CN107329565B

CN107329565B - Piezoelectric type tactile feedback actuator

Info

Publication number: CN107329565B
Application number: CN201710451742.XA
Authority: CN
Inventors: 邢继春; 刘德春; 赵龙威
Original assignee: Yanshan University
Current assignee: Huizhou Mingfangcheng Home Appliances Co ltd
Priority date: 2017-06-15
Filing date: 2017-06-15
Publication date: 2020-02-04
Anticipated expiration: 2037-06-15
Also published as: CN107329565A

Abstract

A piezoelectric type haptic feedback actuator comprises a support, n ciliary body-like touch beams, 2n piezoelectric ceramic plates, a controller and a battery, wherein n is a natural number not less than 3; the ciliary body-like touch beam is arranged on the bracket in parallel, the controller and the battery are arranged on a bottom platform of the bracket, and the battery is used for providing electric power for the actuator; sticking a pair of piezoelectric ceramic plates on the upper surface and the lower surface of each ciliary body-like touch beam; each piezoelectric ceramic piece is connected with the controller through a secondary amplifying circuit, an inverting amplifying circuit and an AD conversion module; the controller outputs sinusoidal signals with the same natural modal frequency as the ciliary body type touch beam, and the piezoelectric ceramic pieces force the ciliary body type touch beam to generate bending vibration, so that the vibration directions of the ciliary body structure tend to be consistent, and different roughness touch feelings in the two directions are generated. The invention makes human fingers feel different touch sense by changing the moving direction of the fingers, the frequency of the excitation signal and the distribution structure of the ciliary body.

Description

Piezoelectric type tactile feedback actuator

Technical Field

The invention belongs to the technical field of haptic feedback application, and particularly relates to a piezoelectric type haptic feedback actuator. The method has wide application space in the fields of touch display, virtual reality, human-computer interaction, biological medicine, robots and the like.

Background

The man-machine interaction technology is developed rapidly in recent years and is widely applied to the aspects of medical treatment, military affairs, entertainment and the like. However, the current human-computer interaction technology focuses on sound and vision reproduction and simulation, and the research on information transmission of the haptic channel is still in the initial stage, so the development and research of the haptic device are one of the important development directions of the human-computer interaction technology.

The piezoelectric type touch feedback equipment converts an electric signal into micro mechanical vibration by utilizing the inverse piezoelectric effect of the piezoelectric ceramic material, so that the tactile sensation with different roughness is generated. Can accurately simulate different tactile feelings, and has stable performance and excellent effect. The current tactile feedback equipment mainly detects the spatial position of a human perception receptor through a sensor, and then generates different tactile feelings by changing the vibration frequency according to position information, or arranges a piezoelectric ceramic piece array and realizes various tactile feelings by changing the vibration of piezoelectric ceramic pieces at different positions. However, the existing haptic device control system is complex, the haptic effect is single, and the haptic directionality cannot be realized.

The invention relates to a piezoelectric tactile feedback actuator, which can realize different tactile feelings in two touch directions and realize different tactile modes by changing the frequency of an excitation signal and a ciliary body-like beam structure.

Disclosure of Invention

The invention overcomes the problems of the prior art and provides a piezoelectric type tactile feedback actuator to meet the following functional requirements: the piezoelectric material is applied with a sinusoidal excitation signal with the same frequency as the natural frequency of the structure, the ciliary body-like touch structure is subjected to mechanical microscopic vibration through resonance, and due to the special arrangement position of the piezoelectric ceramic and the distribution position of the ciliary body-like touch structure, fingers of a person can obtain different tactile sensations when moving in two different directions, so that the tactile sensation has directionality. That is, the roughness is small when the hand moves in the same direction toward the ciliary body-like structure, and the roughness is large when the hand moves in the opposite direction toward the ciliary body-like structure.

Haptic sensations of different roughness can be obtained by adjusting the resonance frequency of the excitation signal and the ciliary body-like distribution structure. The method can be applied to the field of tactile feedback, and the sense of reality of tactile simulation is increased.

In order to realize the functions, the invention adopts the following technical scheme:

a piezoelectric type haptic feedback actuator comprises a support, n ciliary body-like touch beams, wherein the ciliary body-like touch beams on each ciliary body-like touch beam are distributed with different densities, 2n piezoelectric ceramic plates, a controller and a battery, wherein n is a natural number more than or equal to 3; the n ciliary body type touch beams are arranged on the bracket in parallel and are parallel to each other on the same horizontal plane; the controller and the battery are arranged on the bottom platform of the bracket, and the battery is used for providing power for the actuator; obtaining the sticking positions of the piezoelectric ceramic pieces on the ciliary body-like touch beams through calculation, and sticking a pair of piezoelectric ceramic pieces on the upper surface and the lower surface of each ciliary body-like touch beam; each piezoelectric ceramic piece is connected with the controller through a secondary amplifying circuit, an inverting amplifying circuit and an AD conversion module; the controller outputs sinusoidal signals with the same natural modal frequency as the ciliary body type touch beam, and the piezoelectric ceramic pieces force the ciliary body type touch beam to generate bending vibration, so that the vibration directions of the ciliary body structure tend to be consistent, and different roughness touch feelings in the two directions are generated. The different roughness tactile sensations include tactile sensations of different coefficients of friction, tactile sensations of different vibration intensities, and tactile sensations of different directions.

