Multidirectional vibration generator using single vibrator and method for the same

Abstract

Disclosed is a vibration generating method includes providing a vibration generating device which receives a driving power and generates a vibration, and controlling vibration of a vibrator of the vibration generating device, wherein the vibration of the vibrator is controlled by systematizing an inertia matrix and a stiffness matrix of the vibrator, and wherein the inertia matrix and the stiffness matrix simultaneously satisfy diagonalization. A vibration generating device using this method is also disclosed.

Claims

1. A vibration generating method, comprising: providing a vibration generating device which receives a driving power and generates a vibration; and controlling vibration of a vibrator of the vibration generating device, wherein the vibration of the vibrator is controlled by systematizing an inertia matrix and a stiffness matrix of the vibrator, and wherein the inertia matrix and the stiffness matrix simultaneously satisfy diagonalization.

2. The vibration generating method according to claim 1, wherein the vibration generating device is a 4-bar mechanism spring damper systems are disposed at both sides of the vibrator in parallel in a vertical direction, wherein vertical distances from a center of the vibrator to the upper spring damper system and the lower spring damper system are identical, and wherein a spring constant (k.sub.1) of the upper spring damper system is identical to a spring constant (k.sub.2) of the lower spring damper system.

3. The vibration generating method according to claim 1, wherein a vibration frequency (w) of the vibrator is determined, and wherein a motion of the vibrator is determined by designing spring constants and vertical distances of the upper and lower spring damper systems.

4. The vibration generating method according to claim 1, wherein the vibrator of the vibration generating device is a single vibrator.

5. The vibration generating method according to claim 1, wherein a vertical spring damper system is added to a lower portion of the center of the vibrator.

6. The vibration generating method according to claim 2, wherein the 4-bar mechanism is replaced with an eccentric motor or a piezoelectric vibration body.

7. A vibration generating device for receiving a driving power and generating a vibration by means of an electromagnetic force, the vibration generating device comprising: a motor for generating a power with the received driving power; a vibrator connected to a vibration frame connected to the motor to vibrate according to a frequency of the motor; and a plurality of spring damper systems disposed at both sides of the vibrator, wherein the vibration generating device uses the vibration generating method defined in the claim 1.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a perspective view schematically showing a vibration generating device according to an embodiment of the present disclosure.

(2) FIG. 2 is a systemically modeled diagram schematically showing the vibration generating device depicted in FIG. 1.

(3) FIG. 3 is a diagram schematically showing a vibration direction according to each vibration frequency of the vibration generating device depicted in FIGS. 1 and 2.

(4) FIG. 4 is a diagram schematically showing a concept of the vibration generating device depicted in FIGS. 1 and 2.

(5) FIG. 5 is a graph showing a displacement motion according to the change of frequency of a vibrator in the vibration generating device depicted in FIGS. 1 and 2.

(6) FIG. 6 is a graph showing the change of a vibration center point according to the increase of a driving frequency of the vibration generating device depicted in FIGS. 1 and 2.

(7) FIG. 7 is a diagram schematically showing a vibration generating device according to another embodiment of the present disclosure.

(8) FIG. 8 is a graph showing the change of a vibration center point according to the increase of a driving frequency of a vibrator in the vibration generating device another embodiment of the present disclosure depicted in FIG. 7.

(9) FIG. 9 is a diagram schematically showing an example of a general haptic feedback device.

(10) FIG. 10 is a diagram schematically showing another example of a general haptic feedback device.

(11) FIG. 11 is a graph showing that vibration stimuli of vibrators of the general haptic feedback device depicted in FIG. 10 are synthesized.

(12) FIG. 12 is a perspective view showing a haptic feedback device including a single vibration driving unit according to another example of a general haptic feedback device.

(13) FIG. 13 is a graph showing that a vibration stimulus according to each vibration frequency of the general haptic feedback device depicted in FIG. 12.

DETAILED DESCRIPTION

(14) Hereinafter, a multidirectional vibration generator using a single vibrator and its vibration generating method according to an embodiment of the present disclosure will be described through preferred embodiments.

(15) Prior to description, in various embodiments, components having the same configuration is endowed with the same reference sign and representatively explained in one embodiment, and other components will be described in other embodiments.

