil 4, thecontact sheet 5 in contact with the user's skin can simultaneously generate different vibration effects for simulating the actions of different virtual materials or virtual items. Such as the vibration of the engine, the vibration when the firearm is working, etc. When the tactile feedback actuator is turned on, due to the extensibility of the user's skin, thecontact piece 5 and themagnet 3 will move when the user grasps the real object. When themagnet 3 moves, the magnetic field lines cut theelectromagnetic coil 4 and induce current. At this time, the magnitude of the user's force can be sensed by measuring the magnitude of the induced current, and the tactile feedback actuator also becomes a force sensor at this time. Force sensing is not limited to this method, and other principles can be used simultaneously, such as piezoelectric sensing, resistive sensing and other sensors.

如图3所示，为本发明的触觉反馈致动器的第二实施例的结构示意图，在该实施例中，具有双稳定定形态的弹性组件2为半球型结构，其处于第二稳态，图3中所示的虚线部分为弹性组件2处于第一稳态时的形状。As shown in Figure 3, it is a schematic structural diagram of the second embodiment of the tactile feedback actuator of the present invention. In this embodiment, theelastic component 2 having a bistable shape is a hemispherical structure, and it is in the second stable state. , the dotted line part shown in FIG. 3 is the shape of theelastic component 2 when it is in the first stable state.

如图4所示，为本发明的触觉反馈致动器的第三实施例的结构示意图，在该实施例中，具有双稳定形态的弹性组件2为半椭球形隔膜结构，其处于第二稳态，图4中所示的虚线部分为弹性组件2处于第一稳态时的形状。As shown in FIG. 4 , it is a schematic structural view of the third embodiment of the tactile feedback actuator of the present invention. In this embodiment, theelastic component 2 with a bistable shape is a semi-ellipsoid diaphragm structure, which is in the second stable state. state, the dotted line part shown in FIG. 4 is the shape of theelastic component 2 when it is in the first stable state.

如图5所示，是本发明的触觉反馈致动器的第四实施例的结构示意图；在该实施例中，具有双稳定形态的弹性组件2为隔膜结构，其处于第二稳态，图5中所示的虚线部分为弹性组件2处于第一稳态时的形状。在该实施例中，弹性组件2位于环形的半导体制冷片6环形内部。As shown in Figure 5, it is a schematic structural view of the fourth embodiment of the tactile feedback actuator of the present invention; in this embodiment, theelastic component 2 with a bistable form is a diaphragm structure, which is in the second stable state, as shown in Fig. The dotted line part shown in 5 is the shape of theelastic component 2 when it is in the first stable state. In this embodiment, theelastic component 2 is located inside theannular peltier 6 .

如图6所示，为本发明的触觉反馈致动器的第五实施例的分解示意图，在该实施例中，触觉反馈致动器包括环形的支架1，环形的支架1内部依次设置有弹性组件2，环形的半导体制冷片6、散热器7、电磁线圈4、显示元件8，弹性组件2上设置有磁体3和接触片5，显示元件8设置在支架1的底部，半导体制冷片6设置在散热器7上，电磁线圈4设置在环形的散热器7 的内部，弹性组件2设置在环形的半导体制冷片6上，支架1内还设置有柔性电路板FPC，用于连接各种电子元件。As shown in FIG. 6 , it is an exploded schematic view of the fifth embodiment of the tactile feedback actuator of the present invention. In this embodiment, the tactile feedback actuator includes a ring-shapedbracket 1, and the inside of the ring-shapedbracket 1 is sequentially provided withelastic Component 2, ring-shapedsemiconductive cooling sheet 6,radiator 7,electromagnetic coil 4,display element 8,magnet 3 andcontact piece 5 are arranged on theelastic assembly 2,display element 8 is arranged at the bottom ofbracket 1, andsemiconductive cooling sheet 6 is arranged On theradiator 7, theelectromagnetic coil 4 is arranged inside theannular radiator 7, theelastic assembly 2 is arranged on the annularsemiconductor cooling sheet 6, and a flexible circuit board FPC is also arranged in thebracket 1 for connecting various electronic components .

