Force feedback device and handle

Abstract

The invention discloses a force feedback device and a handle, and relates to the technical field of electronic equipment.The force feedback device comprises a shell, a pressing rod and a driving assembly, a first thread part is arranged in an inner cavity of the shell, a cover part is formed on one side of the shell in the first direction, an opening is formed in the cover part, and a flanging part is formed on the edge of the opening; a second threaded part is arranged at one end of the pressing rod, and the second threaded part is in threaded connection with the first threaded part, so that the pressing rod can move in the first direction when rotating relative to the shell; the driving assembly comprises a driving part and a transmission part which are in driving connection, the transmission part comprises an annular gear arranged on the outer side of the pressing rod in a sleeving mode, a first gap is formed between the flanging part and the pressing rod, a second gap is formed between an inner hole of the annular gear and the pressing rod, and the size of the first gap is smaller than that of the second gap. Even if the pressing rod deflects, the pressing rod can abut against the flanging part firstly, and a certain fit clearance still exists between the pressing rod and the annular gear, so that torque transmission is not affected, and the situation that a transmission part is stuck can be avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronic equipment, in particular to a force feedback device and a handle. BACKGROUND

[0002] At present, game equipment manufacturers increase force feedback devices in game handles to simulate the immediacy of specific game scenes, such as the force feedback game operations of drawing a bow and shooting an arrow, pulling the trigger of various firearms, etc. However, the existing force feedback devices have complex structures and large volumes, and cannot freely adjust the force feedback state and the feedback force, so the adjustment freedom is small, which cannot meet the increasing game experience requirements of users. SUMMARY

[0003] In order to realize the adjustment of the feedback force, in some structures, a compression rod capable of moving along a straight line is arranged, but the compression rod is limited by multiple components during movement, so when the compression rod deviates during movement, the force transmission may be invalid due to the jamming.

[0004] The main purpose of the present application is to provide a force feedback device and a handle, which can ensure the stability of force transmission during the force movement of the compression rod by limiting the compression rod cooperation gap.

[0005] In order to achieve the above purpose, the present application provides a force feedback device, comprising: a housing, a first threaded portion is arranged in the inner cavity of the housing, a cover portion is formed on one side of the housing in a first direction, an opening is arranged on the cover portion, and a flange portion extending towards the inner side of the housing and arranged in a ring shape is formed on the edge of the opening; a compression rod extending in the first direction, a second threaded portion is arranged at one end of the compression rod, the compression rod can extend into the inner cavity of the housing from the opening, and the second threaded portion is threadedly connected with the first threaded portion, so that the compression rod can move in the first direction when rotating relative to the housing; and a driving assembly installed on the housing, the driving assembly comprises a driving member and a transmission member connected by driving, the transmission member comprises a ring gear, and the ring gear is sleeved on the outer side of the compression rod; a first gap is defined between the flange portion and the compression rod, a second gap is formed between the inner hole of the ring gear and the compression rod, and the size of the first gap is smaller than the size of the second gap.

[0006] In an embodiment, the transmission member further comprises a driving gear engaged with the ring gear, and the driving gear is connected with the driving member.

[0007] In an embodiment, the outer side of the compression rod is formed with a plurality of guide grooves arranged at intervals in the circumferential direction. The inner hole wall of the ring gear is provided with a plurality of limiting ribs, which are used to extend into the guide groove.

[0008] In an embodiment, the inner cavity of the shell is provided with an internal thread to form a first threaded portion; The outer side of the pressing rod is provided with an external thread to form a second threaded portion.

[0009] In an embodiment, the cover part is made of metal.

[0010] In an embodiment, the shell includes a first shell and a second shell oppositely arranged along a first direction, the first shell and the second shell jointly enclosing an inner cavity of the shell, the first shell forming the cover part, and the second shell being provided with the first threaded portion; The driving assembly is arranged in the second shell.

[0011] In an embodiment, the first shell is made of metal, and the second shell is made of plastic.

[0012] In an embodiment, the ring gear is provided with an arc-shaped matching surface at one end thereof facing the cover part, and the arc-shaped matching surface is in contact with the cover part.

