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 particularly to a force feedback device.

Background Art

[0002] With the development of network technology and electronic information technology, and with the development of an increasing number of game developments, various operation handles, virtual reality devices, and augmented reality devices, users' requirements for the feeling when using external devices are also becoming increasingly high.

[0003] Triggers on various types of handles or external devices in the prior art are directly connected to buttons and cannot be adjusted according to different game scenes. Some of these technologies only provide a certain amount of vibration feedback, making it difficult to provide a good gaming experience for users and unable to provide an immersive gaming experience for users. As an important characteristic in tactile feedback, force feedback has been increasingly emphasized with the development of different electronic devices, especially the evolution of personal consumer electronics products.

[0004] However, the rope of the force feedback device in the prior art is prone to loosening during transmission, the rope is prone to slipping on the driving shaft, restricting the transmission of a large force. Also, the control effect of force feedback is poor and cannot provide a good user experience.

[0005] Therefore, it is necessary to provide a new force feedback device to solve the above problems.

Summary of the Invention

Problems to be Solved by the Invention

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

Means for Solving the Problem

[0007] To solve the above technical problem, the present invention provides a force feedback device. The force feedback device includes a pedestal, 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 close to the pedestal, a trigger formed by extending in a direction away from the pedestal from the circumferential side of the trigger body, and an arc portion connected to the trigger body. The connection portion is supported by the pedestal by a first transmission shaft and forms a rotational connection. The arc portion is provided opposite to the connection portion with a space therebetween and extends to the pedestal, The drive assembly includes a drive unit fixed to the pedestal and a second transmission shaft connected to the drive unit. The second transmission shaft is provided opposite to the arc portion. 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 the axial direction of the transmission shaft body, The transmission medium is provided around in the spiral groove of the second transmission shaft, and both ends drawn out from the transmission medium after the transmission medium is provided around 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. A part of the transmission medium abuts against the arc portion.

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

[0009] Preferably, the second transmission shaft includes a second transmission shaft body connected to the drive unit and a shaft sheath externally fitted and fixed to the second transmission shaft body. The spiral groove is opened on the 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 pedestal and spaced apart from the pedestal, and a second arc structure extending from the arc portion main body in a direction approaching the trigger main body and connected to the trigger main body. The second transmission shaft is provided facing the arc portion main body. Both ends of the transmission medium that are provided around 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 are fixed to one ends where the first arc structure and the second arc structure are spaced apart from each other and present a diagonal positional relationship with each other.

[0011] Preferably, 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 pedestal and spaced apart from the pedestal, and a second arc structure extending from the arc portion main body in a direction approaching the trigger main body and connected to the trigger main body. The second transmission shaft is provided facing the arc portion main body. The stopper abuts against the arc portion main body. One end of the transmission medium that is provided around the second transmission shaft and then drawn out from the transmission medium extends along the second arc structure and then turns in and is fixed to the stopper. The other end of the transmission medium that is provided around the second transmission shaft and then drawn out from the transmission medium extends along the first arc structure and then turns in to the side spaced apart from the arc portion main body of the first arc structure and is fixed to the side spaced apart from the arc portion main body of the first arc structure via a screw.

[0012] Preferably, there are two transmission media. The two transmission media are respectively provided around the second transmission shaft and spaced apart from each other. After being provided around the second transmission shaft, both ends that are close to each other are respectively fixed to the second transmission shaft, and both ends that are spaced apart from each other are respectively fixed to the sides where the first arc structure and the second arc structure are spaced apart from each other and present a diagonal positional relationship with each other, or both ends that are spaced apart from each other are respectively fixed to the sides where the stopper and the first arc structure are spaced apart from the arc portion main body.

[0013] Preferably, there are two transmission media. The two transmission media are respectively provided around the second transmission shaft and spaced apart from each other. After the two transmission media are provided around the second transmission shaft, both ends that are separated from each other are respectively fixed to the second transmission shaft, and both ends that are close to each other are respectively fixed to the sides where the first arc structure and the second arc structure are separated from each other and present a diagonal positional relationship with each other, or both ends that are separated from each other are respectively fixed to the sides where the stopper and the first arc structure are separated from the arc portion body.

[0014] Preferably, one end of the first arc structure close to the pedestal extends to form a first stopper, and one end of the second arc structure close to the trigger extends to form a second stopper. Both ends drawn out from the transmission medium after the transmission medium is provided around the second transmission shaft are respectively fixed to one side of the first stopper and the second stopper.

