A deformable knob with torque feedback and a control method thereof

Abstract

The application discloses a deformable knob with torque feedback and a control method thereof. The deformable knob with torque feedback comprises a base, a knob main body, a deformation assembly, a force feedback assembly and a control mainboard. The inside of the base is hollow and forms an accommodating cavity. The top of the base is provided with a through hole communicating with the accommodating cavity. The knob main body is rotatably inserted into the through hole. One end of the knob main body protrudes above the base and is hollowly provided with a deformation chamber. 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 be contracted or stretched along the radial direction of the knob main body. The force feedback assembly is arranged in the accommodating cavity and is driven by a synchronous belt with the knob main body. The control mainboard is arranged on the base and is electrically connected with the force feedback assembly, the deformation assembly and the knob main body. By adjusting the shape of the knob and the force feedback strength, various control modes can be provided, the function of the knob is increased, accurate feedback is provided and the convenience of control is improved.

Description

TECHNICAL FIELD

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

[0002] In recent years, with the gradual development of optical sensors, thermal sensors and other sensing devices, and the popularity of digital display screens, electronic systems have been used to perform various functions that were traditionally performed by mechanical systems to a greater extent in the operation system of human-computer interaction. For example, the buttons of the center console of a car eliminate many mechanical buttons and mechanical knobs, and are controlled by the touch control mode of the center control screen, thereby reducing production costs and saving space in the car.

[0003] However, the touch screen provides limited tactile feedback to the operator when making a selection, and the operator usually has to judge whether they have made a proper selection through vision or hearing, which will distract the operator's attention when doing so, for example, during driving, which will increase the probability of causing traffic accidents. That is, the existing electronic knob has less physical feedback and insufficient operability.

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

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

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

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

[0008] The deformable knob with torque feedback, wherein a first through hole is formed in the side wall of the deformation chamber; the deformation assembly comprises a bottom support, a central shaft, a first main gear, a first slider and a first motor, the bottom support is connected with the knob body and arranged on the bottom surface of the deformation chamber; the bottom support is provided with a first slide way extending towards the first through hole; the central shaft is arranged vertically on the bottom support and located at the center of the bottom support; the first main gear is sleeved on the central shaft; at least one first spiral radial slide hole is arranged on the first main gear; the first spiral radial slide hole is located above the first slide way; the first slider is slidably arranged on the first slide way; and a first clamping head is protrusively arranged on the top surface of the first slider, the first clamping head is inserted into the first spiral radial slide hole; the first motor is arranged on the bottom support; a first transmission gear is sleeved on the output shaft of the first motor, the first transmission gear is engaged 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 arranged on the side wall of the deformation chamber; the deformation assembly comprises an interlayer support, a second main gear, at least two second sliders and a second motor, the interlayer support is sleeved on the central shaft; at least two second slide ways extending towards the second through holes are arranged on the interlayer support; the second main gear is sleeved on the central shaft and stacked with the interlayer support; at least two second spiral radial slide holes are arranged on the second main gear; the 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 slide way; at least two second sliders are slidably arranged on the second slide way; and a second clamping head is protrusively arranged on the top surface of the second slider, the second clamping head is inserted into the second spiral radial slide hole; the second motor is arranged on the interlayer support; a second transmission gear is sleeved on the output shaft of the second motor, the second transmission gear is engaged 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 comprises 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 containing cavity; the control mainboard 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 with the control mainboard, and the other side is electrically connected with the first motor and the second motor.

[0011] The deformable knob with torque feedback, wherein the deformation assembly further comprises an operation panel electrically connected with the conductive slip ring, and the operation panel is arranged on the top surface of the knob body; a plurality of keys are arranged on the operation panel to send control instructions.

[0012] The deformable knob with torque feedback, wherein the knob body comprises a base and an upper end cover, the base is inserted with the through hole, the bottom end of the base extends to the second groove and is connected with the conductive slip ring; the upper end cover is arranged on the base to combine the deformation cavity; a wire passing guide strip is protruded on the inner wall of the upper end cover, a wire passing channel extending along the axial direction of the deformation cavity is formed on the wire passing guide strip, and the wire passing channel is used for arranging the wires connected with the operation panel; and / or a wire passing hole is arranged on the base, one end of the wire passing hole is communicated with the deformation cavity, and the other end is communicated with the second groove; an annular blocking wall is arranged on the top surface of the base around the wire passing hole; the annular blocking wall forms a wire passing channel, and the wire passing channel and the wire passing hole are used for arranging the wires connected with the first motor and the second motor.

[0013] The deformable knob with torque feedback, wherein the base comprises a connecting piece and a first synchronous wheel, the connecting piece is rotatably inserted on the through hole; the first synchronous wheel is connected with one end of the connecting piece inserted into the containing cavity; the force feedback assembly comprises a brushless motor, a second synchronous wheel and a synchronous belt, the brushless motor is arranged in the containing cavity, the bottom surface of the containing cavity is provided with a wire passing channel for arranging wires to connect the brushless motor and the control mainboard; 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 further comprises a lower baffle and a ball bearing, the lower baffle is arranged in the second groove, one side of the lower baffle is connected with the first synchronous wheel, and the other side is connected with the conductive slip ring; the inner ring of the ball bearing is arranged on the lower baffle and the first synchronous wheel; and the outer ring of the ball bearing is in contact with the side wall of the second groove.

[0015] The application further discloses a control method of the deformable knob with torque feedback.

[0016] obtaining a current mode instruction;

[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, starting the deformation assembly to an extended state;

[0019] in response to the second control signal, adjusting the force feedback assembly to a preset resistance mode.