本发明的另一目的在于提供一种电子设备，电子设备包括多个如以上的触觉反馈致动器。如图7所示，即为本发明提供的一种电子设备的示意图，其为一穿戴设备，具有多个如以上所述的触觉反馈致动器10，图7示的穿戴设备穿戴在手上，本发明的电子设备并不局限于穿戴设备，可以用于各种需要提供触觉反馈的电子设备上，例如手机、电子游戏机、各种虚拟设备等。Another object of the present invention is to provide an electronic device, which includes a plurality of tactile feedback actuators as above. As shown in Figure 7, it is a schematic diagram of an electronic device provided by the present invention, which is a wearable device with a plurality oftactile feedback actuators 10 as described above, and the wearable device shown in Figure 7 is worn on the hand The electronic device of the present invention is not limited to wearable devices, and can be used in various electronic devices that need to provide tactile feedback, such as mobile phones, electronic game consoles, various virtual devices, and the like.

如图8所示，是本发明的电子设备的另一实施例的示意图，该电子设备包括触觉反馈阵列，或触觉反馈组合，其包括若干个电连接的安装座20，安装座20之间并联或串联，安装座20中设置有触觉反馈致动器11、12、13，每个安装座20安装一个触觉反馈致动器，不同安装座20中的触觉反馈致动器的功能可以不同，例如，不同的触觉反馈致动器提供不同的反馈，在本实施例中，触觉反馈致动器11可以提供温度反馈，触觉反馈致动器12可以提供显示反馈，触觉反馈致动器13则可以提供力反馈，不同功能的触觉反馈致动器11、12、13可以组合使用，以满足各种场景的触觉反馈需求。触觉反馈致动器11、12、13可以模块化设计，具有统一的安装尺寸，以根据需要灵活的布置在安装座20中。安装座20具有导电触点21、22，触觉反馈致动器的电极101、102可以与导电触点21、22电连接。As shown in FIG. 8 , it is a schematic diagram of another embodiment of the electronic device of the present invention. The electronic device includes a tactile feedback array, or a tactile feedback combination, which includes several electrically connected mounts 20, and themounts 20 are connected in parallel. Or in series,tactile feedback actuators 11, 12, 13 are arranged in the mountingbase 20, and each mountingbase 20 is equipped with a tactile feedback actuator, and the functions of the tactile feedback actuators in different mountingbases 20 can be different, for example , different haptic feedback actuators provide different feedbacks. In this embodiment, haptic feedback actuator 11 can provide temperature feedback,haptic feedback actuator 12 can provide display feedback, andhaptic feedback actuator 13 can provide Force feedback,tactile feedback actuators 11 , 12 , 13 with different functions can be used in combination to meet tactile feedback requirements in various scenarios. Thetactile feedback actuators 11 , 12 , 13 can be designed in a modular manner and have a uniform installation size, so as to be flexibly arranged in theinstallation seat 20 as required. Themount 20 hasconductive contacts 21 , 22 with which theelectrodes 101 , 102 of the haptic feedback actuator can be electrically connected.

上面结合附图对本发明的实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权利要求所保护的范围情况下，还可做出很多形式，这些落入于本发明的保护之内。Embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementations, and the above-mentioned specific implementations are only illustrative, rather than restrictive, and those of ordinary skill in the art will Under the enlightenment of the present invention, many forms can also be made without departing from the gist of the present invention and the scope of protection of the claims, and these fall within the protection of the present invention.

