Force feedback apparatus and gamepad

Abstract

The present invention relates to the technical field of electronic devices, and specifically relates to a force feedback apparatus and a gamepad. The force feedback apparatus comprises a housing, a pressing rod assembly, an elastic member and a driving assembly; the rod assembly comprises a push rod and a sliding sleeve; the sliding sleeve is arranged in the housing; one end of the push rod is inserted into the center of the sliding sleeve and is in threaded transmission with the sliding sleeve so as to drive the sliding sleeve to move in its own axial direction, and the other end of the push rod extends out of the housing; the elastic member is sleeved on the end of the push rod extending out of the housing, one end of the elastic member is connected to the housing, the other end of the elastic member is connected to the push rod, and the elastic member is pressed and provides an elastic force during the axial movement of the push rod; and the driving assembly is transmittingly connected to the push rod and is used for driving the push rod to rotate. According to the force feedback apparatus, the elastic member is arranged on the force feedback apparatus, so that the force feedback apparatus and a trigger button can be connected as a whole, thereby ensuring the function of the gamepad.

Description

Force feedback device and handle TECHNICAL FIELD

[0001] The present application belongs to the technical field of electronic equipment, and particularly relates to a force feedback device and a handle. BACKGROUND

[0002] At present, game equipment manufacturers increase feedback devices in game handles to simulate the immediacy of specific game scenes, such as the force feedback game operations of pulling a bow to shoot an arrow, pulling triggers of various machines, etc. The handle generally comprises a force feedback device and a trigger structure. The force feedback device and the trigger structure are generally separate structures. When force feedback is needed, the force feedback device is extended to contact the trigger to provide resistance. When force feedback is not needed, the force feedback device is retracted to be separated from the trigger. The trigger itself needs to have a retraction function. A torsional spring is generally designed on the trigger, so that the trigger can return to the original position after being pressed.

[0003] However, since the force feedback device and the trigger structure are separately arranged, the two need to be positioned and assembled during installation. The separate assembly is prone to assembly mispositioning, which further causes functional problems.

[0004] Therefore, in view of the above problems, the present application is provided. SUMMARY

[0005] The present application aims to provide a force feedback device and a handle to solve the problem of assembly mispositioning of the force feedback device and the trigger structure in the prior art.

[0006] The first aspect of the present application provides a force feedback device, comprising:

[0007] a housing;

[0008] a pressure rod assembly, the pressure rod assembly comprising a push rod and a sliding sleeve, the sliding sleeve being arranged in the interior of the housing, one end of the push rod being inserted into the center of the sliding sleeve and being in threaded transmission with the sliding sleeve to drive the sliding sleeve to move along the axial direction of the sliding sleeve, the other end of the push rod extending out of the housing;

[0009] a resilient member, the resilient member being sleeved on one end of the push rod extending out of the housing, one end of the resilient member being connected with the housing and the other end of the resilient member being connected with the push rod, and the resilient member being squeezed and providing elastic force during the axial movement of the push rod;

[0010] a driving assembly, the driving assembly being in transmission connection with the push rod and being used for driving the push rod to rotate.

[0011] The force feedback device provided by the present application can further have the following additional technical features:

[0012] In one specific embodiment of the present application, the driving assembly comprises a first gear, a second gear and a driving member, the driving member is connected with the first gear and used to drive the first gear to rotate, the first gear is engaged with the second gear, the second gear is sleeved outside the push rod and used to drive the push rod to rotate, and the push rod can slide along the axial direction of itself relative to the second gear.

[0013] In one specific embodiment of the present application, one of the inner surface of the second gear and the outer surface of the push rod is provided with a first sliding groove, the first sliding groove is a straight sliding groove and coincides with the axial direction of the push rod, the other of the inner surface of the second gear and the outer surface of the push rod is provided with a first convex rib, the number of the first sliding grooves is equal to that of the first convex ribs and the first sliding grooves and the first convex ribs are correspondingly arranged, the first convex rib is inserted into the first sliding groove and slides along the axial direction of the push rod.

[0014] In one specific embodiment of the present application, the push rod is provided with at least one limiting part, and the end surface of the sliding sleeve towards the second gear can abut against the limiting part.

[0015] In one specific embodiment of the present application, the shell comprises a body part and a cover plate part, the body part is formed with an accommodating cavity with an open end, and the cover plate part covers the opening of the accommodating cavity; the driving member is located outside the body part, and the body part, the cover plate part and the driving member are connected through a threaded fastener.

