Beam network-based haptic display architecture

Abstract

The invention relates to the technical field of tactile immersion, and provides a tactile display architecture based on a beam network, the tactile display architecture comprises a beam device, a driving device and a distance limiting device, the beam device comprises a supporting part and an action beam, at least one end of the action beam is slidably connected with the supporting part, and the supporting part is provided with a plurality of first position points; the driving device drives the end part of the action beam to slide; the distance limiting device comprises first pulling ropes and a first winding and unwinding mechanism, and the position, opposite to each first position point, on the action beam corresponds to one first pulling rope so as to limit displacement of the corresponding position on the action beam. Thus, the shape output of the action beam can be accurately controlled through the driving device and the distance limiting device, the distance limiting device is arranged to be in the form of a traction rope, it can be guaranteed that the action beam has large displacement, and the position of the first retracting and releasing mechanism can be conveniently arranged. The action beam serves as a display area, the first folding and unfolding mechanism can be arranged outside the display area, the influence of the distance limiting device on the thickness of the display area is avoided, sufficient force feedback is ensured, and the light and thin design is promoted.

Description

Technical Field

[0001] The present invention relates to the field of tactile immersion technology, and in particular to a tactile display architecture based on a beam network. Background Art

[0002] In recent years, virtual reality technology has received more and more attention. Tactile immersion is an important part of virtual reality technology. Virtual reality aims to create an environment that is completely computer-generated, so that users feel as if they are in a different world. In order to achieve this high sense of immersion, multiple sensory experiences such as vision, hearing and touch are usually combined. Therefore, tactile display has an important value independent of vision in virtual reality and is an important part of deep immersive experience. Tactile display is generally divided into dynamic display and tactile display. Dynamic display mainly generates acceleration and force feedback on human joints, such as 4D movies or tactile gloves. Tactile display is mainly responsible for displaying pressure, lateral force parallel to the skin surface, and vibration on the surface of human skin. In order to transmit these tactile sensations, most tactile display devices need to be worn directly and in contact with the skin. Therefore, while ensuring that the tactile device can generate sufficient force feedback, it has high requirements for lightness and thinness. However, the common piston-type actuators and cavity-type actuators are difficult to achieve the above purposes, which limits the development and popularization of tactile display technology.

[0003] The piston-type driver mainly sets a column that can move along a linear constraint device under each pixel position. The column is often driven by a hydraulic cylinder, worm gear and other structures. When the column is pushed up, the skin can be deformed, thereby generating force feedback. However, the length of the column needs to be greater than its maximum stroke, and considering the auxiliary structure used to drive the column, the thickness of this type of tactile display will be greater. Under the premise of ensuring that sufficient force feedback can be generated, it is difficult to meet the requirements of lightness and thinness.

[0004] The cavity-type driver has a cavity surrounded by a flexible surface. Generally, the cavity is expanded by injecting fluid, which causes the flexible surface at the pixel position to bulge, giving the skin tactile information. However, there are certain requirements for the maximum ratio of the bulge height to the lateral size of each unit, otherwise the flexible surface will become unstable or fail due to exceeding the maximum fracture strain of the material. Therefore, even if this type of tactile display can meet the thinness requirement, its travel is limited by the pixel size, and it is difficult to generate sufficient force feedback when arranged at a high density.

[0005] Therefore, providing a thin and light tactile display that can generate sufficient force feedback is an important issue that needs to be solved urgently in the industry. Summary of the invention

[0006] The present invention provides a tactile display architecture based on a beam network, so as to solve the defects and shortcomings existing in the related art.

[0007] The present invention provides a tactile display architecture based on a beam network, comprising: A beam device, comprising a fixed support component and an action beam arranged on one side of a support surface of the support component, at least one end of the action beam is slidably connected to the support component so that the two ends of the action beam are close to or away from each other, the support component has a plurality of first position points, the plurality of first position points are spaced apart along the length direction of the action beam, and the position on the action beam opposite to the first position point is a second position point; A driving device, adapted to drive the end of the action beam to slide reciprocatingly relative to the supporting member; A distance limiting device is suitable for limiting the maximum distance between the second position point and the first position point respectively. The distance limiting device includes a first traction rope and a first retracting and releasing mechanism for retracting and releasing the first traction rope. Each of the second position points on the action beam is correspondingly connected to a first traction rope.

[0008] According to a tactile display architecture based on a beam network provided by the present invention, a plurality of action beams are provided, each of the action beams is cross-stacked and arranged to form a mesh structure, the mesh structure has a plurality of intersections, the intersections correspond to the first position points one by one, each of the action beams corresponding to the intersections is relatively fixed along a direction perpendicular to the support surface of the support component, and each of the action beams corresponding to the intersections can slide relatively along its own axis direction; The action beams corresponding to each intersection share the same first traction rope. The support component is provided with a plurality of constraint holes, each intersection corresponds to a constraint hole, and the constraint hole is suitable for the first traction rope to pass through and constrain the direction of the first traction rope.

[0009] According to a tactile display architecture based on a beam network provided by the present invention, the first retracting and releasing mechanism includes: A first drum capable of rotating about a fixed axis, wherein the first traction rope is wound around the first drum; a first rotary motor, adapted to drive the first reel to reciprocate and rotate a target angle; Alternatively, the first retractable mechanism comprises: The first linear motor comprises a fixed portion and a movable portion, wherein the fixed portion of the first linear motor is relatively fixed to the supporting component, and the movable portion of the first linear motor is connected to the first traction rope.

[0010] According to a tactile display architecture based on a beam network provided by the present invention, at least the first retractable mechanism is separately arranged from the beam device, a connecting pipeline is arranged between the first retractable mechanism and the supporting component, two ends of the connecting pipeline are respectively fixedly connected to the fixing part of the first retractable mechanism and the supporting component, the first traction rope is located in the connecting pipeline, the length of the connecting pipeline is fixed, and the axis of the connecting pipeline can be bent and deformed.

[0011] According to a beam network-based tactile display architecture provided by the present invention, the connecting pipeline is a hard conduit or a guiding mechanism, and the guiding mechanism includes a plurality of rods hinged end to end.

[0012] According to a tactile display architecture based on a beam network provided by the present invention, the supporting surface of the supporting component is a plane or a cylindrical surface; Alternatively, the supporting surface of the supporting component is a curved surface with non-zero Gaussian curvature suitable for fitting with the target skin.

[0013] According to a tactile display architecture based on a beam network provided by the present invention, the beam device further includes: a first crimping mechanism, for pressing and fixing the non-sliding end of the action beam to the support component; A second crimping mechanism, wherein each sliding end of the action beam is correspondingly provided with a second crimping mechanism, the sliding end of the action beam is slidably connected to the second crimping mechanism, and the second crimping mechanism presses the sliding end of the action beam against the supporting component.

[0014] According to a tactile display architecture based on a beam network provided by the present invention, the driving device includes: A second traction rope, each sliding end of the action beam is connected to a corresponding second traction rope, the second crimping mechanism is provided with a passage for the second traction rope to pass through, and the second traction rope can generate a traction force on the sliding end of the action beam pointing to the opposite end of the sliding end of the action beam; The second retractable mechanism is suitable for retracting and releasing the second traction rope.

