Deformable knob with torque feedback and control method thereof

Abstract

The invention discloses a deformable knob with torque feedback and a control method thereof.The deformable knob with torque feedback comprises a base, a knob body, a deformation assembly, a force feedback assembly and a control mainboard, and the interior of the base is hollow to form a containing cavity; a through hole communicated with the accommodating cavity is formed in the top of the base; the knob main body is rotatably inserted into the through hole; one end of the knob body protrudes to the upper portion of the base and is provided with a deformation cavity in a hollow mode. The other end of the knob main body is inserted into the accommodating cavity; the deformation assembly is arranged in the deformation chamber; the deformation assembly can contract or stretch in the radial direction of the rotary knob body. The force feedback assembly is arranged in the accommodating cavity and is in transmission with the knob main body through a synchronous belt; the control main board is arranged on the base and electrically connected with the force feedback assembly, the deformation assembly and the rotary knob body. By adjusting the shape and the force feedback strength of the knob, multiple control modes can be provided, the functions of the knob are increased, meanwhile, accurate feedback is provided, and the control convenience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of human-computer interaction equipment, and in particular to a deformable knob with torque feedback and a control method thereof. Background Art

[0002] In recent years, with the gradual development of sensing devices such as optical sensors and thermal sensors, and the popularization of digital display screens, electronic systems have been used to a greater extent in human-computer interaction operating systems to perform various functions that were traditionally performed by mechanical systems. For example, the buttons on the car's center console have omitted many mechanical buttons and mechanical knobs, and are instead controlled by the touch screen of the center console, thereby reducing production costs and saving space in the car.

[0003] However, touch screens provide limited tactile feedback to operators when making selections, and operators must usually determine whether they have made appropriate selections by sight or hearing, which can distract operators, such as when driving, and increase the chance of traffic accidents. In other words, existing electronic knobs have little physical feedback and are not easy to manipulate.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a deformable knob with torque feedback and a control method thereof, aiming to solve the problems of little physical feedback received by the operator in the existing human-computer interaction process, insufficient immersion in the operation, and inconvenience in use.

[0006] The technical solution of the present invention is as follows:

[0007] A deformable knob with torque feedback, comprising a base, a knob body, a deformation component, a force feedback component and a control mainboard, wherein the interior of the base is hollow to form a accommodating cavity; the top of the base is provided with a through hole connected to the accommodating cavity; the knob body is rotatably inserted into the through hole; one end of the knob body protrudes above the base, and a deformation chamber is hollowly provided in the middle; the other end of the knob body is inserted into the accommodating cavity; the deformation component is arranged in the deformation chamber; the deformation component can shrink or stretch along the radial direction of the knob body; the force feedback component is arranged in the accommodating cavity, and is driven by a synchronous belt with the knob body; the control mainboard is arranged on the base, and is electrically connected to the force feedback component, the deformation component and the knob body.

[0008] The deformable knob with torque feedback, wherein a first through hole is provided on the side wall of the deformation chamber; the deformation assembly comprises a bottom bracket, a central axis, a first main gear, a first slider and a first motor, wherein the bottom bracket is connected to the knob body and is arranged on the bottom surface of the deformation chamber; a first slide extending toward the first through hole is provided on the bottom bracket; the central axis is vertically arranged on the bottom bracket and is located at the center of the bottom bracket; the first main gear is sleeved on the central axis; at least one first spiral radial slide hole is provided on the first main gear; the first spiral radial slide hole is located above the first slide; the first slider can be slidably arranged on the first slide; and a first clamp is protrudingly provided on the top surface of the first slider, and the first clamp is plugged into the first spiral radial slide hole; the first motor is arranged on the bottom bracket; a first transmission gear is sleeved on the output shaft of the first motor, and the first transmission gear is meshed with the first main gear; the first motor is used to drive the first main gear to rotate, so as to drive the first slider to extend out of the first through hole or retract into the first through hole.

[0009] The deformable knob with torque feedback, wherein at least two second through holes are provided on the side wall of the deformation chamber; the deformation assembly includes an interlayer bracket, a second main gear, at least two second sliders and a second motor, the interlayer bracket is sleeved on the central axis; the interlayer bracket is provided with at least two second slideways facing the second through holes; the second main gear is sleeved on the central axis and stacked with the interlayer bracket; at least two second spiral radial slide holes are provided on the second main gear; at least two second spiral radial slide holes are arranged in a ring shape on the second main gear; and the second spiral radial slide hole is located above the second slideway; at least two second sliders can be slidably arranged on the second slideway; and a second clamp is protrudingly provided on the top surface of the second slider, and the second clamp is plugged into the second spiral radial slide hole; the second motor is arranged on the interlayer bracket; a second transmission gear is sleeved on the output shaft of the second motor, and the second transmission gear is meshed with the second main gear; the second motor is used to drive the second main gear to rotate, so as to drive the second slider to extend out of the second through hole, or retract into the second through hole.

[0010] The deformable knob with torque feedback, wherein the base includes a frame and a casing, the top of the frame is provided with a first groove, the bottom of the first groove is provided with a second groove; the bottom surface of the frame is provided with a third groove; the second groove is communicated with the third groove; the casing is covered on the frame to close the first groove to form the accommodating cavity; the control mainboard is arranged in the third groove; the lower end of the knob body is inserted into the second groove, and a conductive slip ring is provided, one side of the conductive slip ring is electrically connected to the control mainboard, and the other side is electrically connected to the first motor and the second motor.

[0011] The deformable knob with torque feedback, wherein the deformable component also includes an operation panel electrically connected to the conductive slip ring, and the operation panel is arranged on the top surface of the knob body; the operation panel is provided with a plurality of buttons for sending control instructions.

[0012] The deformable knob with torque feedback, wherein the knob body includes a base and an upper end cover, the base is plugged into the through hole, the bottom end of the base extends to the second groove and is connected to the conductive slip ring; the upper end cover is covered and arranged on the base to form the deformation chamber; a wire guide bar is protruding on the inner wall of the upper end cover, and a wire passage extending along the axial direction of the deformation chamber is formed on the wire guide bar, and the wire passage channel is used to arrange the wires connected to the operation panel; and / or a wire threading hole is provided on the base, one end of the wire threading hole is connected to the deformation chamber, and the other end is connected to the second groove; an annular retaining wall is provided around the wire threading hole on the top surface of the base; the annular retaining wall encloses a wire threading channel, and the wire threading channel and the wire threading hole are both used to arrange the wires connected to the first motor and the second motor.

