WO2022101248A1 - Aktoreinheit und verfahren zur erzeugung eines verstärkten haptischen signals - Google Patents
Aktoreinheit und verfahren zur erzeugung eines verstärkten haptischen signals Download PDFInfo
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- WO2022101248A1 WO2022101248A1 PCT/EP2021/081198 EP2021081198W WO2022101248A1 WO 2022101248 A1 WO2022101248 A1 WO 2022101248A1 EP 2021081198 W EP2021081198 W EP 2021081198W WO 2022101248 A1 WO2022101248 A1 WO 2022101248A1
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- WIPO (PCT)
- Prior art keywords
- actuator
- piezoelectric actuator
- longitudinal direction
- piezoelectric
- actuator unit
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 8
- 230000008859 change Effects 0.000 claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims description 50
- 239000002184 metal Substances 0.000 claims description 16
- 239000000919 ceramic Substances 0.000 claims description 7
- 230000000284 resting effect Effects 0.000 claims description 5
- 229920000642 polymer Polymers 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000005452 bending Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
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- 230000008901 benefit Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
- B06B1/0644—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction using a single piezoelectric element
- B06B1/0648—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction using a single piezoelectric element of rectangular shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B3/00—Methods or apparatus specially adapted for transmitting mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
- G06F3/03545—Pens or stylus
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0414—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position
Definitions
- the present invention relates to an actuator unit and a method for generating an amplified haptic signal.
- piezoelectric actuators are used to generate the haptic signal.
- DE 10 2017 208 238 A1 also discloses an operating element in which a piezoelectric actuator is installed.
- the piezoelectric actuator comprises a carrier element on which piezoelectric elements are surface-mounted.
- the piezoelectric actuator generates a haptic signal for a touchscreen of a display device.
- a mechanical lever is provided to amplify the haptic signal, which converts the change in expansion of the piezoelectric element into a larger change in expansion of the actuator. The changes in expansion of the element and the actuator run in the same direction.
- EP 3 214 526 A1 also discloses a display device with a touch screen, including haptic piezo sensors and actuators .
- the power of the haptic signal from the piezo actuator can be amplified using a lever mechanism.
- US 2016/0027263 A1 discloses another mechanism for amplifying a haptic signal for a touchscreen of a display device.
- the signal of a piezoelectric actuator for example, is amplified by a lever mechanism by a factor of 2:1 to a maximum of 5:1.
- US 2004/0119377 A1 discloses a piezoelectric actuator which consists, for example, of a large number of piezo disks stacked on top of one another.
- the actuator can expand along a longitudinal direction by applying an electrical voltage.
- the actuator acts with its end face on a transmission element. A short deflection of the actuator is converted to a desired longer deflection of an actuator by means of the transmission element.
- US Pat. No. 7,225,790 B2 also discloses a piezoelectric actuator to be used as an actuator in a valve.
- the valve lift is mechanically increased in relation to the deflection of the actuator via a lever mechanism.
- US 2006/0033405 A1 relates to a device for transmitting a deflection of a piezoelectric actuator of an injection valve.
- the device comprises a lever device, which has a first and a second transmission element, which transmit the deflection of the actuator to a valve actuator. Furthermore, spring elements for guiding and mounting the first transmission element are disclosed.
- WO 2004/076848 A1 discloses another piezoelectric actuator, in particular for use as a An actuator in a valve where the valve lift is amplified by a mechanical lever mechanism.
- DE 10 2018 120 760 A1 discloses a pen-shaped input and output device that has an actuator unit that includes a piezoelectric actuator.
- the application also relates to a method for generating a haptic signal from the input and output device.
- US 2016/0282970 A1 relates to a further haptic pen having an input pen tip in order to be in contact with a touch screen.
- the pen further includes a first actuator configured to cause a stick-slip phenomenon between a pen cover and the user's fingers holding the pen cover.
- a further object is to specify an advantageous method for generating a haptic signal with such an input and/or output device.
- the object is achieved by the actuator unit according to claim 1 and by a pen-shaped input and/or output device and a method according to the further independent claims.
- the pen-shaped input and/or output device is also referred to below as a pen or as a device.
- an actuator unit which is designed to generate a haptic signal.
- the actuator unit has a piezoelectric actuator which is designed to change its extension in a longitudinal direction as a function of an electrical voltage applied to it and thereby to generate the haptic signal.
- the actuator unit has a mechanical amplifier which is designed to amplify the haptic signal by converting the change in expansion of the piezoelectric actuator into a movement of the actuator unit. This movement takes place in the longitudinal direction of the actuator unit.
- the distance of movement of the actuator unit in the longitudinal direction is longer than the expansion change of the piezoelectric actuator.