[0015] According to a tactile display architecture based on a beam network provided by the present invention, the driving device further includes: A third traction rope, each sliding end of the action beam is correspondingly connected to a third traction rope, the insertion channel is also suitable for the third traction rope to pass through, and the third traction rope can generate a traction force on the sliding end of the action beam to the opposite end of the sliding end of the action beam facing away from the sliding end of the action beam; Wherein, the second traction rope and the third traction rope are both connected to the second retracting and releasing mechanism, and when the second retracting and releasing mechanism is actuated, one of the second traction rope and the third traction rope is released, and the other of the second traction rope and the third traction rope is tensioned at the same time.

[0016] According to a tactile display architecture based on a beam network provided by the present invention, the second retracting and releasing mechanism includes: A second drum is capable of reciprocating rotation, the second traction rope and the third traction rope are wound around the second drum, and the winding direction of the second traction rope around the second drum is opposite to the winding direction of the third traction rope around the second drum; Alternatively, a third linear motor has a fixed part and a movable part, the fixed part of the third linear motor is relatively fixed to the supporting component, the movable part of the third linear motor is simultaneously connected to the second traction rope and the third traction rope, along the moving direction of the movable part of the third linear motor relative to the fixed part, the second traction rope is located on the first side of the movable part of the third linear motor, and the third traction rope extends to the second side of the movable part of the third linear motor through the winding structure.

[0017] According to a tactile display architecture based on a beam network provided by the present invention, the second crimping mechanism includes: A bottom plate is fixedly connected to the supporting component, the penetration channel is arranged in the middle of the bottom plate, the penetration channel extends along the sliding direction of the action beam, and in a direction perpendicular to the supporting surface of the supporting component, the penetration channel at least penetrates the surface of the bottom plate away from the supporting component; A constraint plate is fixedly arranged on a side of the bottom plate away from the supporting component, a slide groove is arranged on the constraint plate, the sliding end of the action beam is slidably matched with the slide groove, and a limiting structure is arranged at both ends of the slide groove, and the limiting structure is suitable for limiting the sliding end of the action beam to slide to an extreme position along the length direction of the action beam; A pressing plate is fixedly arranged on a side of the constraint plate away from the bottom plate, and the pressing plate is suitable for limiting the sliding end of the action beam away from the bottom plate.

[0018] According to a tactile display architecture based on a beam network provided by the present invention, the driving device includes: The second linear motor has a fixed portion and a movable portion, the fixed portion of the second linear motor is relatively fixed to the supporting component, and the movable portion of the second linear motor is connected to the sliding end of the action beam.

[0019] According to a tactile display architecture based on a beam network provided by the present invention, the beam device further includes: The elastic mechanism is arranged between the action beam and the support component. The elastic mechanism includes a plurality of elastic members. The plurality of elastic members are spaced apart along the length direction of the action beam. The elastic members are suitable for making the action beam tend to move away from the support component.

[0020] According to a tactile display architecture based on a beam network provided by the present invention, the supporting component comprises: A support beam, each of the action beams corresponds to one support beam, and the axis of the support beam is parallel to the length direction of the action beam; Alternatively, the support plate, each of the action beams corresponds to the same support plate, and the support plate is provided with a weight-reducing hole, and along a direction perpendicular to the support plate, the projection area of ​​the weight-reducing hole and the projection area of ​​each of the action beams do not intersect each other.

[0021] The tactile display architecture based on the beam network provided by the present invention comprises a beam device, a driving device and a distance limiting device. The beam device comprises a supporting component and an action beam, and the position of the supporting component is fixed and used for supporting. The action beam is arranged on one side of the supporting surface of the supporting component. At least one end of the action beam is slidably connected to the supporting component, and the driving device is used to drive the end of the action beam to slide back and forth relative to the supporting component. When at least one end of the action beam slides relative to the supporting component, the two ends of the action beam approach or move away from each other, so that the action beam is buckled and deformed relative to the supporting component. The supporting effect of the supporting component on the action beam can limit the buckling and deformation direction of the action beam, so that the action beam buckles and deforms in the direction away from the supporting component. There are multiple first position points on the supporting component, and the multiple first position points are spaced apart along the length direction of the action beam. The position on the action beam opposite to the first position point is called the second position point. The distance limiting device is used to limit the maximum distance between the first position point and the second position point respectively, that is, to limit the maximum off-surface displacement of each second position point on the action beam respectively. By controlling the sliding distance of the end of the action beam through the driving device, the total buckling deformation of the action beam, that is, the total length of the displayed curve, can be controlled. The buckling deformation of the action beam at each second position point can be limited by the distance limiting device, that is, the off-plane displacement of each second position point on the action beam can be controlled. The buckling deformation of each position of the action beam can be accurately controlled by combining the driving device and the distance limiting device, so that different pressures can be generated at different positions of the user's skin to form a tactile display of pressure. The distance limiting device includes a first traction rope and a first retracting and releasing mechanism. The first retracting and releasing mechanism is used to retract the first traction rope, and each second position point on the action beam is connected to a first traction rope. When the first retracting and releasing mechanism retracts the first traction rope, the first traction rope generates a traction tension on the corresponding position of the action beam, so that the corresponding position of the action beam is close to the support component, that is, the off-plane displacement of the corresponding position of the action beam is reduced; when the first retracting and releasing mechanism releases the first traction rope, the first traction rope allows the corresponding position of the action beam to be away from the support component, that is, the off-plane displacement of the corresponding position of the action beam is increased. In this way, the distance limiting device is set as a traction rope structure, which can ensure that each second position point of the action beam can have a large off-plane displacement and ensure sufficient force feedback, and can also facilitate the arrangement of the position of the first retracting mechanism. The action beam serves as the display area of ​​the tactile display architecture based on the beam network, and at least the first retracting mechanism can be arranged outside the display area to avoid the influence of the distance limiting device on the thickness of the display area, thereby reducing the thickness and mass of the display area while generating sufficient force feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram of the beam network-based tactile display architecture provided by the present invention when the display area is a one-dimensional interface, and the driving device and the distance limiting device are both in the form of traction ropes (the action beam does not undergo bending deformation, and the first traction rope and the second traction rope are not illustrated in the figure).

[0024] Figure 2 It is a structural schematic diagram of the beam network-based tactile display architecture provided by the present invention when the display area is a one-dimensional interface, and the driving device and the distance limiting device are both in the form of traction ropes (the action beam undergoes bending deformation, and the first traction rope and the second traction rope are not illustrated in the figure).

[0025] Figure 3 It is a structural schematic diagram of the second crimping mechanism, the driving device and the distance limiting device provided by the present invention.

[0026] Figure 4 It is a schematic diagram of the connection structure between the first traction rope and the beam device provided by the present invention.

