Force feedback device and handle

Abstract

The invention belongs to the technical field of electronic equipment, and particularly relates to a force feedback device and a handle, the force feedback device comprises a shell, a pressing rod assembly, an elastic piece, a driving assembly and a bearing, the pressing rod assembly comprises a push rod and a sliding sleeve, the sliding sleeve is arranged in the shell, and one end of the push rod is inserted into the center of the sliding sleeve and is in threaded transmission with the sliding sleeve; one end of the push rod extends out of the shell to drive the sliding sleeve to move in the axial direction of the push rod; the driving assembly comprises a transmission assembly and a driving part, and the driving part is in transmission connection with the push rod through the transmission assembly and used for driving the push rod to rotate; the transmission assembly comprises a first gear sleeving the push rod and used for driving the push rod to rotate, and the push rod can slide in the axial direction of the push rod relative to the first gear. The bearing is fixed in the shell and connected with the first gear. According to the structure, the bearing is arranged to be connected with the shell and the first gear, noise can be lowered, and transmission stability can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of electronic equipment, and particularly relates to a force feedback device and a handle. Background Art

[0002] At present, in order to improve the operating experience, game equipment manufacturers add feedback devices to game controllers to simulate the sense of presence of specific game scenes, such as drawing a bow and shooting an arrow, pulling the triggers of various machines, and other game operations with force feedback. The handle generally includes a force feedback device and a trigger structure. The force feedback device generally provides driving force through a driving component, and the driving force is amplified by a reduction mechanism and transmitted to the trigger to realize the force feedback function. The reduction mechanism usually includes gears. In related technologies, gears are generally limited by structural parts, which leads to gaps in the gear limit. This not only affects the engagement accuracy, but also causes vibration noise due to the axial movement of the gear.

[0003] Therefore, in view of the above shortcomings, the present invention is proposed. Summary of the invention

[0004] The object of the present invention is to provide a force feedback device and a handle to solve the problem in the prior art that the driving member in the force feedback device has axial movement resulting in low engagement accuracy and vibration noise.

[0005] A first aspect of the present invention provides a force feedback device, characterized in that it comprises:

[0006] case;

[0007] A pressure rod assembly, the pressure rod assembly comprising a push rod and a sliding sleeve, the sliding sleeve is arranged inside the housing, one end of the push rod is inserted into the center of the sliding sleeve and is threadedly transmitted with the sliding sleeve to drive the sliding sleeve to move along its own axial direction, and the other end of the push rod extends out of the housing;

[0008] A driving assembly, the driving assembly comprising a transmission assembly and a driving member, the driving member is connected to the push rod through the transmission assembly and is used to drive the push rod to rotate; the transmission assembly comprises a first gear sleeved on the outside of the push rod and used to drive the push rod to rotate, and the push rod can slide along its own axial direction relative to the first gear;

[0009] A bearing is fixed inside the housing and connected to the first gear, and the first gear can rotate relative to the bearing with its own central axis as the axis.

[0010] The force feedback device provided by the present invention may also have the following additional technical features:

[0011] In a specific embodiment of the present invention, a limiting groove is formed on the inner wall of the housing, and the end of the bearing is fixed in the limiting groove.

[0012] In a specific embodiment of the present invention, the transmission assembly further includes a second gear, the driving member is connected to the second gear and is used to drive the second gear to rotate, and the second gear is meshed with the first gear; and / or

[0013] The first gear has an annular groove on its end surface facing the sleeve, and the annular groove has a first side wall close to its central axis and a second side wall away from its central axis. The bearing is inserted into the annular groove and is connected with the first side wall.

[0014] In a specific embodiment of the present invention, a first slide groove is provided on one of the inner surface of the first gear and the outer surface of the push rod, the first slide groove is a linear slide groove and is consistent with the axial direction of the push rod, a first rib is provided on the other of the inner surface of the first gear and the outer surface of the push rod, the number of the first slide grooves and the first ribs are equal and are correspondingly provided, the first rib is inserted into the first slide groove and slides along the axial direction of the push rod;

[0015] And / or, at least one limiting portion is provided on the push rod, and the end surface of the first gear facing the sliding sleeve can abut against the limiting portion.

[0016] In a specific embodiment of the present invention, the shell includes a main body and a cover portion, the main body forms a accommodating cavity with an open end, and the cover portion covers the opening of the accommodating cavity; the driving member is located on the outside of the main body, and the main body, the cover portion and the driving member are connected by threaded fasteners.

