KR101326235B1 - Dielectricpolymer high­perpormance driver, actuator and vibratingmotor using the driver, apparatus for providing texture of surface and apparatus for providing tactile feedback - Google Patents

Abstract

The present invention relates to a polymer dielectric-based high performance driver, an actuator using the driver, a surface texture providing device, a vibration motor and a tactile feedback providing device. More specifically, a polymer dielectric based high performance driver comprising: a housing having flexibility; A compressive force generating unit provided at an upper or lower portion of the housing and having a polymer dielectric stretched in a plane direction and compressed in a vertical direction by an applied voltage, and electrode layers provided on upper and lower surfaces of the polymer dielectric; And a restoring force generating unit generating a restoring force in response to the compressive force generated by the compressive force generating unit.

Description

High-performance polymer dielectric-based high performance actuators, tactile feedback actuators, surface texture providing devices, vibration motors and tactile feedback providing devices }

The present invention relates to a polymer dielectric-based high performance driver, an actuator using the driver, a surface texture providing device, a vibration motor and a tactile feedback providing device. More specifically, the present invention relates to a polymer dielectric-based tactile actuator providing a fast response speed and a high output power, including a compression force generation unit, a restoring force generation unit, and a magnetic force generation unit.

In general, a haptic is a tactile sensation that can be felt by a person's finger tip (fingertip or stylus pen) when touching an object. The tactile feedback that the skin touches the object surface, (Kinesthetic force feedback), which is felt when the movement of the robot is disturbed.

As a human sensory receptor, a mechanical stimulus receptor is a Pacinian corpuscle that senses high-frequency vibration, Meissner's corpuscle that senses low-frequency vibration, and Merkel's that senses local pressure. Ruffini's ending, which detects the disc and the stretch that presses on the skin. In order to stimulate these various tactile receptors and reproduce realistic touch, the frequency bandwidth of the actuator is important. Since the tactile receptors each have different frequency ranges to be activated, actuators having a bandwidth of 250 Hz or more are required to stimulate them all.

Existing actuators satisfying the bandwidth of 250 Hz or more include various actuators such as solenoid actuators, DC / AC motors, server motors, ultrasonic actuators, and shape memory alloy ceramic actuators. A representative example of the tactile display device is a vibration motor according to an input of a touch screen in a mobile device, and a device for stimulating a Pachinian / Minus body that generates vibration by detecting vibration of high frequency / low frequency.

However, in order to achieve the same subtle touch, an actuator is needed that can provide a bandwidth of several kHz that is much higher than the human-identifiable bandwidth of 250 Hz. Immersion.com has developed a High Definition Haptic Device that provides a bandwidth of several kHz with a high bandwidth piezo actuator in mobile devices. The piezo actuator has the advantage of having a high bandwidth because the response speed is about 1ms, but it has a disadvantage that it is difficult to install in a portable device due to the small displacement that can be generated and the Brittle.

On the other hand, the polymer dielectric actuator proposed in the present invention is capable of generating a high displacement and high displacement, and is formed in a polymer shape, so that the polymer dielectric actuator can be applied to various electronic devices such as a portal device as a haptic actuator. However, due to the inherent viscoelastic properties of polymer dielectrics, there is a limit to improving the response speed. Thus, in the present invention, the actuator is added to the restoring force generating unit to be quickly restored to improve the limit of the response speed according to the viscoelastic properties. The restoring force generating unit can be configured using elastic restoring force or viscoelastic restoring force.

The polymer dielectric actuator equipped with the restoring force generating unit may be used as a high-performance vibration motor, or may be used as a pin-array tactile display device capable of expressing fine touch, protrusion, and shape to a user. have. In order to be utilized as the pin array tactile display device, a technology capable of integrating a plurality of actuators in a small area so as to simulate the human skin sense is important. Therefore, the resilience generating unit is designed to be compact and inserted can be an important design element.

1A illustrates a perspective view of the polymer dielectric 1, and FIG. 1B illustrates a perspective view of the polymer dielectric 1 in a state where a voltage is applied to the electrode layer 2. As shown in FIGS. 1A and 1B, the driving principle of the polymer dielectric 1 is to apply a flexible electrode on a thin polymer dielectric 1 film and supply a voltage to reduce the thickness of the film and increase the area.

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As an example of such a tactile display device, the Republic of Korea Patent No. 718896, published on April 25, 2007, installs a frame that fixes the outer shell of the polymer dielectric 1 so that the driving direction is not a tension force method in presenting a driving direction. It describes the method of presentation through the deformation of the film.

2A shows an exploded perspective view of a conventional polymer dielectric based driver 3, and FIG. 2B shows a perspective view of a conventional polymer dielectric based driver 3. 2C illustrates a perspective view of a conventional polymer dielectric based driver 3 in a state where a voltage is applied to the electrode layer 2, and FIG. 3 illustrates a tactile display device 6 using the conventional polymer dielectric based driver 3. It shows a perspective view of the.

As shown in Figs. 2A, 2B, 2C and 3, the conventional polymer dielectric (1) based driver (3) is a flexible electrode layer coated on the upper and lower surfaces of the polymer dielectric (1) film and the polymer dielectric (1) film, respectively. (2) And it turns out that it contains the frame 4 which fixes the outer shell of the polymeric dielectric 1 film. In addition, the protective film 5 is coupled to the upper and lower portions of the conventional polymer dielectric 1 based driver.

Therefore, when a voltage is applied to the electrode, the polymer dielectric material 1 is stretched in the planar direction, and the outer surface of the polymer dielectric material 1 is constrained by the frame 4, and as a result, as shown in FIGS. 2C and 3, To protrude.

However, the driver 3 and the tactile display device 6 can raise the displacement in the vertical direction, but indirectly generate the vertical displacement so that the vertical force does not generate a relatively large force (vertical force) at a level of about 13 mN. There is a problem that there is a problem, difficult to develop a highly integrated module, difficult to wire and control, there is a problem that there is a limit of flexible electrode patterning.

The present invention is derived to solve the above problems, according to an embodiment of the present invention by generating a restoring force in the restoring force generation unit as opposed to the compressive force generated in the compressive force generation unit can increase the responsive response speed, magnetic force It provides a high performance driver, a tactile actuator and a vibration motor that can generate a magnetic force in the same direction as the compression force, including the generating unit to increase the vertical force. In addition, the present invention provides a tactile feedback providing apparatus which can control not only the stimulation period but also the stimulus intensity by adjusting the resonance frequency within the time resolution of the human tactile sense.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments with reference to the accompanying drawings.

