CN114385008B - Force feedback structure and interaction device - Google Patents
Force feedback structure and interaction device Download PDFInfo
- Publication number
- CN114385008B CN114385008B CN202111683178.7A CN202111683178A CN114385008B CN 114385008 B CN114385008 B CN 114385008B CN 202111683178 A CN202111683178 A CN 202111683178A CN 114385008 B CN114385008 B CN 114385008B
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- trigger
- push rod
- force feedback
- mounting bracket
- force
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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
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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
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- 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
Abstract
The invention relates to the technical field of interaction terminals, and discloses a force feedback structure and interaction 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 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, and push rod and trigger face the separable butt of one side of active cell subassembly, the both ends of connecting rod are kept away from the one end of installing support and active cell subassembly rotation with the push rod respectively and are connected. The force feedback structure provided by the invention has a simple structure and a better force feedback effect.
Description
Technical Field
The invention relates to the technical field of interactive terminals, in particular to a force feedback structure and interactive equipment.
Background
In the interactive device, corresponding force feedback is often required to be performed according to force application operations such as pressing, pushing and the like of a user and is conducted to the user, so that the user can feel feedback effects such as vibration, shaking and the like, 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, and the loss of force conduction is large, so that the force feedback effect is poor. Taking force feedback of a trigger on a handle as an example, a motor is generally used as a power source in the handle, so that the motor transmits feedback force to the trigger through a plurality of transmission parts such as a worm wheel, a worm, a connecting rod, a push rod and the like, the trigger performs force feedback to a user, and when feedback force transmission is performed through the plurality of transmission parts, the structure complexity of a force feedback structure is increased, and meanwhile, the problems of high transmission loss, high motor output requirement and poor force feedback effect at the trigger end are also brought.
Disclosure of Invention
The invention mainly aims to provide a force feedback structure, which aims to simplify the force feedback structure and improve the force feedback effect.
To achieve the above object, the present invention provides a force feedback structure, including:
a mounting bracket;
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; a kind of electronic device with high-pressure air-conditioning system
The transmission piece, the transmission piece includes connecting rod and push rod, the push rod with the installing support rotates to be connected, the push rod with the trigger is towards one side separable butt of rotor subassembly, the both ends of connecting rod respectively with the push rod is kept away from the one end of installing support and rotor 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 invention, the coils are provided in each of the stator assemblies, and the magnets are provided in the mover assemblies.
In one embodiment of the invention, the mover assembly is rotatably coupled to the mounting bracket.
In an embodiment of the present invention, two ends of the connecting rod are provided with through grooves, and two opposite side walls of each through groove are provided with first rotating shafts in a penetrating way;
one end of the push rod, which is far away from the mounting bracket, is limited in the through groove, and a first shaft hole is formed in one end of the push rod, which is far away from the mounting bracket; the partial structure of the rotor component is limited in the other through groove, and the rotor component is provided with a second shaft hole;
one first rotating shaft passes through the first shaft hole, and the other first rotating shaft passes through the second shaft hole, so that the push rod and the rotor assembly are in rotating connection with the connecting rod.
In an embodiment of the invention, the mounting bracket is provided with a second rotating shaft in a penetrating way;
the push rod is far away from one end of the connecting rod is provided with a third shaft hole, the trigger is provided with a fourth shaft hole, and the second rotating shaft penetrates through the third shaft hole and the fourth shaft hole, so that the trigger and the push rod are rotationally connected with the mounting bracket.
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 with the mounting bracket and the trigger to limit.
In one embodiment of the invention, two extension sections are formed at one end of the torsion spring, which is abutted against the trigger;
two limiting grooves are formed in one side, facing the rotor assembly, of the trigger, 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 between the two limiting grooves.
In an embodiment of the invention, the number of the magnets is two, the two magnets are arranged at intervals along the moving direction of the rotor assembly, and the magnetizing directions of the two magnets are opposite.
In addition, the invention also provides interaction equipment, which comprises the force feedback structure.
