CN114385001B - Haptic feedback assembly and force feedback device thereof - Google Patents
Haptic feedback assembly and force feedback device thereof Download PDFInfo
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- CN114385001B CN114385001B CN202111479751.2A CN202111479751A CN114385001B CN 114385001 B CN114385001 B CN 114385001B CN 202111479751 A CN202111479751 A CN 202111479751A CN 114385001 B CN114385001 B CN 114385001B
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- assembly
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- 230000003993 interaction Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
Abstract
The invention belongs to the technical field of force feedback interaction, and particularly relates to a tactile feedback assembly and a force feedback device thereof. Comprising the following steps: a main body; a support portion slidably mounted with the main body; one end of the first elastic piece is connected with the main body, and the other end of the first elastic piece is connected with the supporting part; the electromagnetic assembly comprises a magnetic circuit assembly and coils which are correspondingly arranged, one of the magnetic circuit assembly and the coils is connected with the main body, and the other is connected with the supporting part; the balance magnetic group is arranged on the main body or the supporting part and comprises permanent magnets which are arranged in pairs, and the magnetizing directions of the two permanent magnets in the group are opposite and are parallel to the sliding directions of the main body and the supporting part; the main body and the supporting part are attracted. The structure reduces control errors among multiple working modes of the tactile feedback assembly, and further achieves accurate control so as to provide rich force feedback experience.
Description
Technical Field
The invention belongs to the technical field of force feedback interaction, and particularly relates to a tactile feedback assembly and a force feedback device thereof.
Background
With the popularization of games and VR series products, trigger interaction is becoming more and more, and new demands are being put forward on the design of tactile feedback of fingers. In practical application, when a scene without force feedback is provided, the smaller the trigger feedback force is, the better the experience effect is, so that the fingers are not easy to fatigue; and when the force feedback is needed, the trigger feedback is needed to be used for experiencing larger and richer force values for the human hand. According to different experience requirements, a separation mechanism is needed to be made for the force feedback device, and when large force feedback is not needed, the power is cut off to separate from self-priming maintenance; self-ejection works when large force feedback is required. However, the control precision of the existing separation mechanism is still problematic, and thus precise control cannot be realized to cope with different demands.
Accordingly, in view of the above shortcomings, there is a need in the art for a haptic feedback assembly and force feedback device thereof.
Disclosure of Invention
The invention aims to provide a tactile feedback assembly and a force feedback device thereof, which are used for solving the problem that a separation mechanism in the prior art cannot realize accurate control so as to cope with the requirements of different force feedback scenes.
The invention provides a haptic feedback assembly comprising: a main body; a support portion slidably mounted with the main body; one end of the first elastic piece is connected with the main body, and the other end of the first elastic piece is connected with the supporting part; the electromagnetic assembly comprises a magnetic circuit assembly and coils which are correspondingly arranged, one of the magnetic circuit assembly and the coils is connected with the main body, and the other is connected with the supporting part; the balance magnetic group is arranged on the main body or the supporting part and comprises permanent magnets which are arranged in pairs, and the magnetizing directions of the two permanent magnets in the group are opposite and are parallel to the sliding directions of the main body and the supporting part; the main body and the supporting part are attracted.
In the haptic feedback assembly described above, it is further preferable that the main body is a housing, and the support portion includes a connection portion, a sliding portion, and a connection rod, and the sliding portion is slidably mounted in the main body and is connected to the connection portion provided outside the main body via the connection rod.
In the above-described haptic feedback assembly, it is further preferable that the sliding portion is annular and is fitted around the outer side of the permanent magnet, an annular groove is formed in an outer side surface of the sliding portion, and the coil is wound around the annular groove.
As described above, it is further preferable that the magnetic circuit assembly includes a first magnetic member and a second magnetic member, and the first magnetic member and the second magnetic member are opposite in opposite polarity and are fixed in the main body at intervals along the central axis of the sliding portion.
The haptic feedback assembly as described above, further preferably, the magnetic circuit assembly further includes a magnetic conductive plate disposed between the first magnetic member and the second magnetic member.
