KR20110009800A - Stiffness generation apparatus utilizing vibration generation actuator, control method and haptic providing apparatus using the same - Google Patents

Abstract

PURPOSE: A stiffness generating apparatus utilizing a vibration generating actuator, a control method thereof and a device using the method are provided to realize various damping power and stiffness since little power is applied to a vibration generating actuator to control frictional force. CONSTITUTION: A stiffness generating apparatus(1) utilizing a vibration generating actuator comprises a housing(10), a piston(20), an elasticity supply unit and a vibration generating actuator(40). The housing forms a frame and its one side is open. The piston is inserted into the housing and is installed to be able to reciprocate in one direction. The elasticity supply unit is installed between the housing and the piston and transfers the elasticity to the piston. The vibration generating actuator is installed on one side of the housing and generates vibration. The vibration generating actuator controls the frictional force between the housing and the piston by the vibration.

Description

Stiffness Generation Apparatus Utilizing Vibration Generation Actuator, Control Method and Haptic Providing Apparatus Using the Same}

The present invention relates to a rigid implementation device using a vibration generating actuator, a control method thereof, and a device using the same. More specifically, the present invention relates to a vibration generating actuator based on a friction force between a housing and a piston that is resistant to external forces and an elastic force of an elastic providing means. The present invention relates to a stiffness realization apparatus using a vibration generating actuator capable of realizing various damping forces or stiffness by applying a small power, and a control method thereof and a device using the same.

Rigid implementation device is a device that generates resistance against external force and includes a damper, shock observer, etc. Such rigid implementation devices are being developed in various sizes ranging from several meters to several millimeters. In particular, in recent years, small stiffness implementation devices have been actively developed to provide haptic feedback to touch screens of portable terminals. Here, haptic is a tactile sensation that can be felt by a human's pinker tip (fingertip or stylus pen) when touching an object, and the tactile feedback that the skin touches the surface of the object and the joint and muscle It is a concept that encompasses kinesthetic force feedback that is felt when movement is disturbed. To implement such haptic feedback, mechatronics equipment using a motor and a link mechanism has been used. However, these mechanical rigidity implements are heavy, have complex link structures, are difficult to miniaturize, and are difficult to realize fast response speed due to inertia.

In order to overcome this problem, a rigid realization device using a magnetorheological or electrorheological fluid has been developed. However, such a rheological fluid has a disadvantage in that it is difficult to realize great rigidity due to the narrow area where viscosity increases in response to an electric or magnetic field. In addition, there is a disadvantage in that power consumption is severe because a strong electric or magnetic field is required to change the viscosity of a large amount of the entire rheological fluid.

Accordingly, the present invention has been made to solve the above problems, and an object of the present invention is to apply frictional force by applying a small power to the vibration generating actuator based on the friction force between the housing and the piston which is resistance to external force and the elastic force of the elastic providing means. The present invention provides a stiffness realization apparatus using a vibration generating actuator that can implement various damping forces or stiffness, a control method thereof, and a device using the same.

In addition, another object of the present invention is a vibration generating actuator that can be used in a variety of industrial fields, such as a haptic providing device for providing haptic feedback, a damper of a micro-moving object, a damper of the cell operating pedestal as it can be miniaturized due to a simple configuration It is to provide a stiffness implementation device, a control method and a device using the same.

Other objects, specific advantages and novel features of the invention will become apparent from the following detailed description and the preferred embodiments described in conjunction with the accompanying drawings.

Means for achieving the object of the present invention, the housing forming an appearance and one side open; A piston inserted into the housing and reciprocable in one direction; Elastic providing means provided between the housing and the piston to transmit elastic force to the piston; And a vibration generating actuator provided at one side of the housing to generate a vibration, wherein the damping force or the rigidity is controlled by adjusting a friction force between the housing and the piston by vibration.

In addition, when the vibration generating actuator is not operated, the frictional force between the housing and the piston is characterized in that the frictional force is more than a loose fit.

In addition, the inner wall of the housing and the outer wall of the piston in contact with the piston is characterized in that a plurality of projections for increasing the friction force is formed.

In addition, the housing and the piston is characterized in that the cross-sectional shape is circular, elliptical or polygonal.

In addition, hemispherical protrusions are further formed in the central region of the lower surface of the piston so that the piston is not inserted into the housing more than a predetermined depth.

In addition, the upper end of the piston is characterized in that the locking step is further formed along the outer periphery of the piston so that the piston is not inserted more than a predetermined depth into the housing.

In addition, the elastic providing means is characterized in that the spring.

In addition, the elastic providing means, the groove formed in the center region of the lower surface of the piston and the discharge hole penetrating through the outer side and the groove of the piston; An elastic membrane having elasticity provided at a lower end of the piston; And

And a working fluid provided in an area partitioned by the elastic membrane and the inner surface of the housing.

Further, when the vibration generating actuator is not operated, the elastic force of the elastic providing means is smaller than the friction force between the housing and the piston.

