Exciters and electronic equipment

Abstract

The present invention provides an exciter and electronic device. The exciter includes three rotating assemblies, which are located in a first plane, a second plane, and a third plane, respectively, with the first, second, and third planes being non-parallel to each other. Each rotating assembly includes a housing and a plurality of rotating drive members disposed within the housing. The three housings are interconnected, and each rotating drive member is configured to rotate to strike the corresponding housing to generate a force sensation. The combination of the three rotating assemblies can achieve a combination of force sensations in multiple directions, realizing a force sensation with at least six degrees of freedom, namely, a linear force sensation and a rotational force sensation in three-dimensional space. This exciter has the advantage of being able to generate both linear and rotational force sensations in three-dimensional space.

Description

Technical Field

[0001] The present invention relates to the technical field of exciters, and in particular to an exciter and electronic equipment. Background Art

[0002] Conventional vibration devices create the illusion of a force acting in a specific direction by continuously generating asymmetric vibrations. This type of vibration is also known as anisotropic vibration. Currently, there are two methods for achieving this force sensation. One method involves inputting an asymmetric signal into a linear resonator and exploiting the human senses to create an illusion. In principle, this method can only produce a continuous, directional force sensation and cannot achieve discrete vibration output. The perceived equivalent force using this method is relatively small, and the asymmetric signal also generates excess vibration, making it difficult to obtain a clear sense of direction. Another method creates a force sensation by rotating two symmetrical weights and applying brakes. This method produces vibrations with greater asymmetry, a low proportion of excess vibration, and a distinct and distinct force sensation. However, this method can only generate force sensation in a linear direction or a rotational direction on a plane and cannot create a three-dimensional force sensation.

[0003] In view of this, it is necessary to provide a new exciter and electronic device to solve or at least alleviate the above technical defects. Summary of the Invention

[0004] The main purpose of the present invention is to provide an actuator and an electronic device, aiming to solve the technical problem that the actuator in the prior art cannot form a sense of force in three-dimensional space.

[0005] To achieve the above object, according to one aspect of the present invention, the present invention provides an exciter, comprising:

[0006] Three rotating components are respectively located in a first plane, a second plane and a third plane, wherein the first plane, the second plane and the third plane are not parallel to each other;

[0007] Each of the rotating components includes a shell and a plurality of rotating driving members arranged in the shell. The three shells are connected to each other. Each of the rotating driving members is used to rotate to impact the corresponding shell to generate a force sense.

[0008] In one embodiment, the rotary driving member includes a driving part and a rotating part, the shell has an installation cavity, the rotating part is arranged in the installation cavity, and the driving part is used to drive the rotating part to rotate to hit the cavity wall of the installation cavity to generate a force sense.

[0009] In one embodiment, the rotating assembly includes two rotating driving parts, and the two rotating parts are axially symmetrically arranged. The two driving parts respectively drive the two rotating parts to rotate synchronously to simultaneously hit the cavity wall to generate a linear force feeling.

[0010] In one embodiment, the rotating assembly includes two rotating driving parts, and the two rotating parts are centrally symmetrically arranged. The two driving parts respectively drive the two rotating parts to rotate synchronously to simultaneously hit the cavity wall to generate a sense of rotational force.

[0011] In one embodiment, the cavity wall includes a first side wall and a second side wall, each of the rotating assemblies includes a first rotating drive member, a second rotating drive member, a third rotating drive member, and a fourth rotating drive member arranged in an array, the rotating portion of the first rotating drive member and the rotating portion of the third rotating drive member are centrally symmetrically arranged, the rotating portion of the second rotating drive member and the rotating portion of the fourth rotating drive member are centrally symmetrically arranged, and the four rotating drives have a first state and a second state:

[0012] In a first state, the rotating portion of the first rotary driving member and the rotating portion of the second rotary driving member simultaneously strike the first side wall to generate a linear force sensation; or the rotating portion of the third rotary driving member and the rotating portion of the fourth rotary driving member simultaneously strike the first side wall to generate a linear force sensation;

[0013] In the second state, the rotating part of the first rotary driving member and the rotating part of the third rotary driving member simultaneously hit the first side wall to generate a sense of rotational force; or, the rotating part of the second rotary driving member and the rotating part of the fourth rotary driving member simultaneously hit the first side wall to generate a sense of rotational force.

[0014] In one embodiment, the housing includes two sub-shells that are opposite and spaced apart, wherein the first rotation driving member and the fourth rotation driving member are disposed in one of the sub-shells, and the second rotation driving member and the third rotation driving member are disposed in the other sub-shell.

[0015] In one embodiment, grooves are formed on two opposite side surfaces of the sub-shell, and two protrusions are also formed on the sub-shell. The sub-shell of one rotating component is connected to the groove of the sub-shell of another rotating component through the protrusions, and the sub-shell of one rotating component is connected to the protrusion of the sub-shell of the remaining rotating component through the groove.

[0016] In one embodiment, the first side wall and the second side wall are vertically arranged, and the maximum rotation angles of the four rotating driving members are all 90°.

[0017] In one embodiment, the first plane, the second plane and the third plane are arranged perpendicular to each other.

[0018] In one embodiment, the rotating assembly further includes a buffer portion, which is disposed at a location where the cavity wall collides with the rotating portion, and / or the buffer portion is disposed on the rotating portion.