- the direction in which the actuator has the longest extent is referred to as the longitudinal direction.
- the actuator has an approximately cuboid or prismatic geometry, which has comparatively long dimensions in the longitudinal direction and shorter dimensions in the directions perpendicular to the longitudinal direction.
- the size of the piezoelectric actuator can be minimized by using the mechanical amplifier. Even a comparatively small change in expansion of a minimized piezoelectric actuator can be converted into a sufficiently large haptic signal via the mechanical amplifier.
- the actuator unit also has a control unit that is designed to apply a voltage to the piezoelectric actuator.
- the virtual surface profile can be stored in the control unit.
- the control unit can control the actuator in such a way that a haptic signal is generated that matches the surface profile. If a feeler element connected to the actuator unit is moved, for example, over a point on a surface where the virtual surface profile provides an elevation, a corresponding haptic signal can be generated.
- the probe element is, for example, a tip of a pen-shaped input and/or output device.
- the piezoelectric actuator comprises a multilayer element which has piezoelectric ceramic layers or piezoelectric polymer layers.
- the multilayer element comprises a plurality of ceramic layers or polymer layers and internal electrodes arranged between them.
- the inner electrodes are electrically contacted, for example, by outer electrodes attached laterally to the multilayer element.
- the layers are stacked in a stacking direction perpendicular to the longitudinal direction.
- the multilayer element deforms more than, for example, a monolithic ceramic or polymer element. This facilitates the miniaturization of the piezoelectric actuator.
- the piezoelectric actuator is designed such that a voltage is applied to the actuator in a transverse direction perpendicular to the longitudinal direction, which voltage causes a change in expansion of the piezoelectric actuator in the longitudinal direction of the device according to the d31 effect. For example, the voltage is applied in the stacking direction.
- the actuator unit In the transverse direction, the actuator unit has small dimensions compared to its length in the longitudinal direction.
- the expansion of the piezoelectric actuator can thus be changed by means of a comparatively low voltage.
- the outer electrodes for applying the voltage to the piezoelectric actuator are then in contact with the surfaces of the actuator that point in the transverse direction.
- the mechanical amplifier includes a support element that fixes the piezoelectric actuator.
- the piezoelectric actuator is attached to the carrier element.
- the carrier element is a strip made of metal, for example.
- the piezoelectric actuator is fixed to the carrier element, for example in a form-fitting manner.
- the actuator is attached to the carrier element, for example by gluing.
- the support member has a front end pointing toward a surface to be scanned and an opposite rear end.
- the actuator is fastened to the carrier element at its rear end.
- the piezoelectric actuator is clamped between a rear end of the carrier element and the lever element at the front end of the carrier element.
- the carrier element consists, for example, of a strip, a rear section and the lever element.
- the rear section bears against the rear end of the piezoelectric actuator.
- the lever element rests against the front end of the piezoelectric actuator and the bar connects the rear section to the lever element along one or more side surfaces of the piezoelectric actuator.
- the piezoelectric actuator is thus fixed in a form-fitting manner on the carrier element.
- the piezoelectric actuator can be glued to the rear portion or ledge.
- the piezoelectric actuator expands when an electrical voltage is applied, the rear end of the actuator is fixed so that the front end moves relative to the carrier element. The movement due to the change in expansion of the actuator in the longitudinal direction generates the desired haptic signal.
- the mechanical amplifier comprises a lever element which is fixed at a first end to the carrier element.
- the carrier element has, for example, projections at its front end, in which the lever element engages at its first end.
- suitable locking lugs are provided for this purpose at the first end of the lever element.
- the lever element is, for example, a metal sheet or a bar.
- the lever element and the carrier element are formed from one part and are flexibly connected.
- the material is thinned at the transition between the carrier element and the lever element, so that the lever element can be pivoted relative to the carrier element.
- the piezoelectric actuator bears against the lever element, so that a change in expansion of the piezoelectric actuator leads to a movement of a second end of the lever element in the longitudinal direction, which is opposite the first end. This second end is also referred to below as the free end of the lever element.
- the front end of the piezoelectric actuator is in contact with the lever element.
- the piezoelectric actuator expands, its front end moves toward the lever member and pushes the free end of the lever member forward away from the actuator.
- the actuator and lever element are connected via a flexible joint.
- the first end of the lever element has an axis which is freely rotatably fastened in bearings provided for this purpose at the front end of the carrier element.
- the piezoelectric actuator expands, the second end of the lever element then performs a pivoting movement or moves along a circular path. The movement in the longitudinal direction is superimposed on a movement in a direction perpendicular to the longitudinal direction.
- the deflection caused by the movement of the lever element in the longitudinal direction is greater than the change in expansion of the piezoelectric actuator in the longitudinal direction.
