Haptic Display Architecture Based on Beam Networks

Abstract

The present invention relates to the field of tactile immersion technology, and provides a tactile display architecture based on a beam network, including a beam device, a driving device, and a distance limiting device. The beam device includes a support member and an action beam, at least one end of the action beam is slidably connected to the support member, and the support member has a plurality of first position points; the driving device drives the end of the action beam to slide; the distance limiting device includes a first traction rope and a first winding and unwinding mechanism, and a first traction rope corresponds to a position on the action beam opposite to each first position point to limit the displacement of the corresponding position on the action beam. In this way, the shape output of the action beam can be precisely controlled by using the driving device and the distance limiting device. By setting the distance limiting device in the form of a traction rope, a large displacement of the action beam can be ensured, and the position of the first winding and unwinding mechanism can be conveniently arranged. The action beam serves as a display area, and the first winding and unwinding mechanism can be arranged outside the display area to avoid the influence of the distance limiting device on the thickness of the display area, ensure sufficient force feedback, and promote the lightweight design.

Description

Technical Field

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

[0002] In recent years, virtual reality technology has received increasing widespread attention. Tactile immersion is an important part of virtual reality technology. Virtual reality aims to create a completely computer-generated environment that makes users feel as if they are in a different world. To achieve this high degree 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 the deep immersive experience. Tactile display is generally divided into kinesthetic display and tactile display. Kinesthetic display mainly generates acceleration and force feedback on human joints, such as 4D movies or tactile gloves. Tactile display is mainly responsible for displaying sensations such as pressure, lateral force parallel to the skin surface, and vibration on the human skin surface. To transmit these tactile sensations, most tactile display devices need to be directly worn and in contact with the skin. Therefore, while ensuring that the tactile device can generate sufficient force feedback, there are relatively high requirements for its lightness and thinness. However, the currently common piston-type drivers and cavity-type drivers are difficult to achieve the above purposes, restricting the development and popularization of tactile display technology.

[0003] The piston-type driver mainly sets a cylinder that can move along a linear constraint device below each pixel position, and the cylinder is often driven by structures such as hydraulic cylinders and worm gears. When the cylinder jacks up, the skin can be deformed to generate force feedback. However, the length of the cylinder needs to be greater than its maximum stroke, and considering the auxiliary structures for driving the cylinder, the thickness of this type of tactile display will be greater, and it is difficult to meet the requirements of lightness and thinness while ensuring sufficient force feedback can be generated.

[0004] The cavity-type driver has a cavity surrounded by a flexible surface. Generally, the cavity is expanded by injecting fluid, and then the flexible surface at the pixel position bulges to give tactile information to the skin. However, there are certain requirements for the maximum value of the ratio of its bulging height to the lateral dimension of each unit. Otherwise, the flexible surface will become unstable or exceed the maximum fracture strain of the material and fail. Therefore, even if this type of tactile display can meet the requirement of thinness, its stroke is limited by the pixel size, and it is difficult to generate sufficient force feedback when densely arranged.

[0005] Therefore, providing a tactile display that can generate sufficient force feedback and is light and thin is an important issue that the industry urgently needs to solve at present. Summary of the Invention

[0006] The present invention provides a tactile display architecture based on a beam network to solve the defects and deficiencies in the related technologies.

[0007] The present invention provides a tactile display architecture based on a beam network, including:

[0008] A beam device, including a support member with a fixed position and an actuating beam disposed on one side of the support surface of the support member. At least one end of the actuating beam is slidably connected to the support member, so that the two ends of the actuating beam approach or move away from each other. The support member has a plurality of first position points, and the plurality of first position points are spaced apart along the length direction of the actuating beam. The position on the actuating beam opposite to the first position point is the second position point;

[0009] A driving device adapted to drive the end of the actuating beam to reciprocally slide relative to the support member;

[0010] A distance limiting device adapted to respectively limit the maximum distance between the second position point and the first position point. The distance limiting device includes a first traction rope and a first winding and unwinding mechanism for winding and unwinding the first traction rope. Each of the second position points on the actuating beam is correspondingly connected to one first traction rope.

[0011] According to a tactile display architecture based on a beam network provided by the present invention, a plurality of actuating beams are provided, and the actuating beams are arranged in a cross-over and stacked manner to form a network structure. The network structure has a plurality of intersection points, and the intersection points correspond to the first position points one by one. Each of the actuating beams corresponding to each intersection point is relatively fixed in a direction perpendicular to the support surface of the support member, and each of the actuating beams corresponding to each intersection point can slide relative to each other along its own axis direction;

[0012] Each of the actuating beams corresponding to each intersection point shares the same first traction rope. A plurality of constraint holes are provided on the support member, and each intersection point corresponds to one constraint hole. The constraint hole is adapted to allow the first traction rope to pass through and constrain the running direction of the first traction rope.

[0013] According to a tactile display architecture based on a beam network provided by the present invention, the first winding and unwinding mechanism includes:

[0014] A first reel capable of rotating about a fixed axis, and the first traction rope is wound around the first reel;

[0015] A first rotary motor adapted to drive the first reel to reciprocally rotate by a target angle;

[0016] Or, the first winding and unwinding mechanism includes:

[0017] A first linear motor, the first linear motor having a fixed part and a moving part, the fixed part of the first linear motor being fixedly opposed to the support member, and the moving part of the first linear motor being connected to the first towing rope.

[0018] According to a haptic display architecture based on a beam network provided by the present invention, at least the first winding and unwinding mechanism is separately provided from the beam device. A connecting pipeline is provided between the first winding and unwinding mechanism and the support member. Two ends of the connecting pipeline are respectively fixedly connected to the fixed part of the first winding and unwinding mechanism and the support member. The first towing rope is located inside the connecting pipeline. The length of the connecting pipeline is fixed, and the axis of the connecting pipeline can undergo bending deformation.

[0019] According to a haptic display architecture based on a beam network provided by the present invention, the connecting pipeline is a rigid conduit or a guiding mechanism, and the guiding mechanism includes a plurality of rods hinged end to end.