[0015] Preferably, the force feedback device further includes a stopper shaft. A stopper groove penetrating to present a kidney-shaped structure is formed in the arc portion body. The stopper shaft passes through the stopper groove and is fixed to the pedestal.

[0016] Preferably, the force feedback device further includes a torsion spring. A fixing portion is provided at one end of the pedestal located on the first transmission shaft. The torsion spring is externally fitted to the fixing portion, and both ends of the torsion spring are respectively in contact with the pedestal and the trigger.

[0017] Preferably, the transmission medium, the second transmission shaft, and the arc portion are provided in an integral structure. Both ends of the transmission medium respectively go around the second transmission column and the arc portion.

[0018] Preferably, the position of the spiral groove is set to ΔL in advance, the end face distance from the first revolution where the transmission medium orbits 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 winding turns of the transmission medium is N, N is 1 or more, and the depth t = d / 2.

Advantages of the Invention

[0019] Compared with the prior art, in the force feedback device of the present invention, by rotatably mounting the trigger assembly on the pedestal, the trigger assembly includes a trigger body, a connecting portion extending from one end close to the trigger body, a trigger formed by extending in a direction separating from the pedestal in the circumferential direction of the trigger body, and an arc portion connected to the trigger body. The connecting portion is supported by the pedestal by the first transmission shaft and forms a rotational connection. The arc portion is provided opposite to the connecting portion with a gap and extends to the pedestal. The drive assembly includes a drive unit fixed to the pedestal and a second transmission shaft connected to the drive unit. The second transmission shaft is provided opposite to the arc portion. The second transmission shaft includes a transmission shaft main body connected to the drive unit and a spiral groove formed in the transmission shaft main body and extending along the axial direction of the transmission shaft main body. The transmission medium is circumferentially provided in the spiral groove of the second transmission shaft, and both ends drawn out from the transmission medium after the transmission medium is circumferentially provided 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 transmission medium is brought into contact with the arc portion. In this way, when the transmission medium is circumferentially provided on the second transmission shaft, 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 main body and a spiral groove formed in the transmission shaft main body. The transmission medium is circumferentially provided in the spiral groove and is connected to the transmission medium through the spiral groove, so that the transmission medium cannot slip relative to the second transmission shaft. The drive unit drives the second transmission shaft to rotate the transmission medium to easily realize the force feedback effect for adjusting the swing of the trigger, the overall space is compactified, the frictional resistance is small, and the user experience effect is easily improved.

[0020] To more clearly explain the technical solution in the embodiments of the present invention, the drawings necessary for the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, without creative labor, other drawings can be obtained based on these drawings.

Brief Description of the Drawings

[0021]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Modes for Carrying Out the Invention

[0022] Hereinafter, while referring to the drawings of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments that can be obtained by those skilled in the art without creative labor are 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 pedestal 1, a trigger assembly 2, a drive assembly 4, and a transmission medium 5.

[0024] The pedestal 1 is used to fixedly mount the drive assembly 4 and support 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 pedestal 1, a trigger 23 formed to extend in a direction away from the pedestal 1 from the circumferential side of the trigger body 21, and an arc portion 24 connected to the trigger body 21. The connection portion 22 is supported by the pedestal 1 by a first transmission shaft 3 and forms a rotational connection. The arc portion 24 is provided opposite to the connection portion 22 with a space therebetween and extends to the pedestal 1. The trigger body 21 can rotate on the pedestal 1 with the connection portion 22 as the rotation position.

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

[0027] The transmission medium 5 is disposed around the inside of the spiral groove 422 of the second transmission shaft 42. Both ends of the transmission medium 5 that are drawn out from the transmission medium 5 after being disposed around 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, and a part of the transmission medium 5 is brought into contact with 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, and the drive unit 41 drives the second transmission shaft 42 to rotate the transmission medium 5 to adjust the swing of the trigger 23, thereby realizing the force feedback effect, making the overall space more compact, having low frictional resistance, and being easy to improve the user experience effect.

[0029] In this embodiment, the transmission medium 5 is a transmission rope or a transmission belt. The transmission rope or the transmission belt is easy to wind around, and when transmitting a low tensile force, it does not require a tensile force holding device such as a spring, and can be directly tightened and fixed using a certain tensile force. Due to the action of the spiral groove 422, the transmission rope does not slip relative to the rotating shaft. The overall device is simple and highly reliable.

