Force feedback device and handle

Abstract

The utility model discloses a force feedback device and handle relates to electronic equipment technical field, in force feedback device, the hollow portion of the first direction of the compression rod is formed with, the hollow portion includes first hollow portion and second hollow portion, and the cross section area of second hollow portion is less than the cross section area of first hollow portion, the induction magnet of position detection device is inlayed in first hollow portion to cover one end of second hollow portion close to first hollow portion, and drive assembly can drive the rotation of compression rod. Due to the through arrangement of hollow portion, in the induction magnet loading process, air can be unloaded from second hollow portion, which is beneficial to reduce the air resistance in the assembly process. Moreover, the loading direction of induction magnet is consistent with the activity direction when compression rod and trigger abut, at this moment, the direction of inertial force is consistent with the force direction of induction magnet abutting step surface, which can avoid the shaking of induction magnet.

Description

Technical Field

[0001] This utility model relates to the field of electronic equipment technology, and in particular to a force feedback device and a handle. Background Technology

[0002] Currently, to enhance the user experience, gaming device manufacturers are adding force feedback devices to game controllers to simulate the immersive feeling of specific game scenarios, such as drawing a bow and shooting an arrow, or pulling the trigger of various firearms. To adjust the feedback force, some designs incorporate a lever that can move along a straight line; however, accurately detecting the position of this lever during its movement remains a problem that needs to be solved. Utility Model Content

[0003] The main purpose of this utility model is to propose a force feedback device and handle, which realizes the position detection of the pressure rod based on magnetic induction. In the structure, the sensing magnet is easy to disassemble and assemble, and can have a stable position when the pressure rod moves.

[0004] To achieve the above objectives, this utility model proposes a force feedback device, comprising: 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; 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. The pressure rod forms a hollow portion that extends through the first direction. The hollow portion includes a first hollow portion and a second hollow portion. The first hollow portion and the second hollow portion are arranged in a direction pointing from the inside to the outside of the housing, and the cross-sectional area of ​​the second hollow portion is smaller than the cross-sectional area of ​​the first hollow portion. A position detection device includes a magnetic sensor and a sensing magnet that cooperate with each other. The sensing magnet is embedded in a first hollow portion and covers one end of a second hollow portion near the first hollow portion. The magnetic sensor is disposed on the housing. A drive assembly is installed in the housing and is driven to drive the pressure rod, the drive assembly being capable of driving the pressure rod to rotate.

[0005] In one embodiment, the sensing magnet is interference-fitted with the first hollow portion; The second hollow portion is used to allow an external workpiece to extend in so that the inductive magnet can be pushed out.

[0006] In one embodiment, the end of the pressure rod near the cover body is provided with a groove that communicates with the second hollow portion; The force feedback device also includes a removable plug, at least a portion of which is embedded in the groove.

[0007] In one embodiment, the end of the inductive magnet away from the cover portion is coated with hot melt adhesive.

[0008] In one embodiment, the magnetic sensor is disposed outside the housing.

[0009] In one embodiment, the inner cavity of the housing is provided with an internal thread to form a first threaded portion; The outer side of the pressure rod is provided with external threads to form a second threaded portion.

[0010] 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; The drive assembly is located in the second housing.

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

[0012] In one embodiment, the outer side of the pressure rod is formed with a plurality of guide grooves arranged at intervals along its circumference; The drive assembly includes a drive component and a transmission component. The transmission component includes a drive gear and a driven gear that mesh with each other. The drive gear is connected to the drive component. The driven gear is arranged in a ring shape so that the pressure rod can pass through it. The inner wall of the driven gear is provided with a plurality of limiting ribs, which are used to extend into the guide groove.

[0013] This utility model also proposes a handle, comprising: Trigger; and, Force feedback devices include at least: Force feedback device, characterized in that it comprises: 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; 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. The pressure rod forms a hollow portion that extends through the first direction. The hollow portion includes a first hollow portion and a second hollow portion. The first hollow portion and the second hollow portion are arranged in a direction pointing from the inside to the outside of the housing, and the cross-sectional area of ​​the second hollow portion is smaller than the cross-sectional area of ​​the first hollow portion. A position detection device includes a magnetic sensor and a sensing magnet that cooperate with each other. The sensing magnet is embedded in a first hollow part and covers one end of a second hollow part near the first hollow part. The magnetic sensor is disposed on the housing. A drive assembly is installed in the housing and is driven to drive the pressure rod, the drive assembly being capable of driving the pressure rod to rotate.

[0014] 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.