[0013] In an embodiment, the force feedback device further includes a position detection device, which includes a magnetic sensor and an induction magnet that cooperate with each other, the induction magnet is embedded in the pressing rod, and the magnetic sensor is arranged on the shell to cooperate with the induction magnet to detect the position of the pressing rod relative to the shell in the first direction.

[0014] The application further provides a handle, which includes: a trigger; and a force feedback device, which at least includes: a shell, an inner cavity of the shell being provided with a first threaded portion, one side of the shell in a first direction forming a cover part, the cover part being provided with an opening, an edge of the opening forming a flange part extending towards the inner side of the shell and arranged in a ring shape; a pressing rod extending in the first direction, one end of the pressing rod being provided with a second threaded portion, the pressing rod being capable of extending into the inner cavity of the shell from the opening, and the second threaded portion being threadedly connected with the first threaded portion, so that when the pressing rod rotates relative to the shell, the pressing rod is capable of moving in the first direction; and a driving assembly installed in the inner cavity of the shell, the driving assembly including a driving member and a transmission member in driving connection, the transmission member including a ring gear, the ring gear being sleeved on the outer side of the pressing rod; The first gap is defined between the flange part and the pressing rod, and the second gap is formed between the inner hole of the ring gear and the pressing rod, and the size of the first gap is smaller than the size of the second gap; The pressing rod has a force feedback state of moving to abut against the trigger and a separation state of separating from the trigger.

[0015] In the technical scheme, when the driving assembly works, the transmission member can convert the driving force of the driving member into the rotating force of the pressing rod, so that the pressing rod can rotate relative to the shell, and based on the threaded structure of the pressing rod and the shell, the pressing rod can move in the first direction, so that the length of the part of the pressing rod exposed from the shell can be adjusted. During the forward rotation and the reverse rotation of the pressing rod, the pressing rod can abut against or separate from the trigger of the handle. By controlling whether the pressing rod contacts the trigger and when the pressing rod contacts the trigger, different force feedback effects can be obtained when the user operates the trigger, so that different game experiences can be obtained. Since the driving force acting on the pressing rod has a side force, when the pressing rod moves in the first direction, there is a certain deflection amount. By setting the size of the first gap to be smaller than the size of the second gap, even if the pressing rod is deflected, the pressing rod can first abut against the flange part, and there is still a certain fitting gap between the pressing rod and the ring gear, so that the transmission of the torque is not affected, the situation that the transmission member is stuck can be avoided, and the stability of the whole device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 The structure diagram of an embodiment (one angle) of the force feedback device provided by the present application; Figure 2 The structure diagram of an embodiment (one angle) of the force feedback device provided by the present application; Figure 1 The exploded view of the force feedback device; Figure 3 The structure diagram of an embodiment (one angle) of the force feedback device provided by the present application; Figure 1 The top view of the force feedback device; Figure 4 The structure diagram of an embodiment (one angle) of the force feedback device provided by the present application; Figure 1 The cross-sectional view of the cooperation between the pressing rod and the shell; Figure 5 The structure diagram of an embodiment (one angle) of the force feedback device provided by the present application; Figure 4 The enlarged view of the local part A.

[0018] Explanation of reference numerals: 100, force feedback device; 1, housing; 10, first threaded part; 11, cover part; 111, opening; 12, flange part; 13, first shell; 14, second shell; 2, pressing rod; 20, second threaded part; 21, guide groove; 3, driving assembly; 31, driving piece; 32, transmission piece; 321, driving gear; 322, ring gear; 33, limiting rib; 4, position detection device; 41, magnetic inductor; 42, inductive magnet; 5, fastening screw; 6, flexible circuit board; 7, plug; 30, first gap; 40, second gap.

[0019] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments in combination with the accompanying drawings. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present application.

[0021] It should be noted that if the directionality indication is involved in the embodiments of the present application, the directionality indication is only used to explain the relative position relationship, movement condition and the like between components in a certain specific posture, and if the specific posture changes, the directionality indication also changes accordingly.

[0022] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the description purpose, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one feature. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that the technical solutions can be realized by those skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0023] In order to improve the user operation experience, game device manufacturers increase force feedback devices in game handles to simulate the immediacy of specific game scenes. In order to realize the adjustment of feedback force, in some structures, a pressing rod capable of moving along a straight line is arranged, but the pressing rod is limited by multiple components during the movement, and therefore when the pressing rod deviates during the movement, the force transmission may be invalid due to the jamming.