[0020] The control method of the deformable knob with torque feedback, wherein the preset resistance mode comprises 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 embodiment of the application has the following advantages:

[0022] The deformable knob with torque feedback disclosed in the application comprises a base, a knob body and a deformation assembly arranged in the knob body, and a force feedback assembly arranged on the base. The knob body is connected with the base through the deformation assembly. The deformation assembly can be extended to change the shape of the knob body or be retracted into a deformation chamber. The shape of the knob body can be changed among different modes. When an operator touches the knob, the current adjustment mode of the knob can be determined according to the shape of the knob body. When the deformation assembly is controlled to be extended or retracted, the control board also controls the physical feedback force and feedback mode of the force feedback assembly through an electric signal, so that the operator can improve the control precision, increase the immersion and experience when rotating the knob.

[0023] In summary, the application adds a deformation assembly to the knob, so that the operator only needs to perceive the adjustment mode and working state of the knob through tactile sensation. The interactive mode is simple and efficient, and the attention is not excessively dispersed. In some fast response applications, the control accuracy and safety can be increased. In addition, only one knob can be switched among multiple adjustment modes, increasing the multifunctional use of the knob, which is convenient to operate and saves the space for setting the knob, and is convenient for setting a multi-dimensional interactive operation scheme in a complex system. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 Structure diagram of the deformable knob with torque feedback in the present application;

[0026] Figure 2 Sectional view of the base in the present application;

[0027] Figure 3 Structure diagram of part of the deformable knob with torque feedback in the present application;

[0028] Figure 4 Structure diagram of another part of the deformable knob with torque feedback in the present application;

[0029] Figure 5 Structure explosion diagram of part of the deformable knob with torque feedback in the present application;

[0030] Figure 6 Structure diagram of Figure 5 Enlarged view of A in the present application;

[0031] Figure 7 Structure diagram of Figure 5 Enlarged view of B in the present application;

[0032] Figure 8 Structure diagram of the three-layer structure of the deformation assembly in the present application;

[0033] Figure 9 Top view of the knob body in four deformation modes in the present application;

[0034] Figure 10 Structure diagram of the A plate in the present application;

[0035] Figure 11 Structure diagram of the B plate in the present application;

[0036] Figure 12 Structure diagram of part of the control main plate in the present application;

[0037] Figure 13 Flow chart of the control method of the deformable knob with torque feedback in the present application.

[0038] Wherein, 100, base; 110, containing cavity; 120, through hole; 130, rack; 131, first groove; 132, second groove; 133, third groove; 140, shell; 200, knob main body; 210, deformation chamber; 220, first via hole; 230, second via hole; 240, conductive slip ring; 250, base; 251, threading hole; 252, annular blocking wall; 253, threading channel; 254, connecting piece; 255, first synchronous wheel; 256, lower blocking plate; 257, ball bearing; 260, upper end cover; 261, wire passing guide strip; 2611, wire passing channel; 300, deformation assembly; 310, bottom support; 311, first slide way; 320, central shaft; 330, first main gear; 331, first spiral radial slide hole; 340, first sliding block; 350, first motor; 360, first transmission gear; 370, interlayer support; 371, second slide way; 380, second main gear; 381, second spiral radial slide hole; 390, second sliding block; 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 mainboard; 510, bottom plate; 520, A plate; 530, B plate. DETAILED DESCRIPTION

[0039] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] The traditional knob is simple and direct to operate, has accurate physical feedback, especially in applications requiring reduced visual attention and rapid response, the haptic feedback of the knob can enhance the immersion of the user, making the operation more controllable and realistic; but the physical structure of the knob limits the diversity of functions, only single or fixed parameters can be controlled, which is difficult to meet the demand for multi-parameter and dynamic control in modern human-computer interaction operation. In the prior art, touch screens, face motion capture, voice recognition and other technologies gradually replace the traditional knob in many devices, which can reduce the number of knobs, facilitate manufacturing and save space, but the operation without physical feedback makes the operator need to concentrate on the virtual knob, judge the intensity of operation through vision, hearing and other senses, which leads to inconvenient operation.

[0041] Reference Figure 1 and Figure 3In an embodiment of the present application, a deformable knob with torque feedback is disclosed, which comprises a base 100, a knob body 200, a deformation assembly 300, a force feedback assembly 400 and a control mainboard 500. The deformable knob with torque feedback disclosed in the embodiment is provided with the force feedback assembly 400 on the base 100 and the deformation assembly 300 in the knob body 200, and is uniformly controlled by the control mainboard 500 during use.

[0042] Specifically, as shown in Figure 2 , the inside of the base 100 is hollow to form an accommodating cavity 110; the top of the base 100 is provided with a through hole 120 in communication with the accommodating cavity 110; and the knob body 200 is rotatably inserted into the through hole 120 to be stably connected. During use, the operator contacts the knob body 200 to control by rotating the knob body 200.

[0043] Specifically, as shown in Figure 1 , Figure 4 , and Figure 5 , one end of the knob body 200 protrudes above the base 100 and is hollow to form a deformation cavity 210; the deformation assembly 300 is arranged in the deformation cavity 210; and the deformation assembly 300 can be contracted or expanded along the radial direction of the knob body 200. When the deformation assembly 300 is contracted, the outer surface of the knob body 200 is smooth; when the deformation assembly 300 is expanded, the deformation assembly 300 can abut against the inner wall of the knob body 200 to deform the knob body 200, or can be provided with a hole on the side wall of the knob body 200 to avoid the deformation assembly 300 so that the deformation assembly 300 can be extended from the deformation cavity. In summary, after the deformation assembly 300 is expanded, the outer surface of the knob body 200 is uneven and rough. Therefore, during use, the operator can directly determine the current working mode by touching the knob body 200 according to whether the side surface of the knob body 200 is protruding.