[0015] In the technical solution of this utility model, when the drive component is working, the pressure rod can rotate relative to the housing, and based on the threaded engagement structure between the pressure rod and the housing, it can move along a first direction. Therefore, the length of the portion of the pressure rod exposed in the housing is adjustable. During the forward and reverse rotation of the pressure rod, it can abut or disengage 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, thus achieving different gaming experiences. Due to the difference in cross-sectional area between the first hollow part and the second hollow part, a stepped surface is formed facing away from the second hollow part and towards the inside of the housing. The port of the second hollow part of the sensing magnet is inserted until it abuts against the stepped surface, completing the installation. Due to the through-hole design of the hollow part, air can escape from the second hollow part during the insertion of the sensing magnet, which helps reduce air resistance during assembly. Furthermore, the insertion direction of the sensing magnet is consistent with the direction of movement when the pressure rod abuts against the trigger. At this time, the direction of the inertial force is consistent with the direction of the force exerted by the sensing magnet against the stepped surface, preventing the sensing magnet from wobbling. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1A schematic diagram of the structure of an embodiment (an angle) of the force feedback device provided by this utility model; Figure 2 for Figure 1 3D exploded view of the force feedback device; Figure 3 for Figure 1 An exploded view of the assembly of the pressure rod, the induction magnet, and the plug; Figure 4 for Figure 1 A cross-sectional schematic diagram of the engagement between the intermediate pressure rod and the drive assembly; Figure 5 for Figure 1 A schematic diagram of the structure in which the pressure rod and the induction magnet work together.

[0018] Explanation of icon numbers: 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; 22. First hollow part; 23. Second hollow part; 24. Groove; 3. Drive assembly; 31. Drive component; 32. Transmission component; 321. Drive gear; 322. Driven gear; 33. Limiting rib; 4. Position detection device; 41. Magnetic sensor; 42. Induction magnet; 5. Fastening screw; 6. Flexible circuit board; 7. Cover.

[0019] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] It should be noted that if the embodiments of this utility model involve directional indication, the directional indication is only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0022] Furthermore, if the embodiments of this utility model 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 indicated technical features. Therefore, features 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 utility model.

[0023] 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 include a lever that can move in a straight line. To meet different force feedback requirements, this can be achieved by keeping the lever in a specific position or by controlling different rotation angles of the motor. Therefore, it is necessary to confirm the current position of the lever as it moves in the first direction.

[0024] This utility model proposes a force feedback device and handle, which realizes the position detection of the pressure rod based on magnetic induction. In the structure, the sensing magnet is easy to disassemble and assemble, and can have a stable position when the pressure rod moves.

[0025] Please refer to Figures 1 to 2 The force feedback device 100 includes a housing 1, a pressure rod 2, a position detection device 4, and a drive assembly 3. The inner cavity of the housing 1 has a first threaded portion 10, and a cover portion 11 is formed on one side of the housing 1 in a first direction. The cover portion 11 has an opening 111. 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. The pressure rod 2 has a hollow portion extending through the housing in the first direction (please refer to...). Figure 4 and Figure 5 The hollow portion includes a first hollow portion 22 and a second hollow portion 23. The first hollow portion 22 and the second hollow portion 23 are arranged in a direction from the inside to the outside along the inside of the housing 1, and the cross-sectional area of ​​the second hollow portion 23 is smaller than the cross-sectional area of ​​the first hollow portion 22. The position detection device 4 includes a magnetic sensor 41 and a sensing magnet 42 that cooperate with each other. The sensing magnet 42 is embedded in the first hollow portion 22 and covers the end of the second hollow portion 23 near the first hollow portion 22. The magnetic sensor 41 is disposed on the housing 1. The drive assembly 3 is installed on the housing 1 and is drivenly connected to the pressure rod 2. The drive assembly 3 can drive the pressure rod 2 to rotate.

[0026] In the technical solution of this utility model, when the drive component 3 is working, the pressure rod 2 can rotate relative to the housing 1, and based on the threaded connection between the pressure rod 2 and the housing 1, it can move along the first direction. Therefore, the length of the portion of the pressure rod 2 exposed in the housing 1 is adjustable. During the forward and reverse rotation of the pressure rod 2, it can abut 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, thus obtaining different gaming experiences. Due to the difference in cross-sectional area between the first hollow part 22 and the second hollow part 23, a stepped surface is formed facing away from the second hollow part 23 and towards the inside of the housing 1. The port of the sensing magnet 42 in the second hollow part 23 is inserted until it abuts against the stepped surface, completing the installation. Due to the through-hole design of the hollow part, air can escape from the second hollow part 23 during the installation of the sensing magnet 42, which helps to reduce air resistance during assembly. Furthermore, the insertion 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 step surface, which can prevent the induction magnet 42 from shaking.