[0017] In a specific embodiment of the present invention, it also includes an elastic member; a push head is formed at the other end of the push rod relative to the sliding sleeve, and the elastic member is sleeved on the push rod, with one end abutting against the cover plate portion and the other end abutting against the push head.

[0018] In a specific embodiment of the present invention, a guide sleeve is formed on the other side of the cover portion relative to the main body portion, and an end of a portion of the spring away from the push head is arranged in the guide sleeve.

[0019] In a specific embodiment of the present invention, a second slide groove is provided on one of the outer surface of the sliding sleeve and the inner wall surface of the shell, and the second slide groove is a linear slide groove and is consistent with the axial direction of the sliding sleeve. A second rib is provided on the other of the outer surface of the sliding sleeve and the inner wall surface of the shell, and the second rib is inserted into the second slide groove and slides along the second slide groove.

[0020] In a specific embodiment of the present invention, the second convex rib is arranged on the sliding sleeve, and a first Hall magnet is arranged inside the second convex rib, and the force feedback device is further provided with a first Hall sensor, which is arranged on the housing and is used to detect the position of the first Hall magnet; and / or

[0021] The force feedback device further includes a second Hall magnet and a second Hall sensor. The second Hall sensor is disposed at the other end of the push rod relative to the sliding sleeve. The second Hall sensor is disposed in the housing and is used to detect the position of the second Hall magnet.

[0022] A second aspect of the present invention further provides a handle having any one of the force feedback devices described above.

[0023] According to the force feedback device of the present invention, when the driving component does not provide driving force and the push rod is pressed to extend to the other end of the housing, due to the threaded transmission between the push rod and the sliding sleeve, the push rod drives the sliding sleeve to move together in the axial direction, thereby being affected by the friction between the push rod and the sliding sleeve. When the driving component provides driving force and the push rod is pressed to extend to the other end of the housing, in addition to being affected by the friction between the push rod and the sliding sleeve, it is also affected by the stalling force between the driving component and the push rod, so that the feedback force can be effectively adjusted by the driving component, thereby increasing the force value range of the feedback force and improving the user experience. And by connecting the first gear sleeved on the push rod to the bearing fixed in the housing, the first gear has the advantages of low noise, precise positioning, good bite, stable transmission and low friction, so the transmission efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic cross-sectional structure diagram of a force feedback device in one embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of the internal structure of the force feedback device in the initial state when the sliding sleeve is in the first extreme position;

[0027] Figure 3 It is a schematic diagram of the internal structure of the feedback device in the initial state when the push rod is pressed to the end point;

[0028] Figure 4is a schematic diagram of the internal structure of the force feedback device in the initial state when the sliding sleeve is in the second extreme position;

[0029] Figure 5 is a schematic diagram of the internal structure of the force feedback device when the push rod is pressed to the end point and the sliding sleeve is in the second limit position;

[0030] Figure 6 It is a partial structural schematic diagram of the force feedback device.

[0031] 1-Force feedback device;

[0032] 10-housing, 11-body, 111-second slide groove, 12-cover plate, 121-mounting hole, 122-guide sleeve, 123-limiting groove;

[0033] 20-pressure rod assembly, 21-push rod, 211-limiting portion, 212-blind hole, 213-external thread, 22-sliding sleeve, 221-second convex rib, 222-embedded groove, 23-push head;

[0034] 30- elastic member;

[0035] 40-driving assembly, 41-second gear, 42-first gear, 43-driving member, 44-third gear;

[0036] 51-first Hall magnet, 52-first Hall sensor, 53-second Hall magnet, 54-second Hall sensor;

[0037] 60-threaded fasteners, 70-bearings. DETAILED DESCRIPTION

[0038] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0039] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0040] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0041] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, then the elements described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both upper and lower orientations. The device can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0042] The purpose of the present invention is to at least solve the problem that the gears in the driving assembly 40 of the force feedback device 1 are generally limited by structural parts, which leads to gaps in the gear limit, affecting the meshing accuracy, and causing axial movement and vibration noise of the gears. Based on this purpose, the present invention proposes a force feedback device 1 and a handle with a high force feedback device 1, which can solve the gear transmission, improve the stability of the gears, and reduce noise by improving the speed reduction mechanism in the driving assembly 40.

