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. A cover portion is formed on one side of the housing in a first direction. When the pressure rod rotates relative to the housing, it can move along the first direction. Multiple guide grooves are formed on the outer side of the pressure rod, spaced circumferentially. The inner hole of the ring gear of the drive assembly allows the pressure rod to pass through. Multiple limiting ribs protrude from the inner wall of the ring gear, extending into the guide grooves. The top of each limiting rib is an arc shape protruding towards the guide groove. A limiting groove is defined between two adjacent limiting ribs, and a guide protrusion is defined between two adjacent guide grooves. The gap between the top of the limiting rib and the guide groove is smaller than the gap between the limiting groove and the guide protrusion. When transmitting torque, the linear movement of the pressure rod along the first direction reduces the frictional resistance between the limiting ribs and the guide grooves, thereby reducing noise and energy loss during torque transmission.

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] To enhance the user experience, gaming device manufacturers add force feedback devices to game controllers to simulate the immersive feeling of specific game scenarios. To adjust the feedback force, some designs incorporate a lever that can move in a straight line. However, this lever transmits torque under the influence of mating components during its movement. If the mating structure is not properly designed, prolonged use can lead to severe wear on the parts, affecting torque transmission. Summary of the Invention

[0003] The main objective of this invention is to provide a force feedback device and handle that can reduce noise during the reciprocating transmission of the pressure rod, while also reducing energy loss during torque transmission.

[0004] To achieve the above objectives, the present invention provides a force feedback device, comprising:

[0005] The housing has a first threaded portion in its inner cavity and a cover portion formed on one side in a first direction, the cover portion having an opening;

[0006] 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 when the pressure rod rotates relative to the housing, it can move along the first direction. A plurality of guide grooves are formed on the outer side of the pressure rod at circumferential intervals.

[0007] A drive assembly is installed in the housing. The drive assembly includes a drive component and a transmission component connected by a drive. The transmission component includes a ring gear. The inner hole of the ring gear is through which the pressure rod passes. The inner wall of the ring gear is provided with a plurality of limiting ribs, which are used to extend into the guide groove.

[0008] The top of the limiting rib is an arc shape that protrudes towards the guide groove. A limiting groove is defined between two adjacent limiting ribs, and a guide protrusion is defined between two adjacent guide grooves. The gap between the top of the limiting rib and the guide groove is smaller than the gap between the limiting groove and the guide protrusion.

[0009] In one embodiment, the width of the guide groove gradually widens toward the ring gear.

[0010] In one embodiment, the guide groove includes a bottom wall and two side walls disposed on opposite sides of the bottom wall, the two side walls extending away from each other;

[0011] The top of the limiting rib corresponds to the bottom wall.

[0012] In one embodiment, the number of the limiting ribs is a, where a ≥ 3; and / or,

[0013] The plurality of limiting ribs include a first limiting rib and a second limiting rib arranged circumferentially adjacent to each other on the pressure rod, the first limiting rib and the second limiting rib being spaced apart in a first direction.

[0014] In one embodiment, the limiting rib is tapered toward the center of the ring gear.

[0015] 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, and the slope of the teeth of the ring gear meshing with the drive gear being an outwardly convex arc shape; and / or,

[0016] The limiting rib and the slope adjacent to its top are arc-shaped and convex inward.

[0017] In one embodiment, the inner cavity of the housing is provided with an internal thread to form a first threaded portion;

[0018] The outer side of the pressure rod is provided with external threads to form a second threaded portion.

[0019] 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 the inner cavity of the housing, the first outer shell forming the cover portion, and the second outer shell having the first threaded portion disposed inside;

[0020] The drive assembly is located in the second housing.

[0021] The present invention also proposes a handle, comprising:

[0022] Trigger; and,

[0023] Force feedback devices include at least:

[0024] The housing has a first threaded portion in its inner cavity and a cover portion formed on one side in a first direction, the cover portion having an opening;

[0025] A pressure rod extends along a first direction. One end of the pressure rod is provided with a second threaded portion. The pressure rod can extend into the inner cavity of the housing through the opening. The second threaded portion is threadedly connected to the first threaded portion so that when the pressure rod rotates relative to the housing, it can move along the first direction. A plurality of guide grooves are formed on the outer side of the pressure rod at intervals along its circumference.

[0026] A drive assembly is installed in the housing. The drive assembly includes a drive component and a transmission component connected by a drive. The transmission component includes a ring gear. The inner hole of the ring gear is through which the pressure rod passes. The inner wall of the ring gear is provided with a plurality of limiting ribs, which are used to extend into the guide groove.