[0019] In one embodiment, the driving part includes a coil, which is mounted on the shell. The rotating part is a semi-cylindrical rotating part, which includes a main body, a rotating shaft and a magnetic part arranged on the main body. The main body is provided with an axial hole, which is eccentrically arranged on the rotating part, and the rotating shaft is passed through the axial hole; the coil is arranged on the side of the arc surface close to the rotating part and is spaced apart from the arc surface.

[0020] According to one aspect of the present invention, the present invention provides an electronic device, comprising a device body and the exciter as described above, wherein the device body has an installation space, and the exciter is disposed in the installation space.

[0021] In the above scheme, the exciter includes three rotating assemblies, located in a first plane, a second plane, and a third plane, respectively. The first, second, and third planes are arranged non-parallel to each other. Each rotating assembly includes a housing and multiple rotating drive members disposed within the housing. The three housings are interconnected, and each rotating drive member is configured to rotate to impact the corresponding housing, generating a force sensation. Each rotating assembly includes a housing and multiple rotating drive members disposed within the housing. By controlling and switching the operating state and rotation direction of each rotating drive member, the rotating drive member can be caused to impact the corresponding housing, generating a force sensation. The operating state includes whether the rotating drive member is stationary or rotating. The force sensation includes both linear and rotational force sensations. A single rotating assembly can generate either linear or rotational force sensation within a single plane. Because the three housings are interconnected, impacting one housing causes the other two housings to vibrate, thereby causing the entire exciter to vibrate together, generating a force sensation. The first, second, and third planes are non-parallel to each other, meaning that the first, second, and third planes are not coplanar and are arranged three-dimensionally in space. In this way, by combining the three rotating components, a combination of multiple directional force sensations can be achieved, realizing a force sensation with at least 6 degrees of freedom, that is, a linear force sensation and a rotational force sensation in three-dimensional space. This invention has the advantage of being able to generate a linear force sensation and a rotational force sensation in three-dimensional space. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0023] Figure 1 Schematic diagram of the three-dimensional structure of an exciter according to an embodiment of the present invention;

[0024] Figure 2 Schematic diagram of the exploded structure of an exciter according to an embodiment of the present invention;

[0025] Figure 3 Schematic diagram of the exploded structure of the housing and the rotary drive member of the exciter according to an embodiment of the present invention;

[0026] Figure 4 A cross-sectional view of the rotating portion of the exciter colliding with the first side wall according to an embodiment of the present invention;

[0027] Figure 5 A cross-sectional view of the rotating portion of the exciter colliding with the second side wall according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic structural diagram of the first rotary drive member and the second rotary drive member of the actuator according to an embodiment of the present invention generating a linear force sense state;

[0029] Figure 7 Schematic diagram of the structure of the first rotary driving member and the second rotary driving member of the actuator in a state without linear force sensation according to an embodiment of the present invention;

[0030] Figure 8 A schematic diagram of the force sensation generated by the first rotary drive member and the second rotary drive member of the actuator according to an embodiment of the present invention;

[0031] Figure 9 This is a schematic structural diagram of the first rotary drive member and the third rotary drive member of the actuator according to an embodiment of the present invention generating a clockwise rotation force sense state;

[0032] Figure 10 This is a schematic structural diagram of the second rotary drive member and the fourth rotary drive member of the actuator according to an embodiment of the present invention generating a counterclockwise rotation force sensing state;

[0033] Figure 11 A schematic structural diagram of a single rotating assembly of an exciter according to an embodiment of the present invention;

[0034] Figure 12 A schematic diagram of the linear force sense of a single rotating component of an actuator according to an embodiment of the present invention;

[0035] Figure 13 A schematic diagram of the rotational force sense of a single rotating component of an actuator according to an embodiment of the present invention;

[0036] Figure 14 A schematic diagram of the structure of the assembly process of the three rotating components of the actuator according to an embodiment of the present invention, and a schematic diagram of the combination of the linear force sense and the rotational force sense generated;

[0037] Figure 15 This is a schematic structural diagram of a sub-shell of an exciter according to an embodiment of the present invention;

[0038] Figure 16 Schematic diagram of the measurement position of the linear force sense of the actuator according to an embodiment of the present invention;

[0039] Figure 17 A diagram showing the measurement results of the linear force sense of the actuator according to an embodiment of the present invention;

[0040] Figure 18 Another measurement result diagram of the linear force sense of the actuator according to an embodiment of the present invention;

[0041] Figure 19 FIG2 is another measurement result diagram of the linear force sense of the actuator according to an embodiment of the present invention;

[0042] Figure 20 Schematic diagram of the measurement position of the rotational force sense of the actuator according to an embodiment of the present invention;

[0043] Figure 21 A diagram showing the measurement results of the rotational force sense of the actuator according to an embodiment of the present invention;

[0044] Figure 22 Another measurement result diagram of the rotational force sense of the actuator according to an embodiment of the present invention;

[0045] Figure 23 This is another measurement result diagram of the rotational force sense of the exciter according to an embodiment of the present invention.

[0046] Description of labels:

[0047] 1000. Exciter; 100. Rotating assembly; 1. Shell; 10. Subshell; 101. Groove; 102. Protrusion; 11. Mounting cavity; 12. First side wall; 13. Second side wall; 2. Rotating drive member; 211. Coil; 212. Rotating shaft; 213. Coil bracket; 22. Rotating portion; 221. Main body; 222. Magnetic member; 201. First rotating drive member; 202. Second rotating drive member; 203. Third rotating drive member; 204. Fourth rotating drive member; 3. Buffering portion.

[0048] The realization of the objectives, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0050] It should be noted that all directional indications (such as up, down, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of these features.