A first object of the present invention is to provide a polymer dielectric based high performance driver, comprising: a housing having flexibility; A compressive force generating unit provided at an upper or lower portion of the housing and having a polymer dielectric stretched in a plane direction and compressed in a vertical direction by an applied voltage, and electrode layers provided on upper and lower surfaces of the polymer dielectric; And a restoring force generating unit for generating a restoring force in response to the compressive force generated by the compressive force generating unit.

The compressive force generating unit may be characterized in that a plurality of stacked is provided.

The restoring force generating unit may be provided below or above the compressive force generating unit, and may be made of an elastic member or a polymer dielectric.

A permanent magnet provided between the compressive force generating unit and the restoring force generating unit; And it may be characterized in that it further comprises a ferromagnetic layer provided on each of the upper plate and the lower plate of the housing.

According to a second aspect of the present invention, there is provided a tactile actuator using a polymer dielectric-based high-performance driver as described above, comprising: a hole formed in a center of an upper substrate of a housing and a compression force generating unit; And a contactor coupled between the compressive force generating unit and the restoring force generating unit, wherein the contactor repeatedly drives the protrusion and the return from the hole. When a voltage is applied to the polymer dielectric by the electrode layer, the contactor protrudes upward due to the compressive force. When the voltage application is removed, the contactor may be returned by the restoring force of the restoring force generating unit, and thus may be achieved as a tactile providing actuator using a polymer dielectric-based high performance driver.

The third object of the present invention, in the surface texture display apparatus using the above-described tactile feel actuator, provided in the upper or lower portion of the housing provided in the actuator and is tensioned in the plane direction and compressed in the vertical direction by the applied voltage A plurality of patterned restoring forces provided in the compressive force generating unit and the housing having a plurality of patterned electrode layers provided on the polymer dielectric and the upper and lower surfaces of the polymer dielectric, respectively, to generate a restoring force in response to the compressive force generated by the compressive force generating unit. It can be achieved as a high-performance surface texture display apparatus based on a polymer dielectric, characterized in that it comprises a generator.

A fourth object of the present invention is a vibration motor using the polymer dielectric-based high performance driver mentioned above, wherein the polymer dielectric-based high performance driver comprises a mass body coupled between the compressive force generating unit and the restoring force generating unit provided in the driver. It can be achieved as a vibration motor using.

The mass may be at least one of tungsten, iron, and SUS.

A fifth object of the present invention is to provide a haptic feedback providing apparatus comprising: a tactile feedback actuator as described above; A voltage applying unit for applying a voltage to the electrode layer provided in the actuator; And a control unit controlling a voltage period applied to the electrode layer by controlling the voltage applying unit.

In addition, a sixth object of the present invention is a tactile feedback providing apparatus, the vibration motor mentioned above; A voltage applying unit for applying a voltage to the electrode layer provided in the vibration motor; And a control unit controlling a voltage period applied to the electrode layer by controlling the voltage applying unit.

The controller may control the intensity and period of the tactile feedback by adjusting the voltage period of the resonant frequency pulse, and the resonant frequency may be less than the time resolution of the human touch.

A seventh object of the present invention is a polymer dielectric-based high performance driver comprising: a housing having flexibility; An upper compressive force generating unit provided below the upper plate of the housing and having a polymer dielectric stretched in a plane direction and compressed in a vertical direction by an applied voltage, and electrode layers provided on upper and lower surfaces of the polymer dielectric; It is coupled to the lower portion of the upper compressive force generating portion and has a polymer dielectric which is tensioned in the planar direction by the applied voltage and is compressed in the vertical direction, and an electrode layer provided on each of the upper and lower surfaces of the polymer dielectric, the lower surface is coupled to the lower plate of the housing When a voltage is applied to the upper compressive force generating unit side including a lower compressive force generating unit which is a restoring force is generated in the lower compressive force generating unit corresponding to the compression force generated in the upper compressive force generating unit, when the voltage is applied to the lower compressive force generating unit The restoring force is generated in the upper compressive force generating unit in response to the compressive force generated in the lower compressive force generating unit.

At least one of the upper compressive force generating unit and the lower compressive force generating unit may be characterized by being provided in a plurality of stacked.

The polymer dielectric may be a dielectric elastomer.

A permanent magnet provided between the upper compressive force generating unit and the lower compressive force generating unit; And a ferromagnetic layer provided on each of the upper substrate and the lower plate of the housing.

The housing may further include at least one elastic member.

An eighth object of the present invention is an actuator using a polymer dielectric-based high performance actuator as described above, comprising: a hole formed in a central portion of a top plate of a housing and a central portion of an upper compression force generating unit of the housing; And a contactor coupled between the upper compressive force generating unit and the lower compressive force generating unit, the contactor repeatedly driving the protrusion and return from the hole, and the contactor protrudes upward when a voltage is applied to the upper compressive force generating unit. When a voltage is applied to the compressive force generating unit side, the contactor may be achieved as an actuator using a polymer dielectric-based high performance driver.

The housing may further include at least one elastic member.

A ninth object of the present invention is a vibration motor using the polymer dielectric-based high performance driver as described above, wherein the polymer dielectric substrate includes a mass body coupled between an upper compression force generation unit and a lower compression force generation unit provided in the driver. It can be achieved as a vibration motor using a tactile module.

A tenth object of the present invention is the actuator mentioned above; A voltage applying unit for applying a voltage to the electrode layer of the actuator; And a control unit controlling a voltage period applied to the electrode layer by controlling the voltage applying unit, wherein the control unit controls the intensity and period of the tactile feedback by adjusting the voltage period of the resonant frequency pulse, and the resonant frequency is the time resolution of the human touch. It can be achieved as a tactile feedback providing device characterized by the following.

An eleventh object of the present invention is the aforementioned vibration motor; A voltage applying unit for applying a voltage to the electrode layer of the vibration motor; And a control unit controlling a voltage period applied to the electrode layer by controlling the voltage applying unit, wherein the control unit controls the intensity and period of the tactile feedback by adjusting the voltage period of the resonant frequency pulse, and the resonant frequency is the time resolution of the human touch. It can be achieved as a tactile feedback providing device characterized by the following.