[0043] Combination Figure 1-6 As shown, in some embodiments of the present invention, the force feedback device 1 includes a housing 10, a pressure rod assembly 20, an elastic member 30, a drive assembly 40 and a bearing 70. The pressure rod assembly 20 includes a push rod 21 and a sleeve 22. The sleeve 22 is arranged inside the housing 10. One end of the push rod 21 is inserted into the center of the sleeve 22 and is threadedly transmitted with the sleeve 22 to drive the sleeve 22 to move along its own axial direction. The other end of the push rod 21 extends to the outside of the housing 10; the elastic member 30 is arranged between the push rod and the housing 10, and the elastic member 30 is squeezed during the axial movement of the push rod. The driving assembly 40 at least includes a second gear 41, a first gear 42 and a driving member 43, the driving member 43 is connected to the second gear 41, and is used to drive the second gear 41 to rotate, the second gear 41 is meshed with the first gear 42, the first gear 42 is sleeved on the outside of the push rod, and is used to drive the push rod to rotate, and the push rod can slide along its own axial direction relative to the first gear 42; the bearing 70 is fixed inside the housing 10 and is connected to the first gear 42, and the first gear 42 can rotate relative to the bearing 70 with its own central axis as the axis.

[0044] The sliding sleeve 22 is arranged inside the housing 10 and is mutually limited with the housing 10, so that it can only reciprocate along its own axial direction, but cannot rotate. One end of the push rod 21 is arranged inside the housing 10 and plugged into the sliding sleeve 22, and the other end of the push rod 21 extends to the outside of the housing 10, and the push rod 21 can reciprocate along its axial direction, so as to facilitate pressing. The sliding sleeve 22 and the push rod 21 are threadedly driven. Specifically, the inner surface of the sliding sleeve 22 is provided with an internal thread, and the outer surface of the push rod 21 near one end of the sliding sleeve 22 is provided with an external thread 213, and the internal thread and the external thread 213 are matched and connected and threadedly driven. That is, the push rod 21 can move along its axial direction and drive the sliding sleeve 22 to move axially together, or the push rod 21 can rotate and drive the sliding sleeve 22 to move along its axial direction, or the sliding sleeve 22 is fixed at the limit displacement, and the push rod 21 rotates while moving along its axial direction.

[0045] The elastic member 30 is disposed between the push rod 21 and the housing 10 . As the push rod 21 moves toward the elastic member 30 , the elastic member 30 is compressed and provides feedback force through its own elastic force and restoring force.

[0046] When the push rod 21 is pressed, the push rod 21 drives the sleeve 22 to move in the axial direction and squeeze the elastic member 30, thereby providing feedback force through the elastic member 30, until the elastic member 30 is pressed to the maximum compression state and cannot be compressed. If the sleeve 22 moves to the extreme position and cannot move further during the pressing process, if there is a relative movement space between the push rod 21 and the sleeve 22, the push rod 21 rotates relative to the sleeve 22 and moves toward the sleeve 22. During this process, the push rod 21 needs to overcome the sliding friction between the push rod 21 and the sleeve 22 and the feedback force of the elastic member 30 at the same time. In the case where the drive assembly 40 does not provide a driving force, the friction between the drive assembly 40 and the push rod 21 in the axial direction can be ignored.

[0047] In the driving assembly 40, the second gear 41 and the first gear 42 are both arranged in the housing 10, and the outer surface of the second gear 41 is provided with a first toothed surface, and the outer surface of the first gear 42 is provided with a second toothed surface, and the first toothed surface and the second toothed surface are meshed, so that when the driving member 43 drives the second gear 41 to rotate, the first gear 42 rotates together with the second gear 41, and can drive the push rod 21 to rotate together. Among them, the driving member 43 can be a driving motor, and the output shaft of the driving motor is drivingly connected to the second gear 41.

[0048] In this way, the driving assembly 40 is connected to the push rod 21 in a transmission manner and is used to drive the push rod 21 to rotate. When the driving assembly 40 provides driving force and the sleeve 22 moves to the other end of the housing 10 away from the push rod 21, in addition to the feedback force of the elastic member 30 and the sliding friction between the sleeve 22 and the push rod 21, the push rod 21 is also affected by the stalling force between the driving assembly 40 and the push rod 21. In this way, the feedback force can be effectively adjusted by the driving assembly 40, thereby increasing the force value range of the feedback force and improving the user experience. The stalling force refers to the stalling force in the radial direction between the push rod 21 and the driving assembly 40 when the driving assembly 40 is in a state of providing driving force and the push rod 21 and the sleeve 22 rotate or have a tendency to rotate.