In addition, the vibration generating actuator is characterized in that the piezo actuator, solenoid actuator, electroactive polymer, rotary type vibration motor or linear type vibration motor.

In addition, the vibration generating actuator is characterized in that it comprises a plurality of vibration generating actuators along the outer peripheral surface of the housing at regular intervals.

In addition, the vibration generating actuator is characterized in that it operates at 500Hz to 100kHz.

In addition, the material of the housing is one of synthetic resin, metal or reinforced rubber and the material of the piston is characterized in that any one of synthetic resin, metal or reinforced rubber.

In addition, in another category of the present invention, a plurality of stiffness implementing devices using vibration generating actuators are provided, and a haptic providing device further includes a pressure sensor on an upper portion of the stiffness implementing device.

The pressure sensor may further include a touch pad or a flexible touch screen to provide haptic feedback to the user.

In addition, the control means for controlling the power provided to the vibration generating actuator of the rigid implementation device based on the output signal of the pressure sensor is characterized in that it further comprises.

In addition, another category of the present invention is characterized in that the ultra-compact moving body using a rigid implementation device using a vibration generating actuator as a damper.

In addition, the rigid implementation device using the vibration generating actuator is provided at the bottom, characterized in that the cell operating pedestal for culturing, physical property experiments or micromanipulation experiments of cells used as a damper.

In addition, in another category of the invention, the step of applying an external force to the piston; Vibrating the vibrating actuator by receiving power based on an external force; Generating a thin gap between the piston outer wall and the inner wall of the housing according to the vibration; The piston moves downward; And controlling a power source provided to the vibration generating actuator to suppress downward movement of the piston to express rigidity, which is a resistance to external force.

In addition, the step of vibrating the vibration generating actuator is supplied with the power based on the external force, the pressure sensor for sensing the strength of the external force; And controlling the power supply provided to the vibration generating actuator based on the strength of the external force sensed by the pressure sensor.

In addition, the resistance of the step of expressing the rigidity is characterized in that the friction force between the piston outer wall and the housing inner wall increased by controlling the vibration of the vibration generating actuator and the elastic force by the elastic providing means.

The method may further include controlling a restoration speed by controlling power to the vibration generating actuator so that the piston is restored to the initial position.

According to the present invention, various damping forces or stiffnesses can be realized by adjusting a frictional force by applying a small power to the vibration generating actuator based on the frictional force between the housing and the piston which is resistance to external force and the elastic force of the elastic providing means.

In addition, due to the simple configuration can be miniaturized there is an effect that can be used in a variety of industries. In particular, it can be used as a haptic providing device that provides a variety of haptic feedback with a suitable control means, as well as can be utilized as a damper of the micro mobile unit and the cell manipulation support.

<Configuration of Rigid Implementation Device>

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the configuration of the rigid implementation device 1 using a vibration generating actuator according to a preferred embodiment of the present invention. First, Figure 1 is an exploded perspective view of the rigid implementation device according to the present invention, Figure 2 is a combined perspective view of the rigid implementation device according to the invention, Figure 3a is a sectional view taken along the line A-A 'of FIG. As shown in Figures 1, 2 and 3a, the rigid implementation device 1 according to the present invention is roughly the housing 10, the piston 20, the elastic providing means 30 and the vibration generating actuator 40, etc. It is made, including.

The housing 10 is an appearance forming the body of the rigid implementation device 1 according to the present invention, the upper portion of the open shape is formed therein to accommodate the piston 20 and the elastic providing means 30 therein. . The housing 10 may be modified in a variety of shapes and sizes, such as circular, oval or polygonal cross section. However, in the embodiment of the present invention, such a housing 10 is manufactured in a small size of 5 mm x 5 mm x 5 mm or less. On the other hand, the material of the housing 10 is made of elastic synthetic resin or metal.

The piston 20 is a member to which external force is directly applied, and is inserted into the housing 10 to reciprocate in one direction. This piston 20 may be modified in the shape of a cylinder or other polyhedron. However, the piston 20 is of a size that can be inserted in close contact with the inner surface of the housing 10, it is formed to correspond to the cross-sectional shape of the housing 10. Then, a protruding jaw (not shown) is formed along the lower outer circumferential surface of the piston 20, and an anti-separation jaw (not shown) is formed along the inner circumferential surface of the upper end of the housing 10 which is inscribed therewith. This prevents the piston 20 from being separated from the housing 10.

On the other hand, when the piston 20 is reciprocated up and down by the external force due to the characteristics of the rigid implementation device 1 according to the present invention and operating in a compact size, the housing 10 and the piston 20 in contact with each other The generated frictional force acts as a major resistance to external forces. That is, the stiffness, which is a resistance to external force, is realized by adjusting the frictional force.