[0024] The application provides a force feedback device and a handle, which ensure the stability of force transmission during the force receiving and moving process of the pressing rod by limiting the cooperation gap of the pressing rod, and avoid the transmission member from being stuck due to being squeezed.

[0025] Please refer to Figures 1 to 3 The force feedback device 100 comprises a shell 1, a pressing rod 2 and a driving assembly 3, the inner cavity of the shell 1 is provided with a first threaded part 10, the shell 1 is formed with a cover part 11 on one side in the first direction, the cover part 11 is provided with an opening 111, the edge of the opening 111 is formed with a flange part 12 extending towards the inner side of the shell 1 and arranged in a ring shape, the pressing rod 2 extends in the first direction, one end of the pressing rod 2 is provided with a second threaded part 20, the pressing rod 2 can extend into the inner cavity of the shell 1 from the opening 111, and the second threaded part 20 is threadedly connected with the first threaded part 10, so that when the pressing rod 2 rotates relative to the shell 1, the pressing rod 2 can move in the first direction, the driving assembly 3 is installed in the inner cavity of the shell 1, and the driving assembly 3 comprises a driving member 31 and a transmission member 32 (please refer to Figure 4 The flange part 12 and the pressing rod 2 form a first gap 30, the ring-shaped gear 322 and the pressing rod 2 form a second gap 40, and the size of the first gap 30 is smaller than the size of the second gap 40.

[0026] In the technical scheme of the application, when the driving assembly 3 works, the transmission member 32 can convert the driving force of the driving member 31 into the rotating force of the pressing rod 2, so that the pressing rod 2 can rotate relative to the shell 1, and based on the threaded cooperation structure of the pressing rod 2 and the shell 1, the pressing rod 2 can move in the first direction, so that the length of the part of the pressing rod 2 exposed from the shell 1 can be adjusted, and in the process of forward rotation and reverse rotation of the pressing rod 2, the pressing rod 2 can abut against or separate from the trigger of the handle. By controlling whether the pressing rod 2 contacts the trigger and when the pressing rod 2 contacts the trigger, the user can obtain different force feedback effects when operating the trigger, so as to obtain different game experiences. Since the driving force acting on the pressing rod 2 has a side force, when the pressing rod 2 moves in the first direction, there is a certain deflection amount, by setting the size of the first gap 30 to be smaller than the size of the second gap 40, even if the pressing rod 2 is deflected, the pressing rod 2 can first abut against the flange part 12, and there is still a certain cooperation gap between the pressing rod 2 and the ring-shaped gear 322, so that the transmission of the torque is not affected, and the situation that the transmission member 32 is stuck can be avoided, and the stability of the whole device operation is improved.

[0027] Specifically, the driving assembly 3 can have two working processes. In one working process, the driving assembly 3 can drive the pressing rod 2 to rotate, so as to adjust the size of the pressing rod 2 extending out of the shell 1, and then control the pressing rod 2 to abut against or be separated from the trigger, so as to control whether the force feedback device 100 is used or not. When the force feedback device 100 is controlled to be used in the above working process, that is, the pressing rod 2 abuts against the trigger, the driving assembly 3 has another working process. Specifically, when the driving assembly 3 is powered and driven towards the direction of driving the pressing rod 2 to extend out of the shell 1, if the trigger is pressed by the user, the driving assembly 3 gives the user a blocking force in the opposite direction of pressing, and the friction force when the pressing rod 2 rotates relative to the shell forms a force feedback to the user, and at this time the driving assembly 3 is used to increase the feedback force; on the contrary, when the driving assembly 3 is powered and driven towards the direction of driving the pressing rod 2 to retract into the shell 1, if the trigger is pressed by the user, the driving assembly 3 gives the user a driving force in the same direction of pressing, so as to offset the friction force when the pressing rod 2 rotates relative to the shell, and form a force feedback to the user, and at this time the driving assembly 3 is used to reduce the feedback force; and when the driving assembly 3 is not enabled, if the user presses the trigger, the friction force between the pressing rod 2 and the shell 1 relative to the rotation is used as the force feedback to the user.

