Motor assembly, force feedback base, and flight simulator

Abstract

This application provides a motor assembly, a force feedback base, and a flight simulator. The motor assembly includes a mounting plate, a first motor, and a first magnetic encoder plate. The mounting plate has a first side and a second side arranged opposite to each other, and a through hole passing through the first and second sides. The first motor includes a first motor body, a first output shaft, and a first magnet. The first motor body is located on the first side of the mounting plate, the first output shaft is connected to the first motor body and extends through the through hole to the second side of the mounting plate, and the first magnet is located at the end of the first output shaft. The first magnetic encoder plate is located on the second side and fixed to the side of the first magnet opposite to the mounting plate, spaced apart from and opposite to the first magnet. The motor assembly of this application has a compact structure, stable operation, and low cost. Furthermore, the front-mounted first magnetic encoder plate facilitates installation compared to the rear-mounted design, requiring less space.

Description

Technical Field

[0001] This application relates to the field of flight simulation technology, and more particularly to a motor assembly, a force feedback base, and a flight simulator. Background Technology

[0002] Currently, the motors on the force feedback base of flight simulators are built-in. The built-in motors increase the size and height of the force feedback base, resulting in a large volume, high center of gravity, poor operational stability, and large installation space requirements, which brings many inconveniences to actual use. Utility Model Content

[0003] To address the aforementioned technical problems, this application provides a motor assembly, a force feedback base, and a flight simulator.

[0004] In a first aspect, this application provides a motor assembly, the motor assembly comprising:

[0005] The mounting plate has a first side and a second side arranged opposite to each other, and the mounting plate is provided with a through hole that passes through the first side and the second side;

[0006] The first motor includes a first motor body, a first output shaft and a first magnet. The first motor body is located on the first side of the mounting plate, the first output shaft is connected to the first motor body and extends through a through hole to the second side of the mounting plate, and the first magnet is located at the end of the first output shaft.

[0007] The first magnetic coding plate is located on the second side and fixed to the side of the first magnet away from the mounting plate, and is spaced apart from and opposite to the first magnet.

[0008] Therefore, in this application, the first motor body and the first magnetic encoder plate are located on opposite sides of the mounting plate. This allows for external placement of the first motor body, enabling device miniaturization, lowering the center of gravity, improving operational stability, solving the heat dissipation problem of the first motor body, and providing built-in protection for the core components (first magnet / first magnetic encoder plate). Furthermore, the integrated design of the first magnet and the end of the first output shaft, combined with the first magnetic encoder plate, forms a non-contact detection unit, avoiding mechanical wear and extending service life. Compared to traditional photoelectric encoders, the first magnetic encoder plate is dust-resistant and oil-resistant. Moreover, fixing the first magnetic encoder plate within the receiving space and spaced apart from and opposite to the first magnet ensures good coaxiality between the first magnet and the first magnetic encoder plate. Additionally, the motor assembly of this application has a compact structure, stable operation, and low cost. The front-mounted first magnetic encoder plate is more convenient to install than the rear-mounted one, requiring less space. Here, "front-mounted first magnetic encoder plate" means that the first magnetic encoder plate is located on the side of the first motor body connected to the first output shaft. The first magnetic encoder plate being rear-mounted means that the first magnetic encoder plate is located on the opposite side of the main body of the first motor, opposite to the side connected to the first output shaft.

[0009] In some possible embodiments of the first aspect, the central axis of the first magnetic coding plate and the central axis of the first magnet are arranged collinearly, and the projected area of ​​the first magnet on the first upright plate is smaller than the projected area of ​​the first magnetic coding plate on the first upright plate.

[0010] Therefore, the central axis of the first magnetic encoder plate and the central axis of the first magnet are collinear, ensuring that the magnetic field distribution detected by the first magnetic encoder plate is symmetrical and without offset, avoiding nonlinear errors in angle detection caused by axial deviation. The projected area of ​​the first magnet is smaller than that of the first magnetic encoder plate, ensuring that the boundary of its magnetic field is always within the effective sensing area of ​​the first magnetic encoder plate when the first magnet rotates, avoiding signal jumps caused by edge magnetic field attenuation. The area of ​​the first magnetic encoder plate that extends beyond the first magnet can serve as an anti-interference buffer. When external stray magnetic fields (such as those from nearby motors) intrude, the core detection area (corresponding to the projected area of ​​the first magnet) can still maintain signal stability. Even if there is a slight axial displacement between the first magnet and the encoder plate (such as ±0.2mm), the magnetic field can still completely cover the core sensing area of ​​the encoder plate due to the small projected area of ​​the first magnet, reducing the assembly accuracy requirements.

[0011] In some possible embodiments of the first aspect, the first motor further includes a first flange, which is fixed to the side of the first motor body connected to the first output shaft. The first flange is inserted into and cooperates with the through hole. The first flange is provided with a shaft hole, through which the first output shaft passes. The first magnetic encoder plate is fixed to the side of the first flange opposite to the first motor body.

[0012] Therefore, in this application, in the extension direction of the first output shaft, the first magnet is located between the first flange and the first magnetic encoder plate. The first output shaft is positioned by the first flange, the first magnet is fixed to the end of the first output shaft, and the first magnetic encoder plate is fixed to the first flange. The gap between the first magnet and the first magnetic encoder plate is precisely positioned through the shaft hole of the first flange and the through hole of the first vertical plate, ensuring that the concentricity and gap between the first magnetic encoder plate and the first magnet are constant, avoiding signal jitter caused by vibration or eccentricity. The first magnet is directly fixed to the end of the first output shaft, eliminating transmission chain errors and improving the real-time performance and accuracy of position feedback. Moreover, the magnetic field path between the first magnet and the first magnetic encoder plate is short and concentrated (without additional air gap interference), resulting in high signal strength and stronger resistance to electromagnetic noise.

[0013] In some possible embodiments of the first aspect, the motor assembly further includes at least two fasteners that secure the first magnetic encoder plate to the side of the first flange opposite to the first motor body.

[0014] Therefore, in this application, at least two fasteners fix the first magnetic encoder plate to the side of the first flange away from the first motor body, which significantly improves the structural stability of the first magnetic encoder plate and suppresses plate resonance caused by centrifugal force or vibration during high-speed rotation.

[0015] In some possible embodiments of the first aspect, a plurality of first mounting holes are provided at intervals along the circumference of the side of the first flange facing the first magnetic coding plate, and a plurality of second mounting holes are provided at intervals along the circumference of the first magnetic coding plate. The plurality of first mounting holes and the plurality of second mounting holes are provided in a one-to-one correspondence. One end of each fastener is connected to a first mounting hole and the other end is connected to a corresponding second mounting hole.