Therefore, the piston 20 is coupled to the housing 10 more than a loose fit so that the friction force can act between the housing 10 and the piston 20 even when the vibration generating actuator 40 which will be described later does not operate. . At this time, "a loose fitting abnormality" includes an intermediate fitting and an interference fit. This fitting can be selected according to the purpose and use of the rigid implementation device 1.

And the material of the piston 20 may be the same material as the housing 10 described above. However, it is preferable to use the reinforcement rubber to increase the aforementioned frictional force. On the other hand, the material of the housing 10 may be made of reinforced rubber, and the material of the piston 20 may be made of synthetic resin or metal, and the housing 10 and the piston 20 may be manufactured through various combinations of these materials. have.

The fitting method and the material of the piston 20 are related to the static friction force between the housing 10 and the piston 20, and whether to implement a soft haptic feedback or a hard feeling haptic feedback which will be described in the following control method. It depends on.

In addition, a plurality of protrusions (not shown) may be formed on the inner wall of the housing 10 and the outer wall of the piston 20 in which the housing 10 and the piston 20 are in contact with each other. These protrusions are formed in a fine size so that the reciprocating movement of the piston 20 can be made smoothly, it is preferable to arrange at regular intervals.

On the other hand, the piston 20 can be selectively applied to the configuration shown in Figure 3b in order to prevent damage and failure of the rigid implementation device 1 according to the present invention due to the action of excessive external force.

3B is a cross-sectional view of the rigid implementation device in which a hemispherical protrusion is formed on a lower surface of a piston and a locking jaw is formed on an outer circumference thereof. As shown in FIG. 3B, first, a hemispherical protrusion 22 is formed in the central region of the lower surface of the piston 20 so that the piston 20 is not inserted into the housing 10 more than a predetermined depth. For this reason, breakage and failure of the rigid implementation apparatus 1 of this invention can be prevented.

In addition, secondly, the upper end of the piston 20 can achieve the same purpose as the above-described protrusion 22 by forming a locking step 24 along the outer periphery of the piston 20.

The elastic providing means 30 is to transmit the elastic force to the piston 20, it is provided between the housing 10 and the piston 20. The elastic providing means 30 may be any method as long as it can provide elastic force to the piston 20. However, in the embodiment of the present invention, two ways of providing elastic force to the piston 20 will be described with reference to FIGS. 3A and 3C.

The first elastic providing means 30 uses a spring 32 to provide elastic force to the piston 20, as shown in Figure 3a. In this case, the spring 32 is accommodated in the housing 10 so that one end is in contact with the lower inner surface of the housing 10 and the other end of the spring 32 is in contact with the bottom surface of the piston 20. The elastic force of the spring 32 may be formed to have a smaller force than the friction force between the housing 10 and the piston 20. That is, in this case, the piston 20 to which the external force is applied cannot be returned to the initial position by the elastic force of the spring 32, and the piston 20 is initially initialized only by reducing the frictional force caused by the vibration of the vibration generating actuator 40 which will be described later. Return to position

However, depending on the purpose and use of the rigid implementation device 1, the elastic force of the spring 32 is greater than the friction force between the housing 10 and the piston 20 when the vibration generating actuator 40, which will be described later, is not operated. It can be formed to have power. That is, in this case, the piston 20 to which the external force is applied may return to the initial position by the elastic force of the spring 32 regardless of the vibration of the vibration generating actuator 40. However, the initial position return speed of the piston 20 may be adjusted through the vibration of the vibration generating actuator 40.

3C is a cross-sectional view of the rigid implementation device when the elastic providing means is composed of an elastic membrane and a working fluid. As shown in FIG. 3C, the second elastic providing means 30 includes a groove 34 and an outlet hole 35, an elastic membrane 36, and a working fluid 38 formed in the piston 20.

Here, the groove 34 is used as a space for receiving air when the piston 20 is in the initial position, and when the piston 20 moves downward, the groove 34 receives the working fluid 38 that is pushed out as much as the piston 20 moves. Used as a space. The groove 34 is formed in the central region of the bottom surface of the piston 10. In this case, the groove 34 may be formed in various shapes. However, the piston 20 is preferably formed in a hemispherical shape that can reduce the resistance of the working fluid 38 when moving downward. And because the size of the groove 34 is configured to determine the falling depth of the piston 20 can be changed according to the purpose and use of the rigid implementation device (1).

And the discharge hole 35 is a configuration for discharging the air contained in the area where the groove 34 provided in the piston 10 is located on the basis of the elastic membrane 36 to be described later, the outside of the piston 10 And penetrates through the groove 34. The discharge hole 35 is formed to a size that the air accommodated in the groove 34 can flow in and out smoothly.

The elastic membrane 36 provides elastic force directly to the working fluid 38 flowing into the groove 34 by the volume of the piston 20 invaded in accordance with the downward movement of the piston 20. It is provided. At this time, the elastic film 36 may be used as a thin and tough polymer or rubber, silicon produced by the MEMS process.