[0016] In one specific embodiment of the present application, the push rod is formed with a push head relative to the other end of the sliding sleeve; the elastic member is a spring, the spring is sleeved on the push rod, and one end of the spring abuts against the cover plate part and the other end of the spring abuts against the push head.

[0017] In one specific embodiment of the present application, the cover plate part is formed with a guide sleeve relative to the other side of the body part, and one end of the spring away from the push head is arranged in the guide sleeve.

[0018] In one specific embodiment of the present application, one of the outer surface of the sliding sleeve and the inner wall surface of the shell is provided with a second sliding groove, the second sliding groove is a straight sliding groove and coincides with the axial direction of the sliding sleeve, and the other of the outer surface of the sliding sleeve and the inner wall surface of the shell is provided with a second convex rib, the second convex rib is inserted into the second sliding groove and slides along the second sliding groove.

[0019] In one specific embodiment of the present application, the second convex rib is arranged on the sliding sleeve, a first Hall magnet is arranged in the second convex rib, and the force feedback device is further provided with a first Hall sensor, the first Hall sensor is arranged on the shell and used to detect the position of the first Hall magnet.

[0020] In one specific embodiment of the present application, the force feedback device further comprises a second Hall magnet and a second Hall sensor, the second Hall sensor is arranged at the other end of the push rod relative to the sliding sleeve, and the second Hall sensor is arranged in the housing and used to detect the position of the second Hall magnet.

[0021] The second aspect of the present application also provides a handle with the force feedback device according to any one of the above.

[0022] According to the force feedback device of the present application, when the driving assembly does not provide driving force and the push rod is pressed to the other end of the housing, the push rod drives the sliding sleeve to jointly press the elastic member in the axial direction due to the threaded transmission between the push rod and the sliding sleeve, so that the push rod is subjected to the feedback force of the elastic member or the friction force between the push rod and the sliding sleeve and the feedback force of the elastic member at the same time. When the driving assembly provides driving force and the push rod is pressed to the other end of the housing, the push rod is subjected to the feedback force of the elastic member, the friction force between the push rod and the sliding sleeve, and the stall torque between the driving assembly and the push rod. Therefore, the feedback force can be effectively adjusted by the driving assembly, the range of the feedback force is increased, and the user experience is improved. At the same time, the elastic member is arranged in the force feedback device, so that the force feedback device has a return ability. Therefore, the force feedback device and the trigger button can be connected together, the force feedback device provides a return force for the trigger button, the connection strength between the force feedback device and the trigger button is ensured, the problem of dislocation is avoided, and the function of the handle is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the drawings needed in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] FIG. 1 is a schematic view of the cross-sectional structure of the force feedback device in an embodiment of the present application;

[0025] FIG. 2 is a schematic view of the internal structure of the force feedback device in the initial state when the sliding sleeve is in the first limit position;

[0026] FIG. 3 is a schematic view of the internal structure of the force feedback device in the initial state when the push rod is pressed to the end point;

[0027] FIG. 4 is a schematic view of the internal structure of the force feedback device in the initial state when the sliding sleeve is in the second limit position;

[0028] Fig. 5 is a schematic diagram of the internal structure of the force feedback device when the push rod is pressed to the end point and the sliding sleeve is in the second limit position;

[0029] Fig. 6 is a schematic diagram of the cross section of the housing part structure;

[0030] Fig. 7 is a schematic diagram of the cross section of the partial structure of the force feedback device in an embodiment of the present application. 1 - force feedback device; 10 - housing, 11 - body part, 111 - second sliding groove, 12 - cover part, 121 - mounting hole, 122 - guide sleeve; 20 - pressure rod assembly, 21 - push rod, 211 - limit part, 212 - blind hole, 213 - external thread, 22 - sliding sleeve, 221 - second protruding rib, 222 - embedding groove, 23 - push head; 30 - elastic member; 40 - driving assembly, 41 - first gear, 42 - second gear, 43 - driving member; 51 - first Hall magnet, 52 - first Hall sensor, 53 - second Hall magnet, 54 - second Hall sensor; 60 - threaded fastener. DETAILED DESCRIPTION

[0031] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. While exemplary embodiments of the present application are illustrated, it should be understood that the present application can be carried out in various forms and that the embodiments set forth in the specification and drawings are simply the most typical forms given only by way of example. Rather, the present application is provided so that the scope of the present application will be complete and will fully convey the concept of the present application to those skilled in the art.

