Force feedback device and handle

Abstract

This invention discloses a force feedback device and handle, relating to the field of electronic equipment technology. The force feedback device includes a housing, a pressure rod, and a drive assembly. The housing has a first threaded portion inside its cavity, and a cover portion is formed on one side of the housing in a first direction. The cover portion has an opening, and the edge of the opening forms a flange. One end of the pressure rod has a second threaded portion, which is threadedly connected to the first threaded portion, so that the pressure rod can move along the first direction when it rotates relative to the housing. The drive assembly includes a drive component and a transmission component connected by a drive. The transmission component includes a ring gear sleeved on the outside of the pressure rod. A first gap is formed between the flange and the pressure rod, and a second gap is formed between the inner hole of the ring gear and the pressure rod. The size of the first gap is smaller than the size of the second gap. Even if the pressure rod is misaligned, it will first abut against the flange, while still maintaining a certain fit clearance with the ring gear. Therefore, it will not affect the transmission of torque and can avoid the transmission component from jamming.

Description

Technical Field

[0001] This invention relates to the field of electronic equipment technology, and in particular to force feedback devices and handles. Background Technology

[0002] Currently, in order to improve the user experience, game device manufacturers are adding force feedback devices to game controllers to simulate the immersive feeling of specific game scenarios, such as drawing a bow and shooting an arrow, pulling the trigger of various guns, and other game operations with force feedback.

[0003] However, existing force feedback devices are complex in structure and large in size, and cannot freely adjust the force feedback state and intensity, resulting in limited adjustment freedom and failing to meet users' increasingly demanding gaming experience needs. Summary of the Invention

[0004] In order to adjust the feedback force, some structures are equipped with a pressure bar that can move in a straight line. However, the pressure bar is constrained by multiple components during its movement. Therefore, if the pressure bar deviates during its movement, it may jam and cause the force transmission to fail.

[0005] The main objective of this invention is to provide a force feedback device and handle that ensures stable force transmission during the force-bearing process of the pressure rod by limiting the clearance between the pressure rod and the handle.

[0006] To achieve the above objectives, the present invention provides a force feedback device, comprising:

[0007] The housing has a first threaded portion in its inner cavity, and a cover portion is formed on one side of the housing in a first direction. The cover portion has an opening, and the edge of the opening has a flange portion that extends toward the inside of the housing and is arranged in annularly.

[0008] A pressure rod extends along a first direction, one end of which is provided with a second threaded portion. The pressure rod can extend into the inner cavity of the housing through the opening, and the second threaded portion is threadedly connected to the first threaded portion, so that the pressure rod can move along the first direction when it rotates relative to the housing; and...

[0009] A drive assembly is installed in the housing. The drive assembly includes a drive component and a transmission component that are connected by a drive. The transmission component includes a ring gear, which is sleeved on the outside of the pressure rod.

[0010] A first gap is defined between the flange and the pressure rod, and a second gap is formed between the inner hole of the ring gear and the pressure rod. The size of the first gap is smaller than the size of the second gap.

[0011] In one embodiment, the transmission member further includes a drive gear meshing with the ring gear, the drive gear being connected to the drive member.

[0012] In one embodiment, the outer side of the pressure rod is formed with a plurality of guide grooves arranged at intervals along its circumference;

[0013] The inner wall of the ring gear is provided with a plurality of limiting ribs, which are used to extend into the guide groove.

[0014] In one embodiment, the inner cavity of the housing is provided with an internal thread to form a first threaded portion;

[0015] The outer side of the pressure rod is provided with external threads to form a second threaded portion.

[0016] In one embodiment, the cover portion is made of metal.

[0017] In one embodiment, the housing includes a first outer shell and a second outer shell disposed opposite to each other along a first direction, the first outer shell and the second outer shell together enclosing to form an inner cavity of the housing, the first outer shell forming the cover portion, and the first threaded portion being disposed inside the second outer shell;

[0018] The drive assembly is located in the second housing.

[0019] In one embodiment, the first outer shell is made of metal, and the second outer shell is made of plastic.

[0020] In one embodiment, the ring gear has an arc-shaped mating surface protruding from one end facing the cover portion, and the arc-shaped mating surface contacts the cover portion.