The working fluid 38 is accommodated in a space partitioned by the elastic membrane 36 and the inner surface of the housing 10 and flows along one-way reciprocation of the piston 20, and uses an incompressible hydraulic oil.

The above-described two types of elastic providing means 30 can be mixed so as to provide elastic force to the piston 20. In addition to the elastic means means 30 according to an embodiment of the present invention can be transmitted to the piston 20 in various ways.

The vibration generating actuator 40 is a device for generating left and right vibrations according to an applied voltage. As shown in FIGS. 2 and 3A, the vibration generating actuator 40 is provided on an outer circumferential surface of one side of the housing 10. The vibration generating actuator 40 for generating vibrations is manufactured and marketed in various ways and shapes. In the embodiment of the present invention, four piezo actuators manufactured in a small plate shape are provided along the outer circumferential surface of the housing 10. do.

However, any type of device can be used as long as it is a small device capable of generating vibration. For example, a solenoid actuator, an electroactive polymer, a rotary vibration motor or a linear vibration motor may also be used as the vibration generating actuator 40 of the rigid implementation device according to the present invention.

In this case, the vibration generating actuator 40 may be a plurality of vibration generating actuator 40 according to the shape of the housing 10, the purpose and use of the rigid implementation device. However, it is preferable to provide two to six vibration generating actuators 40 along the outer circumferential surface of the housing 10 at regular intervals. This is because one vibration generating actuator 40 can not be expected to reduce the friction between the housing 10 and the piston 20 due to vibration. In addition, the use of more than six vibration generating actuators 40 is contrary to the object of the present invention to implement a compact, low-power rigid implementation device 1 of simple configuration, because the wiring becomes complicated.

A terminal for receiving power may be connected to an external power source and a wire at the bottom of the vibration generating actuator 40. However, in the embodiment of the present invention, the terminal pin 42 is provided at the bottom of the vibration generating actuator 40 to receive power. The vibration generating actuator 40 composed of the terminal pins 42 can be easily supplied with power even when a plurality of rigidity implementing apparatuses 1 according to the present invention are used. have. In addition, this can solve the problem of complicated wiring.

On the other hand, the vibration generating actuator 40 used in the embodiment according to the present invention uses a power source that can operate at a frequency of 100kHz through the control of the power supply at 0Hz when the power is not vibrated. Here, the vibration generating actuator 40 is a lower limit of the frequency of 500Hz than the frequency of about 250Hz that the general person can feel the vibration as a lower limit, when operating at a frequency of 100kHz upper limit, the general person can feel such vibration. There will be no. In addition, since the rigid implementation device 1 according to the present invention is made compact, ordinary people can not feel the vibration more.

On the other hand, as the operating frequency of the vibration generating actuator 40 provided on the outer circumferential surface of the housing 10 increases, the clearance between the housing 10 and the piston 20 is smoothly formed, and the friction force gradually decreases. In this way, the reduction of the frictional force according to the increase in the frequency is the maximum when the vibration generating actuator 40 operates at a frequency of 20kHz to 40kHz. When operating at a frequency of 40 kHz to 100 kHz, the gap between the housing 10 and the piston 20 is not smoothly formed, and the friction force gradually increases again. In other words, the functional relationship between the operating frequency (X-axis) and the frictional force (Y-axis) of the vibration generating actuator 40 is represented in the form of a gentle parabolic in which the frictional force is minimal in the frequency range of 20 kHz to 40 kHz. Is expressed.

Therefore, the operating frequency of the vibration generating actuator 40 according to the present invention is the lower limit of the frequency of 500Hz that the general person can not feel the vibration, and the frequency of 100kHz that can implement the low power consumption of the efficient rigidity implementing apparatus 1 It is preferable to set to an upper limit.

Since the rigid implementation device 1 according to the present invention having such a configuration can be miniaturized because of its simple configuration, the rigid implementation device 1 can be used as a device for providing various haptic feedbacks and can also be used as a damper for a micro moving object and a cell manipulation pedestal. Therefore, hereinafter will be described a case utilized in the haptic providing device and other devices.

< Haptic provision device  And other devices>

Hereinafter, a haptic providing device and other devices using the rigidity implementing device 1 according to the present invention will be described with reference to the drawings shown in FIGS. 4 to 8. First, FIG. 4 is an exploded perspective view of a hap tip providing device using a rigid implementation device according to the present invention, FIG. 5 is a perspective view of the haptic providing device of FIG. 4 used in a notebook, and FIG. 6 is a haptic providing device of FIG. Figure 7 is a perspective view of the case used in the mobile phone, Figure 7 is a perspective view of the ultra-compact mobile body using the rigid implementation device according to the present invention, Figure 8 is a perspective view of a cell operating pedestal using the rigid implementation device according to the present invention.

As shown in FIG. 4, the haptic providing apparatus according to the present invention includes approximately a plurality of rigidity implementing apparatuses 1, a pressure sensor 100, a control means (not shown), and the like. Here, the plurality of rigid implementations 1 are fixed to the circuit board 600 on which the wires are printed. At this time, the rigid implementation device 1 is replaced with the above description, and will be described below with reference to other configurations.