- a force transmission part is fixed on the surface of the piezoelectric actuator that faces the lever element, with the lever element only resting against the force transmission part.
- the piezoelectric actuator is not in direct contact with the lever element. Rather, the power transmission part allows a targeted and adjustable transmission of a force from the actuator to the lever element.
- the force transmission part has a bend formed in the direction of the lever element, with the lever element only resting against the bend.
- the power transmission part is glued to the front of the actuator, for example.
- the power transmission part is a metal sheet.
- the bend is pronounced in the direction of the lever element. Only a contact surface at the front of the bend is in contact with the lever element.
- a force transmission part is fixed on a surface of the lever element that faces the piezoelectric actuator, with the piezoelectric actuator resting only on the force transmission part.
- the force transmission part then has the advantage that it mechanically strengthens the lever element.
- the power transmission part preferably has a high level of rigidity, so that the rigidity of the lever element is also improved.
- the lever element and the force transmission part preferably comprise different materials.
- the power transmission part preferably comprises stainless steel.
- a contact surface of the force transmission part that is in contact with the piezoelectric actuator is preferably processed in such a way that it is as wear-resistant as possible is .
- the contact surface has a surface reinforced by a coating.
- the contact surface is designed, for example, in such a way that the surface area of the contact surface to the piezoelectric actuator is maximized.
- a contact edge of the force transmission part that faces the piezoelectric actuator and is in contact with the piezoelectric actuator is ground off in order to provide a contact surface with a larger surface area.
- the force-transmitting part is glued flat on the surface of the lever element that faces the piezoelectric actuator.
- the power transmission part preferably covers almost the entire surface. The dimensions of the lever element and the force transmission part are therefore preferably similar.
- the power transmission part is designed, for example, as a flat plate which is glued onto the surface of the lever element.
- the force transmission part has a bend formed in the direction of the piezoelectric actuator, with the piezoelectric actuator only bearing against the bend.
- the bend additionally increases the rigidity of the force transmission part and thus of the lever element.
- a surface of the lever element that faces the piezoelectric actuator has a bend formed in the direction of the piezoelectric actuator, with the piezoelectric actuator only bearing against the bend.
- the bend is provided directly in the lever element.
- the lever element is bulged out in such a way that a cavity is formed on the surface of the lever element that faces away from the piezoelectric factor. Such a bulge in the lever element creates a bend in the direction of the piezoelectric actuator, which also increases the stiffness of the lever element.
- the lever member further includes one or more metal tabs bent out of the lever member and attached to the piezoelectric actuator on a surface other than the surface of the piezoelectric actuator opposite the lever member.
- the metal tabs are glued to the piezoelectric actuator.
- two metal tabs are provided on a first and on a second side of the lever element, which delimit the surface facing the piezoelectric actuator.
- one or more areas are bent out of the lever element. These areas are fixed to the piezoelectric actuator.
- the bent-out area is a tongue that is fixed on the surface of the piezoelectric actuator that faces the lever element.
- the fixation also takes place on side surfaces, for example perpendicular to the side of the lever element facing the piezoelectric actuator.
- the lever element is, for example, part of the carrier element or firmly connected to the carrier element.
- the lever element comprises, for example, a metal sheet from which the tongue is cut.
- the sheet metal is sufficiently flexible to allow the cut tongue to be bent out of the lever member.
- the tab is glued to the front surface of the actuator.
- the actuator is fixed at its rear end to the carrier element.
- the front end of the actuator shifts in the direction of the lever element and thus moves the lever element forward.
- the deflection of the lever element is greater than the change in expansion of the actuator.
- the piezoelectric actuator is attached to the carrier element over a large area, so that a change in expansion of the piezoelectric actuator leads to a deformation of the carrier element.
- a bending part which has a curved shape and which bends depending on the deformation of the support member in the longitudinal direction.
- the bending part is preferably attached to the front end of the carrier element.
- both the front and the rear end of the actuator are attached to the carrier element.
- the actuator is glued to the carrier element, for example. A change in expansion of the actuator therefore leads to bending of the carrier element .
- the support element is in this embodiment
- the bent part is designed, for example, as part of the carrier element.
- the bending part bends depending on the bending of the carrier element.
- the deflection of the bending part in the longitudinal direction is greater than the change in expansion of the actuator.
- the actuator unit is designed to be moved in the longitudinal direction over a distance that is at least twice as long as the change in expansion of the piezoelectric actuator.
- the haptic signal can thus be clearly amplified.
- the distance by which the actuator unit is moved is at least three times or at least four times as long as the change in expansion of the piezoelectric actuator.
- the ratio of the aforesaid distance to the change in expansion can be adjusted via the position of the contact surface, for example, as described above.
