Force Feedback Device

Abstract

The present invention relates to the field of force feedback technology and provides a force feedback device. [Solution] The force feedback device includes a base, a trigger assembly, a drive assembly and a transmission medium, the trigger assembly includes a trigger body, a connection part, a trigger and an arc part, the connection part is supported on the base by a first transmission shaft to form a rotation connection, the arc part is disposed opposite to the connection part at a distance and extends to the base, the drive assembly includes a drive unit and a second transmission shaft, the second transmission shaft is disposed opposite to the arc part, the second transmission shaft includes a transmission shaft body connected to the drive unit and a spiral groove formed on the transmission shaft body and extending along the axial direction of the transmission shaft body, the transmission medium is circumferentially disposed in the spiral groove of the second transmission shaft, both ends of the transmission medium drawn out after being circumferentially disposed on the second transmission shaft respectively extend in opposite directions along the circumferential direction of the arc part and are fixed to both ends of the arc part, and a part of the transmission medium abuts on the arc part. Compared with the prior art, the force feedback device of the present invention has an anti-slip effect, the force feedback is smooth and controllable, and the experience effect is good.

Description

[Technical field]

[0001] The present invention relates to the technical field of force feedback, and in particular to a force feedback device. [Background technology]

[0002] With the development of network technology and electronic information technology, and the development of more and more games, various control wheels, virtual reality devices, and augmented reality devices, users have higher and higher requirements for the feel when using external devices.

[0003] The triggers on the handles or external devices of the prior art are directly connected to the buttons and cannot be adjusted according to different game scenes. Some of the technologies only provide certain vibration feedback, which makes it difficult to provide users with a good game experience and cannot provide users with an immersive game experience. Force feedback, as an important characteristic of haptic feedback, has been increasingly emphasized with the development of different electronic devices, especially the evolution of consumer electronic products.

[0004] However, the rope of the force feedback device of the prior art is prone to loosening during transmission, and the rope is prone to slipping on the driving shaft, limiting the transmission of large forces, and the control effect of the force feedback is poor, making it impossible to provide a good user experience.

[0005] Therefore, there is a need to provide a new force feedback device to solve the above problems. Summary of the Invention [Problem to be solved by the invention]

[0006] The technical problem to be solved by the present invention is to provide a force feedback device having a simple overall device structure, anti-slip effect, smooth and controllable force feedback, and a good user experience effect. [Means for solving the problem]

[0007] In order to solve the above technical problems, the present invention provides a force feedback device, the force feedback device including a base, a trigger assembly, a drive assembly, and a transmission medium; The trigger assembly includes a trigger body, a connection portion extending from one end of the trigger body adjacent to the base, a trigger formed by extending from a peripheral side of the trigger body in a direction away from the base, and a circular arc portion connected to the trigger body, the connection portion being supported on the base by a first transmission shaft and forming a rotational connection, the circular arc portion being provided opposite the connection portion with a gap therebetween and extending to the base, the drive assembly includes a drive unit fixed to the base and a second transmission shaft connected to the drive unit, the second transmission shaft being provided opposite the arc portion, and the second transmission shaft includes a transmission shaft body connected to the drive unit, and a spiral groove formed in the transmission shaft body and extending along an axial direction of the transmission shaft body; The transmission medium is circumferentially arranged within the spiral groove of the second transmission shaft, and both ends pulled out from the transmission medium after the transmission medium is circumferentially arranged on the second transmission shaft extend in opposite directions along the circumferential direction of the arc portion and are fixed to both ends of the arc portion, and a portion of the transmission medium abuts against the arc portion.

[0008] Preferably, the power transmission medium is a power transmission rope or a power transmission belt.

[0009] Preferably, the second transmission shaft includes a second transmission shaft body connected to the drive unit and a shaft sheath fitted and fixed to the second transmission shaft body, and the spiral groove is opened on an outer surface of the shaft sheath.

[0010] Preferably, the arc portion includes an arc portion main body, a first arc structure extending from the arc portion main body in a direction approaching the base and spaced apart from the base, and a second arc structure extending from the arc portion main body in a direction approaching the trigger body and connected to the trigger body, the second transmission shaft is provided directly opposite the arc portion main body, and both ends pulled out from the transmission medium after the transmission medium is circumferentially arranged on the second transmission shaft extend along the first arc structure and the second arc structure, respectively, and the first arc structure and the second arc structure are fixed to ends spaced apart from each other and are diagonally positioned relative to each other.