[0016] Therefore, in this application, the first mounting hole (on the first flange side) and the second mounting hole (on the first magnetic encoder plate side) can be distributed at equal angles (e.g., every 90° or 120°), ensuring the absolute concentricity of the first magnetic encoder plate and the first flange, and avoiding magnetic field detection errors caused by installation tilt. The fasteners (such as pins and bolts) are uniformly stressed circumferentially, effectively resisting tangential torque during motor start-up, shutdown, or reversal, preventing micro-displacement between the first magnetic encoder plate and the first flange (avoiding signal drift). Traditional adhesive bonding or single-point fixing is prone to deformation due to temperature changes or mechanical stress, while multi-hole connections provide uniform clamping force, ensuring no warping of the mating surface between the first magnetic encoder plate and the first flange, eliminating flexible deformation. The first and second mounting holes correspond one-to-one; during assembly, simply rotate the first magnetic encoder plate until the holes are aligned and insert it into the fastener, without additional alignment adjustments. Disassembly simply requires pulling out or loosening the fastener to separate the first magnetic encoder plate, facilitating replacement or maintenance (more user-friendly than overall adhesive bonding solutions). Fasteners (such as stainless steel pins) can establish multi-channel heat conduction between the first flange and the first magnetic encoder plate, balancing the temperature difference between the two and reducing the impact of thermal deformation on the gap. Fasteners (such as copper pillars) can be designed as grounding paths to guide interference charges from the periphery of the first magnetic encoder plate away from the sensitive area, improving the ability to resist electromagnetic interference. The rigid connection of the fasteners can attenuate vibration noise transmitted from the first flange to the first magnetic encoder plate, avoiding high-frequency vibration interference with magnetic field signal acquisition.

[0017] Secondly, this application provides a force feedback base, which includes: a housing, a motor assembly, a movable assembly, and a handle shaft, wherein the motor assembly is the same as the one described in the first application.

[0018] The casing encloses and forms a receiving space; the casing includes a first vertical plate, which is a mounting plate;

[0019] The first motor body is located outside the receiving space. The first output shaft is connected to the first motor body and extends into the receiving space through the through hole. The first magnet is located in the receiving space and is disposed at the end of the first output shaft. The first magnetic encoder plate is fixed in the receiving space and fixed on the side of the first magnet away from the first upright plate, and is spaced apart from and opposite to the first magnet.

[0020] One end of the movable component is connected to the first output shaft, and the other end of the movable component is connected to the handle shaft;

[0021] The first motor provides force feedback to the handle shaft via a moving component.

[0022] Therefore, in this application, the force feedback base achieves efficient and precise force feedback control. The housing features a first vertical plate and a through hole, externally housing the first motor body while maintaining the airtightness of the receiving space. This achieves miniaturization of the force feedback base, lowers its center of gravity, improves operational stability, solves the heat dissipation problem (preventing motor heat accumulation in the enclosed space), and provides built-in protection for core components (first magnet / first magnetic encoder plate). Furthermore, the integrated design of the first magnet and the end of the first output shaft, combined with the first magnetic encoder plate, forms a non-contact detection unit, avoiding mechanical wear and extending service life. The pairing of the first magnetic encoder plate and the first magnet constitutes a high-resolution angle sensing system, capable of capturing micron-level displacement of the first output shaft in real time. Compared to traditional photoelectric encoders, the first magnetic encoder plate is dust-resistant and oil-resistant. Additionally, the force transmission chain of the first motor body, first output shaft, moving components, and handle shaft adopts a segmented design. The moving components can integrate reduction gears or linkage mechanisms to achieve torque amplification and motion direction conversion. Furthermore, fixing the first magnetic encoder plate within the receiving space and positioning it spaced apart from and opposite to the first magnet ensures good coaxiality between the first magnet and the first magnetic encoder plate. Moreover, the motor assembly of this application has a compact structure, stable operation, and low cost, and the front-mounted design of the first magnetic encoder plate facilitates installation compared to its rear-mounted design, requiring less space. Specifically, "front-mounted" means the first magnetic encoder plate is located on the side of the first motor body opposite to the side connected to the first output shaft. "Rear-mounted" means the first magnetic encoder plate is located on the opposite side of the first motor body opposite to the side connected to the first output shaft.

[0023] In some possible embodiments of the second aspect, the housing further includes a second upright plate, the first upright plate and the second upright plate are opposite to and spaced apart, a receiving space is formed between the first upright plate and the second upright plate, the movable component includes a suspension shaft and a first gear set, the two sides of the suspension shaft are rotatably connected to the first upright plate and the second upright plate respectively, one end of the first gear set is connected between the first upright plate and one side of the suspension shaft, the other end of the first gear set is connected to a first output shaft, the handle shaft is disposed on the suspension shaft, and a first motor drives the handle shaft to rotate around a first direction, the first direction being parallel to the axial direction of the first output shaft.

[0024] Therefore, in this application, the first and second upright plates are arranged parallel to each other, forming a stable "gantry" force-bearing structure. This evenly distributes the load on components such as the suspension shaft and the first gear set within the receiving space, avoiding deformation caused by a single-sided cantilever. The suspension shaft is rotatably connected to the first and second upright plates on both sides, forming a double-support cantilever beam structure. This allows the radial force of the handle shaft during rotation to be dispersed and absorbed by the upright plates on both sides, reducing vibration and sway. One end of the first gear set is connected to the first upright plate and the suspension shaft, while the other end is linked to the first output shaft, forming a short-path power chain and reducing transmission losses. The suspension shaft, the first upright plate, and the second upright plate use a bearing or hinge structure, allowing the handle shaft to rotate freely around the first direction while restricting unnecessary displacements in other directions, such as lateral movement along the first direction, thus improving the precision of the operating feel. The receiving space between the first and second upright plates can act as a buffer area. When the handle shaft is subjected to external impact, the force is dispersed to the first and second upright plates on both sides through the suspension shaft, preventing the first motor from bearing direct pressure.

[0025] In some possible embodiments of the second aspect, the first gear set includes a first pinion and a first gear. The first pinion is located in the receiving space and passes through the first output shaft and is located between the first vertical plate and the first magnetic encoder plate. The first gear is located in the receiving space and meshes with the first pinion and is rotatably connected to the first vertical plate. The first gear is fixedly connected to one side of the suspension shaft.

[0026] Therefore, in this application, the first pinion and the first large gear form a reduction gear pair, which converts the high speed and low torque of the first output shaft of the first motor into the low speed and high torque of the handle shaft. The first pinion is placed between the first vertical plate and the first magnetic encoder plate, and the first large gear is fixed to the suspension shaft side. The gear meshing force is evenly transmitted to the first vertical plate and the second vertical plate through the suspension shaft, reducing the shaking caused by gear backlash and improving the smoothness of the handle shaft rotation.

[0027] In some possible embodiments of the second aspect, in the extending direction of the first output shaft, the first gear set is located between the first vertical plate and the first magnetic encoder plate, and the side of the suspension shaft facing the first magnetic encoder plate is provided with a first groove, and the first magnetic encoder plate is located between the first groove and the first gear set.

[0028] Therefore, in this application, the first magnetic encoder plate can be staggered from the first gear set and the suspension shaft to avoid interference of the first magnetic encoder plate with the movement of the first gear set and the suspension shaft, thereby improving the overall coordination of the force feedback base.

[0029] In some possible embodiments of the second aspect, the suspension axle includes a first side plate, a second side plate, a first panel and a second panel. The first side plate and the second side plate are arranged opposite to each other and parallel to each other. The first panel and the second panel are arranged parallel to each other and opposite to each other. The first side plate, the first panel, the second side plate and the second panel enclose a through space with openings at the top and bottom. The first side plate is arranged corresponding to the first upright plate and the second side plate is arranged corresponding to the second upright plate. One end of the handle axle is located in the through space of the suspension axle.

[0030] Therefore, in this application, the suspension axle forms a stable box beam structure, which greatly improves the bending / torsional stiffness and can effectively resist the multi-directional torque when the handle axle is operated. The handle axle extends from the top opening, and the force at the bottom is evenly distributed to the first and second upright plates on both sides through the four walls of the square suspension axle, avoiding stress concentration.