[0028] In the process of cooperation between the pressing rod 2 and the parts, the cooperation between the cover body 11 and the pressing rod 2 requires higher precision, so that the opening 111 plays a guiding and limiting role in the cooperation process with the pressing rod 2. The inner hole of the ring gear 322 is provided for the pressing rod 2 to avoid and cooperate with the pressing rod 2 to transmit torque.

[0029] Please refer to Figure 5 The edge of the opening 111 is formed with a flange portion 12 extending towards the inside of the shell 1, and the first gap 30 is defined between the flange portion 12 and the pressing rod 2. The first gap 30 is a1, the second gap 40 is a2, and a1

[0030] It should be noted that the size of the flange portion 12 in the first direction needs to be reasonably set, so as to ensure the good cooperation effect between the flange portion 12 and the pressing rod 2. If the size of the flange portion 12 in the first direction is too small, it cannot play a guiding and cooperating effect, and it may also scratch the pressing rod 2. If the size of the flange portion 12 in the first direction is too large, the limitation on the pressing rod 2 is too large, which may increase the risk of jamming of the pressing rod 2 when it is deflected, and also cause large wear in the rotating cooperation. Through simulation analysis and experimental verification, when the size of the flange portion 12 in the first direction is 0.5-1mm, the effect is best.

[0031] Specifically, the flange portion 12 is annularly arranged to be annularly arranged on the outside of the pressing rod 2. The flange portion 12 can include a plurality of flange pieces, and the plurality of flange pieces are arranged at intervals along the circumference of the pressing rod 2 to form an annular structure, that is, adjacent two flange pieces can have a certain interval.

[0032] Based on different flanging processes, in some embodiments, the flanging portion 12 comprises a fitting segment extending along the first direction, one end of the fitting segment is connected with the edge of the opening 111, and corresponds to the outer side of the pressing rod 2. At this time, the cross section of the cover body portion 11 and the flanging portion 12 cooperated is L-shaped, and the fitting segment can be correspondingly arranged in a ring shape.

[0033] In another embodiment, the flanging portion 12 further comprises a supporting segment, the supporting segment is connected with the other end of the fitting segment, and extends towards the direction away from the pressing rod 2, the plane where the supporting segment is arranged is arranged at an angle with the plane where the fitting segment is arranged. At this time, the cross section of the flanging portion 12 and the cover body portion 11 cooperated is U-shaped, and the supporting segment and the fitting segment can be both arranged in a ring shape.

[0034] In the above embodiments, the fitting segment is the part that guides and cooperates with the pressing rod 2, and the supporting segment does not contact the pressing rod 2, mainly to improve the structural strength. It should be noted that the angle between the supporting segment and the fitting segment is not limited, and the angle mainly affects the processing technology and the structural strength, and does not affect the cooperation between the flanging portion 12 and the pressing rod 2.

[0035] Further, the pressing rod 2 and the transmission member 32 are slidingly arranged in the first direction and are rotationally fixed. When the pressing rod 2 is driven to rotate by the transmission member 32, the pressing rod 2 also moves in the first direction. If the driving points of the transmission member 32 and the pressing rod 2 are relatively fixed in the first direction, at least the transmission member 32 needs to move in the first direction synchronously with the pressing rod 2, that is, the transmission member 32 and the pressing rod 2 can be slidingly arranged in the first direction and rotationally fixed, at this time, the problem of how to ensure that the transmission member 32 is always connected with the driving member 31 during the lifting process in the first direction is involved; or the transmission member 32, the pressing rod 2 and the driving member 31 all move in the first direction with the pressing rod 2, and accordingly more space is needed for arrangement. Therefore, in the present embodiment, the transmission member 32 is arranged to slidingly arranged in the first direction and rotationally fixed with the pressing rod 2, so that the overall position of the driving assembly 3 can be fixed, facilitating the miniaturization of the device. The transmission connection form of the driving member 31 and the pressing rod 2 is not limited, for example, it can be belt transmission, chain wheel transmission, gear transmission, etc. In the present embodiment, the transmission member 32 further comprises a driving gear 321 meshing with a ring gear 322, the driving gear 321 is connected with the driving member 31, and the driving member 31 can be arranged as a motor. The driving gear 321 can be fixed and synchronously rotated with the driving shaft of the motor. When the driving gear 321 rotates, the ring gear 322 is driven to move, and can transmit driving force to the pressing rod 2, so that the pressing rod 2 realizes the rotating and lifting action. That is, the ring gear 322 acts as a driven gear in the force transmission process. It should be understood that the motor body is arranged outside the housing 1, and the motor shaft extends into the inside of the housing 1.