[0052] Moreover, the technical solutions between the various embodiments of the present invention may be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] Reference Figure 1 and Figure 2 , Figure 1 Schematic diagram of the three-dimensional structure of an exciter according to an embodiment of the present invention; Figure 2 Schematic diagram of the decomposition structure of the exciter according to an embodiment of the present invention, Figure 2 A rotating assembly 100 located in three different planes is shown. According to one aspect of the present invention, the present invention provides an exciter 1000, comprising: three rotating assemblies 100, respectively located in a first plane, a second plane and a third plane, the first plane, the second plane and the third plane being arranged non-parallel to each other; each rotating assembly 100 comprises a shell 1 and a plurality of rotating drive members 2 arranged in the shell 1, the three shells 1 are connected to each other, and each rotating drive member 2 is used to rotate to impact the corresponding shell 1 to generate a sense of force.

[0054] In the above embodiment, each rotating assembly 100 includes a housing 1 and multiple rotating drive members 2 disposed within the housing 1. By controlling and switching the operating state and rotational direction of each rotating drive member 2, the rotating drive member 2 can be caused to collide with its corresponding housing 1 to generate a force sensation. The operating state here includes whether the rotating drive member 2 is stationary or rotating, and the force sensation here includes both linear and rotational force sensations. A single rotating assembly 100 can generate either linear or rotational force sensations within a single plane. Because the three housings 1 are interconnected, an impact on one housing 1 causes the other two housings 1 to vibrate, thereby causing the entire actuator 1000 to vibrate and generate a force sensation. The first, second, and third planes are not parallel to each other, meaning that the first, second, and third planes are not coplanar and are arranged in a three-dimensional space. Thus, by combining the three rotating assemblies 100, a combination of force sensations in multiple directions can be achieved, realizing a force sensation with at least six degrees of freedom, namely, linear and rotational force sensations in three dimensions. This embodiment has the advantage of being able to generate both linear and rotational force sensations in three dimensions.

[0055] Reference Figure 2 In one embodiment, the first plane, the second plane, and the third plane are arranged perpendicular to each other. The three planes are arranged perpendicular to each other, forming an XYZ three-dimensional coordinate plane, which can obtain linear force and rotational force in any direction within the three-dimensional range, and the manufacturing process is more convenient. Figure 2 As shown, the three rotating components can be located on the XZ plane, the YZ plane and the XY plane respectively.

[0056] Reference Figures 3 to 5 In one embodiment, the rotary drive member 2 includes a driving portion and a rotating portion 22. The housing 1 has a mounting cavity 11. The rotating portion 22 is disposed in the mounting cavity 11. The driving portion is used to drive the rotating portion 22 to rotate so as to strike the cavity wall of the mounting cavity 11 to generate a sense of force. The driving portion is in transmission connection with the rotating portion 22. The driving portion is used to drive the rotating portion 22 to rotate. The driving portion can be a motor or a motor rotor or other component capable of driving the rotating portion 22 to rotate. The rotating portion 22 is disposed in the mounting cavity 11. When the rotating portion 22 rotates to a certain position, it collides with the cavity wall of the mounting cavity 11 and hits the housing 1, causing the housing 1 to be subjected to force, which is externally manifested as the actuator 1000 generating a sense of force.

[0057] Reference Figures 3 to 5In one embodiment, the driving unit includes a coil 211, which is mounted on the housing 1. The rotating unit 22 is a semi-cylindrical rotating unit 22, which includes a body 221, a rotating shaft 212, and a magnetic member 222 disposed on the body 221. The body 221 is provided with an axial hole, which is eccentrically arranged on the rotating unit 22, and the rotating shaft 212 is inserted into the axial hole. The coil 211 is disposed on a side adjacent to the curved surface of the rotating unit 22 and spaced apart from the curved surface. Of course, the driving unit may also include a coil holder 213, on which the coil 211 is mounted. The rotating unit 22 used in this embodiment is an eccentric rotating unit. Eccentricity means that the center of rotation of the rotating unit 22 and the center of mass of the rotating unit 22 do not coincide. The eccentric rotating unit 22 generates less excess vibration, which can produce a clearer sense of direction. The body 221 can be a mass block, generally made of a heavy metal such as tungsten, to enhance the vibration sense. The magnetic part 222 can be a magnet, and the number of magnets can be two. The coil 211 is arranged on the side close to the arc surface of the rotating part 22 in order to increase the distance between the coil 211 and the magnet and enhance the effect of the Ampere force. Specifically, the magnetic part 222 can be magnetized, and then the coil 211 can be charged. According to Ampere's law, the force on the magnetic part 222 will cause the rotating part 22 to generate a clockwise or counterclockwise torque. The coil 211 is arranged on one side of the arc surface of the semi-cylindrical rotating part 22 and is spaced apart from the arc surface. In this way, it can drive the rotating part 22 to rotate without interfering with the collision between the rotating part 22 and the cavity wall. It should be noted that driving the rotating part 22 to rotate by magnetizing the magnetic part 222 and charging the coil 211 belongs to the prior art and will not be repeated here.

[0058] Reference Figure 4 and Figure 5 In one embodiment, the rotating assembly 100 further includes a buffer portion 3, which is disposed at the point where the cavity wall collides with the rotating portion 22, and / or the buffer portion 3 is disposed on the rotating portion 22. The buffer portion 3 here mainly serves to buffer the impact force and provide protection, thereby reducing the damage to the rotating portion 22 or the cavity wall caused by repeated collisions. The buffer portion 3 can be made of an elastic material, such as silicone or rubber material, or foam. The buffer portion 3 can be disposed on the rotating portion 22, or it can be disposed at the collision position between the cavity wall and the rotating portion 22, specifically, it can be the collision position between the rotating portion 22 and the first side wall 12 or the second side wall 13.