According to the technical scheme, the trigger and the driving piece are arranged on the mounting bracket, the trigger is rotatably connected with the mounting bracket, and the driving piece comprises a rotor component capable of rotating relative to the mounting bracket and a stator component used for driving the rotor component to move. Thus, when the trigger is pressed by a user, the coil is energized, and the magnetic field generated by the magnet applies an ampere force to the coil, which applies a reaction force to the ampere force to the magnet. When the stator assembly is provided with a magnet, the coil drives the rotor assembly to rotate relative to the stator assembly under the action of ampere force of the magnet; when the coil is arranged on the stator assembly, the magnet drives the rotor assembly to rotate relative to the stator assembly under the reaction force of 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 movement direction of the trigger to the trigger, the user senses the pressure from the trigger in different magnitudes, the force feedback form of the trigger is enriched, and the force feedback effect of the trigger is improved. In addition, the force feedback structure also avoids the design of a plurality of middle transmission parts, avoids the force conduction loss caused by the transmission of a plurality of transmission parts, and simultaneously simplifies the integral structure of the force feedback structure through the matched structural design of the driving part, the transmission part and the trigger.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
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 torque versus feedback force for the force feedback structure of fig. 1.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. The meaning of "and/or", "and/or" as used throughout is intended to include three side-by-side schemes, for example "a and/or B", including a scheme, or B scheme, or a scheme where a and B meet at the same time. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a force feedback structure which is applied to interaction devices such as handles, wearable devices and the like.
In one embodiment of the present invention, as shown in connection with fig. 1 and 2, the force feedback structure comprises 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 piece 3 comprises a rotor component 31 and a stator component 32 which are arranged on the mounting bracket 1, one of the rotor component 31 and the stator component 32 comprises a magnet 33, the other of the rotor component 31 and the stator component 32 comprises a coil, and the magnetizing direction of the magnet is parallel to the axial direction of the coil; the transmission member 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 is detachably abutted with one side of the trigger 2 facing the rotor assembly 31, and two ends of the connecting rod 42 are rotatably connected with one end of the push rod 41 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 element 3, and the mounting bracket 1 can be mounted and fixed in the interaction device, so that the trigger 2, the driving element 3 and the mounting bracket 1 form a modularized structure which can be independently dismounted in the interaction device, and the force feedback structure is convenient to assemble into the interaction 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 such as plastics and light textures, so that the mounting bracket 1 has longer service life, and meanwhile, the light weight design of a force feedback structure and interaction equipment is facilitated.
The trigger 2 is used for being pressed by a user and is used as a feedback force output end of the force feedback structure. One end of the trigger 2 can be rotatably 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.
The transmission member 4 is used for realizing feedback force transmission of the rotor assembly 31 to the trigger 2, the transmission member 4 comprises a push rod 41 and a connecting rod 42 for changing moment between the rotor assembly 31 and the trigger 2, and the arrangement of the push rod 41 and the connecting rod 42 can increase feedback force output by the rotor assembly 31 to the trigger 2, provide clearer force feedback for a user, and enable the user to feel more easily the change of the feedback force from the trigger 2.
