CN114385008A - Force feedback structure and interaction device - Google Patents

Force feedback structure and interaction device Download PDF

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Publication number
CN114385008A
CN114385008A CN202111683178.7A CN202111683178A CN114385008A CN 114385008 A CN114385008 A CN 114385008A CN 202111683178 A CN202111683178 A CN 202111683178A CN 114385008 A CN114385008 A CN 114385008A
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Prior art keywords
trigger
push rod
force feedback
force
assembly
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CN202111683178.7A
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CN114385008B (en
Inventor
徐子开
朱跃光
刘兆江
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Goertek Inc
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Goertek Inc
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/015—Force feedback applied to a joystick

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Portable Nailing Machines And Staplers (AREA)

Abstract

The invention relates to the technical field of interactive terminals and discloses a force feedback structure and interactive equipment, wherein the force feedback structure comprises a mounting bracket, a trigger, a driving piece and a transmission piece, and the trigger is rotationally connected with the mounting bracket; the driving piece comprises a stator assembly and a rotor assembly which are arranged on the mounting bracket, one of the stator assembly and the rotor assembly comprises a magnet, the other one of the stator assembly and the rotor assembly comprises a coil, and the magnetizing direction of the magnet is parallel to the axial direction of the coil; the driving medium includes connecting rod and push rod, and the push rod rotates with the installing support to be connected, push rod and trigger towards the detachable butt of one side of active cell subassembly, and the both ends of connecting rod are kept away from the one end and the active cell subassembly rotation connection of installing support with the push rod respectively. The force feedback structure provided by the invention has a simple structure and a better force feedback effect.

Description

Force feedback structure and interaction device
Technical Field
The invention relates to the technical field of interactive terminals, in particular to a force feedback structure and interactive equipment.
Background
Corresponding force feedback is often required to be made and conducted to the user according to force application operations such as pressing and pushing of the user in the interactive device, so that the user can feel feedback effects such as vibration and shaking, and interaction experience between the user and the interactive device is improved.
In the related art, the force feedback structure in the interactive device is generally complex, the loss of force conduction is large, and the force feedback effect is not good. The force feedback of the trigger on the handle is taken as an example, the motor is generally used as a power source in the handle, the motor conducts feedback force to the trigger through a plurality of transmission parts such as a worm wheel, a worm, a connecting rod and a push rod, the trigger conducts the feedback force to a user, and when the feedback force is conducted through the plurality of transmission parts, the structural complexity of a force feedback structure is increased, and the problems of high transmission loss, high motor output requirement and poor force feedback effect at the end of the trigger are also brought.
Disclosure of Invention
The invention mainly aims to provide a force feedback structure, aiming at simplifying the force feedback structure and improving the force feedback effect.
To achieve the above object, the present invention provides a force feedback structure, including:
mounting a bracket;
the trigger is rotatably connected with the mounting bracket;
the driving piece comprises a stator assembly and a rotor assembly which are arranged on the mounting bracket, one of the stator assembly and the rotor assembly comprises a magnet, the other of the stator assembly and the rotor assembly comprises a coil, and the magnetizing direction of the magnet is parallel to the axial direction of the coil; and
the driving medium, the driving medium includes connecting rod and push rod, the push rod with the installing support rotates to be connected, the push rod with the trigger towards one side detachable butt of active cell subassembly, the both ends of connecting rod respectively with the push rod is kept away from the one end of installing support and the active cell subassembly rotates to be connected.
In an embodiment of the present invention, there are two stator assemblies, a gap is formed between the two stator assemblies, and the mover assembly is disposed in the gap.
In an embodiment of the present invention, each of the stator assemblies has the coil disposed therein, and the mover assembly has the magnet disposed therein.
In an embodiment of the present invention, the mover assembly is rotatably coupled to the mounting bracket.
In an embodiment of the present invention, through grooves are formed at two ends of the connecting rod, and a first rotating shaft is arranged through two opposite side walls of each through groove;
one end of the push rod, which is far away from the mounting bracket, is limited in the through groove, and one end of the push rod, which is far away from the mounting bracket, is provided with a first shaft hole; part of the structure of the rotor assembly is limited in the other through groove, and the rotor assembly is provided with a second shaft hole;
one first rotating shaft penetrates through the first shaft hole, and the other first rotating shaft penetrates through the second shaft hole, so that the push rod and the rotor assembly are rotatably connected with the connecting rod.