[0049] At the same time, by making the elastic member 30 have a certain amount of compression and provide elastic force when the push rod 21 is extended to the limit displacement and not pressed, the initial feedback force when the push rod 21 is pressed is changed, and the force value range of the feedback force is further increased.

[0050] Among them, the maximum compression state of the elastic member 30 refers to the maximum compression that the elastic member 30 can achieve under the extrusion of the push rod 21, and the maximum compression specifically includes the maximum compression that the elastic member 30 itself can achieve, or the maximum compression that the elastic member 30 can achieve when the push rod 21 moves to the extreme position and cannot further squeeze the elastic member 30.

[0051] The bearing 70 is fixed inside the housing 10 and connected to the first gear 42, and the first gear 42 after connection can rotate relative to the bearing 70 with its own central axis as the axis. Based on the above arrangement, the first gear 42 can rotate with its own central axis as the axis, but cannot move along its own axial direction. Since the first gear 42 cannot move along its axial direction, it can not only reduce noise, but also improve the positioning accuracy of the first gear 42, making its bite better and the transmission more stable. In addition, since the first gear 42 is supported and connected by the bearing 70, it can also reduce the rotational friction, so that the transmission efficiency between the second gear 41 and the first gear 42 is improved.

[0052] According to the force feedback device 1 of the present invention, when the driving component 40 does not provide driving force and the push rod 21 is pressed and extended to the other end of the housing 10, due to the threaded transmission between the push rod 21 and the sleeve 22, the push rod 21 drives the sleeve 22 to jointly squeeze the elastic member 30 in the axial direction, thereby being subjected to the feedback force of the elastic member 30, or being subjected to the friction force between the push rod 21 and the sleeve 22 and the feedback force of the elastic member 30 at the same time. When the driving component 40 provides driving force and the push rod 21 is pressed and extended to the other end of the housing 10, in addition to being subjected to the force feedback of the elastic member 30 and the friction force between the push rod 21 and the sleeve 22, it is also subjected to the stalling force between the driving component 40 and the push rod 21, so that the feedback force can be effectively adjusted by the driving component 40, thereby increasing the force value range of the feedback force and improving the user experience. Furthermore, by connecting the first gear 42 to the bearing 70 fixed in the housing 10 , the first gear 42 has the advantages of low noise, precise positioning, good engagement, stable transmission and low friction, thereby improving the transmission efficiency.

[0053] In some embodiments of the present invention, the inner wall of the housing 10 forms a limiting groove 123, and the end of the bearing 70 is fixed in the limiting groove 123. Specifically, the bearing 70 is fixedly connected to the housing 10 by bonding or welding. By providing the limiting groove 123 on the inner wall of the housing 10, the positioning accuracy of the fixed connection between the bearing 70 and the housing 10 can be improved, thereby improving the positioning accuracy of the first gear 42.

[0054] In some embodiments of the present invention, an annular groove is provided on the end face of the first gear 42 facing the sleeve, and the annular groove has a first side wall close to its central axis and a second side wall away from its central axis. The bearing 70 is inserted into the annular groove and is cooperatively connected with the first side wall.

[0055] Specifically, the cross-sectional shape of the annular groove is U-shaped, and among the side walls parallel to the central axis thereof, the side walls close to the central axis thereof are the first side walls, and the side walls away from the central axis thereof are the second side walls, and the distance between the first side walls and the second side walls is greater than the thickness between the inner ring and the outer ring of the bearing 70. One end of the bearing 70 is inserted into the annular groove, and the other end is fixed to the housing 10, and the inner ring of the bearing 70 cooperates with the first side wall, and the outer ring cooperates with the limiting groove 123, so that the second positioning member can rotate but cannot move axially.

[0056] In some embodiments of the present invention, a first slide groove is set on one of the inner surface of the first gear 42 and the outer surface of the push rod. The first slide groove is a linear slide groove and is consistent with the axial direction of the push rod. A first rib is set on the other of the inner surface of the first gear 42 and the outer surface of the push rod. The number of the first slide grooves and the first ribs is equal and they are arranged correspondingly. The first rib is inserted into the first slide groove and slides along the axial direction of the push rod.

[0057] Taking the sliding sleeve as the sliding sleeve 22 and the push rod as the push rod 21 as an example, specifically, the first rib and the first slide groove are both linear structures, and a plurality of first slide grooves are evenly arranged along the circumferential direction on the outer surface of the push rod 21. The setting direction of any first slide groove is consistent with the axial direction of the push rod 21, and a plurality of first ribs are evenly arranged along the circumferential direction on the inner surface of the first gear 42. The setting directions of the first ribs and the first slide grooves are consistent, thereby ensuring the transmission connection and axial movement of the first gear 42 and the push rod 21.