[0030] In this embodiment, the second transmission shaft 42 includes a second transmission shaft body 423 connected to the drive unit 41 and a shaft sleeve 424 externally fitted and fixed to the second transmission shaft body 423, and the spiral groove 422 is formed on the outer surface of the shaft sleeve 424. It is easy to drive the transmission medium 5 to move, and in this way, the position of the trigger 23 is adjusted to realize the 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 winding 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 processed to have the spiral groove 422. In this way, the transmission rope can directly wind 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 is the end face distance from the first turn to the available width of the arc surface, which is related to the pitch P, the depth t, the available width L of the arc surface, and the number of winding turns N and the diameter d of the rope. When winding, it is necessary to ensure that the transmission rope is exactly located in the spiral groove 422. 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. The transmission ropes at both ends bypass the end face of the arc part along the developed line of the spiral. In order to ensure that the transmission rope is exactly located in the spiral groove 422, it is necessary to make full use of the effective width of the arc surface and select an appropriate pitch P and the relative position ΔL between the adjustment sheath and the arc surface. Due to the action of the spiral groove 422, the transmission rope has no slip relative to the rotating shaft. It increases the transmission efficiency, reduces the resistance, and is helpful for the control of force feedback.

[0033] In this embodiment, the arc part 24 includes an arc part main body 241, a first arc structure 242 extending from the arc part main body 241 in a direction approaching the pedestal 1 and spaced apart from the pedestal 1, and a second arc structure 243 extending from the arc part main body 241 in a direction approaching the trigger main body and connected to the trigger main body 21. The second transmission shaft 42 is provided facing the arc part main body 241. Both ends of the transmission medium 5 after being wound around the second transmission shaft 42 and drawn out from the transmission medium 5 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 present diagonal positions. It is easy to install the transmission medium 5, and the transmission medium 5 will not be bent excessively, and the service life is long.

[0034] In this embodiment, the arc portion further includes a stopper 7. The arc portion 24 includes an arc portion main body 241, a first arc structure 242 that extends from the arc portion main body 241 in a direction approaching the pedestal 1 and is spaced apart from the pedestal 1, and a second arc structure 243 that extends from the arc portion main body 241 in a direction approaching the trigger main body 21 and is connected to the trigger main body 21. The second transmission shaft 42 is provided facing the arc portion main body 241. The stopper 7 abuts against the arc portion main body 241. One end of the transmission medium 5 that is provided around the second transmission shaft 42 and then drawn out from the transmission medium 5 extends along the second arc structure 243 and then loops around and is fixed to the stopper 7. The other end of the transmission medium 5 that is provided around the second transmission shaft 42 and then drawn out from the transmission medium 5 extends along the first arc structure 242 and then loops around to the side away from the arc portion main body 241 of the first arc structure 242 and is fixed to the side away from the arc portion main body 241 of the first arc structure via a screw. It is possible to facilitate the attachment of the transmission medium 5.

[0035] Note that 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 transmission rope. Preferably, one end of the transmission rope can fix the rope by aligning with a grooved recess with holes via an adhesive, so that the stopper 7 can be omitted, and the other end is pulled by a screw 8 after the winding is completed.

[0036] In this embodiment, there are two transmission media 5. The two transmission media 5 are respectively provided around the second transmission shaft 42 and are spaced apart from each other. After the two transmission media 5 are provided around the second transmission shaft 42, both ends that are close to each other are respectively fixed to the second transmission shaft 42, and both ends that are spaced apart from each other are respectively fixed to the sides away from each other of the first arc structure 242 and the second arc structure 243 and present a diagonal positional relationship with each other, or both ends that are spaced apart from each other are respectively fixed to the sides away from the arc portion main body 241 of the stopper 7 and the first arc structure 242.

[0037] In the present embodiment, there are two transmission media 5. The two transmission media 5 are respectively disposed around the second transmission shaft 42 with a space therebetween. After being disposed around the second transmission shaft 42, the two transmission media 5 have both ends spaced apart from each other fixed to the second transmission shaft 42 respectively, and both ends close to each other fixed to the sides of the first arc structure 242 and the second arc structure 243 away from each other and presenting a diagonal positional relationship, or both ends spaced apart from each other fixed to the sides of the stopper 7 and the first arc structure 242 away from the arc portion body 241 respectively.