[0013] The deformable knob with torque feedback, wherein the base includes a connecting piece and a first synchronous wheel, the connecting piece is rotatably inserted into the through hole; the first synchronous wheel is connected to one end of the connecting piece inserted into the accommodating cavity; the force feedback component includes a brushless motor, a second synchronous wheel and a synchronous belt, the brushless motor is arranged in the accommodating cavity, and the bottom surface of the accommodating cavity is provided with a wiring channel for arranging wires to connect the brushless motor and the control main board; the second synchronous wheel is arranged on the output shaft of the brushless motor; one end of the synchronous belt is sleeved on the first synchronous wheel, and the other end is sleeved on the second synchronous wheel.

[0014] The deformable knob with torque feedback, wherein the base also includes a lower baffle and a ball bearing, the lower baffle is arranged in the second groove, one side of the lower baffle is connected to the first synchronous wheel, and the other side is connected to the conductive slip ring; the inner ring of the ball bearing is sleeved on the lower baffle and the first synchronous wheel; the outer ring of the ball bearing is in contact with the side wall of the second groove.

[0015] The present application also discloses a control method of a deformable knob with torque feedback, which is used for any of the above-mentioned deformable knobs with torque feedback; wherein the method comprises:

[0016] Get the current mode command;

[0017] generating a first control signal and a second control signal based on the current mode instruction;

[0018] In response to the first control signal, actuating the deformation component to an extended state;

[0019] In response to the second control signal, the force feedback component is adjusted to a preset resistance mode.

[0020] In the control method of the deformable knob with torque feedback, the preset resistance mode includes any one of a zero resistance mode, a ratchet mode, a damping mode, a spring mode, and a limit mode.

[0021] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0022] The deformable knob with torque feedback disclosed in the present invention is provided with a force feedback component on a base, a deformation component in a knob body, and is uniformly controlled by a control mainboard during use. The deformation component can be extended to change the shape of the knob body, or retracted into a deformation chamber, and the shape of the knob body can change between different modes. When the operator touches the knob, the current adjustment mode of the knob can be determined by the shape of the current knob body; and while controlling the extension and retraction of the deformation component, the control mainboard also controls the physical feedback force and feedback mode of the force feedback component through electrical signals, so that the operator can improve the control accuracy and increase the immersion and experience of the control when turning the knob.

[0023] In summary, the present invention adds a deformation component to the knob, so that the operator only needs to perceive the adjustment mode and working state of the knob through touch. The interaction method is simple and efficient, and will not distract too much attention. In some fast-response applications, the accuracy and safety of the operation can be increased. In addition, only one knob is needed to switch between multiple adjustment modes, increasing the multifunctional use of the knob, which is convenient for operation, saves space for setting the knob, and facilitates the setting of multi-dimensional interactive operation schemes in complex systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a structural schematic diagram of a deformable knob with torque feedback in the present invention;

[0026] Figure 2 is a cross-sectional view of the base in the present invention;

[0027] Figure 3 It is a partial structural schematic diagram of a deformable knob with torque feedback in the present invention;

[0028] Figure 4 It is another structural schematic diagram of a deformable knob with torque feedback in the present invention;

[0029] Figure 5 It is a structural explosion diagram of a part of the structure of the deformable knob with torque feedback in the present invention;

[0030] Figure 6 for Figure 5 A partial enlarged view of the middle A;

[0031] Figure 7 for Figure 5 A partial enlarged view of point B in the middle;

[0032] Figure 8 It is a schematic structural diagram of the three-layer structure of the deformation component in the present invention;

[0033] Fig. 9 It is a top view of the knob body in four deformation modes of the present invention;

[0034] Fig.10 It is a structural schematic diagram of the A plate in the present invention;

[0035] Fig.11 It is a structural schematic diagram of the B plate in the present invention;

[0036] Fig.12 It is a partial structural schematic diagram of the control mainboard in the present invention;

[0037] Fig.13 It is a flow chart of the control method of the deformable knob with torque feedback in the present invention.

[0038] Among them, 100, base; 110, accommodating cavity; 120, through hole; 130, frame; 131, first groove; 132, second groove; 133, third groove; 140, housing; 200, knob body; 210, deformation chamber; 220, first through hole; 230, second through hole; 240, conductive slip ring; 250, base; 251, threading hole; 252, annular retaining wall; 253, threading channel; 254, connecting piece; 255, first synchronous wheel; 256, lower baffle; 257, ball bearing; 260, upper end cover; 261, wire guide; 2611, wire channel; 300, deformation component; 310, bottom bracket; 31 1. First slideway; 320. Center axis; 330. First main gear; 331. First spiral radial slide hole; 340. First slider; 350. First motor; 360. First transmission gear; 370. Interlayer bracket; 371. Second slideway; 380. Second main gear; 381. Second spiral radial slide hole; 390. Second slider; 3100. Second motor; 3110. Second transmission gear; 3120. Operation panel; 3121. Button; 400. Force feedback assembly; 410. Brushless motor; 420. Second synchronous wheel; 430. Synchronous belt; 500. Control main board; 510. Bottom plate; 520. A plate; 530. B plate. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0040] The operation of traditional knobs is simple and direct, with accurate physical feedback. Especially in applications that require reduced visual attention and quick response, the tactile feedback of the knob can enhance the user's sense of immersion and make the operation more controllable and realistic. However, the physical structure of the knob limits the diversity of functions and can only control a single or fixed parameter, which is difficult to meet the needs of multi-parameter and dynamic control in modern human-computer interaction operations. In the prior art, touch screens, facial motion capture, voice recognition and other technologies have gradually replaced the application of traditional knobs in many devices, which can reduce the number of knobs, facilitate manufacturing, and save space, but the sense of control of physical feedback is lost, so that the operator needs to focus on the virtual knob and judge the intensity of the control through vision, hearing, etc., resulting in inconvenient operation.

[0041] See also Figure 1 and Figure 3In one embodiment of the present invention, a deformable knob with torque feedback is disclosed, which includes a base 100, a knob body 200, a deformation component 300, a force feedback component 400 and a control mainboard 500. The deformable knob with torque feedback disclosed in this embodiment is provided with a force feedback component 400 on the base 100, and a deformation component 300 in the knob body 200, and is uniformly controlled by the control mainboard 500 when in use.

