Texture tactile representation device based on magnetorheological fluid

Abstract

The texture tactile representation device comprises a top cover, a flexible base material, a piezoelectric fluid inertia driver and a magnetofluid cavity, a longitudinal micro-channel is formed in the top of the flexible base material, a transverse micro-channel is formed in the top of the flexible base material, the longitudinal micro-channel and the transverse micro-channel are crisscrossed, and the piezoelectric fluid inertia driver is arranged in the magnetofluid cavity. The longitudinal micro-channels are uniformly distributed at the top of the flexible base material, the transverse micro-channels are uniformly distributed at the top of the flexible base material, and a plurality of groups of longitudinal micro-channels and transverse micro-channels are uniformly arranged on the flexible base material. According to the utility model, the magnetofluid and the insoluble propulsive liquid flow in the micro-channel etched on the flexible substrate, the reproduction of the tactile texture and the real-time change of the hardness are realized through the alternate injection of the magnetic field and the two liquids, and the distribution and shape of the magnetofluid are changed according to the change of the external magnetic field.

Description

Technical Field

[0001] The utility model relates to a texture tactile reproduction device, in particular to a texture tactile reproduction device based on magnetorheological fluid. Background Art

[0002] Force feedback technology is a new type of human-computer interaction technology. It allows users to touch and manipulate objects in a computer-generated virtual environment with the help of force feedback devices, and perceive the movement of objects and the corresponding force feedback information to achieve human-computer force interaction. Force feedback technology can be applied to many fields, such as medical, education, entertainment, industry, etc., to improve the user's sense of reality and immersion. Texture tactile reproduction is an important aspect of force feedback technology. It is a method of simulating and reproducing the texture feeling of different surfaces using tactile feedback technology. It can be used in virtual reality, remote operation, rehabilitation training and other fields. The principle of tactile texture reproduction is to control the movement or deformation of the tactile contactor so that the user can feel different friction, vibration frequency, amplitude and other parameters, thereby generating different texture perceptions. It refers to simulating the geometric shape and physical properties of the surface of an object through a force feedback device, so that the user can feel the roughness, smoothness, temperature and other texture information of the object. Texture tactile reproduction can enhance the user's tactile perception and cognition, and improve the user's experience and satisfaction.

[0003] Existing force feedback devices mainly include piezoelectric actuators, electromagnetic actuators and flexible actuators. They have their own advantages and disadvantages, but they all have some common limitations, such as slow response speed, low torque output density, small displacement range, high cost, poor reliability, etc. These limitations make it difficult for existing force feedback devices to achieve efficient, accurate, stable and diversified texture tactile reproduction to meet the different needs and scenarios of users. Existing texture tactile reproduction technologies mainly include mechanical, electromagnetic, capacitive, piezoelectric and other types. They control the movement or deformation of the tactile contactor to make the user feel different friction, vibration frequency, amplitude and other parameters, thereby producing different texture perceptions. Although these technologies can simulate some basic texture features, it is difficult to reproduce complex texture information, such as temperature, humidity, viscosity, etc., and it is also difficult to achieve real-time changes in softness and hardness, lacking realism and fidelity. Existing magnetic fluid technology is mainly used for mechanical devices such as magnetic fluid seals and magnetic fluid dampers, and has not fully utilized the application potential of magnetic fluid in force / tactile reproduction systems. Existing force / tactile reproduction systems based on magnetic fluid can only achieve simple force / tactile feedback, such as changes in the viscosity and stiffness of the magnetic fluid, but have not yet achieved changes in the shape and distribution of the magnetic fluid, nor have they been combined with other types of fluids to increase the diversity and complexity of tactile feedback. Therefore, developing a new type of force feedback driver that can overcome the shortcomings of the existing technology and provide better texture tactile reproduction effects is an urgent technical issue in the field of force feedback technology. Utility Model Content

[0004] The purpose of the utility model is to provide a texture tactile reproduction device based on magnetorheological fluid to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a texture tactile reproduction device based on magnetorheological fluid, comprising a top cover, a flexible substrate, a piezoelectric fluid inertial driver and a magnetorheological chamber, wherein a longitudinal microchannel is opened on the top of the flexible substrate, a transverse microchannel is opened on the top of the flexible substrate, the longitudinal microchannel and the transverse microchannel are crisscrossed, the longitudinal microchannel is evenly distributed to the top of the flexible substrate, the transverse microchannel is evenly distributed to the top of the flexible substrate, and the longitudinal microchannel and the transverse microchannel are evenly arranged in a plurality of groups on the flexible substrate.

[0006] Preferably, a piezoelectric fluid inertial driver is placed inside the flexible substrate, and a plurality of groups of the piezoelectric fluid inertial drivers are arranged in the flexible substrate.

[0007] Preferably, magnetic fluid cavities are provided on both sides of the outside of the flexible substrate, and the magnetic fluid cavities are symmetrical with respect to the center position of the flexible substrate.

[0008] Preferably, a top cover is placed on the top of the flexible substrate, and the top cover and the flexible substrate are tightly matched.