[0011] Preferably, the arc portion further includes a stopper, the arc portion including an arc portion main body, a first arc structure extending from the arc portion main body in a direction approaching the base and spaced apart from the base, and a second arc structure extending from the arc portion main body in a direction approaching the trigger body and connected to the trigger body, the second transmission shaft is provided directly opposite the arc portion main body, the stopper abuts against the arc portion main body, one end of the transmission medium is pulled out from the second transmission shaft after being circumferentially attached to the second transmission shaft extends along the second arc structure and then wraps around to be fixed to the stopper, and the other end of the transmission medium is pulled out from the second transmission shaft after being circumferentially attached to the second transmission shaft extends along the first arc structure and then wraps around to a side of the first arc structure away from the arc portion main body and is fixed to the side of the first arc structure away from the arc portion main body via a screw.

[0012] Preferably, there are two transmission media, each of the two transmission media is circumferentially arranged on the second transmission shaft and spaced apart from each other, and after the two transmission media are circumferentially arranged on the second transmission shaft, both ends close to each other are fixed to the second transmission shaft, and both ends spaced apart from each other are fixed to sides of the first arc structure and the second arc structure that are spaced apart from each other and are diagonally positioned relative to each other, or both ends spaced apart from each other are fixed to sides of the stopper and the first arc structure that are spaced apart from the arc portion main body.

[0013] Preferably, there are two transmission media, each of the two transmission media is circumferentially arranged on the second transmission shaft and spaced apart from each other, and after the two transmission media are circumferentially arranged on the second transmission shaft, both ends spaced apart from each other are fixed to the second transmission shaft, and both ends close to each other are fixed to sides spaced apart from each other of the first arc structure and the second arc structure and are diagonally positioned relative to each other, or both ends spaced apart from each other are fixed to sides of the stopper and the first arc structure away from the arc portion main body.

[0014] Preferably, one end of the first arc structure adjacent to the base extends to form a first stopper, one end of the second arc structure adjacent to the trigger extends to form a second stopper, and both ends pulled out from the transmission medium after the transmission medium is circumferentially mounted on the second transmission shaft are fixed to one side of the first stopper and the second stopper, respectively.

[0015] Preferably, the force feedback device further includes a stopper shaft, the arc portion main body has a stopper groove formed therethrough to present a waist-shaped structure, and the stopper shaft passes through the stopper groove and is fixed to the base.

[0016] Preferably, the force feedback device further includes a torsion spring, one end of which is located on the first transmission shaft of the base is provided with a fixed portion, the torsion spring is externally fitted onto the fixed portion, and both ends of the torsion spring abut against the base and the trigger, respectively.

[0017] Preferably, the transmission medium, the second transmission shaft and the arc portion are integrally provided, and both ends of the transmission medium respectively go around the second transmission pole and the arc portion.

[0018] Preferably, the position of the spiral groove is preset as ΔL, the end face distance from the first turn of the transmission medium around the second transmission shaft to the available width of the arc portion is ΔL, the pitch is P, the depth is t, the available width of the arc portion is L, the number of turns of the transmission medium is N, N is 1 or more, and the depth t=d / 2. Effect of the Invention

[0019] In comparison with the prior art, the force feedback device of the present invention rotates and attaches a trigger assembly to a base, whereby the trigger assembly includes a trigger body, a connection portion extending from one end adjacent to the trigger body, a trigger formed by extending from the circumferential direction of the trigger body in a direction away from the base, and a circular arc portion connected to the trigger body, the connection portion being supported on the base by a first transmission shaft and forming a rotational connection, the circular arc portion being provided opposite to the connection portion at a distance and extending to the base, and the drive assembly being fixed to the base. The drive unit and the second transmission shaft connected to the drive unit, the second transmission shaft being arranged opposite the arc portion, the second transmission shaft including a transmission shaft body connected to the drive unit and a helical groove formed in the transmission shaft body and extending along the axial direction of the transmission shaft body, the transmission medium being circumferentially arranged within the helical groove of the second transmission shaft, and both ends drawn out from the transmission medium after the transmission medium is circumferentially arranged on the second transmission shaft respectively extend in opposite directions along the circumferential direction of the arc portion and are fixed to both ends of the arc portion, and a part of the transmission medium is abutted against the arc portion. In this manner, the transmission medium is circumferentially mounted on the second transmission shaft, so that both ends of the transmission medium extend along the arc portion and are fixed to both ends of the arc portion, the second transmission shaft includes a transmission shaft body and a helical groove formed on the transmission shaft body, the transmission medium is circumferentially mounted within the helical groove and is connected to the transmission medium through the helical groove, so that the transmission medium cannot slip relative to the second transmission shaft, and the driving unit drives the second transmission shaft to rotate the transmission medium and adjust the oscillation of the trigger, which makes it easy to realize the force feedback effect, makes the overall space more compact, reduces the frictional resistance, and improves the user experience.