[0032] It should be understood that the terms used herein are merely for the purpose of describing particular example embodiments and are by no means intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order in which they are described, unless specifically indicated as such. It is also to be understood that additional or alternative steps can be employed.

[0033] Although the terms first, second, third, etc. can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first", "second", and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

[0034] For ease of description, spatially relative terms can be used herein for the purpose of describing one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms include "internal", "external", "lateral", "longitudinal", "upper", "lower", "above", "below", "left", "right", and the like. Such spatially relative terms can be used to describe one element's or feature's relationship to another element or feature as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation, for example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0035] The purpose of the present application is to solve the problem of misplacement of the force feedback device 1 and the trigger button. To achieve this purpose, the present application provides a force feedback device 1 and a handle with the force feedback device 1, which can be connected with the trigger button by setting an elastic member in the force feedback device 1 to have a reset function, thereby avoiding misplacement of the force feedback device 1 and the trigger button, and ensuring the function of the handle.

[0036] In combination with the force feedback device 1 shown in FIGS. 1-7, in some embodiments of the present application, the force feedback device 1 comprises a housing 10, a pressure rod assembly 20, an elastic member 30, and a driving assembly 40. The pressure rod assembly 20 comprises a push rod 21 and a sliding sleeve 22. The sliding sleeve 22 is arranged inside the housing 10. One end of the push rod 21 is inserted into the center of the sliding sleeve 22 and is in threaded transmission with the sliding sleeve 22 to drive the sliding sleeve 22 to move along the axial direction of itself. The other end of the push rod 21 extends out of the housing 10. The elastic member 30 is sleeved on the end of the push rod extending out of the housing 10. One end of the elastic member 30 is connected with the housing 10, and the other end is connected with the push rod. The elastic member 30 is compressed and provides elastic force during the axial movement of the push rod. The driving assembly 40 is in transmission connection with the push rod and is used to drive the push rod to rotate.

[0037] The sliding sleeve 22 is arranged inside the housing 10 and is in mutual limitation with the housing 10, so that it can only reciprocate along the axial direction of itself and cannot rotate. One end of the push rod 21 is arranged inside the housing 10 and is inserted into the sliding sleeve 22. The other end of the push rod 21 extends out of the housing 10 and can reciprocate along the axial direction of itself, so that it is convenient to press. The threaded transmission is provided between the sliding sleeve 22 and the push rod 21. Specifically, the inner surface of the sliding sleeve 22 is provided with internal threads. The outer surface of the end of the push rod 21 close to the sliding sleeve 22 is provided with external threads 213. The internal threads and the external threads 213 are matched and connected in threaded transmission. That is, the push rod 21 can move along the axial direction of itself, simultaneously driving the sliding sleeve 22 to move axially. Or the push rod 21 can rotate, simultaneously driving the sliding sleeve 22 to move along the axial direction of itself. Or the sliding sleeve 22 is fixed at the limit displacement position, and the push rod 21 rotates while moving along the axial direction of itself.

[0038] The elastic member 30 is arranged between the push rod 21 and the housing 10. The elastic member 30 is compressed as the push rod 21 moves towards the elastic member 30, and provides feedback force through the elastic force and restoring force of itself. Further, the elastic member 30 is sleeved on the end of the push rod extending out of the housing 10. One end of the elastic member 30 is connected with the housing 10, and the other end is connected with the push rod.

[0039] When the push rod 21 is pressed, the push rod 21 drives the sliding sleeve 22 to move along the axial direction and compresses the elastic member 30, so as to provide feedback force through the elastic member 30, until the elastic member 30 reaches the maximum compression state and cannot be compressed. If the sliding sleeve 22 moves to the extreme position and cannot continue to move during the pressing process, if there is a relative movement space between the push rod 21 and the sliding sleeve 22, the push rod 21 rotates relative to the sliding sleeve 22 while moving towards the sliding sleeve 22. In this process, the push rod 21 needs to overcome the sliding friction between the push rod 21 and the sliding sleeve 22 and overcome the feedback force of the elastic member 30. In the case that the driving assembly 40 does not provide driving force, the axial direction friction between the driving assembly 40 and the push rod 21 can be ignored.