[0038] In the present embodiment, for example, the transmission medium 5 is a transmission rope. The transmission rope includes a first segment 51 and a second segment 52 provided separately. The first end of the first segment 51 is fixed to the arc 24, the second end of the first segment 51 passes through the second transmission shaft 42 and winds around it for several turns and is fixed to the second transmission shaft 42. The first end of the second segment 52 is fixed to the arc portion 24, and the second end of the second segment 52 passes through the second transmission shaft 42 and winds around it for several turns and is fixed to the second transmission shaft 42.

[0039] Preferably, in order to effectively prevent slip and ensure mounting reliability, two other winding methods are provided. The first type is as shown in FIG. 6. The transmission rope is divided into two segments, and one segment is arranged in each of the two directions. The transmission rope may be fixed to the second transmission shaft 42 in advance. Here, the second transmission shaft 42 may be a motor shaft or a sheath externally fitted to the motor shaft. The transmission rope winds around the second transmission shaft 42 for several turns at a certain angle. The number of turns is determined by the transmission angle and the transmission ratio. Then, it continues to be fixed to the arc portion 24 along the angle direction of the winding along the arc portion 24. So far, the attachment of one segment of the transmission rope is completed. Similarly, the other segment of the transmission rope is fixed to the second transmission shaft 42 and the arc portion 24 respectively in the same way. In this way, the transmission rope can transmit a stable force without tension and creep and without slip during the transmission process.

[0040] Furthermore, as shown in FIG. 7, in the first type of winding method, the transmission rope is divided into two parts, and one segment is arranged in each of the two directions. The transmission rope can be pre-fixed to the second transmission shaft 42, and the fixing points 6 here are arranged at both ends of the second transmission shaft 42, whereby the transmission rope is wound around the middle of the second transmission shaft 42. The transmission rope winds around several times at a certain angle around the second transmission shaft 42, and the number of winding times is determined by the transmission angle and the transmission ratio. Then, it continues to be fixed to the arc portion 24 along the angular direction of the winding along the arc portion 24. Up to this point, the attachment of one segment of the transmission rope is completed. Similarly, the other segment of the transmission rope is fixed to the second transmission shaft 42 and the arc portion 24 respectively in the same way. In this way, the transmission rope can transmit a stable force without tension and creep and without slip during the transmission process.

[0041] In this embodiment, one end of the first arc structure 242 close to the pedestal 1 extends to form a first stopper 244, and one end of the second arc structure 243 close to the trigger 23 extends to form a second stopper 245. Both ends drawn from the transmission medium 5 after the transmission medium 5 is peripherally provided on the second transmission shaft are fixed to one side of the first stopper 244 and the second stopper 245 respectively. The first stopper 244 and the second stopper 245 respectively limit the outward slip of the transmission medium 5 at the arc portion 24 by using both ends of the transmission medium 5, so that the transmission effect of the transmission medium 5 is high.

[0042] In this embodiment, the force feedback device 100 includes a stopper shaft 10. A stopper groove 9 penetrating and presenting a kidney-shaped structure is formed in the arc portion main body 241. The stopper shaft 10 penetrates the stopper groove 9 and is fixed to the pedestal 1. It is fixed to the pedestal 1 by the stopper shaft 10 and is used to limit the rotational position of the arc portion main body 241, and has high safety.

[0043] In this embodiment, the force feedback device 100 further includes a torsion spring 11. A fixing portion 12 is provided at one end of the first transmission shaft 3 of the pedestal 1. The torsion spring 11 is externally fitted to the fixing portion 12, and both ends of the torsion spring 11 are respectively in contact with the pedestal 1 and the trigger 23. The elastic performance of the torsion spring 11 can quickly reset the trigger 23, making it easy to operate.

[0044] In this embodiment, the transmission medium 5, the second transmission shaft 42, and the arc portion 24 are provided in an integral structure. Both ends of the transmission medium 5 respectively go around the second transmission column and the arc portion 24.

[0045] Specifically, in order to reduce the attachment 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 an integral body, and injection molding or other processes are adopted to make these three types into one assembly unit. As shown in FIG. 8, the transmission medium 5 is flexible. The flexible portion can go around the prime mover shaft portion and the arc portion 24. It is made as close as possible to the prime mover shaft portion and the arc portion 24 to avoid the radial force between the prime mover shaft and the arc rotation shaft being too large during transmission. FIG. 8 shows a pull in one direction, and FIG. 9 shows a pull in the other direction. FIGS. 8 and 9 are fitted and assembled to combine the pulls in two directions, that is, it can rotate in two directions, as shown in FIGS. 10 to 11.