The driver 3 is used to apply resistance or assistance 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 driver 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; alternatively, the stator assembly 32 is provided with the magnet 33, the rotor 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 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 rotor 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 the stator assembly 32 is secured to the mounting bracket 1, the mover assembly 31 will move relative to the mounting bracket 1 under the ampere force of the stator assembly 32 or the reaction force of the ampere force and exert a force on the trigger 2 in the same or opposite direction as the movement of the trigger 2 through the link 42 and the push rod 41, thereby impeding the movement of the trigger 2 or helping the trigger 2 to move more easily. The moving direction of the mover assembly 31 may be achieved by applying a forward current or a reverse current to the stator assembly 32, for example, when the forward current is applied to the coil, the stator assembly 32 applies a driving force to the mover assembly 31 to move the mover assembly 31 closer to the trigger 2, and the push rod 41 is driven by the mover assembly 31 to block the movement of the trigger 2, so that it is more laborious to press the trigger 2; when a reverse current is applied to the coil, the driving force exerted by the stator assembly 32 on the rotor assembly 31 is expressed as driving the rotor assembly 31 to move away from the trigger 2, and the push rod 41 is driven by the rotor assembly 31 to make the pressing of the trigger 2 more labor-saving. In addition, the magnitude of the current flowing into the coil is changed, and the magnitude of the acting force applied by the stator assembly 32 to the rotor assembly 31 can be correspondingly changed, so that the magnitude of the feedback force output by the trigger 2 to the user is quite likely, 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, the number of stator assemblies 32 is two, 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 mover assembly 31 is driven by the two stator assemblies 32 to move closer to or further away from the trigger 2, so that the mover assembly 31 drives the connecting rod 42 and the push rod 41 to apply a force to the trigger 2 greater 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 clearance between the two stator assemblies 32 can also restrict the moving range of the rotor assembly 31, guide the movement of the rotor assembly 31 and improve the force transmission efficiency of the rotor assembly 31 to the trigger 2.
In one embodiment of the present invention, as shown in connection with fig. 1 and 2, a coil is provided in each stator assembly 32 and a magnet 33 is provided in the mover assembly 31.
In this embodiment, the stator assembly 32 is fixed on the mounting bracket 1, the mover assembly 31 is used as the output end of the driving member 3, and will move relative to the mounting bracket 1 under the driving of the stator assembly 32, so that when the coil is arranged on the stator assembly 32, the coil can be fixed relative to the mounting space 1, and when the coil is arranged on the mover assembly 31, the coil follower assembly 31 moves to move, so that the wire connecting the coil and supplying power to the coil needs to have a longer length, and the wire also needs to have the characteristics of bending resistance and torsion resistance, thus leading to the increase of the cost of the wire.
In an embodiment of the present invention, as shown in connection with fig. 1 and 2, the transmission member 4 includes a push rod 41 and a link 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; the two ends of the connecting rod 42 are provided with through grooves 42a, and the opposite two side walls of each through groove 42a are provided with first rotating shafts 421 in a penetrating way; one end of the push rod 41, which is far away from the mounting bracket 1, is limited in a 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 41a; part of the structure of the rotor assembly 31 is limited in the other through groove 42a, and the rotor assembly 31 is provided with a second shaft hole 31a; one first rotation shaft 421 passes through the first shaft hole 41a, and the other first rotation shaft 421 passes through the second shaft hole 31a, so that the push rod 41 and the mover assembly 31 are rotatably connected with the link 42.
In this embodiment, the push rod 41 is rotatably connected with the mounting bracket 1 in a hole-axis matching manner, and two through slots 42a on the connecting rod 42 are respectively used for accommodating and limiting the rotor assembly 31 and part of the structure of the push rod 41, each through slot 42a has two opposite side walls, and a first rotating shaft 421 is arranged on the opposite side walls in a penetrating manner. The end of the push rod 41 away from the mounting bracket 1 is limited between two opposite side walls of a through groove 42a, and 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 rotatably connected with the connecting rod 42 through the shaft fit 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 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, lateral swinging of the push rod 41 towards a rotation plane where the push rod 41 is located is avoided, and force conduction loss between the connecting rod 42 and the push rod 41 is reduced. Similarly, when the partial structure of the rotor assembly 31 is limited in the other through groove 42a, the relative swing between the rotor assembly 31 and the connecting rod 42 can be avoided, the force transmission loss between the connecting rod 42 and the rotor assembly 31 is reduced, the force transmission efficiency between the rotor assembly 31 and the push rod 41 is improved, the push rod 41 can rapidly act under the driving of the rotor assembly 31, the corresponding acting force is rapidly applied to the trigger 2, 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 2, the mounting bracket 1 is provided with a second rotating shaft 11; the end of the push rod 41 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 embodiment, the push rod 41 and the trigger 2 are simultaneously connected with the second rotating shaft 11 in a rotating way, so that the number of the 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 also 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, and when the connecting rod 42 is driven by the sub-assembly 31 to drive the push rod 41 to act on the trigger 2, the strength of acting force applied by the push rod 41 to the trigger 2 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 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 respectively abut against the mounting bracket 1 and the trigger 2 to limit; when the trigger 2 is pressed to enter the pressed state, the torsion spring 5 resists movement of the trigger 2.