[0020] In order to more clearly describe the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings necessary for describing the embodiments. It is obvious that the drawings described below are only some embodiments of the present invention, and those skilled in the art can further obtain other drawings based on these drawings without any creative work. [Brief description of the drawings]

[0021] [Figure 1] 1 is a schematic diagram showing a configuration of a force feedback device according to the present invention; [Diagram 2] FIG. 2 is an exploded perspective view of FIG. [Diagram 3] 2 is a cross-sectional view taken along line AA in FIG. 1. [Figure 4] FIG. 2 is a schematic diagram showing the assembly configuration of a shaft sheath and a transmission medium of the present invention. [Diagram 5] FIG. 2 is a schematic diagram showing the configuration of a shaft sheath of the present invention. [Figure 6] FIG. 2 is a schematic diagram of a first winding method of the power transmission rope of the present invention. [Figure 7] FIG. 2 is a schematic diagram of a second winding method of the power transmission rope of the present invention. [Figure 8] 2 is a schematic diagram of a component unit of the present invention in a first direction. FIG. [Figure 9] FIG. 4 is a schematic diagram of the component unit of the present invention in a second direction. [Figure 10] 2 is a schematic diagram of a component unit of the present invention in a combination of a first direction and a second direction. FIG. [Figure 11] FIG. 11 is an enlarged view of part B in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings of the embodiments of the present invention, and it is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments that a person skilled in the art can obtain without creative labor are all included in the protection scope of the present invention.

[0023] As shown in FIGS. 1 to 11, a force feedback device 100 is provided, which includes a base 1, a trigger assembly 2, a drive assembly 4, and a transmission medium 5.

[0024] The base 1 is used to fixedly mount the drive assembly 4 and to provide support for the trigger assembly 2 .

[0025] The trigger assembly 2 includes a trigger body 21, a connection portion 22 extending from one end of the trigger body 21 close to the base 1, a trigger 23 formed by extending from the circumferential side of the trigger body 21 in a direction away from the base 1, and an arc portion 24 connected to the trigger body 21, the connection portion 22 being supported on the base 1 by a first transmission shaft 3 and forming a rotational connection, and the arc portion 24 being provided opposite to the connection portion 22 with a gap therebetween and extending to the base 1. The trigger body 21 can rotate on the base 1 with the connection portion 22 as a rotation position.

[0026] The drive assembly 4 includes a drive unit 41 fixed to the base 1 and a second transmission shaft 42 connected to the drive unit 41, and the second transmission shaft 42 is disposed opposite to the arc portion 24. The second transmission shaft 42 includes a transmission shaft body 421 connected to the drive unit 41, and a spiral groove 422 formed on the transmission shaft body 421 and extending along the axial direction of the transmission shaft body 421. Preferably, the drive unit 41 may be a motor, which has stable motor driving and good control effect.

[0027] The transmission medium 5 is circumferentially arranged within the spiral groove 422 of the second transmission shaft 42, and both ends of the transmission medium 5 pulled out from the second transmission shaft 42 after the transmission medium 5 is circumferentially arranged on the second transmission shaft 42 extend in opposite directions along the circumferential direction of the arc portion 24 and are fixed to both ends of the arc portion 24, with a portion of the transmission medium 5 abutting the arc portion.

[0028] The spiral groove 422 is connected to the transmission medium 5, so that the transmission medium 5 cannot slip relative to the second transmission shaft 42. The driving unit 41 drives the second transmission shaft 42 to rotate the transmission medium 5 and adjust the oscillation of the trigger 23, thereby realizing a force feedback effect, making the overall space more compact, reducing frictional resistance, and making it easy to improve the user experience.