[0031] In some possible embodiments of the second aspect, the active component further includes a second motor and a second gear set. The second motor is fixed inside the suspension shaft, and the second gear set is connected to the outside of the suspension shaft and located within the receiving space. One end of the second gear set is connected to the second output shaft of the second motor, and the other end of the second gear set is fixedly connected to the end of the handle shaft located inside the suspension shaft. The second motor drives the handle shaft to rotate around a second direction, which is perpendicular to the first direction.

[0032] Therefore, in this application, the second motor drives the second gear set to rotate, and the second gear set drives the handle shaft to rotate around a second direction, realizing multi-directional rotation of the handle shaft and improving the user experience. Furthermore, the second motor is located inside the suspension shaft, which improves the installation stability of the second motor. The second gear set is located outside the suspension shaft and within the receiving space, which reduces the structural size of the suspension shaft. Moreover, the second gear set can be fixed to the outside of the suspension shaft, improving the installation stability of the second gear set, thereby improving the feel of the handle shaft.

[0033] In some possible embodiments of the second aspect, the second gear set includes a second pinion and a second large gear. The second pinion is connected to the second output shaft of the second motor, and the second large gear meshes with the second pinion and is fixedly connected to one end of the handle shaft located inside the suspension shaft.

[0034] Therefore, in this application, the second pinion and the second large gear form a reduction gear pair, converting the high-speed, low-torque output shaft of the second motor into the low-speed, high-torque output shaft of the handle shaft. Furthermore, since both the second pinion and the second large gear are located on the outside of the suspension shaft, this improves the installation stability of the second pinion and the second large gear, and enhances the transmission smoothness of the second gear set.

[0035] In some possible embodiments of the second aspect, the suspension axle includes a first side plate, a second side plate, a first panel, and a second panel. The first side plate and the second side plate are arranged opposite to each other and parallel to each other. The first panel and the second panel are arranged parallel to each other and opposite to each other. The first side plate, the first panel, the second side plate, and the second panel enclose a through space with openings at the top and bottom. The first side plate is arranged corresponding to the first upright plate, and the second side plate is arranged corresponding to the second upright plate. The second motor is fixed on the side of the first panel close to the second panel. The first panel is provided with a connecting hole. The second output shaft of the second motor passes through the connecting hole and is connected to the second pinion of the second gear set.

[0036] Therefore, in this application, the suspension axle forms a stable box beam structure, which greatly improves the bending / torsional stiffness and can effectively resist the multi-directional torque when the handle axle is operated. The handle axle extends from the top opening, and the force at the bottom is evenly distributed to the first and second upright plates on both sides through the four walls of the square suspension axle, avoiding stress concentration.

[0037] Thirdly, this application provides a flight simulator, which includes the force feedback base of the second aspect.

[0038] The beneficial effects of the flight simulator in the third aspect are the same as those of the force feedback base in the second aspect, and will not be elaborated further. Attached Figure Description

[0039] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the modules of the flight simulator in the embodiments of this application;

[0041] Figure 2 This is a three-dimensional structural diagram of the motor assembly according to an embodiment of this application;

[0042] Figure 3 for Figure 2 Exploded view;

[0043] Figure 4 for Figure 2 Cross-sectional view at IV-IV;

[0044] Figure 5 This is a three-dimensional structural diagram of the force feedback base in the embodiments of this application;

[0045] Figure 6 for Figure 5 The left view of the force feedback base after removing the suspension axle, the first magnetic encoder plate, the second vertical plate, and the base plate;

[0046] Figure 7 for Figure 5 A three-dimensional structural diagram of the force feedback base after removing the second vertical plate, the second motor, the second gear set, and the handle shaft.

[0047] Component symbols:

[0048] Flight simulator 1000, simulated cockpit 1001, motion system 1002, visual system 1003, computer system 1004, auxiliary equipment 1005;

[0049] Force feedback base 100;

[0050] Motor assembly 100a;

[0051] 10 housing, 11 receiving space, 12 first upright plate, 12a mounting plate, 12a1 first side, 12a2 second side, 12a2 through hole, 121 second upright plate, 13 base plate;

[0052] First motor 20, first motor body 21, first output shaft 22, first magnet 23, first flange 24, shaft hole 241, first mounting hole 242;

[0053] First magnetic coding plate 30, second mounting hole 301;

[0054] Activity Component 40;

[0055] Suspension axle 41, first side plate 411, second side plate 412, first panel 413, connecting hole 4131, second panel 414, first axle groove 4133, second axle groove 4143, first groove 415;

[0056] First gear set 42, first pinion 421, first large gear 422;

[0057] Second gear set 43, second pinion 431, second large gear 432;

[0058] Second motor 44;

[0059] Handle shaft 50, fixing part 60, plug interface 70, chip 80, motherboard 90. Detailed Implementation

[0060] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0061] In the description of this application, the terms "first," "second," etc. are used to distinguish different objects, rather than to describe a specific order. The terms "upper," "lower," "inner," "outer," etc., which indicate the orientation or positional relationship, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0062] In the description of this application, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal connection of two components; it can be a communication connection; or it can be an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0063] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the modules of the flight simulator 1000 in this application embodiment. The flight simulator 1000 includes a simulated cockpit 1001, a motion system 1002, a visual system 1003, a computer system 1004, and auxiliary equipment 1005.

[0064] The simulator cockpit 1001 includes control units, instruments, and other equipment. The control units, including the joystick, throttle, rudder pedals, and force feedback base 100, are similar to those of a real aircraft, allowing players to perform takeoff, climb, turn, and landing maneuvers, simulating realistic flight control. The force feedback base 100 is the core component of the control unit, responsible for providing realistic control force feedback, simulating stick force, control surface drag, and abnormal conditions (such as stall, hydraulic failure, etc.) under different flight conditions. Instruments include an airspeed indicator, altimeter, localizer, attitude indicator, turn coordination indicator, and vertical speedometer, displaying information such as flight speed, altitude, direction, and attitude to help players understand the aircraft's flight status. Other equipment includes a seat and control panel. The seat is adjustable to simulate the physical sensations under different flight attitudes, and the control panel is used to control various flight systems and equipment.

[0065] The motion system 1002 includes a drive unit. The drive unit uses a hydraulic servo actuator or an electric actuator. By controlling the extension and retraction of the actuator, it drives the simulated cockpit 1001 to move, achieving 3-DOF or 6-DOF motion, allowing the player's body to feel the aircraft's movement changes. The 3-DOF includes pitch, roll, and yaw, enabling pitch, roll, and yaw movements, allowing the player to feel the aircraft's pitch, roll, and yaw. The 6-DOF, in addition to the 3-DOF, adds linear displacement in the forward, backward, left, right, and up / down directions, more realistically simulating various aircraft motion states in the air.

[0066] The visual system 1003 includes image generation and display devices. Image generation utilizes computer graphics technology to generate realistic 3D scenes and images based on calculations from flight simulation software. These include terrain, buildings, clouds, weather effects, and can simulate different weather conditions such as day / night cycles, sunny days, rainy days, and foggy days. Display devices include projectors, large-screen displays, or VR (Virtual Reality) headsets to display the generated images, providing players with a wide field of view and showcasing the external scenery of the aircraft, such as airports, runways, cities, mountains, and oceans, making players feel as if they are in a realistic flight environment.