In this embodiment, the torsion spring 5 has a through hole through which the second rotation shaft 11 can pass and two ends located at two sides of the through hole, wherein one end is limited by abutting with the mounting bracket 1, the other end is limited by abutting with the trigger 2, when the trigger 2 is pressed, the torsion spring 5 deforms and applies a force for blocking the movement of the trigger 2 to the trigger 2, so that the trigger 2 can be restored to the original position under the driving of the torsion spring 5 when the pressing force is removed, the trigger 2 can be repeatedly pressed for use, and the torsion spring 5 and the driving piece 3 also form a structural component for applying force to the trigger 2 at the same time. Taking the stator assembly 32 with the energizable coil and the rotor assembly 31 with the magnet 33 as an example, 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 acting force of the torsion spring 5; when the trigger 2 is pressed by a user and the coil in the stator assembly 32 is electrified, the driving piece 3 can apply forces in different directions to the trigger 2 through the connecting rod 42 and the push rod 41 according to the flow direction of current, for example, when forward current is applied to the coil in the stator assembly 32, the driving force applied by the stator assembly 32 to the sub-assembly 31 is expressed as that the sub-assembly 31 moves close to the trigger 2, at the moment, the push rod 41 resists the movement of the trigger 2 under the driving of the sub-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 reverse current is applied to the coil in the stator assembly 32, the driving force applied by the stator assembly 32 to the rotor assembly 31 is expressed as that the rotor assembly 31 is driven to move away from the trigger 2, and the feedback force transmitted by the trigger 2 to a user is the elastic force of the torsion spring 5 minus the acting force of the push rod 41 to the trigger 2; therefore, when a 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 extension sections 51 are formed at one end of the torsion spring 5 abutting against the trigger 2; two limiting grooves 2b are formed in one side of the trigger 2 facing the rotor assembly 31, 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 structure of the trigger 2 between the two limit grooves 2 b.
In this embodiment, through the spacing cooperation of two extension sections 51 on the torsion spring 5 and two spacing grooves 2b on the trigger 2, the tightness and reliability of the butt joint spacing between the torsion spring 5 and the trigger 2 can be improved, the torsion spring 5 is prevented from slipping off the trigger 2 in the moving process of the trigger 2, and the reliability of the feedback of the force of the trigger 2 to the user is ensured. And, set up push rod 41 into with trigger 2 be located the partial structure butt between two spacing grooves 2b, make push rod 41 be located between two extension sections 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 sections 51, be favorable to realizing the atress balance of each position when trigger 2 removes, realize the steady removal of trigger 2, avoid trigger 2 side direction swing to lead to partial structural stress concentration, promote the life of trigger 2. In addition, the connecting rod 42, the push rod 41 and the mover assembly 31 can be arranged in a coplanar manner, and the planes of the connecting rod 42, the push rod 41 and the mover assembly 31 are positioned between the two limiting grooves 2b, so that the efficiency of force transmission among the drive, 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 an embodiment of the present invention, as shown in connection with fig. 1 and 2, the driving member 3 comprises a housing 34, at least two stator assemblies 32 and at least two magnets 33, the housing 34 being provided 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 rotationally connected with the shell 34, and the free end of the rotor assembly 31 passes through the through hole 34a and is connected with the transmission piece 4; each stator assembly 32 is arranged in the cavity and is respectively positioned at two sides of the through hole 34a, and each stator assembly 32 is internally provided with a coil; each magnet 33 is provided to the mover assembly 31, and the polarities of adjacent sides of adjacent two magnets 33 are the same.
