Haptic feedback device, electronic device, and robot system

Patent metadata

Field	Value
Publication number	US-12346501-B2
Application number	US-202217694105-A
Country	US
Kind code	B2
Filing date	Mar 14, 2022
Priority date	Apr 8, 2020
Publication date	Jul 1, 2025
Grant date	Jul 1, 2025

Abstract

A haptic feedback device includes: a first feedback apparatus, including: a fixed platform, a movable platform, a ring disposed on the movable platform, and a power unit disposed on the fixed platform and connected to the movable platform. The power unit is configured to obtain a first control signal generated by a controller and output torsion according to the first control signal. The movable platform is configured to be driven by the torsion to move relative to the fixed platform. The ring is configured to provide feedback force as the movable platform moves, to implement haptic feedback.

First claim

What is claimed is:

1. A haptic feedback device, comprising:
a first feedback apparatus, comprising: a fixed platform, a movable platform, a ring disposed on the movable platform, and a power unit disposed on the fixed platform and connected to the movable platform, wherein:
the power unit is configured to obtain a first control signal generated by a controller and output torsion according to the first control signal, wherein the power unit comprises a first motor, a second motor, and a third motor, the first motor, the second motor, and the third motor are disposed on the fixed platform, the second motor is disposed between the first motor and the third motor;
the movable platform is configured to be driven by the torsion to move relative to the fixed platform; and
the ring is configured to provide feedback force as the movable platform moves, to implement haptic feedback.

2. The device according to claim 1 , further comprising:
a first sensor disposed on an inner side of the ring, and configured to sense external force, obtain a value of the external force and transmit the value to the controller, wherein the first control signal is generated according to the value of the external force.

3. The device according to claim 2 , wherein the controller is connected to a gripping apparatus, the gripping apparatus comprises two hooks connected in a hinged manner, a second sensor is set on an inner side of at least one of the hooks, and the second sensor is configured to obtain a pressure value during a gripping process of the gripping apparatus;
the controller is configured to generate a second control signal according to the value of the external force obtained by the first sensor, and the second control signal is configured to control gripping force of the gripping apparatus; and
the controller is further configured to generate the first control signal according to the pressure value obtained by the second sensor.

4. The device according to claim 1 , further comprising a second feedback apparatus and a connecting piece, wherein the fixed platform of the first feedback apparatus is connected to the connecting piece, the second feedback apparatus has the same structure as the first feedback apparatus, and a fixed platform of the second feedback apparatus is connected to the connecting piece.

5. The device according to claim 4 , wherein the first feedback apparatus and the second feedback apparatus are symmetrically set at two ends of the connecting piece.

6. The device according to claim 1 , wherein the first feedback apparatus further comprises a transmission apparatus, and the movable platform and the power unit are connected through the transmission apparatus.

7. The device according to claim 6 , wherein the transmission apparatus comprises a first link and a second link, the first link being connected to a power output terminal of the power unit, the second link being connected to the movable platform, the first link being connected to the second link in a hinged manner; the power unit drives the movable platform through the first link and the second link.

8. The device according to claim 1 , wherein the movable platform and the ring are connected through a third link, a first end of the third link being fixedly connected to the movable platform, a second end of the third link being connected to the ring through a rotating shaft, and the ring is rotatable around the rotating shaft.

9. The device according to claim 1 , wherein
an output shaft of the first motor is connected to a first end of a first sub-link, a second end of the first sub-link is connected to a first end of a second sub-link in a hinged manner, and a second end of the second sub-link is connected to a first end of the movable platform;
an output shaft of the third motor is connected to a first end of a third sub-link, a second end of the third sub-link is connected to a first end of a fourth sub-link in a hinged manner, and a second end of the fourth sub-link is connected to a second end of the movable platform;
an output shaft of the second motor is connected to a first end of a fifth sub-link, a second end of the fifth sub-link is connected to a first end of a sixth sub-link in a hinged manner, and a connection point between a second end of the sixth sub-link and the movable platform is located between the first end and the second end of the movable platform; and
at least one of the second sub-link, the fourth sub-link or the sixth sub-link is connected to the movable platform in a hinged manner.

10. The device according to claim 1 , wherein the output shafts of the first motor and the third motor are oriented towards a first direction, the output shaft of the second motor is oriented towards a second direction, and the first direction and the second direction are different directions.

11. The device according to claim 1 , wherein the fixed platform comprises a bottom surface, a first vertical plate, a second vertical plate, a first side wing and a second side wing that are set integrally;
a first end of the first vertical plate and a first end of the second vertical plate are disposed at two ends of the bottom surface respectively and are perpendicular to the bottom surface;
the first side wing is connected to a second end of the first vertical plate, and is perpendicular to the first vertical plate;
the second side wing is connected to the second end of the second vertical plate, and is perpendicular to the second vertical plate; and
the first motor is set on the first side wing, the third motor is set on the second side wing, and the second motor is set on the bottom surface.

12. The device according to claim 11 , wherein the output shaft of the first motor passes through the first side wing and is connected to the first sub-link; the output shaft of the third motor passes through the second side wing and is connected to the third sub-link; the output shaft of the second motor passes through the bottom surface and is connected to the fifth sub-link.

13. The device according to claim 1 , wherein the output shaft of the first motor, the output shaft of the second motor and the output shaft of the third motor are all located on a first plane; a connection point between the second sub-link and the movable platform, a connection point between the fourth sub-link and the movable platform, and a connection point between the sixth sub-link and the movable platform are located on a second plane;
the first plane and the second plane being different planes.

14. An electronic device, comprising: an interactive apparatus, an input/output (I/O) interface, a processor, and a memory, the memory storing a program instruction, the processor being configured to execute the program instruction stored in the memory;
the interactive apparatus being configured to obtain an operation instruction inputted by a user; the interactive apparatus comprising a haptic feedback device, the haptic feedback device comprising:
a first feedback apparatus, comprising: a fixed platform, a movable platform, a ring disposed on the movable platform, and a power unit disposed on the fixed platform and connected to the movable platform, wherein:
the power unit is configured to obtain a first control signal generated by the processor and output torsion according to the first control signal, wherein the power unit comprises a first motor, a second motor, and a third motor, the first motor, the second motor, and the third motor are disposed on the fixed platform, the second motor is disposed between the first motor and the third motor;
the movable platform is configured to be driven by the torsion to

Assignees

• Tencent Tech Shenzhen Co Ltd

Inventors

• Zhang Dongsheng
• Wei Lei
• Chen Ke
• Li Qiang

Classifications

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B25J13/025

  comprising haptic means · CPC title

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title

• B25J9/0081

  with leader teach-in means · CPC title

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title