[0020] According to a haptic display architecture based on a beam network provided by the present invention, the support surface of the support member is a plane or a cylindrical surface;

[0021] Alternatively, the support surface of the support member is a surface with a non-zero Gaussian curvature adapted to fit the target skin.

[0022] According to a haptic display architecture based on a beam network provided by the present invention, the beam device further includes:

[0023] A first crimping mechanism for tightly fixing the non-sliding end of the action beam to the support member;

[0024] A second crimping mechanism, with one second crimping mechanism corresponding to each sliding end of the action beam. The sliding end of the action beam is slidably connected to the second crimping mechanism, and the second crimping mechanism tightly presses the sliding end of the action beam against the support member.

[0025] According to a haptic display architecture based on a beam network provided by the present invention, the driving device includes:

[0026] A second towing rope, with one second towing rope corresponding to each sliding end of the action beam. A threading channel for the second towing rope to pass through is provided on the second crimping mechanism. The second towing rope can generate a towing tension on the sliding end of the action beam pointing to the opposite end of the sliding end of the action beam;

[0027] A second winding and unwinding mechanism adapted to wind and unwind the second towing rope.

[0028] According to a haptic display architecture based on a beam network provided by the present invention, the driving device further includes:

[0029] A third towing rope, each sliding end of the action beam is correspondingly connected to one of the third towing ropes, and the threading channel is also adapted to allow the third towing rope to pass through. The third towing rope can generate a towing tension on the sliding end of the action beam in a direction away from the opposite end of the sliding end of the action beam.

[0030] Wherein, both the second towing rope and the third towing rope are connected to the second retracting and releasing mechanism. When the second retracting and releasing mechanism operates, it releases one of the second towing rope and the third towing rope, and simultaneously tensions the other one of the second towing rope and the third towing rope.

[0031] According to a tactile display architecture based on a beam network provided by the present invention, the second retracting and releasing mechanism includes:

[0032] A second reel, which can rotate reciprocally. The second towing rope and the third towing rope are wound around the second reel. The winding direction of the second towing rope around the second reel is opposite to the winding direction of the third towing rope around the second reel.

[0033] Alternatively, a third linear motor, the third linear motor has a fixed part and a moving part. The fixed part of the third linear motor is relatively fixed to the support component. The moving part of the third linear motor is simultaneously connected to the second towing rope and the third towing rope. Along the moving direction of the moving part of the third linear motor relative to the fixed part, the second towing rope is located on the first side of the moving part of the third linear motor, and the third towing rope extends to the second side of the moving part of the third linear motor through a winding structure.

[0034] According to a tactile display architecture based on a beam network provided by the present invention, the second crimping mechanism includes:

[0035] A bottom plate, which is fixedly connected to the support component. The threading channel is arranged in the middle of the bottom plate. The threading channel extends along the sliding direction of the action beam, and along the direction perpendicular to the support surface of the support component, the threading channel at least penetrates the surface of the bottom plate away from the support component.

[0036] A constraint plate, which is fixedly arranged on the side of the bottom plate away from the support component. A chute is arranged on the constraint plate. The sliding end of the action beam is slidably matched with the chute. Limit structures are arranged at both ends of the chute. The limit structures are adapted to limit the extreme positions of the sliding end of the action beam sliding along the length direction of the action beam.

[0037] A crimping plate, which is fixedly arranged on the side of the constraint plate away from the bottom plate. The crimping plate is adapted to limit the sliding end of the action beam away from the bottom plate.

[0038] A haptic display architecture based on a beam network according to the present invention, the driving device includes:

[0039] A second linear motor, the second linear motor having a fixed part and a moving part, the fixed part of the second linear motor being relatively fixed to the support member, and the moving part of the second linear motor being connected to the sliding end of the actuating beam.

[0040] A haptic display architecture based on a beam network according to the present invention, the beam device further includes:

[0041] An elastic mechanism disposed between the actuating beam and the support member, the elastic mechanism including a plurality of elastic members, the plurality of elastic members being spaced apart along the length direction of the actuating beam, and the elastic members being adapted to cause the actuating beam to have a tendency to move away from the support member.

[0042] A haptic display architecture based on a beam network according to the present invention, the support member includes:

[0043] A support beam, each actuating beam corresponding to one support beam, the axis of the support beam being parallel to the length direction of the actuating beam;

[0044] Alternatively, a support plate, all the actuating beams corresponding to the same support plate, the support plate being provided with weight-reducing holes, and in a direction perpendicular to the support plate, the projection areas of the weight-reducing holes and the projection areas of all the actuating beams do not intersect.