In this embodiment, the magnetizing direction of each magnet 33 is perpendicular to the axial direction of the coil in the stator assembly 32, when the magnet 33 and the coil generate relative motion, 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 reaction force of ampere force to the magnet 33, and the magnet 33 is driven to drive the trigger 2 to move along the through hole 34a to the inner side or the outer side of the mounting groove, and force feedback output is provided to the user through the trigger 2. When the coils in the stator assembly 32 are energized with currents in different directions, the force exerted by the coils in the stator assembly 32 on the magnets 33 may be expressed as a pushing force pushing the magnets 33 to the outside of the mounting slots, or a pulling force pulling the magnets 33 to the inside of the mounting slots. Because the polarities of the adjacent sides of the adjacent two magnets 33 are the same, a repulsive force exists between the adjacent two magnets 33, the pushing force or pulling force exerted by the coil in the stator assembly 32 on the magnets 33 will be resultant of the repulsive force exerted by the magnets 33 on the magnets 33, and the force exerted by the magnets 33 is the above repulsive force minus the pulling force, and the resultant force on the magnets 33 appears to cause the magnets 33 to move away from the trigger 2; alternatively, the magnitude of the force applied to the magnet 33 is the repulsive force plus the pulling force, and the resultant force on the magnet 33 is expressed as a tendency to move the magnet 33 closer 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, the number of magnets 33 is two, two magnets 33 are spaced 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 cuts the magnetic induction line of the magnetic field generated by the magnet 33 on the mover assembly 31 vertically, 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 act rapidly, and a corresponding feedback acting force is applied to the trigger 2, so as to improve the force feedback efficiency of the force feedback structure.
For a better understanding of the present invention, taking the example of the arrangement of coils in the stator assembly 32 and magnets 33 in the mover assembly 31, the operation and principle of the force feedback structure of the present invention is described as follows:
as shown in fig. 3, when the trigger 2 is not pressed, the driving member 3 is not energized, so that the force feedback structure is kept in a low power consumption or non-power consumption state, the trigger 2 is kept in an initial position under the elastic action of the torsion spring 5, and at this time, the trigger 2 and the mounting bracket 1 are relatively fixed;
as shown in fig. 2 and 4, when the user presses the trigger 2, the trigger 2 is moved close to the driving member 3 by the pressing force F, the trigger 2 pushes the push rod 41 and the link rod 42, so that the push rod 41 and the link 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 line of the magnetic field generated by the magnet 33 on the mover assembly 31, and the magnet 33 is acted on by the reaction force of the ampere force from the coil in the stator assembly 32. In this way, on the 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 a certain damping sense; on the other hand, the coil stator assembly 32 drives the sub-assembly 31 to move towards or away from the trigger 2, the driving piece 3 applies a second acting force with the same or opposite direction as the movement direction of the trigger 2 to the trigger 2 through the connecting rod 42 and the push rod 41, and the second acting force and the first acting force are combined and then fed back on the trigger 2, so that a user can feel pressing resistance with different magnitudes, and the force feedback process of the force feedback structure to the user is realized. The force of the torsion spring 5 on the trigger 2 is greater than the force of the driving member 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 repeated pressing of the trigger 2 is realized.
Further referring to fig. 5, taking the driving member 3 that is capable of outputting a driving force of 2N as an example in fig. 5, when the driving member 3 is applied to the force feedback structure provided by the present invention, a pressing force F is applied to the trigger 2 at 0s of the time axis, and simultaneously, the coil of the stator assembly 32 in the driving member 3 is energized, it is apparent from fig. 5 that as the pressing force F acts on the trigger 2 to gradually move the trigger 2 closer to the driving member 3, the moment of the force feedback system composed of the mover assembly 31, the link 42, the push rod 41 and the mounting bracket 1 is continuously increased, and the feedback force applied to the trigger 2 from the force feedback system is also increased and finally stabilized at about 3.3N, which is about 1.6 times the intrinsic driving force 2N of the driving member 3. That is, in the invention, by arranging the push rod 41 rotatably connected with the mounting bracket 1 and the connecting rod 42 rotatably connected with 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 moment between the trigger 2 and the mover assembly 31 can be changed, so that the force feedback system formed by the mover assembly 31, the connecting rod 42, the push rod 41 and the mounting bracket 1 can realize the amplified output of the driving force of the driving member 3, thereby improving the force feedback intensity of the trigger 2 to the user, providing clearer force feedback for the user, and improving the force feedback effect of the force feedback structure.
