CN208406035U - A kind of device for force feedback - Google Patents
A kind of device for force feedback Download PDFInfo
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- CN208406035U CN208406035U CN201820970347.2U CN201820970347U CN208406035U CN 208406035 U CN208406035 U CN 208406035U CN 201820970347 U CN201820970347 U CN 201820970347U CN 208406035 U CN208406035 U CN 208406035U
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Abstract
The utility model relates to force feedback technique fields, more particularly to a kind of device for force feedback, the device includes middle control module, and the execution module that the second array layer that forms of the first array layer, middle layer, the mechanical force feedback unit being successively made of from bottom to up plinth course, electromagnetic type force feedback unit and surface layer form；Mechanical force feedback unit in the second array layer passes through middle layer and is connected with plinth course；The middle control module is electrically connected with the electromagnetic type force feedback unit and mechanical force feedback unit respectively.The utility model solves the technical issues of existing power that can only simulate single type by the way that different size of power to be distributed to electromagnetic type force feedback unit on corresponding position and mechanical force feedback unit come the size of analog force.
Description
Technical field
The utility model relates to force feedback technique fields, and in particular to a kind of device for force feedback.
Background technique
Force feedback is a kind of method for transmitting information by haptic stimulus, can be widely applied to viewing experience, virtual reality
In game experiencing, it is able to cooperate picture and sound builds better feeling of immersion, force feedback can also be applied to the information of wearable device
In output, different information is transmitted to wearer by the force feedback of preset different mode.In existing device for force feedback side
In case, if to generate the biggish force feedback of stress, mechanical scheme or pneumatic type scheme can be selected, but corresponding force feedback
The volume of device is excessive, and the force feedback unit that can be arranged under unit area is less, will be unable to restore subtle force feedback impression；And
When the electromagnetic type scheme or oscillatory type scheme using small volume, although force feedback unit can be arranged to it is more careful, can be with
Meet the demand of the fine and smooth small force feedback impression of reduction, but the dynamics that can be generated of electromagnetic type scheme or oscillatory type scheme compared with
It is small, and the biggish force feedback impression of stress can not be restored.
Utility model content
The purpose of this utility model is to provide a kind of device for force feedback, by the way that different size of power is distributed to corresponding positions
The electromagnetic type force feedback unit and mechanical force feedback unit set carry out the size of analog force, and solving existing can only simulate list
The technical issues of power of one type.
In order to reach above-mentioned technical purpose, technical solution used by the utility model is as follows:
A kind of device for force feedback, which is characterized in that the device includes middle control module, and from bottom to up successively by plinth course,
The second array layer and table that the first array layer, middle layer, the mechanical force feedback unit of electromagnetic type force feedback unit composition form
The execution module of layer composition；Mechanical force feedback unit in the second array layer passes through middle layer and is connected with plinth course；
The middle control module is electrically connected with the electromagnetic type force feedback unit and mechanical force feedback unit.
Further, the middle control module is by being arranged first transmission line road on the intermediate layer and the electromagnetism of the first array layer
Formula force feedback unit is connected.
Further, the middle control module passes through the mechanical of the second transmission line road that is arranged on surface layer and second array floor
Force feedback unit is connected.
Further, the electromagnetic type force feedback unit includes electromagnetic unit shell, from upper in the electromagnetic unit shell
Electromagnet, upper limit elastomeric element, the first push rod and lower limit elastomeric element are successively arranged under；First on the electromagnet
Conductive plug passes through the electromagnetic unit shell and is connected with the middle layer；The upper limit is equipped between the electromagnet and the first push rod
Position elastomeric element, first push rod are equipped with lower limit elastomeric element, and the lower end of first push rod passes through the electromagnetism list
First shell is connected with pedestal.
Further, the upper limit elastomeric element and/or lower limit elastomeric element are spring.
Further, the mechanical force feedback unit includes machine assembly shell, is equipped in the machine assembly shell
Stepper motor, the stepper motor drive link mechanism urges sliding block slide along the track, the track and the machine assembly
Shell is connected；The top of the machine assembly shell is equipped with the second conductive plug being connected to the motor and is connected with the surface layer,
The lower end of the sliding block, which is equipped with, can pass through the second push rod that the middle layer is connected with the pedestal.
Further, the link mechanism includes that one end and the hinged first connecting rod of stepper motor and the other end and sliding block are cut with scissors
The second connecting rod connect is connected between the first connecting rod and second connecting rod by hinged mode.