[0021] In one embodiment, the force feedback device further includes a position detection device, which includes a magnetic sensor and a sensing magnet that cooperate with each other. The sensing magnet is embedded in the pressure rod, and the magnetic sensor is disposed on the housing to cooperate with the sensing magnet to detect the position of the pressure rod relative to the housing in a first direction.

[0022] The present invention also proposes a handle, comprising:

[0023] Trigger; and,

[0024] Force feedback devices include at least:

[0025] The housing has a first threaded portion in its inner cavity, and a cover portion is formed on one side of the housing in a first direction. The cover portion has an opening, and the edge of the opening has a flange portion that extends toward the inside of the housing and is arranged in annularly.

[0026] A pressure rod extends along a first direction, one end of which is provided with a second threaded portion. The pressure rod can extend into the inner cavity of the housing through the opening, and the second threaded portion is threadedly connected to the first threaded portion, so that the pressure rod can move along the first direction when it rotates relative to the housing; and...

[0027] A drive assembly is installed in the inner cavity of the housing. The drive assembly includes a drive component and a transmission component that are connected by a drive. The transmission component includes a ring gear, which is sleeved on the outside of the pressure rod.

[0028] A first gap is defined between the flange and the pressure rod, and a second gap is formed between the inner hole of the ring gear and the pressure rod. The size of the first gap is smaller than the size of the second gap.

[0029] The pressure bar has a force feedback state in which it moves to abut against the trigger and a disengaged state in which it is released from the trigger.

[0030] In the technical solution of this invention, when the drive assembly is working, the transmission component can convert the driving force of the drive component into the rotational force of the pressure rod, thereby enabling the pressure rod to rotate relative to the housing. Based on the threaded fit between the pressure rod and the housing, it can move along a first direction, thus allowing for adjustable length settings of the portion of the pressure rod exposed in the housing. During the forward and reverse rotation of the pressure rod, it can engage or disengage with the trigger of the handle. By controlling whether and when the pressure rod contacts the trigger, the user can obtain different force feedback effects when operating the trigger, thereby achieving different gaming experiences. Because the driving force on the pressure rod has a lateral component, there is a certain amount of skew during the displacement of the pressure rod along the first direction. By setting the size of the first gap to be smaller than the size of the second gap, even if the pressure rod skews, it will first engage with the flanged part, while still maintaining a certain fit clearance with the ring gear. Therefore, it will not affect the transmission of torque, preventing the transmission component from jamming and improving the overall stability of the device. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0032] Figure 1 A schematic diagram of the structure of an embodiment (an angle) of the force feedback device provided by the present invention;

[0033] Figure 2 for Figure 13D exploded view of the force feedback device;

[0034] Figure 3 for Figure 1 Top view of the force feedback device;

[0035] Figure 4 for Figure 1 A cross-sectional schematic diagram of the fit between the intermediate pressure rod and the housing;

[0036] Figure 5 for Figure 4 A magnified schematic diagram of part A in the middle.

[0037] Explanation of icon numbers:

[0038] 100. Force feedback device; 1. Housing; 10. First threaded part; 11. Cover part; 111. Opening; 12. Flanged part; 13. First outer shell; 14. Second outer shell; 2. Pressure rod; 20. Second threaded part; 21. Guide groove; 3. Drive assembly; 31. Drive component; 32. Transmission component; 321. Drive gear; 322. Ring gear; 33. Limiting rib; 4. Position detection device; 41. Magnetic sensor; 42. Induction magnet; 5. Fastening screw; 6. Flexible circuit board; 7. Cover; 30. First gap; 40. Second gap.

[0039] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0041] It should be noted that if the embodiments of the present invention involve directional indication, the directional indication is only used to explain the relative positional relationship and movement of the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0042] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0043] To enhance the user experience, gaming device manufacturers add force feedback devices to game controllers to simulate the immersive feeling of specific game scenarios. In order to adjust the feedback force, some structures are equipped with a lever that can move in a straight line. However, the lever is constrained by multiple components during its movement. Therefore, if the lever deviates during its movement, it may get stuck, resulting in a failure in force transmission.