[0027] Figure 5 It is a structural schematic diagram of the beam network-based tactile display architecture provided by the present invention when the display area is a one-dimensional interface, the driving device is a linear motor, and the distance limiting device is in the form of a traction rope.

[0028] Figure 6 It is a structural schematic diagram of the tactile display architecture based on the beam network provided by the present invention when the display area is a two-dimensional interface.

[0029] Figure 7 It is a schematic diagram of the connection method of two cross-arranged action beams provided by the present invention.

[0030] Figure 8 It is a structural schematic diagram of a tactile display architecture based on a beam network provided by the present invention when a display area and a driving area are separately arranged.

[0031] Fig. 9 It is a structural schematic diagram of the beam device provided by the present invention having an elastic mechanism and the action beam undergoing buckling deformation.

[0032] Reference numerals: 1. Beam device; 2. Support component; 3. Action beam; 4. First traction rope; 5. First retractable mechanism; 6. Constraint hole; 7. First reel; 8. First rotating motor; 9. First linear motor; 10. Connecting pipeline; 11. First crimping mechanism; 12. Second crimping mechanism; 13. Second traction rope; 14. Passage; 15. Weight reduction hole; 16. Bottom plate; 17. Constraint plate; 18. Crimping plate; 19. Second linear motor; 20. Rope; 21. Display area; 22. Drive area; 23. Second reel; 24. Second rotating motor; 25. Third traction rope; 26. Elastic member. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0034] Combine the following Figures 1 to 9 The beam network-based tactile display architecture of the present invention is described.

[0035] like Figures 1 to 9 As shown, the tactile display architecture based on the beam network provided by the embodiment of the present invention includes a beam device 1, a driving device and a distance limiting device.

[0036] Specifically, the beam device 1 includes a support component 2 and an action beam 3. The support component 2 is fixed and used for supporting. The action beam 3 is arranged on one side of the support surface of the support component 2, and the action beam 3 is used to contact the user's skin.

[0037] At least one end of the action beam 3 is slidably connected to the support component 2, and the driving device is used to drive the end of the action beam 3 to slide back and forth relative to the support component 2. When at least one end of the action beam 3 slides relative to the support component 2, the two ends of the action beam 3 move closer to or farther away from each other, thereby causing the action beam 3 to bend and deform relative to the support component 2. The support of the support component 2 on the action beam 3 can limit the direction of the bending and deformation of the action beam 3, causing the action beam 3 to bend and deform in a direction away from the support component 2, causing the action beam 3 to have an out-of-plane displacement relative to the support component 2, and the direction of the out-of-plane displacement is as follows: Figure 1 and Figure 2 The direction indicated by n.

[0038] In some embodiments, only one end of the action beam 3 is slidably connected to the support component 2. In this case, the other end of the action beam 3 is fixedly connected to the support component 2, and only the sliding end of the action beam 3 needs to be configured with a driving device.

[0039] In other embodiments, both ends of the action beam 3 are slidably connected to the support component 2. In this case, driving devices are arranged at both ends of the action beam 3, and each sliding end of the action beam 3 is configured with a separate driving device.

[0040] The support component 2 has a plurality of first position points, which are spaced apart along the length direction of the action beam 3. The position on the action beam 3 opposite to the first position point is the second position point, and the first position point and the second position point correspond one to one along the direction perpendicular to the support surface of the support component 2. The distance limiting device is used to respectively limit the maximum distance between the first position point and the second position point, that is, to respectively limit the maximum off-surface displacement of each second position point on the action beam 3 relative to the support surface of the support component 2.

[0041] It should be noted that the length direction of the action beam 3 is the extension direction of the action beam 3 when the action beam 3 does not undergo buckling deformation. Figure 1 and Figure 2 , the length direction of the action beam 3 is the direction indicated by m. The axial direction of the action beam 3 is the extension direction of the action beam 3. When the action beam 3 does not buckle, the axial direction of the action beam 3 is consistent with the length direction of the action beam 3. When the action beam 3 buckles, the axial direction of the action beam 3 is a curve, and the axial direction of the action beam 3 and the length direction of the action beam 3 are in the same plane, but the two do not overlap.

[0042] By controlling the sliding distance of the end of the action beam 3 through the driving device, the total length of the curve formed when the action beam 3 is buckled and deformed can be controlled. The distance limiting device can limit the off-plane displacement of the action beam 3 at each second position point. Combining the driving device and the distance limiting device, the buckling deformation shape of the action beam 3 can be accurately controlled, so that different pressure distributions (this pressure is called normal pressure) can be generated at different positions of the user's skin to form a pressure tactile display.

[0043] The distance limiting device comprises a first traction rope 4 and a first retracting and releasing mechanism 5 . The first retracting and releasing mechanism 5 is used for retracting and releasing the first traction rope 4 . Each second position point on the action beam 3 is correspondingly connected to a first traction rope 4 .

[0044] When the first retracting and releasing mechanism 5 retracts the first traction rope 4, the first traction rope 4 generates a traction force on the corresponding position of the action beam 3, so that the corresponding position of the action beam 3 is close to the supporting component 2, that is, the off-plane displacement of the corresponding position of the action beam 3 is reduced; when the first retracting and releasing mechanism 5 releases the first traction rope 4, the first traction rope 4 allows the corresponding position of the action beam 3 to move away from the supporting component 2, that is, the off-plane displacement of the corresponding position of the action beam 3 is increased.

[0045] In this way, the distance limiting device is set as a traction rope structure, which can ensure that each second position point of the action beam 3 can produce a large off-plane displacement and ensure sufficient force feedback, and can also facilitate the arrangement of the position of the first retracting mechanism 5. The action beam 3 serves as the display area 21 of the tactile display architecture based on the beam network, and at least the first retracting mechanism 5 can be arranged outside the display area 21 to avoid the influence of the distance limiting device on the thickness of the display area 21, thereby reducing the thickness and mass of the display area 21 while generating sufficient force feedback.

[0046] In addition, based on the interpolation characteristics of the beam under the point displacement load and the continuous movement during buckling deformation, the action beam 3, as the main output component, forms a continuity-enhanced tactile interface, which can produce continuous tactile sensations on the user's skin surface, can interpolate and compensate for the tactile information lost between different pixels, and expand the tactile display area from independent pixels to the lines between these pixels, without increasing the density of pixels, and can effectively enhance the continuity of tactile display information. Moreover, the natural continuity of the action beam 3 can also ensure that there are no sharp edges when it is raised, which plays a role in protecting the user's skin and improving safety in use.

[0047] The above-mentioned action beam 3 can be provided with only one, in which case the display area 21 of the tactile display architecture based on the beam network is a one-dimensional interface. In this case, the first traction rope 4 can be directly connected to the corresponding position of the action beam 3, and the first traction rope 4 can be fixedly connected to the action beam 3 or slidably connected to the action beam 3.

[0048] The above-mentioned action beams 3 can also be provided in plurality, and the individual action beams 3 are cross-stacked and arranged to form a mesh structure, the mesh structure has multiple intersections, and the intersections correspond to the first position points one by one. The distance between the intersections and the first position points can be controlled by the first traction rope 4.