Therefore, according to the embodiment of the present invention as described, it is derived to solve the above problems, according to an embodiment of the present invention to generate a restoring force in the restoring force generation unit as opposed to the compression force generated in the compression force generation unit As a result, the responsive response speed can be increased, and the magnetic force generation unit can increase the vertical force by generating the magnetic force in the same direction as the compressive force. In addition, according to the tactile feedback providing apparatus according to an embodiment of the present invention has the advantage that can be adjusted not only the stimulation period but also the stimulus intensity by adjusting the resonance frequency within the time resolution of the human touch.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it will be appreciated by those skilled in the art that various other modifications and variations can be made without departing from the spirit and scope of the invention, All fall within the scope of the appended claims.

1A is a perspective view of a polymer dielectric,
1B is a perspective view of a polymer dielectric in a state where a voltage is applied to an electrode layer;
Figure 2a is an exploded perspective view of a conventional polymer dielectric based driver,
Figure 2b is a perspective view of a conventional polymer dielectric based driver,
Figure 2c is a perspective view of a conventional polymer dielectric based driver with a voltage applied to the electrode layer,
3 is a perspective view of a tactile display device using a conventional polymer dielectric-based actuator;
4 is a cross-sectional view of a tactile providing actuator using a polymer dielectric-based high performance driver according to a first embodiment of the present invention;
5 is a cross-sectional view of a tactile providing actuator using a polymer dielectric-based high performance driver according to a second embodiment of the present invention;
6 is a cross-sectional view of a tactile providing actuator using a polymer dielectric-based high performance driver according to a third embodiment of the present invention;
7 is a cross-sectional view of a tactile providing actuator using a polymer dielectric-based high performance driver according to a fourth embodiment of the present invention;
8A is a cross-sectional view of a tactile providing actuator using a polymer dielectric-based high performance driver according to a fifth embodiment of the present invention;
8B is an exploded perspective view of a tactile providing actuator using a polymer dielectric-based high performance driver according to a fifth embodiment of the present invention;
8C is a perspective view of a tactile providing actuator using a polymer dielectric-based high performance driver according to a fifth embodiment of the present invention;
8D is a perspective view of a surface texture display apparatus combined with touch-providing actuators using a polymer dielectric-based high performance driver according to a fifth embodiment;
8E is a partial cross-sectional view of the surface texture display apparatus combined with the tactile providing actuators using the polymer dielectric-based high performance driver according to the fifth embodiment;
8F is a perspective view illustrating a combination of a plurality of coil springs as one component of a surface texture display apparatus in which a touch providing actuators using a polymer dielectric-based high performance driver according to a fifth embodiment are combined;
9A is a cross-sectional view of a tactile providing actuator using a polymer dielectric-based high performance driver according to a third embodiment of the present invention with a voltage applied to a lower compressive force generating unit;
9B is a cross-sectional view of a tactile providing actuator using a polymer dielectric-based high performance driver according to a third embodiment of the present invention in a state in which voltage is applied to the lower compressive force generating unit;
9C is a cross-sectional view of a tactile providing actuator using a polymer dielectric-based high performance driver according to a third embodiment of the present invention in a state where a voltage is applied to the upper compressive force generating unit;
10A is a magnetic force graph according to a cross-sectional view and a vertical displacement of a tactile providing actuator using a polymer dielectric-based high performance actuator according to a third embodiment of the present invention modeling an upper compressive force generating portion and a lower compressive force generating portion with a damper and a spring;
10B is a polymer dielectric based high performance driver according to a third embodiment of the present invention modeling the upper compressive force generating portion and the lower compressive force generating portion with a damper and a spring in a state where a voltage is applied to a lower compressive force generating portion and a voltage is removed. Magnetic force graph according to the cross-sectional view and the vertical displacement of the actuator providing tactile feeling,
11A illustrates a polymer dielectric-based high performance driver according to a third embodiment of the present invention modeling the upper compressive force generating unit and the lower compressive force generating unit with a damper and a spring in a state in which the voltage is removed after the voltage is applied to the lower compressive force generating unit. Sectional view of the used tactile actuator and magnetic force graph according to the vertical displacement,
11B illustrates a tactile providing actuator using a polymer dielectric-based high performance driver according to a third embodiment of the present invention in which an upper compressive force generating unit and a lower compressive force generating unit are modeled by a damper and a spring while a voltage is applied to the upper compressive force generating unit. Magnetic force graph according to cross section and vertical displacement,
Figure 12a is a magnetic force against the vertical displacement, the force minus the restoring force from the magnetic force and the force force minus the restoring force from the magnetic force in the tactile providing actuator using the polymer dielectric-based high-performance actuator according to the third embodiment in accordance with one embodiment of the present invention ,
FIG. 12B illustrates a pure compressive force and an actuating region of a tactile providing actuator using a polymer dielectric-based high performance actuator according to an exemplary embodiment of the present invention minus a restoring force and a compressive force in a magnetic force against vertical displacement graph,
13A is a cross-sectional view of a vibration motor using a polymer dielectric based high performance driver according to a first embodiment of the present invention;
13B is a cross-sectional view of a vibration motor using a polymer dielectric based high performance driver according to a second embodiment of the present invention;
13C is a cross-sectional view of a vibration motor using a polymer dielectric based high performance driver according to a third embodiment of the present invention;
13d is a cross-sectional view of a vibration motor using a polymer dielectric based high performance driver according to a fourth embodiment of the present invention;
FIG. 14 is a graph showing a resonance frequency and a stimulation period in a tactile feedback providing apparatus using a vibration motor or a tactile feedback providing actuator using a polymer dielectric based high performance driver according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the detailed description of known functions and configurations incorporated herein will be omitted when it may unnecessarily obscure the subject matter of the present invention.

The same reference numerals are used for portions having similar functions and functions throughout the drawings. Throughout the specification, when a part is connected to another part, this includes not only the case where it is directly connected, but also the case where it is indirectly connected with another element in between. In addition, the inclusion of an element does not exclude other elements, but may include other elements, unless specifically stated otherwise.