[0045] The haptic display architecture based on a beam network provided by the present invention includes a beam device, a driving device, and a distance limiting device. The beam device includes a support member and an actuating beam. The position of the support member is fixed and used for support. The actuating beam is disposed on one side of the support surface of the support member. At least one end of the actuating beam is slidably connected to the support member, and the driving device is used to drive the end of the actuating beam to reciprocally slide relative to the support member. When at least one end of the actuating beam slides relative to the support member, the two ends of the actuating beam approach or move away from each other, so that the actuating beam generates a buckling deformation relative to the support member. The supporting effect of the support member on the actuating beam can limit the direction of the buckling deformation of the actuating beam, so that the actuating beam buckles and deforms in a direction away from the support member. There are a plurality of first position points on the support member, and the plurality of first position points are spaced apart along the length direction of the actuating beam. The position on the actuating beam opposite to the first position point is called the second position point. 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 out-of-plane displacement of each second position point on the actuating beam. By controlling the sliding distance of the end of the actuating beam through the driving device, the total buckling deformation of the actuating beam, that is, the total length of the displayed curve, can be controlled. By means of the distance limiting device, the buckling deformation of the actuating beam at each second position point can be limited, that is, the out-of-plane displacement of each second position point on the actuating beam can be controlled. Combining the driving device and the distance limiting device can accurately control the buckling deformation of each position of the actuating beam, so that different pressures can be generated on different positions of the user's skin, forming a tactile display of pressure. The distance limiting device includes a first towing rope and a first retracting and releasing mechanism. The first retracting and releasing mechanism is used to retract and release the first towing rope, and each second position point on the actuating beam is correspondingly connected to a first towing rope. When the first retracting and releasing mechanism retracts the first towing rope, the first towing rope generates a towing tension on the corresponding position of the actuating beam, so that the corresponding position of the actuating beam approaches the support member, that is, the out-of-plane displacement of the corresponding position of the actuating beam decreases; when the first retracting and releasing mechanism releases the first towing rope, the first towing rope allows the corresponding position of the actuating beam to move away from the support member, that is, the out-of-plane displacement of the corresponding position of the actuating beam increases. With such a setting, the distance limiting device is set in the structural form of a towing rope, which can not only ensure that each second position point of the actuating beam can have a large out-of-plane displacement to ensure sufficient force feedback, but also facilitate the arrangement of the position of the first retracting and releasing mechanism. The actuating beam serves as the display area of the haptic display architecture based on a beam network. At least the first retracting and releasing mechanism can be arranged outside the display area to avoid the influence of the distance limiting device on the thickness of the display area, so as to reduce the thickness and mass of the display area while generating sufficient force feedback. Description of the Drawings

[0046] To more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0047] Figure 1 It is a schematic structural diagram when the display area of the tactile display architecture based on the beam network provided by the present invention is a one-dimensional interface, and both the driving device and the distance limiting device are in the form of traction ropes (the moving beam does not undergo buckling deformation, and the first traction rope and the second traction rope are not shown in the figure).

[0048] Figure 2 It is a schematic structural diagram when the display area of the tactile display architecture based on the beam network provided by the present invention is a one-dimensional interface, and both the driving device and the distance limiting device are in the form of traction ropes (the moving beam undergoes buckling deformation, and the first traction rope and the second traction rope are not shown in the figure).

[0049] Figure 3 It is a schematic structural diagram of the second crimping mechanism, the driving device and the distance limiting device provided by the present invention.

[0050] Figure 4 It is a schematic structural diagram of the connection between the first traction rope and the beam device provided by the present invention.

[0051] Figure 5 It is a schematic structural diagram when the display area of the tactile display architecture based on the beam network provided by the present invention 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.

[0052] Figure 6 It is a schematic structural diagram when the display area of the tactile display architecture based on the beam network provided by the present invention is a two-dimensional interface.

[0053] Figure 7 It is a schematic diagram of the connection method of two intersecting moving beams provided by the present invention.

[0054] Figure 8 It is a schematic structural diagram when the display area and the driving area of the tactile display architecture based on the beam network provided by the present invention are separately arranged.

[0055] Figure 9 It is a schematic structural diagram when the beam device has an elastic mechanism and the moving beam undergoes buckling deformation provided by the present invention.

[0056] Reference numerals:

[0057] 1. Beam device; 2. Support member; 3. Moving beam; 4. First traction rope; 5. First winding and unwinding mechanism; 6. Constraint hole; 7. First drum; 8. First rotating motor; 9. First linear motor; 10. Connecting pipeline; 11. First crimping mechanism; 12. Second crimping mechanism; 13. Second traction rope; 14. Passing channel; 15. Weight reduction hole; 16. Bottom plate; 17. Constraint plate; 18. Crimping plate; 19. Second linear motor; 20. Wire rope; 21. Display area; 22. Driving area; 23. Second drum; 24. Second rotating motor; 25. Third traction rope; 26. Elastic member. Detailed implementation manner

[0058] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0059] The following will be combined with Figures 1 to 9 Describe the tactile display architecture based on a beam network of the present invention.

[0060] As Figures 1 to 9 shown, the tactile display architecture based on a beam network provided by an embodiment of the present invention includes a beam device 1, a driving device, and a distance limiting device.

[0061] Specifically, the beam device 1 includes a support member 2 and a moving beam 3. The position of the support member 2 is fixed and used for support. The moving beam 3 is arranged on one side of the support surface of the support member 2, and the moving beam 3 is used to contact the user's skin.

[0062] At least one end of the moving beam 3 is slidably connected to the support member 2, and the driving device is used to drive the end of the moving beam 3 to reciprocally slide relative to the support member 2. When at least one end of the moving beam 3 slides relative to the support member 2, the two ends of the moving beam 3 approach or move away from each other, so that the moving beam 3 generates a buckling deformation relative to the support member 2. The supporting effect of the support member 2 on the moving beam 3 can limit the buckling deformation direction of the moving beam 3, so that the moving beam 3 buckles and deforms in a direction away from the support member 2, causing the moving beam 3 to generate an out-of-plane displacement relative to the support member 2. The out-of-plane displacement direction is as Figure 1 and Figure 2 the direction indicated by n in

[0063] In some embodiments, only one end of the moving beam 3 is slidably connected to the support member 2. At this time, the other end of the moving beam 3 can be fixedly connected to the support member 2, and only the driving device needs to be configured for the sliding end of the moving beam 3.

[0064] In some other embodiments, both ends of the moving beam 3 are slidably connected to the supporting member 2. At this time, driving devices are respectively arranged at both ends of the moving beam 3, and a separate driving device is configured for each sliding end of the moving beam 3.

[0065] The supporting member 2 has a plurality of first position points, and the plurality of first position points are spaced apart along the length direction of the moving beam 3. The positions on the moving beam 3 opposite to the first position points are second position points, and the first position points and the second position points correspond to each other in the direction perpendicular to the supporting surface of the supporting member 2. The distance limiting device is used to respectively limit the maximum distance between the first position points and the second position points, that is, to respectively limit the maximum out-of-plane displacement of each second position point on the moving beam 3 relative to the supporting surface of the supporting member 2.