[0049] It should be noted that each intersection is formed by the cross arrangement of at least two action beams 3. Each intersection may correspond to two action beams 3, and a quadrilateral grid is formed on the mesh structure. Each intersection may also correspond to more than three action beams 3. For example, when each intersection corresponds to three action beams 3, a triangular grid is formed on the mesh structure.

[0050] The action beam 3 corresponding to each intersection is relatively fixed along the direction perpendicular to the support surface of the support component 2, and the action beam 3 corresponding to each intersection can slide relatively along its own axis direction. It can be understood that at each intersection, each action beam 3 corresponding to the intersection synchronously approaches or moves away from the support surface of the support component 2, and each action beam 3 corresponding to the intersection has the same off-plane displacement at the intersection position, but each action beam 3 corresponding to the intersection can slide relative to other action beams 3 along its own axis direction.

[0051] The action beams 3 corresponding to each intersection share the same first traction rope 4, and the number of first traction ropes 4 and the number of first retractable mechanisms 5 required for the tactile display architecture based on the beam network are consistent with the number of intersections of the above-mentioned mesh structure.

[0052] A plurality of constraint holes 6 are provided on the support member 2, and the constraint holes 6 can be provided at the first position point. A constraint hole 6 is provided at each first position point, so that each intersection corresponds to a constraint hole 6, and the constraint hole 6 is provided for the first traction rope 4 to pass through and constrain the direction of the first traction rope 4. The provision of the constraint hole 6 can facilitate the control of the first traction rope 4, that is, control the distance from the second position point to the constraint hole 6.

[0053] The first traction rope 4 is passed from the side of the support component 2 away from the action beam 3 to the side of the support component 2 close to the action beam 3. After passing through the constraint hole 6, the first traction rope 4 is connected to the intersection of the mesh structure, so that the action beams 3 corresponding to the intersection position can be synchronously approached or moved away from the support component 2.

[0054] With such configuration, the display area 21 of the beam network-based tactile display architecture is expanded into a two-dimensional interface.

[0055] In addition, it should be noted that when the display area 21 of the beam network-based tactile display architecture is expanded into a two-dimensional interface, each action beam 3 is in an overlapping relationship and is not fixed as an overall fixed frame of an integrated structure. Although each action beam 3 corresponding to each intersection has the same off-plane displacement, each action beam 3 corresponding to each intersection can also slide relatively along its own axial direction.

[0056] Specifically, each action beam 3 can be constrained by a constraint member such as a wire rope 20, and then the first traction rope 4 is connected to an action beam 3 at the intersection.

[0057] Taking the restraining member as the wire rope 20 as an example, the wire rope 20 can be used for bundling to ensure that each action beam 3 can slide along its own axis relative to other action beams 3. Such a setting can ensure that the formed mesh structure has a large deformation capacity and displays a non-developable surface under small strain conditions. The non-developable surface here is a surface that cannot be obtained from a plane without wrinkling, tearing, and stretching. From a mathematical definition, that is, the Gaussian curvature is not zero everywhere.

[0058] The above-mentioned cord 20 can be made of high-strength wire materials such as fishing line, which are not easy to break and do not affect the tactile presentation.

[0059] In addition, the embodiment of the present invention can also realize the display of tangential force on the skin surface (i.e., friction force parallel to the skin surface). The specific implementation method is that when multiple action beams 3 are set and arranged crosswise to form a mesh structure, both ends of each action beam 3 can be slidably connected to the support component 2, and a corresponding driving device is configured for the sliding end of each action beam 3. At this time, the displacement of each intersection passed by the action beam 3 relative to the support surface of the support component 2 remains unchanged. When the two ends of the action beam 3 slide synchronously in the same direction and keep the spacing unchanged, the action beam 3 is displaced relative to other action beams 3 along its own axis direction, but the overall shape of the action beam 3 remains unchanged. Thereby, friction force is generated between the action beam 3 and the user's skin, and a tangential force parallel to the skin surface is generated on the user's skin.

[0060] In this embodiment, the supporting component 2 includes a supporting beam or a supporting plate.

[0061] The supporting component 2 includes a supporting beam. One supporting beam is provided for each action beam 3. The axis of the supporting beam is parallel to the length direction of the action beam 3. Each action beam 3 is supported by a corresponding supporting beam.

[0062] The support component 2 includes a support plate, and each action beam 3 corresponds to the same support plate. A weight-reducing hole 15 can be provided on the support plate as required, and along the direction perpendicular to the support plate, the projection area of ​​the weight-reducing hole 15 and the projection area of ​​each action beam 3 do not intersect each other. Such a setting can not only reduce the weight of the support plate, but also ensure effective support for each action beam 3.

[0063] The thickness of the support beam and the support plate is generally greater than the thickness of the action beam 3 to ensure that the support beam or the support plate can provide stable support to the action beam 3 .

[0064] The material of the support beam, the support plate and the action beam 3 can be selected from metals with high yield strength such as spring steel to prevent the support component 2 from plastic deformation during operation.

[0065] In this embodiment, the support surface of the support component 2 can be set as a plane, or as a cylindrical surface, or as a curved surface with non-zero Gaussian curvature that can fit the target skin. When setting the shape of the support component 2, it can be determined according to the shape of the skin to be adapted, so as to improve the fit between the display area 21 of the beam network-based tactile display architecture and the skin.

[0066] For the first retractable mechanism 5, the first traction rope 4 can be retracted and released by winding, or by linear pulling.

[0067] When the first traction rope 4 is wound and released by winding, the first winding and releasing mechanism 5 includes a first drum 7 and a first rotating motor 8. The first drum 7 can rotate around a fixed axis, and the first traction rope 4 is wound on the first drum 7. The first rotating motor 8 can output torque to drive the first drum 7 to reciprocate and rotate to a target angle. When the first rotating motor 8 is controlled to drive the first drum 7 to rotate in the forward direction, the first traction rope 4 can be wound; when the first rotating motor 8 is controlled to drive the first drum 7 to rotate in the reverse direction, the first traction rope 4 can be released.

[0068] The first rotating motor 8 may be a steering gear, which can improve the control accuracy of the buckling deformation of the action beam 3.

[0069] When the first traction rope 4 is retracted and released by linear pulling, the first retracting and releasing mechanism 5 includes a first linear motor 9, which has a fixed portion and a moving portion. The fixed portion of the first linear motor 9 is relatively fixed to the support component 2, and the moving portion of the first linear motor 9 is connected to the first traction rope 4. When the moving portion of the first linear motor 9 is controlled to move in the forward direction, the first traction rope 4 can be retracted; when the moving portion of the first linear motor 9 is controlled to move in the reverse direction, the first traction rope 4 can be released.

[0070] Each beam network-based tactile display architecture corresponds to multiple first traction ropes 4 and multiple first retracting and releasing mechanisms 5. The multiple first retracting and releasing mechanisms 5 can be concentrated in the same area or arranged in partitions to facilitate maintenance and management, as long as the first traction ropes 4 are prevented from being entangled or having large friction.