In an embodiment of the present invention, the mounting bracket is provided with a second rotating shaft in a penetrating manner;
the push rod is kept away from the one end of connecting rod is equipped with the third shaft hole, the trigger is equipped with the fourth shaft hole, the second pivot is passed the third shaft hole with the fourth shaft hole, so that the trigger with the push rod with the installing support rotates to be connected.
In an embodiment of the invention, the force feedback structure further includes a torsion spring, the torsion spring is sleeved on the second rotating shaft, and two ends of the torsion spring are respectively abutted and limited with the mounting bracket and the trigger.
In an embodiment of the invention, two extension sections are formed at one end of the torsion spring abutting against the trigger;
one side of the trigger facing the rotor assembly is provided with two limiting grooves, and the two extending sections are respectively limited in the two limiting grooves;
the push rod is abutted with a part of the structure of the trigger, which is positioned between the two limiting grooves.
In an embodiment of the present invention, there are two magnets, two of the magnets are disposed at intervals along a moving direction of the mover assembly, and magnetizing directions of the two magnets are opposite.
In addition, the invention also provides an interaction device, which comprises the force feedback structure.
According to the technical scheme, the trigger and the driving piece are arranged on the mounting support, the trigger is in rotary connection with the mounting support, and the driving piece comprises a rotor assembly capable of rotating relative to the mounting support and a stator assembly used for driving the rotor assembly to move. Thus, when the trigger is depressed by a user, the coil is energized, the magnetic field generated by the magnet applies an ampere force to the coil, and the coil applies a reaction force to the ampere force to the magnet. When the stator component is provided with the magnet, the coil drives the rotor component to rotate relative to the stator component under the action of ampere force of the magnet; when the coil is arranged on the stator component, the magnet drives the stator component to rotate relative to the stator component under the action of the reaction force of the ampere force of the coil; when the rotor component moves, the connecting rod and the push rod are driven to rotate relatively, so that the push rod applies acting force in the same direction or opposite direction to the moving direction of the trigger to the trigger, a user feels pressure from the trigger in different sizes, the force feedback form of the trigger is enriched, and the force feedback effect of the trigger is improved. In addition, this force feedback structure has still evaded the design of a plurality of intermediate transfer spares, the power conduction loss that brings when having avoided the transmission of a plurality of transfer spares, simultaneously through driving piece, transfer spare and trigger cooperation structural design, has also simplified the overall structure of force feedback structure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of a force feedback structure according to the present invention;
FIG. 2 is an exploded view of the force feedback structure of FIG. 1;
FIG. 3 is a side view of the force feedback structure of FIG. 1 with the trigger in a non-depressed state;
FIG. 4 is a side view of the force feedback structure of FIG. 1 with the trigger in a depressed state;
fig. 5 is a graph of the torque versus feedback force of the force feedback structure of fig. 1.
The reference numbers illustrate:
Figure BDA0003452787350000031
Figure BDA0003452787350000041
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. The meaning of "and/or" appearing throughout is the same and is meant to encompass three juxtapositions, exemplified by "A and/or B" and including either scheme A, scheme B, or both schemes A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a force feedback structure which is applied to interaction equipment such as a handle and wearable equipment.
In one embodiment of the present invention, as shown in fig. 1 and 2 in conjunction, the force feedback structure includes a mounting bracket 1, a trigger 2, a driving member 3, and a transmission member 4; the trigger 2 is rotatably connected with the mounting bracket 1, the driving part 3 comprises a rotor assembly 31 and a stator assembly 32 which are arranged on the mounting bracket 1, one of the rotor assembly 31 and the stator assembly 32 comprises a magnet 33, the other of the rotor assembly 31 and the stator assembly 32 comprises a coil, and the magnetizing direction of the magnet is parallel to the axial direction of the coil; the transmission part 4 comprises a push rod 41 and a connecting rod 42, the push rod 41 is rotatably connected with the mounting bracket 1, the push rod 41 and one side of the trigger 2 facing the rotor assembly 31 can be in separable abutting joint, and two ends of the connecting rod 42 are rotatably connected with one end of the push rod 41 far away from the mounting bracket 1 and the rotor assembly 31 respectively.