[0044] This invention proposes a force feedback device and handle, which ensures stable force transmission during the force-bearing process of the pressure rod by limiting the clearance between the pressure rod and the handle, and avoids the transmission components from being squeezed and jammed.

[0045] Please refer to Figures 1 to 3 The force feedback device 100 includes a housing 1, a pressure rod 2, and a drive assembly 3. The housing 1 has a first threaded portion 10 inside its cavity. A cover portion 11 is formed on one side of the housing 1 in a first direction. An opening 111 is provided on the cover portion 11, and the edge of the opening 111 forms a flange portion 12 that extends inwards towards the inside of the housing 1 and is annularly arranged. The pressure rod 2 extends along the first direction, and one end of the pressure rod 2 has a second threaded portion 20. The pressure rod 2 can extend into the cavity of the housing 1 through the opening 111, and the second threaded portion 20 is threadedly connected to the first threaded portion 10, so that when the pressure rod 2 rotates relative to the housing 1, it can move along the first direction. The drive assembly 3 is installed in the cavity of the housing 1 and includes a drive member 31 and a transmission member 32 (please refer to...). Figure 4 The transmission component 32 includes a ring gear 322, which is sleeved on the outside of the pressure rod 2; a first gap 30 is formed between the flange portion 12 and the pressure rod 2, and a second gap 40 is formed between the ring gear 322 and the pressure rod 2, wherein the size of the first gap 30 is smaller than the size of the second gap 40.

[0046] In the technical solution of this invention, when the drive assembly 3 is working, the transmission component 32 can convert the driving force of the drive component 31 into the rotational force of the pressure rod 2, thereby enabling the pressure rod 2 to rotate relative to the housing 1. Based on the threaded engagement structure between the pressure rod 2 and the housing 1, it can move along the first direction, thus achieving an adjustable length setting for the portion of the pressure rod 2 exposed in the housing 1. During the forward and reverse rotation of the pressure rod 2, the pressure rod 2 can abut against or separate from the trigger of the handle. By controlling whether and when the pressure rod 2 contacts the trigger, the user can obtain different force feedback effects when operating the trigger, thereby obtaining different gaming experiences. Since the driving force on the pressure rod 2 has a lateral component, there is a certain amount of deflection during the displacement of the pressure rod 2 along the first direction. By setting the size of the first gap 30 to be smaller than the size of the second gap 40, even if the pressure rod 2 deflects, it will first abut against the flange 12, while still having a certain fit clearance with the ring gear 322. Therefore, it will not affect the transmission of torque, avoid the situation of the transmission component 32 jamming, and improve the stability of the entire device operation.

[0047] Specifically, the drive assembly 3 may have two working processes. In one working process, the drive assembly 3 may drive the pressure rod 2 to rotate to adjust the size of the pressure rod 2 extending out of the housing 1, thereby controlling whether it presses against or disengages from the trigger, so as to control whether the force feedback device 100 is used. When the aforementioned work process control force feedback device 100 is in use, i.e., the lever 2 is pressed against the trigger, the drive assembly 3 has another work process. Specifically, when the drive assembly 3 is energized and driven in the direction that the lever 2 extends out of the housing 1, if the trigger is pressed by the user, the drive assembly 3 provides a stall force in the opposite direction of the user's press. Combined with the frictional force when the lever 2 rotates relative to the housing, this forms force feedback to the user. At this time, the drive assembly 3 is used to increase the feedback force. Conversely, when the drive assembly 3 is energized and driven in the direction that the lever 2 retracts into the housing 1, if the trigger is pressed by the user, the drive assembly 3 provides a driving force in the same direction as the user's press to counteract the frictional force when the lever 2 rotates relative to the housing, forming force feedback to the user. At this time, the drive assembly 3 is used to reduce the feedback force. When the drive assembly 3 is not activated, if the user presses the trigger, the frictional force between the lever 2 and the housing 1 during relative rotation serves as the force feedback to the user.

[0048] During the process of the pressure rod 2 and the components, the precision requirements for the fit between the cover part 11 and the pressure rod 2 are higher, so that the opening 111 plays a guiding and limiting role in the fit with the pressure rod 2. The inner hole of the ring gear 322 allows the pressure rod 2 to pass through and cooperates with the pressure rod 2 to transmit torque.