The piezoelectric haptic feedback actuator can make human fingers feel different touch sense by changing the moving direction of the fingers, the frequency of the excitation signal and the distribution structure of the ciliary body.

Compared with the prior art, the invention utilizes the bending vibration rule of the array type ciliary body-like structure on the touch beam to vibrate, thereby leading the same excitation signal and the touch beam to generate different tactile feelings in different tactile directions, leading the tactile feedback to have directionality, and changing the roughness and the strength of the tactile sense by changing the resonance frequency and the distribution structure of the ciliary body-like structure, thereby simulating different tactile surfaces, and the open type acrylic support is convenient for replacing the touch beam. The ciliary body-like touch beam structure and the piezoelectric ceramic driving method based on the resonance principle enable the human fingers to feel different touch senses by changing the moving direction of the fingers, the frequency of an excitation signal and the ciliary body-like distribution structure, have wide application space in the application fields related to touch feedback such as touch display and the like, and increase the sense of reality of touch simulation.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention;

FIG. 2 is a schematic wiring diagram of a piezoelectric ceramic plate;

FIG. 3 is a schematic circuit diagram according to an embodiment of the present invention;

fig. 4 is a schematic diagram of the operation of the ciliary body type touch beam during vibration.

Detailed Description

To set forth the structure and function of the invention in more detail, reference should be made to the drawings and detailed description.

The embodiment of the piezoelectric type tactile feedback actuator comprises a support 6, wherein the support 6 is of a U-shaped frame structure and adopts an insulating acrylic plate as shown in figure 1; the three ciliary body

type touch beams

3, 4 and 5 are made of 59 copper, the distribution characteristics of the ciliary bodies on each ciliary body type touch beam are different in density, the six piezoelectric ceramic pieces 2, the controller 8 and the battery 7 are adopted, and the battery 7 is a carbon battery; the three ciliary body

type touch beams

3, 4 and 5 are arranged in square holes on two side plates of the bracket 6 in parallel and are fastened by the set screw 1, and the three ciliary body

type touch beams

3, 4 and 5 are parallel to each other on the same horizontal plane; the controller 8 and the battery 7 are arranged on the bottom platform of the bracket 6, and the battery 7 is used for providing power for the actuator; obtaining the sticking positions of six piezoelectric ceramic pieces 2 on the three ciliary body type-like touch beams through calculation, and sticking a pair of piezoelectric ceramic pieces 2 on the upper surface and the lower surface of each ciliary body type-like touch beam; each piezoelectric ceramic piece 2 is connected with the controller 8 through a secondary amplifying circuit, an inverting amplifying circuit and an AD conversion module, and the lead connection mode of each piezoelectric ceramic piece 2 is shown in figure 2; the secondary amplifying circuit amplifies the amplitude of the sinusoidal signal to 100V by adopting a power amplifying module, and then transmits the signal to the piezoelectric ceramic piece to enable the piezoelectric ceramic piece to generate corresponding vibration; the capacitor arranged in the inverting amplifying circuit adjusts the central amplitude of the offset sinusoidal signal output by the controller to 0, and performs primary amplification on the adjusted signal; the controller 8 outputs sinusoidal signals with the same natural modal frequency as the ciliary body type touch beam, the piezoelectric ceramic piece 2 forces the ciliary body type touch beam to generate bending vibration, and due to the particularity of the arrangement of the piezoelectric ceramic piece 2 and the position of the ciliary body, the vibration directions of the ciliary body structure tend to be consistent, so that different roughness tactile feelings in two directions are generated. The different roughness tactile sensations include tactile sensations of different coefficients of friction, tactile sensations of different vibration intensities, and tactile sensations of different directions.

The distribution characteristics of the ciliary-like bodies and the sticking positions of the piezoelectric ceramic pieces on the ciliary-like body type touch beam are obtained by simulation calculation analysis of vibration mechanics and related knowledge of elasticity mechanics in combination with engineering software such as ANSYS, the basic parameters such as elastic modulus, density, size and piezoelectric constant of the ciliary-like body type touch beam material are firstly determined, then the inherent characteristics of the ciliary-like body type touch beam are calculated, the sticking positions of the piezoelectric ceramic pieces, the distribution density and the distribution positions of the ciliary-like bodies are determined in combination with the simulation analysis results of the engineering software, finally the piezoelectric ceramic pieces are positioned at the inherent vibration mode wave crest and the wave trough of the ciliary-like body type touch beam when vibration excitation is carried out, and the ciliary-like body contact points of the ciliary-like body type touch beam tend to vibrate in one direction even if the ciliary-like body contact points tend to.

For ciliary body-like touch beams with different ciliary body density, the frequency of a resonance signal is kept unchanged, and the generated haptic feeling is different; the hand on the same ciliary body type touch beam moves towards the positive direction and the negative direction to generate two tactile sensations with different roughness degrees. Applying different orders of resonant frequency to the same ciliary-like touch beam can also produce haptic sensations of different roughness.