[0059] Specifically, by providing the rotating drive members 2 in different numbers and positions, the actuator 1000 can have at least the following three specific implementations:

[0060] Reference Figures 6 to 8 , Figure 6 This is a schematic structural diagram of the first rotary drive member and the second rotary drive member of the actuator according to an embodiment of the present invention generating a linear force sense state; Figure 6It means that the two rotating parts collide with the first side wall at the same time. Figure 6 The arrow in the middle shows the direction of the force on the housing of the actuator; Figure 7 This is a schematic structural diagram of a state in which the first rotary driving member and the second rotary driving member of the actuator according to an embodiment of the present invention do not generate a linear force sensation; Figure 7 It means that the two rotating parts collide with the second side wall at the same time. Figure 7 The arrow in the middle shows the direction of the force on the housing of the actuator. The two forces are equal in magnitude and opposite in direction, canceling each other out, which manifests as a sense of powerlessness. Figure 8 , Figure 8 This is a schematic diagram of the force sensation generated by the simultaneous collision of the first and second rotating drive members of the exciter of an embodiment of the present invention with the first side wall or the second side wall. In the first embodiment, a three-dimensional linear force sensation can be obtained. Specifically, the rotating assembly 100 includes two rotating drive members 2, and the two rotating parts 22 are arranged axially symmetrically. The two drive parts respectively drive the two rotating parts 22 to rotate synchronously to simultaneously impact the cavity wall to generate a linear force sensation. Here, the axis of the axisymmetric arrangement of the two rotating parts 22 can be the perpendicular bisector of the line connecting the two rotation centers of the two rotating parts 22. At the same time, the cavity wall includes a first side wall 12 and a second side wall 13. The two first side walls 12 are also axially symmetrical about the perpendicular bisector, and the two second side walls 13 are also axially symmetrical about the perpendicular bisector. The two rotating parts 22 can be controlled to rotate in opposite directions, that is, one rotating part 22 rotates clockwise and the other rotating part 22 rotates counterclockwise, and the two rotating parts 22 will collide with their respective first side walls 12 or their respective second side walls 13 simultaneously. Here, the two rotating parts 22 can be set to have the same shape and structure and the same rotational speed. When the two rotating parts 22 rotate synchronously until they collide with their respective first side walls 12, the directions of the two braking forces generated are both upward. At this time, the resultant force acting on the rotating assembly 100 is upward, generating an upward linear force sensation. When the two rotating parts 22 rotate synchronously until they collide with their respective second side walls 13, the two braking forces generated are equal in magnitude, opposite in direction, and located on the same straight line, canceling each other out, resulting in no force sensation or a very small force sensation. Since the exciter 1000 includes three rotating assemblies 100 located in different planes, the three rotating assemblies 100 can generate linear force sensations located in three different planes. By controlling the movement of a single rotating assembly 100, a unidirectional linear force sensation can be obtained, or by controlling the movement of two rotating assemblies 100, a linear force sensation within a plane can be obtained, or by controlling the simultaneous movement of the three rotating assemblies 100, a linear force sensation in three-dimensional space can be obtained.

[0061] Reference Figure 9 and Figure 10 , Figure 9 This is a schematic structural diagram of the first rotary drive member and the third rotary drive member of the actuator according to an embodiment of the present invention generating a clockwise rotation force sense state; Figure 9The arrow in the middle shows the direction of the force on the housing of the actuator; Figure 10 This is a schematic structural diagram of the second rotary drive member and the fourth rotary drive member of the actuator according to an embodiment of the present invention generating a counterclockwise rotation force sense state. Figure 10 The middle arrow shows the direction of the force applied to the housing of the actuator. In the second embodiment, a sense of rotational force in three-dimensional space can be obtained. Specifically, the rotating assembly 100 includes two rotating drive members 2, and the two rotating parts 22 are arranged in a central symmetrical manner. The two driving parts respectively drive the two rotating parts 22 to rotate synchronously to simultaneously hit the cavity wall to generate a sense of rotational force. The center of symmetry here can be the midpoint of the line connecting the rotation centers of the two rotating parts 22. The center of symmetry is as follows: Figure 9 or Figure 10 Indicated by the middle arrow Y. At the same time, the cavity wall includes a first side wall 12 and a second side wall 13. The two first side walls 12 are also centrally symmetrical about the center of symmetry, and the two second side walls 13 are also centrally symmetrical about the center of symmetry, which can control the two rotating parts 22 to rotate in the same direction. The same-direction rotation here means that the two rotating parts 22 rotate clockwise or counterclockwise at the same time, and the two rotating parts 22 will collide with their respective corresponding first side walls 12 or collide with their respective corresponding second side walls 13 at the same time. The two rotating parts 22 can be set to have the same shape and structure, and the rotation speed is also the same. When the two rotating parts 22 rotate synchronously to collide with their respective corresponding first side walls 12, the two braking forces generated are equal in magnitude and opposite in direction, but are not located on the same straight line. The two braking forces have the same force arm from the center of symmetry, generating a sense of rotational force in the clockwise direction or counterclockwise direction. When the two rotating parts 22 rotate synchronously until they collide with their respective second side walls 13, the two braking forces generated are equal in magnitude, opposite in direction, and essentially lie on the same straight line. The two braking forces can cancel each other out, or the moment arm from the center of symmetry is very small, resulting in a sensory perception of no or very little rotational force. Because the actuator 1000 includes three rotating assemblies 100 located in different planes, the three rotating assemblies 100 can generate rotational force sensations located in three different planes. By controlling the movement of a single rotating assembly 100, a rotational force sensation within one plane can be obtained; by controlling the movement of two rotating assemblies 100, a rotational force sensation within two planes can be obtained; and by controlling the simultaneous movement of the three rotating assemblies 100, a rotational force sensation in three dimensions can be obtained.