Hereinafter, the configuration and function of the polymer dielectric-based high performance driver and the tactile providing actuator 100 using the driver according to an embodiment of the present invention will be described. Since the tactile providing actuator 100 according to the exemplary embodiment of the present invention includes the polymer dielectric-based high performance driver as it is, the driver and the tactile providing actuator 100 using the driver will be described.

The touch-providing actuator 100 using the polymer dielectric-based high performance driver according to an embodiment of the present invention is basically provided in a flexible housing, the upper or lower portion of the housing, and is tensioned in a planar direction and vertically by an applied voltage. Restoring force corresponding to the compressive force generated by the compressive force generating portion 30 and the compressive force generating portion 30 having an electrode layer (2) provided on each of the polymer dielectric (1) and the upper and lower surfaces of the polymer dielectric (1) to be compressed It includes a resilience generating unit for generating a.

Hereinafter, after describing the basic structure without the restoring force generating unit, the configuration according to the embodiment of the tactile providing actuator 100 using the polymer dielectric based high performance driver will be described based on various examples of the restoring force generating unit.

First, FIG. 4 illustrates a cross-sectional view of a tactile providing actuator 100 using a polymer dielectric based high performance driver according to a first embodiment of the present invention. As shown in FIG. 4, it can be seen that the tactile providing actuator 100 according to the first embodiment of the present invention includes a housing having a flexible property, a compressive force generation unit 30, and a contactor 40. .

A hole is formed in the upper plate 21 of the housing, and the compressive force generating unit 30 is coupled to the lower surface of the upper plate 21 of the housing, and the compressive force generating unit 30 is formed of a plurality of laminated polymer dielectrics ((1 In a specific embodiment, the dielectric layer comprises a dielectric elastomer) and an electrode layer 2 having flexibility on each of the upper and lower portions of the polymer dielectric 1. And, as shown in Figure 4, it can be seen that the hole is formed in the compression force generating unit 30, like the upper plate 21 of the housing.

The contactor 40 is composed of the protrusion 41 and the fixing plate 42 is fixed to the lower surface of the compression force generating portion 30 by the fixing plate 42, the protrusion 41 is the compression force generating portion 30 and It is inserted into the upper plate 21 of the housing. Therefore, when a voltage is applied to the electrode layer 2, the compressive force generating unit 30 is compressed, and the contactor 40 coupled by the fixing plate 42 to the lower surface of the compressive force generating unit 30 protrudes upward, and the voltage When the application is removed, the contactor 40 is returned to the lower side again.

The second to fifth embodiments of the present invention described below further include a restoring force generating unit in the basic structure according to the first embodiment to provide a restoring force to quickly remove the contactor 40 after the voltage application is removed. By returning, the response speed can be increased.

5 illustrates a cross-sectional view of a tactile providing actuator 100 using a polymer dielectric based high performance driver according to a second embodiment of the present invention. The restoring force generating portion constituting the tactile providing actuator 100 according to the second embodiment of the present invention is realized by the further compressive force generating portion 30.

As shown in FIG. 5, in the tactile providing actuator 100 according to the second embodiment, a hole is formed in the upper plate 21 of the housing, and the upper compressive force generating unit 31 is formed in the upper plate 21 of the housing. Coupled to the lower surface, the compressive force generating portion 30 is a plurality of laminated polymer dielectric ((1) in the specific embodiment is composed of a dielectric elastomer (dielectric elastomer)) and the polymer dielectric (1) on the top and bottom, respectively An electrode layer 2 having flexibility is provided. And, as shown in Figure 5, it can be seen that the hole is formed in the upper compressive force generating portion 31 as in the upper plate 21 of the housing.

The contactor 40 is composed of the protrusion 41 and the fixing plate 42 is fixed to the lower surface of the upper compressive force generating portion 31 by the fixing plate 42, the protrusion 41 is the upper compressive force generating portion 31 And the top plate 21 of the housing. As shown in FIG. 5, the tactile providing actuator 100 further includes a lower compression force generation unit 32 provided below the upper compression force generation unit 31. That is, the upper surface of the lower compressive force generating portion 32 is coupled to the lower surface of the fixing plate 42 of the contactor 40, and the lower surface of the lower compressive force generating portion 32 is coupled to the upper portion of the lower plate 22 of the housing. It is done. In addition, the existing structure is composed of a plurality of laminated polymer dielectric 1, such as the upper compressive force generating portion 31 and the electrode layer (2) having flexibility in each of the upper and lower portions of the polymer dielectric (1).

Accordingly, when a voltage is applied to the upper compressive force generating unit 31, the upper compressive force generating unit 31 is compressed to protrude the contactor 40, and at the same time, a restoring force is generated at the lower compressive force generating unit 32 (that is, The compressive force generating unit 30 corresponds to a kind of elastic member and has a restoring force when it is tensioned or compressed in the vertical direction.). Therefore, if the voltage applied to the upper compressive force generating unit 31 is removed, the contactor 40 returns at a high response speed. On the contrary, when a voltage is applied to the lower compressive force generating unit 32, the lower compressive force generating unit 32 is compressed to float the contactor 40, and at the same time, a restoring force is generated in the upper compressive force generating unit 31. Therefore, when the voltage applied to the lower compressive force generation unit 32 is removed, the contactor 40 returns at a high response speed.

Figure 6 shows a cross-sectional view of the tactile providing actuator 100 using a polymer dielectric based high performance driver according to a third embodiment of the present invention. As shown in FIG. 6, the tactile providing actuator 100 using the polymer dielectric-based high performance driver according to the third exemplary embodiment includes the entire configuration of the tactile providing actuator 100 according to the second exemplary embodiment as it is. It can be seen that it further comprises a magnetic force generation unit.

That is, as shown in Figure 6, the tactile providing actuator 100 according to the third embodiment of the present invention, the permanent magnet 50 is coupled to the lower surface of the fixing plate 42 of the contactor 40, the housing It can be seen that each of the upper plate 21 and the lower plate 22 of the ferromagnetic material layer 51 is included. Therefore, as will be described in detail later, when a voltage is applied to the upper compressive force generating portion 31 or the lower compressive force generating portion 32, further including such a magnetic force generating portion, the magnetic force is added to the compressive force, resulting in faster response speed and greater vertical displacement and It will be able to exert a vertical force.