[0067] Computer system 1004 includes hardware and flight simulation software. The hardware includes one or more high-performance computers to meet the operational requirements of the flight simulation software, processing large amounts of flight data and handling graphics rendering tasks. The flight simulation software contains mathematical models, aerodynamic models, and flight control system models of the aircraft. Based on the player's actions and flight status, it calculates the aircraft's trajectory, attitude changes, instrument data, etc., in real time and feeds the results back to other systems, achieving real-time performance and accuracy in flight simulation.

[0068] Auxiliary equipment 1005 includes an audio system and a lighting system. The audio system includes speakers or headphones that play sounds such as the roar of the aircraft engine, wind noise, landing gear retraction and extension sounds, and communication sounds, enhancing the realism and immersion of the flight and making the player feel more present. The lighting system simulates the lighting effects inside the aircraft cockpit, such as instrument lights, cabin lighting, and signal lights, as well as external airport lights and runway lights. It adjusts according to flight status and environmental changes, providing the player with a more realistic visual experience.

[0069] Please refer to Figure 2 , Figure 2 This is a three-dimensional structural diagram of the motor assembly 100a according to an embodiment of this application. For ease of description, the following definitions are used. Figure 2 The front-to-back direction of the motor assembly 100a shown is the Y-axis direction, which is the thickness direction and the front-to-back direction. Figure 2 The left and right directions of the motor assembly 100a shown are the X-axis directions, i.e., the length direction and the horizontal direction, defined as follows: Figure 2 The height direction of the motor assembly 100a shown is the Z-axis direction, which is vertical. The directional terms such as "top," "bottom," "left," and "right" used in the description of the motor assembly 100a in this application are based on the accompanying drawings. Figure 2 The description of the orientation shown, with the positive direction of the Z-axis as "top", the negative direction of the Z-axis as "bottom", the negative direction of the X-axis as "left", the positive direction of the X-axis as "right", the negative direction of the Y-axis as "back", and the positive direction of the Y-axis as "front", does not constitute a limitation on the actual application scenario of the motor assembly 100a.

[0070] Please refer to this as well. Figure 2 , Figure 3 and Figure 4 , Figure 3 for Figure 2 The exploded diagram, Figure 4 for Figure 2 Cross-sectional view at IV-IV.

[0071] Motor assembly 100a includes:

[0072] Mounting plate 12a has a first side 12a1 and a second side 12a2 arranged opposite to each other, and a through hole 121 is provided on the mounting plate 12a to pass through the first side 12a1 and the second side 12a2.

[0073] The first motor 20 includes a first motor body 21, a first output shaft 22 and a first magnet 23. The first motor body 21 is located on the first side 12a1 of the mounting plate 12a. The first output shaft 22 is connected to the first motor body 21 and extends through the through hole 121 to the second side 12a2 of the mounting plate 12a. The first magnet 23 is located at the end of the first output shaft 22.

[0074] The first magnetic encoder plate 30 is located on the second side 12a2 and fixed on the side of the first magnet 23 away from the mounting plate 12a. It is spaced apart from and opposite to the first magnet 23 to realize the measurement of the rotation angle of the first output shaft 22.

[0075] Therefore, in this application, the first motor body 21 and the first magnetic encoder plate 30 are located on opposite sides of the mounting plate 12a. This allows the first motor body 21 to be externally mounted, achieving device miniaturization, lowering the device's center of gravity, improving operational stability, solving the heat dissipation problem of the first motor body 21, and providing built-in protection for the core components (first magnet 23 / first magnetic encoder plate 30). Furthermore, the integrated design of the first magnet 23 and the end of the first output shaft 22, together with the first magnetic encoder plate 30, forms a non-contact detection unit, avoiding mechanical wear and extending service life. Compared to traditional photoelectric encoders, the first magnetic encoder plate 30 has dust-resistant and oil-resistant properties. Moreover, fixing the first magnetic encoder plate 30 to the second side 12a2 and to the side of the first magnet 23 facing away from the mounting plate 12a, while spaced apart from and opposite to the first magnet 23, ensures good coaxiality between the first magnet 23 and the first magnetic encoder plate 30. Furthermore, the motor assembly 100a of this application has a compact structure, stable operation, and low cost. The front-mounted first magnetic encoder plate 30 is easier to install than the rear-mounted one, requiring less space. Specifically, "front-mounted" means the first magnetic encoder plate 30 is located on the side of the first motor body 21 opposite to the side connecting to the first output shaft 22. "Rear-mounted" means the first magnetic encoder plate 30 is located on the opposite side of the first motor body 21 from the side connecting to the first output shaft 22.

[0076] In some embodiments, the central axis of the first magnetic coding plate 30 and the central axis of the first magnet 23 are arranged collinearly, and the projected area of ​​the first magnet 23 on the first upright plate 12 is smaller than the projected area of ​​the first magnetic coding plate 30 on the first upright plate 12.

[0077] Therefore, the central axis of the first magnetic encoder plate 30 and the central axis of the first magnet 23 are collinear, ensuring that the magnetic field distribution detected by the first magnetic encoder plate 30 is symmetrical and without offset, avoiding nonlinear errors in angle detection caused by axial deviation. The projected area of ​​the first magnet 23 on the first upright plate 12 is smaller than the projected area of ​​the first magnetic encoder plate 30 on the first upright plate 12, ensuring that the boundary of the magnetic field of the first magnet 23 is always within the effective sensing area of ​​the first magnetic encoder plate 30 when the first magnet 23 rotates, avoiding signal jumps caused by edge magnetic field attenuation. The area of ​​the first magnetic encoder plate 30 that extends beyond the first magnet 23 can serve as an anti-interference buffer. When external stray magnetic fields (such as those from nearby motors) intrude, the core detection area (corresponding to the projected area of ​​the first magnet 23) can still maintain signal stability. Even if there is a slight axial displacement (such as ±0.2mm) between the first magnet 23 and the first magnetic encoder plate 30, the magnetic field can still completely cover the core sensing area of ​​the first magnetic encoder plate 30 because the projected area of ​​the first magnet 23 is small, reducing the assembly accuracy requirements.

[0078] In some embodiments, the first motor 20 further includes a first flange 24, which is fixed to the side of the first motor body 21 connected to the first output shaft 22. The first flange 24 is inserted into and cooperates with the through hole 121. The first flange 24 is provided with a shaft hole 241, through which the first output shaft 22 passes. The first magnetic encoder plate 30 is fixed to the side of the first flange 24 away from the first motor body 21.

[0079] Therefore, in this application, in the extension direction (X-axis direction) of the first output shaft 22, the first magnet 23 is located between the first flange 24 and the first magnetic encoder plate 30. The first output shaft 22 is positioned by the first flange 24, the first magnet 23 is fixed to the end of the first output shaft 22, and the first magnetic encoder plate 30 is fixed to the side of the first flange 24 opposite to the first motor body 21. The gap between the first magnet 23 and the first magnetic encoder plate 30 is precisely positioned through the shaft hole 241 of the first flange 24 and the through hole 121 of the first vertical plate 12, ensuring that the concentricity and gap between the first magnetic encoder plate 30 and the first magnet 23 are constant, avoiding signal jitter caused by vibration or eccentricity. The first magnet 23 is directly fixed to the end of the first output shaft 22, eliminating transmission chain errors and improving the real-time performance and accuracy of position feedback. Moreover, the magnetic field path between the first magnet 23 and the first magnetic encoder plate 30 is short and concentrated (without additional air gap interference), resulting in high signal strength and stronger anti-electromagnetic noise capability.