[0027] The top of the limiting rib is an arc shape that protrudes towards the guide groove. A limiting groove is defined between two adjacent limiting ribs, and a guide protrusion is defined between two adjacent guide grooves. The gap between the top of the limiting rib and the guide groove is smaller than the gap between the limiting groove and the guide protrusion.

[0028] 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.

[0029] In the technical solution of this invention, a limiting rib extends into the guide groove. When the driving component is working, the transmission component can convert the driving force of the driving component into the rotational force of the pressure rod. During this process, the limiting rib abuts against the groove wall of the guide groove during rotation, thereby allowing the pressure rod to rotate relative to the housing. Based on the threaded engagement structure between the pressure rod and the housing, it can move along the first direction. At this time, the limiting rib can move relative to the guide groove along the first direction without the need for the ring gear to move. Thus, the length of the portion of the pressure rod exposed in the housing can be adjusted. During the forward and reverse rotation of the pressure rod, the pressure rod can abut against or separate from 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 obtaining different gaming experiences. One of the limiting rib and the guide groove is arc-shaped, so that the ring gear and the pressure rod can make linear contact. When transmitting torque, the frictional resistance between the limiting rib and the guide groove can be reduced when the pressure rod moves linearly along the first direction. Attached Figure Description

[0030] 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.

[0031] Figure 1 A schematic diagram of the structure of an embodiment (an angle) of the force feedback device provided by the present invention;

[0032] Figure 2 for Figure 1 3D exploded view of the force feedback device;

[0033] Figure 3 for Figure 1 A schematic diagram of the structure of the drive assembly and the pressure rod in operation;

[0034] Figure 4 for Figure 1 Schematic diagram of the structure of the ring gear;

[0035] Figure 5 for Figure 1 A schematic diagram of the structure of the guide groove and the limiting rib;

[0036] Figure 6 for Figure 5 A magnified schematic diagram of part A in the middle;

[0037] Figure 7 for Figure 1 A cross-sectional schematic diagram of the fit between the intermediate pressure rod and the housing.

[0038] Explanation of icon numbers:

[0039] 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; 211. Bottom wall; 212. Side wall; 3. Drive assembly; 31. Drive component; 32. Transmission component; 321. Ring gear; 322. Inner hole; 330. Drive gear; 33. Limiting rib; 331. First limiting rib; 332. Second limiting rib; 4. Position detection device; 41. Magnetic sensor; 42. Induction magnet; 5. Fastening screw; 6. Flexible circuit board; 7. Cover.

[0040] 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

[0041] 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.

[0042] 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.

[0043] 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.

[0044] To enhance the user experience, gaming device manufacturers add force feedback devices to game controllers to simulate the immersive feeling of specific game scenarios. To adjust the feedback force, some designs incorporate a lever that can move in a straight line. However, this lever transmits torque under the influence of mating components during its movement. If the mating structure is not properly designed, prolonged use can lead to severe wear on the parts, affecting torque transmission.

[0045] This invention proposes a force feedback device and handle, which reduces energy loss in torque transmission by designing the cooperation between the transmission component and the pressure rod.

[0046] Please refer to Figure 1 , Figure 3 and Figure 5 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 in its inner cavity, and a cover portion 11 is formed on one side of the housing 1 in a first direction, with an opening 111 on the cover portion 11. 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 inner 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. A plurality of guide grooves 21 are formed on the outer side of the pressure rod 2, spaced apart circumferentially. The drive assembly 3 is mounted on... The drive assembly 3, installed in the inner cavity of the housing 1, includes a drive member 31 and a transmission member 32 connected by a drive. The transmission member 32 includes a ring gear 321. The inner hole 322 of the ring gear 321 is through which the pressure rod 2 passes. The inner wall of the ring gear 321 is provided with a plurality of limiting ribs 33. The limiting ribs 33 are used to extend into the guide groove 21. The top of the limiting rib 33 is an arc shape that protrudes towards the guide groove 21. A limiting groove is defined between two adjacent limiting ribs 33. 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.