7 illustrates a cross-sectional view of a tactile providing actuator 100 using a polymer dielectric based high performance driver according to a fourth embodiment of the present invention. As illustrated in FIG. 7, the tactile providing actuator 100 using the polymer dielectric-based high performance driver according to the fourth exemplary embodiment includes all of the configurations of the tactile providing actuator 100 according to the third exemplary embodiment. It can be seen that it further includes a plurality of coil springs 60 to further increase the restoring force.

That is, as shown in Figure 7, between the upper plate 21 of the housing and the lower substrate 33 of the upper compressive force generating portion 31, and the upper substrate 34 of the lower compressive force generating portion 32 and the housing It can be seen that a plurality of coil springs 60 are provided between the lower plate 22.

Therefore, the plurality of coil springs 60 further increases the restoring force on the tactile providing actuator 100. That is, when a voltage is applied to the upper compressive force generating unit 31, the upper compressive force generating unit 31 is compressed to protrude the contactor 40, and at the same time, a restoring force is generated at the lower compressive force generating unit 32. Restoring force is generated in the coil spring 60. Therefore, when the voltage applied to the upper compressive force generating unit 31 is removed, the contactor 40 returns at a fast response speed by the restoring force. On the contrary, when a voltage is applied to the lower compressive force generating unit 32, the lower compressive force generating unit 32 is compressed to float the contactor 40, and at the same time, a restoring force is generated at the upper compressive force generating unit 31, and at the same time, the coil spring is The restoring force is also generated at 60. Therefore, when the voltage applied to the lower compressive force generation unit 32 is removed, the contactor 40 returns at a high response speed.

8A illustrates a cross-sectional view of a tactile providing actuator 100 using a polymer dielectric based high performance driver according to a fifth embodiment of the present invention. As shown in Figure 8a, it can be seen that in the basic structure shown in Figure 4 includes a restoring force generating portion composed of elastic means 70 on the lower side of the compressive force generating portion 30. Therefore, when a voltage is applied to the compressive force generating unit 30, the compressive force generating unit 30 is compressed to protrude the contactor 40, and at the same time, a restoring force is generated on the elastic means 70 formed of a spring. Therefore, when the voltage applied to the compressive force generation unit 30 is removed, the contactor 40 returns to the fast response speed by the restoring force.

8B illustrates an exploded perspective view of the tactile providing actuator 100 using the polymer dielectric based high performance driver according to the fifth embodiment of the present invention. 8C illustrates a perspective view of the tactile providing actuator 100 using the polymer dielectric based high performance driver according to the fifth embodiment of the present invention. As shown in FIG. 8B, the tactile providing actuator 100 according to the fifth embodiment of the present invention is specifically a top plate 21, a polymer dielectric 1, and a top and bottom of the polymer dielectric 1 having a flexible housing. It can be seen that it comprises an electrode layer (2) having flexibility coupled to each surface, and a frame (4) having flexibility coupled to the edge of the lower surface of the polymer dielectric (1). In addition, the lower electrode layer 2 may further include a protective film 5.

In addition, the elastic means 70 according to the fifth embodiment of the present invention is provided with a spacer 71 at the lower side thereof, coupled to the housing, and configured to gradually decrease in diameter from the lower side to the upper side, and the contact at the upper end thereof. The rotor 40 is to be coupled.

8D illustrates a perspective view of a surface texture display apparatus combined with the touch providing actuators 100 using the polymer dielectric based high performance driver according to the fifth embodiment, and FIG. 8E illustrates the polymer dielectric based according to the fifth embodiment. A partial cross-sectional view of the surface texture display apparatus combined with the tactile providing actuators 100 using a high performance driver is shown.

As shown in FIGS. 8D and 8E, it can be seen that the surface texture market value is coupled with a plurality of tactile feel providing actuators 100 according to the fifth embodiment described above in a planar direction. That is, the compressive force generating unit 30 is provided on the upper portion of the housing provided in the actuator 100 and is tensioned in the plane direction by the applied voltage and compressed in the vertical direction of the polymer dielectric 1 and the polymer dielectric 1. It has a plurality of patterned electrode layer (2) installed on each of the upper and lower surfaces, and includes a patterned plurality of restoring force generating portion provided in the housing and generating a restoring force in response to the compressive force generated by the compressive force generating portion (30) Doing.

FIG. 8F illustrates a perspective view of a restoring force generating unit having a plurality of elastic means coupled in a planar direction as one component of the surface texture display apparatus combined with the tactile providing actuators 100 using the polymer dielectric-based high performance driver according to the fifth embodiment. will be. As shown in FIG. 8F, the outer circumferential portion of each elastic means 70 includes a bendable edge 72 so that the restoring force generating portion in which the plurality of elastic means 70 is coupled in the planar direction may have flexibility. .

Hereinafter, the driving method and principle of the actuator 100 will be described in more detail based on the tactile providing actuator 100 using the polymer dielectric-based high performance driver according to the third embodiment of the present invention.

First, FIG. 9A illustrates a cross-sectional view of a tactile providing actuator 100 using a polymer dielectric based high performance driver according to a third embodiment of the present invention in a state where a voltage is applied to the lower compressive force generation unit 32. As shown in FIG. 9A, when a voltage is applied to the lower compression force generation unit 32, the lower compression force generation unit 32 is compressed in the vertical direction by the compression force F _c , and the upper compression force generation unit 31 is expanded. To generate a restoring force (F _e ). In addition, as the permanent magnet 50 is moved to the lower side, the magnetic force (F _m ) between the ferromagnetic layer 51 provided on the housing lower plate 22 is increased. Therefore, the contactor 40 quickly emerges.

FIG. 9B illustrates a cross-sectional view of the tactile providing actuator 100 using the polymer dielectric-based high performance driver according to the third embodiment of the present invention in a state in which voltage is applied to the lower compressive force generating unit 32. As shown in FIG. 9B, when the voltage applied to the lower compressive force generating unit 32 is removed, the compressive force F _c is removed to move the contactor 40 slightly upward, but the permanent magnet 50 and the lower plate are removed. By the magnetic force F _m between the ferromagnetic layer 51 provided in the (22), the contactor 40 is still maintained in the sunk state.