[0029] In this embodiment, the power transmission medium 5 is a power transmission rope or a power transmission belt. The power transmission rope or the power transmission belt is easy to rotate, and does not require a tension holding device such as a spring when transmitting a low tension force. It is sufficient to directly tighten and fix it by using a certain tension force, and the action of the spiral groove 422 prevents the power transmission rope from slipping against the rotating shaft. The whole device is simple and reliable.

[0030] In this embodiment, the second transmission shaft 42 includes a second transmission shaft body 423 connected to the driving unit 41 and a shaft sleeve 424 fixedly fitted on the second transmission shaft body 423, and the spiral groove 422 is formed on the outer surface of the shaft sleeve 424. This facilitates driving the transmission medium 5 to move, and thus adjusts the position of the trigger 23 to achieve a force feedback effect.

[0031] In this embodiment, the position of the spiral groove 422 is preset to be ΔL, the end face distance from the first turn of the transmission medium 5 around the second transmission shaft 42 to the available width of the arc portion 24 is ΔL, the pitch is P, the depth is t, the available width of the arc portion 24 is L, the number of turns of the transmission medium 5 is N, N is 1 or more, and the depth t=d / 2.

[0032] Specifically, the second transmission shaft body can be directly machined with a feature having a spiral groove 422, so that the transmission rope can be directly wound around the second transmission shaft 42 with the spiral groove 422. The position ΔL of the spiral groove 422 on the second transmission shaft 42 or the spiral groove 422 on the shaft sheath, ΔL is the end face distance from the first turn to the available width of the arc surface, and is related to the pitch P and the depth t and the available width L of the arc surface, and the number of windings N and the diameter d of the rope. It is necessary to ensure that the transmission rope is exactly located in the spiral groove 422 when winding, and the cross section of the arc groove is the same as or slightly larger than the diameter of the transmission rope, and the depth is t=d / 2. And the transmission rope needs to be along the running direction of the spiral groove 422, and the transmission rope at both ends will bypass the end face of the arc section along the development line of the spiral line. In order to ensure that the transmission rope is exactly located within the spiral groove 422, it is necessary to fully utilize the effective width of the arc surface and select a suitable pitch P and the relative position ΔL between the adjusting sheath and the arc surface. Due to the action of the spiral groove 422, the transmission rope has no slip with respect to the rotating shaft, which increases the transmission efficiency, reduces the resistance, and is conducive to the control of the force feedback.

[0033] In this embodiment, the arc portion 24 includes an arc portion body 241, a first arc structure 242 extending from the arc portion body 241 toward the base 1 and spaced apart from the base 1, and a second arc structure 243 extending from the arc portion body 241 toward the trigger body and connected to the trigger body 21, and the second transmission shaft 42 is provided directly opposite the arc portion body 241, and the two ends of the transmission medium 5 drawn out from the second transmission shaft 42 after the transmission medium 5 is circumferentially provided on the second transmission shaft 42 extend along the first arc structure 242 and the second arc structure 243, respectively, and are fixed to one end where the first arc structure 242 and the second arc structure 243 are spaced apart from each other and are diagonal to each other. The transmission medium 5 is easy to install, the transmission medium 5 is not excessively bent, and the service life is long.

[0034] In this embodiment, the arc portion further includes a stopper 7, and the arc portion 24 includes an arc portion main body 241, a first arc structure 242 extending from the arc portion main body 241 in a direction approaching the base 1 and spaced apart from the base 1, and a second arc structure 243 extending from the arc portion main body 241 in a direction approaching the trigger body 21 and connected to the trigger body 21. The second transmission shaft 42 is provided directly opposite the arc portion main body 241, and the stopper 7 abuts against the arc portion main body 241, and the transmission shaft 42 is connected to the arc portion main body 241. One end of the power transmission medium 5 drawn out from the second transmission shaft 42 extends along the second arc structure 243, wraps around and is fixed to the stopper 7, and the other end of the power transmission medium 5 drawn out from the second transmission shaft 42 extends along the first arc structure 242, wraps around to a side of the first arc structure 242 away from the arc portion main body 241, and is fixed to the side of the first arc structure away from the arc portion main body 241 via a screw. This makes it easy to attach the power transmission medium 5.

[0035] The stopper 7 may be fixed to the arc portion main body 241, or may be pulled and abutted against the arc portion main body 241 via a power transmission rope. Preferably, one end of the power transmission rope is fixed by matching a holed groove with an adhesive, thereby making it possible to omit the stopper 7, and the other end is pulled by a screw 8 after winding is completed.