In this embodiment, the mounting bracket 1 is used for mounting the trigger 2 and the driving part 3, and the mounting bracket 1 can be mounted and fixed in the interactive device, so that the trigger 2, the driving part 3 and the mounting bracket 1 form a modular structure which can be independently dismounted in the interactive device, and the force feedback structure can be conveniently assembled in the interactive device. The mounting bracket 1 can be of a plate-shaped structure or a block-shaped structure, and can be made of materials with stable structures, light texture and the like, so that the mounting bracket 1 has a long service life, and the lightweight design of a force feedback structure and interaction equipment is facilitated.
The trigger 2 is used for pressing by a user and serves as a feedback force output end of the force feedback structure. One end of the trigger 2 can be rotationally connected with the mounting bracket 1 in a hole-shaft matching mode and the like, and the free end of the trigger 2 can be pressed by a user for use.
The transmission member 4 is used for realizing feedback force transmission of the mover assembly 31 to the trigger 2, the transmission member 4 comprises a push rod 41 and a connecting rod 42 which are used for changing the moment between the mover assembly 31 and the trigger 2, and the arrangement of the push rod 41 and the connecting rod 42 can increase the feedback force output by the mover assembly 31 to the trigger 2, provide clearer force feedback for a user, and enable the user to feel the change of the feedback force from the trigger 2 more easily.
The drive member 3 is used to apply a resistance or assistance force to the trigger 2 so that the trigger 2 can be pressed more easily or more difficult, so that different strengths of feedback force can be output to the user by different actions of the drive member 3 when the user presses the trigger 2. Specifically, the stator assembly 32 in the driving member 3 is provided with a coil, and the mover assembly 31 is provided with a magnet 33 therein; or, the stator assembly 32 is provided with the magnet 33, the mover assembly 31 is provided with the coil, and the magnetizing direction of the magnet 33 is parallel to the axial direction of the coil, so that when the trigger 2 is pressed and the coil is electrified to generate a magnetic field, the trigger 2 pushes the push rod 41 to drive the connecting rod 42 and the mover assembly 31 to move, so that the coil cuts the magnetic field generated by the magnet 33, the magnet 33 applies an ampere force to the coil, and the coil applies a reaction force of the ampere force to the magnet 33. Thus, when stator assembly 32 is secured to mounting frame 1, rotor assembly 31 will move relative to mounting frame 1 in response to the ampere or ampere force of stator assembly 32 and apply a force to trigger 2 through link 42 and push rod 41 in the same or opposite direction as the trigger 2 is moving, thereby impeding movement of trigger 2 or facilitating easier movement of trigger 2. The moving direction of the mover assembly 31 can be achieved by applying a forward current or a reverse current to the stator assembly 32, for example, when the coil is applied with the forward current, the driving force applied to the mover assembly 31 by the stator assembly 32 is expressed as that the mover assembly 31 moves close to the trigger 2, at this time, the push rod 41 is driven by the mover assembly 31 to hinder the trigger 2 from moving, and pressing the trigger 2 becomes more laborious; when a reverse current is applied to the coil, the driving force applied to the mover assembly 31 by the stator assembly 32 is expressed as that the mover assembly 31 is driven to move away from the trigger 2, and at this time, the push rod 41 is driven by the mover assembly 31 to make the trigger 2 more labor-saving to press. In addition, the size of the current led into the coil is changed, the acting force applied to the rotor assembly 31 by the stator assembly 32 can be correspondingly changed, so that the feedback force output by the trigger 2 to a user has a great possibility, the force feedback form of the trigger 2 can be greatly enriched, and the force feedback effect of the force feedback structure is improved.
In an embodiment of the present invention, as shown in fig. 1 and 2, there are two stator assemblies 32, a gap is formed between the two stator assemblies 32, and the mover assembly 31 is disposed in the gap.
In this embodiment, by providing two positioning assemblies 32, the moving assembly 31 is driven by the two stator assemblies 32 to move close to or away from the trigger 2, so that the moving assembly 31 can drive the connecting rod 42 and the push rod 41 to apply a force to the trigger 2, which is larger than the maximum driving force and smaller than the minimum driving force when the single stator assembly 32 is driven, the force feedback range of the trigger 2 is further increased, and the force feedback effect of the trigger 2 is improved. In addition, the gap between the two stator assemblies 32 can restrict the movable range of the mover assembly 31, guide the movement of the mover assembly 31, and improve the force transmission efficiency of the mover assembly 31 to the trigger 2.