[0044] For example, the deformable knob with torque feedback is arranged on a vehicle, and is electrically connected with a vehicle mainboard through the control mainboard 500. When adjusting the volume, the deformation assembly 300 is controlled to be contracted, and the operator touches the smooth outer surface of the knob body 200 to determine that the current mode is the volume adjustment mode; when adjusting the air conditioner size, the deformation assembly 300 is controlled to be expanded, and the operator touches the uneven outer surface of the knob body 200 to determine that the current mode is the air conditioner adjustment mode.

[0045] It should be noted that the embodiment only exemplifies one application mode of the deformable knob with torque feedback, and the specific use and control can be set according to actual needs, and the protection scope of the present application is not limited thereto, as long as the technical effects disclosed in the present application can be achieved, other functional designs or functional combination modes, as equivalent replacements of the present application concept, should also be within the protection scope of the present application.

[0046] Specifically, as shown in Figure 2 and Figure 3 the other end of the knob body 200 is inserted into the accommodating cavity 110; the force feedback assembly 400 is arranged in the accommodating cavity 110 and is in transmission with the knob body 200 through the synchronous belt 430; the control mainboard 500 is arranged on the base 100 and is electrically connected with the force feedback assembly 400, the deformation assembly 300 and the knob body 200.

[0047] When the deformation assembly 300 is controlled to stretch and retract, the control mainboard 500 also controls the physical feedback strength and feedback mode of the force feedback assembly 400 through electrical signals, and the force feedback assembly 400 and the knob body 200 are connected through the synchronous belt 430 and rotate synchronously, when the movement mode of the force feedback assembly 400 is the ratchet mode, or the impedance mode, or the limit mode, the knob body 200 will have resistance feedback, so that the operator can continuously feel the adjustment strength through the impedance feedback in the process of rotating the knob, thereby improving the control precision, increasing the immersion and experience of control.

[0048] In summary, the embodiment increases the deformation assembly 300 on the knob, so that the operator only needs to perceive the adjustment mode and working state of the knob through tactile sense, the interactive mode is simple and efficient, and attention is not excessively dispersed, in some fast response applications, the control accuracy and safety can be increased. Moreover, the working state of the force feedback assembly 400 and the deformation assembly 300 is combined, different physical feedbacks can be further corresponded to different functional adjustment requirements, and the control precision is further increased.

[0049] For example, volume control in a vehicle requires a stepless adjustment method, while radio control requires a stepped adjustment method. In this embodiment, the force feedback component 400 is set to impedance mode when the deformable component 300 retracts via the control motherboard 500. At this time, the operator can confirm the volume adjustment mode by touching the knob body 200 and perform stepless adjustment by rotating the knob body 200. Specifically, an extreme value can be set for the force feedback component 400. When the operator rotates beyond a certain range and reaches the extreme value of the force feedback component 400, it will experience significant damping, making it difficult for the operator to continue rotating the knob. This corresponds to adjusting to the maximum or minimum volume position. Through clear tactile feedback, the operator can directly feel the current control state.

[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. When the knob body 200 is rotated, the step adjustment operation is performed.

[0051] As can be seen, 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 the knob can control. This not only makes operation more convenient but also saves space for setting up 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, in one embodiment of this invention, a first through hole 220 is provided on the side wall of the deformation chamber 210; the deformation assembly 300 includes a bottom support 310, a central shaft 320, a first main gear 330, a first slider 340 and a first motor 350. The first motor 350 drives the first main gear 330 to rotate, which in turn drives the first slider 340 to move 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 located on the bottom surface of the deformation chamber 210, serving a supporting function. A fixing hole can be made on the bottom surface of the deformation chamber 210 to insert the bottom bracket 310 into the fixing hole; alternatively, it can be assembled using hot melt adhesive, welding, bonding, snap-fitting, or other methods to maintain the stability of the bottom bracket 310.

[0054] Specifically, the central shaft 320 is vertically arranged on the bottom support 310 and located at the center of the bottom support 310. In this embodiment, the bottom support 310 is placed on the bottom surface of the deformation chamber 210, the central shaft 320 extends along the axial direction of the deformation chamber 210, and the central shaft 320 can be inserted into the center of the bottom support 310 to facilitate the assembly of the first main gear 330, so that the first main gear 330 can be sleeved on the central shaft 320 to rotate freely. In this embodiment, the central shaft 320 and the bottom support 310 can be connected by insertion, adhesion or other methods, or can be made in one piece to save assembly steps and increase structural strength.

[0055] Specifically, the top end of the central shaft 320 in this embodiment extends towards the top surface of the deformation chamber 210 and can be in abutment or insertion with the top surface of the deformation chamber 210, thereby fixing the two ends of the central shaft 320 and keeping the central shaft 320 stable to reduce shaking.

[0056] Specifically, the bottom support 310 is provided with a first sliding channel 311 extending towards the first through hole 220; the first sliding block 340 is slidably arranged on the first sliding channel 311; the first main gear 330 is sleeved on the central shaft 320; the first main gear 330 is provided with at least one first spiral radial sliding hole 331; the first spiral radial sliding hole 331 is located above the first sliding channel 311, the top surface of the first sliding block 340 is provided with a first clamping head, and the first clamping head is inserted into the first spiral radial sliding hole 331.

[0057] In this embodiment, through the connection of the first clamping head and the first spiral radial sliding block, when the first main gear 330 rotates, the first clamping head is pushed and the first sliding block 340 is moved on the first sliding channel 311, which can be moved towards or away from the first through hole 220, thereby realizing the telescopic action. Specifically, the first spiral radial sliding hole 331 gradually extends from the center to the edge of the first main gear 330, and the whole is arc-shaped. When the first main gear 330 rotates, the rotating force can be converted into a linear pushing force, so that the first sliding block 340 slides. Only mechanical transmission is used in the whole transmission process, the control is accurate, the transmission efficiency is high, and the structure is simple and stable.