The pressure sensor 100 is a member that detects a distribution state and magnitude of an external force applied to each part by using an electrical signal generated by a compressive or elongated deformation when an external force is applied. That is, it generates an electrical output signal changed in proportion to the strength of the external force. The pressure sensor 100 is provided on the upper portion of the rigid implementation device (1) provided in plurality. At this time, the pressure sensor 100 used in the present invention may be used a variety of pressure sensors such as an electronic pressure sensor, a semiconductor pressure sensor or an optical fiber pressure sensor made of a thin film.

The control means (not shown) controls the power supplied to the vibration generating actuator 40 of the rigidity implementing apparatus 1. The control means controlling the power means that the intensity of the power (current or voltage) is applied, It means to control the time, period (electrode reversal). At this time, the control means is preferably driven in accordance with the external force sensing output signal detected through the pressure sensor (100). Through this, the control means can select how much power to apply to the vibration generating actuator 40 of which rigid implementation device (1) of the plurality of rigid implementation device (1) provided. On the other hand, if there are two or more selected rigidity implementing apparatuses 1, power control of each rigidity implementing apparatus 1 may be made independently.

Therefore, the position and magnitude of the external force are sensed through the pressure sensor 100 provided in the haptic providing device according to the present invention, and the control means (not shown) is provided at a position to which the external force is applied according to the position and magnitude of the detected external force. Vibration may be controlled by applying an appropriate power source to the vibration generating actuators 40 of the respective rigid implementation devices 1. As a result, various haptic feedbacks may be provided according to external force.

As shown in FIG. 5, when the haptic providing device according to the present invention is used in the notebook 4 or the like, the touch pad 200 may be further provided on the upper portion thereof. Here, the touch pad 200 refers to an input device replacing a mouse with a small flat plate on which a pressure sensor is attached. Through this configuration, various haptic feedbacks may be provided to the notebook 4 touch pad 200.

As shown in FIG. 6, when the haptic providing device according to the present invention is used in a mobile terminal such as a mobile phone 6 PDA terminal or a navigation device, a flexible touch screen 300 may be further provided on the upper portion thereof. The touch screen 300 refers to a device having a transparent touch pad 200 in which infrared rays flow in a lattice form on a flexible display that is an image display device. Through such a configuration, various haptic feedbacks can be provided to a mobile terminal such as the mobile phone 6.

In order to provide various haptic feedback to the notebook 4 or the mobile phone 6 shown in FIGS. 5 and 6, the aforementioned control means (not shown) are provided to the vibration generating actuator 300 of the rigidity implementing apparatus 1. Control the power.

As shown in FIG. 7, the rigidity implementing apparatus 1 according to the present invention may be manufactured in a very small size due to a simple configuration, and thus may be used as a damper of the micro moving object 400. Here, the micro mobile unit 400 refers to a micro robot, a micro radio control (RC) vehicle, or the like. In this case, the stiffness implementation 1 having the pressure sensor 100 at the top may be used as a damper having various stiffnesses according to external forces through the control means.

As shown in FIG. 8, the rigid implementation device 1 according to the present invention may be manufactured in a very small size due to a simple configuration, and thus may be used as a lower damper of the cell manipulation pedestal 500. Here, the cell manipulation pedestal 500 refers to a pedestal for culturing cells, drug treatment of cells, physical property experiments of cells, micro manipulation of cells, and the like. Such cell manipulation involves the handling of cells 504 that can be destroyed in small impacts, as well as the use of microscopic cell manipulation tools 502. Therefore, in order to prevent destruction of the cell manipulation tool and cells, the cell manipulation pedestal 500 is made of soft synthetic resin, and a plurality of stiffness implementing apparatuses 1 implemented in the ultra-miniature according to the present invention are provided under the cell manipulation pedestal 500. It can be used as a damper.

<Control method>

Hereinafter, a method of controlling the rigidity implementing apparatus 1 according to the present invention will be described with reference to the drawings illustrated in FIGS. 9 to 10C. Figure 9 is a flow chart according to the control method of the stiffness implementation device according to the present invention, Figure 10a is a cross-sectional view of the external force acting on the stiffness implementation device according to the present invention, Figure 10b is an external force to the stiffness implementation device according to the present invention. This is a cross-sectional view when the piston moves downward by this action, Figure 10c is a cross-sectional view when the external force is removed in the rigid implementation device according to the present invention. Hereinafter, the overall control method by the control means (not shown) will be described based on the rigidity implementing apparatus 1 shown in FIG. 3A for convenience of description.