As shown in fig. 3, the piezoelectric haptic feedback actuator includes two parts, namely a haptic execution part and a haptic control part, wherein the controller outputs a low-amplitude square wave signal by executing an edited program in the control part, the square wave signal is converted into a sinusoidal signal by the AD conversion module, the central value of the bias signal is adjusted to 0 by the capacitor in the inverting amplification circuit, so as to ensure that the bending vibration amplitudes of 2 piezoelectric ceramic pieces on the same ciliary body-like touch beam are the same, so that the vibration shape of the ciliary body-like touch beam meets the sinusoidal requirement, the adjusted signal can be transmitted to the piezoelectric ceramic pieces after being amplified by the power amplification module, so that the vibration frequency of the piezoelectric ceramic pieces is the same as the natural frequency of the ciliary body-like touch beam, and then the touch beam vibrates by the resonance phenomenon.

When a finger moves on the ciliary body-like touch beam, the working state of the finger and the ciliary body-like touch beam is shown in figure 4, the ciliary body tends to vibrate in one direction, and because the vibration direction of the ciliary body-like structure relative to the movement direction of the finger is different, the tactile roughness sensed when the finger moves leftwards is obviously higher than that sensed when the finger moves rightwards, so that the effect of sensing different tactile feelings by moving the finger in different directions is achieved. Similarly, when the frequency and amplitude of the excitation signal are changed, the vibration direction and vibration amplitude of the ciliary body are correspondingly changed, so that the tactile roughness and the tactile strength of the finger are changed. The same effect can be achieved by changing the distribution structure of the ciliary body, and the roughness of the touch is mainly influenced.

The support for fixing the ciliary body type touch beam is formed by building an acrylic plate, has good insulating property, avoids line interference, and is easy to disassemble and not easy to damage. The touch beam is made of 59 copper materials, so that the touch beam has good conductivity and vibration rigidity. The secondary amplifying circuit uses the power amplifying module, and the power amplifying module has good stability, is not easy to distort and has low power consumption rate. The controller and the power amplifier module use a 9V carbon battery for power supply.

Claims

1. A piezoelectric type haptic feedback actuator comprises a support, n ciliary body-like touch beams, wherein the ciliary body-like touch beams on each ciliary body-like touch beam are distributed with different densities, 2n piezoelectric ceramic plates, a controller and a battery, wherein n is a natural number more than or equal to 3; the n ciliary body type touch beams are arranged on the bracket in parallel and are parallel to each other on the same horizontal plane; the controller and the battery are arranged on the bottom platform of the bracket, and the battery is used for providing power for the actuator; obtaining the sticking positions of the piezoelectric ceramic pieces on the ciliary body-like touch beams through calculation, and sticking a pair of piezoelectric ceramic pieces on the upper surface and the lower surface of each ciliary body-like touch beam; each piezoelectric ceramic piece is connected with the controller through a secondary amplifying circuit, an inverting amplifying circuit and an AD conversion module; the controller outputs sinusoidal signals with the same natural modal frequency as the ciliary body type touch beam, and the piezoelectric ceramic pieces force the ciliary body type touch beam to generate bending vibration, so that the vibration directions of the ciliary body structure tend to be consistent, and different roughness touch feelings in the two directions are generated.

2. A piezoelectric haptic feedback actuator as recited in claim 1 wherein: the distribution characteristics of the ciliary-like bodies and the sticking positions of the piezoelectric ceramic pieces on the ciliary-like body type touch beam are obtained by combining vibration mechanics and related knowledge of elasticity mechanics with ANSYS engineering software simulation calculation analysis, the basic parameters of the ciliary-like body type touch beam material are firstly determined to include elastic modulus, density, size and piezoelectric constant, then the inherent characteristics of the ciliary-like body type touch beam are calculated, the sticking positions of the piezoelectric ceramic pieces and the distribution density and the distribution positions of the ciliary-like bodies are determined by combining the simulation analysis results of the engineering software, finally the piezoelectric ceramic pieces are positioned at the inherent vibration mode wave crest and the wave trough of the ciliary-like body type touch beam when vibration excitation is carried out, and the ciliary-like body contact points of the ciliary-like body type touch beam tend to vibrate in one direction even if the ciliary-like body contact points tend to be distributed at.

3. A piezoelectric haptic feedback actuator as recited in claim 1 wherein: the secondary amplifying circuit amplifies the amplitude of the sinusoidal signal to 100V by adopting a power amplifying module, and then transmits the signal to the piezoelectric ceramic piece to enable the piezoelectric ceramic piece to generate corresponding vibration; the capacitor arranged in the inverting amplifying circuit adjusts the central amplitude of the bias sine signal output by the controller to be 0, and performs primary amplification on the adjusted signal.

4. A piezoelectric haptic feedback actuator as recited in claim 1 wherein: the bracket adopts an insulating acrylic plate; the ciliary body type touch beam is made of 59 copper; the battery is a carbon battery.