[0058] In some embodiments of the present invention, the driving component 40 may further include a third gear 44, which is disposed in the housing 10 and is respectively meshed with the second gear 41 and the first gear 42, and is suitable for transmitting the drive of the second gear 41 to the first gear 42. In this way, the reduction ratio of the driving component 40 can be adjusted, so that the driving component 40 has a larger reduction ratio and a better force feedback effect.

[0059] In some embodiments of the present invention, at least one limiting portion 211 is disposed on the push rod, and the end surface of the first gear 42 facing the sliding sleeve can abut against the limiting portion 211 .

[0060] Specifically, the limiting portion 211 is arranged on the outer surface of the push rod 21, and is specifically arranged in a continuous ring shape or an intermittent ring shape. The radial dimension of the limiting portion 211 is larger than the inner diameter of the first gear 42, and abuts against the end face of the first gear 42 facing the sleeve 22, thereby playing an axial limiting role, thereby preventing the push rod 21 from being separated from the first gear 42 during axial movement.

[0061] In some embodiments of the present invention, the shell 10 includes a main body portion 11 and a cover portion 12, the main body portion 11 forms a accommodating cavity with an opening at one end, and the cover portion 12 covers the opening of the accommodating cavity; the driving member 43 is located on the outside of the main body portion 11, and the main body portion 11, the cover portion 12 and the driving member 43 are connected by threaded fasteners 60.

[0062] Specifically, the main body 11 is formed with a receiving cavity with an open end, and the receiving cavity includes a first cavity formed at the open end and a second cavity away from the open end, and the first cavity and the second cavity are connected. The cover plate 12 is provided at the opening of the receiving cavity of the main body 11, and a through hole corresponding to the second cavity is provided on the cover plate 12. Among them, the sliding sleeve 22 is provided in the second cavity, one end of the push rod 21 is inserted into the second cavity, and the other end passes through the first cavity and passes through the through hole of the cover plate 12 to extend to the outside of the housing 10. The second gear 41 and the first gear 42 are provided in the first cavity.

[0063] The housing of the driving member 43 is disposed outside the housing 10 and is specifically located at one side of the second cavity, and the output shaft of the driving member 43 extends into the first cavity and is drivingly connected to the second gear 41 .

[0064] The main body 11, the cover plate 12 and the driving member 43 are provided with corresponding mounting holes 121, and the mounting hole 121 of the driving member 43 is a blind hole 212 with an internal thread. The threaded fastener 60 passes through the cover plate 12 and the main body 11 in sequence and is screwed into the mounting hole 121 of the driving member 43, thereby achieving fixation between the main body 11, the cover plate 12 and the driving member 43.

[0065] The limiting groove 123 is disposed in the second cavity of the main body 11 .

[0066] In some embodiments of the present invention, a push head 23 is formed at the other end of the push rod relative to the sliding sleeve; the elastic member 30 is a spring, which is sleeved on the push rod, and one end of the spring abuts against the cover portion 12 and the other end abuts against the push head 23.

[0067] Specifically, the outer contour size of the push head 23 is larger than that of the push rod 21, and is connected to the end of the push rod 21 away from the sliding sleeve 22, and is used to be adapted and connected with the trigger button of the handle. Specifically, the push head 23 abuts against the trigger button, or the push head 23 itself or through a connecting piece is rotatably connected to the trigger button.

[0068] The spring is sleeved on the outside of the push rod 21, and one end facing the sliding sleeve 22 is abutted or connected to the housing 10, and the end away from the sliding sleeve 22 is abutted against the push head 23. In this way, as the push rod 21 moves toward the housing 10, the spring is compressed and provides feedback force through its own elastic force. In addition, the spring is sleeved on the push rod 21, so that the spring can be prevented from making a sound deviation during the process of being squeezed by the push rod 21, and the direction of the feedback force of the spring is prevented from suddenly changing or losing the feedback force. Since the push rod 21 will rotate under the action of the driving assembly 40, in order to prevent the spring from rotating together with the push rod 21, only the end of the spring is abutted against the push head 23, but not connected.

[0069] In some embodiments of the present invention, a guide sleeve 122 is formed on the other side of the cover portion 12 relative to the main body portion 11 , and one end of a portion of the spring away from the push head 23 is disposed in the guide sleeve 122 .