The haptic feedback assembly as described above, further preferably, the first elastic member is a spring; the middle part of connecting portion is equipped with spacing post, the cover is equipped with on the spacing post the spring.
In the haptic feedback assembly described above, it is further preferable that the balance magnet is mounted on the support portion, the main body is made of a magnetically conductive material, and the balance magnet is attracted to the main body.
In the above-described haptic feedback assembly, it is further preferable that the number of the balance magnetic groups is plural, and the plurality of the balance magnetic groups are uniformly arranged on the side surface of the support portion away from the main body.
The invention also discloses a force feedback device, which comprises the tactile feedback assembly according to any one of the above, and further comprises: the trigger comprises a bracket, a trigger and a second elastic piece, and the trigger is rotatably arranged on the bracket; the second elastic piece is respectively connected with the bracket and the trigger; one of the main body and the supporting part is installed on the bracket, and the other is detachably contacted with the trigger.
The force feedback device as described above further preferably further comprises a guide bar mounted to the haptic feedback assembly and in separable contact with the trigger.
Compared with the prior art, the invention has the following advantages:
according to the haptic feedback assembly disclosed by the invention, the magnetizing directions of the permanent magnets distributed in pairs in the balanced magnetic groups are opposite and are parallel to the sliding directions of the main body and the supporting part, so that the magnetic induction lines can form loops when the main body and the supporting part are far away, and attract the corresponding main body or supporting part when the main body and the supporting part are near to each other, the magnetic acting force brought by the balanced magnetic groups is small in value and small in value change and travel correlation when the main body and the supporting part are far away, and the magnetic acting force value is large in value change and large in travel correlation when the main body and the supporting part are near to each other, and the control errors among various working modes of the haptic feedback assembly are reduced by utilizing the characteristics of the balanced magnetic groups, so that accurate control is realized, and rich force feedback experience is provided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a haptic feedback assembly according to the present invention;
FIG. 2 is a cross-sectional view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a schematic view of the haptic feedback assembly of FIG. 1 in position A, B, C;
FIG. 5 is a schematic diagram of a force feedback device according to the present invention;
FIG. 6 is a graph of force magnitude versus stroke for a force feedback device.
Reference numerals illustrate:
the magnetic force sensor comprises a 1-connecting part, a 2-main body, a 3-first elastic piece, a 4-first magnetic piece, a 5-second magnetic piece, a 6-coil, a 7-sliding part, an 8-connecting rod, a 9-limit post, a 10-magnetic conduction plate, an 11-balance magnetic group, a 12-bracket, a 13-trigger and a 14-guide rod.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in the present invention will be understood in detail by those skilled in the art.
The present embodiment provides a force feedback device that includes a trigger and a tactile feedback assembly.
The trigger comprises a bracket 12, a trigger 13 and a second elastic piece, wherein the trigger 13 is rotatably arranged on the bracket 12 through a hinge shaft; the second elastic piece is a torsion spring sleeved on the hinge shaft, one torsion arm of the torsion spring is connected with the bracket 12, and the other torsion arm is connected with the trigger 13.
The tactile feedback assembly comprises a main body 2, a supporting part, a first elastic piece 3, a balance magnetic group 11 and an electromagnetic assembly; wherein the support part is slidably mounted on the body 2 and one of the support part and the body is mounted on the bracket 12 and the other is detachably contacted with the trigger 13 by the guide rod 14. The first elastic member 3, the balance magnetic set 11 and the electromagnetic assembly act on the main body 2 and the supporting portion respectively to drive the main body 2 and the supporting portion to move relatively according to a preset mode, so that force feedback control of the trigger 13 is achieved, and rich force feedback is provided for the trigger 13.
The main body 2 is a columnar shell structure, comprises a cylinder with one end sealed with a bottom and an end cover connected with the cylinder in an adapting way, and is suitable for providing an installation space. The supporting part comprises a connecting part 1, a sliding part 7 and a connecting rod 8, wherein the sliding part 7 is annular, has a height smaller than the height of the cylinder and is suitable for realizing relative sliding by being attached to the inner side surface of the cylinder in the main body 2 through the outer side surface; the connecting rod 8 is a plurality of, and the one end of a plurality of connecting rods 8 all is connected on the cyclic annular terminal surface of sliding part 7, and the other end stretches out and is connected with circular connecting portion 1 from dodging the hole that sets up on the main part 2 end cover. In practical application, either one of the main body 2 and the supporting part can be fixedly installed with the bracket 12, and the other one can be detachably contacted with the trigger 13.