Further, the middle control module includes control module, and the wireless receipts being connected respectively with the control module
Send out module and power supply module；Second transmission line road and the mechanical force feedback unit phase of the power supply module by surface layer
Even；
The radio receiving transmitting module is for receiving tactile impressions information；
The control module is used to read the position coordinates of tactile impressions information and judges the sense of touch according to its corresponding dynamics value
The type of information, and according to the physical location of electromagnetic type force feedback unit or mechanical force feedback unit, it is calculated described
The corresponding physical location of tactile impressions information and its corresponding force feedback value；
The control module controls electromagnetic type force feedback unit by the first transmission line road in the middle layer and leads to
It crosses the second transmission line road in surface layer and controls mechanical force feedback unit.
A kind of force feedback method, which comprises the following steps:
Receive the tactile impressions information for carrying position coordinates and dynamics value；
The position coordinates that are successively read in tactile impressions information and the type that the tactile impressions information is judged according to dynamics value；
According to the type of the tactile impressions information and the reality of combination electromagnetic type force feedback unit or mechanical force feedback unit
The corresponding physical location of the tactile impressions information and its corresponding force feedback value is calculated in border position；
Corresponding force feedback value is sent to the physical location of the electromagnetic type force feedback unit or mechanical force feedback unit.
Further, the position coordinates that are successively read in tactile impressions information simultaneously judge the type of the tactile impressions information according to dynamics value
Step, comprising:
Read the position coordinates in some tactile impressions information；
Judge the size of the dynamics value and threshold value in the tactile impressions information, the tactile impressions information that dynamics value is greater than threshold value is that strength is believed
Breath, the tactile impressions information that dynamics value is less than threshold value is low force information；
The corresponding tactile impressions information of strength information is stored in mechanical tactile impressions information module, by the corresponding sense of touch of low force information
Information is stored in electromagnetic type tactile impressions information module；
The position coordinates being successively read in tactile impressions information and the processing Jing Guo above-mentioned steps.
Further, the method that the corresponding physical location of the tactile impressions information is calculated is to utilize differential technique meter
Calculate the corresponding physical location of the tactile impressions information.
Further, described to be sent accordingly to the physical location of the electromagnetic type force feedback unit or mechanical force feedback unit
Force feedback value the step of after, further includes:
The mechanical force feedback unit starts stepper motor drive link mechanism urges band according to force feedback value is received
There is the sliding block of the second push rod to slide up and down along track, second push rod is done under the action of stepper motor to be pushed away accordingly
Out or withdraw movement.
Further, described to be sent accordingly to the physical location of the electromagnetic type force feedback unit or mechanical force feedback unit
Force feedback value the step of after, further includes:
The electromagnetic type force feedback unit is powered according to the force feedback value received to electromagnet, around the electromagnet
Magnetic field generates magnetic field force to the first push rod, and first push rod does corresponding release under the action of a magnetic force or withdraws dynamic
Make.
The utility model has the following beneficial effects:
1, the utility model can be unified by arranging mechanical force feedback unit and electromagnetic type force feedback unit interval
The method of control realizes the accurate reduction to biggish force feedback and fine and smooth small force feedback.
2, the utility model provides a kind of device for force feedback, can be by automatically small by biggish force feedback and exquisiteness
Force feedback separate, corresponding trigger signal is respectively transmitted to mechanical force feedback unit and electromagnetic type force feedback unit, it is real
The purpose of two distinct types of power is now simulated simultaneously.
Detailed description of the invention
Fig. 1 is the wearing effect picture of the utility model；
Fig. 2 is the structural schematic diagram of the utility model；
Fig. 3 is the schematic cross-sectional view of the electromagnetic type force feedback unit of the utility model；
Fig. 4 is the structural schematic diagram of the electromagnetic type force feedback unit of the utility model；
Fig. 5 is the structural schematic diagram of the mechanical force feedback unit of utility model；
Fig. 6 is the circuit structure block diagram of the utility model；
Fig. 7 is the process flow diagram of the tactile impressions information of the utility model.
Fig. 8 is the simulated scenario schematic diagram of the utility model.
In figure: in 1- control module, the first array layer of 2-, 3- second array layer, 4- plinth course, 5- middle layer, the surface layer 6-,
21- electromagnet, 22- upper limit elastomeric element, the first push rod of 23-, 24- lower limit elastomeric element, 25- electromagnetic unit shell, 26-
First conductive plug, 31- machine assembly shell, 32- stepper motor, 33- first connecting rod, 34- pin, 35- second connecting rod, 36-
Sliding block, the second push rod of 38-, controls module, 42- execution module, 43- control module, 44- power supply in 41- at the second conductive plug of 37-
Module, 45- radio receiving transmitting module, 46- first transmission line road, 47- second transmission line road, 48- electromagnetic type force feedback unit, 49-
Mechanical force feedback unit, 51- wait for simulated scenario, 52- device for force feedback.