[0049] Please refer to Figure 5The edge of the opening 111 has a flange 12 extending toward the inside of the housing 1, and the flange 12 and the pressure rod 2 define a first gap 30. The first gap 30 is a1, and the second gap 40 is a2, where a1 < a2.

[0050] It should be noted that the dimensions of the flange 12 along the first direction need to be set appropriately to ensure a good fit between the flange 12 and the pressure rod 2. If the dimension of the flange 12 in the first direction is too small, it will not only fail to provide a guiding fit but may also scratch the pressure rod 2. If the dimension of the flange 12 in the first direction is too large, it will restrict the pressure rod 2 too much, increasing the risk of jamming when the pressure rod 2 is misaligned, and will also cause greater wear during rotational engagement. Through simulation analysis and experimental verification, the optimal effect is achieved when the dimension of the flange 12 in the first direction is 0.5~1mm.

[0051] Specifically, the flange portion 12 is arranged in a ring shape to surround the outside of the pressure rod 2. The flange portion 12 may include multiple flange pieces, which are arranged at intervals along the circumference of the pressure rod 2 to form a ring structure, that is, there may be a certain interval between two adjacent flange pieces.

[0052] Depending on the flanging process, in some implementations, the flanged portion 12 includes a mating section extending along a first direction, one end of which is connected to the edge of the opening 111 and corresponds to the outer side of the pressure rod 2. In this case, the cross-section formed by the mating of the cover portion 11 and the flanged portion 12 is L-shaped, and the mating section can be arranged in a ring shape.

[0053] In another embodiment, the flange portion 12 further includes a support section, which is connected to the other end of the mating section and extends in the direction away from the pressure rod 2. The plane where the support section is located is set at an angle to the plane where the mating section is located. In this case, the cross-section formed by the flange portion 12 and the cover portion 11 is U-shaped, and both the support section and the mating section can be annular.

[0054] In the above embodiments, the mating section is the part that guides and engages with the pressure rod 2, while the supporting section does not contact the pressure rod 2, mainly to improve structural strength. It should be noted that the included angle between the supporting section and the mating section is not limited. This included angle mainly affects the processing technology and structural strength, but does not affect the fit between the flange 12 and the pressure rod 2.

[0055] Furthermore, the pressure rod 2 and the transmission component 32 are slidably configured and anti-rotationally engaged in the first direction. Since the pressure rod 2 rotates when driven by the transmission component 32, it also moves along the first direction. If the driving points of the transmission component 32 and the pressure rod 2 are relatively fixed in the first direction, then at least the transmission component 32 needs to move synchronously with the pressure rod 2 in the first direction. This could mean that the transmission component 32 and the pressure rod 2 slide and are anti-rotationally engaged in the first direction, raising the question of how to ensure constant connection between the transmission component 32 and the driving component 31 during the lifting and lowering process in the first direction. Alternatively, the transmission component 32, the pressure rod 2, and the driving component 31 could all move together with the pressure rod 2 along the first direction, requiring more space for arrangement. Therefore, in this embodiment, the transmission component 32 is configured to slide and anti-rotationally engage with the pressure rod 2 in the first direction, allowing the overall position of the driving assembly 3 to be fixed, facilitating the miniaturization of the device.

[0056] The transmission connection between the drive component 31 and the pressure rod 2 is not limited; for example, it can be a belt drive, sprocket drive, gear drive, etc. In this embodiment, the transmission component 32 also includes a drive gear 321 meshing with the ring gear 322. The drive gear 321 is connected to the drive component 31, and the drive component 31 can be a motor. The drive gear 321 can be fixed to the drive shaft of the motor and rotate synchronously. When the drive gear 321 rotates, the ring gear 322 is driven to move and can transmit the driving force to the pressure rod 2, so that the pressure rod 2 can realize the rotation 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 located on the outside of the housing 1, and the motor shaft of the motor extends into the inside of the housing 1.

[0057] Based on this embodiment, the position of the ring gear 322 in the first direction can be defined by setting a corresponding limiting structure inside the housing 1, such as a groove or a protrusion.