[0040] The driving assembly 40 is in transmission connection with the push rod 21 and is used to drive the push rod 21 to rotate. When the driving assembly 40 provides driving force and the sliding sleeve 22 moves to the other end of the housing 10 away from the push rod 21, the push rod 21 is subjected to the effect of the feedback force of the elastic member 30 and the sliding friction between the sliding sleeve 22 and the push rod 21, and is also subjected to the effect of the stall force between the driving assembly 40 and the push rod 21. Thus, the feedback force can be effectively adjusted by the driving assembly 40, and the force value range of the feedback force is improved, and the user experience is improved. The stall force refers to the stall force between the push rod 21 and the driving assembly 40 in the radial direction when the driving assembly 40 is in the state of providing driving force and the push rod 21 and the sliding sleeve 22 rotate or have a rotating trend.

[0041] Meanwhile, by making the elastic member 30 have a certain compression amount and provide elastic force when the push rod 21 is stretched to the limit displacement and is not pressed, the initial feedback force when the push rod 21 is pressed is changed, and the force value range of the feedback force is further improved.

[0042] The maximum compression state of the elastic member 30 refers to the maximum compression amount that the elastic member 30 can reach under the extrusion of the push rod 21. The maximum compression amount specifically includes the maximum compression amount that the elastic member 30 itself can reach, or the maximum compression amount that the elastic member 30 can reach when the push rod 21 moves to the limit position and cannot further extrude the elastic member 30.

[0043] According to the force feedback device 1 of the present application, when the driving assembly 40 does not provide driving force and the push rod 21 is pressed to extend to the other end of the shell 10, the push rod 21 drives the sliding sleeve 22 to jointly press the elastic member 30 in the axial direction due to the threaded transmission between the push rod 21 and the sliding sleeve 22, so that the push rod 21 is subjected to the feedback force of the elastic member 30 or the friction force between the push rod 21 and the sliding sleeve 22 and the feedback force of the elastic member 30. When the driving assembly 40 provides driving force and the push rod 21 is pressed to extend to the other end of the shell 10, the push rod 21 is subjected to the feedback force of the elastic member 30, the friction force between the push rod 21 and the sliding sleeve 22, and the stalling force between the driving assembly 40 and the push rod 21, so that the driving assembly 40 can effectively adjust the feedback force and improve the force value range of the feedback force and the experience of the user. At the same time, the elastic member 30 is arranged outside the shell 10, which can facilitate the assembly of the force feedback device 1 and control the length of the elastic member 30 when the push rod 21 is pressed to the end point, so that the failure of the elastic member 30 can be avoided and the function of the elastic member 30 can be ensured. In addition, the elastic member 30 is arranged in the force feedback device 1, so that the force feedback device 1 has a return ability, the force feedback device 1 and the trigger button can be connected together, the force feedback device 1 can provide a return force for the trigger button, the connection strength between the force feedback device 1 and the trigger button can be ensured, the problem of dislocation can be avoided, and the function of the handle can be ensured.

[0044] In some embodiments of the present application, the driving assembly 40 comprises a first gear 41, a second gear 42 and a driving member 43, the driving member 43 is connected with the first gear 41 and is used to drive the first gear 41 to rotate, the first gear 41 is engaged with the second gear 42, the second gear 42 is sleeved outside the push rod and is used to drive the push rod to rotate, and the push rod can slide along the axial direction of the push rod relative to the second gear 42.

[0045] Taking the sliding sleeve 22 and the push rod 21 as examples, specifically, the first gear 41 and the second gear 42 are arranged in the shell 10, the outer surface of the first gear 41 is provided with a first toothed surface, the outer surface of the second gear 42 is provided with a second toothed surface, the first toothed surface and the second toothed surface are engaged, so that when the driving member 43 drives the first gear 41 to rotate, the second gear 42 rotates together with the first gear 41 and can drive the push rod 21 to rotate together. The driving member 43 can be a driving motor, and the output shaft of the driving motor is in transmission connection with the first gear 41.

[0046] Of course, in some embodiments, other ways can also be used to drive the push rod 21 to rotate, such as chain transmission connected with the rod sleeve and driving the push rod 21 to rotate.

[0047] In some embodiments of the present application, one of the inner surface of the second gear 42 and the outer surface of the push rod is provided with a first sliding groove, the first sliding groove is a straight sliding groove and is consistent with the axial direction of the push rod, and the other of the inner surface of the second gear 42 and the outer surface of the push rod is provided with a first protruding rib, the number of the first sliding grooves and the first protruding ribs is equal and the first sliding grooves and the first protruding ribs are correspondingly arranged, the first protruding rib is inserted into the first sliding groove and slides along the axial direction of the push rod.

