SYNCHRONIZED ARRAY OF VIBRATION ACTUATORS IN AN INTEGRATED MODULE

• US 20160144404A1
• Filed: 07/09/2014
• Published: 05/26/2016
• Est. Priority Date: 06/27/2005
• Status: Active Grant

• Current Assignee: General Vibration Corporation
• Original Assignee: Coactive Drive Corporation
• Inventors: Simpkins, Charles Alexander Jr., Houston, John, Graham, Gabe, Morris, Rob
• Granted Patent: US 9,764,357 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B06B 1/166 Where the phase-angle of masses mounted on counter-rotating shafts can be varied, e.g. variation of the vibration phase
• CPC Class Codes: H02K 33/00 Motors with reciprocating, oscillating or vibrating magnet, armature or coil system arrangements for handling mechanical energy structurally associated with motors H02K7/00, e.g. H02K7/06
• CPC Class Codes: H02K 7/061 using rotary unbalanced masses for generating mechanical vibrations in general B06B1/16

Abstract

The disclosure relates to integrated modules for Synchronized Array of Vibration Actuators (FIG. 125A). The modules provide physical interface, power and communication interfaces. Each module may include vibration actuators (FIG. 123A) which can be precisely attached and aligned to the module housing, a microcontroller or other microprocessor, and one or more sensors for closed loop control of actuators (FIG. 126G). Interleaved pairs of ERMs having a center of mass in the same plane eliminate parasitic torque. A single module can produce a vibration force that rotates at a specific frequency and magnitude, which on its own could cancel out some types of periodic vibrations (FIG. 125B). Two modules paired together and counter-rotating with respect to each other can produce a directional vibration at a specific frequency and magnitude, which could prove even more useful for canceling out a vibration. Such modules are also employed to produce beating patterns (FIGS. 131-133). Both amplitude and frequency of the beating force are variable.

Claims

1. An integrated vibration module, comprising:

a pair of first and second eccentric rotating masses, the first and second eccentric rotating masses having substantially identical eccentricities and being mechanically aligned;

a first motor configured to drive the first eccentric rotating mass;

a second motor configured to drive the second eccentric rotating mass;

means for sensing at least one of an angular velocity and an angular position of each of the first and second eccentric rotating masses;

means for closed loop control of each of the first and second eccentric rotating masses using one or both of the angular velocity and the angular position;

wherein, when the first and second eccentric rotating masses are rotating at the same angular velocity, a relative phase angle between the pair of eccentric rotating masses determines a net vibration output of the pair, so that when the relative phase angle is 0 degrees the net vibration output is at a maximum and when the relative phase angle is 180 degrees the net vibration output is at a minimum.

2. The integrated vibration module of claim 1, wherein the first motor is configured to directly drive the first eccentric rotating mass, and the second motor is configured to directly drive the second eccentric rotating mass.

3. The integrated vibration module of claim 1, wherein the first motor drives the first eccentric rotating mass through a first transmission and the second motor drives the second eccentric rotating mass through a second transmission.

4. The integrated vibration module of claim 1, wherein the first eccentric rotating mass interleaves the second eccentric rotating mass.

5. The integrated vibration module of claim 1, wherein the first eccentric rotating mass and the second eccentric rotating mass have different masses.

6. The integrated vibration module of claim 1, wherein rotating force vectors of the first and second eccentric rotating masses are either:

aligned to be substantially coplanar;

aligned to be substantially concentric;

or

aligned to be substantially parallel.

9. The integrated vibration module of claim 1, wherein axes of rotation of the first and second eccentric rotating masses are aligned to be substantially collinear.

10. The integrated vibration module of claim 1, wherein:

the sensing means is configured to determine an angular velocity of each of the first and second ERMs; and

the closed loop control means is configured to control the velocity of each of the first and second eccentric rotating masses.

11. The integrated vibration module of claim 1, wherein the first eccentric rotating mass is controlled to rotate at a first frequency, f₁, and the second eccentric rotating mass is controlled to rotate at a second frequency, f₂, both eccentric rotating masses rotating in the same direction, thus producing a beat frequency for the module of f₂-f₁.