In an embodiment of the present invention, as shown in fig. 1 and 2, each stator assembly 32 is provided with a coil therein, and the mover assembly 31 is provided with a magnet 33 therein.
In the present embodiment, the stator assembly 32 is fixed on the mounting bracket 1, and the mover assembly 31 is used as an output end of the driver 3, and is driven by the stator assembly 32 to move relative to the mounting bracket 1, so that when the coil is disposed on the stator assembly 32, the coil can be fixed relative to the mounting bracket 1, and it is avoided that when the coil is disposed on the mover assembly 31, the coil moves along with the movement of the mover assembly 31, so that a lead wire connected to the coil and supplying power to the coil needs to have a longer length, and the lead wire also needs to have characteristics of bending resistance and torsional stress resistance, which leads to an increase in cost of the lead wire.
In an embodiment of the present invention, as shown in fig. 1 and fig. 2, the transmission member 4 includes a push rod 41 and a connecting rod 42, wherein the push rod 41 is rotatably connected to the mounting bracket 1, and the push rod 41 abuts against a side of the trigger 2 facing the mover assembly 31; through grooves 42a are formed at two ends of the connecting rod 42, and a first rotating shaft 421 is arranged on two opposite side walls of each through groove 42a in a penetrating manner; one end of the push rod 41, which is far away from the mounting bracket 1, is limited in the through groove 42a, and one end of the push rod 41, which is far away from the mounting bracket 1, is provided with a first shaft hole 41 a; part of the structure of the mover assembly 31 is limited in the other through slot 42a, and the mover assembly 31 is provided with a second shaft hole 31 a; a first rotating shaft 421 passes through the first shaft hole 41a, and another first rotating shaft 421 passes through the second shaft hole 31a, so that the push rod 41 and the mover assembly 31 are rotatably connected to the connecting rod 42.
In this embodiment, the push rod 41 can be rotatably connected to the mounting bracket 1 by means of hole-shaft fit, two through slots 42a on the connecting rod 42 are respectively used for accommodating and limiting the partial structures of the mover assembly 31 and the push rod 41, each through slot 42a has two opposite side walls, and a first rotating shaft 421 is inserted through the two opposite side walls. The end of the push rod 41 far from the mounting bracket 1 is limited between two opposite side walls of a through groove 42a, a first rotating shaft 421 in the through groove 42a passes through a first shaft hole 41a on the push rod 41, and the push rod 41 is connected with the connecting rod 42 in a rotating manner through the shaft matching of the first shaft hole 41a and the first rotating shaft 421. When the push rod 41 rotates relative to the connecting rod 42, one end of the push rod 41 located in the through groove 42a is always limited between two opposite side walls of the through groove 42a, so that the push rod 41 can only rotate clockwise or anticlockwise in the through direction of the through groove 42a, the lateral swing of the push rod 41 to the rotating plane where the push rod is located is avoided, and the force transmission loss between the connecting rod 42 and the push rod 41 is reduced. Similarly, when a part of the structure of the mover assembly 31 is limited in the other through slot 42a, the relative swing between the mover assembly 31 and the connecting rod 42 can be avoided, and the force transmission loss between the connecting rod 42 and the mover assembly 31 is reduced, so that the force transmission efficiency between the mover assembly 31 and the push rod 41 is improved, the push rod 41 can rapidly move under the driving of the mover assembly 31, a corresponding acting force is rapidly applied to the trigger 2, and the force feedback effect of the trigger 2 on a user is improved.
In an embodiment of the present invention, as shown in fig. 1 and fig. 2, the mounting bracket 1 is provided with a second rotating shaft 11; the end of the push rod 41 far away from the connecting rod 42 is provided with a third shaft hole 41b, the trigger 2 is provided with a fourth shaft hole 2a, and the second rotating shaft 11 passes through the third shaft hole 41b and the fourth shaft hole 2a, so that the trigger 2 and the push rod 41 are rotatably connected with the mounting bracket 1.