Claims (10)

Translated fromChinese

一种触觉反馈致动器，其特征在于，包括支架，以及设置在所述支架上的具有双稳定形态的弹性组件，所述弹性组件上设置有磁体，所述支架上还设置有用于和所述磁体相互作用使所述弹性组件在第一稳态和第二稳态之间转换的电磁线圈；处于第一稳态时，所述弹性组件呈收缩状态；处于第二稳态时，所述弹性组件呈扩张状态。A tactile feedback actuator, characterized in that it includes a bracket, and an elastic assembly with a bistable shape arranged on the bracket, a magnet is arranged on the elastic assembly, and a device for connecting with the bracket is also arranged on the bracket. The electromagnetic coil that interacts with the magnets makes the elastic assembly switch between the first stable state and the second stable state; when in the first stable state, the elastic assembly is in a contracted state; when in the second stable state, the The elastic member is in an expanded state.根据权利要求1所述的触觉反馈致动器，其特征在于，所述支架上还设置有用于提供温度反馈的半导体制冷片。The tactile feedback actuator according to claim 1, wherein a semiconductor cooling chip for providing temperature feedback is further arranged on the support.根据权利要求2所述的触觉反馈致动器，其特征在于，所述半导体制冷片为环形，所述弹性组件设置在所述半导体制冷片内。The tactile feedback actuator according to claim 2, wherein the semiconductor cooling sheet is ring-shaped, and the elastic component is arranged in the semiconductor cooling sheet.根据权利要求1所述的触觉反馈致动器，其特征在于，所述弹性组件上设置有接触片，所述接触片具有用于供触摸或接触的表面。The tactile feedback actuator according to claim 1, wherein a contact piece is provided on the elastic component, and the contact piece has a surface for touching or contacting.根据权利要求1所述的触觉反馈致动器，其特征在于，所述半导体制冷片上设置有散热器，所述散热器与所述半导体制冷片的热端连接，所述散热器由泡沫金属、金属鳍片、高分子导热材料、热管、均热板或石墨散热片构成。The tactile feedback actuator according to claim 1, wherein a radiator is arranged on the semiconductor cooling sheet, the radiator is connected to the hot end of the semiconductor cooling sheet, and the radiator is made of foam metal, Metal fins, polymer heat-conducting materials, heat pipes, vapor chambers or graphite heat sinks.根据权利要求1所述的触觉反馈致动器，其特征在于，所述弹性组件为隔膜结构、半球型结构或风琴伸缩管结构。The tactile feedback actuator according to claim 1, wherein the elastic component is a diaphragm structure, a hemispherical structure or an organ telescopic tube structure.根据权利要求1所述的触觉反馈致动器，其特征在于，所述支架上还设置有显示元件，所述显示元件为LED、电子墨水屏幕、柔性显示屏或液晶显示屏。The tactile feedback actuator according to claim 1, wherein a display element is further arranged on the support, and the display element is an LED, an electronic ink screen, a flexible display or a liquid crystal display.根据权利要求1所述的触觉反馈致动器，其特征在于，所述支架为环形支架，所述半导体制冷片为环形，所述半导体制冷片设置在所述环形支架内，所述散热器设置在所述半导体制冷片的下方，所述散热器为环形，所述电磁线圈设置在所述散热器内。The tactile feedback actuator according to claim 1, wherein the support is an annular support, the semiconductive cooling sheet is annular, the semiconductive cooling sheet is arranged in the annular support, and the radiator is arranged Below the semiconductor cooling sheet, the heat sink is annular, and the electromagnetic coil is arranged in the heat sink.一种电子设备，其特征在于，所述电子设备包括多个如权利要求1至8任一项所述的触觉反馈致动器。An electronic device, characterized in that the electronic device comprises a plurality of tactile feedback actuators according to any one of claims 1-8.根据权利要求9所述的电子设备，其特征在于，所述电子设备包括若干个电连接的安装座，每个所述安装座中设置有所述触觉反馈致动器，所述安装座具有导电触点，所述触觉反馈致动器的电极与所述导电触点电连接。The electronic device according to claim 9, characterized in that, the electronic device comprises several electrically connected mounts, each of the mounts is provided with the tactile feedback actuator, and the mounts have conductive contacts, and the electrodes of the tactile feedback actuator are electrically connected to the conductive contacts.

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