- the invention also relates to a pen-shaped input and/or output device which has a housing and an actuator unit arranged therein.
- the actuator unit is designed, for example, as described above.
- the mechanical amplifier is designed to convert the change in expansion of the piezoelectric actuator into a movement of the actuator unit relative to the housing, the movement taking place in a longitudinal direction of the pen-shaped device.
- the actuator unit is arranged and fastened in the pen-shaped device in such a way that the longitudinal direction of the pen-shaped device corresponds to the longitudinal direction of the actuator unit.
- the pen-shaped device has a tip with which a surface can be scanned. The side of the tip is defined as the front of the pen-shaped device. The opposite side is defined as the back side of the pen-shaped device. The direction pointing from the back to the tip is where the pen-shaped device has its longest dimension. This direction is the longitudinal direction of the pen-shaped device. In each direction perpendicular to the longitudinal direction, the pen-shaped device has significantly smaller dimensions than along the longitudinal direction.
- the carrier element is fastened in the housing of the pen-shaped device.
- the rear end of the carrier element points in the direction of the rear side of the pen-shaped device, and the front end points in the direction of the tip of the pen-shaped device, ie its front side.
- the actuator moves relative to the carrier element, it also moves relative to the housing.
- the movement due to the change in expansion of the actuator in the longitudinal direction of the pen-shaped device generates the desired haptic signal of the pen-shaped device.
- the mechanically amplified movement of the actuator unit is transmitted, for example, by direct contact to the tip, which is arranged so that it can move relative to the housing.
- the second end of the lever member is configured to transmit motion to the tip through direct contact.
- the tip is configured as a monolithic component that is movable relative to the body of the pen. The distance by which the tip is moved corresponds to the distance by which the lever element is deflected in the longitudinal direction.
- the outer electrodes for applying the voltage to the piezoelectric actuator are in contact with the surfaces of the actuator that point in the transverse direction. The space requirement in the housing along the longitudinal direction of the pin is thus reduced.
- the pen-shaped input and/or output device also has a sensor in addition to the piezoelectric actuator.
- the sensor is, for example, an inclination sensor and/or a distance sensor and/or a speed sensor and/or an acceleration sensor.
- the sensors mentioned increase the resolution of a surface to be scanned and enable a more precise adaptation of the haptic signal to a virtual surface profile.
- the pen-shaped input and/or output device is designed to generate a haptic signal that simulates a surface profile, with the values measured by the sensor being processed when the actuator is activated.
- the sensor is, for example, one of the sensors mentioned above and serves the purpose mentioned above.
- the piezoelectric actuator is designed to be used as a pressure sensor.
- the tip When the tip is pressed against a surface, the tip, which is slidably attached to the pen housing, moves towards the piezoelectric actuator. Since the rear end of the actuator is fastened to the support element and/or is fastened to the housing of the pin at the rear end or abuts against it, the actuator is thereby compressed, which corresponds to a change in expansion. through the When the piezoelectric actuator expands, an electrical voltage is generated. The voltage is interpreted by an electrical evaluation unit, for example as a quantitative signal that reflects the amount of pressure acting on the tip.
- the displacement of the tip is first transferred to the lever element, which is then pressed against the piezoelectric actuator. Due to the force acting on the actuator, a charge is generated due to the piezoelectric effect and an electrical signal is thus generated.
- the invention also relates to a method for generating a haptic signal with a pen-shaped input and/or output device, which has an actuator unit with a piezoelectric actuator.
- a voltage is applied to the piezoelectric actuator in a direction perpendicular to a longitudinal direction by a control unit, so that the piezoelectric actuator changes its expansion.
- the change in expansion is converted by a mechanical amplifier into a movement of the actuator unit in the longitudinal direction.
- the actuator unit is moved in the longitudinal direction over a distance that is longer than the expansion change of the piezoelectric actuator.
- the longitudinal direction here is the direction in which both the piezoelectric actuator and the pin-shaped input and/or output device expand at their greatest.
- the actuator unit and the pen-shaped input and/or output device are, for example, as above described actuator unit and / or the device described above in any form of execution.
- FIG. 1 Perspective view of a first embodiment of the piezoelectric actuator and the mechanical amplifier.
- FIG. 2 Section of a perspective view of a first embodiment of the pen-shaped input and/or output device comprising the piezoelectric actuator with mechanical amplifier of the first embodiment.
- Figure 3 Perspective view of a second
- Embodiment of the piezoelectric actuator and the mechanical amplifier Embodiment of the piezoelectric actuator and the mechanical amplifier.
- FIG. 4 Section of a perspective view of a second embodiment of the pen-shaped input and/or output device comprising the piezoelectric actuator with mechanical amplifier of the second embodiment.