[0066] It should be noted that the length direction of the moving beam 3 is the extending direction of the moving beam 3 when the moving beam 3 does not undergo buckling deformation. Referring to Figure 1 and Figure 2 , the length direction of the moving beam 3 is the direction indicated by m. The axis direction of the moving beam 3 is the extending direction of the moving beam 3. When the moving beam 3 does not undergo buckling deformation, the axis direction of the moving beam 3 is consistent with the length direction of the moving beam 3. When the moving beam 3 undergoes buckling deformation, the axis of the moving beam 3 is a curve, and the axis direction of the moving beam 3 and the length direction of the moving beam 3 are in the same plane, but they do not coincide.

[0067] By controlling the sliding distance of the end of the moving beam 3 through the driving device, the total length of the curve formed when the moving beam 3 undergoes buckling deformation can be controlled. The out-of-plane displacement of the moving beam 3 at each second position point can be limited by the distance limiting device. Combining the driving device and the distance limiting device can precisely control the buckling deformation shape of the moving beam 3, so that different pressure distributions (this pressure is called normal pressure) can be generated at different positions of the user's skin, forming a pressure tactile display.

[0068] The distance limiting device includes a first towing rope 4 and a first winding and unwinding mechanism 5. The first winding and unwinding mechanism 5 is used to wind and unwind the first towing rope 4, and each second position point on the moving beam 3 is correspondingly connected to a first towing rope 4.

[0069] When the first winding and unwinding mechanism 5 winds up the first towing rope 4, the first towing rope 4 generates a towing tension on the corresponding position of the moving beam 3, so that the corresponding position of the moving beam 3 approaches the supporting member 2, that is, the out-of-plane displacement of the corresponding position of the moving beam 3 decreases; when the first winding and unwinding mechanism 5 releases the first towing rope 4, the first towing rope 4 allows the corresponding position of the moving beam 3 to move away from the supporting member 2, that is, the out-of-plane displacement of the corresponding position of the moving beam 3 increases.

[0070] With such a setting, the distance-limiting device is set in the form of a traction rope, which can not only ensure that each second position point of the action beam 3 can generate a large out-of-plane displacement to ensure sufficient force feedback, but also facilitate the arrangement of the position of the first retracting and releasing mechanism 5. The action beam 3 serves as the display area 21 of the tactile display architecture based on the beam network. At least the first retracting and releasing 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, so as to reduce the thickness and mass of the display area 21 while generating sufficient force feedback.

[0071] In addition, based on the interpolation characteristics of the beam under the action of point displacement load and the continuous movement during buckling deformation, the action beam 3, as the main output member, forms a continuity-enhanced tactile interface, which can generate continuous tactile sensations on the user's skin surface, can interpolate and compensate for the lost tactile information between different pixel points, and expands the tactile display area from independent pixel points to the lines between these pixel points. Without increasing the pixel density, the continuity of tactile display information can be effectively enhanced. Moreover, the natural continuity of the action beam 3 can also ensure that there are no sharp edges when protruding, playing a role in protecting the user's skin and improving the use safety.

[0072] Only one action beam 3 can be set as described above. At this time, the display area 21 of the tactile display architecture based on the beam network is a one-dimensional interface. At this time, the first traction rope 4 can be directly connected to the corresponding position of the action beam 3. The first traction rope 4 can be fixedly connected to the action beam 3 or slidably connected to the action beam 3.

[0073] Multiple action beams 3 can also be set as described above. Each action beam 3 is arranged in a cross-over and stacked manner to form a mesh structure. The mesh structure has multiple intersection points, and the intersection points correspond to the first position points one by one. The distance between the intersection points and the first position points can be controlled by the first traction rope 4.

[0074] It should be noted that each intersection point is formed by at least two action beams 3 arranged in a cross-over manner. Each intersection point can correspond to two action beams 3. At this time, a quadrilateral grid is formed on the mesh structure. Each intersection point can also correspond to more than three action beams 3. For example, when each intersection point corresponds to three action beams 3, a triangular grid is formed on the mesh structure.

[0075] The action beams 3 corresponding to each intersection point are relatively fixed in the direction perpendicular to the support surface of the support member 2, and each action beam 3 corresponding to the intersection point can slide relative to each other along its own axis direction. It can be understood that at each intersection point, the action beams 3 corresponding to the intersection point approach or move away from the support surface of the support member 2 synchronously. The out-of-plane displacements of the action beams 3 corresponding to the intersection point at the intersection point position are the same, but each action beam 3 corresponding to the intersection point can slide relative to other action beams 3 along its own axis direction.

[0076] The moving beams 3 corresponding to each intersection share the same first traction rope 4. The number of the first traction ropes 4 and the number of the first winding and unwinding mechanisms 5 required for the tactile display architecture based on the beam network are both consistent with the number of intersections of the above-mentioned mesh structure.

[0077] A plurality of constraint holes 6 are provided on the support member 2, and the constraint holes 6 can be arranged at the first position points. One constraint hole 6 is arranged at each first position point, so that each intersection corresponds to one constraint hole 6. The constraint holes 6 are for the first traction rope 4 to pass through and constrain the running direction of the first traction rope 4. The arrangement of the constraint holes 6 can facilitate the manipulation of the first traction rope 4, that is, control the distance from the second position point to the constraint hole 6.

[0078] The first traction rope 4 penetrates from the side of the support member 2 away from the moving beam 3 to the side of the support member 2 close to the moving 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 respective moving beams 3 corresponding to the intersection positions can approach or move away from the support member 2 synchronously.

[0079] With such an arrangement, the display area 21 of the tactile display architecture based on the beam network is expanded into a two-dimensional interface.

[0080] In addition, it should be noted that when the display area 21 of the tactile display architecture based on the beam network is expanded into a two-dimensional interface, the respective moving beams 3 are in a lapped relationship and are not fixed as an integral fixed frame of an integral structure. Although the respective moving beams 3 corresponding to each intersection have the same out-of-plane displacement, the respective moving beams 3 corresponding to each intersection can still slide relative to each other along their own axial directions.