In the implementation, the push rod 41 and the trigger 2 are simultaneously and rotatably connected with the second rotating shaft 11, so that the number of rotating shafts can be reduced, the structural components of the force feedback structure are simplified, and the material cost of the force feedback structure is reduced; meanwhile, the push rod 41 is convenient to be adjacent to the trigger 2, the push rod 41 and the trigger 2 are mutually abutted, the contact surface area between the push rod 41 and the trigger 2 is increased, when the movable assembly 31 drives the connecting rod 42 to drive the push rod 41 to act on the trigger 2, the strength of the acting force applied to the trigger 2 by the push rod 41 is improved, and the force feedback effect of the trigger 2 to a user is improved.
In an embodiment of the present invention, as shown in fig. 1 and fig. 2, the force feedback structure further includes a torsion spring 5, the torsion spring 5 is sleeved on the second rotating shaft 11, and two ends of the torsion spring 5 are respectively abutted and limited with the mounting bracket 1 and the trigger 2; when the trigger 2 is pressed into the pressed state, the torsion spring 5 blocks the trigger 2 from moving.
In this embodiment, the torsion spring 5 has a through hole through which the second rotating shaft 11 can pass and two end portions located on two sides of the through hole, wherein one end portion is abutted to the mounting bracket 1 for limitation, the other end portion is abutted to the trigger 2 for limitation, when the trigger 2 is pressed, the torsion spring 5 deforms and exerts an acting force on the trigger 2 to hinder the trigger 2 from moving, so that the trigger 2 can be driven by the torsion spring 5 to recover the original position when the pressing force is removed, the trigger 2 can be repeatedly pressed for use, and the torsion spring 5 and the driving part 3 also form a structural component for simultaneously exerting force on the trigger 2. Taking the example of providing an energizable coil in the stator assembly 32 and a magnet 33 in the mover assembly 31, when the trigger 2 is pressed by a user and the coil in the stator assembly 32 is not energized, the feedback force output by the trigger 2 to the user is the elastic force of the torsion spring 5; when the trigger 2 is pressed by a user and the coil in the stator assembly 32 is energized, the driving element 3 can apply acting forces to the trigger 2 in different directions through the connecting rod 42 and the push rod 41 according to the flow direction of the current, for example, when a forward current is applied to the coil in the stator assembly 32, the driving force applied to the mover assembly 31 by the stator assembly 32 is represented as that the mover assembly 31 moves close to the trigger 2, at this time, the push rod 41 hinders the trigger 2 from moving under the driving of the mover assembly 31 and the connecting rod 42, and the feedback force transmitted by the trigger 2 to the user is the elastic force of the torsion spring 5 plus the acting force of the push rod 41 to the trigger 2; when a reverse current is conducted to the coil in the stator assembly 32, the driving force exerted by the stator assembly 32 on the mover assembly 31 is expressed as that the mover assembly 31 is driven to move away from the trigger 2, and the feedback force transmitted by the trigger 2 to the user is the elastic force of the torsion spring 5 minus the acting force of the push rod 41 on the trigger 2; therefore, when the user presses the trigger 2, the force feedback structure can provide at least three force feedback results for the user, and the force feedback form of the force feedback structure is enriched.
In an embodiment of the present invention, as shown in fig. 1 and 2, two extending sections 51 are formed at one end of the torsion spring 5 abutting against the trigger 2; one side of the trigger 2 facing the rotor assembly 31 is provided with two limiting grooves 2b, and the two extending sections 51 are respectively limited in the two limiting grooves 2 b; the push rod 41 abuts against a part of the trigger 2 located between the two limit grooves 2 b.
In this embodiment, through the spacing cooperation of two extending segments 51 on the torsional spring 5 and two spacing grooves 2b on the trigger 2, can promote spacing compactness and the reliability of butt between torsional spring 5 and trigger 2, avoid trigger 2 to remove in-process torsional spring 5 slippage in trigger 2, guarantee trigger 2 to the reliability of user's transmission power feedback. And, set up push rod 41 to be located the partial structure butt between two spacing grooves 2b with trigger 2, make push rod 41 be located between two extension segments 51 of torsional spring 5, when trigger 2 is pressed, push rod 41 can be regarded as the fulcrum of trigger 2 between two extension segments 51, the atress balance of each position when being favorable to realizing trigger 2 and removing, realize trigger 2's steady movement, avoid trigger 2 lateral swing and lead to partial structural stress concentration, promote trigger 2's life. In addition, the connecting rod 42, the push rod 41 and the mover assembly 31 can be arranged in a coplanar manner, and the plane where the connecting rod 42, the push rod 41 and the mover assembly 31 are located is located between the two limiting grooves 2b, so that the efficiency of force transmission among the driving, the connecting rod 42, the push rod 41 and the trigger 2 is improved, and the force feedback effect of the force feedback structure is improved.