[0058] Specifically, the first motor 350 is arranged on the bottom support 310; a first transmission gear 360 is sleeved on the output shaft of the first motor 350, and the first transmission gear 360 is engaged 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 sliding block 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 the embodiment includes but is not limited to a stepper motor, a motor, etc. The rotation of the first transmission gear 360 can be controlled through the first motor 350 to achieve the purpose of controlling the extension of the first sliding block 340. The first motor 350 can be electrically connected with the control mainboard 500 to transmit electric energy and control the output power through the control mainboard 500.

[0060] Specifically, the structure of the deformation assembly 300 is only exemplarily disclosed in the embodiment. In the embodiment of the application, a plurality of first through holes 220 can be arranged as required, and a plurality of first sliding rails, first sliding blocks 340, first spiral radial sliding holes 331, first motors 350, etc. can be correspondingly arranged, so that the shape change of the knob during deformation is larger, and the tactile feedback during operation can be enhanced. In other words, when the knob is deformed, one protrusion on the side surface or four protrusions, or six protrusions, have different hand feelings. Obviously, the more protrusions, the more convenient it is to identify through touch, thereby improving the operation accuracy of the operator.

[0061] For example Figure 5 As another embodiment of the present embodiment, at least two second through holes 230 are arranged on the side wall of the deformation chamber 210, as shown. The second through holes 230 are arranged at intervals with the first through holes 220 to avoid mutual interference. At the same time, the number of the second through holes 230 is different from that of the first through holes 220. When the deformation assembly 300 deforms in different modes, the shape of the surface of the knob is different, which is convenient for the operator to judge the current control mode through touch.

[0062] Specifically, the deformation assembly 300 includes an interlayer support 370, a second main gear 380, at least two second sliding blocks 390, and a second motor 3100. The interlayer support 370 is sleeved on the central shaft 320. The interlayer support 370 is provided with at least two second sliding channels 371 towards the second through holes 230. The interlayer support 370 is sleeved on the central shaft 320 and stacked above the first main gear 330. The purpose is to provide a support plane to support the second main gear 380, the second sliding block 390, and the second motor 3100, so as to separate them from the first main gear 330 and the first transmission gear 360, maintain the structure in the deformation chamber 210 to work in order, and reduce the collision.

[0063] Specifically, the second main gear 380 is sleeved on the central shaft 320 and stacked with the interlayer support 370; the second main gear 380 is provided with at least two second spiral radial sliding holes 381; the 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 hole 381 is located above the second sliding channel 371; at least two second sliding blocks 390 are slidably arranged on the second sliding channel 371; and the top surface of the second sliding block 390 is provided with a second clamping head, which is inserted with the second spiral radial sliding hole 381.

[0064] The second spiral radial sliding hole 381, the second sliding channel 371 and the second sliding block 390 corresponding to the number of second through holes 230 are arranged, and the same transmission mode as the first main gear 330 and the first sliding block 340 is adopted for work, which simplifies the structure of the deformation assembly 300, increases the deformation mode, and further improves the usability of the deformation assembly 300 to adapt to more complex interactive systems.

[0065] Specifically, the second motor 3100 is arranged on the interlayer support 370; a second transmission gear 3110 is sleeved on the output shaft of the second motor 3100, and the second transmission gear 3110 is engaged 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 sliding block 390 to extend out of the second through hole 230 or retract into the second through hole 230. The second motor 3100 disclosed in the embodiment can adopt the same type of stepper motor or motor as the first motor 350 to provide power for the rotation of the second main gear 380.

[0066] In the embodiment, the interlayer support 370 is continuously stacked on the first main gear 330, the second main gear 380 and the second sliding block 390 are assembled, and a deformation process different from the first sliding block 340 is realized, so that the shape change of the deformation assembly 300 is more diverse, more deformation requirements can be met, and multiple working modes of the force feedback assembly 400 can be adapted for independent adjustment of multiple parameters.

[0067] In addition, as shown in the figure, Figure 5 The deformation assembly 300 disclosed in the embodiment can be arranged in a multi-layer structure, and the interlayer support 370, the second main gear 380, the second sliding block 390, the second motor 3100 and the like can be repeatedly stacked. Each layer can be provided with one main gear, one transmission gear and one motor, but the number of sliding blocks in each layer is different.

[0068] For example, a deformable knob with torque feedback is arranged on the center control of a vehicle. When the deformation assembly 300 is stretched 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 multifunctionality of the knob. For example, Figure 8 As shown in (a), (b) and (c) of the drawings, the deformation assembly 300 can be provided with three layers, one slider in the first layer, three sliders in the second layer, and six sliders in the third layer. As shown in (a) of the drawings, Figure 9 When switched to the volume adjustment mode, the outer side of the knob is smooth, which is the basic circular mode; as shown in (b) of the drawings, Figure 9 When switched to the radio mode, the outer side of the knob protrudes one slider, which is the pointer mode; as shown in (c) of the drawings, Figure 9 When switched to the air conditioner adjustment mode, the outer side of the knob protrudes three sliders, and the interval between every two sliders is 120°, which is the three-sawtooth mode; as shown in (d) of the drawings, Figure 9 When switched to the atmosphere lamp adjustment mode, the outer side of the knob protrudes six sliders, and the interval between every two sliders is 60°, which is the six-sawtooth mode.

