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 and a driving assembly, 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 first gear, a second gear, a third gear and a driving part, the diameters of the first gear, the second gear and the third gear are sequentially increased, the driving part is connected with the first gear, the second gear is arranged outside the push rod in a sleeving mode, and the push rod can slide relative to the second gear in the axial direction of the push rod; and the third gear is respectively meshed with the first gear and the second gear. According to the force feedback device, the driving assembly is improved, so that the force feedback device has a larger reduction ratio, the output resistance is larger, and the force feedback performance is 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 drive component, and the driving force is amplified by a deceleration mechanism and transmitted to the trigger to realize the force feedback function. However, the design of the deceleration mechanism in the drive component is closely related to the structural space of the force feedback device. Based on the current spatial layout, the existing deceleration mechanism cannot meet the needs of users.

[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 provide better force feedback performance.

[0005] A first aspect of the present invention provides a force feedback device, comprising:

[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 includes a first gear, a second gear, a third gear and a driving member, the diameters of the first gear, the second gear and the third gear are increased successively, the driving member is connected to the first gear, and is used to drive the first gear to rotate, the second gear is sleeved on the outside of the push rod, and the push rod can slide along its own axial direction relative to the second gear, the third gear is respectively engaged with the first gear and the second gear, and is used to transmit the drive of the first gear to the second gear to drive the push rod to rotate.

[0009] The force feedback device provided by the present invention may also have the following additional technical features:

[0010] In some embodiments of the present invention, a first slide groove is provided on one of the inner surface of the second 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 second gear and the outer surface of the push rod, the number of the first slide grooves and the first ribs are equal and they are provided correspondingly, the first rib is inserted into the first slide groove and slides along the axial direction of the push rod;

[0011] And / or, at least one limiting portion is provided on the push rod, and the end surface of the second gear facing the sliding sleeve can abut against the limiting portion.

[0012] In some embodiments 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.

[0013] In some embodiments of the present invention, the accommodating cavity of the main body forms a limiting column, and the third gear is installed on the limiting column and can rotate around the limiting column.

[0014] In some embodiments of the present invention, an elastic member is further included; 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.

[0015] In some embodiments 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 elastic member away from the push head is disposed in the guide sleeve.

[0016] In some embodiments of the present invention, a second slide groove is provided on one of the outer surface of the 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 sleeve. A second rib is provided on the other of the outer surface of the 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.

[0017] In some embodiments of the present invention, the second convex rib is disposed on the sliding sleeve, and a first Hall magnet is disposed in the second convex rib, and the force feedback device is further provided with a first Hall sensor, which is disposed on the housing and is used to detect the position of the first Hall magnet; and / or

[0018] 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.

[0019] In some embodiments of the present invention, the elastic member is a spring.

[0020] A second aspect of the present invention further provides a handle having any one of the force feedback devices described above.

[0021] 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 compared with a driving component with two gears, a driving component with three gears can achieve a higher reduction ratio and a greater output resistance, thereby improving the force feedback performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 It is a schematic cross-sectional structure diagram of a force feedback device in one embodiment of the present invention;

[0024] 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;

[0025] 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;

[0026] Figure 4 is 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;

[0027] 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;

[0028] Figure 6 It is a partial structural schematic diagram of the force feedback device.

[0029] 1-Force feedback device;

[0030] 10-housing, 11-body, 111-second slide groove, 12-cover plate, 121-mounting hole, 122-guide sleeve;

[0031] 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;

[0032] 30- elastic member;

[0033] 40-driving assembly, 41-first gear, 42-second gear, 43-driving member, 44-third gear, 44-limiting column;

[0034] 51-first Hall magnet, 52-first Hall sensor, 53-second Hall magnet, 54-second Hall sensor;

[0035] 60-thread fasteners. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] The purpose of the present invention is to at least solve the problem that the speed reduction mechanism in the driving assembly 40 of the force feedback device 1 cannot meet the needs of users due to limited space.

[0041] 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 have a larger reduction ratio by improving the reduction mechanism in the drive component 40, so that the force feedback device 1 has better force feedback performance.

[0042] Combination Figure 1-6As 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 and a driving assembly 40, wherein 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, and 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 and provides elasticity during the axial movement of the push rod. The driving assembly 40 includes a first gear 41, a second gear 42, a third gear 44 and a driving member 43. The diameters of the first gear 41, the second gear 42 and the third gear 44 increase successively. The driving member 43 is connected to the first gear 41 and is used to drive the first gear 41 to rotate. The second gear 42 is sleeved on the outside of the push rod, and the push rod can slide along its own axial direction relative to the second gear 42. The third gear 44 is respectively meshed with the first gear 41 and the second gear 42, and is used to transmit the drive of the first gear 41 to the second gear 42 to drive the push rod to rotate.

[0043] 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.

[0044] 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.

[0045] 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 elastic member 30. 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.