[0027] The position of the pressure rod 2 is detected in real time by the position detection device 4. In this embodiment, a combination of magnetic sensor 41 and induction magnet 42 is mainly used. This detection method is not easily blocked or interfered with, and is more practical.

[0028] It should be understood that if the sensing magnet 42 is installed along the direction from the second hollow part 23 to the first hollow part 22, the sensing magnet 42 will have the same tendency to move due to inertia during the movement of the lever 2 toward the trigger. 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.

[0029] 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.

[0030] In some embodiments, the sensing magnet 42 is interference-fitted with the first hollow portion 22 to ensure that the position of the sensing magnet 42 is fixed after installation. In this case, if the sensing 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 portion 23 to hold the end of the sensing magnet 42 until it is pushed out.

[0031] Based on the structural design of the hollow section, please refer to... Figures 4 to 5 The pressure rod 2 has a groove 24 at its end near the cover, which communicates with the second hollow portion 23. The force feedback device 100 also includes a detachable cover 7, at least a portion of which is embedded in the groove 24. The cover 7 can cooperate with the trigger, increasing the base area with the trigger, and different contact effects with the trigger can be achieved by changing the material of the cover 7. On the other hand, it can seal the hollow portion.

[0032] The plug 7 can also be directly embedded in the second hollow part 23, and can be assembled reasonably according to the size of the plug 7.

[0033] It should be understood that hot melt adhesive can be applied to the end of the induction magnet 42 away from the cover portion 11 to ensure a fixed fit between the induction magnet 42 and the second hollow portion 23. In some embodiments, the pressure rod 2 can be made of plastic, and the port position of the second hollow portion 23 can be locally heat-melted to deform it, thereby achieving the purpose of limiting the induction magnet 42.

[0034] Specifically, the magnetic sensor 41 is disposed outside the housing 1, and the sensing magnet 42 is disposed inside the pressure rod 2. Since the magnetic induction detection method between the magnetic sensor 41 and the sensing magnet 42 can be performed through an object, the magnetic sensor 41 can be disposed outside the housing 1. This reduces the size of the force feedback device 100 and facilitates the maintenance and replacement of the magnetic sensor 41. Specifically, the magnetic sensor 41 is mounted on the flexible circuit board 6 for assembly. The sensing magnet 42 is disposed inside the pressure rod 2, allowing it to move synchronously with the pressure rod 2 without interfering with other parts.

[0035] The housing 1 and the pressure rod 2 are connected by a threaded connection. 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 connection. In this embodiment, please refer to... Figure 4 The inner cavity of the housing 1 is provided with an internal thread to form a first threaded portion 10; the outer side of the pressure rod 2 is provided with an external thread to form a second threaded portion 20.

[0036] Please refer to Figure 4 The edge of the opening 111 has a flange 12 extending inwards towards the inside of the housing 1 and arranged in a reverse direction. The flange 12 is arranged around the outside of the pressure rod 2, serving to axially position the pressure rod 2. It should be noted that the dimensions of the flange 12 in the first direction need to be reasonably set 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 causing 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.

[0037] Specifically, the flange portion 12 may also include multiple flange pieces, which are arranged at intervals along the circumference of the pressure bar 2 to form a ring structure, that is, there may be a certain interval between two adjacent flange pieces.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] The drive assembly 3 includes a driven gear 322 that engages with the pressure rod 2. One end of the driven gear 322 in a first direction abuts against the support section. This allows the support section to simultaneously limit the axial position of the driven gear 322. The end of the driven gear 322 facing the cover portion 11 has a protruding arc-shaped mating surface. The arc-shaped mating surface contacts the support section, forming a tangential fit, which is beneficial for the accurate positioning of the driven gear 322 and can reduce the rotational frictional resistance of the driven gear 322.

[0042] For ease of processing and disassembly, please refer to Figure 2 The housing 1 includes a first outer shell 13 and a second outer shell 14 disposed opposite to each other along a first direction. The first outer shell 13 and the second outer shell 14 together enclose the inner cavity of the housing 1. The first outer shell 13 forms a cover portion 11, and the second outer shell 14 is provided with a first threaded portion 10. The drive assembly 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 driven gear 322 in the first direction can be defined by the first outer shell 13 and the second outer shell 14.

[0043] 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.

[0044] 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.