[0069] In addition, in another embodiment of the present embodiment, the shapes of the sliders in different layers are different. For example, the sliders can be provided in spherical or cubic shapes. When touched, whether there are edges on the protrusions can quickly distinguish and confirm the current mode of the knob. 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 summary, during use, the knob can be deformed in multiple forms, and the sliders in different layers can be independently stretched and contracted, thereby meeting the requirements of adjusting multiple-dimensional parameters in the use scenario and improving the integrated control capability of the knob.

[0071] As shown in (a) of the drawings, Figure 2 , Figure 4 and Figure 5As shown, in another embodiment of this invention, the base 100 includes a frame 130 and a housing 140. The top of the frame 130 is provided with a first groove 131, and 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 communicates with the third groove 133. The housing 140 covers the frame 130 and is used to close the first groove 131 to form the receiving cavity 110. The control main board 500 is disposed 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 main board 500, and the other side is electrically connected to the first motor 350 and the second motor 3100.

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

[0073] In this embodiment, the control motherboard 500 is placed in the third groove 133 for easy assembly from the bottom of the frame 130. It also connects to the second groove 132 for easy alignment of the conductive slip ring 240, which is electrically connected to the control motherboard 500. The knob body 200 rotates during use; the conductive slip ring 240 solves the problem of wire entanglement during rotation, improving the stability of signal transmission between components.

[0074] like Figure 4 and Figure 5 As shown, in another embodiment of this invention, the deformable component 300 further includes an operation panel 3120 electrically connected to the conductive slip ring 240. The operation panel 3120 is disposed on the top surface of the knob body 200. The operation panel 3120 is provided with a plurality of buttons 3121 for sending control commands.

[0075] In this embodiment, the deformable component 300 can be configured with a multi-layer structure. When switching modes, it can be directly controlled via the operation panel 3120, improving switching efficiency. The operation panel 3120 is located on the top surface of the knob body 200, allowing the operator to quickly move back and forth between the side and top surfaces of the knob body 200 until the desired adjustment mode is selected, making operation convenient.

[0076] In addition, the touch feedback needs to be perceived by the operator, and there may be misjudgments during use. The operation panel 3120 is arranged on the top surface of the knob body 200, which is convenient for the operator to observe, and when the operator is not sure whether the correct mode is selected, the operator can quickly make further confirmation through visual observation.

[0077] Specifically, the operation panel 3120 disclosed in the embodiment can be a touch panel or a mechanical keyboard panel. The operator can switch the adjustment mode of the knob by touching or pressing the keys 3121. It should be particularly noted that the operation panel 3120 is arranged on the knob body 200, and thus rotates together with the knob body 200 during use. Therefore, the positions of the buttons or identification areas should not be fixedly arranged to prevent confusion after the positions are changed.

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

[0079] For another example Figure 5 As another embodiment of the embodiment, the knob body 200 includes a base 250 and an upper end cover 260, the base 250 is inserted into the through hole 120, the bottom end of the base 250 extends to the second groove 132 and is connected with the conductive slip ring 240, and the upper end cover 260 is arranged on the base 250 to form the deformation chamber 210. The upper end cover 260 is manufactured separately from the base 250, which facilitates assembly of the deformation assembly 300 and then covering the upper end cover 260, thereby facilitating assembly operation.

[0080] Specifically, as shown in Figure 5 and Figure 6 The base 250 is provided with a threading hole 251, one end of the threading hole 251 is communicated with the deformation chamber 210, and the other end of the threading hole 251 is communicated with the second groove 132. An annular barrier wall 252 is arranged on the top surface of the base 250 around the threading hole 251. The annular barrier wall 252 forms a threading channel 253, and the threading channel 253 and the threading hole 251 are used to arrange wires connected with the first motor 350 and the second motor 3100.

[0081] In the embodiment, the threading hole 251 and the threading channel 253 are arranged to protect the wires connected with the first motor 350 and the second motor 3100, so as to avoid winding or jamming of the wires and increase the orderliness of the knob structure.

[0082] Specifically, asFigure 5 and Figure 7 As shown, a wire guide strip 261 protrudes from the inner wall of the upper end cover 260. A wire passage 2611 extending axially along the deformation chamber 210 is formed on the wire guide strip 261. The wire passage 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 passage 2611, preventing the wires from accidentally getting stuck in the multiple gear sets of the deformation assembly 300, thus preventing accidents and increasing the safety and stability of the knob's use.

[0083] For example Figure 5 As shown, in another embodiment of this invention, the base 250 includes a connector 254 and a first synchronous pulley 255. The connector 254 is rotatably inserted into the through hole 120. The first synchronous pulley 255 is connected to one end of the connector 254 that is inserted into the receiving cavity 110. The force feedback assembly 400 includes a brushless motor 410, a second synchronous pulley 420, and a synchronous belt 430. The brushless motor 410 is disposed in the receiving cavity 110. The bottom surface of the receiving 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 pulley 420 is disposed on the output shaft of the brushless motor 410. One end of the synchronous belt 430 is sleeved on the first synchronous pulley 255, and the other end is sleeved on the second synchronous pulley 420.

[0084] In this embodiment, the brushless motor 410 is electrically connected to the control motherboard 500. The input current of the brushless motor 410 is controlled by the control signal issued by the control motherboard 500, thereby controlling the working mode of the brushless motor 410. The brushless motor 410 can be fixed to the bottom surface of the receiving cavity 110 by screwing, gluing, or welding. The second synchronous pulley 420 connected to its output end is connected to the first synchronous pulley 255 by a synchronous belt 430. When the operator rotates the knob body 200, it drives the first synchronous pulley 255 to rotate. The rotation trend of the brushless motor 410 itself is different from the movement trend of the knob body 200, which generates damping, so that the operator can feel the feedback of the rotation force.