[0081] Specifically, constraint members such as the wire rope 20 can be used to constrain the respective moving beams 3, and then the first traction rope 4 is connected to one of the moving beams 3 at the intersection.

[0082] Taking the constraint member as the wire rope 20 as an example, the wire rope 20 can be used for bundling to ensure that the respective moving beams 3 can slide relative to other moving beams 3 along their own axial directions. With such an arrangement, it can be ensured that the formed mesh structure has a large deformation ability and displays a non-developable surface under small strain conditions. Here, the non-developable surface is a surface that cannot be obtained from a plane without wrinkles, tears, or stretching. Mathematically speaking, that is, the Gaussian curvature is not everywhere zero.

[0083] The above-mentioned wire rope 20 can adopt high-strength wire materials such as fishing lines. The high-strength wire materials are not easily broken and do not affect the tactile presentation.

[0084] In addition, the embodiments of the present invention can also achieve the display of the tangential force on the skin surface (i.e., the frictional force parallel to the skin surface). The specific implementation method is that when multiple action beams 3 are arranged in a crossed manner to form a network structure, both ends of each action beam 3 can be slidably connected to the support member 2, and a corresponding driving device is configured for the sliding end of each action beam 3. At this time, the displacement amount of each intersection point passed by the action beam 3 relative to the support surface of the support member 2 remains unchanged. When both ends of the action beam 3 slide synchronously in the same direction and maintain a constant spacing, the action beam 3 displaces relative to other action beams 3 along its own axis direction, but the overall shape of the action beam 3 remains unchanged. Thus, a frictional force is generated between the action beam 3 and the user's skin, generating a tangential force parallel to the skin surface on the user's skin.

[0085] In this embodiment, the support member 2 includes a support beam or a support plate.

[0086] The support member 2 includes a support beam, and a support beam is correspondingly arranged for each action beam 3, and the axis of the support beam is parallel to the length direction of the action beam 3, and each action beam 3 is supported by the corresponding support beam.

[0087] The support member 2 includes a support plate, and each action beam 3 corresponds to the same support plate. Weight reduction holes 15 can be provided on the support plate as needed, and in the direction perpendicular to the support plate, the projection area of the weight reduction holes 15 and the projection areas of each action beam 3 do not intersect. With such a setting, both the weight of the support plate can be reduced and the effective support for each action beam 3 can be ensured.

[0088] 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 for the action beam 3.

[0089] The materials of the support beam, the support plate, and the action beam 3 can be selected as metals with relatively high yield strength such as spring steel to prevent plastic deformation of the support member 2 during operation.

[0090] In this embodiment, the support surface of the support member 2 can be set as a plane, can also be set as a cylindrical surface, or can also be set as a surface with a non-zero Gaussian curvature that can fit the target skin. When setting the shape of the support member 2, it can be determined according to the shape of the skin to be adapted, so as to improve the fitting degree between the display area 21 of the tactile display architecture based on the beam network and the skin.

[0091] For the first retracting and extending mechanism 5, the retracting and extending of the first towing rope 4 can be achieved by means of winding, or the retracting and extending of the first towing rope 4 can be achieved by means of linear pulling.

[0092] When the first traction rope 4 is wound and unwound, the first winding and unwinding mechanism 5 includes a first drum 7 and a first rotating motor 8. The first drum 7 can rotate about a fixed axis, and the first traction rope 4 is wound around the first drum 7. The first rotating motor 8 can output torque to drive the first drum 7 to rotate reciprocally by a target angle. When controlling the first rotating motor 8 to drive the first drum 7 to rotate forward, the first traction rope 4 can be wound up; when controlling the first rotating motor 8 to drive the first drum 7 to rotate backward, the first traction rope 4 can be released.

[0093] The above-mentioned first rotating motor 8 can be a servo motor, which can improve the control accuracy of the buckling deformation of the action beam 3.

[0094] When the first traction rope 4 is wound and unwound by linear pulling, the first winding and unwinding mechanism 5 includes a first linear motor 9. The first linear motor 9 has a fixed part and a moving part. The fixed part of the first linear motor 9 is relatively fixed to the support member 2, and the moving part of the first linear motor 9 is connected to the first traction rope 4. When controlling the moving part of the first linear motor 9 to move forward, the first traction rope 4 can be retracted; when controlling the moving part of the first linear motor 9 to move backward, the first traction rope 4 can be released.

[0095] Each tactile display architecture based on a beam network corresponds to a plurality of first traction ropes 4 and a plurality of first winding and unwinding mechanisms 5. The plurality of first winding and unwinding mechanisms 5 can be centrally arranged in the same area or arranged in partitions, which is convenient for maintenance and management, as long as entanglement or large friction between the respective first traction ropes 4 is avoided.

[0096] When the display area 21 of the tactile display architecture based on the beam network is expanded into a two-dimensional interface, there is both an action beam 3 with its length direction arranged along the first direction and an action beam 3 with its length direction arranged along the second direction. The first direction and the second direction are in the same plane, but the first direction and the second direction are different. The first direction can be Figure 6 the direction indicated by x in Figure 6 and the second direction can be

[0097] In a further embodiment, the beam device further includes an elastic mechanism disposed between the actuating beam 3 and the support member 2. The elastic mechanism can exert a force on the actuating beam 3 in a direction away from the support member 2 at multiple position points of the actuating beam 3. The force exerted by the elastic mechanism on the actuating beam 3, in combination with the driving device and the distance limiting device, can enable the actuating beam 3 to better exhibit its characteristic shape.

[0098] Specifically, the elastic mechanism includes a plurality of elastic members 26. Referring to Figure 9 , the plurality of elastic members 26 are spaced apart along the length direction of the actuating beam 3, and the elastic members 26 are used to make the actuating beam 3 tend to move away from the support member 2.

[0099] In some preferred embodiments, elastic members 26 can be respectively disposed at each first position point on the support member 2. Of course, disposing the elastic members 26 at positions other than the first position points on the support member 2 also falls within the protection scope of this application.