[0045] The transmission connection between the drive assembly 3 and the pressure rod 2 is not limited; for example, it can be a belt drive, sprocket drive, gear drive, etc. In this embodiment, the drive assembly 3 includes a drive member 31 and a transmission member 32. The transmission member 32 includes a drive gear 321 and a driven gear 322 that mesh with each other. The drive gear 321 is connected to the drive member 31, and the driven gear 322 is a ring gear, sleeved on the outside of the pressure rod 2. The drive member 31 can be a motor, and the drive gear 321 can be fixed to the drive shaft of the motor and rotate synchronously. When the drive gear 321 rotates, the driven gear 322 is driven to move and can transmit the driving force to the pressure rod 2, so that the pressure rod 2 can realize the rotation and lifting action. It should be understood that the motor is located outside the second housing 14.

[0046] Based on this embodiment, the position of the driven gear 322 in the first direction can be limited by setting a corresponding limiting structure inside the housing 1, such as a groove or a protrusion.

[0047] It should be understood that corresponding mating parts can be provided on the inner side of the driven gear 322 and the outer side of the pressure rod 2 to avoid the pressure rod 2 not being subjected to force when the driven gear 322 rotates due to excessive clearance between the driven gear 322 and the pressure rod 2.

[0048] Furthermore, the outer side of the pressure rod 2 has multiple guide grooves 21 arranged at intervals along its circumference; the driven gear 322 is arranged in a ring for the pressure rod 2 to pass through, and the inner wall of the driven gear 322 is provided with multiple limiting ribs 33, which are used to extend into the guide grooves 21. When the driving member 31 drives the driven gear 322 to rotate, the limiting ribs 33 will abut against the groove wall of the guide groove 21 during the rotation, thereby driving the pressure rod 2 to rotate. Conversely, when the pressure rod 2 rotates, it moves relative to the housing 1 in the first direction, and the limiting ribs 33 can move along the length direction of the guide groove 21 without the need for the transmission member 32 to move. The structure is simple and ingenious, and has strong practicality. 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.

[0049] The guide groove 21 and the limiting rib 33 can be matched in shape to facilitate the engagement of the pressure rod 2 along the first direction. The guide groove 21 and the limiting rib 33 can also have different shapes, as long as they can move relative to each other. For example, the guide groove 21 can be an arc-shaped groove, and the limiting rib 33 can be an arc-shaped protrusion. Alternatively, the guide groove 21 can be a square groove, and the limiting rib 33 can be a protrusion; or the guide groove 21 can be a square groove, and the limiting rib 33 can be an arc-shaped protrusion. This invention does not impose any limitations on these aspects.

[0050] In some implementations, the top of the limiting rib 33 is an arc shape protruding towards the guide groove 21. A limiting groove is defined between two adjacent limiting ribs 33, and a guide protrusion is defined between two adjacent guide grooves 21. The gap between the top of the limiting rib 33 and the guide groove 21 is smaller than the gap between the limiting groove and the guide protrusion. With this configuration, the driven gear 322 and the pressure rod 2 can make linear contact. When transmitting torque, the frictional resistance can be reduced when the pressure rod 2 moves linearly in the first direction.

[0051] In this embodiment, the top of the limiting rib 33 is arc-shaped, and the width of the guide groove 21 gradually widens towards the driven gear 322. This allows the width of the guide groove 21 to adapt to the arc dimension of the limiting rib 33, ensuring a clearance fit between the limiting rib 33 and the guide groove 21 in the circumferential direction.

[0052] Specifically, the guide groove 21 includes a bottom wall and two side walls located on opposite sides of the bottom wall, with the two side walls extending away from each other; the gap between the top of the limiting rib 33 and the bottom wall is smaller than the gap between the root of the limiting rib 33 and the side wall. During the movement of the driven gear 322 driving the limiting rib 33, the driven gear 322 can contact different side walls when rotating forward or backward, thereby driving the pressure rod 2 to rotate threadedly relative to the housing 1.

[0053] 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.

[0054] The plurality of limiting ribs 33 include a first limiting rib and a second limiting rib arranged circumferentially adjacent to each other in the pressure rod 2, with the first limiting rib and the second limiting rib spaced apart in a first direction. Thus, contact points are formed in two dimensions in the first direction during torque transmission.

[0055] In addition, the slope of the teeth of the ring gear 322 that mesh with the drive gear 321 is an outwardly convex arc shape, thus enabling line contact when it mates with the drive gear 321. The slope of the limiting rib 33 adjacent to its top is an inwardly convex arc shape, thus enabling line contact when it mates with the guide groove 21.