- Figure 5 Perspective view of a third
- Embodiment of the piezoelectric actuator and the mechanical amplifier Embodiment of the piezoelectric actuator and the mechanical amplifier.
- FIG. 6 Diagram 1: The force applied to the tip in the longitudinal direction at time t is shown.
- FIG. 7 Diagram 2: The deflection of the lever element and the change in expansion of the actuator in the longitudinal direction at time t are shown.
- Figure 8 Perspective view of a fourth
- Embodiment of the piezoelectric actuator and the mechanical amplifier Embodiment of the piezoelectric actuator and the mechanical amplifier.
- FIG. 9 Side view of the fourth embodiment of the piezoelectric actuator and the mechanical amplifier.
- FIG. 10 Perspective view of a fifth embodiment of the piezoelectric actuator and the mechanical amplifier.
- FIG. 11 Side view of the fifth embodiment of the piezoelectric actuator and the mechanical amplifier.
- FIG. 1 A first exemplary embodiment of the piezoelectric actuator 1 is shown in FIG.
- the piezoelectric actuator 1 is attached to a metallic carrier element 2 .
- the side of the actuator 1, the carrier element 2 and all other components installed in a pen-shaped input and/or output device, which in the installed state points in the direction of the tip of the pen-shaped input and/or output device, is shown below as front or referred to as the front.
- the side that points away from the tip when installed is referred to as the rear or referred to as rear.
- the front and the rear are perpendicular to a longitudinal direction L of the pen-shaped device.
- the longitudinal direction L is the direction from the rear to the front, ie to the tip, of the pen-shaped device, in which the pen-shaped device has its greatest extent.
- the actuator 1 has the shape of a cuboid.
- the cuboid actuator 1 has a front side V and a rear side H according to the above definition.
- the cuboid actuator 1 has a bottom U, a top 0 and two longitudinal sides, which connect the front and the rear of the cuboid along the longitudinal direction L.
- the direction in which the underside U points is also referred to below as below
- the direction in which the top side 0 points is also referred to below as above.
- the bottom U, the top 0 and the two longitudinal sides of the actuator 1 have larger dimensions along the longitudinal direction L than in a direction perpendicular to the longitudinal direction L.
- the dimensions along the longitudinal direction L are larger than the dimensions of the front or the rear V, H of the actuator 1 .
- the piezoelectric actuator 1 is designed as a ceramic multilayer element.
- the ceramic multilayer element comprises a multiplicity of ceramic layers and internal electrodes arranged in between, which are stacked in a stacking direction.
- the stacking direction corresponds to a direction perpendicular to the longitudinal direction L.
- the carrier element 2 is designed as a trough-shaped metal strip.
- An open cuboid shape comprising at least one underside, two longitudinal sides and a rear side is referred to here as a trough shape.
- the carrier element 2 does not have a rear side but is open to the rear.
- the support element 2 has a cavity in which the actuator 1 is embedded.
- the carrier element 2 does not have a closed upper side, but is open at the top .
- the sides of the carrier element 2 are named here analogously to the actuator 1 .
- the cavity in the carrier element 2 is dimensioned such that the piezoelectric actuator 1 can be embedded in it.
- the dimensions of the cavity approximately correspond to the dimensions of the actuator 1 .
- the trough-shaped carrier element 2 lies flat against the longitudinal sides, the underside U and, if the carrier element 2 is closed at the rear, also against the rear side H of the actuator 1 .
- the actuator is at its rear or rear on its long sides z. B. attached by gluing to the support element 2 .
- the rear side H of the actuator rests directly against a housing 11 of the pen-shaped device at the rear and can optionally also be glued to it.
- the carrier element 2 thus restricts the freedom of movement of the actuator 1 in the event of a change in expansion of the actuator material.
- the actuator 1 can only expand relative to the carrier element 2 in the direction of the front side V and the top side 0 .
- a force transmission part 3 is attached to the front side V of the piezoelectric actuator 1 for force transmission.
- the power transmission part 3 is on the front V of the actuator
- the power transmission part 3 has a bend in the direction of the pin front side. At the bend, the force transmission part 3 arches forward from the surface of the actuator 1 . The front surface of the bend defines a contact area 4 .
- a lever element 6 is also fixed in a freely pivotable manner at the front of the carrier element 2 via a flexible joint 5 .
- the flexure is at a front edge of the underside of the support member
- the lever element 6 consists in the present Example from a sheet of metal.
- the lever element 6 can perform a pivoting movement about the flexible joint 5 and in doing so moves both forwards and backwards in the longitudinal direction L and downwards or upwards in a transverse direction perpendicular to the longitudinal direction L.