[0070] Specifically, the guide sleeve 122 is disposed on the cover plate portion 12, and is specifically disposed on the outer periphery of the through hole of the cover plate portion 12, and the diameter of the guide sleeve 122 is greater than the diameter of the push rod 21, and the axial length of the guide sleeve 122 is less than the length between the push head 23 and the housing 10 when the push rod 21 is at the first limit position. The spring is disposed between the push rod 21 and the guide sleeve 122, so that the guide sleeve 122 can be used to protect the spring.

[0071] In some embodiments of the present invention, a second slide groove 111 is provided on one of the outer surface of the sleeve 22 and the inner wall surface of the shell 10. The second slide groove 111 is a linear slide groove and is consistent with the axial direction of the sleeve 22. A second rib 221 is provided on the other of the outer surface of the sleeve 22 and the inner wall surface of the shell 10. The second rib 221 is inserted into the second slide groove 111 and slides along the second slide groove 111.

[0072] Specifically, the second rib 221 and the second slide groove 111 are both linear structures, and the outer surface of the sliding sleeve 22 is provided with a protruding second rib 221, which is inserted into the second slide groove 111 and interacts along the second slide groove 111, thereby ensuring the axial movement of the sliding sleeve 22 while preventing the sliding sleeve 22 from rotating. The second rib 221 can be an integrated structure with the sliding sleeve 22, or a mounting groove is provided in the sliding sleeve 22, and a part of the second rib 221 is inserted into the mounting groove, and the other part of the second rib 221 is inserted into the second slide groove 111, so that the rotation of the sliding sleeve 22 is limited by the second rib 221.

[0073] The second rib 221 is mainly used to limit the rotation of the sliding sleeve 22, so as to ensure that the push rod 21 drives the sliding sleeve 22 to move axially during the rotation process.

[0074] In some embodiments of the present invention, the second rib 221 is arranged on the sleeve 22, and the first Hall magnet 51 is arranged in the second rib 221, the first Hall magnet 51 is arranged on the sleeve 22, and the force feedback device 1 is also provided with a first Hall sensor 52, the first Hall sensor 52 is arranged on the shell 10, and is used to detect the position of the first Hall magnet 51.

[0075] Specifically, an embedding groove 222 is formed in the second convex rib 221, and the first Hall magnet 51 can be a bar-shaped block structure and embedded in the embedding groove 222. The first Hall sensor 52 is arranged outside the housing 10 and connected to the housing 10, and the first Hall magnet 51 is connected to the sleeve 22. In this way, the axial position of the sleeve 22 can be determined according to the position of the first Hall magnet 51 detected by the first Hall sensor 52.

[0076] In some embodiments of the present invention, the force feedback device 1 also includes a second Hall magnet 53 and a second Hall sensor 54. The second Hall sensor 54 is arranged at the other end of the push rod 21 relative to the sleeve 22. The second Hall sensor 54 is arranged in the shell 10 and is used to detect the position of the second Hall magnet 53.

[0077] In some embodiments of the present invention, the other end of the push rod 21 relative to the sleeve 22 is provided with a blind hole 212, and the second Hall magnet 53 is disposed in the blind hole 212. The blind hole 212 can not only be used to place the second Hall magnet 53, but also can be used to be threadedly connected and fixed with the push head 23.

[0078] Recombination Figure 1-Figure 6 In some embodiments of the present invention, the force feedback device 1 has the following force feedback forms, and the specific feedback modes are as follows:

[0079] Force feedback method 1:

[0080] Combination Figure 2-Figure 3 As shown, in some embodiments of the present invention, the driving member 43 rotates in the first direction and drives the second gear 41 and the first gear 42 to rotate, and at the same time drives the push rod 21 to rotate together. During the rotation of the push rod 21, the sliding sleeve 22 retracts to the push rod 21 through the threaded transmission until it reaches the first limit position. Figure 2 As shown in FIG. 1 , at this time, the elastic member 30 has the maximum length dimension, and the end of the push rod 21 extending out of the housing 10 contacts the trigger button. Then the driving member 43 stops driving the second gear 41 and the first gear 42 to rotate, and there is no blocking force between the first gear 42 and the push rod 21. At this time, the push rod 21 is pressed, and the push rod 21 drives the sliding sleeve 22 to move in the axial direction and squeeze the elastic member 30 until the push rod 21 is pressed to the end point, as shown in FIG. Figure 3As shown, at this time, the elastic member 30 cannot be further compressed. In this process, the trigger button is only subjected to the feedback force of the elastic member 30 during the pressing process.

