CN116400799B

CN116400799B - Force feedback device and electronic equipment

Info

Publication number: CN116400799B
Application number: CN202310210862.6A
Authority: CN
Inventors: 徐俊翊; 石磊; 陆玉云; 王德雨
Original assignee: Suzhou Suoye Electronic Technology Co ltd
Current assignee: Suzhou Suoye Electronic Technology Co ltd
Priority date: 2023-03-07
Filing date: 2023-03-07
Publication date: 2024-01-16
Anticipated expiration: 2043-03-07
Also published as: CN116400799A

Abstract

The invention discloses a force feedback device and electronic equipment, and relates to the technical field of force feedback. The frame body is provided with a containing cavity; the keys are rotatably connected with the frame body; the elastic piece is used for applying reset force to the key; the motor is connected with the frame body; the transmission mechanism is at least partially arranged in the accommodating cavity and comprises a first transmission part driven by the motor to rotate and a second transmission part in threaded connection with the first transmission part, and the rotation freedom degree of the second transmission part is limited, so that the second transmission part can only move along the axis of the first transmission part and is in transmission connection with the key. In the invention, the force feedback device is in threaded transmission through the first transmission part and the second transmission part, compared with the traditional worm gear transmission and gear transmission, the force feedback device has simpler transmission structure and higher transmission efficiency, is beneficial to simplifying the assembly structure and improving the assembly efficiency.

Description

Force feedback device and electronic equipment

Technical Field

The present invention relates to the field of force feedback technologies, and in particular, to a force feedback device and an electronic device.

Background

In industries such as VR and recreation, carry out virtual reality through devices such as handle and experience and recreation and exchange, be provided with the button structure that has force feedback function on the handle, when meetting some recreation or virtual experience scene such as gunfight recreation, tug-of-war, bow and arrow shooting etc., collect and feed back the signal of pressing the button through main control system, promote this button can produce the reaction force, act on the people's hand, form different force feedback effects under the different man-machine scene experiences. Whether the interactive function of the key structure in the handle is strong or not determines the degree of reality of the man-machine experience, wherein the mechanical structure of the key structure is an important aspect affecting the interactive function.

The key structure in the prior art, such as the manipulation input device disclosed in the chinese patent application publication No. CN111566601a, applies a force to the key through a motor driving a transmission mechanism, where the transmission mechanism is a worm gear transmission plus gear rack transmission or a worm gear transmission plus gear and gear meshing transmission.

The above structure mainly has the following problems that firstly, the transmission path of the structure is complex, two-stage meshing transmission is needed, and the assembly is difficult. Secondly, the main structure body is driven by a motor to drive worm and gear, and has inherent defects of a worm and gear driving mode, namely lower driving efficiency and more serious abrasion. On the one hand, when the worm gear is meshed for transmission, the relative sliding speed between the meshing wheel teeth is high, so that the friction loss is high and the efficiency is low. On the other hand, the relative sliding speed is high, so that the tooth surface is seriously worn and heated, and in order to dissipate heat and reduce wear, materials with high antifriction and abrasion resistance and a good lubricating device are often adopted, so that the cost is high.

Accordingly, there is a need for an improvement over the prior art to overcome the deficiencies described in the prior art.

Disclosure of Invention

The invention aims to provide a force feedback device and electronic equipment, which have simple transmission structure and higher transmission efficiency.

To achieve the above object, in one aspect, the present invention provides a force feedback device, including:

the frame body is provided with a containing cavity;

the key is rotatably connected with the frame body;

the elastic piece is used for applying reset force to the keys;

the motor is connected with the frame body; the method comprises the steps of,

the transmission mechanism is at least partially arranged in the accommodating cavity and comprises a first transmission part driven by the motor to rotate and a second transmission part in threaded connection with the first transmission part, and the rotation freedom degree of the second transmission part is limited, so that the second transmission part can only move along the axis of the first transmission part, and the second transmission part is in transmission connection with the key.

Further, the transmission mechanism is configured to drive the second transmission member to move when the first transmission member rotates, and drive the first transmission member to rotate when the second transmission member moves.

Further, the first transmission member is provided with an internal thread, the second transmission member is provided with an external thread which is matched and connected with the internal thread, the external contour of the section of the second transmission member is not circular, and the frame body is at least partially abutted with the peripheral surface of the second transmission member so as to limit the rotational freedom degree of the second transmission member.

Further, the second transmission piece is in sliding fit with the accommodating cavity.

Further, the key is connected with the frame body through a rotating shaft, and the axis of the rotating shaft is perpendicular to the movement direction of the second transmission piece;

the elastic piece is partially connected with the frame body, and is partially connected with the key, and when the key is pressed down, the elastic piece is elastically deformed.