[0046] Compared with the prior art, in the force feedback device of the present invention, by rotatably mounting the trigger assembly on the pedestal, the trigger assembly includes a trigger body, a connecting portion extending from one end close to the trigger body, a trigger formed by extending in a direction away from the pedestal in the circumferential direction of the trigger body, and an arc portion connected to the trigger body. The connecting portion is supported by the pedestal by a first transmission shaft and is formed as a rotary connection. The arc portion is provided opposite to the connecting portion with a space therebetween and extends on the pedestal. The drive assembly includes a drive unit fixed to the pedestal and a second transmission shaft connected to the drive unit. The second transmission shaft is provided opposite to the arc portion. The second transmission shaft includes a transmission shaft main body connected to the drive unit and a spiral groove formed on the transmission shaft main body and extending along the axial direction of the transmission shaft main body. The transmission medium is circumferentially provided in the spiral groove of the second transmission shaft, and both ends of the transmission medium drawn out after being circumferentially provided 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 transmission medium is brought into contact with the arc portion. In this way, by circumferentially providing the transmission medium on the second transmission shaft, both ends of the transmission medium extend along the arc portion and are fixed to both ends of the arc portion respectively. The second transmission shaft includes a transmission shaft main body and a spiral groove formed on the transmission shaft main body. The transmission medium is circumferentially provided in the spiral groove and is connected to the transmission medium through the spiral groove, so that the transmission medium cannot slip relative to the second transmission shaft. The drive unit drives the second transmission shaft to rotate the transmission medium to adjust the swing of the trigger, so that it is easy to realize the force feedback effect, the overall space is compact, the frictional resistance is small, and it is easy to improve the user experience effect.

[0047] What is described above is merely an embodiment of the present invention. For those skilled in the art, various improvements may be made on the premise of not departing from the creative concept of the present invention, and all of these are included in the protection scope of the present invention.

Claims

1. A force feedback device, comprising a pedestal, a trigger assembly, a drive assembly, and a transmission medium, wherein the trigger assembly includes a trigger body, a connection portion extending from one end of the trigger body close to the pedestal, a trigger formed by extending in a direction away from the pedestal from the circumferential side of the trigger body, and an arc portion connected to the trigger body; the connection portion is supported by the pedestal by a first transmission shaft and forms a rotational connection; the arc portion is provided opposite to the connection portion with a gap therebetween and extends to the pedestal, the drive assembly includes a drive unit fixed to the pedestal and a second transmission shaft connected to the drive unit; the second transmission shaft is provided opposite to the arc portion; 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 the axial direction of the transmission shaft body, the transmission medium is disposed around the spiral groove of the second transmission shaft, and both ends drawn out from the transmission medium after the transmission medium is disposed around 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; a part of the transmission medium abuts against the arc portion, the second transmission shaft includes a second transmission shaft body connected to the drive unit and a shaft sheath externally fitted and fixed to the second transmission shaft body; the spiral groove is formed on the outer surface of the shaft sheath, characterized in that it is a force feedback device.