[0062] Reference Figures 11 to 14 , Figure 11 A schematic structural diagram of a single rotating assembly of an exciter according to an embodiment of the present invention; Figure 12 A schematic diagram of the linear force sense of a single rotating component of an actuator according to an embodiment of the present invention; Figure 13Schematic diagram of the rotational force sensation of a single rotating component of an exciter according to an embodiment of the present invention. In the third embodiment, a linear force sensation and a rotational force sensation in a three-dimensional space can be obtained. The cavity wall includes a first sidewall 12 and a second sidewall 13. Each rotating component 100 includes a first rotating drive member 201, a second rotating drive member 202, a third rotating drive member 203, and a fourth rotating drive member 204 arranged in an array. The structures of the first rotating drive member 201, the second rotating drive member 202, the third rotating drive member 203, and the fourth rotating drive member 204 can be identical. The first rotating drive member 201, the second rotating drive member 202, the third rotating drive member 203, and the fourth rotating drive member 204 are arranged in a clockwise direction. The rotating portion 22 of the first rotating drive member 201 and the rotating portion 22 of the third rotating drive member 203 are centrally symmetrically arranged. The rotating portion 22 of the second rotating drive member 202 and the rotating portion 22 of the fourth rotating drive member 204 are centrally symmetrically arranged. The four rotating drive members 2 have a first state and a second state.

[0063] Combined with reference Figures 6 to 8 In the first state, the rotating part 22 of the first rotary driving member 201 and the rotating part 22 of the second rotary driving member 202 simultaneously hit the first side wall 12 to generate a linear force sense; or, the rotating part 22 of the third rotary driving member 203 and the rotating part 22 of the fourth rotary driving member 204 simultaneously hit the first side wall 12 to generate a linear force sense.

[0064] Combined with reference Figure 9 and Figure 10 In the second state, the rotating part 22 of the first rotary driving member 201 and the rotating part 22 of the third rotary driving member 203 simultaneously hit the first side wall 13 to generate a sense of rotational force; or, the rotating part 22 of the second rotary driving member 202 and the rotating part 22 of the fourth rotary driving member 204 simultaneously hit the first side wall 13 to generate a sense of rotational force.

[0065] In this case, there are four rotating drive members 2, and the four rotating drive members 2 are arranged in a square shape, which can be a rectangular or square shape, or in an array shape. Specifically, each rotating assembly 100 includes a first rotating drive member 201, a second rotating drive member 202, a third rotating drive member 203, and a fourth rotating drive member 204 arranged in an array shape. The rotating portion 22 of the first rotating drive member 201 and the rotating portion 22 of the third rotating drive member 203 are arranged in a central symmetric manner, and the rotating portion 22 of the second rotating drive member 202 and the rotating portion 22 of the fourth rotating drive member 204 are arranged in a central symmetric manner; and the first rotating drive member 201 and the second rotating drive member 202 are arranged in an axisymmetric manner, and the third rotating drive member 203 and the fourth rotating drive member 204 are arranged in an axisymmetric manner.

[0066] Here, the first rotary drive member 201 and the second rotary drive member 202 are arranged axially symmetrically. The axis of the axially symmetrical arrangement can be the perpendicular midline of the line connecting the two rotation centers of the first rotary drive member 201 and the second rotary drive member 202. The third rotary drive member 203 and the fourth rotary drive member 204 are arranged axially symmetrically. The perpendicular midline of the line connecting the two rotation centers of the third rotary drive member 203 and the fourth rotary drive member 204 can also be said to be the perpendicular midline of the line connecting the rotation centers of their rotating parts 22. The two perpendicular midlines can be arranged in a coincident manner. The rotating part 22 of the first rotary drive member 201 and the rotating part 22 of the third rotary drive member 203 are arranged in a centrosymmetric manner. Here, the center of symmetry of the centrosymmetry can be the midpoint of the line connecting the rotation centers of the two rotating parts 22. The rotating part 22 of the second rotary drive member 202 and the rotating part 22 of the fourth rotary drive member 204 are arranged in a centrosymmetric manner. Here, the center of symmetry of the centrosymmetry can be the midpoint of the line connecting the rotation centers of the two rotating parts 22. The two centers of symmetry can be arranged in a coincident manner. At the same time, the cavity wall includes a first side wall 12 and a second side wall 13. The two first side walls 12 and the second side walls 13 corresponding to the first rotary drive member 201 and the second rotary drive member 202 are also symmetrical about the midline. The two first side walls 12 and the second side walls 13 corresponding to the third rotary drive member 203 and the fourth rotary drive member 204 are also symmetrical about the midline, and the two midlines coincide. At the same time, the two first side walls 12 corresponding to the first rotary drive member 201 and the third rotary drive member 203 are centrally symmetrical about the center of symmetry, and the two second side walls 13 are also centrally symmetrical about the center of symmetry. The two first side walls 12 corresponding to the second rotary drive member 202 and the fourth rotary drive member 204 are centrally symmetrical about the center of symmetry, and the two second side walls 13 are also centrally symmetrical about the center of symmetry, and the two centers of symmetry coincide.