[0085] As can be seen, in this embodiment, the feedback of rotational force is achieved through direct mechanical transmission, allowing the operator to perceive the force and range of adjustment through touch, thereby improving the adjustment accuracy.

[0086] For example Figure 5As shown, as another embodiment of the present embodiment, it is disclosed that the base 250 further comprises 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 with the first synchronous wheel 255, and the other side is connected with the conductive slip ring 240; the inner ring of the ball bearing 257 is arranged 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 the present embodiment, the lower baffle 256 is arranged to separate the first synchronous wheel 255 and the conductive slip ring 240, thereby reducing the contact and friction therebetween. Meanwhile, the ball bearing 257 is used to reduce the friction between the lower baffle 256, the first synchronous wheel 255 and the side wall of the second groove 132, thereby reducing the frictional resistance of the rotation of the knob body 200, reducing wear, facilitating operation and avoiding jamming.

[0088] Specifically, as shown in Figure 1 、 Figure 10 、 Figure 11 and Figure 12 , as another embodiment of the present embodiment, it is disclosed that the control main board 500 in the present embodiment comprises a bottom plate 510, an A plate 520 and a B plate 530. The bottom plate 510 is arranged in the third groove 133, one side extends to the lower side of the knob body 200 and is divided into a contact area; the other side extends to the lower side of the force feedback assembly 400 and is divided into a connection area; the conductive slip ring 240 is connected with the contact area; and the A plate 520 and the B plate 530 are arranged in the connection area in a stacked manner. The A plate 520 is electrically connected with the bottom plate 510.

[0089] As shown in Figure 10 , the A plate 520 is provided with a power supply interface, a power switch, a USB serial port and the like. In addition, the A plate 520 is provided with a 6p seat connected with the brushless motor 410, which directly controls the brushless motor 410 through CAN communication.

[0090] As shown in Figure 11 , the B plate 530 is connected with the A plate 520, and the B plate 530 is provided with a 2p seat connected with the brushless motor 410. In particular, the B plate 530 is provided with a differential operational amplifier circuit to detect and amplify the current flowing through the first motor 350 or the second motor 3100. When the knob body 200 rotates to the limit position, the motor is blocked, and when the blocked state is detected for more than 2 seconds, the first motor 350 or the second motor 3100 is automatically disconnected, thereby playing a protection role to prevent circuit failure.

[0091] As shown in Figure 13 , as another embodiment of the present application, a control method of a deformable knob with torque feedback is disclosed, which is used for any one of the deformable knobs with torque feedback as described above; wherein, the control method comprises:

[0092] S100, acquire a current mode instruction.

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

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

[0095] After the control mainboard 500 receives the current mode instruction, the working mode to be switched is determined, and then the first control signal for controlling the deformation assembly 300 and the second control signal for controlling the force feedback assembly 400 are matched from the pre-stored database.

[0096] S300, in response to the first control signal, start the deformation assembly 300 to the stretched state.

[0097] S400, in response to the second control signal, adjust the force feedback assembly 400 to the preset resistance mode.

[0098] In the embodiment, by pre-storing the control signals of the deformation assembly 300 and the force feedback assembly 400, the control signals are matched and switched directly when received, the working mode of the knob is quickly adjusted, and the working state of the knob can be efficiently and accurately controlled.

[0099] Specifically, in one embodiment of the embodiment, it is disclosed 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. By setting multiple resistance modes through the size and frequency of the resistance, the operator can adjust according to the corresponding resistance mode.

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

[0101] In addition, each of the functional units in each of the embodiments of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0102] It should be noted that the combination of the deformation assembly 300 and the force feedback assembly 400 is only an example in the embodiment, but the protection scope of the present application is not limited thereto, and other combination modes that can achieve the technical effects disclosed in the present application, as equivalent replacements of the concept of the present application, should also be within the protection scope of the present application. Specifically, the deformation assembly 300 disclosed in the embodiment can be provided with multiple deformation modes, and the force feedback assembly 400 can also be provided with multiple resistance modes, on the basis of which, the deformation mode and the resistance mode can be customized by the control mainboard 500.

[0103] Specifically, in another implementation of the embodiment, a deformable knob with torque feedback and a control method thereof are disclosed, as shown in Figure 8 The deformation assembly 300 is a three-layer structure and is provided with three-layer sliders, wherein, as shown in Figure 8 (a) of the drawings, the bottom-layer slider is a long-strip-shaped slider; as shown in Figure 8 (b) of the drawings, the middle-layer slider is three sliders spaced 120° apart; as shown in Figure 8 (c) of the drawings, the top-layer slider is six sliders spaced 60° apart. And as shown in Figure 9 (a) of the drawings, (b) of the drawings, (c) of the drawings or (d) of the drawings, an operation mainboard with four cross-distributed keys 3121 is arranged on the top surface of the knob main body 200.

[0104] The brushless motor 410 is arranged in the force feedback assembly 400, which adopts PID control, i.e., includes three parts of proportion (P), integration (I) and differentiation (D), and the structure is a combination of position loop, speed loop and current loop. The input values are P, I, D, Imax, MaxOut, Ref and Set. For the position loop, Ref is the position feedback of reading the magnetic encoder, and Set is the position setting value. For the speed loop, Ref is the speed feedback of reading the motor, and Set is the speed setting value. Imax is the amplitude limiting result of the error accumulation of I. When it exceeds Imax, it is counted as Imax. MaxOut is the amplitude limiting of the final output value of PID, and when it exceeds MaxOut, it is counted as MaxOut.