FIG. 9C illustrates a cross-sectional view of the tactile providing actuator 100 using the polymer dielectric-based high performance driver according to the third embodiment of the present invention in a state where a voltage is applied to the upper compressive force generating unit 31. As shown in FIG. 9C, when a voltage is applied to the upper compressive force generating unit 31, a compressive force F _c is generated in the upper compressive force generating unit 31, and the upper compressive force generating unit 31 is compressed, thereby contacting the contactor 40. ) Is protruded, and the lower compression force generating unit 32 is expanded to generate a restoring force (F _e ). At the same time, as the magnetic force F _m is generated between the permanent magnet 50 and the ferromagnetic layer 51 provided on the housing upper plate 21, the contactor 40 quickly protrudes.

In addition, if the voltage applied to the upper compressive force generating portion 31 is removed, the compressive force (F _c ) is removed to move the contactor 40 slightly to the lower side, but provided in the permanent magnet 50 and the upper plate 21 The magnetic force (F _m ) between the ferromagnetic material layer 51 is to maintain the contactor 40 in a protruding state. Therefore, the magnetic force generating unit has a faster response speed and a larger vertical displacement.

10A is a cross-sectional view of a tactile providing actuator 100 using a polymer dielectric based high performance actuator according to a third embodiment of the present invention modeling the upper compressive force generating portion 31 and the lower compressive force generating portion 32 as a damper and a spring. A graph of magnetic force versus vertical displacement is shown. As shown in FIG. 10A, the upper compressive force generating portion 31 is drawn on the right side, and the lower compressive force generating portion 32 is drawn on the left side, and the upper compressive force generating portion 31 and the lower compressive force generating portion ( 32) is shown between the permanent magnet 50, the compressive force generating unit 30 is modeled as having an elastic modulus and damping coefficient having a restoring force and viscosity as one elastic member.

Then, the parallel points of the graph shown in the lower part is not voltage is applied to the pressing force generating unit (30) a compressive force (F _c) is a branch state in which the magnetic force (F _m), and the restoring force (F _e) is formed in line in the absence of do. In addition, the restoring force may be expressed by Equation 7 below.

&Quot; (7) "

F _e = (k _e1 * x + c ₁ * x`) + (k <sub>e2</sub> * x + c <sub>2</sub> * x`)

k _e1 , c ₁ is the elastic modulus, damping coefficient of the upper compression force generating portion 30, k _e2 , c ₂ is the elastic modulus, damping coefficient of the lower compressive force generating portion (32). In addition, x is the displacement moved relative to the center point, x` corresponds to the moving speed.

FIG. 10B illustrates the upper compression force generation unit 31 and the lower compression force generation unit 32 modeled by a damper and a spring in a state where a voltage is applied to the lower compression force generation unit 32 and a voltage application is removed. 3 is a cross-sectional view of the tactile providing actuator 100 using the polymer dielectric-based high performance driver according to the third embodiment, and a graph of the magnetic force according to the vertical displacement.

As shown in FIG. 10B, when a voltage is applied to the lower compressive force generating unit 32, the compressive force F _c is generated on the left side (as shown in FIG. 10B). Thus, as shown in the second graph from the top of Figure 10b, the parallel point is moved to the left. That is, the magnetic force (F _m ) and the compressive force (F _c ) is to move the parallel point parallel to the restoring force (F _e ) to the left.

11A illustrates a third model of the present invention in which the upper compressive force generating unit 31 and the lower compressive force generating unit 32 are modeled by dampers and springs after voltage is applied to the lower compressive force generating unit 32. A cross-sectional view of the tactile providing actuator 100 using the polymer dielectric-based high performance driver according to the embodiment and a graph of the magnetic force according to the vertical displacement are shown. That is, when the applied voltage is removed, the parallel point becomes the same as the graph of FIG. 10A mentioned above. Therefore, the magnetic force (F _m ) and the restoring force (F _e ) is parallel to, and the permanent magnet 50 is still present on the left side but the compression force is removed to move slightly to the right.

11B illustrates a polymer according to a third embodiment of the present invention in which the upper compressive force generating unit 31 and the lower compressive force generating unit 32 are modeled by a damper and a spring while a voltage is applied to the upper compressive force generating unit 31. A sectional view of the tactile providing actuator 100 using the dielectric-based high performance driver and a graph of the magnetic force according to the vertical displacement are shown. As shown in FIG. 11B, when a voltage is applied to the upper compressive force generating unit 31 to provide the compressive force F _c , the permanent magnet 50 passes through the center point as shown in the drawing shown first above, and then the right side (FIG. 11B). As shown). Then, the permanent magnet 50 is moved to a parallel point where the compressive force (F _c ) and the magnetic force (F _m ) of the combined force and the restoring force (F _e ) acting on the contrary becomes parallel.

It can be seen that the parallel point in the state where the voltage is applied to the upper compressive force generating unit 31 is moved to the right side than the right parallel point shown in FIG. 11A. Therefore, when the voltage is applied, the magnetic force F _m is added in the same direction as the compressive force F _c , thereby increasing the response speed, the vertical force, and the vertical displacement.

Figure 12a is a restoring force (F _e from one embodiment to the magnetic force of the vertical displacement at the touch providing actuator 100 with a polymeric dielectric-based high-performance actuator according to the third embodiment (F _m), magnetic force (F _m) of the invention The force graph minus) and the magnetic force (F _m ) minus the restoring force (F _e ) plus the compressive force (F _c ). 12B is a compressive force (F _e ) by subtracting the restoring force (F _e ) from the magnetic force (F _m ) for vertical displacement in the tactile providing actuator 100 using the polymer dielectric-based high performance driver according to the third embodiment of the present invention. _c ) plus force, and a graph showing the net compressive force and the actuation area. 12A and 12B, it can be seen that the output force of 30% or more is increased by adding the magnetic force F _{m in the} same direction as the compressive force F _c .

Hereinafter, the configuration and operation of the vibration motor 120 using the polymer dielectric-based high performance driver will be described. Basically, the structure of the vibration motor 120 using the polymer dielectric based high performance driver is a metal having a high unit density instead of the contactor 40 in the tactile providing actuator 100 using the polymer dielectric based high performance driver described above (eg, tungsten). , Iron, SUS, or a mixture thereof) and the like, except that the mass 80 is composed of the same.