[0036] In this embodiment, there are two transmission media 5, and the two transmission media 5 are each circumferentially arranged around the second transmission shaft 42 and spaced apart from each other. After the two transmission media 5 are circumferentially arranged around the second transmission shaft 42, both ends close to each other are fixed to the second transmission shaft 42, and both ends spaced apart are fixed to the sides spaced apart from each other of the first arc structure 242 and the second arc structure 243 and are diagonally positioned relative to each other, or both ends spaced apart from each other are fixed to the sides spaced apart from the arc portion main body 241 of the stopper 7 and the first arc structure 242.

[0037] In this embodiment, there are two transmission media 5, and the two transmission media 5 are each circumferentially arranged around the second transmission shaft 42 and spaced apart from each other. After the two transmission media 5 are circumferentially arranged around the second transmission shaft 42, both ends spaced apart from each other are fixed to the second transmission shaft 42, and both ends close to each other are fixed to the sides spaced apart from each other of the first arc structure 242 and the second arc structure 243 and are diagonally positioned relative to each other, or both ends spaced apart from each other are fixed to the sides of the stopper 7 and the first arc structure 242 away from the arc portion main body 241.

[0038] In this embodiment, for example, the transmission medium 5 is a transmission rope, and the transmission rope includes a first segment 51 and a second segment 52 that are provided separately, and the first segment 51 has a first end fixed to the arc 24, and a second end of the first segment 51 rotates through the second transmission shaft 42 several times and is fixed to the second transmission shaft 42, and the second segment 52 has a first end fixed to the arc portion 24, and a second end of the second segment 52 rotates through the second transmission shaft 42 several times and is fixed to the second transmission shaft 42.

[0039] Preferably, in order to effectively prevent slippage and ensure mounting reliability, two other winding methods are provided. In the first type, as shown in FIG. 6, the power transmission rope is divided into two segments, and one segment is arranged in each of the two directions. The power transmission rope may be pre-fixed to the second power transmission shaft 42, where the second power transmission shaft 42 may be a motor shaft or a sheath fitted around the motor shaft. The power transmission rope winds around the second power transmission shaft 42 at a certain angle several times, the number of turns being determined according to the transmission angle and the transmission ratio, and then winds around the second power transmission shaft 42 along the arc portion 24 and is fixed to the arc portion 24 along the angle direction of the winding, so that the installation of one segment of the power transmission rope is completed. Similarly, the other segment of the power transmission rope is fixed to the second power transmission shaft 42 and the arc portion 24 in the same manner. In this way, the power transmission rope can transmit a stable force without slippage during the power transmission process under the condition of no tension or creep.

[0040] Furthermore, in the first winding method, as shown in FIG. 7, the power transmission rope is divided into two parts, and one segment is arranged in each of the two directions. The power transmission rope can be pre-fixed to the second power transmission shaft 42, and the fixing points 6 are arranged at both ends of the second power transmission shaft 42, so that the power transmission rope is wound around the middle of the second power transmission shaft 42. The power transmission rope is wound around the second power transmission shaft 42 at a certain angle several times, and the number of turns is determined according to the transmission angle and the transmission ratio, and then it is wound along the arc portion 24 and fixed to the arc portion 24 along the angle direction of the winding, so that the installation of one segment of the power transmission rope is completed, and similarly, the other segment of the power transmission rope is fixed to the second power transmission shaft 42 and the arc portion 24 in the same manner. In this way, the power transmission rope can transmit a stable force without slipping during the power transmission process under the condition of no tension or creep.

[0041] In this embodiment, one end of the first arc structure 242 adjacent to the base 1 extends to form a first stopper 244, and one end of the second arc structure 243 adjacent to the trigger 23 extends to form a second stopper 245, and both ends of the transmission medium 5 pulled out from the transmission medium 5 after the transmission medium 5 is mounted around the second transmission shaft are fixed to one side of the first stopper 244 and the second stopper 245. The first stopper 244 and the second stopper 245 respectively use both ends of the transmission medium 5 to limit the outward slip at the arc portion 24, thereby improving the transmission effect of the transmission medium 5.

[0042] In this embodiment, the force feedback device 100 includes one stopper shaft 10, and the arc portion main body 241 is formed with a stopper groove 9 penetrating therethrough and presenting a waist-shaped structure, and the stopper shaft 10 passes through the stopper groove 9 and is fixed to the base 1. The stopper shaft 10 is fixed to the base 1 and is used to limit the rotational position of the arc portion main body 241, and is highly safe.