The first elastic member 3 is a spring, one end of the spring is abutted against the connecting portion 1, the other end of the spring is abutted against the end cover of the main body 2, and in the working state, the spring is in a compressed state and is suitable for applying supporting forces with opposite directions to the main body 2 and the supporting portion. In order to ensure the state of the spring, a limiting post 9 for sleeving the spring is also erected on the side surface of the connecting part 1 facing the end cover. Specifically, the length of the limiting post 9 is greater than the fully compressed length of the spring and less than the natural length of the spring, so as to limit the relative movement range between the supporting portion and the main body 2, and avoid the spring losing elasticity due to the complete compression. The magnitude of the supporting force applied by the spring to the supporting part and the main body 2 is in direct proportion to the deformation length of the supporting part, namely in direct proportion to the relative displacement of the supporting part of the main body 2.
The electromagnetic assembly comprises a magnetic circuit assembly and coils 6 which are correspondingly arranged, wherein one of the magnetic circuit assembly and the coils 6 is connected with the main body 2, the other one of the magnetic circuit assembly and the coils 6 is connected with the supporting part, the coils 6 are positioned in a magnetic field formed by the permanent magnets, and are acted by ampere force when being electrified, so that driving force capable of driving the main body 2 and the supporting part to move relatively can be applied to the main body 2 and the supporting part when being electrified, and the driving force is proportional to the relative displacement of the main body and the supporting part. In this embodiment, the permanent magnet is connected to the main body 2 and is fixedly disposed in the inner cavity of the main body 2. Specifically, the magnetic circuit assembly includes a first magnetic member 4 and a second magnetic member 5, where the first magnetic member 4 and the second magnetic member 5 are both columnar and are sequentially spaced apart from each other along the central axis of the sliding portion 7 in a opposite manner. The first magnetic element 4 and the second magnetic element 5 may be fixedly connected to the main body 2 by means of adhesion or the like, or the first magnetic element 4 may be abutted to the bottom surface of the main body 2 and the second magnetic element 5 may be abutted to the end cover by means of a magnetic conductive plate 10 provided between the first magnetic element 4 and the second magnetic element 5. The first magnetic element 4 and the second magnetic element 5 are used for providing a stable magnetic field, and the magnetic field direction is parallel to the relative sliding direction of the support part and the main body 2. The coil 6 is connected with the supporting part and is specifically wound in an annular groove on the outer annular surface of the sliding part 7, so as to be sleeved outside the magnetic assembly. When the electric power is applied, the coil 6 takes ampere force as driving force, and then drives the sliding part 7 to move in the main body 2, so that the relative sliding of the supporting part and the main body 2 is realized, and the control of the driving force and the driving direction can be realized through the control of the current direction and the current magnitude.
The balance magnetic group 11 is arranged on the main body 2 or the supporting part and attracts the other magnetic group, so that attractive magnetic acting force exists between the main body 2 and the supporting part, the balance magnetic group 11 comprises permanent magnets which are arranged in pairs, and the magnetizing directions of the two permanent magnets in the group pair are opposite and are parallel to the sliding directions of the main body and the supporting part. Specifically, two permanent magnets arranged in pairs are rectangular, and the sides of the non-magnetic poles of the two rectangular are attached to each other. Specifically, the number of the balance magnetic groups 11 is plural and is uniformly embedded on the connection portion 1 of the supporting portion, and preferably, in order to avoid the influence of the balance magnetic groups 11 on the relative displacement between the supporting portion and the main body 2, the plurality of balance magnetic groups 11 are uniformly distributed on a plane of the connection portion 1 far from the main body 2 and are distributed. In order to attract the balance magnetic set 11, in this embodiment, the end cover is made of a magnetic material to attract the balance magnetic set 11. The arrangement of the balancing magnetic group 11 enables the two permanent magnets to be basically self-looped when the supporting part is far away from the main body 2, and to attract the main body 2 when the supporting part is near to the main body 2, so that the magnetic force caused by the balancing magnetic group is small in value and small in value change and travel correlation when the main body is far away from the supporting part, and the magnetic force is large in value and large in value change and travel correlation when the main body is near to the supporting part, namely the relationship between the magnetic force provided by the balancing magnetic group 11 and the relative displacement between the main body 2 and the supporting part is shown in fig. 6 c.