[0048] Taking the sliding sleeve as the sliding sleeve 22 and the push rod as the push rod 21 as an example, specifically, the first protruding rib and the first sliding groove are both straight structures, the outer surface of the push rod 21 is uniformly arranged with a plurality of first sliding grooves in the circumferential direction, the arrangement direction of any first sliding groove is consistent with the axial direction of the push rod 21, and the inner surface of the second gear 42 is uniformly arranged with a plurality of first protruding ribs in the circumferential direction, the arrangement direction of the first protruding rib is consistent with that of the first sliding groove, so as to ensure the transmission connection and axial movement of the second gear 42 and the push rod 21.

[0049] In some embodiments of the present application, at least one limiting portion 211 is arranged on the push rod, and the end surface of the second gear 42 towards the sliding sleeve can abut against the limiting portion 211.

[0050] Specifically, the limiting portion 211 is arranged on the outer surface of the push rod 21 and specifically arranged in a continuous annular or intermittent annular manner, and the radial dimension of the limiting portion 211 is greater than the inner diameter of the second gear 42 and abuts against the end surface of the second gear 42 towards the sliding sleeve 22, thereby playing an axial limiting role, so as to prevent the push rod 21 from being separated from the second gear 42 during axial movement.

[0051] In some embodiments of the present application, the rotation radius of the first gear 41 is less than the rotation radius of the second gear 42, that is, the corresponding radius dimension of the first toothed surface is less than the corresponding radius dimension of the second toothed surface, so that the output speed of the driving member 43 can be reduced through the transmission cooperation of the first gear 41 and the second gear 42.

[0052] In some embodiments of the present application, the housing 10 includes a body portion 11 and a cover portion 12, the body portion 11 is formed with an open accommodating cavity, and the cover portion 12 is arranged at the opening of the accommodating cavity; the driving member 43 is located outside the body portion 11, and the body portion 11, the cover portion 12 and the driving member 43 are connected through a threaded fastener 60.

[0053] Specifically, the body part 11 is formed with an open-ended accommodating cavity, which includes a first cavity formed at the open end and a second cavity away from the open end, and the first cavity and the second cavity are communicated. The cover plate part 12 is arranged at the opening of the accommodating cavity of the body part 11, and the cover plate part 12 is provided with a through hole corresponding to the second cavity. The sliding sleeve 22 is arranged in the second cavity, one end of the push rod 21 is inserted into the second cavity, the other end passes through the first cavity and passes out of the through hole of the cover plate part 12 to extend to the outside of the shell 10. The first gear 41 and the second gear 42 are arranged in the first cavity.

[0054] The housing of the driving member 43 is arranged outside the shell 10, and specifically at one side of the second cavity, and the output shaft of the driving member 43 extends into the first cavity and is in transmission connection with the first gear 41.

[0055] The body part 11, the cover plate part 12 and the driving member 43 are provided with position corresponding mounting holes 121, and the mounting hole 121 of the driving member 43 is a blind hole 212 with internal threads, and the threaded fastener 60 passes through the cover plate part 12, the body part 11 and is screwed into the mounting hole 121 of the driving member 43 in sequence, so as to realize the fixation between the body part 11, the cover plate part 12 and the driving member 43.

[0056] In some embodiments of the present application, the other end of the push rod relative to the sliding sleeve is formed with a push head 23; the elastic member 30 is a spring, and the spring is sleeved on the push rod and abuts against the cover plate part 12 at one end and abuts against the push head 23 at the other end.

[0057] Specifically, the outer contour size of the push head 23 is larger than the size of the push rod 21, and the push head 23 is connected to one end of the push rod 21 away from the sliding sleeve 22, for adapting connection with the trigger button of the handle. Specifically, the push head 23 abuts against the trigger button, or the push head 23 is rotationally connected with the trigger button by itself or through a connecting member.

[0058] The spring is sleeved on the outside of the push rod 21, and one end thereof abutting against or connected to the shell 10 towards the sliding sleeve 22 and the other end thereof abutting against the push head 23 away from the sliding sleeve 22, so that the spring is compressed as the push rod 21 moves towards the shell 10, and provides a feedback force through its own elastic force. And the spring is sleeved on the push rod 21, so that the spring can be prevented from deviating during being extruded by the push rod 21, avoiding the direction of the feedback force of the spring being suddenly changed or losing the feedback force. Since the push rod 21 will rotate under the action of the driving assembly 40, in order to place the spring to rotate together with the push rod 21, only the end of the spring is abutted against the push head 23, rather than being connected.