2. A force feedback device, comprising a pedestal, a trigger assembly, a drive assembly, and a transmission medium, wherein the trigger assembly includes a trigger body, a connection portion extending from one end of the trigger body close to the pedestal, a trigger formed by extending in a direction away from the pedestal from the circumferential side of the trigger body, and an arc portion connected to the trigger body; the connection portion is supported by the pedestal by a first transmission shaft and forms a rotational connection; the arc portion is provided opposite to the connection portion with a gap therebetween and extends to the pedestal, the drive assembly includes a drive unit fixed to the pedestal and a second transmission shaft connected to the drive unit; the second transmission shaft is provided opposite to the arc portion; 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 the axial direction of the transmission shaft body, The transmission medium is disposed around the inside of the spiral groove of the second transmission shaft, and both ends drawn from the transmission medium after the transmission medium is disposed around 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. A part of the transmission medium abuts against the arc portion. 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 pedestal and spaced apart from the pedestal, and a second arc structure extending from the arc portion main body in a direction approaching the trigger main body and connected to the trigger main body. The second transmission shaft is provided facing the arc portion main body. Both ends drawn from the transmission medium after the transmission medium is disposed around the second transmission shaft extend along the first arc structure and the second arc structure respectively, and are fixed to one end where the first arc structure and the second arc structure are separated from each other and exhibit a diagonal positional relationship with each other. Force feedback device. **Claim 3**: A force feedback device, comprising a pedestal, a trigger assembly, a drive assembly, and a transmission medium. The trigger assembly includes a trigger main body, a connection portion extending from one end of the trigger main body close to the pedestal, a trigger formed by extending from the circumferential side of the trigger main body in a direction away from the pedestal, and an arc portion connected to the trigger main body. The connection portion is supported by the pedestal by a first transmission shaft and forms a rotational connection. The arc portion is provided opposite to the connection portion with a space therebetween and extends to the pedestal. The drive assembly includes a drive unit fixed to the pedestal and a second transmission shaft connected to the drive unit. The second transmission shaft is provided opposite to the arc portion. The second transmission shaft includes a transmission shaft main body connected to the drive unit and a spiral groove formed in the transmission shaft main body and extending along the axial direction of the transmission shaft main body. The transmission medium is disposed around the inside of the spiral groove of the second transmission shaft, and both ends drawn from the transmission medium after the transmission medium is disposed around 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. A part of the transmission medium abuts against the arc portion. The arc portion further includes a stopper, and 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 pedestal and spaced apart from the pedestal, and a second arc structure extending from the arc portion main body in a direction approaching the trigger main body and connected to the trigger main body. The second transmission shaft is provided facing the arc portion main body, the stopper abuts against the arc portion main body, one end of the transmission medium drawn out from the transmission medium after being provided around the second transmission shaft extends along the second arc structure and then wraps around and is fixed to the stopper, and the other end of the transmission medium drawn out from the transmission medium after being provided around the second transmission shaft extends along the first arc structure and then wraps around to the side spaced apart from the arc portion main body of the first arc structure and is fixed to the side spaced apart from the arc portion main body of the first arc structure via a screw. Force feedback device.

4. The transmission medium is a transmission rope or a transmission belt. The force feedback device according to any one of claims 1 to 3.

5. There are two transmission media. The two transmission media are respectively provided around the second transmission shaft and spaced apart from each other. After the two transmission media are provided around the second transmission shaft, both ends close to each other are respectively fixed to the second transmission shaft, and both ends spaced apart from each other are respectively fixed to the sides spaced apart from each other of the first arc structure and the second arc structure and present a diagonal positional relationship with each other, or both ends spaced apart from each other are respectively fixed to the sides spaced apart from the arc portion main body of the stopper and the first arc structure. The force feedback device according to claim 3.

6. There are two transmission media. The two transmission media are respectively provided around the second transmission shaft and spaced apart from each other. After the two transmission media are provided around the second transmission shaft, both ends spaced apart from each other are respectively fixed to the second transmission shaft, and both ends close to each other are respectively fixed to the sides spaced apart from each other of the first arc structure and the second arc structure and present a diagonal positional relationship with each other, or both ends spaced apart from each other are respectively fixed to the sides spaced apart from the arc portion main body of the stopper and the first arc structure. The force feedback device according to claim 3.

7. One end of the pedestal of the first arc structure close to the pedestal extends to form a first stopper, and one end of the second arc structure close to the trigger extends to form a second stopper. Both ends of the transmission medium are fixed to one side of the first stopper and the second stopper respectively after being wound around the second transmission shaft and then drawn out from the transmission medium. The force feedback device according to claim 2.

8. The force feedback device further includes a stopper shaft. A stopper groove penetrating and presenting a kidney-shaped structure is formed in the arc portion main body. The stopper shaft passes through the stopper groove and is fixed to the pedestal. The force feedback device according to claim 2.

9. The force feedback device further includes a torsion spring. A fixing portion is provided at one end of the pedestal located on the first transmission shaft. The torsion spring is externally fitted to the fixing portion, and both ends of the torsion spring are in contact with the pedestal and the trigger respectively. The force feedback device according to any one of claims 1 to 3.

10. The transmission medium, the second transmission shaft, and the arc portion are provided in an integral structure. Both ends of the transmission medium respectively go around the second transmission shaft and the arc portion. The force feedback device according to any one of claims 1 to 3.

11. The position of the spiral groove is set to be ΔL in advance. 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 winding turns of the transmission medium is N, N is 1 or more, and the depth t = d / 2. The force feedback device according to any one of claims 1 to 3.

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