[0047] In the technical solution of this invention, the limiting rib 33 extends into the guide groove 21. When the driving member 31 is working, the transmission member 32 can convert the driving force of the driving member 31 into the rotational force of the pressure rod 2. During this process, the limiting rib 33 abuts against the groove wall of the guide groove 21 during rotation, thereby allowing 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. At this time, the limiting rib 33 can move relative to the guide groove 21 along the first direction without the need for the ring gear 321 to move. Thus, the length of the portion of the pressure rod 2 exposed in the housing 1 can be adjusted. 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. The top of the limiting rib 33 is arc-shaped, which allows the ring gear 321 to make linear contact with the pressure rod 2. When transmitting torque, the pressure rod 2 can reduce the frictional resistance between the limiting rib 33 and the guide groove 21 when it moves linearly in the first direction, thereby reducing noise and reducing the energy loss of torque transmission.

[0048] In this embodiment, the top of the limiting rib 33 is arc-shaped. That is, the arc-shaped position of the limiting rib 33 can be only a part of its main cooperation, or the limiting rib 33 can be set as an arc shape as a whole.

[0049] The guide groove 21 can be configured as a U-shaped groove, and the limiting rib 33 can be configured as an arc-shaped protrusion; alternatively, the guide groove 21 can be configured as an arc-shaped groove, and the limiting rib 33 can be a protrusion with a defined shape. This invention does not impose any limitations on these aspects.

[0050] Furthermore, the width of the guide groove 21 gradually widens towards the transmission component 32. This allows the width of the guide groove 21 to adapt to the curvature of the limiting rib 33, ensuring a clearance fit between the limiting rib 33 and the guide groove 21 in the circumferential direction.

[0051] Based on the above embodiments, please refer to Figures 5 to 6 The guide groove 21 includes a bottom wall 211 and two side walls 212 disposed on opposite sides of the bottom wall 211, with the two side walls 212 extending away from each other; the top of the limiting rib 33 corresponds to the bottom wall 211. Both the bottom wall 211 and the side walls 212 are straight edges. During the movement of the limiting rib 33, when the ring gear 321 rotates forward or backward, the limiting rib 33 can contact different side walls 212, thereby driving the pressure rod 2 to rotate threadedly relative to the housing 1.

[0052] 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.

[0053] 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 obtained directly by thermoplastic processing; when the pressure rod 2 is a metal part, the guide grooves 21 can be obtained by cutting.

[0054] 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.

[0055] Please refer to Figure 4 The plurality of limiting ribs 33 include a first limiting rib 331 and a second limiting rib 332 arranged circumferentially adjacent to each other on the pressure rod 2, with the first limiting rib 331 and the second limiting rib 332 spaced apart in a first direction. Thus, during torque transmission, contact points are formed in two dimensions in the first direction, and the first limiting rib 331 and the second limiting rib 332 cooperate with two guide grooves 21 that are circumferentially adjacent to each other on the pressure rod 2.

[0056] The specific form of the transmission component 32 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 330 meshing with the ring gear 321. The drive shaft of the drive component 31 is connected to the drive gear 330. The drive component 31 can be configured as a motor, and the drive gear 330 can be fixed to the drive shaft of the motor and rotate synchronously. When the drive gear 330 rotates, the ring gear 321 is driven to move and can transmit the driving force to the pressure rod 2, so that the pressure rod 2 can achieve rotation and lifting action. It should be noted 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] The slope of the teeth of the ring gear 321 meshing with the drive gear 330 is an outward-convex arc shape; that is, the ring gear 321 and the drive gear 330 can achieve line contact. The slope of the limiting rib 33 adjacent to its top is an inward-convex arc shape. That is, the limiting rib 33 and the guide groove 21 are in line contact. Line contact has the advantages of low noise and reduced energy loss in torque transmission.

[0058] 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 7 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.

[0059] 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 and form 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 3 is disposed on the second outer shell 14. In this embodiment, the first outer shell 13 serves as the cover, forming the cover portion 11, and the second outer shell 14 serves as the mounting base. It should be understood that the drive assembly 31 is mounted based on the second outer shell 14, and the position of the ring gear 321 in the first direction can be defined by the first outer shell 13 and the second outer shell 14.

[0060] 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.

[0061] 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.

[0062] Please refer to Figure 7 The edge of the opening 111 has a flange 12 extending inward toward the inside of the housing 1 and arranged in an annular shape. A first gap is defined between the flange 12 and the pressure rod 2. A guide protrusion is defined between two adjacent guide grooves 21, and a limiting groove is defined between two adjacent limiting ribs 33. A second gap is defined between the outer surface of the guide protrusion and the bottom surface of the limiting groove. 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 in the first direction. The size of the first gap is smaller than the size of the second gap. Even if the pressure rod 2 deflects, it will first abut against the inner wall of the opening 111, while still having a certain fit clearance with the transmission component 32. Therefore, it will not affect the transmission torque, avoid the transmission component 32 from jamming, and improve the stability of the entire device operation.