[0071] When the display area 21 of the tactile display architecture based on the beam network is expanded into a two-dimensional interface, there are both action beams 3 arranged along the first direction in length and action beams 3 arranged along the second direction in length. The first direction and the second direction are located in the same plane, but the first direction is different from the second direction. The first direction can be Figure 6 The direction indicated by x in the figure, the second direction can be Figure 6 The direction indicated by y in the figure, at this time, the first direction is perpendicular to the second direction. The first retracting and releasing mechanisms 5 corresponding to the action beams 3 with different length directions can be arranged separately, and the first retracting and releasing mechanisms 5 corresponding to the action beams 3 with the same length direction can be symmetrically arranged on both sides of the support component 2. A pair of guide columns are set on the support component 2 for the first traction rope 4 to wind around, so as to limit the direction of the first traction rope 4 and avoid interference between the first traction ropes 4. The direction of each first traction rope 4 can be designed according to the needs, but they are all within the protection range.

[0072] In a further embodiment, the beam device also includes an elastic mechanism, which is arranged between the action beam 3 and the supporting component 2. The elastic mechanism can generate a force on the action beam 3 in a direction away from the supporting component 2 at multiple position points of the action beam 3. The force of the elastic mechanism on the action beam 3, combined with the driving device and the distance limiting device, can enable the action beam 3 to better display the characteristic shape.

[0073] Specifically, the elastic mechanism includes a plurality of elastic members 26, referring to Fig. 9 A plurality of elastic members 26 are distributed at intervals along the length direction of the action beam 3 , and the elastic members 26 are used to make the action beam 3 tend to move away from the supporting component 2 .

[0074] In some preferred embodiments, elastic members 26 may be respectively disposed at each first position point on the support member 2. Of course, disposing the elastic member 26 at a position other than the first position point on the support member 2 also falls within the protection scope of the present application.

[0075] The elastic member 26 may be, but is not limited to, a conical cross-section spiral spring.

[0076] When a conical section spiral spring is selected as the elastic member 26 , the large end of the conical section spiral spring can be connected to the supporting component 2 , and the small end of the conical section spiral spring can be connected to the action beam 3 .

[0077] When designing a conical section spiral spring, its overall thickness can be made consistent with the wire diameter of the spring after being compressed, thereby reducing the thickness when compressed. During installation, a groove can be provided at the position where the conical section spiral spring needs to be installed on the support component 2, and the large end of the conical section spiral spring is arranged in the groove, which can ensure that the action beam 3 can be restored to a state where the off-plane displacement is zero.

[0078] In the embodiment of the present invention, at least the first retractable mechanism 5 is separately arranged from the beam device 1, and a connecting pipeline 10 is arranged between the first retractable mechanism 5 and the supporting component 2, and the two ends of the connecting pipeline 10 are respectively fixedly connected to the fixed part of the first retractable mechanism 5 and the supporting component 2, and the first traction rope 4 is located in the connecting pipeline 10.

[0079] That is to say, the tactile display architecture based on the beam network is arranged as a split structure, and the first retracting mechanism 5 of the distance limiting device serves as the driving area 22, so as to separate the display area 21 from the driving area 22, thereby avoiding the influence of the first retracting mechanism 5 on the thickness of the display area 21. There is no need to select a small-sized and small-volume first retracting mechanism 5, and the thickness and mass of the display area 21 of the tactile display architecture based on the beam network can be further reduced.

[0080] The length of the connecting pipe 10 is fixed, and the axis of the connecting pipe 10 can be bent and deformed, the connecting pipe 10 will not completely restrict the movement of the display area 21, the position and angle of the display area 21 relative to the driving area 22 can be adjusted, and the change of the relative position and angle of the display area 21 and the driving area 22 does not affect the display effect of the display area 21. It should be noted that the fixed length of the connecting pipe 10 means that the length of the connecting pipe 10 will not change in extension or contraction, or the extension and contraction change of the connecting pipe 10 is small and can be ignored.

[0081] In this way, the tactile display architecture based on the beam network can be set to wearable, and the display area 21 can be worn on the corresponding part of the user, promoting the development of the tactile display architecture based on the beam network from "armor" to "clothing", which is more conducive to the further combination and application of the tactile display architecture based on the beam network and virtual reality technology. The drive area 22 can be set to a backpack type, or the drive area 22 can be placed in a certain position, and the user can move within a certain range. By increasing the length of the connecting pipe 10, the user's range of movement can be increased.

[0082] In some embodiments, a hard conduit may be selected as the connecting pipeline 10. For example, a transparent Teflon pipe may be selected as the connecting pipeline 10.

[0083] In other embodiments, the connecting pipeline 10 can be set as a guiding mechanism, and the guiding mechanism includes a plurality of rods hinged end to end. For example, two adjacent rods are universally connected, and the first traction rope 4 can pass through the hinge points of each rod in sequence. The first traction rope 4 can be bent with the relative rotation of the two adjacent rods. Each rod is a rigid tube, and the length of each rod does not change. The length of the first traction rope 4 extending along each rod does not change. Therefore, the shape change of the connecting pipeline 10 will not affect the control accuracy of the buckling deformation of the action beam 3.

[0084] To ensure the stability of the action beam 3 , in this embodiment, the beam device 1 further includes a first crimping mechanism 11 and a second crimping mechanism 12 .

[0085] The first pressing mechanism 11 can press and fix the non-sliding end of the action beam 3 to the support component 2 , so that the non-sliding end of the action beam 3 will not be separated from the support component 2 , and the non-sliding end of the action beam 3 is restricted from being away from the support component 2 .

[0086] A second pressing mechanism 12 is correspondingly provided at each sliding end of the action beam 3, and the second pressing mechanism 12 can press the sliding end of the action beam 3 against the support component 2, so that the sliding end of the action beam 3 will not be separated from the support component 2, and the sliding end of the action beam 3 is restricted from being away from the support component 2. The sliding end of the action beam 3 is slidably connected to the second pressing mechanism 12, and the pressing effect of the second pressing mechanism 12 on the sliding end of the action beam 3 will not affect the sliding of the action beam 3.

[0087] In this embodiment, both the first pressing mechanism 11 and the second pressing mechanism 12 are essentially used to limit the displacement of the boundary of the display area.

[0088] In some embodiments of the present invention, the driving device is configured as a hydraulic cylinder, a cylinder, a linear motor, a worm gear drive, a gear rack drive, or other linear drive mechanism. Alternatively, a shape memory alloy, a twist drive, a liquid crystal elastomer thermal drive, or other wire control technology is used to generate a driving force to control the retraction and extension of each first traction rope 4, which does not deviate from the protection scope of the present invention.

[0089] For example, the driving device includes a second linear motor 19, and the second linear motor 19 has a fixed portion and a moving portion. The fixed portion of the second linear motor 19 is relatively fixed to the support component 2, and the moving portion of the second linear motor 19 is connected to the sliding end of the action beam 3. When the moving portion of the second linear motor 19 is controlled to move in the forward direction, one sliding end of the action beam 3 can be driven to approach its opposite end; when the moving portion of the second linear motor 19 is controlled to move in the reverse direction, one sliding end of the action beam 3 can be driven to move away from its opposite end.