FIG. 13A illustrates a cross-sectional view of a vibration motor 120 using a polymer dielectric based high performance driver according to a first embodiment of the present invention. As shown in FIG. 13A, the driver according to the first embodiment of the present invention has a similar drive to the tactile providing actuator 100 according to the fifth embodiment shown in FIG. 8A described above. That is, the compression force generating portion 30 in the upper portion of the housing, the restoring force generating portion composed of the elastic means 70 in the lower portion, the permanent magnet 50 and the mass body provided between the compressive force generating portion 30 and the restoring force generating portion (80) and a ferromagnetic layer 51 provided on the upper and lower portions of the housing, respectively. Therefore, by repeatedly applying and removing voltage to the compressive force generation unit 30, the mass 80 vibrates, and the restoring force acts to increase the return response speed, thereby increasing the output by the magnetic force in the same direction as the compressive force. .

FIG. 13B illustrates a cross-sectional view of the vibration motor 120 using the polymer dielectric based high performance driver according to the second embodiment of the present invention. As shown in FIG. 13B, the vibration motor 120 according to the second exemplary embodiment of the present invention basically has a configuration similar to that of the tactile providing actuator 100 shown in FIG. 6, but instead of the contactor 40, a mass body ( 80). FIG. 13C is a cross-sectional view of the vibration motor 120 using the polymer dielectric-based high performance driver according to the third exemplary embodiment of the present invention except that the mass body 80 is provided instead of the contactor 40. The configuration and operation principle are the same as the tactile providing actuator 100 shown in FIG.

13D illustrates a cross-sectional view of the vibration motor 120 using the polymer dielectric-based high performance driver according to the fourth embodiment of the present invention. As shown in FIG. 13D, the vibration motor 120 according to the fourth embodiment of the present invention has an upper compression force generation unit 31 and a lower portion as compared with the vibration motor 120 according to the third embodiment shown in FIG. 13C. In the compressive force generation unit 32, the polymer dielectrics 1 are stacked in the horizontal direction, not in the vertical direction.

Therefore, when a voltage is applied to the upper compressive force generating unit 31, the upper compressive force generating unit 31 is tensioned in the vertical direction so that the mass 80 and the permanent magnet 50 are lowered, and the permanent magnet 50 and the housing lower plate The magnetic force between the ferromagnetic layer 51 provided in (22) is increased. Also, when the voltage applied to the upper compressive force generating unit 31 is removed and a voltage is applied to the lower compressive force generating unit 32, the lower compressive force generating unit 32 is stretched in the vertical direction so that the mass body 80 and the permanent magnet ( 50 is raised to the top, the magnetic force between the permanent magnet 50 and the ferromagnetic layer 51 provided on the housing upper plate 21 is increased.

Hereinafter, a method of operating the tactile feedback providing apparatus 110 to which the vibration motor 120 or the tactile providing actuator 100 using the polymer dielectric based high performance driver is applied will be described. The tactile feedback providing apparatus 110 according to an embodiment of the present invention is provided with the tactile feedback providing actuator 100 or the vibration motor 120 described above, in the electrode layer 2 of the actuator 100 or the vibration motor 120. And a controller for controlling the voltage period applied to the electrode layer 2 by controlling the voltage applying unit and the voltage applying unit for applying the voltage.

The control unit adjusts the voltage period of the resonant frequency pulse below the time resolution of the human touch, and controls the intensity and period of the tactile feedback. In other words, the temporal acuity of human touch corresponds to 5.5 ms. Therefore, even when several vibrational stimuli are transmitted within the time resolution of the human touch, one feels that one stimulus has come. However, when the vibration frequency increases within the time resolution of the human touch, that is, when a plurality of stimuli are applied, it is felt as one stimulus, but a large output is applied in proportion to the number of stimuli. Therefore, the controller can control the intensity of the stimulus by adjusting the resonance frequency below the time resolution.

14 is a resonance frequency (1 / T ₂ (T / T ₂ ) in the tactile feedback providing apparatus 110 to which the vibration motor 120 or the tactile feedback actuator 100 using the polymer dielectric based high performance driver according to the embodiment of the present invention is applied. ₂ = resonant cycle) and the stimulus cycle (T ₃ ). As shown in the left first of FIG. 14, when three stimuli are applied within the time resolution T ₁ of the human touch (that is, the resonance period T ₂ is 1/3 of the time resolution T ₁ of the human touch). Pear) A person feels a stimulus.

In addition, the controller may control the stimulation period (T ₃ ). That is, as shown in the left of the 14 second city, one time resolution (T1) to give three stimuli in the 1 to 2 seconds to stimulation period with the (T ₃₎ again From time resolution of the texture of the skin (T ₁ You can give three stimuli within). In addition, the controller may control the intensity of the stimulus. That is, as shown in the left third of FIG. 14, two stimuli within the time resolution T ₁ of the first human touch (resonance period T ₂ ) are 1 / time of the time resolution T ₁ of the human touch. 2x), constant stimulation period (T ₃₎ after the time resolution of the human skin again (T ₁₎ to give the four magnetic poles in the (resonance period (T ₂₎ 1/4 from the time resolution (T ₁₎ of the soft When a person feels twice, he feels he has received two stimuli but feels that the second stimulus is greater than the first. It is possible to control the resonant frequency in the time resolution (T ₁ ) of the human touch because the vibration motor 120 and the actuator 100 described above can have a fast response speed with a restoring force generating portion and a magnetic force generating portion. .