[0067] Combined with reference Figures 6 to 8When the rotating portion 22 of the first rotary drive member 201 and the rotating portion 22 of the second rotary drive member 202 rotate synchronously until they collide with their respective first side walls 12, the two braking forces generated are in the same direction and both upward. At this time, the resultant force acting on the rotary assembly 100 is upward, generating an upward linear force sensation. When the rotating portion 22 of the first rotary drive member 201 and the rotating portion 22 of the second rotary drive member 202 rotate simultaneously until they collide with their respective second side walls 13, the two braking forces generated are equal in magnitude, opposite in direction, and located on the same straight line, canceling each other out, resulting in no force sensation or a very small force sensation. Similarly, when the rotating portion 22 of the third rotary drive member 203 and the rotating portion 22 of the fourth rotary drive member 204 rotate synchronously until they collide with their respective third cavity walls, the two braking forces generated are in the same direction and both downward. At this time, the resultant force acting on the rotary assembly 100 is downward, generating a downward linear force sensation. When the rotating portion 22 of the third rotary drive member 203 and the rotating portion 22 of the fourth rotary drive member 204 rotate synchronously until they collide with the corresponding fourth cavity wall, the two braking forces generated are equal in magnitude and opposite in direction, and are located on the same straight line, canceling each other out, and no force is felt or the force is very small. Figure 16 , Figure 16 Schematic diagram of the measurement position of the linear force sense of the actuator according to an embodiment of the present invention, showing the acceleration measured at points G1, G2 and G3 and the XYZ coordinate system, Figure 17 A diagram showing the measurement results of the linear force sense of the actuator according to an embodiment of the present invention; Figure 18 This is another measurement result diagram of the linear force sense of the actuator according to an embodiment of the present invention. Figure 19 FIG. 1 is another measurement result diagram of the linear force sense of the actuator according to an embodiment of the present invention. Figures 17-19 In the diagram, G1 curve represents the acceleration change diagram in the X direction, G2 curve represents the acceleration change diagram in the Y direction, G3 curve represents the acceleration change diagram in the Z direction, line A represents the input direction of the control signal, A1 represents the forward signal, and A2 represents the reverse signal. The vertical coordinates of the curves corresponding to G1, G2 and G3 represent acceleration, and the horizontal coordinates correspond to time. Figure 17, taking the G2 point position measurement as an example, when the control signal of the rotating component 100 corresponding to the G2 point transitions from the forward signal to the reverse signal node, the driving parts representing the first rotating drive member 201 and the second rotating drive member 202 collide with their respective corresponding first side walls 12 at the same time, generating a unidirectional linear force sensation in the Y direction, and the acceleration value of the curve corresponding to G2 fluctuates greatly at this point. When the control signal transitions from the reverse signal to the forward signal node, the driving parts representing the first rotating drive member 201 and the second rotating drive member 202 collide with their respective corresponding second side walls 13 at the same time, and no force sensation is felt or the force sensation is very small. At the same time, during the rotation process without collision, the curve is relatively smooth, the acceleration is small, and no force sensation is felt or the force sensation is very small. Similarly, referring to Figure 18 When the control signal of the rotating assembly 100 corresponding to point G3 transitions from the forward signal to the reverse signal, the driving parts of the first rotating drive member 201 and the second rotating drive member 202 collide with their respective first side walls 12 at the same time, generating a unidirectional linear force sensation in the Z direction. In other states, no force sensation is felt or the force sensation is very small. Figure 19 When the control signal of the rotating assembly 100 corresponding to point G1 transitions from a forward signal to a reverse signal, the driving parts representing the first rotating drive member 201 and the second rotating drive member 202 collide with their respective corresponding first side walls 12 at the same time, generating a unidirectional linear force sensation in the X direction. In other states, no force sensation is felt or the force sensation is very small.

[0068] Reference Figure 14 , Figure 14 The figure below is a schematic diagram of the structure of the three rotating components of the actuator according to an embodiment of the present invention, and a schematic diagram of the resulting linear force and rotational force sensations. Because the actuator 1000 includes three rotating components 100 located in different planes, the three rotating components 100 can generate linear force sensations located in three different planes. This linear force sensation can be achieved by controlling the movement of a single rotating component 100, or by controlling the movement of two rotating components 100 to achieve a linear force sensation within a plane. Alternatively, by controlling the movement of all three rotating components 100 simultaneously, a linear force sensation in three dimensions can be achieved.