Because the supporting part is fixed on the bracket 12, and the main body 2 is in separable contact with the trigger 13, when the main body 2 is in contact with the trigger 13, the tactile feedback assembly is in an operating mode, and when the main body 2 is separated from the trigger 13, the tactile feedback assembly is in a feedback-free mode. Correspondingly, taking the maximum stroke position of the main body 2 as A, at the moment, the trigger 13 is at the initial position and is abutted against the main body 2; taking the middle stroke position of the main body 2 as B, at the moment, the trigger 13 is at the final movement position and is abutted against the main body 2; at this time, the trigger 13 is completely separated from the main body 2 with the attachment position of the main body 2 to the support portion being C. The haptic feedback assembly is in force feedback mode when the body 2 is between a to B and in no feedback mode when the body 2 is between B to C.
At this time, the control and switching of the operation mode of the haptic feedback assembly can be achieved by setting the magnitude and direction of the supporting force, driving force and magnetic force between the main body 2 and the supporting portion. Specifically, F1 represents the feedback force of the torsion spring, F2 represents the driving force, F3 represents the magnetic force, and F4 represents the supporting force.
The torsion spring is arranged such that the magnitude of the feedback force F1 of the torsion spring is as shown in fig. 6 a.
Setting an electromagnetic assembly to have two working states, wherein one working state is a normal state, and the force value of the driving force F2 is F2-1; one is a switching state in which the force value of the driving force F2 is F2-2, and F2-2 is a multiple of F2-1. The direction of the driving force F2 can be freely adjusted in both operating states. The magnitude of the specific driving force F2 is shown in fig. 6b with respect to the stroke curve.
The balancing magnet group 11 is arranged such that its value is suddenly changed between positions B-C, i.e. the magnitude of the magnetic force F3 versus the stroke curve is shown in fig. 6C.
The supporting force F4 is set such that its magnitude and stroke curve is shown in fig. 6 d.
The size relationship of F2, F3, F4 is set such that F3 is F4-F2-1 > F3 > F4-F2-2 when F3 is between position A and position B, and F4+F2-2 > F3 > F4 when F4 is at position C.
By the arrangement, the force feedback device has the following working modes:
weakness feedback mode: the tactile feedback component is separated from the trigger 13, and the trigger 13 is only acted by the feedback force F1 of the torsion spring;
force feedback mode: with the intervention of the tactile feedback assembly between trigger travel positions A-B, since F4-F2-1 > F3 > F4-F2-2, body 2 cannot be self-held back beyond position B to position C and can provide force feedback to trigger 13 between positions A and B, the force feedback threshold range of trigger 13 is F1+F4-F2-1 to F1+F4+F2-1.
Mode switching:
and exiting the feedback mode: f2 is switched to a F2-2 mode, the direction of the F2 is directed to the supporting part, at the moment, F3 is more than F4-F2-2, the mover is retracted, and F3 is more than F4 at the position C, so that the main body 2 can realize self-holding after power failure after the electromagnetic assembly of the tactile feedback assembly stops running;
intervention feedback mode: the electromagnetic assembly is activated and F2 is configured to F2-2 mode in a direction opposite to the magnetic force F3, F3 < F4+F2-2 at position C, the body 2 is disengaged from the support, and a force feedback mode is entered.