The invention also proposes an interactive device including, but not limited to, a handle, a wearable device, a somatosensory device.
In an embodiment of the invention, as shown in fig. 1, the interaction device comprises the force feedback structure of the above embodiment.
In this embodiment, the interaction device may provide corresponding feedback information according to the operation of the user, for example, when the interaction device is a game handle, the interaction 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 interaction device may be used to provide different force feedback experiences according to the game content or the game scene, so as to enrich the force feedback modes and promote the man-machine interaction experience. The specific structure of the force feedback structure in the interaction device refers to the above embodiments, and because the interaction device adopts all the technical solutions of all the embodiments, at least has all the beneficial effects brought by the technical solutions of the embodiments, and will not be described in detail herein.
The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (10)
1. A force feedback structure, the force feedback structure comprising:
a mounting bracket;
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; a kind of electronic device with high-pressure air-conditioning system
The transmission piece, the transmission piece includes connecting rod and push rod, the push rod with the installing support rotates to be connected, the push rod with the trigger is towards one side separable butt of rotor subassembly, the both ends of connecting rod respectively with the push rod is kept away from the one end of installing support and rotor subassembly rotates to be connected.
2. The force feedback structure of claim 1, wherein there are two stator assemblies, a gap is formed between the two stator assemblies, and the mover assembly is disposed in the gap.
3. A force feedback structure according to claim 2, wherein said coils are provided in each of said stator assemblies and said magnets are provided in said mover assemblies.
4. The force feedback structure of claim 1, wherein the mover assembly is rotatably coupled to the mounting bracket.
5. A force feedback structure according to any one of claims 1 to 4, wherein two ends of the connecting rod are provided with through grooves, and two opposite side walls of each through groove are provided with first rotating shafts in a penetrating manner;
one end of the push rod, which is far away from the mounting bracket, is limited in the through groove, and a first shaft hole is formed in one end of the push rod, which is far away from the mounting bracket; the partial structure of the rotor component is limited in the other through groove, and the rotor component is provided with a second shaft hole;
one first rotating shaft passes through the first shaft hole, and the other first rotating shaft passes through the second shaft hole, so that the push rod and the rotor assembly are in rotating connection with the connecting rod.
6. The force feedback structure of claim 5, wherein the mounting bracket is threaded with a second shaft;
the push rod is far away from one end of the connecting rod is provided with a third shaft hole, the trigger is provided with a fourth shaft hole, and the second rotating shaft penetrates through the third shaft hole and the fourth shaft hole, so that the trigger and the push rod are rotationally connected with the mounting bracket.
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 in abutting limiting connection with the mounting bracket and the trigger.
8. The force feedback structure of claim 7, wherein the end of the torsion spring abutting the trigger is formed with two extensions;
two limiting grooves are formed in one side, facing the rotor assembly, of the trigger, 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 between the two limiting grooves.
9. A force feedback structure according to any one of claims 1 to 4, wherein the number of magnets is two, the magnets are spaced apart along the direction of movement of the mover assembly, and the magnetizing directions of the magnets are opposite.
10. An interaction device, characterized in that the interaction device comprises a force feedback structure according to any of claims 1 to 9.
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| CN202111683178.7A CN114385008B (en) | 2021-12-31 | 2021-12-31 | Force feedback structure and interaction device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111683178.7A CN114385008B (en) | 2021-12-31 | 2021-12-31 | Force feedback structure and interaction device |
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| CN114385008A CN114385008A (en) | 2022-04-22 |
| CN114385008B true CN114385008B (en) | 2023-08-08 |
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| 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 |
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|---|---|
| CN114385008A (en) | 2022-04-22 |
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