[0081] Force feedback method 2:

[0082] Combination Figure 2 , Figure 4 , Figure 5 As shown, in some embodiments of the present invention, the driving member 43 rotates in the second direction and drives the second gear 41 and the first gear 42 to rotate, and at the same time drives the push rod 21 to rotate together, wherein the second direction is opposite to the first direction in the force feedback mode 1. The sleeve 22 moves in the axial direction under the action of the threaded transmission force of the push rod 21 until the sleeve 22 reaches the second limit position, as shown in FIG. Figure 4 As shown. At this time, the driving state of the driving member 43 is maintained. Since the sliding sleeve 22 reaches the second limit position, the sliding sleeve 22 cannot continue to move in the axial direction. At this time, the trigger button is pressed, and the push rod 21 moves axially relative to the sliding sleeve 22 and squeezes the elastic member 30. The feedback force received by the trigger button mainly comes from the stall force, the sliding friction between the push rod 21 and the sliding sleeve 22, and the elastic force of the elastic member 30. The stall force is controlled by adjusting the output torque of the driving member 43, thereby achieving different feedback forces.

[0083] like Figure 4 As shown, when the sleeve 22 reaches the second extreme position, the push rod 21 and the sleeve 22 have the maximum relative distance, and the driving member 43 no longer provides driving force, when the trigger button is pressed, the force feedback received by the trigger button mainly comes from the sliding friction between the push rod 21 and the sleeve 22, and the elastic force of the elastic member 30.

[0084] like Figure 4 As shown in FIG. 1 , when the slide sleeve 22 reaches the second limit position, the push rod 21 and the slide sleeve 22 have the maximum relative distance, and the driving member 43 continues to rotate in the second direction, the trigger button is pressed at this time, and the push rod 21 moves toward the slide sleeve 22 and rotates in the opposite direction until the push rod 21 is pressed to the end point, as shown in FIG. Figure 5 As shown, at this time, the force feedback received by the trigger button mainly comes from the sliding friction between the push rod 21 and the sliding sleeve 22 , the elastic force of the elastic member 30 , and the stalling force of the driving member 43 .

[0085] Force feedback method three

[0086] Combination Figure 2As shown, in some embodiments of the present invention, the driving member 43 rotates in the first direction or the second direction and drives the second gear 41, the first gear 42 and the first gear 43 to rotate, and at the same time drives the push rod 21 to rotate together, wherein the second direction is opposite to the first direction in the force feedback mode 1. The sleeve 22 moves in the axial direction under the action of the threaded transmission force of the push rod 21, and until the sleeve 22 moves to between the first limit position and the second limit position. At this time, the distance between the end of the sleeve 22 and the housing 10 is L2, and when the sleeve 22 is in the first limit position, the distance between the end of the sleeve 22 and the housing 10 is L1, L2<L1. Among them, the specific stop position of the sleeve 22 can be detected according to the first Hall sensor 52 and the first Hall magnet 51, so as to detect, locate and adjust the axial position of the sleeve 22.

[0087] At this time, when the driving member 43 no longer provides driving force and the trigger button is pressed, the push rod 21 and the sleeve 22 all move in the axial direction and squeeze the elastic member 30 until the sleeve 22 reaches the second limit position, and is only subjected to the feedback force of the elastic member 30 during this pressing process.

[0088] When the driving member 43 rotates again in the second direction and provides driving force and presses the trigger button, the force feedback received by the trigger button mainly comes from the stall force, the sliding friction between the push rod 21 and the sliding sleeve 22, and the elastic force of the elastic member 30, so that the force value of the feedback force can be suddenly increased to improve the user experience. The magnitude of the stall force is controlled by adjusting the output torque of the driving member 43, thereby achieving different feedback forces and improving the force value range of the feedback force. By stopping the sliding sleeve 22 at any position between the first extreme position and the second extreme position, the sense of presence of various games can be simulated, and the control range of the feedback force can be further improved.

[0089] Force feedback mode 4

[0090] Combination Figure 2 , Figure 4 , Figure 5 As shown, in some embodiments of the present invention, compared with the above-mentioned force feedback method 3 of suddenly increasing the force value of the feedback force, the force value of the feedback force can also be suddenly reduced. Figure 5 In the position shown, after the trigger button is pressed for a period of time, the driving member 43 rotates in the first direction and provides driving force. During this process, the trigger button is kept pressed. Under the driving action of the driving member 43, the slide sleeve 22 moves toward the first limit position or tends to move toward the first limit direction. At this time, the feedback force received by the trigger button mainly comes from the partial sliding friction between the slide sleeve 22 and the push rod 21, and the elastic force of the elastic member 30, so that the experience of a sudden reduction in feedback force can be achieved.