[0080] In some embodiments, the force feedback base 100 further includes at least two fasteners 60 that fix the first magnetic encoder plate 30 to the side of the first flange 24 opposite to the first motor body 21.

[0081] Therefore, in this application, at least two fasteners 60 fix the first magnetic encoder plate 30 to the side of the first flange 24 away from the first motor body 21, which significantly improves the structural stability of the first magnetic encoder plate 30.

[0082] In some embodiments, the fasteners 60 are columnar connectors, and at least two fasteners 60 are arranged around the first output shaft 22, forming a ring-shaped rigid support frame in conjunction with the first flange 24 and the first magnetic encoder plate 30. In this embodiment, the at least two fasteners 60 include three fasteners 60, which, in conjunction with the first flange 24 and the first magnetic encoder plate 30, form a ring-shaped rigid support frame. It is understood that in other embodiments, the at least two fasteners 60 may include other numbers of fasteners 60, and may also form a ring-shaped rigid support frame in conjunction with the first flange 24 and the first magnetic encoder plate 30.

[0083] Therefore, in this application, at least two fixing members 60 are arranged around the first output shaft 22 to form an annular rigid support frame, which significantly improves the structural stability of the first magnetic encoder plate 30 and suppresses plate resonance caused by centrifugal force or vibration during high-speed rotation.

[0084] In this embodiment, each fastener 60 is hexagonal prism-shaped. It is understood that in other embodiments, the shape of each fastener 60 is not limited to a hexagonal prism and may be other shapes, which are not limited here. In other embodiments, at least two prism-shaped fasteners 60 may be replaced by an annular fastening plate, which is not limited here.

[0085] In some embodiments, at least two fasteners 60 are arranged at equal intervals around the first output shaft 22.

[0086] Therefore, by having at least two fasteners 60 evenly spaced around the first output shaft 22, the absolute concentricity of the first magnetic encoder plate 30 and the first flange 24 can be ensured, avoiding magnetic field detection errors caused by installation tilt. The fasteners 60 (such as pins or bolts) are uniformly stressed circumferentially, effectively resisting tangential torque during motor start-up, shutdown, or reversal, preventing micro-displacement between the first magnetic encoder plate 30 and the first flange 24 (avoiding signal drift).

[0087] In some embodiments, the first flange 24 has a plurality of first mounting holes 242 spaced apart circumferentially along the side facing the first magnetic coding plate 30, and the first magnetic coding plate 30 has a plurality of second mounting holes 301 spaced apart circumferentially. The plurality of first mounting holes 242 and the plurality of second mounting holes 301 are arranged in a one-to-one correspondence. One end of each fastener 60 is connected to a first mounting hole 242, and the other end of each fastener 60 is connected to a corresponding second mounting hole 301. In this embodiment, the first flange 24 has six first mounting holes 242 spaced apart circumferentially along the side facing the first magnetic coding plate 30, and the first magnetic coding plate 30 has six second mounting holes 301 spaced apart circumferentially. The six first mounting holes 242 and the six second mounting holes 301 are arranged in a one-to-one correspondence, and one end of each fastener 60 is connected to a first mounting hole 242. In other embodiments, the number of first mounting holes 242 and second mounting holes 301 is not limited to this and is not specified here.

[0088] Therefore, in this application, the first mounting hole 242 (on the side of the first flange 24) and the second mounting hole 301 (on the side of the first magnetic coding plate 30) can be distributed at equal angles (e.g., every 90° or 120°), ensuring the absolute concentricity of the first magnetic coding plate 30 and the first flange 24, and avoiding magnetic field detection errors caused by installation tilt. Traditional adhesive bonding or single-point fixing is prone to deformation due to temperature changes or mechanical stress, while multi-hole connections provide uniform clamping force, ensuring that the mating surface of the first magnetic coding plate 30 and the first flange 24 is free from warping, eliminating flexible deformation. The first mounting hole 242 and the second mounting hole 301 correspond one-to-one. During assembly, the first magnetic coding plate 30 only needs to be rotated until the holes are aligned before inserting it into the fixing member 60, without the need for additional alignment adjustments. During disassembly, the first magnetic coding plate 30 can be separated simply by pulling out or loosening the fixing member 60, facilitating replacement or maintenance (more user-friendly than the overall adhesive bonding solution). The fastener 60 (such as a stainless steel pin) can establish a multi-channel heat conduction between the first flange 24 and the first magnetic encoder plate 30, balancing the temperature difference between the two and reducing the impact of thermal deformation on the gap. The fastener 60 (such as a copper pillar) can be designed as a grounding path to guide interference charges around the first magnetic encoder plate 30 away from the sensitive area, improving the ability to resist electromagnetic interference. The rigid connection of the fastener 60 can attenuate the vibration noise transmitted from the first flange 24 to the first magnetic encoder plate 30, avoiding high-frequency vibration interference with magnetic field signal acquisition.

[0089] In some embodiments, the motor assembly 100a further includes a connector 70 and a chip 80, the chip 80 being connected to the side of the first magnetic encoder board 30 facing the first flange 24, and the connector 70 being connected to the first magnetic encoder board 30 and connected to the main board via a cable. Figure 2 and Figure 3 (Not shown), to achieve signal transmission.

[0090] It is understandable that there are multiple ways to fix the first magnetic coding plate 30 in the receiving space 11. For example, the first magnetic coding plate 30 can be directly fixed to the first upright plate 12, which is not limited here.

[0091] Please refer to this as well. Figure 2 and Figure 5 , Figure 5 This is a three-dimensional structural diagram of the force feedback base 100 in the embodiments of this application.

[0092] The force feedback base 100 includes a housing 10, a motor assembly 100a, a moving assembly 40, and a handle shaft 50.

[0093] The casing 10 encloses and forms a receiving space 11; the casing 10 includes a first upright plate 12, which is a mounting plate 12a.

[0094] The motor assembly 100a is the aforementioned motor assembly 100a, wherein the first motor body 21 is located outside the receiving space 11, the first output shaft 22 is connected to the first motor body 21 and extends into the receiving space 11 through the through hole 121, the first magnet 23 is located in the receiving space 11 and is disposed at the end of the first output shaft 22; the first magnetic encoding plate 30 is fixed in the receiving space 11 and fixed on the side of the first magnet 23 away from the first upright plate 12 and is spaced apart from and opposite to the first magnet 23;

[0095] One end of the movable component 40 is connected to the first output shaft 22, and the other end of the movable component 40 is connected to the handle shaft 50;

[0096] The first motor 20 provides force feedback to the handle shaft 50 via the movable component 40.

[0097] Therefore, in this application, the force feedback base 100 achieves efficient and precise force feedback control. The housing 10 has a first upright plate 12 and a through hole 121, which externalizes the first motor body 21 while maintaining the airtightness of the receiving space 11. This achieves miniaturization of the force feedback base 100, lowers its center of gravity, improves its operational stability, solves the heat dissipation problem (motor heat does not accumulate in the enclosed space), and provides built-in protection for the core components (first magnet 23 / first magnetic encoder plate 30). Furthermore, the integrated design of the first magnet 23 and the end of the first output shaft 22, together with the first magnetic encoder plate 30, forms a non-contact detection unit, avoiding mechanical wear and extending service life. The first magnetic encoder plate 30 and the first magnet 23 constitute a high-resolution angle sensing system, capable of capturing the micron-level displacement of the first output shaft 22 in real time. Compared to traditional photoelectric encoders, the first magnetic encoder plate 30 has dust-resistant and oil-resistant properties. Furthermore, the force transmission chain of the first motor body 21, the first output shaft 22, the movable component 40, and the handle shaft 50 adopts a segmented design. The movable component 40 can integrate a reduction gear or a linkage mechanism to achieve torque amplification and motion direction conversion. Moreover, fixing the first magnetic encoding plate 30 within the receiving space 11 and arranging it at a distance from and opposite to the first magnet 23 can ensure good coaxiality between the first magnet 23 and the first magnetic encoding plate 30.