[0043] In this embodiment, the force feedback device 100 further includes a torsion spring 11, and one end of the base 1 located on the first transmission shaft 3 is provided with a fixed part 12, and the torsion spring 11 is fitted onto the fixed part 12, and both ends of the torsion spring 11 respectively abut against the base 1 and the trigger 23. The elasticity of the torsion spring 11 allows the trigger 23 to be quickly reset, making it easy to operate.

[0044] In this embodiment, the power transmission medium 5, the second power transmission shaft 42 and the arcuate portion 24 are integrally provided, and both ends of the power transmission medium 5 respectively go around the second power transmission pole and the arcuate portion 24.

[0045] Specifically, in order to reduce the installation of the fixed point 6, the transmission medium 5 (transmission rope or transmission belt), the second transmission shaft 42, and the arc portion 24 are regarded as one unit, and the three are made into one assembly unit by adopting injection molding or other processes, and the transmission medium 5 is flexible, as shown in FIG. 8. The flexible part can be wound around the second driving shaft part and the arc portion 24. It is as close as possible to the driving shaft part and the arc portion 24, so as to avoid the radial force of the driving shaft and the arc rotating shaft being too large during transmission. FIG. 8 is a pull in one direction, and FIG. 9 is a pull in the other direction. FIG. 8 and FIG. 9 are fitted and mounted to combine the pull in two directions, that is, they can rotate in two directions, as shown in FIG. 10-11.

[0046] Compared with the prior art, the force feedback device of the present invention rotates and attaches a trigger assembly to a base, whereby the trigger assembly includes a trigger body, a connection portion extending from one end close to the trigger body, a trigger formed by extending from the circumferential direction of the trigger body in a direction away from the base, and a circular arc portion connected to the trigger body, the connection portion being supported on the base by a first transmission shaft and formed in a rotational connection, the circular arc portion being provided opposite to the connection portion at a distance and extending to the base, and the drive assembly being fixed to the base. and a second transmission shaft connected to the drive unit, the second transmission shaft being disposed opposite the arc portion. The second transmission shaft includes a transmission shaft body connected to the drive unit, and a helical groove formed in the transmission shaft body and extending along the axial direction of the transmission shaft body. A transmission medium is circumferentially disposed in the helical groove of the second transmission shaft, and both ends of the transmission medium drawn out after being circumferentially disposed on the second transmission shaft respectively extend in opposite directions along the circumferential direction of the arc portion and are fixed to both ends of the arc portion, and a part of the transmission medium abuts on the arc portion. In this manner, the transmission medium is circumferentially mounted on the second transmission shaft, so that both ends of the transmission medium extend along the arc portion and are fixed to both ends of the arc portion, the second transmission shaft includes a transmission shaft body and a helical groove formed on the transmission shaft body, the transmission medium is circumferentially mounted within the helical groove and is connected to the transmission medium through the helical groove, so that the transmission medium cannot slip relative to the second transmission shaft, and the driving unit drives the second transmission shaft to rotate the transmission medium and adjust the oscillation of the trigger, which makes it easy to realize the force feedback effect, makes the overall space more compact, reduces the frictional resistance, and improves the user experience.

[0047] The above is merely an embodiment of the present invention, and those skilled in the art may make various modifications without departing from the creative concept of the present invention, all of which are within the scope of protection of the present invention.

Claims

1. 1. A force feedback device, comprising: a base, a trigger assembly, a drive assembly, and a transmission medium; The trigger assembly includes a trigger body, a connection portion extending from one end of the trigger body adjacent to the base, a trigger formed by extending from a peripheral side of the trigger body in a direction away from the base, and a circular arc portion connected to the trigger body, the connection portion being supported on the base by a first transmission shaft and forming a rotational connection, the circular arc portion being provided opposite the connection portion with a gap therebetween and extending to the base, the drive assembly includes a drive unit fixed to the base and a second transmission shaft connected to the drive unit, the second transmission shaft being provided opposite the arc portion, and the second transmission shaft includes a transmission shaft body connected to the drive unit, and a spiral groove formed in the transmission shaft body and extending along an axial direction of the transmission shaft body, The power transmission medium is circumferentially arranged in the spiral groove of the second transmission shaft, and both ends of the power transmission medium drawn out from the second transmission shaft after the power transmission medium is circumferentially arranged on the second transmission shaft extend in opposite directions along the circumferential direction of the arc portion and are fixed to both ends of the arc portion, and a part of the power transmission medium abuts against the arc portion. Force feedback device.