[0042] Specifically, Figure 2 As shown, the interior of the base 100 is hollow to form a receiving cavity 110; the top of the base 100 is provided with a through hole 120 connected to the receiving cavity 110; the knob body 200 is rotatably inserted into the through hole 120 to maintain a stable connection. During use, the operator touches the knob body 200 and controls it by rotating the knob body 200.

[0043] Specifically, Figure 1 , Figure 4 and Figure 5 As shown, one end of the knob body 200 protrudes above the base 100, and a deformation chamber 210 is hollowly provided in the knob body 200; the deformation assembly 300 is arranged in the deformation chamber 210; the deformation assembly 300 can shrink or stretch along the radial direction of the knob body 200. When the deformation assembly 300 shrinks, the outer surface of the knob body 200 is smooth; when the deformation assembly 300 stretches, the deformation assembly 300 can abut against the inner wall of the knob body 200 to deform the knob body 200, or a hole can be opened on the side wall of the knob body 200 to avoid the deformation assembly 300, so that the deformation assembly 300 can extend from the deformation chamber. In short, after the deformation assembly 300 stretches, the outer surface of the knob body 200 is uneven and rough. Therefore, during use, the operator can directly judge the current working mode by touching the knob body 200 according to whether there is a protrusion on the side of the knob body 200.

[0044] For example, a deformable knob with torque feedback is provided on the vehicle, which can be electrically connected to the vehicle main board through the control main board 500. When adjusting the volume, the control deformable component 300 contracts, and the operator touches the smooth outer surface of the knob body 200, which determines that the current mode is the volume adjustment mode; when adjusting the air conditioning size, the control deformable component 300 extends, and the operator touches the uneven outer surface of the knob body 200, which determines that the current mode is the air conditioning adjustment mode.

[0045] It should be noted that this embodiment only exemplifies one application method of a deformable knob with torque feedback. The specific use and control can be set according to actual needs. The protection scope of the present invention is not limited to this. As long as the technical effects disclosed in this application can be achieved, other functional designs, or functional combinations, as equivalent replacements for the concepts of the present invention, should also be within the scope of protection of this application.

[0046] Specifically, Figure 2 and Figure 3 As shown, the other end of the knob body 200 is inserted into the accommodating cavity 110; the force feedback component 400 is arranged in the accommodating cavity 110, and is transmitted to the knob body 200 through a synchronous belt 430; the control main board 500 is arranged on the base 100, and is electrically connected to the force feedback component 400, the deformation component 300 and the knob body 200.

[0047] While controlling the extension and retraction of the deformation component 300, the control main board 500 also regulates the physical feedback force and feedback mode of the force feedback component 400 through electrical signals, and connects the force feedback component 400 and the knob body 200 through the synchronous belt 430, and the two rotate synchronously. When the movement mode of the force feedback component 400 is the ratchet mode, or the impedance mode, or the limit mode, there will be resistance feedback when the knob body 200 is rotated, so that the operator can continue to feel the adjustment force through the impedance feedback during the process of turning the knob, thereby improving the control accuracy and increasing the immersion and experience of the control.

[0048] In summary, by adding the deformation component 300 to the knob, the operator only needs to perceive the adjustment mode and working state of the knob through touch. The interaction method is simple and efficient, and will not distract too much attention. In some fast-response applications, the accuracy and safety of the control can be increased. In addition, by combining the working state of the force feedback component 400 with the deformation component 300, different physical feedback can be further performed in accordance with the adjustment requirements of different functions, further increasing the accuracy of the control.

[0049] For example, the volume adjustment in a vehicle needs to adopt a stepless adjustment control method, and the adjustment of the radio needs to adopt a stepless adjustment control method. In this embodiment, the deformation component 300 can be set to the impedance mode by controlling the main board 500. At this time, the operator can determine the volume adjustment mode by touching the knob body 200, and perform stepless adjustment when turning the knob body 200; in particular, the extreme value of the force feedback component 400 can be set. When the operator rotates beyond a certain range and reaches the extreme value of the force feedback component 400, it will be subject to greater damping, making it difficult for the operator to continue to turn the knob. That is, when the volume is adjusted to the maximum or minimum position, the operator can directly feel the current control state through clear tactile feedback.

[0050] When the deformation component 300 is extended by controlling the main board 500, the force feedback component 400 is in ratchet mode. At this time, when the operator touches the knob body 200, it is in radio program adjustment mode, and the knob body 200 is turned to perform step-by-step adjustment.

[0051] It can be seen that in this embodiment, only one deformable knob with torque feedback is needed to switch between multiple adjustment modes, which increases the number of parameters that can be controlled by the knob. This is convenient for operation and saves space for setting the knob, making it easier to set up multi-dimensional interactive operation schemes in complex systems.

[0052] like Figure 4 and Figure 5 As shown, as an implementation of this embodiment, it is disclosed that a first through hole 220 is opened on the side wall of the deformation chamber 210; the deformation component 300 includes a bottom bracket 310, a central axis 320, a first main gear 330, a first slider 340 and a first motor 350. The first main gear 330 is driven to rotate by the first motor 350, driving the first slider 340 to go back and forth through the first through hole 220 to realize the deformation process of the knob.

[0053] Specifically, the bottom bracket 310 is connected to the knob body 200 and is disposed on the bottom surface of the deformation chamber 210 to play a supporting role. A fixing hole can be opened on the bottom surface of the deformation chamber 210, and the bottom bracket 310 can be inserted into the fixing hole; or it can be assembled by hot melt adhesive, welding, bonding, clamping, etc. to keep the bottom bracket 310 stable.

[0054] Specifically, the central axis 320 is vertically arranged on the bottom bracket 310 and is located at the center of the bottom bracket 310. In this embodiment, the bottom bracket 310 is placed on the bottom surface of the deformation chamber 210, and the central axis 320 extends along the axial direction of the deformation chamber 210. The central axis 320 can be inserted in the center of the bottom bracket 310 to facilitate the assembly of the first main gear 330, so that the first main gear 330 can be sleeved on the central axis 320 and rotate freely. The central axis 320 and the bottom bracket 310 disclosed in this embodiment can be connected by plugging, bonding, etc., or can be made by an integral molding method, which saves the assembly steps and increases the structural strength.

[0055] Specifically, in this embodiment, the top end of the central axis 320 extends toward the top surface of the deformation chamber 210, and can abut against or insert into the top surface of the deformation chamber 210, thereby fixing both ends of the central axis 320 to keep the central axis 320 stable and reduce shaking.