[0036] Based on this embodiment, the position of the ring gear 322 in the first direction can be limited by arranging corresponding limiting structures, such as grooves, protrusions, etc., inside the housing 1.

[0037] It should be understood that corresponding matching components can be arranged inside the ring gear 322 and outside the pressing rod 2, so that the gap between the ring gear 322 and the pressing rod 2 is not too large, and the pressing rod 2 is not forced when the ring gear 322 rotates.

[0038] Further, the outer side of the pressing rod 2 is formed with a plurality of guide grooves 21 arranged at intervals in the circumferential direction; the inner hole wall of the ring gear 322 is provided with a plurality of limiting ribs 33, which extend into the guide grooves 21. When the driving member 31 drives the ring gear 322 to rotate, the limiting ribs 33 will abut against the groove walls of the guide grooves 21 during rotation, thereby driving the pressing rod 2 to rotate, and relatively, the pressing rod 2 moves in the first direction relative to the housing 1, the limiting ribs 33 can move along the length direction of the guide grooves 21, without the need for the transmission member 32 to move, the structure is simple and ingenious, and has strong practicability. It should be understood that the number of guide grooves 21 is greater than or equal to the number of limiting ribs 33, and in some embodiments, the number of the two is the same, at this time each limiting rib 33 extends into the corresponding guide groove 21. In some embodiments, the number of guide grooves 21 is more, at this time part of the guide grooves 21 is arranged with limiting ribs 33, and part of the guide grooves 21 is empty, which has no influence on the realization of its function, and makes the pressing rod 2 can be used for different gear structures. It should be understood that when the pressing rod 2 is a plastic part, the guide grooves 21 can be directly obtained by thermoplastic processing, and when the pressing rod 2 is a metal part, the guide grooves 21 can be machined by cutting.

[0039] The shapes of the guide grooves 21 and the limiting ribs 33 can be matched, thereby facilitating the cooperation of the pressing rod 2 in the first direction, or the shapes of the guide grooves 21 and the limiting ribs 33 can be different, as long as they can relatively move. For example, the guide grooves 21 are arranged as arc grooves, and the limiting ribs 33 are arranged as arc protrusions. For example, the guide grooves 21 are arranged as square grooves, and the limiting ribs 33 are arranged as protrusions; for example, the guide grooves 21 are arranged as square grooves, and the limiting ribs 33 are arranged as arc protrusions. The present application does not limit this.

[0040] In some embodiments, the top of the limiting rib 33 is an arc protruding towards the direction of the guide groove 21, and the limiting rib 33 defines a limiting groove between two adjacent limiting ribs 33, and a guide protrusion between two adjacent guide grooves 21, and the gap between the top of the limiting rib 33 and the guide groove 21 is smaller than the gap between the limiting groove and the guide protrusion. In this way, the ring gear 322 and the pressing rod 2 can be in linear contact, and when transmitting torque, the pressing rod 2 can reduce the frictional resistance when moving linearly in the first direction.

[0041] Based on the embodiment, the guide protrusions are defined between two adjacent guide grooves 21, and the limiting grooves are defined between two adjacent limiting ribs 33. The second gap 40 is defined between the outer side surface of the guide protrusion and the bottom surface of the limiting groove.

[0042] In the embodiment, the top of the limiting rib 33 is arc-shaped, and the groove width of the guide groove 21 is gradually expanded towards the direction of the ring gear 322. In this way, the groove width of the guide groove 21 can adapt to the arc size of the limiting rib 33, and the gap between the limiting rib 33 and the guide groove 21 in the circumferential direction is ensured.

[0043] Specifically, the guide groove 21 includes a bottom wall and two side walls respectively arranged on the opposite sides of the bottom wall, and the two side walls extend away from each other; the gap between the top of the limiting rib 33 and the bottom wall is smaller than the gap between the bottom of the limiting rib 33 and the side wall. During the movement of the limiting rib 33 driven by the ring gear 322, the forward rotation or reverse rotation of the ring gear 322 can contact different side walls, thereby driving the pressure rod 2 to rotate relative to the housing 1 in a threaded manner.