Further, the elastic piece is a torsion spring, the torsion spring is sleeved on the rotating shaft, and two torsion arms of the torsion spring are respectively connected with the frame body and the keys.

Further, the force feedback device further comprises a support member rotatably connected with the frame body, the rotation axis of the support member is the same as or parallel to the rotation axis of the key, the support member is provided with a guide rail, the second transmission member is provided with a rod part in sliding fit with the guide rail, and the support member and the first transmission member pass through the guide rail and the rod part to transmit force to the second transmission member.

Further, the guide rail has a proximal end and a distal end, the proximal end being closer to the rotational axis of the housing than the distal end, and the lever portion moves along the guide rail toward the distal end when the key is depressed.

Further, the force feedback device further comprises a gear shaft rotatably connected with the frame body, a gear connected with the gear shaft, and a first sensor for detecting rotation of the gear shaft, wherein the support piece comprises a first gear part meshed with the gear, and the first sensor is a rotary slide rheostat.

Further, the key is abutted with the support piece or the second transmission piece to transmit power.

Further, the key is provided with a first magnet, and the support member or the second transmission member is provided with a second magnet which is arranged in homopolar opposition to the first magnet.

Further, the second transmission piece is provided with a cylinder protruding towards the key, the end part of the cylinder is a spherical surface, the key is provided with a spherical pit with the diameter larger than that of the end part of the cylinder, and the cylinder is abutted with the spherical pit to transmit power.

Further, the key is provided with an extension plate and a third magnet connected to the extension plate, the frame body is provided with a Hall sensor for sensing the third magnet, and when the key is pressed to the bottommost part, the Hall sensor triggers a sensing signal; or,

the button be provided with the extension board and connect in hall sensor on the extension board, the support body is provided with the third magnet, hall sensor is used for responding to the third magnet, when the button is pressed to the bottommost, hall sensor triggers the response signal.

Further, the force feedback device further comprises a second sensor for detecting the motion of the second transmission member, and the second sensor is a linear sliding rheostat and is fixed on the frame body.

In a second aspect, the invention proposes an electronic device comprising a force feedback arrangement as defined in any one of the preceding claims.

Compared with the prior art, the invention has the following beneficial effects:

1. in the invention, the force feedback device is driven by the threaded connection of the first driving part and the second driving part, compared with the traditional worm gear and worm driving and gear driving, the force feedback device has simpler driving structure and higher driving efficiency, is beneficial to simplifying the assembly structure, improving the assembly efficiency and reducing the overall cost.

2. As an improvement, the force feedback device is provided with a supporting piece, the supporting piece is driven by the second transmission piece to rotate, so that the key is jacked, the moment of the second transmission piece to the supporting piece is gradually increased in the process of pressing the key, the characteristic that the requirement for the reaction force is larger when the second transmission piece is pressed downwards is met, and therefore finer and more real use experience is obtained.

Drawings

Fig. 1 is a front view of a force feedback device in embodiment 1 of the present invention.

Fig. 2 is a perspective view of a force feedback device in embodiment 1 of the present invention.

Fig. 3 is a schematic diagram illustrating connection of a key, a shaft and an elastic member in embodiment 1 of the present invention.

Fig. 4 is a sectional view taken along section line A-A of fig. 1.

Fig. 5 is a sectional view taken along section line B-B in fig. 1.

Fig. 6 is a sectional view taken along section line C-C in fig. 1.

Fig. 7 is a schematic diagram of the embodiment 1 of the present invention when the key is abutted against the supporting member.

Fig. 8 is a schematic diagram of the embodiment 1 of the present invention after the key is pressed.

FIG. 9 is a schematic view of the invention with the key in surface contact with the support member.

Fig. 10 is a perspective view of the force feedback device of embodiment 1 of the present invention in another view.

Fig. 11 is a sectional view of a force feedback device in embodiment 2 of the present invention.

Fig. 12 is a sectional view of a force feedback device in embodiment 3 of the present invention.

Fig. 13 is a front view of the force feedback device in embodiment 4 of the present invention.

Fig. 14 is a sectional view taken along section line D-D in fig. 13.

Fig. 15 is a right side view of the force feedback device in embodiment 4 of the present invention.

Fig. 16 is a schematic view of the force feedback device according to embodiment 1 of the present invention when a hall sensor and a third magnet are provided.

Fig. 17 is a perspective view of a force feedback device in embodiment 6 of the present invention.

Fig. 18 is a schematic view showing the connection of the transmission mechanism and the gear in embodiment 6 of the present invention.

Fig. 19 is a front view of the force feedback device in embodiment 6 of the present invention.