- the lever element 6 rests on the one hand on the force transmission part 3 and on the other hand on a tip of the pin-shaped device.
- the actuator 1 expands. Since the actuator 1 bears against the carrier element 2 at least on its rear side H, the actuator 1 expands in the direction of the front side V in particular.
- the actuator 1 is attached at the rear end of its longitudinal sides and/or on its rear side H to the carrier element 2, for example by gluing.
- the attached to the front power transmission part 3 or. the contact surface 4 formed thereon then presses against the lever element 6 and thus causes the lever element 6 to be deflected forwards in the longitudinal direction L .
- the deflection of the lever element 6 is greater than the change in expansion of the piezoelectric actuator 1 in the longitudinal direction L .
- the deflection in the longitudinal direction L is at least twice, preferably at least three times, the change in expansion of the actuator 1 .
- the piezoelectric actuator 1 and the carrier element 2 are installed in a pen-shaped device 10 .
- FIG. 2 shows the pen-shaped device 10 .
- the device 10 includes the housing 11 .
- a tip 12 is attached to one side of the housing 11 .
- the tip 12 side is referred to as the front of the pen 10 .
- the opposite side is called the back of the pen-shaped device 10 designated .
- the tip 12 is designed, for example, as a monolithic component.
- the direction pointing from the front to the rear of the device 10 is referred to as the longitudinal direction L.
- the tip 12 is attached to the front of the housing 11 in such a way that it can be freely slid in the longitudinal direction L .
- the actuator unit shown in FIG. 1 comprising the piezoelectric actuator 1 and the carrier element 2 is arranged in the longitudinal direction L of the pin 10 directly behind the tip 12 in the housing 11 .
- the carrier element 2 which accommodates the actuator 1 , is fixed in the housing 11 for this purpose.
- the carrier element 2 bears against a surface of the piezoelectric actuator 1 at least on the rear side H, but not on the front side V thereof.
- the piezoelectric actuator 1 deforms, it can therefore expand forwards, but not backwards. Due to its change in expansion, the piezoelectric actuator 1 moves relative to the carrier element 2 . Since the carrier element 2 is fastened in the housing 11 , the actuator also moves relative to the housing 11 .
- the free end of the lever element 6 then presses against the tip 12 that can be displaced in the longitudinal direction L.
- the tip 12 is thus deflected by a distance that depends on the deflection of the lever element 6 .
- a haptic signal that can be experienced by the user of the pen-shaped device 10 is thus generated.
- the pen-shaped device 10 is used, for example, to make a virtual surface profile, which is displayed on the surface of a screen, haptically tangible. This is what the virtual surface profile is for stored, for example, in a control unit of the pen-shaped device 10 . If the pen-shaped device 10 is moved over the surface of the screen, the control unit can apply electrical voltages of different magnitudes to the piezoelectric actuator 1 . The actuator 1 then expands as described, so that a haptic signal is generated.
- the tip 12 can only be moved forward with the help of the lever element 6 of the present exemplary embodiment. A rearward movement of the tip 12 and a resultant pivoting back of the lever element 6 occurs due to the pressure when the tip 12 is placed on the surface.
- a spring element which is not shown here, is used to generate an additional restoring pressure.
- the piezoelectric actuator 1 can also serve as a pressure sensor. If the tip 12 is placed on the surface with a defined pressure, the tip 12 moves backwards in the longitudinal direction L into the housing 11 . In doing so, the tip 12 presses against the lever element 6 , which thus pivots backwards and presses against the contact surface 4 . About the contact surface 4, the force on the bending element 3 or. transferred to the piezoelectric actuator 1, which is thus deformed.
- the deformation Due to the piezoelectricity of the actuator 1, the deformation is converted into a voltage signal that can be detected by an evaluation unit.
- the magnitude of the voltage signal is proportional to the pressure applied to tip 12 .
- FIGS. 3 and 4 show a second embodiment of the pen-shaped device 10 with a second embodiment of the mechanical amplifier. Similar or the same features as in the first exemplary embodiment are with provided the same reference characters and, in order to avoid repetition, not described again in detail.
- the actuator 1 is embedded in a metal carrier element 2 .
- the carrier element 2 rests on several surfaces of the actuator 1, in particular on the rear side H and the underside U, and thus restricts the freedom of movement of the actuator 1 in the event of its expansion.
- a change in expansion of the actuator 1 thus causes, as in the first exemplary embodiment, a movement of the actuator 1 forwards and upwards.
- the lever element 6 is attached directly to the front side V of the actuator 1 .
- the lever element 6 is formed from the same component as the carrier element 2 .
- the carrier element 2 has a section which bears against the front side V of the actuator 1 and is connected to the rest of the carrier element 2 only along a bending axis 7 .