[0100] The elastic member 26 can be, but is not limited to, a conical-section helical spring.

[0101] When a conical-section helical spring is selected as the elastic member 26, the large end of the conical-section helical spring can be connected to the support member 2, and the small end of the conical-section helical spring can be connected to the actuating beam 3.

[0102] When designing the conical-section helical spring, its overall thickness can be made to be the same as the wire diameter of the spring after being compressed, so as to reduce the thickness when being compressed. During installation, a groove can be provided at the position on the support member 2 where the conical-section helical spring needs to be installed, and the large end of the conical-section helical spring can be arranged in the groove, which can ensure that the actuating beam 3 can return to the state where the out-of-plane displacement is zero.

[0103] In the embodiment of the present invention, at least the first retracting and deploying mechanism 5 is separately provided from the beam device 1. A connecting pipeline 10 is provided between the first retracting and deploying mechanism 5 and the support member 2. Two ends of the connecting pipeline 10 are respectively fixedly connected to the fixed part of the first retracting and deploying mechanism 5 and the support member 2, and the first towing rope 4 is located inside the connecting pipeline 10.

[0104] That is to say, the tactile display architecture based on the beam network is set as a split structure. The first retracting and deploying mechanism 5 of the distance limiting device serves as the driving area 22, separating the display area 21 from the driving area 22, avoiding the influence of the first retracting and deploying mechanism 5 on the thickness of the display area 21. Without the need to select a first retracting and deploying mechanism 5 with a small size and small volume, the thickness and mass of the display area 21 of the tactile display architecture based on the beam network can be further reduced.

[0105] The length of the connecting pipeline 10 is fixed, and the axis of the connecting pipeline 10 can be bent and deformed. The connecting pipeline 10 does 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 changes in the relative position and angle between the display area 21 and the driving area 22 do not affect the display effect of the display area 21. It should be noted that the fixed length of the connecting pipeline 10 means that the length of the connecting pipeline 10 does not change in terms of expansion and contraction, or the expansion and contraction amount of the connecting pipeline 10 is small and can be ignored.

[0106] With such a setting, the tactile display architecture based on the beam network can be set as wearable, with the display area 21 worn on the corresponding part of the user, promoting the development of the tactile display architecture based on the beam network from an "armor" shape to a "clothing" shape, 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 driving area 22 can be set as backpack type, or the driving area 22 can be placed at a certain position for the user to move within a certain range. By increasing the length of the connecting pipeline 10, the movable range of the user can be increased.

[0107] In some embodiments, a rigid conduit can be selected as the connecting pipeline 10. For example, a transparent Teflon pipe fitting can be selected as the connecting pipeline 10.

[0108] In other embodiments, the connecting pipeline 10 can be set as a guiding mechanism. The guiding mechanism includes a plurality of rods hinged end to end. For example, two adjacent rods are connected in a universal joint, and the first traction rope 4 can sequentially pass through the hinge points of each rod. The first traction rope 4 can be bent with the relative rotation of two adjacent rods. Each rod is a rigid pipe, and the length of each rod does not change. The length of the first traction rope 4 extending along each rod also does not change. Therefore, the shape change of the connecting pipeline 10 does not affect the control accuracy of the buckling deformation of the motion beam 3.

[0109] To ensure the stability of the motion beam 3, in this embodiment, the beam device 1 further includes a first crimping mechanism 11 and a second crimping mechanism 12.

[0110] The first crimping mechanism 11 can tightly fix the non-sliding end of the motion beam 3 to the support member 2, so that the non-sliding end of the motion beam 3 will not separate from the support member 2, restricting the non-sliding end of the motion beam 3 from moving away from the support member 2.

[0111] A second crimping mechanism 12 is correspondingly provided for each sliding end of the moving beam 3. The second crimping mechanism 12 can press the sliding end of the moving beam 3 against the support member 2, so that the sliding end of the moving beam 3 will not be separated from the support member 2, restricting the sliding end of the moving beam 3 from moving away from the support member 2. The sliding end of the moving beam 3 is slidably connected to the second crimping mechanism 12, and the pressing action of the second crimping mechanism 12 on the sliding end of the moving beam 3 will not affect the sliding of the moving beam 3.

[0112] In this embodiment, whether it is the first crimping mechanism 11 or the second crimping mechanism 12, their essence is to restrict the displacement of the boundary of the display area.

[0113] In some embodiments of the present invention, the driving device is set in the structural form of a linear driving mechanism such as a hydraulic cylinder, a pneumatic cylinder, a linear motor, a worm and worm gear drive or a rack and pinion drive. Or using shape memory alloys, twist drives, liquid crystal elastomer thermal drives and other wire control technologies to generate driving forces to control the retraction and release of each first towing rope 4 also does not depart from the protection scope of the present invention.

[0114] For example, the driving device includes a second linear motor 19. The second linear motor 19 has a fixed part and a moving part. The fixed part of the second linear motor 19 is relatively fixed to the support member 2, and the moving part of the second linear motor 19 is connected to the sliding end of the moving beam 3. When controlling the moving part of the second linear motor 19 to move forward, it can drive a sliding end of the moving beam 3 to approach its opposite end; when controlling the moving part of the second linear motor 19 to move in the reverse direction, it can drive a sliding end of the moving beam 3 to move away from its opposite end.

[0115] In other embodiments of the present invention, the driving device is set in a structural form similar to the distance limiting device. Specifically, the driving device includes a second towing rope 13 and a second retracting and releasing mechanism for retracting and releasing the second towing rope 13. Each sliding end of the moving beam 3 is correspondingly connected to a second towing rope 13, and a threading channel 14 is provided on the second crimping mechanism 12 for the second towing rope 13 to pass through. The second towing rope 13 can generate a pulling force on the sliding end of the moving beam 3 pointing to the opposite end of the sliding end of the moving beam 3.