2. The power transmission medium is a power transmission rope or a power transmission belt.

2. The force feedback device according to claim 1.

3. The second transmission shaft includes a second transmission shaft body connected to the drive unit and a shaft sheath fitted and fixed to the second transmission shaft body, and the spiral groove is formed on an outer surface of the shaft sheath.

2. The force feedback device according to claim 1.

4. the arc portion includes an arc portion main body, a first arc structure extending from the arc portion main body in a direction approaching the base and spaced apart from the base, and a second arc structure extending from the arc portion main body in a direction approaching the trigger body and connected to the trigger body, the second transmission shaft is provided opposite the arc portion main body, both ends of the transmission medium that are circumferentially provided on the second transmission shaft and then drawn out from the transmission medium extend along the first arc structure and the second arc structure, respectively, and the first arc structure and the second arc structure are fixed to ends spaced apart from each other and are diagonally positioned relative to each other.

2. The force feedback device according to claim 1.

5. the arc portion further includes a stopper, the arc portion includes an arc portion main body, a first arc structure extending from the arc portion main body in a direction approaching the base and spaced apart from the base, and a second arc structure extending from the arc portion main body in a direction approaching the trigger body and connected to the trigger body, the second transmission shaft is provided directly opposite the arc portion main body, the stopper abuts against the arc portion main body, one end of the power transmission medium drawn out from the second transmission shaft after being circumferentially attached to the second transmission shaft extends along the second arc structure, turns around and is fixed to the stopper, and the other end of the power transmission medium drawn out from the second transmission shaft extends along the first arc structure, turns around to a side of the first arc structure away from the arc portion main body and is fixed to the side of the first arc structure away from the arc portion main body via a screw.

2. The force feedback device according to claim 1.

6. The present invention is characterized in that there are two transmission media, each of the two transmission media is circumferentially mounted on the second transmission shaft and spaced apart from each other, and after the two transmission media are circumferentially mounted on the second transmission shaft, both ends close to each other are fixed to the second transmission shaft, and both ends spaced apart from each other are fixed to sides of the first and second arc structures spaced apart from each other and are diagonally positioned relative to each other, or both ends spaced apart from each other are fixed to the stopper and the first arc structure on sides spaced apart from the arc portion main body.

6. A force feedback device according to claim 4 or 5.

7. The present invention is characterized in that there are two transmission media, each of the two transmission media is circumferentially mounted on the second transmission shaft and spaced apart from each other, and after the two transmission media are circumferentially mounted on the second transmission shaft, both ends spaced apart from each other are fixed to the second transmission shaft, and both ends close to each other are fixed to sides of the first and second arc structures spaced apart from each other and are diagonally positioned relative to each other, or both ends spaced apart from each other are fixed to sides of the stopper and the first arc structure spaced apart from the arc portion main body.

6. A force feedback device according to claim 4 or 5.

8. One end of the first arc structure adjacent to the base extends to form a first stopper, and one end of the second arc structure adjacent to the trigger extends to form a second stopper, and both ends of the power transmission medium pulled out from the power transmission medium after the power transmission medium is circumferentially mounted on the second transmission shaft are fixed to one side of the first stopper and the second stopper, respectively.

5. The force feedback device according to claim 4.

9. The force feedback device further includes a stopper shaft, the arc body has a stopper groove formed therethrough and having a waist-shaped structure, and the stopper shaft passes through the stopper groove and is fixed to the base.

2. The force feedback device according to claim 1.

10. The force feedback device further includes a torsion spring, and a fixing part is provided at one end of the base located on the first transmission shaft, the torsion spring is fitted onto the fixing part, and both ends of the torsion spring abut against the base and the trigger, respectively.

2. The force feedback device according to claim 1.

11. The power transmission medium, the second power transmission shaft, and the arc portion are integrally provided, and both ends of the power transmission medium respectively go around the second power transmission pole and the arc portion.

2. The force feedback device according to claim 1.

12. The position of the spiral groove is preset as ΔL, an end face distance from a first turn of the transmission medium around the second transmission shaft to an available width of the arc portion is ΔL, a pitch is P, a depth is t, the available width of the arc portion is L, the number of turns of the transmission medium is N, N is 1 or more, and the depth t=d / 2.

2. The force feedback device according to claim 1.

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