[0098] In some embodiments, please refer to Figure 5The housing 10 also includes a second upright plate 13. The first upright plate 12 and the second upright plate 13 are opposite to each other and spaced apart. A receiving space 11 is formed between the first upright plate 12 and the second upright plate 13. The movable component 40 includes a suspension shaft 41 and a first gear set 42. The two sides of the suspension shaft 41 are rotatably connected to the first upright plate 12 and the second upright plate 13, respectively. One end of the first gear set 42 is connected between the first upright plate 12 and one side of the suspension shaft 41, and the other end of the first gear set 42 is connected to a first output shaft 22. A handle shaft 50 is disposed on the suspension shaft 41. A first motor 20 drives the handle shaft 50 to rotate around a first direction, which is parallel to the axial direction of the first output shaft 22. The first direction is parallel to the X-axis direction. It is understood that in some other embodiments, the suspension shaft 41 may be omitted, and the first gear set 42 may be directly connected to one end of the handle shaft 50.

[0099] Therefore, in this application, the first upright plate 12 and the second upright plate 13 are arranged parallel to each other, forming a stable "gate" force-bearing structure, which evenly bears the load of components such as the suspension shaft 41 and the first gear set 42 within the receiving space 11, avoiding deformation caused by a single-sided cantilever. The suspension shaft 41 is rotatably connected to the first upright plate 12 and the second upright plate 13 on both sides, forming a double-support cantilever beam structure, so that the radial force of the handle shaft 50 during rotation is dispersed and absorbed by the upright plates on both sides, reducing vibration and sway. One end of the first gear set 42 is connected to the first upright plate 12 and the suspension shaft 41, and the other end is linked to the first output shaft 22, forming a short-path power chain and reducing transmission loss. The rotation direction of the handle shaft 50 (rotation around the first direction) is parallel to the axis of the first output shaft 22, and the orthogonal torque conversion is achieved through the first gear set 42 and the suspension shaft 41, saving space and avoiding interference from cross shafts. The suspension shaft 41 is connected to the first upright plate 12 and the second upright plate 13 by bearings or hinges, allowing the handle shaft 50 to rotate freely around the first direction while limiting unnecessary displacement in other directions, such as lateral movement along the first direction, thus improving the precision of the operating feel. The receiving space 11 between the first upright plate 12 and the second upright plate 13 can act as a buffer area. When the handle shaft 50 is subjected to external impact, the force is distributed to the first upright plate 12 and the second upright plate 13 on both sides through the suspension shaft 41, preventing the first motor 20 from being directly subjected to pressure.

[0100] In some embodiments, the housing 10 further includes a base plate 14. The base plate 14 is connected to the bottom ends of the first upright plate 12 and the second upright plate 13. The receiving space 11 is the space enclosed by the first upright plate 12, the second upright plate 13, and the base plate 14. It is understood that... Figure 4Only the first upright plate 12, the second upright plate 13, and the bottom plate 14 of the housing 10 are shown. In reality, the housing 10 may include a front panel, a rear panel, and a top panel, thus forming a relatively well-sealed receiving space 11, which can improve the airtightness of the housing 10. One end of the handle shaft 50 extends into the receiving space 11 and connects to the other end of the movable component 40, while the other end of the handle shaft 50 extends out of the receiving space 11.

[0101] In some embodiments, the force feedback base 100 also includes a mainboard 90. The mainboard 90 is located on the base plate 14, between the first upright plate 12 and the second upright plate 13, and below the suspension shaft 41. The connector 70 of the first magnetic encoder board 30 is connected to a corresponding connector on the mainboard 90 via a cable to transmit signals.

[0102] In some embodiments, the first motor body 21 and the main board 90 are connected by conductive wires to achieve signal transmission.

[0103] In some embodiments, please refer to the following: Figure 5 and Figure 6 , Figure 6 for Figure 5 The left view of the force feedback base after removing the suspension axle, first magnetic encoder plate, second upright plate, and base plate is shown. The first gear set 42 includes a first pinion 421 and a first gear 422. The first pinion 421 is located within the receiving space 11 and passes through the first output shaft 22, situated between the first upright plate 12 and the first magnetic encoder plate 30. The first gear 422 is located within the receiving space 11, meshes with the first pinion 421, and is rotatably connected to the first upright plate 12. The first gear 422 is fixedly connected to one side of the suspension axle 41. It is understood that the reduction ratio of the first gear set 42 can be adjusted by adjusting the gear ratio of the first pinion 421 and the first gear 422, and the specific adjustment can be made according to actual needs, without limitation here. It is understood that in some embodiments, the suspension axle 41 can be omitted, and the first gear 422 can be directly connected to the handle shaft 50, without limitation here.

[0104] Therefore, in this application, the first pinion 421 and the first gear 422 form a reduction gear pair, which converts the high speed and low torque of the first output shaft 22 of the first motor 20 into the low speed and high torque of the handle shaft 50. The first pinion 421 is placed between the first upright plate 12 and the first magnetic encoder plate 30, and the first gear 422 is fixed to the suspension shaft 41. The gear meshing force is evenly transmitted to the first upright plate 12 and the second upright plate 13 through the suspension shaft 41, reducing the shaking caused by gear backlash and improving the smoothness of the rotation of the handle shaft 50.

[0105] In this embodiment, to make the force feedback base 100 structure more compact, the first pinion 421 is a cylindrical gear and the first gear 422 is a sector gear. Preferably, the first pinion 421 and the first gear 422 are helical gears, which can significantly reduce vibration and noise and reduce instantaneous impact. In other embodiments, the first pinion 421 and the first gear 422 can be cylindrical gears or other types of gears, which are not limited here.

[0106] In some embodiments, please refer to Figure 5 and Figure 7 The suspension axle 41 includes a first side plate 411, a second side plate 412, a first panel 413, and a second panel 414. The first side plate 411 and the second side plate 412 are parallel and opposite to each other, as are the first panel 413 and the second panel 414. The first side plate 411, the first panel 413, the second side plate 412, and the second panel 414 enclose a through space with openings at the top and bottom. The first side plate 411 corresponds to the first upright plate 12, and the second side plate 412 corresponds to the second upright plate 13. One end of the handle shaft 50 is located within the through space of the suspension axle 41. It is understood that the handle shaft 50 does not have a degree of freedom in the direction of rotation around the X-axis relative to the suspension axle 41.

[0107] Thus, the suspension axle 41 forms a stable box beam structure, which greatly improves the bending / torsional stiffness and can effectively resist the multi-directional torque when the handle axle 50 is operated. The handle axle 50 extends from the top opening, and the force at the bottom is evenly distributed to the first vertical plate 12 and the second vertical plate 13 on both sides through the four walls of the square suspension axle 41, avoiding stress concentration.