[0116] When the second retracting and releasing mechanism retracts the second towing rope 13, the second towing rope 13 generates a pulling force on the sliding end of the moving beam 3, so that the sliding end of the moving beam 3 approaches its opposite end; when the second retracting and releasing mechanism releases the second towing rope 13, the second towing rope 13 allows the sliding end of the moving beam 3 to move away from its opposite end.

[0117] With such a setting, the driving device is set in the structure form of a traction rope, which can not only ensure the sliding distance of the sliding end of the moving beam 3, but also facilitate the arrangement of the position of the second retracting and releasing mechanism. The second retracting and releasing mechanism can be separately arranged from the beam device 1, so that the second retracting and releasing mechanism and the first retracting and releasing mechanism 5 are centrally arranged together, avoiding the influence of the second retracting and releasing 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 haptic display architecture based on the beam network.

[0118] Both the second retracting and releasing mechanism of the driving device and the first retracting and releasing mechanism 5 of the distance limiting device are independent of the beam device 1. At this time, the thickness of the display area 21 is equivalent to the sum of the thicknesses of the moving beam 3 and the supporting component 2.

[0119] Through a large number of measurement statistics, both the first retracting and releasing mechanism 5 of the distance limiting device and the second retracting and releasing mechanism of the driving device are independent of the beam device 1, so that the ratio of the maximum out-of-plane displacement of each second position point of the moving beam 3 (that is, the maximum bulging height of the display area 21 at each pixel point) to the thickness of the display area 21 is greater than 10. Compared with the situation in the prior art where the ratio of the maximum out-of-plane displacement of the display area 21 at each pixel point to its thickness is less than 1, the haptic display architecture based on the beam network provided in this embodiment greatly improves the ratio of the maximum out-of-plane displacement of the display area 21 at each pixel point to the thickness of the display area 21 (also known as the stroke-thickness ratio or out-of-plane strain of the display area 21).

[0120] In some embodiments, the second retracting and releasing mechanism can be set to retract and release the second traction rope 13 by means of linear pulling. At this time, the second retracting and releasing mechanism includes a third linear motor. The third linear motor has a fixed part and a moving part. The fixed part of the third linear motor is relatively fixed to the supporting component 2, and the moving part of the third linear motor is connected to the second traction rope 13.

[0121] In other embodiments, the second retracting and releasing mechanism can also be set to retract and release the second traction rope 13 by means of winding. At this time, 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, and the second rotating motor 24 is used to drive the second reel 23 to rotate reciprocally to wind or release the second traction rope 13.

[0122] In a further embodiment, the driving device further includes a third traction rope 25. Each sliding end of the moving beam 3 is correspondingly connected to a third traction rope 25. The threading channel 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 moving beam 3 in the direction away from the relative end of the sliding end of the moving beam 3.

[0123] The third towing rope 25 is also connected to the second winding and unwinding mechanism. When the second winding and unwinding mechanism operates, it releases one of the second towing rope 13 and the third towing rope 25, and simultaneously tensions the other of the second towing rope 13 and the third towing rope 25.

[0124] With such a setting, the second winding and unwinding mechanism in the form of a towing rope structure can generate a two-way force on the sliding end of the moving beam 3 along the length direction of the moving beam 3. Refer to Figure 3 , the second winding and unwinding mechanism in the form of a towing rope structure can both generate a pulling force on the sliding end of the moving beam 3 along the Figure 3 direction indicated by p in Figure 3 , and can also generate a pulling force on the sliding end of the moving beam 3 along the

[0125] direction indicated by q in Figure 3 . Thus, it can not only make the two ends of the moving beam 3 approach or move away from each other, but also make the two ends of the moving beam 3 slide synchronously and maintain a constant distance.

[0125] When the second winding and unwinding mechanism is set to wind and unwind the second towing rope 13 by winding, both the second towing rope 13 and the third towing rope 25 are wound on the second reel 23. The winding direction of the second towing rope 13 on the second reel 23 is opposite to the winding direction of the third towing rope 25 on the second reel 23. When the second reel 23 rotates, it winds up one of the second towing rope 13 and the third towing rope 25 and releases the other by an equal amount.

[0126] Specifically, when the second reel 23 rotates in the forward direction, it can wind up the second towing rope 13 and release the third towing rope 25; when the second reel 23 rotates in the reverse direction, it can release the second towing rope 13 and wind up the third towing rope 25.

[0127] When the second winding and unwinding mechanism is set to wind and unwind the second towing rope 13 by linear pulling, the moving part of the third linear motor is connected to both the second towing rope 13 and the third towing rope 25 simultaneously.

[0128] Along the moving direction of the moving part of the third linear motor relative to the fixed part, the second towing rope 13 is located on the first side of the moving part of the third linear motor, and the third towing rope 25 extends to the second side of the moving part of the third linear motor through a winding structure. That is to say, the parts of the second towing rope 13 and the third towing rope 25 used for connecting 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.

[0129] Specifically, when the moving part of the third linear motor moves towards the side where the second towing rope 13 is located, it can release the second towing rope 13 and tension the third towing rope 25; when the moving part of the third linear motor moves towards the side where the third towing rope 25 is located, it can tension the second towing rope 13 and release the third towing rope 25.

[0130] In the embodiments of the present invention, the rotary motor and the linear motor used can adopt a model airplane servo motor. The model airplane servo motor has the advantages of simple structure, small volume and light weight, which can further reduce the mass of the tactile display architecture based on the beam network. In a specific embodiment, the length dimension of the selected model airplane servo motor is as low as 1.2 cm, and the mass of a single model airplane servo motor is as low as 1.5 g, which is within the load-bearing range of the user, conducive to increasing the number of motors that can be allowed to be set, increasing the number of movable beams 3 that can be allowed to be set, and thus conducive to increasing the pixel density or the area of the display area 21 of the tactile display architecture based on the beam network.

[0131] The above-mentioned first towing rope 4 and second towing rope 13 can be, but are not limited to, high-strength and high-elastic modulus wire materials such as steel wire ropes and fishing lines.