[0058] It should be understood that corresponding mating parts can be provided on the inner side of the ring gear 322 and the outer side of the pressure rod 2 to avoid the pressure rod 2 not being under force when the ring gear 322 rotates due to excessive gap between the ring gear 322 and the pressure rod 2.

[0059] Furthermore, the outer side of the pressure rod 2 is formed with multiple guide grooves 21 arranged at intervals along its circumference; the inner wall of the ring gear 322 is provided with multiple limiting ribs 33, which are used to 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 wall of the guide groove 21 during the rotation, thereby driving the pressure rod 2 to rotate. In contrast, when the pressure rod 2 rotates, it moves relative to the housing 1 in the first direction, and the limiting ribs 33 can move along the length direction of the guide groove 21 without the need for the transmission member 32 to move. The structure is simple and ingenious, and has strong practicality.

[0060] It should be understood that the number of guide grooves 21 is greater than or equal to the number of limiting ribs 33. In some embodiments, the two numbers are the same, in which case each limiting rib 33 extends into the corresponding guide groove 21. In some embodiments, the number of guide grooves 21 is greater, in which case some guide grooves 21 are fitted with limiting ribs 33, while some guide grooves 21 are empty. This not only does not affect the realization of its function, but also allows the pressure rod 2 to be used in different gear structures. It should be understood that when the pressure rod 2 is a plastic part, the guide grooves 21 can be directly obtained by thermoplastic processing; when the pressure rod 2 is a metal part, the guide grooves 21 can be obtained by cutting.

[0061] The guide groove 21 and the limiting rib 33 can be matched in shape to facilitate the engagement of the pressure rod 2 along the first direction. The guide groove 21 and the limiting rib 33 can also have different shapes, as long as they can move relative to each other. For example, the guide groove 21 can be an arc-shaped groove, and the limiting rib 33 can be an arc-shaped protrusion. Alternatively, the guide groove 21 can be a square groove, and the limiting rib 33 can be a protrusion; or the guide groove 21 can be a square groove, and the limiting rib 33 can be an arc-shaped protrusion. This invention does not impose any limitations on these aspects.

[0062] In some implementations, the top of the limiting rib 33 is an arc shape protruding towards the guide groove 21. A limiting groove is defined between two adjacent limiting ribs 33, and a guide protrusion is defined between two adjacent guide grooves 21. 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. With this configuration, the ring gear 322 and the pressure rod 2 can make linear contact. When transmitting torque, the frictional resistance can be reduced when the pressure rod 2 moves linearly in the first direction.

[0063] Based on this embodiment, a guide protrusion is defined between two adjacent guide grooves 21, a limiting groove is defined between two adjacent limiting ribs 33, and a second gap 40 is defined between the outer side of the guide protrusion and the bottom surface of the limiting groove.

[0064] In this embodiment, the top of the limiting rib 33 is arc-shaped, and the width of the guide groove 21 gradually widens towards the ring gear 322. This allows the width of the guide groove 21 to adapt to the arc dimension of the limiting rib 33, ensuring a clearance fit between the limiting rib 33 and the guide groove 21 in the circumferential direction.

[0065] Specifically, the guide groove 21 includes a bottom wall and two side walls located on opposite sides of the bottom wall, with the two side walls extending 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 ring gear 322 can contact different side walls when rotating forward or backward, thereby causing the pressure rod 2 to rotate threadedly relative to the housing 1.

[0066] Furthermore, considering the stability of the fit, 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 cases of a single limiting rib or two limiting ribs.

[0067] The plurality of limiting ribs 33 include a first limiting rib and a second limiting rib arranged circumferentially adjacent to each other in the pressure rod 2, with the first limiting rib and the second limiting rib spaced apart in a first direction. Thus, contact points are formed in two dimensions in the first direction during torque transmission.

[0068] In addition, the slope of the teeth of the ring gear 322 that mesh with the drive gear 321 is an outwardly convex arc shape, thus enabling line contact when it mates with the drive gear 321. The slope of the limiting rib 33 adjacent to its top is an inwardly convex arc shape, thus enabling line contact when it mates with the guide groove 21.