Specific embodiment
The utility model is described in detail below by specific embodiment combination attached drawing, it should be noted that do not conflicting
In the case where, the feature in the embodiments of the present invention and embodiment can be combined with each other, the protection model of the utility model
It encloses and is not limited to this.
As depicted in figs. 1 and 2, the utility model provides a kind of device for force feedback, and the device for force feedback includes middle control
Module 1, and the first array layer 2, middle layer 5, the machinery that are successively made of from bottom to up plinth course 4, electromagnetic type force feedback unit
The execution module that the second array layer 3 of formula force feedback unit composition and surface layer 6 form.The plinth course 4 can use rubber-sole
Seat is in contact with human body.Mechanical force feedback unit in the second array layer 3 of the mechanical force feedback unit composition passes through
Middle layer 5 is connected with plinth course 4.On the one hand the middle layer 5 is for fixing the first array layer 2, is on the other hand electromagnetism
First array layer 2 of formula force feedback unit composition provides first transmission line road, that is to say, that is equipped with and middle control mould in middle layer 5
The power transmission and data transmission path of block electrical connection.Correspondingly, the surface layer 6, on the one hand fixes second array layer 3, a side
Face is that the array 3 of mechanical force feedback unit composition provides second transmission line road, that is, is equipped with and middle control module on surface layer 6
The power transmission and data transmission path of electrical connection.The middle layer 5 and the power transmission and data transmission path on surface layer 6 are in
Control module 1 is connected.It is controlled accordingly by middle control module 1 by the power transmission and data transmission path on middle layer 5 and surface layer 6
First array layer 2 of electromagnetic type force feedback unit composition and the second array layer 3 of mechanical force feedback unit composition act, in turn
Corresponding touch feedback is generated on human body.The utility model can be made into wearable device, as shown in Figure 1.
As shown in Figure 3 and Figure 4, the electromagnetic type force feedback cell array 2 is by multiple electromagnetic type force feedback units institute group
At array structure.The electromagnetic type force feedback unit includes electromagnetic unit shell 25, electromagnet 21 and the first push rod 23, described
It is equipped with upper limit elastomeric element 22 between electromagnet 21 and the first push rod 23, lower limit elasticity is equipped on first push rod 23
Component 24.First push rod 23 is made of permanent-magnet materials, such as magnet etc..The upper limit elastomeric element 22 and lower limit
Position one of elastomeric element 24 or two kinds use spring.The electromagnetic unit shell 25 is cylindrical outer casing.Electromagnet 21, on
Limit spring 22, the first push rod 23 and lower limit spring 24 are set in turn in from top to bottom in the electromagnetic unit shell 25.Institute
It states electromagnet 21 to be connected with electromagnetic unit shell 25, the electromagnetic unit shell 25 is inserted by first conduction on 21 top of electromagnet
First 26 are inserted in the jack on 5 corresponding position of middle layer, have both realized the fixation of itself, while by plug, jack through centre
The first transmission line Lu Yuzhong control module 1 being arranged on layer connects.Middle control module 1 is according in this position by the big of the force feedback of generation
On the electric current to electromagnet 21 of small transmission respective amplitude, magnetic field is converted by electric field by electromagnet 21, to by permanent-magnet materials system
At the first push rod 23 generate suction or repulsion of corresponding size, the lower end of the first push rod 23 passes through the bottom of electromagnetic unit shell 25
Face is inserted on plinth course 4, generates force feedback to the skin directly contacted in this position.That is, the electromagnetic type force feedback
Unit is powered according to the force feedback value received to electromagnet 21, and the magnetic field around the electromagnet 21 generates the first push rod 23
Magnetic field force, first push rod 23 do the corresponding movement released or withdraw under the action of a magnetic force.Upper limit spring 22
With lower limit spring 24 for limiting maximum pressure or maximum pull caused by the first push rod 23, while when electromagnet 21 does not connect
The first push rod 23 is restored to initial position automatically when receiving electric current.Electromagnetic type force feedback unit 2 can restore fine and smooth threshold
It is worth lesser force feedback.