[0044] Further, considering the stability of cooperation, the number of limiting ribs 33 is a, where a≥3. Three limiting ribs 33 can form a triangular stable support, which is more stable than the case of a single limiting rib and two limiting ribs.

[0045] The plurality of limiting ribs 33 includes a first limiting rib and a second limiting rib arranged adjacent in the circumferential direction of the pressure rod 2, and the first limiting rib and the second limiting rib are spaced apart in the first direction. Thus, contact points are formed in two dimensions in the first direction during torque transmission.

[0046] In addition, the slope surface of the tooth portion of the ring gear 322 engaged with the drive gear 321 is an arc-shaped protrusion outward; thereby realizing linear contact when cooperating with the drive gear 321. The slope surface adjacent to the top of the limiting rib 33 is an arc-shaped protrusion inward, thereby realizing linear contact when cooperating with the guide groove 21.

[0047] The housing 1 and the pressure rod 2 are cooperated by threads. A threaded hole can be provided on the pressure rod 2, and a corresponding screw is arranged in the housing 1 to realize cooperation. In the embodiment, please refer to Figure 4 The inner cavity of the housing 1 is provided with an internal thread to form a first threaded portion 10; and the outer side of the pressure rod 2 is provided with an external thread to form a second threaded portion 20.

[0048] For easy processing and disassembly, please refer to Figure 2The shell 1 comprises a first shell 13 and a second shell 14 oppositely arranged along the first direction, the first shell 13 and the second shell 14 jointly form an inner cavity of the shell 1, the first shell 13 forms the cover body 11, and the first threaded portion 10 is arranged in the second shell 14; the driving assembly is arranged in the second shell 14. In this embodiment, the first shell 13 serves as the cover body, and the second shell 14 serves as the mounting base. It should be understood that the driving member 31 is mounted based on the second shell 14, and the position of the ring gear 322 in the first direction can be jointly limited by the first shell 13 and the second shell 14.

[0049] Based on the above embodiment, considering the function of the cover body 11, the cover body 11 is arranged to be made of metal, that is, the first shell 13 is arranged to be made of metal, and the material of the second shell 14 can be the same as or different from that of the first shell 13. For example, the second shell 14 is arranged to be made of plastic, which is lighter in quality and suitable for the preparation of complex shapes.

[0050] The first shell 13 and the second shell 14 can be connected in the form of snap fit, and in this embodiment, are also locked by the fastening screw 5.

[0051] Specifically, the ring gear 322 is mainly positioned on the second shell 14 during installation and cooperation. If the cooperation gap between the pressing rod 2 and the first shell 13 is too large, the inclination of the pressing rod 2 will be relatively large. At this time, if the cooperation gap between the pressing rod 2 and the ring gear 322 is small, the inclination of the pressing rod 2 will resist the inner side of the ring gear 322, causing the ring gear 322 to be squeezed and dead, the ring gear 322 cannot rotate, and the torque cannot be transmitted. Therefore, not only should the first gap 30 be smaller than the second gap 40, but also the first gap 30 should be controlled within a reasonable range.

[0052] Based on the structure that the first shell 13 and the second shell 14 jointly form the shell 1, the second shell 14 forms a positioning groove, one end of the ring gear 322 along the first direction is arranged in the positioning groove, and the other end of the ring gear 322 along the first direction is opposite to the flange portion 12 along the radial direction. The first shell 13 and the positioning groove realize the position limitation of the ring gear 322 in the first direction, and the flange portion 12 realizes the position limitation of the ring gear 322 in the radial direction.

[0053] Specifically, the middle part of the one end of the ring gear 322 towards the cover body is provided with a sunken groove communicating with the inner hole of the ring gear 322, and the flange portion 12 extends into the sunken groove, so that the flange portion 12 can serve as the shaft positioning structure of the ring gear 322.

[0054] The annular gear 322 is provided with an arc-shaped matching surface at one end thereof facing the cover body 11, and is provided with an arc-shaped matching surface at the other end thereof facing away from the cover body 11, which is used to contact the bottom wall of the positioning groove. In this way, the arc surface contacts the plane to form a tangent matching effect, which is beneficial to the accurate positioning of the annular gear 322 and can reduce the rotational friction resistance of the annular gear 322.