In one embodiment of the present invention, as shown in fig. 1 and 2, the driving member 3 includes a housing 34, at least two stator assemblies 32, and at least two magnets 33, the housing 34 is disposed on the mounting bracket 1 and spaced apart from the trigger 2; the shell 34 is provided with a containing cavity and a through hole 34a communicated with the containing cavity, the rotor assembly 31 is rotatably connected with the shell 34, and the free end of the rotor assembly 31 penetrates through the through hole 34a and is connected with the transmission piece 4; each stator assembly 32 is arranged in the containing cavity and is respectively positioned at two sides of the through opening 34a, and a coil is arranged in each stator assembly 32; each magnet 33 is provided to the mover assembly 31, and the polarities of the adjacent sides of two adjacent magnets 33 are the same.
In the embodiment, the magnetizing direction of each magnet 33 is perpendicular to the axial direction of the coil in the stator assembly 32, when the magnets 33 and the coil generate relative movement and the coil in the stator assembly 32 is energized, at least two magnets 33 can apply ampere force to the coil in the stator assembly 32, the coil in the stator assembly 32 applies the reaction force of the ampere force to the magnets 33, and drives the magnets 33 to drive the trigger 2 to move towards the inner side or the outer side of the mounting groove along the through opening 34a, so that force feedback output is provided for a user through the trigger 2. When the coils in the stator assembly 32 are energized with currents in different directions, the force applied by the coils in the stator assembly 32 to the magnet 33 may be represented as a pushing force pushing the magnet 33 to the outside of the mounting slot, or a pulling force pulling the magnet 33 to the inside of the mounting slot. Because the adjacent sides of the two adjacent magnets 33 have the same polarity, a repulsive force exists between the two adjacent magnets 33, the above pushing force or pulling force applied to the magnets 33 by the coils in the stator assembly 32 will be the resultant force of the repulsive force applied to the magnets 33 by the magnets 33, so that the magnitude of the acting force applied to the magnets 33 is the sum of the above repulsive force and the above pulling force, and the resultant force on the magnets 33 shows a tendency of moving the magnets 33 away from the trigger 2; or, the magnitude of the acting force applied to the magnet 33 is the sum of the repulsive force and the pulling force, and the resultant force on the magnet 33 shows a tendency of moving the magnet 33 close to the trigger 2; thereby enriching the magnitude and form of the feedback force output by the trigger 2.
In an embodiment of the present invention, as shown in fig. 1 and 2, there are two magnets 33, two magnets 33 are spaced apart along the moving direction of the mover assembly 31, and the magnetizing directions of two adjacent magnets 33 are opposite.
In this embodiment, the magnetizing direction of the magnet 33 is perpendicular to the moving direction of the mover assembly 31, when the trigger 2 is pressed and drives the mover assembly 31 to move, the coil in the stator assembly 32 is energized, the coil in the stator assembly 32 perpendicularly cuts the magnetic induction line of the magnetic field generated by the magnet 33 on the mover assembly 31, and at this time, the coil in the stator assembly 32 can apply the strongest acting force to the magnet 33, so that the magnet 33 can be driven to drive the mover assembly 31, the connecting rod 42 and the push rod 41 to rapidly move, and a corresponding feedback acting force is applied to the trigger 2, thereby improving the force feedback efficiency of the force feedback structure.