[0105] Under the effect of the position loop and the speed loop in series, the result of the position loop is the set of the speed loop, and the result of the speed loop is directly taken as the input of the motor, which is proportional to the resistance of the motor. The MaxOut of the speed loop is adjusted 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, which is also proportional to the resistance of the motor. Therefore, the MaxOut of the loop is adjusted to limit the amplitude, so as to adjust the strength of the force feedback.

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

[0107] 1. Smooth mode, no torque feedback, the knob body 200 can be rotated at will.

[0108] 2. Ratchet mode, uniform jerk when rotating, through PID control, the knob body 200 has a click feeling in a certain angle range.

[0109] First of all, the PID of the brushless motor 410 in this mode is a position loop and a speed loop in series. When a certain set value is given, the rotation of the knob by the operator is equivalent to "disturbance" to it, which will have resistance under the action of the PID, and be constrained to the vicinity of the set value. When the knob is rotated by the user and approaches a certain set value, the resistance of the PID will produce a corresponding resistance, causing a jerk feeling, thereby realizing torque feedback.

[0110] For example, the knob body 200 rotates one circle, and there are N set positions for jerk, so the set value is: (radian system). When the user rotates to and (including ), it is constrained to When and , it is constrained to In this way, a ratchet-like jerk feeling is produced.

[0111] 3. Friction resistance mode, this mode only has a speed loop PID constraint, and the PID set speed value is 0. Since the user rotates, the speed value fed back by the motor is not 0, so there will be resistance to constrain the speed to 0 under the action of the speed loop PID, so the user feels that there is a friction resistance feeling.

[0112] 4. Spring mode, using position loop PID control, only using P parameter and D parameter to adjust the damping size, this mode only has the effect of position loop PID. After entering this mode, the position set value is confirmed and no longer changes. Since only the position loop acts, the more the operator rotates, the more the position feedback value deviates from the set value, and the error increases linearly; under the action of P, the resistance will increase linearly, so there is a similar spring rebound feeling. In addition, only P parameter is easy to lose stability and cause overshoot leading to system oscillation, so D parameter is added to ensure system stability.

[0113] 5. Limit mode, set position limit, rotate the knob smoothly or with ratchet feeling within the range, and strong resistance is generated when the knob exceeds the limit, simulating the blocking feeling of "wall". This mode can be combined with the above four modes. In this mode, there is a lower position set value and an upper position set value. Within the position upper and lower limit interval, the above four modes can be realized, and beyond this interval, it will generate a large resistance under the constraint of position loop PID and speed loop PID to prevent the user from exceeding this interval.

[0114] The deformation mode and resistance mode in the embodiment can be freely combined, and the specific implementation can be that a deformation mode is selected by pressing a button 3121 on the operation main plate, and two or more buttons 3121 are pressed at the same time to select the resistance mode. For example, when applied to a vehicle, the variable deformation knob with torque feedback can be used to complete song selection after the car machine is started. The specific operation process is as follows:

[0115] 1. After the music software on the car machine 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 without protrusions.

[0116] 2. Slightly rotate the knob body 200, if there is resistance, press any two or more buttons 3121 on the operation main plate at the same time until the adjustment knob body 200 is in the smooth mode.

[0117] 3. Rotate the knob body 200 to switch the selected song on the central control screen; when it is necessary to quickly switch the page, any two or more buttons 3121 on the operation main plate can be pressed at the same time to adjust to the ratchet mode, and each rotation of a gear position performs a page turning. Finally, the target song is determined (the button 3121 on the central control console can be separately set to confirm, or the song is played directly by touch control).

[0118] 4. During song playback, pressing any button 3121 on the control panel will cause one, three, or six protrusions to appear on the side of the knob body 200, corresponding to volume control precision such as mute, coarse adjustment, and fine adjustment. For example, when making a coarse adjustment, pressing any button 3121 will adjust the volume until three protrusions appear on the side of the knob body 200.

[0119] 5. Simultaneously press any two or more buttons 3121 on the main control panel to adjust the knob body 200 to ratchet mode, allowing for volume adjustment in increments from small to large. Alternatively, the knob body 200 can be adjusted to friction resistance mode for stepless adjustment from small to large. Of course, a limit switch is set at the maximum volume position, switching to limit mode.

[0120] In summary, the deformable knob with torque feedback disclosed in this embodiment can be freely combined and its control mode adjusted, thus enabling it to play a regulatory role in complex systems.

[0121] In summary, this application discloses a deformable knob with torque feedback, comprising a base 100, a knob body 200, a deformation component 300, a force feedback component 400, and a control main board 500. The base 100 has a hollow interior forming a receiving cavity 110; the top of the base 100 has a through hole 120 communicating with the receiving cavity 110; the knob body 200 is rotatably inserted into the through hole 120; one end of the knob body 200 protrudes above the base 100 and has a hollow deformation chamber 2. 10; The other end of the knob body 200 is inserted into the receiving cavity 110; the deformable component 300 is disposed in the deformable chamber 210; the deformable component 300 can retract or extend along the radial direction of the knob body 200; the force feedback component 400 is disposed in the receiving cavity 110 and is driven by the knob body 200 via a synchronous belt 430; the control main board 500 is disposed on the base 100 and is electrically connected to the force feedback component 400, the deformable component 300, and the knob body 200. By adding the deformable component 300 and torque feedback to the knob, the operator only needs to perceive the adjustment mode and working status of the knob through touch. The interaction method is simple and efficient, and will not distract too much attention. In some fast-response applications, it can increase the accuracy and safety of operation.

[0122] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0123] It should be noted that the application 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 application, but the application is not limited to the deformable knob with torque feedback and the control method thereof, and can also be applied to the production and use of other similar workpieces.

[0124] It should be understood that the application is not limited to the precise construction which has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. The only scope of the application is defined by the appended claims.