[0132] For the structure of the first crimping mechanism 11, no special design is required. The crimping block can be directly used as the first crimping mechanism 11. After fixing the non-sliding end of the movable beam 3 to the support member 2, the crimping block is arranged on the side of the non-sliding end of the movable beam 3 away from the support member 2, and the crimping block is fixedly connected to the support member 2.

[0133] For the structure of the second crimping mechanism 12, when the sliding end of the movable beam 3 crimped by the second crimping mechanism 12 is not connected to the second towing rope 13 but directly connected to a linear driving mechanism such as a second linear motor, the structure of the second crimping mechanism 12 also does not require special design, and the crimping block can also be directly used as the second crimping mechanism 12, referring to Figure 6 .

[0134] If the sliding end of the movable beam 3 crimped by the second crimping mechanism 12 is connected to the second towing 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 overlapped. The bottom plate 16 is on the same side of the support member as the movable beam 3, the constraint plate 17 and the crimping plate 18 are on the side of the bottom plate 16 away from the support member 2, and the constraint plate 17 is between the crimping plate 18 and the bottom plate 16. The bottom plate 16, the constraint plate 17 and the crimping plate 18 are all fixedly connected to the support member 2.

[0135] The constraint plate 17 is provided with a chute, and the sliding end of the movable beam 3 is slidably matched with the chute. The two ends of the chute are provided with limiting structures, and the limiting structures are used to limit the extreme positions of the sliding end of the movable beam 3 sliding along the length direction of the movable beam 3 to prevent the sliding end of the movable beam 3 from slipping off the second crimping mechanism 12.

[0136] The limiting structure can be set as limiting protrusions located at both ends of the sliding groove. When the sliding end of the moving beam 3 slides to the extreme position, it will interact with the limiting protrusions to stop the sliding of the sliding end of the moving beam 3.

[0137] The crimping plate 18 is fixedly arranged on the side of the restraining plate 17 away from the bottom plate 16, and is used to limit the sliding end of the moving beam 3 from moving away from the bottom plate 16.

[0138] The above-mentioned threading channel 14 for the second towing rope 13 to pass through is arranged on the bottom plate 16. The threading channel 14 extends along the sliding direction of the moving beam 3, and, along the direction perpendicular to the supporting surface of the supporting member 2, the threading channel 14 penetrates through the surface of the bottom plate 16 away from the supporting member 2. Refer to Figure 3 , the second towing rope 13 passes through the threading channel 14 and is fixedly connected to the moving beam 3. The threading channel 14 penetrates through the surface of the bottom plate 16 away from the supporting member 2, ensuring that when the second winding and unwinding mechanism winds the second towing rope 13, the second towing rope 13 can generate a towing tension pointing to the opposite end on the sliding end of the moving beam 3 to drive the sliding end of the moving beam 3 to approach its opposite end.

[0139] It should be noted that the bottom plate 16, the restraining plate 17 and the crimping plate 18 can also be fixedly connected to form an integral structure. Specifically, the bottom plate 16, the restraining plate 17 and the crimping plate 18 can be processed separately first, and then the bottom plate 16, the restraining plate 17 and the crimping plate 18 can be assembled together. It is also possible to integrally process and form the bottom plate 16, the restraining plate 17 and the crimping plate 18. This embodiment does not make specific limitations, as long as it can allow the towing rope to pass through and can limit the orientation and moving direction of the end of the moving beam 3.

[0140] To improve the stability of the second towing rope 13, a restraining hole 6 for the second towing rope 13 to pass through can be arranged on the supporting member 2 to restrain the position of the second towing rope 13 and avoid the crosstalk of the second towing rope 13.

[0141] 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.

[0142] First, by utilizing the buckling behavior of the moving beam 3, the movement parallel to the skin surface is converted into the pressure perpendicular to the skin surface. Since there is no need for longitudinally arranged moving components, the embodiments of the present invention achieve the unity of large movement stroke and thin and light structure, and are more convenient to wear. Experiments show that the ratio of the out-of-plane displacement that can be generated in the embodiments of the present invention to the thickness of the structure can reach dozens of times that of other traditional driving configurations.

[0143] Second, by adopting the design of separating the driving area 22 from the display area 21, the driver that is difficult to further reduce in volume is integrated into a single driving end. On the one hand, the thickness of the wearable component is reduced, and on the other hand, it facilitates the intensive design of the driving area 22, making the device lighter. At the same time, a component that cannot be stretched but allows bending is used to connect the driving area 22 and the display area 21, which not only ensures the normal control of deformation but also facilitates the normal activities of the human body after wearing.

[0144] Third, in the embodiments of the present invention, the tangential force parallel to the skin can be displayed by controlling the distance between the two ends of the motion beam 3 to remain unchanged and move in the same direction. In this way, this tactile display architecture based on the beam network can not only display the pressure of virtual objects of various shapes on the skin in a virtual reality environment but also exhibit the friction characteristics of the surface of the virtual object.

[0145] Fourth, by using the motion beam 3 as the force output component, the shape it displays can move coherently along the length direction of the motion beam 3 while basically maintaining its shape unchanged. When displaying the pressure generated by a virtual object moving parallel to the surface of the human skin, it has a better display effect compared to traditional devices, without the discontinuous feeling of the pixels offsetting each other.

[0146] Fifth, compared with some other thin and light tactile displays that require thousands of volts of voltage for driving, the driver used in the embodiments of the present invention can be driven by a voltage that complies with human safety, which can better protect the safety of users.

[0147] The tactile display architecture based on the beam network provided by the embodiments 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 bulge height at each pixel point of the display area 21 to the thickness of the display area 21 is greatly increased, solving the problem in traditional tactile displays that a large stroke and a low thickness cannot be achieved at the same time, and allowing a thin tactile display to have a large stroke. At the same time, the combined display of the normal force and the tangential force is realized through a simple structure and technical means.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate 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 also includes: 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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