[0090] In some other embodiments of the present invention, the driving device is configured to have a similar structure to the distance limiting device. Specifically, the driving device includes a second traction rope 13 and a second retracting mechanism, and the second retracting mechanism is used to retract the second traction rope 13. Each sliding end of the action beam 3 is connected to a corresponding second traction rope 13, and the second crimping mechanism 12 is provided with a through channel 14 for the second traction rope 13 to pass through. The second traction rope 13 can generate a traction force on the sliding end of the action beam 3 pointing to the opposite end of the sliding end of the action beam 3.

[0091] When the second retracting and releasing mechanism retracts the second traction rope 13, the second traction rope 13 generates a traction force on the sliding end of the action beam 3, so that the sliding end of the action beam 3 approaches its opposite end; when the second retracting and releasing mechanism releases the second traction rope 13, the second traction rope 13 allows the sliding end of the action beam 3 to move away from its opposite end.

[0092] In this way, the driving device is set as a traction rope structure, which can not only ensure the sliding distance of the sliding end of the action beam 3, but also facilitate the arrangement of the position of the second retracting mechanism. The second retracting mechanism can be set separately from the beam device 1, so that the second retracting mechanism and the first retracting mechanism 5 are arranged together, avoiding the influence of the second retracting mechanism on the thickness of the display area 21, and reducing the components connected to the beam device 1, further reducing the thickness and mass of the display area 21 of the tactile display architecture based on the beam network.

[0093] The second retractable mechanism of the driving device and the first retractable mechanism 5 of the distance limiting device are both independent of the beam device 1 . At this time, the thickness of the display area 21 is equal to the sum of the thicknesses of the action beam 3 and the supporting component 2 .

[0094] Through a large number of measurement statistics, the first retracting and extending mechanism 5 of the distance limiting device and the second retracting and extending mechanism of the driving device are independent of the beam device 1, so that the ratio of the maximum off-plane displacement of each second position point of the action beam 3 (that is, the maximum bulge height of the display area 21 at each pixel point) to the thickness of the display area 21 can be greater than 10. Compared with the situation in the prior art that the ratio of the maximum off-plane displacement of the display area 21 at each pixel point to its thickness is less than 1, the beam network-based tactile display architecture provided in this embodiment greatly improves the ratio of the maximum off-plane displacement of the display area 21 at each pixel point to the thickness of the display area 21 (also called the stroke-thickness ratio, off-plane strain of the display area 21).

[0095] In some embodiments, the second retractable mechanism can be configured to realize the retractable second traction rope 13 by linear pulling. In this case, the second retractable mechanism includes a third linear motor. The third linear motor has a fixed portion and a movable portion. The fixed portion of the third linear motor is relatively fixed to the support component 2, and the movable portion of the third linear motor is connected to the second traction rope 13.

[0096] In some other embodiments, the second retracting mechanism can also be configured to achieve the retraction and release of the second traction rope 13 by winding. In this case, the second retracting and releasing mechanism includes a second reel 23 and a second rotating motor 24. The second traction rope 13 is wound on the second reel 23. The second rotating motor 24 is used to drive the second reel 23 to rotate reciprocatingly to retract or release the second traction rope 13.

[0097] In a further embodiment, the driving device also includes a third traction rope 25, each sliding end of the action beam 3 is correspondingly connected to a third traction rope 25, and the passage 14 is also used for the third traction rope 25 to pass through. The third traction rope 25 can generate a traction force on the sliding end of the action beam 3 opposite to the sliding end of the action beam 3.

[0098] The third traction rope 25 is also connected to the second retracting and releasing mechanism. When the second retracting and releasing mechanism is actuated, one of the second traction rope 13 and the third traction rope 25 is released, and the other of the second traction rope 13 and the third traction rope 25 is tensioned at the same time.

[0099] In this way, the second retractable mechanism in the form of a traction rope structure can generate a bidirectional force on the sliding end of the action beam 3 along the length direction of the action beam 3, referring to Figure 3 The second retractable mechanism in the form of a traction rope structure can generate a Figure 3 The pulling force in the direction indicated by p can also produce a pulling force along the sliding end of the action beam 3. Figure 3 The pulling force in the direction indicated by q in the figure can not only make the two ends of the action beam 3 approach or move away from each other, but also make the two ends of the action beam 3 slide synchronously and keep the distance unchanged.

[0100] When the second retracting and releasing mechanism is configured to achieve the retraction and release of the second traction rope 13 by winding, the second traction rope 13 and the third traction rope 25 are both wound on the second drum 23, and the winding direction of the second traction rope 13 on the second drum 23 is opposite to the winding direction of the third traction rope 25 on the second drum 23. When the second drum 23 rotates, one of the second traction rope 13 and the third traction rope 25 is wound, and the other is released equally.

[0101] Specifically, when the second drum 23 rotates in the forward direction, the second traction rope 13 can be reeled in and the third traction rope 25 can be released; when the second drum 23 rotates in the reverse direction, the second traction rope 13 can be released and the third traction rope 25 can be reeled in.

[0102] When the second retractable mechanism is configured to realize the retractable and retractable second traction rope 13 by linear pulling, the moving part of the third linear motor is connected to the second traction rope 13 and the third traction rope 25 at the same time.

[0103] Along the moving direction of the moving part of the third linear motor relative to the fixed part, the second traction rope 13 is located on the first side of the moving part of the third linear motor, and the third traction rope 25 extends to the second side of the moving part of the third linear motor through the winding structure. In other words, the part of the second traction rope 13 used to connect to the third linear motor and the part of the third traction rope 25 used to connect to the third linear motor are respectively located on both sides of the moving part of the third linear motor. It should be noted that the winding structure here can be, but is not limited to, a fixed pulley.

[0104] Specifically, when the moving part of the third linear motor moves toward the side where the second traction rope 13 is located, the second traction rope 13 can be released and the third traction rope 25 can be tensioned; when the moving part of the third linear motor moves toward the side where the third traction rope 25 is located, the second traction rope 13 can be tensioned and the third traction rope 25 can be released.

[0105] The rotary motor and linear motor used in the embodiment of the present invention can adopt the model aircraft servo motor, which has the advantages of simple structure, small size and light weight, and can further reduce the mass of the tactile display architecture based on the beam network. In a specific embodiment, the length of the model aircraft servo motor selected is as low as 1.2 cm, and the mass of a single model aircraft servo motor is as low as 1.5 grams. Within the user's loadable range, it is beneficial to increase the number of motors that can be set and the number of action beams 3 that can be set, thereby facilitating the increase of the pixel density of the tactile display architecture based on the beam network or the area of ​​the display area 21.

[0106] The first traction rope 4 and the second traction rope 13 may be, but are not limited to, wire materials with high strength and high elastic modulus such as steel wire rope and fishing line.