12. The integrated vibration module of claim 1, wherein the first eccentric rotating mass is controlled to rotate in a first direction at a first frequency, f₁, and the second eccentric rotating mass is controlled to rotate in the opposite direction, at a second frequency, f₂, producing a rotating linear vibration for the module based on f₁ and f₂.

13. The integrated vibration module of claim 1, wherein the net vibration output is used to produce haptic sensations.

14. The integrated vibration module of claim 1, wherein:

the sensing means is configured to determine the angular position of each of the first and second eccentric rotating masses; and

the closed loop control means is configured to control the angular position of each of the first and second eccentric rotating masses.

15. The integrated vibration module of claim 1, further comprising an application programming interface (API) that enables a computer external to the module to issue commands to the module.

16. The integrated vibration module of claim 15, wherein the API includes a command to the module to produce the net vibration output with a specified frequency and amplitude.

17. The integrated vibration module of claim 16, wherein the net vibration output is used to produce haptic sensations.

18. The integrated vibration module of claim 16, wherein the specified frequency is non-zero and the net vibration output amplitude is substantially zero.

19. The integrated vibration module of claim 15, wherein the API includes a command to the module to vibrate at a specified non-zero frequency and to rapidly switch an output amplitude from substantially zero amplitude to a specified non-zero amplitude and back to a substantially zero amplitude, thereby producing an impulse.

20. The integrated vibration module of claim 19, wherein the net vibration output is used to produce one or more haptic sensations.

21. The integrated vibration module of claim 1, further comprising:

a physical interface configured for rigidly attaching or docking the module to one or more other integrated vibration modules or other objects;

a power interface configured to power the module; and

a communication interface configured for communication with one or more external devices or services.

22. The integrated vibration module of claim 1, wherein the integrated vibration module is configured to perform encrypted communication with other devices.

23. The integrated vibration module of claim 1, wherein the module provides a timing source or timing reference to one or more other integrated vibration modules.

24. The integrated vibration module of claim 1, wherein the module is configured to synchronize its clock to an external timing source or timing reference.

25. The integrated vibration module of claim 15, wherein the API includes a command to the module to identify itself.

26. The integrated vibration module of claim 1, wherein:

the pair of first and second eccentric rotating masses comprises a first pair of eccentric rotating masses;

the module further comprising;

a second pair of third and fourth eccentric rotating masses, the third and fourth eccentric rotating masses having substantially identical eccentricities and being mechanically aligned;

a third motor configured to drive the third eccentric rotating mass; and

a fourth motor configured to drive the second eccentric rotating mass;

wherein;

the closed loop control means control each of the third and fourth eccentric rotating masses using one or both of the angular velocity and the angular position; and

when the second pair of eccentric rotating masses are rotating at the same angular velocity, a relative phase angle between the third and fourth eccentric rotating masses determines a net vibration output of the second pair, so that when the relative phase angle is 0 degrees the net vibration output is at a maximum and when the relative phase angle is 180 degrees the net vibration output is at a minimum.

7-8. -8. (canceled)

27. An integrated vibration system, comprising:

a plurality of integrated vibration modules operatively coupled to one another, each module including;

a pair of first and second eccentric rotating masses, the first and second eccentric rotating masses having substantially identical eccentricities and being mechanically aligned;

a first motor configured to drive the first eccentric rotating mass;

a second motor configured to drive the second eccentric rotating mass;

means for sensing at least one of an angular velocity and an angular position of each of the first and second eccentric rotating masses;

means for closed loop control of each of the first and second eccentric rotating masses using one or both of the angular velocity and the angular position;

wherein, when the first and second eccentric rotating masses are rotating at the same angular velocity, a relative phase angle between the pair of eccentric rotating masses determines a net vibration output of the pair, so that when the relative phase angle is 0 degrees the net vibration output is at a maximum and when the relative phase angle is 180 degrees the net vibration output is at a minimum.

28. The integrated vibration system of claim 27, wherein each integrated vibration module includes a communication interface configured for communication with one or more other integrated vibration modules or an external computer or microcontroller.

29. The integrated vibration system of claim 27, wherein the system comprises a portable handheld device.