[0069] The housing 1 and the pressure rod 2 are connected by a threaded fit. A threaded hole can be provided on the pressure rod 2, and a corresponding screw can be provided inside the housing 1 to achieve the fit. For this embodiment, please refer to [reference needed]. Figure 4 The inner cavity of the housing 1 is provided with an internal thread to form a first threaded portion 10; the outer side of the pressure rod 2 is provided with an external thread to form a second threaded portion 20.

[0070] For ease of processing and disassembly, please refer to Figure 2 The housing 1 includes a first outer shell 13 and a second outer shell 14 disposed opposite to each other along a first direction. The first outer shell 13 and the second outer shell 14 together enclose the inner cavity of the housing 1. The first outer shell 13 forms a cover portion 11, and the second outer shell 14 is provided with a first threaded portion 10. The drive assembly is disposed on the second outer shell 14. In this embodiment, the first outer shell 13 serves as a cover, and the second outer shell 14 serves as a mounting base. It should be understood that the drive component 31 is mounted based on the second outer shell 14, and the position of the ring gear 322 in the first direction can be defined by the first outer shell 13 and the second outer shell 14.

[0071] Based on the above embodiments, considering the function of the cover portion 11, the cover portion 11 is made of metal, that is, the first outer shell 13 is made of metal, and the material of the second outer shell 14 can be the same as the material of the first outer shell 13, or the material of the second outer shell 14 can be different from the material of the first outer shell 13. For example, the second outer shell 14 is made of plastic, which is lighter and suitable for the preparation of complex shapes.

[0072] The first outer shell 13 and the second outer shell 14 can be connected by a snap-fit ​​mechanism. In this embodiment, they are also secured by fastening screws 5.

[0073] Specifically, during installation, the ring gear 322 is primarily positioned on the second housing 14. If the clearance between the pressure rod 2 and the first housing 13 is too large, it will result in a significant deflection of the pressure rod 2. Conversely, if the clearance between the pressure rod 2 and the ring gear 322 is too small, the pressure rod 2, if tilted, will press against the inner side of the ring gear 322, causing the ring gear 322 to be jammed and unable to rotate, thus preventing torque transmission. Therefore, it is necessary not only to ensure that the first clearance 30 is less than the second clearance 40, but also to control the first clearance 30 within a reasonable range.

[0074] Based on the structure of housing 1 formed by the first outer shell 13 and the second outer shell 14, a positioning groove is formed inside the second outer shell 14. One end of the ring gear 322 along the first direction is disposed in the positioning groove, and the other end of the ring gear 322 along the first direction is opposite to the flange portion 12 in the radial direction. The first outer shell 13 and the positioning groove define the position of the ring gear 322 in the first direction, and the flange portion 12 defines the position of the ring gear 322 in the radial direction.

[0075] Specifically, the ring gear 322 has a groove in the middle of one end facing the cover that connects to its inner hole, and the flange 12 extends into the groove, so that the flange 12 can serve as the shaft positioning structure of the ring gear 322.

[0076] The ring gear 322 has a protruding arc-shaped mating surface at one end facing the cover portion 11, which is used to contact the cover portion 11. The ring gear 322 also has an arc-shaped mating surface at the end facing away from the cover portion 11, which is used to contact the bottom wall of the positioning groove. This design allows the arc surface to contact the flat surface, creating a tangential fit, which is beneficial for the accurate positioning of the ring gear 322 and reduces the rotational frictional resistance of the ring gear 322.

[0077] It should be noted that the ring gear 322 has a protruding arc-shaped mating surface at the end facing away from the cover, and this arc-shaped mating surface contacts the part of the positioning groove near the pressure rod 2. The torque value is affected by the radius and friction. When the coefficient of friction is fixed, the smaller the radius, the smaller the torque. Therefore, within the limited space of the bottom wall of the positioning groove, the arc-shaped mating surface is positioned as close as possible to the pressure rod 2 to reduce the torque.

[0078] Based on the above-mentioned positional limitation of the ring gear 322, the positioning of the ring gear 322 is guaranteed, resulting in less transmission wobble and higher transmission efficiency.