[0107] For the structure of the first crimping mechanism 11, no special design is required. A crimping block can be directly used as the first crimping mechanism 11. After the non-sliding end of the action beam 3 is fixed to the support component 2, the crimping block is set on the side of the non-sliding end of the action beam 3 away from the support component 2, and the crimping block is fixedly connected to the support component 2.

[0108] Regarding the structure of the second crimping mechanism 12, if the sliding end of the action beam 3 crimped by the second crimping mechanism 12 is not connected to the second traction rope 13, but is directly connected to a linear drive mechanism such as a second linear motor, the structure of the second crimping mechanism 12 does not need to be specially designed, and a crimping block can also be directly used as the second crimping mechanism 12, refer to Figure 6 .

[0109] If the sliding end of the action beam 3 crimped by the second crimping mechanism 12 is connected to the second traction rope 13, the structure of the second crimping mechanism 12 needs to be specially designed. Specifically, the second crimping mechanism 12 includes a bottom plate 16, a constraint plate 17 and a crimping plate 18, and the bottom plate 16, the constraint plate 17 and the crimping plate 18 are arranged overlappingly. The bottom plate 16 and the action beam 3 are located on the same side of the supporting component, the constraint plate 17 and the crimping plate 18 are located on the side of the bottom plate 16 away from the supporting component 2, and the constraint plate 17 is located between the crimping plate 18 and the bottom plate 16, and the bottom plate 16, the constraint plate 17 and the crimping plate 18 are all fixedly connected to the supporting component 2.

[0110] The constraint plate 17 is provided with a slide groove, and the sliding end of the action beam 3 is slidably matched with the slide groove. Limiting structures are provided at both ends of the slide groove, and the limiting structures are used to limit the extreme position of the sliding end of the action beam 3 sliding along the length direction of the action beam 3 to prevent the sliding end of the action beam 3 from slipping off the second crimping mechanism 12.

[0111] The limiting structure can be set as limiting protrusions located at both ends of the slide groove. When the sliding end of the action beam 3 slides to the limit position, it will interact with the limiting protrusion to stop the sliding end of the action beam 3 from sliding.

[0112] The crimping plate 18 is fixedly disposed on a side of the restraining plate 17 away from the bottom plate 16 , and is used to restrict the sliding end of the action beam 3 from being away from the bottom plate 16 .

[0113] The penetration channel 14 for the second traction rope 13 to pass through is arranged on the bottom plate 16, and the penetration channel 14 extends along the sliding direction of the action beam 3, and penetrates the surface of the bottom plate 16 away from the support component 2 in a direction perpendicular to the support surface of the support component 2. Figure 3 The second traction rope 13 passes through the penetration channel 14 and is fixedly connected to the action beam 3. The penetration channel 14 penetrates the surface of the bottom plate 16 away from the support component 2, ensuring that when the second retracting mechanism retracts the second traction rope 13, the second traction rope 13 can generate a traction force pointing to the opposite end on the sliding end of the action beam 3, so as to drive the sliding end of the action beam 3 close to its opposite end.

[0114] It should be noted that the bottom plate 16, the constraint plate 17 and the crimping plate 18 can also be fixedly connected to form an integrated structure. Specifically, the bottom plate 16, the constraint plate 17 and the crimping plate 18 can be processed separately and then assembled together. The bottom plate 16, the constraint plate 17 and the crimping plate 18 can also be processed and formed as one piece, which is not specifically limited in this embodiment, as long as the traction rope can pass through and the end direction and movement direction of the action beam 3 can be limited.

[0115] In order to improve the stability of the second traction rope 13 , a restraining hole 6 for the second traction rope 13 to pass through may be provided on the supporting component 2 , so as to restrain the position of the second traction rope 13 and prevent the second traction rope 13 from moving.

[0116] In summary, the advantages and positive effects of the beam network tactile display framework provided by the embodiments of the present invention are as follows.

[0117] First, the flexure behavior of the action beam 3 is used to convert the movement parallel to the skin surface into pressure perpendicular to the skin surface. Since there is no need for longitudinally arranged moving parts, the embodiment of the present invention achieves the unity of large movement range and light and thin structure, which is more convenient to wear. Experiments have shown that the ratio of the off-plane displacement to the thickness of the structure in the embodiment of the present invention can reach dozens of times that of other traditional drive configurations.

[0118] Second, the design of separating the drive area 22 from the display area 21 integrates the driver, which is difficult to further reduce in size, into one drive end. On the one hand, the thickness of the wearable component is reduced, and on the other hand, the intensive design of the drive area 22 is facilitated, making the device lighter. At the same time, the drive area 22 and the display area 21 are connected by a non-stretchable but bendable component, which not only ensures the normal control of deformation, but also facilitates the normal activities of the human body after wearing.

[0119] Third, in the embodiment of the present invention, the distance between the two ends of the action beam 3 can be controlled to remain unchanged and move in the same direction to realize the display of tangential force parallel to the skin. In this way, the tactile display architecture based on the beam network can not only display the pressure of virtual objects of various shapes on the skin in the virtual reality environment, but also show the friction characteristics of the surface of the virtual object.

[0120] Fourth, the action beam 3 is used as the force output component, and the shape displayed can move continuously along the length direction of the action beam 3 while basically keeping the shape unchanged. When displaying the pressure generated by a virtual object moving parallel to the human skin surface, it has a better display effect than traditional devices, and there is no discontinuity between pixels.

[0121] Fifth, compared to some other thin and light tactile displays that require thousands of volts to drive, the driver used in the embodiment of the present invention can be driven by a voltage that is safe for the human body, which can better protect the safety of users.

[0122] The tactile display architecture based on the beam network provided by the embodiment of the present invention has a simple structure and robust performance. Through the design of the driving device and the distance limiting device, the ratio of the maximum ridge height of the display area 21 at each pixel point to the thickness of the display area 21 is greatly improved, solving the problem that the tactile display in the traditional technology cannot have both a large stroke and a low thickness, allowing a thin tactile display to have a large stroke. At the same time, the joint display of normal force and tangential force is realized through a simple structure and technical means.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tactile display architecture based on a beam network, characterized in that: include: A beam device (1) comprises a fixed support component (2) and an action beam (3) arranged on one side of a support surface of the support component (2), at least one end of the action beam (3) being slidably connected to the support component (2) so that the two ends of the action beam (3) are moved closer to or farther from each other, the support component (2) having a plurality of first position points, the plurality of first position points being spaced apart along the length direction of the action beam (3), and a position on the action beam (3) opposite to the first position point being a second position point; A driving device, adapted to drive the end of the action beam (3) to slide reciprocatingly relative to the supporting component (2); A distance limiting device is suitable for limiting the maximum distance between the second position point and the first position point respectively, the distance limiting device comprising a first traction rope (4) and a first retracting and releasing mechanism (5) for retracting and releasing the first traction rope (4), each of the second position points on the action beam (3) being connected to a corresponding one of the first traction ropes (4).