[0069] Furthermore, when the rotating portion 22 of the first rotary drive member 201 and the rotating portion 22 of the third rotary drive member 203 rotate synchronously until they collide with their respective first side walls 12, the two braking forces generated are equal in magnitude and opposite in direction, but are not located on the same straight line. The moment arms of the two braking forces from their symmetrical midpoints are the same, generating a sense of clockwise rotational force. When the rotating portion 22 of the first rotary drive member 201 and the rotating portion 22 of the third rotary drive member 203 rotate synchronously until they collide with their respective second side walls 13, the two braking forces generated are equal in magnitude and opposite in direction, and are located substantially on the same straight line. The two braking forces can cancel each other out, or the moment arm from their midpoints is very small, resulting in no perceptible or minimal sense of rotational force. When the rotating portion 22 of the second rotary drive member 202 and the rotating portion 22 of the third rotary drive member 203 rotate synchronously until they collide with their respective corresponding first side walls 12, the two braking forces generated are equal in magnitude and opposite in direction, but are not located on the same straight line. The two braking forces have the same force arm from the symmetrical midpoint, generating a sense of counterclockwise rotational force. When the rotating portion 22 of the second rotary drive member 202 and the rotating portion 22 of the third rotary drive member 203 rotate synchronously until they collide with their respective corresponding second side walls 13, the two braking forces generated are equal in magnitude and opposite in direction, and are basically located on the same straight line. The two braking forces can cancel each other out or the force arm from the midpoint is very small, and the sense of rotational force is not felt or is very small. Figure 14 Since the actuator 1000 includes three rotating components 100 located in different planes, the three rotating components 100 can generate rotational force sensations located in three different planes. By controlling the movement of a single rotating component 100, a rotational force sensation within one plane can be obtained; by controlling the movement of two rotating components 100, a rotational force sensation within two planes can be obtained; or by controlling the movement of the three rotating components 100 simultaneously, a rotational force sensation in a three-dimensional space can be obtained. Specifically, Figure 20 Schematic diagram of the measurement positions of the rotational force sense of the actuator according to an embodiment of the present invention, showing the acceleration measured at points G1, G2, and G3 and the XYZ coordinate system; Figure 21 This is a measurement result of the rotational force sense of the actuator according to an embodiment of the present invention. The housing has a clear rotational force sense around the Z axis in the XY plane. Figure 22 This is another measurement result of the rotational force sense of the actuator according to an embodiment of the present invention. The housing has a clear rotational force sense around the X-axis in the YZ plane. Figure 23 This is another measurement result diagram of the rotational force sense of the actuator according to an embodiment of the present invention. The housing has an obvious rotational tactile sense around the Y-axis in the XZ plane. Figures 21 to 23 middle, Figures 21-23In the figure, curve G1 represents the acceleration change diagram in the X direction, curve G2 represents the acceleration change diagram in the Y direction, curve G3 represents the acceleration change diagram in the Z direction, line A represents the input direction of the control signal, A1 represents the forward signal, and A2 represents the reverse signal. The vertical coordinates of the curves corresponding to G1, G2 and G3 represent acceleration, and the horizontal coordinates correspond to time. When the control signal of the rotating component 100 corresponding to point G3 transitions from the forward signal to the reverse signal node, the driving parts representing the first rotating drive member 201 and the third rotating drive member 203 collide with their respective corresponding first side walls 12 at the same time, generating a sense of rotational force in the XY plane and around the Z axis. When the control signal transitions from the reverse signal to the forward signal node, the driving parts representing the first rotating drive member 201 and the second rotating drive member 202 collide with their respective corresponding second side walls 13 at the same time, and no sense of rotational force is felt or the sense of rotational force is very small. Similarly, referring to Figure 22 When the control signal of the rotating assembly 100 corresponding to point G2 transitions from the forward rotation signal to the reverse rotation signal node, the driving parts representing the first rotating drive member 201 and the third rotating drive member 203 collide with their respective first side walls 12 at the same time, generating a sense of rotational force in the YZ plane around the X-axis direction. When the control signal transitions from the reverse rotation signal to the forward rotation signal node, the driving parts representing the first rotating drive member 201 and the second rotating drive member 202 collide with their respective second side walls 13 at the same time, and no sense of rotational force is felt or the sense of rotational force is very small. Figure 23 When the control signal of the rotating assembly 100 corresponding to point G1 transitions from a forward rotation signal to a reverse rotation signal, the driving components representing the first and third rotating drive components 201 and 203 simultaneously collide with their respective first sidewalls 12, generating a sense of rotational force in the XZ plane and around the Y axis. When the control signal transitions from a reverse rotation signal to a forward rotation signal, the driving components representing the first and second rotating drive components 201 and 202 simultaneously collide with their respective second sidewalls 13, resulting in little or no perceptible rotational force. This generates a sense of rotational force in three planes.

[0070] Therefore, in this embodiment of the present invention, by arranging a first rotating driving member 201, a second rotating driving member 202, a third rotating driving member 203 and a fourth rotating driving member 204 arranged in an array in each rotating component 100, the exciter 1000 can obtain a linear force sense or a rotational force sense in a three-dimensional direction.

[0071] Reference Figure 11In one embodiment, the housing 1 includes two opposed, spaced-apart sub-housings 10. One sub-housing 10 houses a first rotary drive member 201 and a fourth rotary drive member 204, while the other sub-housing 10 houses a second rotary drive member 202 and a third rotary drive member 203. In this embodiment, the rotating assembly 100 is not a single unit, but rather consists of two parts. Each sub-housing 10 houses two axially symmetrical rotary drive members 2. This design facilitates both disassembly and assembly, and facilitates the assembly of three rotating assemblies 100 together to form an actuator 1000.

[0072] Reference Figure 15 In one embodiment, grooves 101 are formed on two opposing sides of the sub-shell 10, and two protrusions 102 are formed on the sub-shell 10. The sub-shell 10 of one rotating assembly 100 is connected to the groove 101 of the sub-shell 10 of another rotating assembly 100 via the protrusions 102, and the sub-shell 10 of one rotating assembly 100 is connected to the protrusions 102 of the sub-shell 10 of the remaining rotating assembly 100 via the groove 101. There are a total of six sub-shells 10 in the three rotating assemblies 100, and the two sub-shells 10 of each rotating assembly 100 are arranged opposite each other. Each sub-shell 10 is formed with a groove 101 and a protrusion 102. The protrusion 102 is connected to the groove 101 of the sub-shell 10 of another rotating assembly 100, and the groove 101 is connected to the protrusion 102 of the sub-shell 10 of the remaining rotating assembly 100. In this way, the six sub-shells 10 are spliced together to form a whole, forming a structure similar to a Luban lock. This design is not only tightly connected, but also easy to assemble and disassemble. Specifically, threaded holes may be provided in the groove 101 or the protrusion 102 to further firmly connect the sub-shells 10 together through threaded fasteners.