For better understanding of the present invention, taking the example of disposing the coil in the stator assembly 32 and the magnet 33 in the mover assembly 31, the working process and principle of the force feedback structure of the present invention are described as follows:
as shown in fig. 3, when the trigger 2 is not pressed, the driving member 3 is not powered, so that the force feedback structure is kept in a low power consumption or no power consumption state, the trigger 2 is kept at an initial position under the elastic action of the torsion spring 5, and the trigger 2 and the mounting bracket 1 are relatively fixed;
referring to fig. 2 and 4, when a user presses the trigger 2, the trigger 2 is acted by a pressing force F to move close to the driving member 3, the trigger 2 pushes the push rod 41 and the connecting rod 42, so that the push rod 41 and the connecting rod 42 drive the mover assembly 31 to move, at this time, the coil of the stator assembly 32 in the driving member 3 is energized, the coil in the stator assembly 32 cuts the magnetic induction lines of the magnetic field generated by the magnet 33 on the mover assembly 31, and the magnet 33 is acted by the reaction force of the ampere force from the coil in the stator assembly 32. Therefore, on one hand, the torsion spring 5 deforms and applies a first acting force opposite to the pressing force F to the trigger 2, so that a user feels certain damping feeling; on the other hand, the coil stator assembly 32 drives the mover assembly 31 to generate a tendency of moving closer to or away from the trigger 2, the driving member 3 applies a second acting force to the trigger 2 through the link 42 and the push rod 41, the second acting force is in the same direction as or opposite to the moving direction of the trigger 2, the second acting force and the first acting force are combined and then fed back to the trigger 2, so that a user feels different pressing resistances, and a force feedback process of the force feedback structure to the user is realized. The acting force of the torsion spring 5 on the trigger 2 is larger than the acting force of the driving piece 3 on the push rod 41, so that the torsion spring 5 can drive the trigger 2 to reset after the pressing force F is removed, and the repeated pressing use of the trigger 2 is realized.
Further referring to fig. 5, taking the example of fig. 5 in which the driver 3 capable of outputting a driving force of 2N is fixed as an example, when the driver 3 is applied to the force feedback structure provided in the present invention, when a pressing force F is applied to the trigger 2 at the 0 th time on the time axis, and the coil of the stator assembly 32 in the driver 3 is energized, it can be seen from fig. 5 that as the pressing force F is applied to the trigger 2 to move the trigger 2 closer to the driver 3, the torque of the force feedback system composed of the mover assembly 31, the link 42, the push rod 41 and the mounting bracket 1 increases, and the feedback force output from the force feedback system on the trigger 2 also increases and finally stabilizes at about 3.3N, which is about 1.6 times the inherent driving force 2N of the driver 3. That is, in the present invention, by providing the push rod 41 rotatably connected to the mounting bracket 1 and the connecting rod 42 rotatably connected to the push rod 41 and the mover assembly 31 between the mover assembly 31 and the trigger 2, when the trigger 2 is pressed, the torque between the trigger 2 and the mover assembly 31 can be changed, and the force feedback system composed of the mover assembly 31, the connecting rod 42, the push rod 41 and the mounting bracket 1 realizes the amplified output of the driving force of the driving member 3, thereby improving the force feedback strength of the trigger 2 transmitted to the user, providing clearer force feedback to the user, and improving the force feedback effect of the force feedback structure.
The invention also provides an interactive device which comprises, but is not limited to, a handle, a wearable device and a body sensing device.
In an embodiment of the invention, as shown in fig. 1, the interaction device comprises the force feedback structure of the above-described embodiment.
In this embodiment, the interactive device may provide corresponding feedback information according to the operation of the user, for example, when the interactive device is a game handle, the interactive device provides corresponding damping feedback on the trigger 2 according to the pressing operation of the user on the trigger 2, and the force feedback structure in the interactive device may be used to provide different force feedback experiences according to game contents or game scenes, so as to enrich the force feedback form and improve the man-machine interaction experience. The specific structure of the force feedback structure in the interactive device refers to the above-mentioned embodiments, and since the interactive device adopts all the technical solutions of all the above-mentioned embodiments, at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments are achieved, and no further description is given here.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A force feedback structure, comprising:
mounting a bracket;
the trigger is rotatably connected with the mounting bracket;
the driving piece comprises a stator assembly and a rotor assembly which are arranged on the mounting bracket, one of the stator assembly and the rotor assembly comprises a magnet, the other of the stator assembly and the rotor assembly comprises a coil, and the magnetizing direction of the magnet is parallel to the axial direction of the coil; and
the driving medium, the driving medium includes connecting rod and push rod, the push rod with the installing support rotates to be connected, the push rod with the trigger towards one side detachable butt of active cell subassembly, the both ends of connecting rod respectively with the push rod is kept away from the one end of installing support and the active cell subassembly rotates to be connected.
2. The force feedback structure of claim 1, wherein there are two of said stator assemblies, a gap is formed between two of said stator assemblies, and said mover assembly is disposed in said gap.
3. The force feedback structure of claim 2, wherein said coil is disposed in each of said stator assemblies, and said magnet is disposed in said mover assembly.