First, as shown in FIGS. 9 and 10A, an external force in a vertical direction is applied to the piston 20 of the rigid implementation device 1. The resistance against this external force is the static friction force in the region where the housing 10 and the piston 20 contact and the elastic force of the spring 32. At this time, in the region in which the housing 10 and the piston 20 are in contact with each other, the static friction force of various sizes is acted upon according to the above-described fitting method and the materials of the housing 10 and the piston 20.

On the other hand, if the external force exceeds the combined force of the static friction force and the elastic force does not act, the piston 20 does not move, but when the excess external force acts, the piston 20 moves downward (S100).

Next, the vibration generating actuator 40 is supplied with power and vibrates based on the external force. Here, the sensing of the external force and thus the vibration of the vibration generating actuator 40 is made immediately. At this time, the sensing of the external force may be used a variety of measuring devices capable of measuring the strength of the force. However, the control method according to the present invention uses the above-described pressure sensor 100 (S200).

When an external force is applied to the rigid implementation device 1 provided with the pressure sensor 100, the pressure sensor 100 detects the strength of the external force (S210). The output signal of the detected external force is immediately transmitted to the control means (not shown), and the control means (not shown) controls the power provided to the vibration generating actuator 40 accordingly (S220).

Next, a thin gap is generated between the outer wall of the piston 20 and the inner wall of the housing 10 according to the vibration of the vibration generating actuator 40 supplied by the control means. The formation of such a gap reduces the friction force between the outer wall of the piston 20 and the inner wall of the housing 10. At this time, as the frequency of the vibration generating actuator 40 increases to a predetermined level (20 kHz to 40 kHz) as described above, the friction force is reduced. Decreases.

Here, the initial frequency when the vibration generating actuator 40 starts vibration based on the strength of the external force sensed by the pressure sensor 100 is set and controlled by the control means. The friction force is adjusted through the setting and control of the initial frequency, thereby providing various haptic feedback.

For example, in order to provide the user with a smooth haptic feedback when the external force is applied to the rigidity implementing apparatus 1 according to the present invention, the rigidity implementing apparatus 1 should be operated in a state in which the frictional force is basically small. Therefore, the initial frequency based on the strength of the external force can be set to approximately 20 kHz to 40 kHz, which is a section in which the frictional force is minimum. However, since the haptic feedback is provided based on the strength of the external force, if the strength of the external force is large, a frequency of about 20 kHz or about 40 kHz having a large frictional force in the corresponding section is set as an initial frequency to correspond to the external force. When the strength of the external force is small, a frequency of about 30 kHz at which the frictional force is minimized to the median value of the section may be set as the initial frequency. By setting the initial frequency within the range of 20kHz to 40kHz in this way it is possible to provide the user with a smooth haptic feedback corresponding to the external force.

In order to provide the haptic feedback with a hard feeling to the user, the rigidity implementing apparatus 1 should be basically operated under a large frictional force. Therefore, the initial frequency based on the strength of the external force can be set to approximately 500 Hz to 20 kHz or 40 kHz to 100 kHz, which is a section other than the section where the frictional force is minimum. Alternatively, if necessary, the vibration generating actuator 40 may not be operated (0 Hz). Since the haptic feedback of the hard feeling also operates based on the external force, it can be applied in the same manner as described in the aforementioned soft feeling of the haptic feedback. That is, if the strength of the external force is large, in order to cope with such external force, the frequency of about 500 kHz or about 100 kHz having a large frictional force in the corresponding section is set as an initial frequency or the vibration generating actuator 40 may not be operated as necessary. Can be (0 Hz). When the strength of the external force is small, a frequency of about 20 kHz or about 40 kHz may be set as an initial frequency. By setting the initial frequency, it is possible to provide the user with a haptic feedback having a hard feeling corresponding to the external force.

The specific value of the initial frequency described in the embodiment of the present invention can be variously modified according to the device, the purpose of use, and the use of the haptic feedback (S300).

Next, as shown in FIG. 10B, when the external force exceeds the frictional force and the elastic force of the spring 32, the piston 20 moves downward. At this time, in order to control the downward movement of the piston 20, the control means may change the initial frequency of the vibration generating actuator 40 (S400).

Next, the control means controls the power provided to the vibration generating actuator 40 in order to suppress the downward movement of the piston 20 to express the rigidity which is resistance to external force. This stiffness expression consists of an increase in the elastic force of the spring 32 according to the downward movement of the piston 20 and an increase in friction between the piston 20 and the housing 10 through the control means. At this time, the frictional force is increased by changing the initial frequency of the vibration generating actuator 40 to a frequency of about 500 kHz or about 100 kHz by the control means or not supplying power to the vibration generating actuator 40 as needed (0 Hz). It may be made (S500).

Finally, as shown in FIG. 10C, the restoration speed is adjusted by controlling power to the vibration generating actuator 40 so that the piston 20 is restored to the initial position. The restoration speed adjustment of the piston 20 is made by adding or subtracting frictional force by changing the frequency of the vibration generating actuator 40 through the control means under the action of the elastic force of the spring (32). At this time, if the elastic force of the elastic providing means 30 is greater than the static friction between the housing 10 and the piston 20, the piston 20 irrespective of the addition or subtraction of the frictional force due to the vibration of the vibration generating actuator 40 Will be returned. However, the initial position restoring speed of the piston 20 can be increased by reducing the frictional force caused by the vibration of the vibration generating actuator 40.