(16) FIG. 1 is a perspective view schematically showing a vibration generating device 1 according to an embodiment of the present disclosure. As shown in FIG. 1, it may be understood that the vibration generating device 1 of the present disclosure receives a driving force of a motor 18 so that a vibrator 12 vibrates, and the vibration is output through an output unit 13.

(17) In more detail, a frequency in a desired vibration direction is determined by a controller (not shown), and a control signal is sent to the motor 18 through an amplifier (not shown). As shown in FIG. 1, in the motor 18, a crank 17, a coupler 16, and a rocker 19 are mechanically connected in order. If the motor 18 is driven through the control signal, the vibration of the motor vibrates the crank 17, the coupler 16, and the rocker 19 in order.

(18) In addition, the rocker 19 is mechanically connected to a vibration frame 11 through a rocker fixing unit 191, and as a result, the vibration initiated from the motor 18 vibrates the vibration frame 11.

(19) A vibrator 12 is disposed at a center of the vibration frame 11, and the vibrator 12 is mechanically connected to the vibration frame 11 through a spring 14 and a damper 15 mechanically connected to both side ends of the vibrator. In an embodiment of the present disclosure, the spring and damper 14, 15 use two springs and dampers at one side, respectively for upper and lower portions, namely four springs and dampers 14, 15 in total. In addition, even though an embodiment of the present disclosure employs the motor 18 and the vibrator 12 connected to four springs and dampers 14, 15, a person skilled in the art may also use other kinds of vibration generating mechanisms, for example an eccentric motor or a piezoelectric vibrator.

(20) As described above, the vibration of the vibration frame 11 is transferred to the vibrator 12 through the spring 14 and the damper 15. Here, the spring 14 and the damper 15 may be made of elastic material capable of transferring the vibration of the vibration frame 11 to the vibrator 12, without being limited thereto.

(21) At this time, the vibration of the vibrator 12 is made by means of an external force transferred through the spring 14 and the damper 15, and the vibration of the vibrator 12 is generated according to a frequency response characteristic with respect to a force component.

(22) In addition, the vibration of the vibrator 12 is transferred to the output unit 13 through an output connection unit 131, and a user finally feels the vibration through the output unit 13.

(23) FIG. 2 is a systemically modeled diagram schematically showing the vibration generating device depicted in FIG. 1, and as essential components of the vibration generating device 1 of the present disclosure, only the vibration frame 11, the vibrator 12, the output unit 13, the spring and damper 14, 15, and the motor 18 are depicted schematically.

(24) In addition, FIG. 3 is a diagram schematically showing a vibration direction or the like according to each vibration frequency of the vibration generating device depicted in FIGS. 1 and 2. As shown in FIG. 3, in the vibration generating device according to an embodiment of the present disclosure, different vibration directions of the output unit 13 were observed when the frequency of the motor 18 was changed to 3.98 Hz, 4.93 Hz, 5.41 Hz, and 7.00 Hz, respectively.

(25) FIG. 4 is a diagram schematically showing a mathematical concept of the vibration generating device depicted in FIGS. 1 and 2. For easier explanation, among the entire components of the vibration generating device 1, the motor 18, the vibration frame 11, and the vibrator 12 are depicted, and the spring and damper 14, 15 are depicted as physical symbols used in the art.

(26) Here, the vibration frequency of the motor 18 is marked as , elastic modulus of the upper and lower springs and dampers 14, 15 are marked as k.sub.1, k.sub.2, respectively, and the mass and the moment of inertia of the vibrator 12 are marked as m and j, respectively. In addition, a vertical distance from the center of the vibrator 12 to the upper spring and damper is marked as h.sub.1, and a vertical distance to the lower spring and damper is marked as h.sub.2.

(27) The inertia matrix and the stiffness matrix through this system may be expressed as follows.

(28) $\begin{array}{cc}M=\left[\begin{array}{ccc}m& 0& 0\\ 0& m& 0\\ 0& 0& j\end{array}\right],K=\left[\begin{array}{ccc}{k}_1+k_2& 0& h_1{k}_1+h_2{k}_2\\ 0& 0& 0\\ h_1{k}_1+h_2{k}_2& 0& h_1^2{k}_1+h_2^2{k}_2\end{array}\right]& \left[\mathrm{Equation}1\right]\end{array}$

(29) Here, assuming that k.sub.1=k.sub.2, h.sub.2=h.sub.1, an inherent vibration frequency and a mode vector of this system may be obtained as follows.