Fig. 20 is a sectional view taken along section line E-E in fig. 19.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not limiting. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The terms "comprising" and "having" and any variations thereof herein are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

Example 1

As shown in fig. 1 to 10, a force feedback device according to a preferred embodiment of the present invention includes a frame 1, a key 2, an elastic member 3, a motor 4, and a transmission mechanism 5.

The housing 1 is provided with a housing chamber 10, and a first end (an upper end in fig. 1) thereof is provided with an opening communicating the outside with the housing chamber 10. The key 2 is rotatably connected with the first end of the frame body 1. As shown in fig. 2, a rotating shaft 20 is disposed on the frame body 1, the key 2 is connected with the frame body 1 through the rotating shaft 20, and is provided with a ring body 12 connected with the rotating shaft 20, and can rotate around the axis of the rotating shaft 20, and the rotation axis of the key 2 is the axis of the rotating shaft 20.

As shown in fig. 3, an elastic member 3 is connected between the frame 1 and the key 2 for applying a restoring force to the key 2. The elastic piece 3 is partially connected with the frame body 1, and is partially connected with the key 2, and when the key 2 is pressed down, the elastic piece 3 is elastically deformed. When the key 2 loses external pressure, the elastic piece 3 drives the key 2 to rotate outwards through the elastic force of the elastic piece to return to the original position. As shown in fig. 2 and 3, the key 2 further includes a limiting portion 13 extending to the outside of the frame 1, and the limiting portion 13 may abut against the outer circumferential surface of the frame 1 to define an upper limit position of the key 2, so as to prevent the key 2 from being broken outwards.

The elastic member 3 may be, for example, a shrapnel, a spring, a torsion spring, or the like. In the embodiment shown in fig. 3, the elastic member 3 is a torsion spring, which is sleeved on the rotating shaft 20, and two torsion arms 30 of the torsion spring are respectively connected with the frame body 1 and the key 2. When the key 2 is pressed down, the torsion spring is elastically deformed, the included angle between the two torsion arms 30 is reduced, and when the key 2 loses external pressing force, the torsion spring drives the key 2 to reset.

The motor 4 is connected with the frame 1, as shown in fig. 1 and 4, and is fixedly connected to a second end of the frame 1, where the second end and the first end are respectively located at two opposite ends of the frame 1. The body 40 of the motor 4 is connected with the base plate 1e of the frame body 1, and the motor shaft 41 extends into the accommodating cavity 10. The motor 4 may be a bare motor or a motor with a speed reducer, and preferably, the motor 4 is a motor with a speed reducer, so that the rotation speed of the motor shaft 41 can be reduced and the torque can be increased.

The transmission mechanism 5 is at least partially disposed in the housing cavity 10, and in the embodiment shown in fig. 1, the second transmission member 51 is entirely disposed in the housing cavity 10. As shown in fig. 4, the transmission mechanism 5 includes a first transmission member 50 connected to the motor shaft 41 of the motor 4 and a second transmission member 51 screwed to the first transmission member 50, and the first transmission member 50 and the second transmission member 51 are transmitted by screw. In this embodiment, the second transmission member 51 is provided with an internal thread, which is provided with a threaded hole, the first transmission member 50 is provided with an external thread adapted to the internal thread, which is provided with a threaded post adapted to the threaded hole, and the first transmission member 50 is inserted into the second transmission member 51. In other embodiments, the first transmission member 50 may be provided with an internal thread, and the second transmission member 51 may be provided with an external thread.

The rotational freedom of the second transmission member 51 is limited such that the second transmission member 51 can only move along the axis of the first transmission member 50. When the motor shaft 41 rotates the first transmission member 50, the second transmission member 51 will move along the axis 50a of the first transmission member 50. The second transmission member 51 is in transmission connection with the key 2, and can receive the pressing force of the key 2, or can lift the key 2 and apply a reaction force to the key 2.

The rotational freedom of the second transmission member 51 may be limited by the frame body 1. As a preferred embodiment, the outer contour of the cross section of the second transmission member 51 is not circular, and may be, for example, polygonal, elliptical, partially circular, partially non-circular, irregularly shaped, or the like, and the cross section of the second transmission member 51 is a plane that is cut through a plane perpendicular to the axis of the second transmission member 51 (the axis is the same as the axis of the first transmission member 50). The frame 1 is at least partially abutted against the outer peripheral surface of the second transmission member 51, and the outer contour of the cross section of the second transmission member 51 is not circular, so that the second transmission member 51 can only move along the axis of the first transmission member 50 when the first transmission member 50 rotates, because the second transmission member cannot rotate about its own axis when abutted against the frame 1.