[0055] It should be noted that the end of the annular gear 322 facing away from the cover body is provided with an arc-shaped matching surface, and the arc-shaped matching surface contacts the part of the positioning groove close to the pressing rod 2. The value of the torque is affected by the radius and the friction force. When the friction coefficient is fixed, the smaller the radius, the smaller the torque. Therefore, in the limited space of the bottom wall of the positioning groove, the arc-shaped matching surface is arranged as close to the pressing rod 2 as possible, thereby reducing the torque.

[0056] Based on the above position limitation of the annular gear 322, the positioning of the annular gear 322 is ensured, the transmission shaking is smaller, and the transmission efficiency is high.

[0057] Furthermore, the outer side surface of the annular gear 322 is provided in steps to form a first matching section and a second matching section with gradually decreasing outer diameters. The second matching section is located in the positioning groove, and the first matching section matches the cover body. The stepped surfaces formed by the first matching section and the second matching section have a certain distance from the edge of the positioning groove, and the second matching section is radially limited in position by the positioning groove.

[0058] In order to meet different force feedback requirements, the pressing rod 2 can be stopped at a specific position, or the rotation angle of the motor can be controlled, so it is necessary to confirm the current position of the pressing rod 2 during the movement of the pressing rod 2 in the first direction. Therefore, in the present embodiment, a position detection device 4 is provided to detect the position of the pressing rod 2 in real time. The position detection device includes a magnetic sensor 41 and a sensing magnet that cooperate with each other. The sensing magnet is embedded in the pressing rod 2, and the magnetic sensor 41 is arranged on the housing 1 to detect the position of the pressing rod 2 relative to the housing 1 in the first direction by cooperating with the sensing magnet. This detection method is not easily blocked and interfered, and is more practical.

[0059] In other embodiments, the position detection device 4 can also be a physical contact type position detection device, a visual detection device, an infrared distance sensor, etc. Specifically, the magnetic sensor 41 is arranged outside the shell 1, and the induction magnet 42 is arranged inside the pressing rod 2. Since the magnetic induction detection mode between the magnetic sensor 41 and the induction magnet 42 can be detected through the object, the magnetic sensor 41 can be arranged outside the shell 1, which can reduce the volume of the force feedback device 100 on the one hand, and facilitate the maintenance and replacement of the magnetic sensor 41 on the other hand. Specifically, the magnetic sensor 41 is mounted on the flexible circuit board 6, thereby realizing assembly. The induction magnet 42 is arranged inside the pressing rod 2, so that it can move synchronously with the pressing rod 2 and will not interfere with other parts. For the installation of the induction magnet 42, the pressing rod 2 is formed with a hollow portion arranged in the first direction, the hollow portion includes a first hollow portion and a second hollow portion, the first hollow portion and the second hollow portion are arranged along the direction in which the inside of the shell 1 points to the outside, and the cross-sectional area of the second hollow portion is smaller than that of the first hollow portion. Due to the difference in cross-sectional area of the first hollow portion and the second hollow portion, a step surface is formed which is arranged away from the second hollow portion and faces the inside of the shell 1, the port of the second hollow portion of the induction magnet 42 is installed until it abuts against the step surface to complete the installation. Due to the through arrangement of the hollow portion, during the installation of the induction magnet 42, air can be discharged from the second hollow portion, which is beneficial to reduce air resistance in the assembly process. Moreover, the installation direction of the induction magnet 42 is consistent with the movement direction of the pressing rod 2 when it abuts against the trigger, at this time, the direction of the inertial force is consistent with the direction of the force of the induction magnet 42 abutting against the step surface, which can avoid the shaking of the induction magnet 42.

[0060] It should be understood that if the induction magnet 42 moves along the direction in which the second hollow portion points to the first hollow portion, during the movement of the pressing rod 2 towards the trigger, the induction magnet 42 will have the same movement trend due to the effect of inertia, and there is a risk of the induction magnet 42 moving for a long time, which will affect the position detection accuracy based on the induction magnet 42.

[0061] Moreover, the induction magnet 42 is in interference fit with the first hollow portion, and when the induction magnet 42 is not installed well, it is not easy to be withdrawn from the entrance at this time, and the external workpiece can be inserted from the port of the second hollow portion to abut against the end of the induction magnet 42 until it is ejected.