[0009] Preferably, a magnetic fluid is placed in the magnetic fluid cavity, and the magnetic fluid uses carbonyl iron powder wrapped in polymethyl methacrylate as magnetic particles of the magnetic fluid.

[0010] Preferably, the magnetic fluid and the propellant in which the magnetic fluid is insoluble move in the longitudinal microchannel and the transverse microchannel.

[0011] Preferably, the cross section of the top cover is rectangular, and the cross section of the flexible substrate is rectangular.

[0012] Preferably, the longitudinal microchannel and the transverse microchannel constitute a moving structure.

[0013] Compared with the prior art, the utility model has the following beneficial effects: the texture tactile reproduction device based on magnetorheological fluid has a reasonable structure and has the following advantages:

[0014] (1) A magnetic fluid and a propellant insoluble in the magnetic fluid flow in a microchannel etched on a flexible substrate, and the reproduction of the tactile texture and the real-time change of the hardness and softness are achieved by alternately injecting the magnetic field and the two liquids. The distribution and shape of the magnetic fluid are changed according to the change of the external magnetic field. The utility model can adjust the yield stress and apparent viscosity of the magnetic fluid according to the different tactile characteristics of the propellant, such as viscosity, temperature, humidity, etc., so as to simulate the tactile texture of the propellant, thereby improving the authenticity and fidelity of the tactile reproduction.

[0015] (2) The utility model adopts a piezoelectric fluid inertia driver as the driving device of the magnetic fluid. The driver can convert high-frequency, low-voltage electrical signal input into low-speed / low-frequency, high driving force / pressure, precise displacement / fluid output, thereby achieving precise control and rapid response of the magnetic fluid and improving the sensitivity and accuracy of tactile reproduction.

[0016] (3) The flexible substrate is light, flexible and safe, and can adapt to different shapes and curvatures, improving the user's comfort and naturalness. The device provides a novel, effective and practical technical solution in the field of force feedback technology, with high innovation and practical value.

[0017] (4) The utility model uses carbonyl iron powder wrapped in polymethyl methacrylate as the magnetic particles of the magnetic fluid. The particles have a high magnetorheological effect and good sedimentation stability, which reduces the preparation cost and maintenance difficulty of the magnetic fluid and prolongs the service life of the magnetic fluid.

[0018] (5) The force / tactile reproduction system of the utility model has a simple structure, small size, and light weight, and is easy to integrate with other devices. It is suitable for a variety of application scenarios, such as virtual reality, remote operation, medical rehabilitation, etc., and expands the application field of magnetic fluid technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the front three-dimensional structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the exploded three-dimensional structure of the utility model;

[0021] Figure 3 This is a schematic diagram of the exploded three-dimensional structure of the utility model when viewed from above;

[0022] Figure 4 It is a schematic diagram of the exploded three-dimensional structure of the utility model from the right side;

[0023] Figure 5 This is a schematic diagram of the exploded three-dimensional structure of the utility model when viewed from above;

[0024] Figure 6 It is a schematic diagram of the exploded three-dimensional structure of the utility model from the left side.

[0025] In the figure: 1. Top cover; 2. Flexible substrate; 3. Piezoelectric fluid inertial drive; 4. Magnetic fluid chamber; 5. Longitudinal microchannel; 6. Transverse microchannel. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. All other embodiments obtained by ordinary technicians in the field without creative work based on the embodiments of the utility model shall fall within the scope of protection of the utility model.

[0027] See also Figure 1-6 The utility model provides an embodiment: a texture tactile reproduction device based on magnetorheological fluid, comprising a top cover 1, a flexible substrate 2, a piezoelectric fluid inertial driver 3 and a magnetorheological chamber 4, a longitudinal microchannel 5 is opened on the top of the flexible substrate 2, a transverse microchannel 6 is opened on the top of the flexible substrate 2, the longitudinal microchannel 5 and the transverse microchannel 6 are crisscrossed, the longitudinal microchannel 5 is evenly distributed on the top of the flexible substrate 2, the transverse microchannel 6 is evenly distributed on the top of the flexible substrate 2, and a plurality of groups of longitudinal microchannels 5 and transverse microchannels 6 are evenly arranged on the flexible substrate 2;

[0028] According to the different tactile characteristics of the propulsion fluid, such as viscosity, temperature, humidity, etc., the yield stress and apparent viscosity of the magnetic fluid are adjusted to simulate the tactile texture of the propulsion fluid, thereby improving the authenticity and fidelity of the tactile reproduction;

[0029] A piezoelectric fluid inertial driver 3 is placed inside the flexible substrate 2. The piezoelectric fluid inertial driver 3 is arranged in several groups in the flexible substrate 2. Magnetic fluid cavities 4 are arranged on both sides of the outside of the flexible substrate 2. The magnetic fluid cavities 4 are symmetrical about the center position of the flexible substrate 2.