[0079] Furthermore, the outer surface of the ring gear 322 is stepped to form a first mating section and a second mating section with gradually decreasing outer diameter. The second mating section is located within a positioning groove, while the first mating section mates with the cover. The stepped surface formed by the first and second mating sections has a certain distance from the edge of the positioning groove, and the second mating section and the positioning groove are radially defined.

[0080] To meet different force feedback requirements, this can be achieved by keeping the pressure rod 2 in a specific position or by controlling different rotation angles of the motor. Therefore, it is necessary to confirm the current position of the pressure rod 2 as it moves along the first direction. In this embodiment, a position detection device 4 is used to detect the position of the pressure rod 2 in real time. The position detection device includes a cooperating magnetic sensor 41 and a sensing magnet. The sensing magnet is embedded in the pressure rod 2, and the magnetic sensor 41 is located on the housing 1 to cooperate with the sensing magnet in detecting the position of the pressure rod 2 relative to the housing 1 in the first direction. This detection method is less susceptible to interference and is more practical.

[0081] In other embodiments, the position detection device 4 may also be configured as a physical contact position detection device, a visual detection device, an infrared distance sensor, etc.

[0082] Specifically, the magnetic sensor 41 is located outside the housing 1, and the sensing magnet 42 is located inside the pressure rod 2. Because the magnetic induction detection method between the magnetic sensor 41 and the sensing magnet 42 can be performed through an object, the magnetic sensor 41 can be located outside the housing 1. This reduces the size of the force feedback device 100 and facilitates the maintenance and replacement of the magnetic sensor 41. Specifically, the magnetic sensor 41 is mounted on the flexible circuit board 6 for assembly. The sensing magnet 42 is located inside the pressure rod 2, allowing it to move synchronously with the pressure rod 2 without interfering with other parts.

[0083] For the installation of the induction magnet 42, the pressure rod 2 has a hollow portion extending through in a first direction. This hollow portion includes a first hollow portion and a second hollow portion, which are arranged along the inside of the housing 1 towards the outside. 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 between the first and second hollow portions, a stepped surface is formed facing away from the second hollow portion and towards the inside of the housing 1. The port of the second hollow portion of the induction magnet 42 is inserted until it abuts against the stepped surface, completing the installation. Because of the through-hole design of the hollow portion, air can escape from the second hollow portion during the installation of the induction magnet 42, which helps reduce air resistance during assembly. Furthermore, the installation direction of the induction magnet 42 is consistent with the direction of movement of the pressure 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 exerted by the induction magnet 42 against the stepped surface, preventing the induction magnet 42 from shaking.

[0084] It should be understood that if the sensing magnet 42 moves along the direction from the second hollow part to the first hollow part, then during the movement of the lever 2 toward the trigger, due to inertia, the sensing magnet 42 will have the same tendency to move. With prolonged use, there is a risk that the sensing magnet 42 will shift, which will affect the position detection accuracy based on the sensing magnet 42.

[0085] Furthermore, the induction magnet 42 is interference-fitted with the first hollow part. When the induction magnet 42 is not installed properly, it is not easy to exit from the inlet. At this time, the external workpiece can be inserted from the port of the second hollow part, thereby holding the end of the induction magnet 42 until it is pushed out.

[0086] Considering that the pressure bar 2 is in direct contact with the trigger, a plug 7 is provided at the end of the pressure bar 2. The plug 7 can increase the base area with the trigger, and different contact effects with the trigger can be achieved by changing the material of the plug 7.

[0087] Based on the hollow structure design, the end of the pressure rod 2 near the cover has a groove that connects to the second hollow part; the force feedback device 100 also includes a detachable cover 7, at least part of which is embedded in the groove. The cover 7 can cooperate with the trigger and also seal the hollow part.

[0088] It should be understood that the fixed fit between the induction magnet 42 and the second hollow part can be ensured by applying glue to the end of the induction magnet 42 facing away from the second hollow part. In some embodiments, the pressure rod 2 can be made of plastic, and the port position of the second hollow part can be locally heat-melted to deform it, thereby achieving the purpose of limiting the induction magnet 42.

[0089] The present invention also proposes a handle, which includes a trigger and a force feedback device 100. The specific structure of the force feedback device 100 is as described in the above embodiments. Since the handle adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0090] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

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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