[0059] In some embodiments of the present application, the other side of the cover plate part 12 relative to the body part 11 is formed with a guide sleeve 122, and one end of the spring away from the push head 23 is arranged in the guide sleeve 122.

[0060] Specifically, the guide sleeve 122 is arranged on the cover plate 12 and specifically arranged on the outer periphery of the through hole of the cover plate 12, and the diameter of the guide sleeve 122 is greater than the diameter of the push rod 21, and the axial length of the guide sleeve 122 is less than the length between the push head 23 and the shell 10 when the push rod 21 is in the first limit position. The spring is arranged between the push rod 21 and the guide sleeve 122, so that the spring can be protected by the guide sleeve 122.

[0061] In some embodiments of the present application, one of the outer surface of the sliding sleeve 22 and the inner wall surface of the shell 10 is provided with a second sliding groove 111, and the other is provided with a second protruding rib 221. The second sliding groove 111 is a straight sliding groove and coincides with the axial direction of the sliding sleeve 22, and the second protruding rib 221 is inserted into the second sliding groove 111 and slides along the second sliding groove 111.

[0062] Specifically, the second protruding rib 221 and the second sliding groove 111 are both straight structures, the outer surface of the sliding sleeve 22 is provided with the protruding second protruding rib 221, the second protruding rib 221 is inserted into the second sliding groove 111 and interacts along the second sliding groove 111, thereby ensuring the axial movement of the sliding sleeve 22 while preventing the rotation of the sliding sleeve 22. The second protruding rib 221 can be an integral structure with the sliding sleeve 22, or a mounting groove is arranged in the sliding sleeve 22, and a part of the second protruding rib 221 is inserted into the mounting groove, and another part of the second protruding rib 221 is inserted into the second sliding groove 111, thereby limiting the rotation of the sliding sleeve 22 through the second protruding rib 221.

[0063] The second protruding rib 221 is mainly used to limit the rotation of the sliding sleeve 22, thereby ensuring the axial movement of the sliding sleeve 22 driven by the push rod 21 during rotation.

[0064] In some embodiments of the present application, the second protruding rib 221 is arranged on the sliding sleeve 22, and a first Hall magnet 51 is arranged in the second protruding rib 221. The first Hall magnet 51 is arranged on the sliding sleeve 22, and the force feedback device 1 is further provided with a first Hall sensor 52. The first Hall sensor 52 is arranged on the shell 10 and is used to detect the position of the first Hall magnet 51.

[0065] Specifically, the second protruding rib 221 is formed with an embedding groove 222, and the first Hall magnet 51 can be in a strip-shaped block structure and is embedded in the embedding groove 222. The first Hall sensor 52 is arranged on the outside of the shell 10 and connected with the shell 10, and the first Hall magnet 51 is connected with the sliding sleeve 22. In this way, the axial position of the sliding sleeve 22 can be determined according to the position of the first Hall magnet 51 detected by the first Hall sensor 52.

[0066] In some embodiments of the present application, the force feedback device 1 further comprises a second Hall magnet 53 and a second Hall sensor 54, the second Hall sensor 54 is arranged at the other end of the push rod 21 relative to the sliding sleeve 22, and the second Hall sensor 54 is arranged in the housing 10 and used to detect the position of the second Hall magnet 53.

[0067] In some embodiments of the present application, the other end of the push rod 21 relative to the sliding sleeve 22 is provided with a blind hole 212, and the second Hall magnet 53 is arranged in the blind hole 212. The blind hole 212 can not only be used to place the second Hall magnet 53, but also can be used to be fixedly connected with the push head 23 through screw threads.

[0068] In some embodiments of the present application, the force feedback device 1 has the following several force feedback forms, and the specific feedback modes are as follows:

[0069] Force feedback mode one:

[0070] In some embodiments of the present application, as shown in FIGS. 2-3, the driving member 43 rotates in the first direction and drives the first gear 41 and the second gear 42 to rotate, and drives the push rod 21 to rotate together. In the process of rotating the push rod 21, the sliding sleeve 22 is retracted on the push rod 21 through threaded transmission until a first limit position is reached. As shown in FIG. 2, at this time, the elastic member 30 has the maximum length size, and the end of the push rod 21 extending out of the housing 10 abuts against the trigger button. Then the driving member 43 stops driving the first gear 41 and the second gear 42 to rotate, and the second gear 42 and the push rod 21 are not affected by the blocking force. At this time, the push rod 21 is pressed, and the push rod 21 drives the sliding sleeve 22 to move along the axial direction and press the elastic member 30 until the push rod 21 is pressed to the end point, as shown in FIG. 3, at this time, the elastic member 30 cannot be continuously compressed. In this process, the trigger button is only subjected to the feedback force of the elastic member 30 in the pressing process.