2. The beam network-based tactile display architecture according to claim 1, characterized in that: A plurality of the action beams (3) are provided, and each of the action beams (3) is cross-stacked and arranged to form a mesh structure, the mesh structure having a plurality of intersections, the intersections corresponding one to one with the first position points, each of the action beams (3) corresponding to each of the intersections being relatively fixed along a direction perpendicular to the support surface of the support component (2), and each of the action beams (3) corresponding to each of the intersections being able to slide relatively along its own axis direction; The action beams (3) corresponding to each intersection share the same first traction rope (4); a plurality of constraint holes (6) are provided on the support component (2); each intersection corresponds to one constraint hole (6); the constraint hole (6) is suitable for allowing the first traction rope (4) to pass through and constraining the direction of the first traction rope (4).

3. The beam network-based tactile display architecture according to claim 1 or 2, characterized in that: The first retractable mechanism (5) comprises: A first drum (7) capable of rotating about a fixed axis, the first traction rope (4) being wound around the first drum (7); A first rotating motor (8) adapted to drive the first reel (7) to reciprocate to a target angle; Alternatively, the first retractable mechanism (5) comprises: A first linear motor (9), the first linear motor (9) having a fixed portion and a movable portion, the fixed portion of the first linear motor (9) being fixed relative to the support component (2), and the movable portion of the first linear motor (9) being connected to the first traction rope (4).

4. The beam network-based tactile display architecture according to claim 1 or 2, characterized in that: At least the first retractable mechanism (5) is arranged separately from the beam device (1); a connecting pipeline (10) is arranged between the first retractable mechanism (5) and the supporting component (2); two ends of the connecting pipeline (10) are respectively fixedly connected to a fixed portion of the first retractable mechanism (5) and the supporting component (2); the first traction rope (4) is located in the connecting pipeline (10); the length of the connecting pipeline (10) is fixed, and the axis of the connecting pipeline (10) can be bent and deformed.

5. The beam network-based tactile display architecture according to claim 4, characterized in that: The connecting pipeline (10) is a hard conduit or a guiding mechanism, and the guiding mechanism comprises a plurality of rods hinged end to end.

6. The beam network-based tactile display architecture according to claim 1 or 2, characterized in that: The supporting surface of the supporting component (2) is a plane or a cylindrical surface; Alternatively, the support surface of the support component (2) is a curved surface with a non-zero Gaussian curvature suitable for fitting with the target skin.

7. The beam network-based tactile display architecture according to claim 1 or 2, characterized in that: The beam device (1) further comprises: A first crimping mechanism (11) for pressing and fixing the non-sliding end of the action beam (3) to the support component (2); A second crimping mechanism (12), wherein each sliding end of the action beam (3) is provided with a corresponding second crimping mechanism (12), the sliding end of the action beam (3) is slidably connected to the second crimping mechanism (12), and the second crimping mechanism (12) presses the sliding end of the action beam (3) against the support component (2).

8. The beam network-based tactile display architecture according to claim 7, characterized in that: The driving device comprises: a second traction rope (13), each sliding end of the action beam (3) being connected to a corresponding second traction rope (13), the second crimping mechanism (12) being provided with a threading channel (14) for the second traction rope (13) to pass through, the second traction rope (13) being able to generate a traction force on the sliding end of the action beam (3) directed toward the opposite end of the sliding end of the action beam (3); The second retractable mechanism is suitable for retracting and releasing the second traction rope (13).

9. The beam network-based tactile display architecture according to claim 8, characterized in that: The driving device further comprises: a third traction rope (25), each sliding end of the action beam (3) being connected to a corresponding third traction rope (25), the insertion channel (14) being also suitable for allowing the third traction rope (25) to pass through, the third traction rope (25) being able to generate a traction force on the sliding end of the action beam (3) at an end opposite to the sliding end of the action beam (3); The second traction rope (13) and the third traction rope (25) are both connected to the second retractable mechanism, and when the second retractable mechanism is actuated, one of the second traction rope (13) and the third traction rope (25) is released, while the other of the second traction rope (13) and the third traction rope (25) is tensioned.

10. The beam network-based tactile display architecture according to claim 9, characterized in that: The second retractable mechanism comprises: a second drum (23) capable of reciprocating rotation, the second traction rope (13) and the third traction rope (25) being wound around the second drum (23), the winding direction of the second traction rope (13) around the second drum (23) being opposite to the winding direction of the third traction rope (25) around the second drum (23); Alternatively, a third linear motor comprises a fixed portion and a movable portion, the fixed portion of the third linear motor being fixed relative to the support component (2), the movable portion of the third linear motor being connected to the second traction rope (13) and the third traction rope (25) at the same time, and along the moving direction of the movable portion of the third linear motor relative to the fixed portion, the second traction rope (13) is located on a first side of the movable portion of the third linear motor, and the third traction rope (25) is extended to a second side of the movable portion of the third linear motor through a winding structure.

11. The beam network-based tactile display architecture according to any one of claims 8 to 10, characterized in that: The second crimping mechanism (12) comprises: A bottom plate (16) is fixedly connected to the support component (2), the penetration channel (14) is arranged in the middle of the bottom plate (16), the penetration channel (14) extends along the sliding direction of the action beam (3), and along a direction perpendicular to the support surface of the support component (2), the penetration channel (14) at least penetrates the surface of the bottom plate (16) away from the support component (2); A restraining plate (17) is fixedly arranged on a side of the bottom plate (16) away from the supporting component (2), the restraining plate (17) is provided with a slide groove, the sliding end of the action beam (3) is slidably matched with the slide groove, and limiting structures are arranged at both ends of the slide groove, the limiting structures are suitable for limiting the sliding limit position of the sliding end of the action beam (3) along the length direction of the action beam (3); A crimping plate (18) is fixedly arranged on a side of the constraint plate (17) away from the bottom plate (16), and the crimping plate (18) is suitable for limiting the sliding end of the action beam (3) away from the bottom plate (16).

12. The beam network-based tactile display architecture according to claim 1 or 2, characterized in that: The driving device comprises: A second linear motor (19), the second linear motor (19) having a fixed portion and a movable portion, the fixed portion of the second linear motor (19) being fixed relative to the support component (2), and the movable portion of the second linear motor (19) being connected to the sliding end of the action beam (3).

13. The beam network-based tactile display architecture according to claim 1 or 2, characterized in that: The beam device further comprises: An elastic mechanism is arranged between the action beam (3) and the support component (2), the elastic mechanism comprising a plurality of elastic members (26), the plurality of elastic members (26) being distributed at intervals along the length direction of the action beam (3), the elastic members (26) being suitable for causing the action beam (3) to have a tendency to move away from the support component (2).

14. The beam network-based tactile display architecture according to claim 2, characterized in that: The supporting component (2) comprises: A support beam, each action beam (3) corresponds to one support beam, and the axis of the support beam is parallel to the length direction of the action beam (3); Alternatively, the support plate, each of the action beams (3) corresponds to the same support plate, the support plate is provided with a weight-reducing hole (15), and along a direction perpendicular to the support plate, the projection area of ​​the weight-reducing hole (15) and the projection area of ​​each of the action beams (3) do not intersect with each other.

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