As shown in figure 5, second array layer 3 is the array structure as composed by multiple mechanical force feedback units.The machine
Tool formula force feedback unit includes machine assembly shell 31, stepper motor 32, link mechanism and sliding block 36, the machine assembly shell
31 be the internal shell for being equipped with cavity, and the stepper motor 32 is arranged in the internal cavities of the machine assembly shell 31, institute
It states on one end setting stepper motor 32 of link mechanism, the other end of the link mechanism is connected with the sliding block 36.Institute
It states shell and is equipped with the guide rail that the sliding block 36 matches.The lower end of the sliding block 36 be equipped with can pass through the middle layer 5 with
The second connected push rod 38 of the plinth course 4.The machine assembly shell 31 is inserted in by second conductive plug 37 of upper part
In jack on 6 corresponding position of surface layer, the fixation of itself had both been realized, has also passed through second of plug, jack through being arranged on surface layer 6
Transmission line is connect with middle control module 1, and conductive plug, which is realized, transmits the power supply of mechanical force feedback unit and signal.Middle control mould
Block 1 controls on signal to stepper motor 32 according to the size of the force feedback of generation is transmitted corresponding rotation in this position, stepping
Motor 32 rotates corresponding angle according to force feedback value, while driving is made of first connecting rod 33, pin 34, second connecting rod 35
Connecting rod mechanism movement, the link mechanism push sliding block 36 to move up and down, and the second push rod 38 of the lower end setting of sliding block 36 is inserted in
Above plinth course 4, force feedback is generated to the skin directly contacted in this position, it is larger that mechanical force feedback unit can produce threshold value
Force feedback.Preferably, the stepper motor and first connecting rod are hinged, and the sliding block and second connecting rod are hinged, and described first connects
It is connected between bar and second connecting rod by hinged mode.
As shown in fig. 6, middle control module 41 includes sequentially connected power supply module 44, control module 43 and radio receiving transmitting module
45, power supply module 44 is connected to the electromagnetic type force feedback unit in the first array layer 2 through the first transmission line road 46 of middle layer 5
48, the second transmission line road 47 of power supply module 44 and control module 43 through surface layer 6 connects mechanical in second array floor 3 simultaneously
Force feedback unit 49, radio receiving transmitting module 45 are used to receive the external tactile impressions information sended over.The first transmission line road 46,
Electromagnetic type force feedback unit 48, second transmission line road 47 and mechanical force feedback unit 49 belong to execution module 42.The control
Molding block is used to read the position coordinates of tactile impressions information and judges the type of the tactile impressions information, and root according to its corresponding dynamics value
According to the physical location of electromagnetic type force feedback unit or mechanical force feedback unit, the corresponding institute of the tactile impressions information is calculated
State physical location and its corresponding force feedback value；The control module controls electricity by the electromagnetic transmission line in the middle layer
Magnetic-type force feedback unit and mechanical force feedback unit is controlled by mechanical transfer route in surface layer.
As shown in fig. 7, middle control module 1 receives corresponding tactile impressions information, the tactile impressions information by radio receiving transmitting module
In carry the information of position coordinates and dynamics value, and be successively read the dynamics value in the tactile impressions information at a certain position, and
The type of the tactile impressions information is judged according to dynamics value.Preferably, specific judgment method are as follows: judge the dynamics in the tactile impressions information
The size of value and threshold value, the tactile impressions information that dynamics value is greater than threshold value is strength information, and the tactile impressions information that dynamics value is less than threshold value is
Low force information；Strength information is stored in mechanical tactile impressions information module, low force information is stored in electromagnetic type tactile impressions information module
In.After the completion of the classification of type of tactile impressions information, middle module 1 of controlling is combined according to the distribution situation of different types of tactile impressions information
The actual bit of the second array layer 3 of the first array layer 2 and mechanical force feedback unit composition of electromagnetic type force feedback unit composition
It sets, the corresponding electromagnetic type force feedback cell array 2 of the tactile impressions information and mechanical force feedback list is calculated using differential technique
The physical location of element array 3 and its corresponding force feedback value.That is, seat of the middle control module according to the tactile impressions information received
The reality corresponding to the first array layer 2 and second array layer 3 in execution module has been calculated in the size of cursor position and dynamics value
Position and corresponding force feedback value.The force feedback value is divided into two paths of signals according to the type of tactile impressions information by middle control module 1
Electromagnetic type force feedback cell array 2 and machine are transferred to by the corresponding transmission line in middle layer 5 and surface layer 6 accordingly respectively
Corresponding units trigger action in tool formula force feedback cell array 3.
In practical applications, tactile impressions information in middle control module 1 after treatment, be divided into two-way tactile impressions information automatically, one
Road is the tactile impressions information of the biggish strength information of force feedback, and corresponding mechanical force feedback unit battle array will be sent to via surface layer 6
Column 3 control the rotation of stepper motor 32 and generate biggish force feedback；Another way is the tactile impressions information of the lesser low force information of force feedback,
To be sent to via middle layer 5 corresponding electromagnetic type force feedback cell array 2 converted electric field to by electromagnet 21 it is right behind magnetic field
First push rod 23 carries out movement to generate lesser force feedback, to complete the multiresolution reduction of force feedback.