[0062] Considering that the pressing rod 2 is in direct contact with the trigger, a plug cover 7 is arranged at the end of the pressing rod 2, which can increase the base area of the pressing rod 2 and the trigger, and different abutting effects with the trigger can be achieved by changing the material of the plug cover 7.

[0063] Based on the structural design of the hollow portion, the end of the pressing rod 2 close to the cover is provided with a groove communicating with the second hollow portion; the force feedback device 100 further comprises a plug cover 7 which is detachably installed, and at least part of the plug cover 7 is embedded in the groove. The plug cover 7 can cooperate with the trigger on the one hand, and can block the hollow portion on the other hand.

[0064] It should be understood that the fixing of the induction magnet 42 to the second hollow portion can be achieved by applying glue to the end of the induction magnet 42 opposite to the second hollow portion. In some embodiments, the pressing rod 2 can be made of plastic, and the end of the second hollow portion can be deformed by local heat melting, so as to limit the induction magnet 42.

[0065] The application also provides a handle, which comprises a trigger and the force feedback device 100. The specific structure of the force feedback device 100 is described above. Since the handle adopts all the technical solutions of the above embodiments, it has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described here.

[0066] The above are only preferred embodiments of the application, and do not limit the patent scope of the application. Any equivalent structural transformation made according to the application concept, the content of the specification and the drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the application.

Claims

1. A force feedback device, characterized by The force feedback device comprises: a housing, an inner cavity of the housing is provided with a first threaded portion, the housing is formed with a cover portion on one side in a first direction, the cover portion is provided with an opening, and an edge of the opening is formed with a flange portion extending towards an inner side of the housing and arranged in a ring shape; a pressing rod extending in the first direction, one end of the pressing rod is provided with a second threaded portion, the pressing rod can extend into the inner cavity of the housing from the opening, and the second threaded portion is threadedly connected with the first threaded portion, so that the pressing rod can move in the first direction when the pressing rod rotates relative to the housing; and a driving assembly installed on the housing, the driving assembly comprises a driving member and a transmission member connected in a driving mode, and the transmission member comprises a ring gear, and the ring gear is sleeved on an outer side of the pressing rod. A first gap is defined between the flange portion and the pressing rod, and a second gap is formed between an inner hole of the ring gear and the pressing rod, and a size of the first gap is smaller than a size of the second gap.

2. The force feedback device of claim 1, wherein, The transmission member further comprises a driving gear engaged with the ring gear, and the driving gear is connected with the driving member.

3. The force feedback device of claim 1, wherein, An outer side of the pressing rod is formed with a plurality of guide grooves arranged at intervals in a circumferential direction of the pressing rod. An inner hole wall of the ring gear is provided with a plurality of limiting ribs, and the limiting ribs are used to extend into the guide grooves.

4. The force feedback device of claim 1, wherein, The inner cavity of the housing is provided with an inner thread to form the first threaded portion. An outer side of the pressing rod is provided with an outer thread to form the second threaded portion.

5. The force feedback device of claim 1, wherein, The cover portion is made of metal.

6. The force feedback device of claim 1, wherein, The housing comprises a first housing and a second housing arranged opposite to each other in the first direction, the first housing and the second housing jointly enclose an inner cavity of the housing, the first housing forms the cover portion, and the second housing is provided with the first threaded portion. The driving assembly is arranged in the second housing.

7. The force feedback device of claim 6, wherein, The first housing is made of metal, and the second housing is made of plastic.

8. The force feedback device of claim 1, wherein, An end of the ring gear towards the cover portion is provided with an arc-shaped matching surface, and the arc-shaped matching surface is in contact with the cover portion.

9. The force feedback device of claim 1, wherein, The force feedback device further comprises a position detection device, the position detection device comprises a magnetic sensor and an induction magnet matched with each other, the induction magnet is embedded in the pressing rod, and the magnetic sensor is arranged on the housing to detect a position of the pressing rod relative to the housing in the first direction in cooperation with the induction magnet.

10. A handle characterized in that, The force feedback device comprises: a trigger; and a force feedback device comprising the force feedback device according to any one of claims 1 to 9, the pressing rod has a force feedback state of moving to abut against the trigger and a separation state of being separated from the trigger.

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