And because the magnitude of the magnetic acting force is suddenly changed between the positions B and C, the magnetic acting force F3 is very small in the section A and B, but is suddenly increased when approaching the point C, so that the phenomenon that the tactile feedback component is mistakenly sucked at the position B is avoided, and the control can be accurately realized, so that rich force feedback experience is provided.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. A haptic feedback assembly, comprising:
a main body;
a support portion slidably mounted with the main body;
one end of the first elastic piece is connected with the main body, and the other end of the first elastic piece is connected with the supporting part;
the electromagnetic assembly comprises a magnetic circuit assembly and coils which are correspondingly arranged, one of the magnetic circuit assembly and the coils is connected with the main body, and the other is connected with the supporting part;
the balance magnetic group is arranged on the main body or the supporting part and comprises permanent magnets which are arranged in pairs, and the magnetizing directions of the two permanent magnets in the group are opposite and are parallel to the sliding directions of the main body and the supporting part;
the balancing magnetic group is suitable for attracting the main body and the supporting part, and the maximum attraction force between the balancing magnetic group and the main body or the supporting part is larger than the supporting force of the first elastic piece.
2. A haptic feedback assembly as recited in claim 1 wherein said body is a housing, said support portion includes a connecting portion, a sliding portion and a connecting rod, said sliding portion being slidably mounted within said body and connected to said connecting portion disposed outside of said body by said connecting rod.
3. A haptic feedback assembly as recited in claim 2 wherein said sliding portion is annular and is sleeved outside of said permanent magnet, and an annular groove is formed in an outer side surface of said sliding portion, said coil being wound around said annular groove.
4. A haptic feedback assembly as recited in claim 3 wherein said magnetic circuit assembly includes a first magnetic member and a second magnetic member opposite each other in opposite polarity and sequentially spaced apart along a central axis of said sliding portion and secured within said body.
5. A haptic feedback assembly as recited in claim 4 wherein said magnetic circuit assembly further includes a magnetically permeable plate disposed between said first magnetic member and said second magnetic member.
6. A haptic feedback assembly as recited in claim 2 wherein said first resilient member is a spring; the middle part of connecting portion is equipped with spacing post, the cover is equipped with on the spacing post the spring.
7. A haptic feedback assembly as recited in claim 1 wherein said balance magnet is mounted on said support, said body is made of magnetically permeable material, said balance magnet is attracted to said body.
8. A haptic feedback assembly as recited in claim 1 wherein said number of said balance magnetic groups is plural, a plurality of said balance magnetic groups being evenly disposed on a side of said support portion remote from said body.
9. A force feedback device comprising the haptic feedback assembly of any one of claims 1-8, further comprising:
the trigger comprises a bracket, a trigger and a second elastic piece, and the trigger is rotatably arranged on the bracket; the second elastic piece is respectively connected with the bracket and the trigger;
one of the main body and the supporting part is installed on the bracket, and the other is detachably contacted with the trigger.
10. The force feedback device of claim 9, further comprising a guide bar mounted on the haptic feedback assembly and in separable contact with the trigger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111479751.2A CN114385001B (en) | 2021-12-06 | 2021-12-06 | Haptic feedback assembly and force feedback device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111479751.2A CN114385001B (en) | 2021-12-06 | 2021-12-06 | Haptic feedback assembly and force feedback device thereof |
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| CN114385001A CN114385001A (en) | 2022-04-22 |
| CN114385001B true CN114385001B (en) | 2023-11-24 |
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| CN202111479751.2A Active CN114385001B (en) | 2021-12-06 | 2021-12-06 | Haptic feedback assembly and force feedback device thereof |
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| WO2014194140A2 (en) * | 2013-05-29 | 2014-12-04 | Active Signal Technologies, Inc. | Electromagnetic opposing field actuators |
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| DE102008015336A1 (en) * | 2008-03-20 | 2009-10-15 | W. Gessmann Gmbh | Pushbutton for use in handle of combination drive in industrial truck e.g. excavator, has control element including progressive or degressive control surface parts and attached to control unit, which runs along control element |
| CN108351703A (en) * | 2015-10-13 | 2018-07-31 | Dav公司 | Actuator, touch interface module and the method for generating touch feedback of touch interface module |
| WO2021203451A1 (en) * | 2020-04-09 | 2021-10-14 | 瑞声声学科技(深圳)有限公司 | Touch control feedback apparatus and electronic device |
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