4. The force feedback structure of claim 1, wherein the mover assembly is rotatably coupled to the mounting bracket.
5. The force feedback structure of any one of claims 1 to 4, wherein through slots are provided at both ends of the connecting rod, and a first rotating shaft is provided through opposite side walls of each through slot;
one end of the push rod, which is far away from the mounting bracket, is limited in the through groove, and one end of the push rod, which is far away from the mounting bracket, is provided with a first shaft hole; part of the structure of the rotor assembly is limited in the other through groove, and the rotor assembly is provided with a second shaft hole;
one first rotating shaft penetrates through the first shaft hole, and the other first rotating shaft penetrates through the second shaft hole, so that the push rod and the rotor assembly are rotatably connected with the connecting rod.
6. The force feedback structure of claim 5, wherein the mounting bracket is provided with a second rotating shaft;
the push rod is kept away from the one end of connecting rod is equipped with the third shaft hole, the trigger is equipped with the fourth shaft hole, the second pivot is passed the third shaft hole with the fourth shaft hole, so that the trigger with the push rod with the installing support rotates to be connected.
7. The force feedback structure of claim 6, further comprising a torsion spring, wherein the torsion spring is sleeved on the second rotating shaft, and two ends of the torsion spring are respectively abutted and limited with the mounting bracket and the trigger.
8. The force feedback structure of claim 7, wherein one end of the torsion spring abutting the trigger is formed with two extensions;
one side of the trigger facing the rotor assembly is provided with two limiting grooves, and the two extending sections are respectively limited in the two limiting grooves;
the push rod is abutted with a part of the structure of the trigger, which is positioned between the two limiting grooves.
9. The force feedback structure of any one of claims 1-4, wherein there are two magnets, two of the magnets being spaced apart along a moving direction of the mover assembly, and magnetizing directions of the two magnets being opposite.
10. An interaction device, characterized in that it comprises a force feedback structure according to any of claims 1 to 9.
CN202111683178.7A 2021-12-31 2021-12-31 Force feedback structure and interaction device Active CN114385008B (en)

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US6437770B1 (en) * 1998-01-26 2002-08-20 University Of Washington Flat-coil actuator having coil embedded in linkage
US20090121848A1 (en) * 2007-11-12 2009-05-14 Korea Advanced Institute Of Science And Technology Haptic module using magnetic force, electronic apparatuses having the module
CN101637913A (en) * 2009-09-01 2010-02-03 东南大学 Human joint motion measurement and force feedback actuating mechanism with human-machine interface for realizing teleoperating robot control
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US20170144281A1 (en) * 2014-03-24 2017-05-25 Crane Electronics Ltd. Electronic click wrench
WO2021169376A1 (en) * 2020-02-28 2021-09-02 歌尔股份有限公司 Feedback force adjusting device of gamepad and joystick thereof
CN214755758U (en) * 2020-12-31 2021-11-16 歌尔股份有限公司 Feedback device
CN214956567U (en) * 2021-06-30 2021-11-30 歌尔股份有限公司 Trigger button device and electronic equipment

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6166723A (en) * 1995-11-17 2000-12-26 Immersion Corporation Mouse interface device providing force feedback
US6437770B1 (en) * 1998-01-26 2002-08-20 University Of Washington Flat-coil actuator having coil embedded in linkage
US20090121848A1 (en) * 2007-11-12 2009-05-14 Korea Advanced Institute Of Science And Technology Haptic module using magnetic force, electronic apparatuses having the module
CN101637913A (en) * 2009-09-01 2010-02-03 东南大学 Human joint motion measurement and force feedback actuating mechanism with human-machine interface for realizing teleoperating robot control
US20170144281A1 (en) * 2014-03-24 2017-05-25 Crane Electronics Ltd. Electronic click wrench
CN105322752A (en) * 2015-09-24 2016-02-10 歌尔声学股份有限公司 Adaptive control micro-motor
WO2021169376A1 (en) * 2020-02-28 2021-09-02 歌尔股份有限公司 Feedback force adjusting device of gamepad and joystick thereof
CN214755758U (en) * 2020-12-31 2021-11-16 歌尔股份有限公司 Feedback device
CN214956567U (en) * 2021-06-30 2021-11-30 歌尔股份有限公司 Trigger button device and electronic equipment

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