As shown in figure 8, use is existing when appearing in the plot that rainy day is hit by club in mute or game
Device for force feedback can not reappear the biggish club impact sense of stress and fine and smooth feeling of raining simultaneously, and dress the utility model
After device, the biggish club impact sense of stress can be restored by corresponding mechanical force feedback unit, such as to simulation yard in figure
Scape 51 and device for force feedback 52, mechanical force feedback unit 02 and mechanical force feedback unit 04 in device for force feedback 52 can
Club impact sense is restored, fine and smooth feeling of raining can be restored by electromagnetic type force feedback unit corresponding on device, thus
Realize more accurately force feedback effect.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that:
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (8)
1. a kind of device for force feedback, which is characterized in that the device includes middle control module, and from bottom to up successively by plinth course, electricity
The first array layer, middle layer, the second array layer of mechanical force feedback unit composition and the surface layer of magnetic-type force feedback unit composition
The execution module of composition；Mechanical force feedback unit in the second array layer passes through middle layer and is connected with plinth course；Institute
Middle control module is stated to be electrically connected with the electromagnetic type force feedback unit and mechanical force feedback unit respectively.
2. a kind of device for force feedback according to claim 1, which is characterized in that the electromagnetic type force feedback unit includes electricity
Magnetic cell shell is successively arranged electromagnet, upper limit elastomeric element, the first push rod from top to bottom in the electromagnetic unit shell
With lower limit elastomeric element；The first conductive plug on the electromagnet passes through the electromagnetic unit shell and the middle layer phase
Even；Upper limit elastomeric element is equipped between the electromagnet and the first push rod, first push rod is equipped with lower limit elastic portion
Part, the lower end of first push rod pass through the electromagnetic unit shell and are connected with pedestal.
3. a kind of device for force feedback according to claim 2, which is characterized in that the upper limit elastomeric element and/or under
Limit elastomeric element is spring.
4. a kind of device for force feedback according to claim 1, which is characterized in that the mechanical force feedback unit includes machine
Tool cell enclosure is equipped with stepper motor, the stepper motor drive link mechanism urges sliding block in the machine assembly shell
It slides along the track, the track is connected with the machine assembly shell；The top of the machine assembly shell is equipped with and motor
The second connected conductive plug is connected with the surface layer, the lower end of the sliding block be equipped with can pass through the middle layer with it is described
The second connected push rod of pedestal.
5. a kind of device for force feedback according to claim 4, which is characterized in that the link mechanism includes one end and stepping
The hinged first connecting rod of motor and the other end and the hinged second connecting rod of sliding block, lead between the first connecting rod and second connecting rod
Hinged mode is crossed to connect.
6. a kind of device for force feedback according to claim 1, which is characterized in that the middle control module is by being arranged in centre
First transmission line road on floor is connected with the electromagnetic type force feedback unit of the first array layer.
7. a kind of device for force feedback according to claim 1, which is characterized in that the middle control module is by being arranged on surface layer
On second transmission line road be connected with the mechanical force feedback unit of second array floor.
8. a kind of device for force feedback according to claim 1, which is characterized in that the middle control module includes control module,
And the radio receiving transmitting module and power supply module being connected respectively with the control module；The power supply module pass through surface layer the
Two transmission lines are connected with the mechanical force feedback unit；
The radio receiving transmitting module is for receiving tactile impressions information；
The control module is used to read the position coordinates of tactile impressions information and judges the tactile impressions information according to its corresponding dynamics value
Type the sense of touch is calculated and according to the physical location of electromagnetic type force feedback unit or mechanical force feedback unit
The corresponding physical location of information and its corresponding force feedback value；
The control module controls electromagnetic type force feedback unit by the first transmission line road in the middle layer and passes through table
Second transmission line road in floor controls mechanical force feedback unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820970347.2U CN208406035U (en) | 2018-06-22 | 2018-06-22 | A kind of device for force feedback |
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| CN201820970347.2U CN208406035U (en) | 2018-06-22 | 2018-06-22 | A kind of device for force feedback |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108635846A (en) * | 2018-06-22 | 2018-10-12 | 华北科技学院 | A kind of device for force feedback and method |
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2018
- 2018-06-22 CN CN201820970347.2U patent/CN208406035U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108635846A (en) * | 2018-06-22 | 2018-10-12 | 华北科技学院 | A kind of device for force feedback and method |
| CN108635846B (en) * | 2018-06-22 | 2023-10-27 | 华北科技学院 | Force feedback device and method |
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