[0056] Specifically, the bottom bracket 310 is provided with a first slide 311 extending toward the first through hole 220; the first slider 340 can be slidably set on the first slide 311; the first main gear 330 is sleeved on the central axis 320; the first main gear 330 is provided with at least one first spiral radial slide hole 331; the first spiral radial slide hole 331 is located above the first slide 311, and the top surface of the first slider 340 is protrudingly provided with a first clamp, and the first clamp is plugged into the first spiral radial slide hole 331.

[0057] In this embodiment, the first clamp is connected to the first spiral radial slider, so that when the first main gear 330 rotates, the first clamp is pushed, and the first slider 340 is driven to move on the first slideway 311, and can be toward or away from the first through hole 220, so as to achieve a telescopic action. Specifically, the first spiral radial slide hole 331 gradually extends from the center to the edge of the first main gear 330, and is generally arc-shaped. When the first main gear 330 rotates, the rotational force can be converted into a thrust in a linear direction, so that the first slider 340 slides. Only mechanical transmission is used in the entire transmission process, with precise control, high transmission efficiency, and a simple and stable structure.

[0058] Specifically, the first motor 350 is disposed on the bottom bracket 310; a first transmission gear 360 is sleeved on the output shaft of the first motor 350, and the first transmission gear 360 is meshed with the first main gear 330; the first motor 350 is used to drive the first main gear 330 to rotate, so as to drive the first slider 340 to extend out of the first through hole 220, or retract into the first through hole 220.

[0059] The first motor 350 disclosed in this embodiment includes but is not limited to a stepper motor, a motor, etc. The first motor 350 can control the rotation of the first transmission gear 360 to achieve the purpose of controlling the extension of the first slider 340. The first motor 350 can be electrically connected to the control mainboard 500 to transmit electric energy and control the output power.

[0060] Specifically, the structure of the deformation component 300 is disclosed only by way of example in this embodiment. In the embodiment of the present application, the first through hole 220 can be provided in multiple numbers as required, and the first slide rail, the first slider 340, the first spiral radial slide hole 331, the first motor 350, etc. can be provided in multiple numbers accordingly, so that the shape of the knob changes more when it is deformed, and the tactile feedback can be enhanced during the operation. In other words, when the knob is deformed, the feel is different when there is one protrusion on the side and when there are four or six protrusions. Obviously, the more protrusions there are, the easier it is to identify by touch, thereby improving the operator's control accuracy.

[0061] For example Figure 5 As shown, as another implementation of this embodiment, at least two second vias 230 are provided on the side wall of the deformation chamber 210. The second vias 230 are spaced apart from the first vias 220 to avoid mutual interference. At the same time, the number of the second vias 230 is differentiated from the number of the first vias 220. When the deformation component 300 is deformed in different modes, the shape of the knob surface is different, which makes it convenient for the operator to judge the current control mode by touch.

[0062] Specifically, the deformation assembly 300 includes an interlayer bracket 370, a second main gear 380, at least two second sliders 390 and a second motor 3100. The interlayer bracket 370 is sleeved on the central shaft 320; the interlayer bracket 370 is provided with at least two second slideways 371 facing the second through hole 230. The interlayer bracket 370 is sleeved on the central shaft 320 and stacked above the first main gear 330, and is used to provide a supporting plane to support the second main gear 380, the second slider 390 and the second motor 3100, separate them from the first main gear 330 and the first transmission gear 360, and keep the structure in the deformation chamber 210 to work in an orderly manner to reduce collision.

[0063] Specifically, the second main gear 380 is sleeved on the central shaft 320 and stacked with the interlayer bracket 370; at least two second spiral radial sliding holes 381 are provided on the second main gear 380; at least two second spiral radial sliding holes 381 are arranged in a ring shape on the second main gear 380; and the second spiral radial sliding holes 381 are located above the second slideway 371; at least two second sliding blocks 390 can be slidably arranged on the second slideway 371; and a second clamp is protruding from the top surface of the second sliding block 390, and the second clamp is plugged into the second spiral radial sliding hole 381.

[0064] A second spiral radial slide hole 381, a second slideway 371 and a second slider 390 are provided corresponding to the number of the second through holes 230, and the first main gear 330 and the first slider 340 are operated in the same transmission mode, so as to simplify the structure of the deformation component 300 and increase the deformation modes, thereby further improving the usability of the deformation component 300 to adapt to more complex interactive systems.

[0065] Specifically, the second motor 3100 is disposed on the interlayer bracket 370; the second transmission gear 3110 is sleeved on the output shaft of the second motor 3100, and the second transmission gear 3110 is meshed with the second main gear 380; the second motor 3100 is used to drive the second main gear 380 to rotate, so as to drive the second slider 390 to extend out of the second through hole 230, or to retract into the second through hole 230. The second motor 3100 disclosed in this embodiment can adopt a stepping motor or motor of the same model as the first motor 350 to provide power for the second main gear 380 to rotate.

[0066] In this embodiment, the interlayer bracket 370 is further stacked on the first main gear 330, and the second main gear 380 and the second slider 390 are assembled to achieve a deformation process different from the first slider 340, so that the shape change of the deformation component 300 is more diverse, which can meet more deformation requirements, adapt to various working modes of the force feedback component 400, and independently adjust multiple parameters.

[0067] In addition, if Figure 5 As shown, the deformation component 300 disclosed in this embodiment can be set as a multi-layer structure, and the interlayer bracket 370, the second main gear 380, the second slider 390, the second motor 3100, etc. can be repeatedly stacked and arranged. Each layer can be provided with a main gear, a transmission gear and a motor, but the number of sliders set on each layer is different.

[0068] For example, a deformable knob with torque feedback is set on the center console of a vehicle. When the deformable component 300 is extended during use, one or more protrusions can extend from the side of the knob body 200. According to the use requirements, the working mode can be determined according to the number of protrusions, further increasing the versatility of the knob. Figure 8 As shown in Figures (a), (b) and (c), the deformation assembly 300 can be provided in three layers, with one slider in the first layer, three sliders in the second layer, and six sliders in the third layer. Fig. 9 As shown in Figure (a) in the figure, when switched to the volume adjustment mode, the outer side of the knob is smooth, which is a basic circular mode; Fig. 9 As shown in Figure (b), when the mode is switched to radio mode, a slider protrudes from the outer side of the knob, indicating pointer mode; Fig. 9 As shown in Figure (c) in FIG. 1 , when the air conditioning adjustment mode is switched, three sliders protrude from the outer side of the knob, and the interval between each two sliders is 120°, forming a three-sawtooth pattern; Fig. 9 As shown in Figure (d), when switched to the ambient light adjustment mode, six sliders protrude from the outer side of the knob, and the interval between each two sliders is 60°, forming a six-sawtooth pattern.