[0071] Force feedback mode two:

[0072] In some embodiments of the present application, the driving member 43 rotates in the second direction and drives the first gear 41 and the second gear 42 to rotate, and drives the push rod 21 to rotate together, wherein the second direction is opposite to the first direction in the force feedback mode one. The sliding sleeve 22 moves in the axial direction under the action of the screw transmission force of the push rod 21, and until the sliding sleeve 22 reaches the second limit position, as shown in FIG. 4. At this time, the driving state of the driving member 43 is maintained, and since the sliding sleeve 22 reaches the second limit position, the sliding sleeve 22 cannot continue to move in the axial direction. At this time, the trigger button is pressed, the push rod 21 moves in the axial direction relative to the sliding sleeve 22 and extrudes the elastic member 30, and the feedback force borne by the trigger button mainly comes from the stall torque, the sliding friction force between the push rod 21 and the sliding sleeve 22, and the elastic force of the elastic member 30, so as to control the size of the stall torque by adjusting the output torque of the driving member 43, thereby realizing different feedback forces.

[0073] As shown in FIG. 4, when the sliding sleeve 22 reaches the second limit position, the push rod 21 and the sliding sleeve 22 have the maximum relative distance, and the driving member 43 no longer provides driving force. At this time, the trigger button is pressed, and the feedback force borne by the trigger button mainly comes from the sliding friction force between the push rod 21 and the sliding sleeve 22 and the elastic force of the elastic member 30.

[0074] As shown in FIG. 4, when the sliding sleeve 22 reaches the second limit position, the push rod 21 and the sliding sleeve 22 have the maximum relative distance, and the driving member 43 continues to rotate in the second direction. At this time, the trigger button is pressed, the push rod 21 moves towards the sliding sleeve 22 while making reverse rotation, and until the push rod 21 is pressed to the end point, as shown in FIG. 5. At this time, the feedback force borne by the trigger button mainly comes from the sliding friction force between the push rod 21 and the sliding sleeve 22, the elastic force of the elastic member 30 and the stall torque of the driving member 43.

[0075] Force feedback mode three

[0076] In some embodiments of the present application, the driving member 43 rotates in the first direction or the second direction and drives the first gear 41 and the second gear 42 to rotate, and drives the push rod 21 to rotate together, wherein the second direction is opposite to the first direction in the force feedback mode one. The sliding sleeve 22 moves in the axial direction under the action of the screw transmission force of the push rod 21, and until the sliding sleeve 22 moves to between the first limit position and the second limit position. At this time, the distance between the end of the sliding sleeve 22 and the housing 10 is L2, and when the sliding sleeve 22 is in the first limit position, the distance between the end of the sliding sleeve 22 and the housing 10 is L1, L2 < L1. The specific stop position of the sliding sleeve 22 can be detected according to the first Hall sensor 52 and the first Hall magnet 51, so as to detect, position and adjust the axial position of the sliding sleeve 22.

[0077] At this time, when the driving member 43 no longer provides driving force and presses the trigger button, the push rod 21 and the sliding sleeve 22 are all moved in the axial direction and press the elastic member 30 until the sliding sleeve 22 reaches the second limit position, and during the pressing process, the sliding sleeve 22 only receives the feedback force of the elastic member 30.

[0078] When the driving member 43 rotates again in the second direction and provides driving force and presses the trigger button, the force feedback received by the trigger button mainly comes from the stall force, the sliding friction force between the push rod 21 and the sliding sleeve 22, and the elastic force of the elastic member 30, so that the force value of the feedback force can be suddenly increased, and the user experience is improved. By adjusting the output torque of the driving member 43 to control the size of the stall force, different feedback forces are realized, and the force value range of the feedback force is improved. By stopping the sliding sleeve 22 at any position between the first limit position and the second limit position, the immediacy of various games can be simulated, and the control range of the feedback force is further improved.

[0079] Force feedback mode four

[0080] In combination with FIGS. 2, 4, and 5, in some embodiments of the present application, compared with the sudden increase in the force value of the feedback force in the above-mentioned force feedback mode three, the force value of the feedback force can also be suddenly reduced. As shown in FIG. 5, when the trigger button is pressed for a period of time, the driving member 43 rotates in the first direction and provides driving force, the trigger button is pressed during the process, and under the driving action of the driving member 43, the sliding sleeve 22 moves towards the first limit position or has a tendency to move towards the first limit direction, at this time, the feedback force received by the trigger button mainly comes from the partial sliding friction force between the sliding sleeve 22 and the push rod 21, and the elastic force of the elastic member 30, so that the experience of sudden reduction of the feedback force can be achieved.