On the other hand, when the vibration generating actuator 40 does not operate, if the elastic force of the elastic providing means 30 is smaller than the static friction force between the housing 10 and the piston 20, the vibration of the vibration generating actuator 40 It is possible to return to the initial position of the piston 20 only through the reduction of the frictional force. That is, the control means is responsible for stopping and releasing the stop of the piston 20. The haptic feedback capable of stopping and halting the piston 20 may be applied to an operation button (eg, an MP 3 play button, an MP 3 stop button, etc.) on the flexible touch screen 300 (S600).

The plurality of rigidity implementing apparatuses 1 controlled through these steps may be used in the haptic providing apparatus to provide haptic feedback, and may also be used as a damper by being used in a micro movable body or a cell manipulation pedestal. Hereinafter, a control method for allowing a user to feel a button click through a control means (not shown) will be described in detail with reference to the above-described overall control method.

(If you're implementing button clicks)

In order to implement a button click through the rigid implementation device 1 according to the present invention, the control means (not shown) classifies and controls the resistance to external force applied to the piston 20 in three stages. First, in the first stage, the resistance increases while the piston 20 moves downward to the first stage depth. In this way, the first step of increasing the resistance according to the movement of the piston 20 can be made sufficiently by increasing the elastic force of the spring 32 according to the downward movement of the piston 20 without adjusting the frictional force. Therefore, the control means may maintain the initial frequency of the aforementioned vibration generating actuator 40 while performing the first step. However, the control means may be controlled to change to a frequency in which the frictional force is increased than the initial frequency set to increase the resistance by increasing the frictional force.

 And in the second stage, while the piston 20 moves downward from the depth of the first stage to the depth of the second stage, the resistive force is kept constant at a significantly smaller magnitude than the resistive force acting at the first stage depth. To this end, the control means, for example, by changing the frequency of the vibration generating actuator 40 to approximately 30kHz to minimize the frictional force to reduce the overall resistance. In order to maintain a constant resistance force, however, the elastic force of the spring 32 increased as the piston 20 moves downward. Therefore, it is preferable that the control means maintains a constant resistance by controlling the frequency of the vibration generating actuator 40 to control the friction force to gradually decrease as the piston 20 moves downward.

Finally, the third stage causes a sharply increased resistance to occur when the piston 20 moves downward beyond the depth of the second stage. To this end, the control means significantly reduces or eliminates the power applied to the vibration generating actuator 40. Accordingly, the friction force between the piston 20 and the housing 10 and the elastic force by the spring 32 become maximum, so that the resistance force also becomes maximum. Through this three-step process, the user can feel a button click.

As described above, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features. It is therefore to be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meanings and equivalent concepts of the claims should be construed as being included in the scope of the present invention.

The following drawings, which are attached in this specification, illustrate the preferred embodiments of the present invention, and together with the detailed description thereof, serve to further understand the technical spirit of the present invention, and therefore, the present invention is limited only to the matters described in the drawings. It should not be interpreted.

1 is an exploded perspective view of a rigid implementation device according to the present invention.

2 is a perspective view of the rigid implementation device according to the present invention.

3A is a sectional view taken along the line A-A 'in FIG.

Figure 3b is a cross-sectional view of the rigid implementation device is formed in the hemispherical projections on the lower surface of the piston and the locking jaw formed on the outer circumference.

3C is a cross-sectional view of the rigid implementation device when the elastic providing means is made of an elastic membrane and a working fluid.

Figure 4 is an exploded perspective view of the hap tip providing device using a rigid implementation device according to the present invention.

5 is a perspective view when the haptic providing device of FIG. 4 is used in a notebook.

FIG. 6 is a perspective view of a case where the haptic providing device of FIG. 4 is used in a mobile phone. FIG.

Figure 7 is a perspective view of a micro moving object using a rigid implementation device according to the present invention.

8 is a perspective view of a cell manipulation pedestal using the rigid implementation device according to the present invention.

9 is a flow chart according to the control method of the stiffness implementation apparatus according to the present invention.

10A is a cross-sectional view of the external force acting on the rigid implementation device according to the present invention.

Figure 10b is a cross-sectional view when the piston moves downwards by the external force acting on the rigid implementation device according to the present invention.

Figure 10c is a cross-sectional view of the external force is removed in the rigid implementation apparatus according to the present invention.