[0030] A piezoelectric fluid inertial driver is used as the driving device of the magnetic fluid. The driver can convert high-frequency, low-voltage electrical signal input into low-speed / low-frequency, high driving force / pressure, precise displacement / fluid output, achieving precise control and rapid response of the magnetic fluid, and improving the sensitivity and accuracy of tactile reproduction;

[0031] A top cover 1 is placed on the top of the flexible substrate 2, and the top cover 1 and the flexible substrate 2 are tightly matched. A magnetic fluid is placed in the magnetic fluid cavity 4, and the magnetic fluid uses carbonyl iron powder wrapped in polymethyl methacrylate as the magnetic particles of the magnetic fluid;

[0032] The magnetic fluid and its insoluble propulsion fluid move in the longitudinal microchannel 5 and the transverse microchannel 6. The cross section of the top cover 1 is rectangular, the cross section of the flexible substrate 2 is rectangular, and the longitudinal microchannel 5 and the transverse microchannel 6 constitute a moving structure.

[0033] Carbonyl iron powder wrapped in polymethyl methacrylate is used as the magnetic particles of the magnetic fluid. The particles have a high magnetorheological effect and good sedimentation stability, which reduces the preparation cost and maintenance difficulty of the magnetic fluid and prolongs the service life of the magnetic fluid.

[0034] When the embodiment of the present application is used, the magnetic fluid and the propulsion liquid insoluble therein flow in the microchannel etched on the flexible substrate 2, and the reproduction of the tactile texture and the real-time change of the softness and hardness are realized by the alternating injection of the magnetic field and the two liquids. The distribution and shape of the magnetic fluid are changed according to the change of the external magnetic field. A piezoelectric fluid inertial driver 3 is used as the driving device of the magnetic fluid. The driver can convert the high-frequency, low-voltage electrical signal input into a low-speed / low-frequency, high-driving force / pressure, precise displacement / fluid output, thereby realizing the precise control and rapid response of the magnetic fluid, improving the sensitivity and accuracy of the tactile reproduction, and using polymethyl methacrylate. The encapsulated carbonyl iron powder serves as the magnetic particles of the magnetic fluid. The particles have a high magnetorheological effect and good sedimentation stability, which reduces the preparation cost and maintenance difficulty of the magnetic fluid and extends the service life of the magnetic fluid. It has a simple structure, small size, and light weight, and is easy to integrate with other equipment. It is suitable for a variety of application scenarios, such as virtual reality, remote operation, medical rehabilitation, etc., which expands the application field of magnetic fluid technology. It can also adjust the yield stress and apparent viscosity of the magnetic fluid according to the different tactile characteristics of the propellant, such as viscosity, temperature, humidity, etc., thereby simulating the tactile texture of the propellant and improving the authenticity and fidelity of the tactile reproduction.

[0035] Obviously, the embodiments described above are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

Claims

1. A texture tactile reproduction device based on magnetorheological fluid, characterized in that: The invention comprises a top cover (1), a flexible substrate (2), a piezoelectric fluid inertial driver (3) and a magnetic fluid chamber (4); a longitudinal microchannel (5) is provided on the top of the flexible substrate (2); a transverse microchannel (6) is provided on the top of the flexible substrate (2); the longitudinal microchannel (5) and the transverse microchannel (6) are crisscrossed; the longitudinal microchannel (5) is evenly distributed on the top of the flexible substrate (2); the transverse microchannel (6) is evenly distributed on the top of the flexible substrate (2); and a plurality of groups of the longitudinal microchannel (5) and the transverse microchannel (6) are evenly arranged on the flexible substrate (2).

2. The texture tactile reproduction device based on magnetorheological fluid according to claim 1, characterized in that: A piezoelectric fluid inertial driver (3) is placed inside the flexible substrate (2), and a plurality of groups of the piezoelectric fluid inertial drivers (3) are arranged in the flexible substrate (2).

3. The texture tactile reproduction device based on magnetorheological fluid according to claim 1, characterized in that: Magnetic fluid cavities (4) are provided on both sides of the outside of the flexible substrate (2), and the magnetic fluid cavities (4) are symmetrical with respect to the central position of the flexible substrate (2).

4. The texture tactile reproduction device based on magnetorheological fluid according to claim 1, characterized in that: A top cover (1) is placed on the top of the flexible substrate (2), and the top cover (1) and the flexible substrate (2) are tightly matched.

5. The texture tactile reproduction device based on magnetorheological fluid according to claim 1, characterized in that: A magnetic fluid is placed in the magnetic fluid cavity (4), and the magnetic fluid uses carbonyl iron powder wrapped in polymethyl methacrylate as magnetic particles of the magnetic fluid.

6. The texture tactile reproduction device based on magnetorheological fluid according to claim 1, characterized in that: The magnetic fluid and its insoluble propulsion fluid move in the longitudinal microchannel (5) and the transverse microchannel (6).

7. The texture tactile reproduction device based on magnetorheological fluid according to claim 1, characterized in that: The cross section of the top cover (1) is rectangular, and the cross section of the flexible substrate (2) is rectangular.

8. The texture tactile reproduction device based on magnetorheological fluid according to claim 1, characterized in that: The longitudinal microchannel (5) and the transverse microchannel (6) constitute a moving structure.

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