[0081] The above-mentioned several force feedback modes are only several common force feedback forms of the force feedback device 1 in the present application, and of course, the force feedback device 1 according to the present application can also have other forms of force feedback forms during the working process, which are not listed one by one here.

[0082] The present application also provides a handle having the force feedback device 1 in any of the above-mentioned embodiments. Since the handle of the present application has the same technical features as the force feedback device 1 in any of the above-mentioned embodiments, the same technical effects can be achieved, and therefore the details are not repeated here.

[0083] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A force feedback device, characterized by The utility model relates to a pressure rod assembly and a drive assembly, and the pressure rod assembly comprises a housing, a pressure rod assembly and a drive assembly, wherein the pressure rod assembly comprises a push rod and a sliding sleeve, the sliding sleeve is arranged in the housing, one end of the push rod is inserted into the center of the sliding sleeve and is in threaded transmission with the sliding sleeve to drive the sliding sleeve to move along the axial direction of the sliding sleeve, the other end of the push rod extends out of the housing, an elastic member is sleeved on the end of the push rod extending out of the housing, one end of the elastic member is connected with the housing, the other end of the elastic member is connected with the push rod, and the elastic member is squeezed and provides elastic force during the axial movement of the push rod. The drive assembly is in transmission connection with the push rod and is used for driving the push rod to rotate. The drive assembly comprises a first gear, a second gear and a driving member, the driving member is connected with the first gear and is used for driving the first gear to rotate, the first gear is in meshing connection with the second gear, the second gear is sleeved on the outside of the push rod and is used for driving the push rod to rotate, and the push rod can slide along the axial direction of the push rod relative to the second gear. The inner surface of the second gear and one of the outer surfaces of the push rod are provided with a first sliding groove, the first sliding groove is a straight sliding groove and is consistent with the axial direction of the push rod, the inner surface of the second gear and the other of the outer surfaces of the push rod are provided with a first convex rib, the number of the first sliding grooves and the first convex ribs is equal and is arranged correspondingly, the first convex rib is inserted into the first sliding groove and slides along the axial direction of the push rod. And / or, at least one limiting part is arranged on the push rod, and the end face of the second gear towards the sliding sleeve can abut against the limiting part.

2. The force feedback device of claim 1, wherein, The housing comprises a body part and a cover plate part, the body part forms a containing cavity with an open end, the cover plate part is arranged on the opening of the containing cavity, the driving member is located on the outside of the body part, and the body part, the cover plate part and the driving member are connected through threaded fasteners.

3. The force feedback device of claim 2, wherein, The other end of the push rod relative to the sliding sleeve forms a push head, the elastic member is a spring, the spring is sleeved on the push rod, one end of the spring abuts against the cover plate part, and the other end of the spring abuts against the push head. The other side of the cover plate part relative to the body part forms a guide sleeve, and one end of the spring away from the push head is arranged in the guide sleeve.

4. The force feedback device of claim 1, wherein, One of the outer surface of the sliding sleeve and the inner wall surface of the housing is provided with a second sliding groove, the second sliding groove is a straight sliding groove and is consistent with the axial direction of the sliding sleeve, and the other of the outer surface of the sliding sleeve and the inner wall surface of the housing is provided with a second convex rib, the second convex rib is inserted into the second sliding groove and slides along the second sliding groove.

5. The force feedback device of claim 4, wherein, The second convex rib is arranged on the sliding sleeve, a first Hall magnet is arranged in the second convex rib, the force feedback device is further provided with a first Hall sensor, the first Hall sensor is arranged on the housing and is used for detecting the position of the first Hall magnet.

6. The force feedback device of claim 5, wherein, ​ 7. The force feedback device of claim 1, wherein, ​ 8. The force feedback device of claim 7, wherein, ​ 9. The force feedback device of any of claim 7, wherein, The force feedback device further comprises a second Hall magnet and a second Hall sensor, the second Hall sensor is arranged at the other end of the push rod relative to the sliding sleeve, and the second Hall sensor is arranged in the shell and is used for detecting the position of the second Hall magnet.

10. A handle characterized in that, The force feedback device according to any one of claims 1-9.

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