[0108] In some embodiments, please refer again Figure 5 The active component 40 also includes a second motor 44 and a second gear set 43. The second motor 44 is fixed inside the suspension shaft 41, specifically on the first panel 413 of the suspension shaft 41. The second gear set 43 is connected to the outside of the suspension shaft 41 and located within the receiving space 11, specifically on the side of the first panel 413 of the suspension shaft 41 opposite to the second panel 414. One end of the second gear set 43 is connected to the second output shaft of the second motor 44, and the other end of the second gear set 43 is fixedly connected to the end of the handle shaft 50 located inside the suspension shaft 41. The second motor 44 drives the handle shaft 50 to rotate around a second direction, which is perpendicular to the first direction. The second direction is parallel to the Y-axis.

[0109] Therefore, the second motor 44 drives the second gear set 43 to rotate, and through the second gear set 43 drives the handle shaft 50 to rotate around the second direction, allowing the handle shaft 50 to swing left and right within the suspension shaft 41. The handle shaft 50 itself can also swing back and forth along with the suspension shaft 41, thus achieving multi-directional rotation of the handle shaft 50 and improving the user experience. Furthermore, the second motor 44 is located inside the suspension shaft 41 and approximately in the middle position, which improves the installation stability of the second motor 44 and provides sufficient space for the left and right swing of the handle shaft 50. The second gear set 43 is located outside the suspension shaft 41 and within the receiving space 11, which reduces the structural size of the suspension shaft 41. Moreover, the second gear set 43 can be fixed to the outside of the suspension shaft 41, improving the installation stability of the second gear set 43 and thus improving the feel of the handle shaft 50.

[0110] In some embodiments, the second gear set 43 includes a second pinion 431 and a second large gear 432. The second pinion 431 is connected to the second output shaft of the second motor 44, and the second large gear 432 meshes with the second pinion 431 and is fixedly connected to one end of the handle shaft 50 located inside the suspension shaft 41.

[0111] Therefore, in this application, the second pinion 431 and the second large gear 432 form a reduction gear pair, converting the high-speed, low-torque output shaft of the second motor 44 into the low-speed, high-torque output shaft of the handle shaft 50. Furthermore, since both the second pinion 431 and the second large gear 432 are located on the outside of the suspension shaft 41, this improves the installation stability of the second pinion 431 and the second large gear 432, and enhances the transmission smoothness of the second gear set 43.

[0112] In this embodiment, to make the force feedback base 100 structure more compact, the second pinion 431 is a cylindrical gear and the second large gear 432 is a sector gear. Preferably, the second pinion 431 and the second large gear 432 are helical gears, which can significantly reduce vibration and noise and reduce instantaneous impact. In other embodiments, the second pinion 431 and the second large gear 432 can be cylindrical gears or other types of gears, which are not limited here.

[0113] In some embodiments, please refer to Figure 5 and Figure 7The second motor 44 is fixed to the side of the first panel 413 near the second panel 414. The first panel 413 has a connecting hole 4131. The second output shaft of the second motor 44 passes through the connecting hole 4131 and connects to the second pinion 431 connected to the second gear set 43. The first panel 413 and the second panel 414 have a first shaft groove 4133 and a second shaft groove 4143 respectively at the position corresponding to the rotation of the second large gear 432. One end of the handle shaft 50 extends into the through space of the suspension shaft 41, and the other end extends upward. A connecting shaft connects the shaft hole of the second large gear 432, the first shaft groove 4133, the shaft hole of the handle shaft 50, and the second shaft groove 4143, connecting the second large gear 432 to the side of the first panel 413 opposite to the second panel 414 and fixing it to the handle shaft 50. Therefore, the swing of the second large gear 432 will cause the handle shaft 50 to swing left and right in the through space of the suspension shaft 41.

[0114] Thus, the suspension axle 41 forms a stable box beam structure, which greatly improves the bending / torsional stiffness and can effectively resist the multi-directional torque when the handle shaft 50 is operated. It can reliably install the second gear set 43 and the handle shaft 50 and avoid stress concentration.

[0115] In some embodiments, please refer to Figure 5 and Figure 7 The upper surfaces of the first panel 413 and the second panel 414 are flush, and the lower surface of the first panel 413 is lower than the lower surface of the second panel 414. Therefore, the connecting hole 4131 can be provided on the first panel 413. At the same time, the second panel 414 can be provided with a mating structure suitable for the second motor 44. Specifically, the force feedback base 100 also includes a second motor assembly. The second motor assembly includes a mounting plate, a second motor 44, and a second magnetic encoder plate (not shown). The mounting plate is the first panel 413. The second motor 44 includes a second motor body, a second flange, a second output shaft, and a second magnet. The second motor body is located in the through space and fixed to the second panel 414, and the second panel 414 is provided with a mating structure suitable for the second motor body to further fix the second motor body. The second flange is connected to the side of the second motor body that connects to the second output shaft, and the second flange mates with the connecting hole 4131. The second flange has a second shaft hole. One end of the second output shaft is connected to the second motor body, and the other end passes through the second shaft hole to connect with the second pinion 431, thereby realizing kinetic energy output in the second direction. The second magnet is located at the end of the second output shaft. The second magnetic encoder plate is located on the side of the first panel 413 opposite to the second panel 414 and is fixed to the side of the second magnet opposite to the second panel 414, spaced apart from and opposite to the second magnet, to realize the measurement of the rotation angle of the second output shaft. That is to say, the second motor assembly has a structure similar to the aforementioned motor assembly 100a, and is not limited here.

[0116] In some embodiments, the first motor body 21 and the second motor body have similar structures, both including components such as rotor and stator.

[0117] In some embodiments, the second magnetic coding plate and the second magnet are coaxially arranged, and the projected area of ​​the second magnetic coding plate on the first panel 413 is larger than the projected area of ​​the second magnet on the first panel 413. Therefore, the second magnetic coding plate can be disposed on the side of the second magnet away from the first panel 413 and fixed to the second flange, which can improve the coaxiality of the second magnetic coding plate and the second magnet.

[0118] Therefore, this application aims to protect a motor assembly in which the motor body and the magnetic encoder plate are located on opposite sides of a mounting plate, which can realize the external placement of the motor body and the internal placement of the magnetic encoder plate. This solves the heat dissipation problem of the motor body and also realizes the internal protection of the core components (magnet / magnetic encoder plate), thereby achieving equipment miniaturization, lowering the center of gravity, and improving operational stability.

[0119] In some embodiments, please refer again Figure 7 In the extension direction (X-axis direction) of the first output shaft 22, the first gear set 42 is located between the first vertical plate 12 and the first magnetic coding plate 30, and the suspension shaft 41 is provided with a first groove 415 on the side facing the first magnetic coding plate 30, and the first magnetic coding plate 30 is located between the first groove 415 and the first gear set 42.

[0120] Therefore, in this application, the first magnetic encoder plate 30 can be staggered from the first gear set 42 and the suspension shaft 41 to avoid the first magnetic encoder plate 30 interfering with the movement of the first gear set 42 and the suspension shaft 41, thereby improving the overall coordination of the force feedback base 100.