[0091] The above-mentioned force feedback modes are only several common force feedback forms of the force feedback device 1 according to the present invention. Of course, the force feedback device 1 according to the present application can also have other forms of force feedback during the working process, which are not listed here one by one.

[0092] The present invention further provides a handle having the force feedback device 1 in any of the above embodiments. Since the handle of the present invention has the same technical features as the force feedback device 1 in any of the above embodiments, the same technical effects can be achieved, and no further description is given here.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A force feedback device, It is characterized in that include: case; A pressure rod assembly, the pressure rod assembly comprising a push rod and a sliding sleeve, the sliding sleeve is arranged inside the housing, one end of the push rod is inserted into the center of the sliding sleeve and is threadedly transmitted with the sliding sleeve to drive the sliding sleeve to move along its own axial direction, and the other end of the push rod extends out of the housing; A driving assembly, the driving assembly comprising a transmission assembly and a driving member, the driving member is connected to the push rod through the transmission assembly and is used to drive the push rod to rotate; the transmission assembly comprises a first gear sleeved on the outside of the push rod and used to drive the push rod to rotate, and the push rod can slide along its own axial direction relative to the first gear; A bearing is fixed inside the housing and connected to the first gear, and the first gear can rotate relative to the bearing with its own central axis as the axis.

2. The force feedback device according to claim 1, It is characterized in that The inner wall of the housing is formed with a limiting groove, and the end of the bearing is fixed in the limiting groove.

3. The force feedback device according to claim 1, It is characterized in that The transmission assembly further includes a second gear, the driving member is connected to the second gear and is used to drive the second gear to rotate, and the second gear is meshed with the first gear; and / or The first gear has an annular groove on its end surface facing the sleeve, and the annular groove has a first side wall close to its central axis and a second side wall away from its central axis. The bearing is inserted into the annular groove and is connected with the first side wall.

4. The force feedback device according to claim 1, It is characterized in that A first slide groove is provided on one of the inner surface of the first gear and the outer surface of the push rod, the first slide groove is a linear slide groove and is consistent with the axial direction of the push rod, a first rib is provided on the other of the inner surface of the first gear and the outer surface of the push rod, the number of the first slide grooves and the first ribs are equal and are correspondingly provided, the first rib is inserted into the first slide groove and slides along the axial direction of the push rod; And / or, at least one limiting portion is provided on the push rod, and the end surface of the first gear facing the sliding sleeve can abut against the limiting portion.

5. The force feedback device according to claim 1, It is characterized in that The shell includes a main body and a cover portion, the main body forms a accommodating cavity with an open end, and the cover portion covers the opening of the accommodating cavity; the driving member is located on the outside of the main body, and the main body, the cover portion and the driving member are connected by threaded fasteners.

6. The force feedback device according to claim 5, It is characterized in that It also includes an elastic member; a push head is formed at the other end of the push rod relative to the sliding sleeve, the elastic member is sleeved on the push rod, and one end of the elastic member abuts against the cover plate portion, and the other end abuts against the push head.

7. The force feedback device according to any one of claims 6, It is characterized in that A guide sleeve is formed on the other side of the cover portion relative to the main body portion, and one end of a portion of the elastic member away from the push head is arranged in the guide sleeve.

8. The force feedback device according to claim 1, It is characterized in that A second slide groove is provided on one of the outer surface of the sliding sleeve and the inner wall surface of the shell, and the second slide groove is a linear slide groove and is consistent with the axial direction of the sliding sleeve. A second rib is provided on the other of the outer surface of the sliding sleeve and the inner wall surface of the shell, and the second rib is inserted into the second slide groove and slides along the second slide groove.

9. The force feedback device according to claim 8, It is characterized in that The second convex rib is arranged on the sliding sleeve, and a first Hall magnet is arranged inside the second convex rib, and the force feedback device is further provided with a first Hall sensor, which is arranged on the housing and used to detect the position of the first Hall magnet; and / or The force feedback device further includes a second Hall magnet and a second Hall sensor. The second Hall sensor is disposed at the other end of the push rod relative to the sliding sleeve. The second Hall sensor is disposed in the housing and is used to detect the position of the second Hall magnet.

10. A handle, It is characterized in that A force feedback device according to any one of claims 1 to 9.

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