[0125] The above description is merely preferred embodiments of the application, and is not intended to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A deformable knob with force torque feedback, characterized in that, The utility model relates to a kind of force feedback device, including: Base, the inside hollow of the base is formed with accommodating cavity;The top of the base is provided with through hole communicated with the accommodating cavity; Knob body, rotatably inserted in the through hole;One end of the knob body protrudes above the base, and hollow is provided with deformation chamber;The other end of the knob body is inserted into the accommodating cavity; Deformation component, is located in the deformation chamber;The deformation component can contract or expand along the radial direction of the knob body; Force feedback component, located in the accommodating cavity, and with the knob body through synchronous belt transmission; Control mainboard, located on the base, electrically connected with the force feedback component, the deformation component and the knob body; Wherein, the side wall of the deformation chamber is provided with first via hole;The deformation component includes: Bottom support, connected with the knob body, located in the bottom surface of the deformation chamber;The bottom support is provided with first slide way extending towards the first via hole; Center shaft, vertically arranged on the bottom support, located at the center position of the bottom support; First main gear, sleeved on the center shaft;The first main gear is provided with at least one first spiral radial slide hole;The first spiral radial slide hole is located above the first slide way; First slider, slidably arranged on the first slide way;And, the top surface of the first slider is protrudingly provided with first clamping head, and the first clamping head is inserted with the first spiral radial slide hole; First motor, located on the bottom support;The output shaft of the first motor is sleeved with first transmission gear, and the first transmission gear is engaged with the first main gear;The first motor is used to drive the first main gear to rotate, to drive the first slider to extend out of the first via hole or retract into the first via hole.

2. The deformable knob with force torque feedback of claim 1, wherein, The side wall of the deformation chamber is provided with at least two second via holes;The deformation component includes: Interlayer support, sleeved on the center shaft;The interlayer support is provided with at least two second slide ways towards the second via hole; Second main gear, sleeved on the center shaft, and stacked with the interlayer support;The second main gear is provided with at least two second spiral radial slide holes;At least two second spiral radial slide holes are arranged in annular shape on the second main gear;And, the second spiral radial slide hole is located above the second slide way; At least two second sliders, the second slider is slidably arranged on the second slide way;And, the top surface of the second slider is protrudingly provided with second clamping head, and the second clamping head is inserted with the second spiral radial slide hole; Second motor, located on the interlayer support;The output shaft of the second motor is sleeved with second transmission gear, and the second transmission gear is engaged with the second main gear;The second motor is used to drive the second main gear to rotate, to drive the second slider to extend out of the second via hole or retract into the second via hole.

3. The deformable knob with force torque feedback of claim 2, wherein, The base includes: Rack, the top of the rack is provided with first groove, and the bottom of the first groove is provided with second groove;The bottom surface of the rack is provided with third groove;The second groove is communicated with the third groove; A shell is combined on the frame to close the first groove to form the containing cavity; The control mainboard 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 with the control mainboard, and the other side is electrically connected with the first motor and the second motor.

4. The deformable knob with force torque feedback of claim 3, wherein, The transformation assembly further comprises an operation panel electrically connected with the conductive slip ring, and the operation panel is arranged on the top surface of the knob body. A plurality of keys are arranged on the operation panel and used for sending control instructions.

5. The deformable knob with torque feedback of claim 4, wherein, The knob body comprises: A base is inserted into the through hole, the bottom end of the base extends to the second groove, and the base is connected with the conductive slip ring; An upper end cover is combined on the base to form the transformation chamber; A wire passing guide strip is arranged on the inner wall of the upper end cover, a wire passing channel extending along the axial direction of the transformation chamber is formed on the wire passing guide strip, and the wire passing channel is used for arranging wires connected with the operation panel; and / or A wire passing hole is arranged on the base, one end of the wire passing hole is communicated with the transformation chamber, and the other end is communicated with the second groove; an annular blocking wall is arranged on the top surface of the base and surrounds the wire passing hole; the annular blocking wall forms a wire passing channel, and the wire passing channel and the wire passing hole are used for arranging wires connected with the first motor and the second motor.

6. The deformable knob with force torque feedback of claim 5, wherein, The base comprises a connecting piece and a first synchronous wheel, the connecting piece is rotatably inserted into the through hole, and the first synchronous wheel is connected with one end of the connecting piece inserted into the containing cavity. The force feedback assembly comprises: A brushless motor is arranged in the containing cavity, a wire arrangement channel is arranged on the bottom surface of the containing cavity, and is used for arranging wires to connect the brushless motor and the control mainboard; A second synchronous wheel is arranged on the output shaft of the brushless motor; and A synchronous belt is sleeved on one end of the first synchronous wheel and the other end of the second synchronous wheel.

7. The deformable knob with force torque feedback of claim 6, wherein, The base further comprises: A lower blocking plate is arranged in the second groove, one side of the lower blocking plate is connected with the first synchronous wheel, and the other side is connected with the conductive slip ring; A ball bearing, an inner ring of the ball bearing is sleeved on the lower blocking plate and the first synchronous wheel, and an outer ring of the ball bearing is in contact with the side wall of the second groove.

8. A control method of a deformable knob with torque feedback for the deformable knob with torque feedback according to any one of claims 1 to 7, characterized in that, The method comprises: Obtaining a current mode instruction; Generating a first control signal and a second control signal based on the current mode instruction; In response to the first control signal, starting the transformation assembly to an extended state; In response to the second control signal, adjusting the force feedback assembly to a preset resistance mode.

9. The control method of the deformable knob with torque feedback according to claim 8, characterized in that, The preset resistance mode comprises any one of a zero resistance mode, a ratchet mode, a damping mode, a spring mode and a limit mode.

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