[0073] In one embodiment, the first side wall 12 and the second side wall 13 are arranged perpendicularly, and the maximum rotation angle of each of the four rotary drive members 2 is 90 degrees. The maximum rotation angle of 90 degrees means that the rotation angle range of each rotary drive member 2 is 0 degrees to 90 degrees. This can generate a maximum force sensation in the same direction or opposite direction when the rotating portion 22 moves with the first side wall 12 or the second side wall 13, and facilitates the control of the synchronous movement of each rotary drive member 2.

[0074] According to one aspect of the present invention, an electronic device is provided, comprising a device body and the aforementioned exciter. The device body has an installation space, and the exciter is disposed within the installation space. Because the electronic device incorporates all technical solutions of all embodiments of the exciter described above, it possesses all the beneficial effects of all of the aforementioned technical solutions, and therefore will not be further detailed here. The electronic device may be, for example, a mobile phone or a game controller.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and do not limit the patent scope of the present invention. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that under the technical concept of the present invention, the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents; or directly / indirectly applied to other related technical fields, and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and description of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. An exciter, characterized in that: include: Three rotating components are respectively located in a first plane, a second plane and a third plane, wherein the first plane, the second plane and the third plane are not parallel to each other; Each of the rotating components includes a shell and a plurality of rotating driving members arranged in the shell. The three shells are connected to each other. Each of the rotating driving members is used to rotate to impact the corresponding shell to generate a force sense.

2. The actuator according to claim 1, characterized in that The rotary driving member includes a driving portion and a rotating portion. The shell has an installation cavity. The rotating portion is arranged in the installation cavity. The driving portion is used to drive the rotating portion to rotate to hit the cavity wall of the installation cavity to generate a force sense.

3. The actuator according to claim 2, characterized in that The rotating assembly includes two rotating driving parts, and the two rotating parts are arranged in an axially symmetrical manner. The two driving parts respectively drive the two rotating parts to rotate synchronously to simultaneously hit the cavity wall to generate a linear force feeling.

4. The actuator according to claim 2, characterized in that The rotating assembly includes two rotating driving parts, and the two rotating parts are centrally symmetrically arranged. The two driving parts respectively drive the two rotating parts to rotate synchronously so as to simultaneously hit the cavity wall to generate a sense of rotational force.

5. The actuator according to claim 2, characterized in that The cavity wall includes a first side wall and a second side wall, each of the rotating components includes a first rotating drive member, a second rotating drive member, a third rotating drive member, and a fourth rotating drive member arranged in an array, the rotating portion of the first rotating drive member and the rotating portion of the third rotating drive member are centrally symmetrically arranged, the rotating portion of the second rotating drive member and the rotating portion of the fourth rotating drive member are centrally symmetrically arranged, and the four rotating drives have a first state and a second state: In a first state, the rotating portion of the first rotary driving member and the rotating portion of the second rotary driving member simultaneously strike the first side wall to generate a linear force sensation; or the rotating portion of the third rotary driving member and the rotating portion of the fourth rotary driving member simultaneously strike the first side wall to generate a linear force sensation; In the second state, the rotating portion of the first rotary driving member and the rotating portion of the third rotary driving member simultaneously hit the first side wall to generate a sense of rotational force; Alternatively, the rotating portion of the second rotation driving member and the rotating portion of the fourth rotation driving member simultaneously hit the first side wall to generate a sense of rotational force.

6. The actuator according to claim 5, characterized in that The housing includes two sub-shells that are opposite to each other and spaced apart. The first rotation driving member and the fourth rotation driving member are disposed in one of the sub-shells, and the second rotation driving member and the third rotation driving member are disposed in the other sub-shell.

7. The actuator according to claim 6, characterized in that Grooves are formed on two opposite side surfaces of the sub-shell, and two protrusions are formed on the sub-shell. The sub-shell of one rotating component is connected to the groove of the sub-shell of another rotating component through the protrusions, and the sub-shell of one rotating component is connected to the protrusion of the sub-shell of the remaining rotating component through the groove.

8. The actuator according to claim 5, characterized in that The first side wall and the second side wall are arranged vertically, and the maximum rotation angles of the four rotating driving members are all 90°.

9. The actuator according to any one of claims 1 to 8, characterized in that: The first plane, the second plane and the third plane are arranged perpendicular to each other.

10. The actuator according to any one of claims 2 to 8, characterized in that: The rotating assembly further includes a buffer portion, which is disposed at a location where the cavity wall collides with the rotating portion, and / or is disposed on the rotating portion.

11. The actuator according to any one of claims 2 to 8, characterized in that: The driving part includes a coil, which is installed on the shell. The rotating part is a semi-cylindrical rotating part, which includes a main body, a rotating shaft and a magnetic part arranged on the main body. The main body is provided with an axial hole, which is eccentrically arranged on the rotating part, and the rotating shaft is passed through the axial hole; the coil is arranged on the side of the arc surface close to the rotating part and is spaced apart from the arc surface.

12. An electronic device, characterized in that: The device comprises a device body and the exciter according to any one of claims 1 to 11, wherein the device body has an installation space, and the exciter is arranged in the installation space.

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