[0056] Based on the structure of the 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 driven gear 322 along the first direction is disposed in the positioning groove, and the other end of the driven gear 322 along the first direction is opposite to the flange portion 12 in the radial direction. The first outer shell 13 and the positioning groove define the position of the driven gear 322 in the first direction, and the flange portion 12 defines the position of the driven gear 322 in the radial direction.

[0057] Specifically, a groove communicating with its inner hole is provided in the middle of one end of the driven gear 322 facing the cover portion 11, and the flange portion 12 extends into the groove, so that the flange portion 12 can serve as the shaft positioning structure of the driven gear 322.

[0058] The driven gear 322 has a protruding arc-shaped mating surface at one end facing the cover portion 11 and / or the end facing away from the cover portion 11. The arc-shaped mating surface is used to contact the bottom wall of the cover portion 11 or the positioning groove. This arrangement allows the arc surface to contact the plane, forming a tangential fit, which is beneficial for the accurate positioning of the driven gear 322 and can reduce the rotational frictional resistance of the driven gear 322.

[0059] It should be noted that the driven gear 322 has a protruding arc-shaped mating surface at the end facing away from the cover 11, and the arc-shaped mating surface contacts the part of the positioning groove near the pressure rod 2. The value of torque 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 set as close to the inside as possible to reduce the torque.

[0060] Based on the above-mentioned position limitation of the driven gear 322, the positioning of the driven gear 322 is guaranteed, resulting in less transmission wobble and higher transmission efficiency.

[0061] Furthermore, the outer surface of the driven gear 322 is stepped to form a first mating section and a second mating section with gradually decreasing outer diameter. The second mating section is located within the positioning groove, and the first mating section mates with the cover portion 11. 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.

[0062] This utility model 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.

[0063] The above are merely preferred embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural transformations made based on the inventive concept of this utility model and the contents of this utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this utility model.

Claims

1. A force feedback device, characterized in that, include: 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; 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. The pressure rod forms a hollow portion that extends through the first direction. The hollow portion includes a first hollow portion and a second hollow portion. The first hollow portion and the second hollow portion are arranged in a direction pointing from the inside to the outside of the housing, and the cross-sectional area of ​​the second hollow portion is smaller than the cross-sectional area of ​​the first hollow portion. A position detection device includes a magnetic sensor and a sensing magnet that cooperate with each other. The sensing magnet is embedded in a first hollow portion and covers one end of a second hollow portion near the first hollow portion. The magnetic sensor is disposed on the housing. A drive assembly is installed in the housing and is driven to drive the pressure rod, the drive assembly being capable of driving the pressure rod to rotate.

2. The force feedback device as described in claim 1, characterized in that, The sensing magnet is interference-fitted with the first hollow portion; The second hollow portion is used to allow an external workpiece to extend in so that the inductive magnet can be pushed out.

3. The force feedback device as described in claim 1, characterized in that, The end of the pressure rod near the cover is provided with a groove that communicates with the second hollow part; The force feedback device also includes a removable plug, at least a portion of which is embedded in the groove.

4. The force feedback device as described in claim 1, characterized in that, The end of the inductive magnet away from the cover is coated with hot melt adhesive.

5. The force feedback device as described in claim 1, characterized in that, The magnetic sensor is located on the outside of the housing.

6. The force feedback device as described in claim 1, characterized in that, The inner cavity of the housing is provided with internal threads to form a first threaded portion; The outer side of the pressure rod is provided with external threads to form a second threaded portion.

7. The force feedback device as described in claim 1, characterized in that, 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 enclose the inner cavity of the housing. The first outer shell is provided to form the cover portion, and the first threaded portion is provided inside the second outer shell. The drive assembly is located in the second housing.

8. The force feedback device as described in claim 7, characterized in that, The first outer shell is made of metal, and the second outer shell is made of plastic.

9. The force feedback device as described in claim 1, characterized in that, The outer side of the pressure rod has multiple guide grooves arranged at intervals along its circumference; The drive assembly includes a drive component and a transmission component. The transmission component includes a drive gear and a driven gear that mesh with each other. The drive gear is connected to the drive component. The driven gear is arranged in a ring shape so that the pressure rod can pass through it. The inner wall of the driven gear is provided with a plurality of limiting ribs, which are used to extend into the guide groove.

10. A handle, characterized in that, include: trigger; as well as, A force feedback device, including the force feedback device as claimed in any one of claims 1 to 9, wherein the lever has a force feedback state in which it moves to abut against the trigger and a disengaged state in which it disengages from the trigger.

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