[0046] In the driving assembly 40, the first gear 41, the second gear 42 and the third gear 44 are all arranged in the housing 10, and the outer surface of the first gear 41 is provided with a first toothed surface, the outer surface of the second gear 42 is provided with a second toothed surface, and the outer surface of the third gear 44 is provided with a third toothed surface, and the third toothed surface is meshed with the first toothed surface and the second toothed surface respectively, so that when the driving member 43 drives the first gear 41 to rotate, the third gear 44 rotates together with the first gear 41, and the second gear 42 rotates together with the third gear 44, 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 connected to the first gear 41. Further, the turning radius of the first gear 41, the third gear 44, and the second gear 42 increases successively, so the reduction ratio of the driving assembly 40 can be adjusted by adjusting the turning radius of the first gear 41, the second gear 42 and the third gear 44, so that the driving assembly 40 has a larger reduction ratio and a better force feedback effect.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] According to the force feedback device 1 of the present invention, when the driving assembly 40 does not provide driving force and the push rod 21 is pressed to extend 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 assembly 40 provides driving force and the push rod 21 is pressed to extend 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 assembly 40 and the push rod 21, so that 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. In addition, compared with the driving assembly 40 with double gears, the driving assembly 40 with three gears can achieve a higher reduction ratio and a greater output resistance, thereby improving the force feedback performance.

[0051] In some embodiments of the present invention, a first slide groove is set on one of the inner surface of the second 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 second 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.

[0052] Specifically, the first ribs and the first slide grooves 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. The inner surface of the second gear 42 is evenly arranged with a plurality of first ribs along the circumferential direction, and the setting directions of the first ribs and the first slide grooves are consistent, thereby ensuring the transmission connection and axial movement of the second gear 42 and the push rod 21.

[0053] 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 second gear 42 facing the sliding sleeve can abut against the limiting portion 211 .

[0054] 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 second gear 42, and abuts against the end surface of the second gear 42 facing the sleeve 22, thereby playing an axial limiting role, thereby preventing the push rod 21 from being separated from the second gear 42 during axial movement.

[0055] 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.

[0056] 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 portion 12 is covered 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 portion 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 portion 12 to extend to the outside of the housing 10. The first gear 41, the second gear 42 and the third gear 44 are provided in the first cavity.

[0057] 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 first gear 41 .

[0058] 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.

[0059] In some embodiments of the present invention, the accommodating cavity of the main body 11 forms a limiting column 44 , and the third gear 44 is installed on the limiting column 44 and can rotate around the limiting column 44 .

[0060] Specifically, the limiting column 44 is disposed in the second cavity and is specifically formed integrally with the main body 11 , so that it can not only limit the third gear 44 mounted thereon, but also allow the third gear 44 to rotate.

[0061] Of course, in other embodiments, the limit column 44 can be integrally provided with the third gear 44. In this way, corresponding limit holes can be provided on the main body portion 11 and the cover portion 12 to limit the two ends of the limit column 44, so that the third gear 44 with the limit column 44 can rotate at a specific position.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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 .

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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:

[0075] Force feedback method 1:

[0076] Combination Figure 2-Figure 3As shown, in some embodiments of the present invention, the driving member 43 rotates in the first direction and drives the first gear 41, the third gear 44 and the second 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, 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 abuts against the trigger button. Then the driving member 43 stops driving the first gear 41, the third gear 44 and the second gear 42 to rotate, and there is no blocking force between the second 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 3 As 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.

[0077] Force feedback method 2:

[0078] 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 first gear 41, the third gear 44 and the second 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 thread 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.

[0079] 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.

[0080] like Figure 4As 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 .

[0081] Force feedback method three

[0082] Combination Figure 2 As shown, in some embodiments of the present invention, the driving member 43 rotates in the first direction or the second direction and drives the first gear 41, the second gear 42 and the second 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.

[0083] 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 sliding sleeve 22 all move in the axial direction and squeeze the elastic member 30 until the sliding sleeve 22 reaches the second limit position, and is only subjected to the feedback force of the elastic member 30 during this pressing process.

[0084] 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.

[0085] Force feedback mode 4

[0086] Combination Figure 2 , Figure 4 , Figure 5As 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.

[0087] 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.

[0088] 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.

[0089] 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, 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 includes a first gear, a second gear, a third gear and a driving member, the diameters of the first gear, the second gear and the third gear are increased successively, the driving member is connected to the first gear, and is used to drive the first gear to rotate, the second gear is sleeved on the outside of the push rod, and the push rod can slide along its own axial direction relative to the second gear, the third gear is respectively engaged with the first gear and the second gear, and is used to transmit the drive of the first gear to the second gear to drive the push rod to rotate.

2. The force feedback device according to claim 1, characterized in that: A first slide groove is provided on one of the inner surface of the second 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, and a first rib is provided on the other of the inner surface of the second gear and the outer surface of the push rod, the number of the first slide grooves and the first ribs is equal and they are correspondingly provided, and 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 second gear facing the sliding sleeve can abut against the limiting portion.

3. The force feedback device according to claim 1, 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.

4. The force feedback device according to claim 3, characterized in that: The accommodating cavity of the main body forms a limiting column, and the third gear is installed on the limiting column and can rotate around the limiting column.

5. The force feedback device according to claim 3, 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.

6. The force feedback device according to claim 5, 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.

7. The force feedback device according to claim 1, 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.

8. The force feedback device according to claim 7, 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.

9. The force feedback device according to any one of claims 5, characterized in that: The elastic member is a spring.

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

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