[0063] 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.

[0064] 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 also 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.

[0065] Depending on the flanging process, in some implementations, the flanged portion 12 includes a mating section extending along a first direction. One end of the mating section 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. The mating section can be arranged in a ring or a C-shape, ensuring the effective area of ​​the mating section and the pressure rod 2.

[0066] 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 support section and the mating section are arranged at an angle. 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.

[0067] 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.

[0068] 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 321 along the first direction is disposed in the positioning groove, and the other end of the ring gear 321 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 321 in the first direction, and the flange portion 12 defines the position of the ring gear 321 in the radial direction.

[0069] Specifically, a groove is provided in the middle of one end of the ring gear 321 facing the cover portion 11, which communicates with its inner hole 322. The flange portion 12 extends into the groove, so that the flange portion 12 can serve as the shaft positioning structure of the ring gear 321.

[0070] Based on the above structure, the transmission component 32 is configured to slide and anti-rotate with the pressure rod 2 in the first direction, so that the overall position of the drive assembly 3 can be fixed, which facilitates the miniaturization of the device.

[0071] The ring gear 321 has an arc-shaped mating surface protruding from one end facing the cover portion 11 and / or the other end facing away from the cover portion 11. The arc-shaped mating surface is used to contact the cover portion 11 or the bottom wall 211 of the positioning groove. This arrangement allows the arc surface to contact the plane, forming a tangential fit, which is beneficial to the accurate positioning of the ring gear 321 and can reduce the rotational frictional resistance of the ring gear 321.

[0072] It should be noted that the ring gear 321 has a protruding arc-shaped mating surface at one end facing away from the cover 11, 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.

[0073] Based on the above-mentioned positional limitation of the ring gear 321, the positioning of the ring gear 321 is guaranteed, resulting in less transmission wobble and higher transmission efficiency.

[0074] Furthermore, the outer surface of the ring gear 321 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 the positioning groove, and the peripheral surface of the first mating section forms teeth. The stepped surfaces formed by the first and second mating sections have a certain distance from the edge of the positioning groove, and the second mating section and the positioning groove are radially defined.

[0075] 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 specific form of the position detection device 4 is not limited, and includes, but is not limited to, physical contact position detection devices, visual detection devices, infrared distance sensors, etc. In this embodiment, a combination of a magnetic sensor 41 and a sensing magnet is mainly used. This detection method is less susceptible to interference and is more practical.

[0076] Specifically, the magnetic sensor 41 is located outside the housing 1, while the sensing magnet is placed inside the pressure rod 2. Because the magnetic induction detection method between the magnetic sensor 41 and the sensing magnet 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 is placed inside the pressure rod 2, allowing it to move synchronously with the pressure rod 2 without interfering with other components.

[0077] 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 in a direction pointing outwards. 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 areas, a stepped surface is formed facing away from the second hollow portion. The port of the induction magnet 42 in the second hollow portion 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.

[0078] 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, the magnet will have the same tendency to move due to inertia. 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.

[0079] 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.

[0080] 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.

[0081] Based on the hollow structure design, the end of the pressure rod 2 near the cover 11 has a groove that connects to the second hollow part; the force feedback device 100 also includes a detachable cover 7, at least a portion of which is embedded in the groove. The cover 7 can cooperate with the trigger and also seal the hollow part.

[0082] 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.

[0083] 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.

[0084] 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 application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device.

2. The force feedback device of claim 1, wherein, The application relates to a force feedback device.

3. The force feedback device of claim 2, wherein, The application relates to a force feedback device. The application relates to a force feedback device.

4. The force feedback device of claim 1, wherein, The application relates to a force feedback device.

5. The force feedback device of claim 1, wherein, The application relates to a force feedback device.

6. The force feedback device of claim 1, wherein, The application relates to a force feedback device.

7. The force feedback device of claim 6, wherein, The application relates to a force feedback device. The application relates to a force feedback device.

8. The force feedback device of claim 1, wherein, The application relates to a force feedback device. The application relates to a force feedback device.

9. The force feedback device of claim 1, wherein, The application relates to a force feedback device. The application relates to a force feedback device.

10. A handle characterized in that, The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. The application relates to a force feedback device. 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