- the component is thinned at the bending axis 7 .
- a tongue 8 is cut out of this section in the middle.
- the tongue 8 is attached to the front side V of the actuator 1 by gluing.
- the part of the front section of the carrier element 2 surrounding the cut-out tongue 8 forms the lever element 6 which is connected to the rest of the carrier element 2 only along the bending axis 7 .
- the tongue 8 is also fixed on the longitudinal sides of the piezoelectric actuator 1 .
- the piezoelectric actuator 1 expands forward and thus also presses the lever element 6 forward, which is connected directly to the actuator 1 via the tongue 8 .
- the deflection of Lever element 6 in the longitudinal direction L corresponds in the example to at least three times the change in expansion of the piezoelectric actuator.
- the actuator 1 and the carrier element 2 are installed in the pen-shaped device 10 analogously to the first exemplary embodiment, which can also be used by a user analogously to the first exemplary embodiment.
- FIG. 5 shows a third embodiment of the actuator 1 with a mechanical amplifier.
- the carrier element 2 is not trough-shaped, but forms a housing element that is closed on all sides except for the front side and surrounds a cavity. In contrast to the previous exemplary embodiments, the upper side of the carrier element 2 is also closed.
- a bending part 9 is attached, which has a curved shape and is fixed at two lateral ends to the longitudinal sides of the support element
- the actuator 1 is again arranged in the cavity of the carrier element 2 and is attached to the carrier element 2 over its entire length.
- the actuator 1 is flat on one of its longitudinal sides with the carrier element 2 glued .
- the rear side H of the actuator is also glued to the rear side of the carrier element 2 .
- the actuator 1 is dimensioned such that it extends from the front to the rear and from the bottom to the top of the support element 2 .
- the actuator 1 is dimensioned so narrowly that a hollow space is left open in the carrier element 2 between the actuator and the longitudinal side to which the actuator 1 is not fastened.
- a change in expansion of the actuator 1 causes a deformation of the carrier element 2 .
- the carrier element 2 and the flexible part 9 are designed as flexible metal parts in the present example. If the carrier element 2 deforms, the bending part 9 bends forwards or backwards in the longitudinal direction L depending on the deformation of the carrier element 2 . The deflection of the bending part 9 as a result of bending is greater than the change in expansion of the piezoelectric actuator 1 in the longitudinal direction L . The bending part 9 corresponds in its function to the lever element 6 from the previous examples.
- the carrier element 2 and the lever element 6 function in all of the exemplary embodiments as mechanical amplifiers, which convert a change in expansion of the actuator 1 into a greater deflection in the longitudinal direction L of the pen-shaped device 10 .
- the function of the pen-shaped input and/or output device 10 is to be described below by way of example using the diagrams in FIGS. Diagram 1 in FIG. 6 shows a force applied to the tip of the first embodiment of the pen-shaped device in the longitudinal direction L at time t.
- Diagram 2 in FIG. 7 shows the deflection of the lever element and the change in expansion of the actuator in the longitudinal direction L at time t for the first embodiment of the pen-shaped device.
- the tip 12 Due to the applied force, the tip 12 is displaced in the direction of the lever element 6 and bends it in the direction of the piezoelectric actuator 1, as a result of which a prestressing force is applied to the actuator.
- the change in expansion of the actuator 1 is transferred to a forward deflection of the lever element 6 in the longitudinal direction L according to the mechanism described above.
- the deflection of the lever element 6 is greater than the change in expansion of the actuator 1 .
- the free end of the lever element 6 is moved more than 13 pm forward in the longitudinal direction L.
- the tip 12 is moved forward in the longitudinal direction L of the pen 10 by a corresponding amount.
- the tip 12 is then pressed onto the surface with a greater force.
- FIGS. 8, 9 and 10 Further modified exemplary embodiments are shown in FIGS. 8, 9 and 10.
- the actuator 1 is embedded in a metal carrier element 2 .
- the carrier element 2 bears against several surfaces of the actuator 1 and is glued to them, in particular on the underside U and a side surface S of the actuator 1 .
- the actuator 1 is preferably glued in particular to a rear section of the underside U and the side surface S, which are remote from a front side V, which is opposite the lever element.
- the lever element 6 is formed from the same component as the carrier element 2 .
- the carrier element 2 has a section which bears against the front side V of the actuator 1 and is connected to the rest of the carrier element 2 only along a bending axis 7 .
- the component is thinned at the bending axis 7 .
- a bend 13 is formed centrally in the lever element 6 .
- the bend 13 curves in the direction of the front side V of the piezoelectric actuator 1 and lies against it.
- a contact surface between the piezoelectric actuator 1 and the lever element 6 is thus formed exclusively on the protruding surface of the bend 13 .