[0069] In addition, in another implementation of this embodiment, the shapes of sliders in different layers are different. For example, the slider can be set to be spherical or cubical. When touching, the current mode of the knob can be quickly distinguished and confirmed according to whether there are corners on the protrusion. It can be seen that by setting different shapes, it is further convenient for the operator to identify and avoid confusion. According to the shape of the slider protruding from the side of the knob body 200, the operator can quickly confirm the working mode of the knob.

[0070] In short, during use, the knob can be deformed in various forms, and the sliders on different layers can be extended and retracted independently, thereby meeting the requirements of adjusting parameters in multiple dimensions in the usage scenario and improving the integrated control capabilities of the knob.

[0071] like Figure 2 , Figure 4 and Figure 5As shown, as another implementation of this embodiment, the base 100 includes a frame 130 and a housing 140, the top of the frame 130 is provided with a first groove 131, the bottom of the first groove 131 is provided with a second groove 132; the bottom surface of the frame 130 is provided with a third groove 133; the second groove 132 is connected to the third groove 133; the housing 140 is covered on the frame 130, and is used to close the first groove 131 to form the accommodating cavity 110; the control mainboard 500 is arranged in the third groove 133. The lower end of the knob body 200 is inserted into the second groove 132, and is provided with a conductive slip ring 240, one side of the conductive slip ring 240 is electrically connected to the control mainboard 500, and the other side is electrically connected to the first motor 350 and the second motor 3100.

[0072] In this embodiment, the force feedback assembly 400 and the knob body 200 are both assembled in the first groove 131, and the housing 140 covers the frame 130 to achieve closure and protect the structure in the accommodating cavity 110. The end of the knob body 200 is also inserted into the second groove 132, and a wire slip ring is provided to connect the wires of the first motor 350 or the second motor 3100 (of course, if the deformation assembly 300 is provided with more than two layers and more than two motors are provided, power transmission and control are also achieved by connecting the wire slip ring).

[0073] In this embodiment, the control mainboard 500 is arranged in the third groove 133, which is convenient for assembly from the bottom surface of the frame 130, and is connected to the second groove 132, which is convenient for direct alignment of the conductive slip ring 240, and the conductive slip ring 240 is electrically connected to the control mainboard 500. The knob body 200 will rotate during use, and the conductive slip ring 240 is arranged to solve the problem of wire winding during the rotation process, thereby improving the stability of signal transmission between various components.

[0074] like Figure 4 and Figure 5 As shown, as another implementation of this embodiment, it is disclosed that the deformation component 300 also includes an operation panel 3120 electrically connected to the conductive slip ring 240, and the operation panel 3120 is arranged on the top surface of the knob body 200; the operation panel 3120 is provided with a plurality of buttons 3121 for sending control instructions.

[0075] In this embodiment, the deformation component 300 can be provided with a multi-layer structure. When the mode is switched, the operation panel 3120 is directly controlled to improve the switching efficiency. The operation panel 3120 is provided on the top surface of the knob body 200. The operator can quickly touch back and forth between the side surface and the top surface of the knob body 200 until the desired adjustment mode is switched, which is convenient to operate.

[0076] In addition, touch feedback requires the operator to perceive it after all, and there may be misjudgments during use. The operation panel 3120 is set on the top surface of the knob body 200 to facilitate the operator's observation. When the operator is not sure whether to select the correct mode, further confirmation can be quickly made through visual observation.

[0077] Specifically, the operation panel 3120 disclosed in this embodiment can be a touch panel or a mechanical keyboard panel. By touching or pressing the button 3121, the operator can switch the adjustment mode of the knob. It should be particularly noted that in this embodiment, the operation panel 3120 is set on the knob body 200, so it will rotate with the knob body 200 during use, so it is not advisable to fix the position of the button or identification area to prevent confusion after changing the position.

[0078] For example, four buttons 3121 are set on the operation panel 3120 and distributed in a cross shape. The four buttons 3121 can be used to switch the working mode of the knob. By pressing any button 3121, a control signal can be sent to control the deformation component 300 and the force feedback component 400 to switch the working state.

[0079] For example Figure 5 As shown, as another implementation of this embodiment, the knob body 200 includes a base 250 and an upper end cover 260. The base 250 is plugged into the through hole 120. The bottom end of the base 250 extends to the second groove 132 and is connected to the conductive slip ring 240. The upper end cover 260 is covered and arranged on the base 250 to form the deformation chamber 210. The upper end cover 260 is manufactured separately from the base 250, so that the upper end cover 260 is covered after the deformation assembly 300 is assembled, which facilitates the assembly operation.

[0080] Specifically, Figure 5 and Figure 6 The base 250 is shown as being provided with a threading hole 251, one end of the threading hole 251 is connected to the deformation chamber 210, and the other end is connected to the second groove 132; an annular retaining wall 252 is provided around the threading hole 251 on the top surface of the base 250; the annular retaining wall 252 encloses a threading channel 253, and the threading channel 253 and the threading hole 251 are both used for arranging the wires connected to the first motor 350 and the second motor 3100.

[0081] In this embodiment, the wire threading hole 251 and the wire threading channel 253 are provided to protect the wires connected to the first motor 350 and the second motor 3100, thereby preventing the wires from being entangled or stuck, and increasing the orderliness of the knob structure.

[0082] Specifically, Figure 5 and Figure 7 As shown, a wire guide bar 261 is protruding from the inner wall of the upper end cover 260, and a wire channel 2611 extending along the axial direction of the deformation chamber 210 is formed on the wire guide bar 261, and the wire channel 2611 is used to arrange the wires connected to the operation panel 3120. In this embodiment, the wires connected to the operation panel 3120 are guided in an orderly manner through the wire channel 2611, so as to prevent the wires from accidentally getting stuck in the multiple gear sets of the deformation assembly 300, thereby preventing accidents, thereby increasing the safety and stability of the knob.