<Explanation of symbols for the main parts of the drawings>

1: Rigid implementation using vibration generating actuator

2: finger 4: notebook

6: cell phone 10: housing

20: piston 22: projection

24: locking step 30: elastic providing means

32: spring 34: groove

35: discharge hole 36: elastic membrane

38: working fluid 40: vibration generating actuator

42: terminal pin 100: pressure sensor

200: touch pad 300: flexible touch screen

400: ultra-compact mobile 500: cell manipulation support

502: cell manipulation tool 504: cell

600: substrate

Claims (22)

A housing that forms an exterior and is open on one surface; A piston inserted into the housing and reciprocable in one direction; Elastic providing means provided between the housing and the piston to transmit an elastic force to the piston; And It includes; a vibration generating actuator provided on one side of the housing for generating a vibration, Rigid implementation device using a vibration generating actuator, characterized in that for controlling the damping force to the rigidity by adjusting the friction force between the housing and the piston by the vibration. The method of claim 1, When the vibration generating actuator does not operate, The friction force between the housing and the piston is a stiffness implementing device using a vibration generating actuator, characterized in that the friction force is more than a loose fit. The method of claim 1, Rigid implementation device using a vibration generating actuator, characterized in that a plurality of projections for increasing the friction force is formed on the inner wall of the housing and the outer wall of the piston in contact with the housing. The method of claim 1, The housing and the piston is a rigid implementation device using a vibration generating actuator, characterized in that the cross-sectional shape of the circular, oval or polygonal. The method of claim 1, And a hemispherical protrusion is further formed in the central region of the lower surface of the piston so that the piston is not inserted into the housing more than a predetermined depth. The method of claim 1, The upper end of the piston is rigid implementation device using a vibration generating actuator, characterized in that the locking jaw further formed along the outer periphery of the piston so that the piston is not inserted into the housing more than a predetermined depth. The method of claim 1, The elastic provision means is a rigid implementation device using a vibration generating actuator, characterized in that the spring. The method of claim 1, The elastic providing means, A groove formed in the center area of the lower surface of the piston and a discharge hole penetrating through the outer side of the piston and the groove; An elastic membrane having elasticity provided at a lower end of the piston; And And a working fluid provided in a region partitioned by the elastic membrane and the inner surface of the housing. The method of claim 1, When the vibration generating actuator does not operate, The elastic force of the elastic providing means is rigid implementation device using a vibration generating actuator, characterized in that less than the friction between the housing and the piston. The method of claim 1, The vibration generating actuator is a piezo actuator, a solenoid actuator, an electroactive polymer, a rotary vibration motor or a linear vibration motor, characterized in that the rigid actuator using a vibration generating actuator. The method of claim 1, The vibration generating actuator is a rigid implementation device using a vibration generating actuator, characterized in that provided with a plurality of vibration generating actuators along the outer peripheral surface of the housing at regular intervals. The method of claim 1, The vibration generating actuator is a rigid implementation device using a vibration generating actuator, characterized in that vibrating at a frequency of 500Hz to 100kHz. The method of claim 1, The material of the housing is any one of synthetic resin, metal or reinforced rubber and the material of the piston is a rigid implementation device using a vibration generating actuator, characterized in that any one of synthetic resin, metal or reinforced rubber. 14. A stiffness implementing device using a vibration generating actuator according to any one of claims 1 to 13 is provided, The haptic providing device, characterized in that the pressure sensor is further provided on the top of the rigid implementation. The method of claim 14, The haptic providing device, characterized in that the upper portion of the pressure sensor is further provided with a touch pad or a flexible touch screen to provide haptic feedback to the user. The method of claim 15, And haptic control means for controlling the power provided to the vibration generating actuator of the rigid implementation device based on the output signal of the pressure sensor. The ultra-compact moving body using the rigidity implement apparatus using the vibration generating actuator in any one of Claims 1-13 as a damper. 14. A cell manipulation pedestal for culturing, physical property experiments or micromanipulation experiments, characterized in that it is provided as a damper with a rigid implement device using the vibration generating actuator according to any one of claims 1 to 13. External force is applied to the piston; Vibrating the vibrating actuator by receiving power based on the external force; Generating a thin gap between the piston outer wall and the inner wall of the housing according to the vibration; Moving the piston downward; And Control means to control the power provided to the vibration generating actuator to suppress the downward movement of the piston to express the rigidity which is a resistance to the external force; rigidity implementation using a vibration generating actuator, characterized in that consisting of Control method of the device. The method of claim 19, The vibration generating actuator is supplied with power based on the external force to vibrate, Sensing a strength of the external force by a pressure sensor; And And controlling the power supplied to the vibration generating actuator based on the strength of the external force sensed by the pressure sensor. The method of claim 19, The resistance of the step of expressing the rigidity, And a frictional force between the piston outer wall and the inner wall of the housing, which are increased by controlling the vibration of the vibration generating actuator, and an elastic force by an elastic providing means. The method of claim 19, And adjusting a restoration speed by controlling a power provided to the vibration generating actuator so that the piston is restored to an initial position. 2. The control method of the rigidity implementing device using the vibration generating actuator further comprising: a.

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