1: Polymer dielectric
2: electrode layer
3: Conventional polymer dielectric based actuator
4: frame
5: protective film
6: Conventional tactile display device
21: housing top plate
22: housing lower plate
30: compression generation unit
31: Upper compression force generation unit
32: lower compression force generation unit
33: lower substrate of the upper compression force generating portion
34: Upper substrate of the lower compression force generating portion
40: contactor
41: protrusion
42: Fixed Edition
50: permanent magnet
51: ferromagnetic layer
60: coil spring
70: elastic means
71: Spacer
72: bending edge
80: mass
100: Tactile Actuator
110: surface texture providing device
120: vibration motor
F _m : Magnetic force
F _e : Resilience
F _c : Compression force
T ₁ : Time resolution of human touch
T ₂ : resonance cycle
T ₃ : Stimulus cycle

Claims (21)

In the polymer dielectric based high performance driver,
A housing having flexibility;
A compressive force generating unit provided on the upper or lower portion of the housing and having a polymer dielectric that is stretched in a plane direction and compressed in a vertical direction by an applied voltage and an electrode layer provided on each of upper and lower surfaces of the polymer dielectric;
A restoring force generating unit generating a restoring force in response to the compressing force generated by the compressing force generating unit;
A permanent magnet provided between the compressive force generating unit and the restoring force generating unit; And
A polymer dielectric based high performance driver comprising a ferromagnetic layer provided on each of the upper plate and the lower plate of the housing.
The method of claim 1,
The compressive force generating unit is a polymer dielectric-based high performance driver, characterized in that provided with a plurality of stacked.
The method of claim 1,
The resilience generating unit
Is provided below or above the compression force generating unit,
Polymer dielectric-based high performance driver, characterized in that composed of an elastic member or a polymer dielectric.
delete In the tactile providing actuator using the polymer dielectric-based high performance driver of claim 1,
A hole formed in a central portion of the upper substrate of the housing provided in the driver and a central portion of the compressive force generating portion; And
A contactor coupled between the compressive force generating unit and the restoring force generating unit, the contactor repeatedly driving and protruding from the hole, when the voltage is applied to the polymer dielectric by the electrode layer. And the contactor is returned by the restoring force of the restoring force generation unit when the voltage application is removed.
In the surface texture display apparatus using a tactile feel providing actuator of claim 5,
A polymer dielectric provided on the upper or lower portion of the housing provided in the actuator and tensioned in a planar direction and compressed in a vertical direction by an applied voltage and a plurality of patterned electrode layers provided on each of the upper and lower surfaces of the polymer dielectric; Compression force generation unit having
And a patterned plurality of restoring force generating units provided in the housing and generating a restoring force in response to the compressive force generated by the compressive force generating unit.
In the vibration motor using a polymer dielectric-based high performance driver of claim 1,
Vibration motor using a polymer dielectric based high performance driver, characterized in that it comprises a mass body coupled between the compression force generating unit and the restoring force generating unit provided in the driver.
8. The method of claim 7,
The mass body is a vibration motor using a polymer dielectric-based tactile module, characterized in that at least one of tungsten, iron and SUS.
In the haptic feedback providing device,
The actuator of claim 5;
A voltage applying unit for applying a voltage to an electrode layer provided in the actuator; And
And a control unit controlling the voltage application unit to control the voltage period applied to the electrode layer.
In the haptic feedback providing device,
The vibration motor of claim 7;
A voltage applying unit for applying a voltage to the electrode layer provided in the vibration motor; And
And a control unit controlling the voltage application unit to control the voltage period applied to the electrode layer.

The method of claim 9,
The control unit controls the intensity and period of the haptic feedback by adjusting the voltage period of the resonant frequency pulse, the resonant frequency providing device, characterized in that the resonant frequency is less than the time resolution of the human touch.
In the polymer dielectric based high performance driver,
A housing having flexibility;
An upper compressive force generating unit provided below the upper plate of the housing and having a polymer dielectric that is stretched in a plane direction and compressed in a vertical direction by an applied voltage and an electrode layer provided on each of the upper and lower surfaces of the polymer dielectric;
A polymer dielectric coupled to a lower portion of the upper compressive force generating unit and tensioned in a plane direction and compressed in a vertical direction by an applied voltage, and an electrode layer provided on each of an upper surface and a lower surface of the polymer dielectric, and a lower surface of the housing A lower compressive force generating unit coupled to a lower plate; when a voltage is applied to the upper compressive force generating unit side, a restoring force is generated in the lower compressive force generating unit in response to the compressive force generated by the upper compressive force generating unit, and generates the lower compressive force. When the voltage is applied to the secondary side, the high-molecular dielectric-based high-performance driver, characterized in that the restoring force is generated in the upper compression force generating unit corresponding to the compression force generated in the lower compression force generating unit.
13. The method of claim 12,
At least one of the upper compressive force generating unit and the lower compressive force generating unit is a polymer dielectric based high-performance driver, characterized in that provided in a plurality stacked.
The method according to claim 1 or 12,
The polymer dielectric is a polymer dielectric based high performance driver, characterized in that the dielectric elastomer.
13. The method of claim 12,
A permanent magnet provided between the upper compressive force generating unit and the lower compressive force generating unit; And
Polymeric dielectric-based high performance driver further comprises a ferromagnetic layer provided on each of the upper substrate and the lower plate of the lower compression force generating unit.
16. The method according to claim 12 or 15,
The polymer dielectric-based high performance driver further comprises at least one elastic member inside the housing.
The actuator using the polymer dielectric-based high performance driver of claim 12 or 15,
A hole formed in the center of the upper plate of the housing and the upper compressive force generating unit of the housing; And
A contactor coupled between the upper compressive force generating unit and the lower compressive force generating unit and repeatedly driving the protrusion and the return in the hole, when the voltage is applied to the upper compressive force generating unit, the contactor protrudes upward. And a contactor is sunk when a voltage is applied to the lower compressive force generating unit.
18. The method of claim 17,
An actuator using a polymer dielectric-based high performance driver, characterized in that it further comprises at least one elastic member inside the housing.
In the vibration motor using the polymer dielectric-based high performance driver of claim 11,
Vibration motor using a polymer dielectric based tactile module, characterized in that it comprises a mass body coupled between the upper compression force generating unit and the lower compression force generating unit provided in the driver.
The actuator of claim 18;
A voltage applying unit applying a voltage to the electrode layer of the actuator; And
And a controller configured to control the voltage applying unit to adjust a voltage period applied to the electrode layer.
The control unit controls the intensity and period of the haptic feedback by adjusting the voltage period of the resonant frequency pulse, the resonant frequency providing device, characterized in that the resonant frequency is less than the time resolution of the human touch.
The vibration motor of claim 19;
A voltage applying unit applying a voltage to the electrode layer of the vibration motor; And
And a controller configured to control the voltage applying unit to adjust a voltage period applied to the electrode layer.
The control unit controls the intensity and period of the haptic feedback by adjusting the voltage period of the resonant frequency pulse, the resonant frequency providing device, characterized in that the resonant frequency is less than the time resolution of the human touch.

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