[0083] For example Figure 5 As shown, as another implementation of this embodiment, the base 250 is disclosed to include a connecting member 254 and a first synchronous wheel 255, the connecting member 254 is rotatably inserted into the through hole 120; the first synchronous wheel 255 is connected to one end of the connecting member 254 inserted into the accommodating cavity 110. The force feedback assembly 400 includes a brushless motor 410, a second synchronous wheel 420 and a synchronous belt 430, the brushless motor 410 is arranged in the accommodating cavity 110, and the bottom surface of the accommodating cavity 110 is provided with a wiring channel for arranging wires to connect the brushless motor 410 and the control main board 500; the second synchronous wheel 420 is arranged on the output shaft of the brushless motor 410; one end of the synchronous belt 430 is sleeved on the first synchronous wheel 255, and the other end is sleeved on the second synchronous wheel 420.

[0084] In this embodiment, the brushless motor 410 is electrically connected to the control mainboard 500, and the input current of the brushless motor 410 is controlled by the control signal sent by the control mainboard 500, thereby controlling the working mode of the brushless motor 410. The brushless motor 410 can be fixed to the bottom surface of the accommodating cavity 110 by screwing, bonding or welding, and the second synchronous wheel 420 connected to the output end is connected to the first synchronous wheel 255 through the synchronous belt 430. When the operator rotates the knob body 200, the first synchronous wheel 255 is driven to rotate, and the rotation trend of the brushless motor 410 itself is different from the movement trend of the knob body 200, which will generate damping, so that the operator can feel the feedback of the rotation force.

[0085] It can be seen that in this embodiment, the feedback of the rotation force is achieved through direct mechanical transmission, so that the operator can perceive the force and range of adjustment through touch, thereby improving the adjustment accuracy.

[0086] For example Figure 5As shown, as another implementation of this embodiment, it is disclosed that the base 250 also includes a lower baffle 256 and a ball bearing 257, the lower baffle 256 is arranged in the second groove 132, one side of the lower baffle 256 is connected to the first synchronous wheel 255, and the other side is connected to the conductive slip ring 240; the inner ring of the ball bearing 257 is sleeved on the lower baffle 256 and the first synchronous wheel 255; the outer ring of the ball bearing 257 is in contact with the side wall of the second groove 132.

[0087] In this embodiment, the lower baffle plate 256 is provided to separate the first synchronous wheel 255 and the conductive slip ring 240, thereby reducing the contact and friction between the two. At the same time, the ball bearing 257 is used to reduce the friction between the lower baffle plate 256, the first synchronous wheel 255 and the side wall of the second groove 132, thereby reducing the friction resistance of the knob body 200 to reduce wear, facilitate operation, and avoid jamming.

[0088] Specifically, Figure 1 , Fig.10 , Fig.11 and Fig.12 As shown, as another implementation of this embodiment, the control main board 500 in this embodiment includes a bottom plate 510, an A plate 520 and a B plate 530. The bottom plate 510 is arranged in the third groove 133, and one side extends to the bottom of the knob body 200, which is divided into a contact area; the other side extends to the bottom of the force feedback component 400, which is divided into a connection area; the conductive slip ring 240 is connected to the contact area; the A plate 520 and the B plate 530 are stacked and arranged in the connection area. The A plate 520 is electrically connected to the bottom plate 510.

[0089] like Fig.10 As shown, the A board 520 is provided with a power interface, a power switch, a USB serial port, etc. In addition, a 6p socket is provided on the A board 520 to connect with the brushless motor 410, and the brushless motor 410 is directly controlled through CAN communication.

[0090] like Fig.11 As shown, the B board 530 is connected to the A board 520, and the B board 530 is provided with a 2p socket connected to the brushless motor 410. In particular, a differential operational amplifier circuit is provided on the B board 530 to detect and amplify the current flowing through the first motor 350 or the second motor 3100. When the knob body 200 is rotated to the extreme position, the motor is blocked. If the blockage is detected for more than 2 seconds, the first motor 350 or the second motor 3100 is automatically disconnected, thereby playing a protective role and preventing circuit failure.

[0091] like Fig.13 As shown, as another embodiment of the present application, a control method of a deformable knob with torque feedback is disclosed, which is used for any of the above-mentioned deformable knobs with torque feedback; wherein, it includes:

[0092] S100, obtaining current mode instructions.

[0093] According to the requirements of the use environment, there are generally multiple preset instructions. When the operator selects through key 3121 or voice, the corresponding control instruction will be generated as the current mode instruction.

[0094] S200, generating a first control signal and a second control signal based on the current mode instruction.

[0095] After receiving the current mode instruction, the control mainboard 500 determines the working mode to be switched, and then matches the first control signal of the control deformation component 300 and the second control signal of the control force feedback component 400 from the pre-stored database.

[0096] S300, in response to the first control signal, starting the deformation component 300 to the extended state.

[0097] S400 , in response to the second control signal, adjusting the force feedback component 400 to a preset resistance mode.

[0098] In this embodiment, the control signals of the deformation component 300 and the force feedback component 400 are pre-stored, and matching and switching are directly performed when the control signals are received, so that the working mode of the knob is quickly adjusted, and the working state of the knob can be controlled efficiently and accurately.

[0099] Specifically, in one implementation of this embodiment, the preset resistance mode includes any one of a zero resistance mode, a ratchet mode, a damping mode, a spring mode, and a limit mode. A plurality of resistance modes are set by the size and frequency of the resistance so that the operator can adjust according to the corresponding resistance mode.

[0100] It should be understood that the various parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0101] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0102] It should be noted that this embodiment only exemplifies the combination of the deformation component 300 and the force feedback component 400, but the protection scope of the present invention is not limited to this. As long as other combinations can achieve the technical effects disclosed in this application, they should also be within the scope of protection of this application as equivalent replacements of the concept of the present invention. Specifically, the deformation component 300 disclosed in this embodiment can be set with multiple deformation modes, and the force feedback component 400 can also be set with multiple resistance modes. On this basis, the deformation mode and resistance mode can be customized by controlling the mainboard 500.

[0103] Specifically, in another implementation of this embodiment, a deformable knob with torque feedback and a control method thereof are disclosed, such as Figure 8 As shown, the deformation assembly 300 is a three-layer structure, provided with three layers of sliders, wherein Figure 8 As shown in Figure (a), the bottom slider is a long strip slider; Figure 8 As shown in Figure (b), the middle slider consists of three sliders spaced 120° apart; Figure 8 As shown in Figure (c), the top slider is six sliders spaced 60 degrees apart. Fig. 9 As shown in Figure (a), (b), (c) or (d), an operation main board with four buttons 3121 distributed in a cross shape is set on the top surface of the knob body 200.