- the bend in the lever element 6 further increases its stiffness and stability.
- optional tabs 14 are also provided, which are cut out laterally from the lever element and are bent in the direction of the piezoelectric actuator and are glued there, for example, to its uppermost side surface 0 .
- the actuator 1 and the carrier element 2 are installed in the pen-shaped device 10 analogously to the first exemplary embodiment, which can also be used by a user analogously to the first exemplary embodiment.
- the function of the pen-shaped device is analogous to the first exemplary embodiment.
- a force-transmitting part 15 is fixed on a surface of the lever element 6 that faces the piezoelectric actuator 1 , with the piezoelectric actuator 1 abutting only against the force-transmitting part 15 .
- the force transmission part 15 then has the advantage that it mechanically reinforces the lever element 6 .
- the power transmission part 15 has a high level of rigidity, so that the rigidity of the lever element is also improved.
- the lever element 6 and the force transmission part 15 preferably comprise different materials.
- the force transmission part 15 preferably comprises stainless steel.
- a contact edge 15a of the force transmission part 15, which faces the piezoelectric actuator 1 and is in contact with the piezoelectric actuator 1, is ground off in such a way that a contact surface with the largest possible surface area is provided.
- the force transmission part 15 is adhesively bonded flat on the surface of the lever element 6 which faces the piezoelectric actuator 1 .
- the power transmission part 15 preferably covers almost the entire surface. The dimensions of the lever element 6 and the force transmission part 15 are therefore similar.
- the force transmission part 15 is designed as a flat plate which is glued onto the surface of the lever element 6 .
- the actuator 1 is embedded in a metal carrier element 2 .
- the carrier element 2 rests on several surfaces of the actuator 1 , in particular a long section 21 of the carrier element 2 rests on the underside U and a rear section 22 of the carrier element 2 rests on a rear side H of the actuator 1 .
- the carrier element 2 is designed as one component.
- the lever element 6 is formed from the same component as the carrier element 2 .
- the carrier element 2 has a section which bears against the front side V of the actuator 1 and is connected to the rest of the carrier element 2 only along a bending axis 7 .
- the component is thinned at the bending axis 7 .
- the actuator 1 is thus clamped between the rear section 22 , the opposite lever element 6 and the long section 21 .
- the actuator 1 and the carrier element 2 are installed in the pen-shaped device 10 analogously to the previous exemplary embodiments, which can also be used by a user analogously to the first exemplary embodiment.
- the function of the pen-shaped device is analogous to the previous exemplary embodiments.
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
- Position Input By Displaying (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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CN202180076909.3A CN116457747A (zh) | 2020-11-16 | 2021-11-10 | 用于生成放大触觉信号的致动器单元和方法 |
US18/251,912 US20240012483A1 (en) | 2020-11-16 | 2021-11-10 | Actuator unit and method for generating an amplified haptic signal |
JP2023528529A JP2023551794A (ja) | 2020-11-16 | 2021-11-10 | 増幅された触覚信号を生成するためのアクチュエータユニット及び方法 |
DE112021006009.0T DE112021006009A5 (de) | 2020-11-16 | 2021-11-10 | Aktoreinheit und Verfahren zur Erzeugung eines verstärkten haptischen Signals |
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DE102020130203 | 2020-11-16 | ||
DE102020130203.7 | 2020-11-16 |
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WO2022101248A1 true WO2022101248A1 (de) | 2022-05-19 |
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PCT/EP2021/081198 WO2022101248A1 (de) | 2020-11-16 | 2021-11-10 | Aktoreinheit und verfahren zur erzeugung eines verstärkten haptischen signals |
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US (1) | US20240012483A1 (de) |
JP (1) | JP2023551794A (de) |
CN (1) | CN116457747A (de) |
DE (1) | DE112021006009A5 (de) |
WO (1) | WO2022101248A1 (de) |
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US10725544B1 (en) * | 2016-09-09 | 2020-07-28 | Apple Inc. | Pencil haptics |
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2021
- 2021-11-10 WO PCT/EP2021/081198 patent/WO2022101248A1/de active Application Filing
- 2021-11-10 DE DE112021006009.0T patent/DE112021006009A5/de active Pending
- 2021-11-10 JP JP2023528529A patent/JP2023551794A/ja active Pending
- 2021-11-10 US US18/251,912 patent/US20240012483A1/en active Pending
- 2021-11-10 CN CN202180076909.3A patent/CN116457747A/zh active Pending
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JP2023551794A (ja) | 2023-12-13 |
CN116457747A (zh) | 2023-07-18 |
DE112021006009A5 (de) | 2023-11-09 |
US20240012483A1 (en) | 2024-01-11 |
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