[0121] In summary, the force feedback base 100 and flight simulator 1000 of this application achieve efficient and precise force feedback control. This not only enables the miniaturization of the force feedback base 100, lowering its center of gravity and improving its operational stability, but also solves the heat dissipation problem (preventing heat from the motor from accumulating in the enclosed space), and provides built-in protection for the core components (first magnet 23 / first magnetic encoder plate 30). Furthermore, the integrated design of the first magnet 23 and the end of the first output shaft 22, together with the first magnetic encoder plate 30, forms a non-contact detection unit, avoiding mechanical wear and extending service life. The first magnetic encoder plate 30 and the first magnet 23 constitute a high-resolution angle sensing system, capable of capturing the micrometer-level displacement of the first output shaft 22 in real time. Compared to traditional photoelectric encoders, the first magnetic encoder plate 30 has dust and oil resistance properties. Furthermore, the force transmission chain of the first motor body 21, the first output shaft 22, the movable component 40, and the handle shaft 50 adopts a segmented design. The movable component 40 can integrate a reduction gear or a linkage mechanism to achieve torque amplification and motion direction conversion. Moreover, fixing the first magnetic encoding plate 30 within the receiving space 11 and arranging it at a distance from and opposite to the first magnet 23 can ensure good coaxiality between the first magnet 23 and the first magnetic encoding plate 30.

[0122] The above describes the technical solution and related details of this application. It is understood that the above description is only some implementation schemes of the technical solution of this application, and some details may be omitted in the specific implementation.

[0123] Furthermore, in some of the implementation schemes of the above applications, multiple implementation schemes may be combined. Due to space limitations, all such combinations will not be listed here. Those skilled in the art can freely combine the above implementation schemes according to their needs to obtain a better application experience.

[0124] In summary, this application possesses the aforementioned superior characteristics, enabling it to achieve unprecedented performance in use and thus become a highly practical product.

[0125] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should be included within the protection scope of this application.

[0126] The above are the implementation methods of the embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the embodiments of this application, and these improvements and modifications are also considered to be within the protection scope of this application.

Claims

1. An electric machine assembly, characterized by The motor assembly includes: The mounting plate has a first side and a second side arranged opposite to each other, and the mounting plate is provided with a through hole that passes through the first side and the second side; The first motor includes a first motor body, a first output shaft, and a first magnet. The first motor body is located on a first side of the mounting plate. The first output shaft is connected to the first motor body and extends through the through hole to a second side of the mounting plate. The first magnet is located at the end of the first output shaft. The first magnetic coding plate is located on the second side and fixed to the side of the first magnet away from the mounting plate, and is spaced apart from and opposite to the first magnet.

2. The electric machine assembly of claim 1, wherein, The central axis of the first magnetic encoder plate and the central axis of the first magnet are collinear, and the projected area of ​​the first magnet on the mounting plate is smaller than the projected area of ​​the first magnetic encoder plate on the mounting plate.

3. The electric machine assembly of claim 1, wherein, The first motor further includes a first flange, which is fixed to the side of the first motor body connected to the first output shaft. The first flange is inserted into the through hole and cooperates with the through hole. The first flange is provided with a shaft hole, through which the first output shaft passes. The first magnetic encoder plate is fixed to the side of the first flange away from the first motor body.

4. The electric machine assembly of claim 3, wherein, The motor assembly also includes at least two fasteners that fix the first magnetic encoder plate to the side of the first flange opposite to the first motor body.

5. The electric machine assembly of claim 4, wherein, The first flange has a plurality of first mounting holes spaced apart along the circumference of the side facing the first magnetic coding plate, and the first magnetic coding plate has a plurality of second mounting holes spaced apart along its circumference. The plurality of first mounting holes and the plurality of second mounting holes are arranged in a one-to-one correspondence. One end of each fastener is connected to a first mounting hole and the other end is connected to a corresponding second mounting hole.

6. A force feedback base, characterized by, The force feedback base includes: a housing, a motor assembly, a movable assembly, and a handle shaft, wherein the motor assembly is the motor assembly described in any one of claims 1 to 5. The casing encloses and forms a receiving space; the casing includes a first upright plate, which is the mounting plate; The first motor body is located outside the receiving space. The first output shaft is connected to the first motor body and extends into the receiving space through the through hole. The first magnet is located in the receiving space and is disposed at the end of the first output shaft. The first magnetic encoder plate is fixed in the receiving space and fixed on the side of the first magnet away from the first upright plate, and is spaced apart from and opposite to the first magnet. One end of the movable component is connected to the first output shaft, and the other end of the movable component is connected to the handle shaft; The first motor provides force feedback to the handle shaft via the movable component.

7. The force feedback pedestal of claim 6, wherein, The housing also includes a second upright plate. The first upright plate and the second upright plate are opposite to each other and spaced apart. The receiving space is formed between the first upright plate and the second upright plate. The movable component includes a suspension shaft and a first gear set. The two sides of the suspension shaft are rotatably connected to the first upright plate and the second upright plate, respectively. One end of the first gear set is connected between the first upright plate and one side of the suspension shaft. The other end of the first gear set is connected to the first output shaft. The handle shaft is disposed on the suspension shaft. The first motor drives the handle shaft to rotate around a first direction. The first direction is parallel to the axial direction of the first output shaft.

8. The force feedback pedestal of claim 7, wherein, The first gear set includes a first pinion and a first gear. The first pinion is located in the receiving space and passes through the first output shaft and is located between the first upright plate and the first magnetic encoder plate. The first gear is located in the receiving space and meshes with the first pinion and is rotatably connected to the first upright plate. The first gear is fixedly connected to one side of the suspension shaft.

9. The force feedback pedestal of claim 7, wherein, In the extension direction of the first output shaft, the first gear set is located between the first upright plate and the first magnetic encoder plate, and the suspension shaft has a first groove on the side facing the first magnetic encoder plate, with the first magnetic encoder plate located between the first groove and the first gear set.

10. The force feedback pedestal of claim 7, wherein, The suspension axle includes a first side plate, a second side plate, a first panel, and a second panel. The first side plate and the second side plate are arranged opposite to each other and parallel to each other. The first panel and the second panel are arranged parallel to each other and opposite to each other. The first side plate, the first panel, the second side plate, and the second panel enclose a through space with openings at the top and bottom. The first side plate is arranged corresponding to the first upright plate, and the second side plate is arranged corresponding to the second upright plate. One end of the handle axle is located in the through space of the suspension axle.

11. The force feedback pedestal of claim 7, wherein, The active component also includes a second motor and a second gear set. The second motor is fixed inside the suspension shaft, and the second gear set is connected to the outside of the suspension shaft and located inside the receiving space. One end of the second gear set is connected to the second output shaft of the second motor, and the other end of the second gear set is fixedly connected to the end of the handle shaft located inside the suspension shaft. The second motor drives the handle shaft to rotate around a second direction, which is perpendicular to the first direction.

12. The force feedback pedestal of claim 11, wherein, The second gear set includes a second pinion and a second large gear. The second pinion is connected to the second output shaft of the second motor. The second large gear meshes with the second pinion and is fixedly connected to one end of the handle shaft located inside the suspension shaft.

13. The force feedback pedestal of claim 12, wherein, The suspension axle includes a first side plate, a second side plate, a first panel, and a second panel. The first side plate and the second side plate are arranged opposite to each other and parallel to each other. The first panel and the second panel are arranged parallel to each other and opposite to each other. The first side plate, the first panel, the second side plate, and the second panel enclose a through space with openings at the top and bottom. The first side plate is arranged corresponding to the first upright plate, and the second side plate is arranged corresponding to the second upright plate. The second motor is fixed on the side of the first panel closer to the second panel. The first panel is provided with a connecting hole. The second output shaft of the second motor passes through the connecting hole and is connected to the second pinion of the second gear set.

14. A flight simulator, characterized by The flight simulator includes the force feedback base as described in any one of claims 6 to 13.

Images