[0104] A brushless motor 410 is provided in the force feedback component 400, which adopts PID control, namely, it includes three parts: proportional (P), integral (I), and differential (D), and the structure is a combination of a position loop, a speed loop, and a current loop. The input values ​​are: P, I, D, Imax, MaxOut, Ref, and Set. For the position loop, Ref is the position feedback of the magnetic encoder, and Set is the position setting value. For the speed loop, Ref is the speed feedback of the motor, and Set is the speed setting value. Imax is the limit of the accumulated error result of I. If it exceeds it, it is counted as Imax. MaxOut is the limit of the final output value of PID, and if it exceeds MaxOut, it is counted as MaxOut.

[0105] With the position loop and speed loop in series, the result of the position loop is the Set of the speed loop, and then the result of the speed loop is directly used as the input of the motor, and this result is proportional to the motor resistance. Adjust the MaxOut size of the speed loop to adjust the strength of the torque feedback. In addition, in the case of only the position loop or the speed loop, the result of the loop is directly input to the motor, and this result is also proportional to the motor resistance. Therefore, adjust the MaxOut of the loop to limit the amplitude, thereby adjusting the force feedback strength.

[0106] On this basis, the brushless motor 410 in this embodiment sets five resistance modes:

[0107] 1. In smooth mode, there is no torque feedback and the knob body 200 can be rotated at will.

[0108] 2. Ratchet mode: there is a uniform sense of frustration when turning. Through PID control, the knob body 200 has a sense of stuck point within a specific angle range.

[0109] First of all, for the brushless motor 410 in this mode, PID is a series control of the position loop and the speed loop. When a certain set value is given, the operator turning the knob is equivalent to "interference" to it. Under the action of PID, there will be resistance, constrained to the set value. When the user turns the knob, when it is close to a certain set value, the PID constraint will produce corresponding resistance, causing a sense of frustration, thereby realizing torque feedback.

[0110] For example, if the knob body rotates 200 times, and there are N gears for setting the setback, then the set values ​​are: (expressed in radians). and Between (including This value is the midpoint of two adjacent set values), which will be constrained to exist and Between, constrained to This creates a ratcheting feeling.

[0111] 3. Friction resistance mode. In this mode, only the speed loop PID is constrained. The PID sets the speed value to 0. When the user rotates, the speed value fed back by the motor is not 0. Therefore, under the action of the speed loop PID, there will be resistance to constrain the speed to 0. In this way, the user will feel that there is friction resistance.

[0112] 4. Spring mode uses position loop PID control, and only uses P and D parameters to adjust the damping size. This mode only has the position loop PID function. When entering this mode, the position setting value will not change after confirmation. Since only the position loop is in effect, the more the operator rotates, the more the position feedback value deviates from the setting value, and the error increases linearly; under the effect of P, the resistance will increase linearly, so there is a feeling similar to spring rebound. In addition, if there is only P parameter, it is easy to become unstable and overshoot, resulting in system oscillation, so the D parameter is added to ensure system stability.

[0113] 5. Limit mode, set the position limit, the knob rotates smoothly or with a ratchet feeling within the range, and the knob is subject to strong resistance after exceeding the limit, simulating the blocking feeling of a "wall". This mode can be combined with the above four modes. In this mode, there will be a position lower limit setting value and a position upper limit setting value. Within the position upper and lower limit range, the above four modes can be realized. If it exceeds this range, it will generate huge resistance under the constraints of the position loop PID and the speed loop PID, preventing the user from exceeding this range.

[0114] The deformation mode and resistance mode in this embodiment can be freely combined. The specific implementation method is to select the deformation mode by operating a button 3121 on the main board, and to select the resistance mode by pressing two or more buttons 3121 at the same time. For example, when used in a vehicle, after the vehicle computer is started, the song selection can be completed through the deformable knob with torque feedback. The specific operation process is as follows:

[0115] 1. After the music software on the vehicle is started, the current deformation mode is determined by touching the knob body 200, and the knob body 200 is deformed by repeatedly pressing any button 3121 until the surface of the knob body 200 is smooth and has no protrusions.

[0116] 2. Slightly turn the knob body 200. If there is resistance, press any two or more buttons 3121 on the operation main board at the same time until the knob body 200 is adjusted to the smooth mode.

[0117] 3. Turn the knob body 200 to switch the song selected on the central control screen; when you need to quickly switch pages, you can press any two or more buttons 3121 on the operation main board at the same time to adjust to the ratchet mode, and turn the page once for each gear. Finally, determine the target song (a button 3121 can be set separately on the central console for confirmation, or directly touch to play the song).

[0118] 4. During the song playing process, by pressing any button 3121 on the operation main board, 1, 3 or 6 protrusions are protruded from the side of the knob body 200, corresponding to the control accuracy of volume mute, coarse adjustment, fine adjustment, etc. For example, when making a coarse adjustment, by pressing any button 3121, 3 protrusions are protruded from the side of the knob body 200.

[0119] 5. Press any two or more buttons 3121 on the operation main board at the same time to adjust the knob body 200 to the ratchet mode, so that the volume can be adjusted from small to large; or, the knob body 200 can be adjusted to the friction resistance mode to perform stepless adjustment from small to large. Of course, at the position with the maximum volume, a limit position is set to switch to the limit mode.

[0120] In summary, the deformable knob with torque feedback disclosed in this embodiment can freely combine and adjust the control mode, so that it can play a regulatory role in complex systems.

[0121] In summary, the present application discloses a deformable knob with torque feedback, which includes a base 100, a knob body 200, a deformation component 300, a force feedback component 400 and a control mainboard 500. The base 100 is hollow inside to form a receiving cavity 110; the top of the base 100 is provided with a through hole 120 connected to the receiving cavity 110; the knob body 200 is rotatably inserted in the through hole 120; one end of the knob body 200 protrudes above the base 100, and a deformation chamber 200 is hollowly provided in the base 100. 10; the other end of the knob body 200 is inserted into the accommodating cavity 110; the deformation component 300 is arranged in the deformation chamber 210; the deformation component 300 can shrink or stretch along the radial direction of the knob body 200; the force feedback component 400 is arranged in the accommodating cavity 110, and is transmitted to the knob body 200 through a synchronous belt 430; the control main board 500 is arranged on the base 100, and is electrically connected to the force feedback component 400, the deformation component 300 and the knob body 200. By adding the deformation component 300 and torque feedback to the knob, the operator only needs to perceive the adjustment mode and working state of the knob through touch, and the interaction method is simple and efficient, and will not distract too much attention. In some fast-response applications, the accuracy and safety of the control can be increased.