(30) TABLE-US-00001 TABLE 1 Inherent frequency Mode vector Mode 1 ${}_1^2=\frac{2{\mathrm{kh}}^2}{j}$ {circumflex over (x)}.sub.1 = [001].sup.T Mode 2 ${}_2^2=\frac{2k}{m}$ {circumflex over (x)}.sub.2 = [100].sup.T

(31) In addition, in [Table 1], the stiffness and installation locations of the spring and damper 14, 15 may be determined by setting desired 1 and 2 and deciding k and h satisfying them.

(32) The system designed in this way may be calculated using [Equation 2] below as the vibration frequency of the vibrator 12 varies.

(33) $\begin{array}{cc}\begin{array}{c}\hat{X}=\underset{y=1}{\overset{2}{.Math.}}\frac{{\hat{X}}_y^T{\hat{}}_{\mathrm{ext}}}{\left({\tilde{k}}_y-{\tilde{m}}_y{}^2\right)+\left({\tilde{c}}_y\right)}{\hat{X}}_y\\ =\left[\begin{array}{c}\frac{2\mathrm{kp}}{\left(2k-m{}^2\right)+\left(2c\right)}\\ \frac{2{\mathrm{kh}}^2}{\left(2{\mathrm{kh}}^2-j{}^2\right)+\left(2{\mathrm{ch}}^2\right)}\end{array}\right]\end{array}& \left[\mathrm{Equation}2\right]\end{array}$

(34) Here, p means a y coordinate of the rocker fixing unit 191.

(35) In addition, FIG. 5 is a graph showing a displacement motion according to the change of frequency of a vibrator through [Equation 1], [Equation 2] and [Table 1] in the vibration generating device depicted in FIGS. 1 and 2. As shown in FIG. 5, a displacement dx along an x-axis and a displacement dy along a y-axis are synthesized to exhibit an entire displacement d. In addition, as shown in FIG. 5, it may be found that a vibratory motion is exhibited not only at resonance points but also in a frequency band between them, and it may also be found that a uniform amplitude is observed in the entire driving frequency band.

(36) Therefore, it may be understood that a band width of the vibration generating device according to an embodiment of the present disclosure is greatly improved.

(37) In addition, FIG. 6 is a graph showing the change of a vibration center point according to the increase of a driving frequency of the vibration generating device depicted in FIGS. 1 and 2. As shown in FIG. 6, it may be found that as the driving frequency of the vibration generating device increases, a vibration center moves along a y-axis where x=0 in an up-down-up pattern.

(38) FIG. 7 is a diagram schematically showing a vibration generating device according to another embodiment of the present disclosure. As shown in FIG. 7, in another embodiment of the present disclosure, a spring is added to a lower portion of the vibrator 12 along a y-axis.

(39) In addition, the stiffness k.sub.3 of the added spring may be determined to satisfy the following equation in consideration of a third frequency .sub.3 to be designed.

(40) $\begin{array}{cc}{}_3^2=\frac{2k}{m}& \left[\mathrm{Equation}3\right]\end{array}$

(41) The change of a vibration center point according to another embodiment of the present disclosure is depicted in FIG. 8. As shown in FIG. 8, it may be understood that three vibration modes are used in another embodiment of the present disclosure, and more various vibration patterns are available with respect to a wide frequency band.

(42) As described above, it will be understood by those skilled in the art that the present disclosure may be modified in various ways without changing its technical aspect or essential features.

(43) Therefore, it should be understood that all the above embodiments are just for illustration only, not intended to limit the present disclosure, and the scope of the present disclosure is defined by the appended claims rather than the above detailed description. In addition, all changes or modifications derived from the meaning and range of the claims and their equivalents should be interpreted as falling within the scope of the present disclosure.

REFERENCE SIGNS

(44) 1 vibration generating device 11 vibration frame 12 vibrator 13 output unit 131 output connection unit 14 spring 15 damper 16 coupler 17 crank 18 motor 19 rocker 191 rocker fixing unit