[0122] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0123] It should be noted that the present invention takes a deformable knob with torque feedback and a control method thereof as an example to introduce the specific structure and working principle of the present invention, but the application of the present invention is not limited to the deformable knob with torque feedback and a control method thereof, and can also be applied to the production and use of other similar workpieces.

[0124] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0125] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A deformable knob with torque feedback, characterized in that: include: A base, wherein the interior of the base is hollow to form a receiving cavity; a through hole communicating with the receiving cavity is provided on the top of the base; The knob body is rotatably inserted into the through hole; one end of the knob body protrudes above the base, and a deformation chamber is hollowly provided in the knob body; the other end of the knob body is inserted into the accommodating cavity; A deformation component is disposed in the deformation chamber; the deformation component can shrink or expand along the radial direction of the knob body; A force feedback component is disposed in the accommodating cavity and is driven by a synchronous belt with the knob body; A control mainboard is arranged on the base and is electrically connected to the force feedback component, the deformation component and the knob body.

2. The deformable knob with torque feedback according to claim 1, characterized in that: A first through hole is provided on the side wall of the deformation chamber; the deformation component comprises: A bottom bracket, connected to the knob body and disposed on the bottom surface of the deformation chamber; the bottom bracket is provided with a first slideway extending toward the first through hole; A central axis is vertically arranged on the bottom bracket and is located at the center of the bottom bracket; A first main gear is sleeved on the central shaft; the first main gear is provided with at least one first spiral radial sliding hole; the first spiral radial sliding hole is located above the first slideway; A first sliding block is slidably disposed on the first slideway; and a first clamping head is protruding from the top surface of the first sliding block, and the first clamping head is plugged into the first spiral radial sliding hole; The first motor is arranged on the bottom bracket; a first transmission gear is sleeved on the output shaft of the first motor, and the first transmission gear is meshed with the first main gear; the first motor is used to drive the first main gear to rotate, so as to drive the first slider to extend out of the first through hole, or retract into the first through hole.

3. The deformable knob with torque feedback according to claim 2, characterized in that: At least two second vias are provided on the side wall of the deformation chamber; the deformation component comprises: An interlayer bracket is sleeved on the central axis; the interlayer bracket is provided with at least two second slideways facing the second through holes; A second main gear is sleeved on the central shaft and stacked with the interlayer bracket; the second main gear is provided with at least two second spiral radial sliding holes; at least two second spiral radial sliding holes are arranged in a ring shape on the second main gear; and the second spiral radial sliding holes are located above the second slideway; At least two second sliders, the second sliders can be slidably arranged on the second slideway; and the top surface of the second slider is protrudingly provided with a second clamping head, the second clamping head is plugged into the second spiral radial sliding hole; The second motor is arranged on the interlayer bracket; a second transmission gear is sleeved on the output shaft of the second motor, and the second transmission gear is meshed with the second main gear; the second motor is used to drive the second main gear to rotate, so as to drive the second slider to extend out of the second through hole, or retract into the second through hole.

4. The deformable knob with torque feedback according to claim 3, characterized in that: The base comprises: A frame, wherein a first groove is provided on the top of the frame, and a second groove is provided at the bottom of the first groove; a third groove is provided on the bottom surface of the frame; and the second groove is connected to the third groove; A housing, covering the frame, and used to close the first groove to form the accommodating cavity; Among them, the control main board is arranged in the third groove; the lower end of the knob body is inserted into the second groove and is provided with a conductive slip ring, one side of the conductive slip ring is electrically connected to the control main board, and the other side is electrically connected to the first motor and the second motor.

5. The deformable knob with torque feedback according to claim 4, characterized in that: The deformation assembly further comprises an operation panel electrically connected to the conductive slip ring, and the operation panel is arranged on the top surface of the knob body; Wherein, the operation panel is provided with a plurality of buttons for sending control instructions.

6. The deformable knob with torque feedback according to claim 5, characterized in that: The knob body comprises: A base, plugged into the through hole, wherein the bottom end of the base extends to the second groove and is connected to the conductive slip ring; An upper end cover is arranged on the base to form the deformation chamber; Wherein, a wire guide bar is protruding from the inner wall of the upper end cover, and a wire passage channel extending along the axial direction of the deformation chamber is formed on the wire guide bar, and the wire passage channel is used to arrange the wires connected to the operation panel; and / or, The base is provided with a threading hole, one end of the threading hole is connected to the deformation chamber, and the other end is connected to the second groove; an annular retaining wall is provided around the threading hole on the top surface of the base; the annular retaining wall encloses to form a threading channel, and the threading channel and the threading hole are both used for arranging the wires connected to the first motor and the second motor.

7. The deformable knob with torque feedback according to claim 6, characterized in that: The base includes a connecting member and a first synchronous wheel, wherein the connecting member is rotatably inserted into the through hole; the first synchronous wheel is connected to one end of the connecting member inserted into the accommodating cavity; The force feedback component comprises: A brushless motor is disposed in the accommodating cavity, and a wiring channel is disposed on the bottom surface of the accommodating cavity for arranging wires to connect the brushless motor and the control mainboard; A second synchronous wheel, disposed on the output shaft of the brushless motor; and A synchronous belt has one end sleeved on the first synchronous wheel and the other end sleeved on the second synchronous wheel.

8. The deformable knob with torque feedback according to claim 7, characterized in that: The base also includes: A lower baffle plate is disposed in the second groove, one side of the lower baffle plate is connected to the first synchronous wheel, and the other side of the lower baffle plate is connected to the conductive slip ring; A ball bearing, wherein the inner ring of the ball bearing is sleeved on the lower baffle plate and the first synchronous wheel; and the outer ring of the ball bearing is in contact with the side wall of the second groove.

9. A control method for a deformable knob with torque feedback, used for the deformable knob with torque feedback as claimed in any one of claims 1 to 8; characterized in that: include: Get the current mode command; generating a first control signal and a second control signal based on the current mode instruction; In response to the first control signal, actuating the deformation component to an extended state; In response to the second control signal, the force feedback component is adjusted to a preset resistance mode.

10. The control method of the deformable knob with torque feedback according to claim 9, characterized in that: The preset resistance mode includes any one of a zero resistance mode, a ratchet mode, a damping mode, a spring mode, and a limit mode.

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