As a preferred embodiment, the second transmission member 51 has a cross-section with an outer contour that is not circular, and the second transmission member 51 is slidably coupled with the receiving chamber 10 such that it can move along the receiving chamber 10 without rotational movement. As shown in fig. 5, the outer contour of the cross section of the second transmission member 51 is rectangular, the frame body 1 includes a left baffle 1a and a right baffle 1b which are disposed opposite to each other, and a front baffle 1c and a rear baffle 1d which are disposed opposite to each other, and the four baffles are connected to form the accommodating chamber 10. The second transmission member 51 is coupled in the receiving chamber 10, and its outer circumferential surface is limited by the front barrier 1c, the rear barrier 1d and the right barrier 1b so that it can move only along the axis 50a of the first transmission member 50. It will be appreciated that the degree of freedom in the rotational direction of the second transmission member 51 may be limited by providing only one baffle plate that is in close proximity or in close contact with the outer peripheral surface of the second transmission member 51.

In other embodiments, a guide bar may be disposed on the inner surface of the frame body 1, a guide groove adapted to the guide bar is disposed on the outer circumferential surface of the second transmission member 51, and the limitation of the rotational freedom degree of the second transmission member 51 is achieved by the coupling of the guide bar and the guide groove.

It can be appreciated that the transmission mechanism 5 of the force feedback device of the present invention performs transmission through the cooperation of the first transmission member 50 and the second transmission member 51, and compared with the conventional worm gear transmission and gear transmission, the transmission mechanism of the force feedback device of the present invention has simpler transmission structure and higher transmission efficiency, which is beneficial to simplifying the assembly structure and improving the assembly efficiency.

The second transmission member 51 may lift the key 2 indirectly or directly, and in this embodiment, the second transmission member 51 drives other components to move to indirectly lift the key 2.

Specifically, as shown in fig. 6, the force feedback device includes a support member 6 rotatably connected to the frame 1, the rotation axis of the support member 6 is the same as or parallel to the rotation axis of the key 2, the key 2 abuts against the support member 6 to transmit power, and the second transmission member 51 is in transmission connection with the support member 6. Preferably, the supporting member 6 is connected to the rotation shaft 20, and the rotation axis of the supporting member is the same as that of the frame 1, so that the contact portion between the key 2 and the supporting member 6 does not move relatively during the movement of the key 2, thereby reducing abrasion caused by the relative movement. The support member 6 is disposed proximate to the outer peripheral surface of the second transmission member 51, and is provided with a guide rail 60. In the embodiment shown in fig. 6, the guide rail 60 is a long hole, which of course is not limited to a long hole, for example, may be a long hole, a long boss, etc., while it is not limited to extending along a straight line, for example, may also extend along a curved line. The second transmission member 51 is provided with a lever portion 511 slidably coupled to the guide rail 60, and force is transmitted between the support member 6 and the second transmission member 51 through the guide rail 60 and the lever portion 511. When the second transmission member 51 moves along the axis of the first transmission member 50, the lever 511 drives the support member 6 to rotate around the rotation shaft 20, thereby lifting the key 2. As shown in fig. 1, the support 6 is closer to the key 2 than the second transmission member 51 so that it can abut against the key 2. Preferably, the upper end of the support 6 is provided with an abutment plane 61, which abutment plane 61 is intended to abut against an abutment 24 provided on the key 2. The abutment 24 and the abutment plane 61 may be in contact with each other (see fig. 9) in addition to being in contact with each other by a line similar to that shown in fig. 7 and 8, but may be in contact with each other by a point.

The guide rail 60 has a proximal end relatively closer to the rotation shaft 20 and a distal end relatively farther from the rotation shaft 20, and the second transmission member 51 moves toward the motor 4 when the key 2 is pressed down, in which the angle between the center line 60a of the guide rail 60 and the axis 50a of the first transmission member 50 is gradually reduced, and the lever 511 moves from the proximal end to the distal end along the guide rail 60 with reference to fig. 7 and 8. The length of the arm L1 of force F1 of the key 2 applied to the support 6 is basically unchanged, and the arm L2 of force F2 of the lever 511 against the support 6 is gradually increased, that is, the moment of the lever 511 against the support 6 is gradually increased, so that the more the key 2 is pressed downwards, the larger the resistance is received, the larger the pressing force is required, the characteristics of the more downward pressing and the larger the demand for the reaction force are met, and the finer and real use experience can be obtained. In the related scheme in the prior art, the moment of the whole system is constant, the requirement of the pressing force in the pressing process is also constant, and the simulation experience of the scene is not real enough.

Preferably, during the movement of the key 2, the contact portion between the lever portion 511 and the guide rail 60 is provided so as to be always located between the rotation shaft 20 and the force application portion (i.e., the contact portion in the case of direct contact) of the key 2 and the support 6. Thus, when the key 2 is pressed, the force arm L1 of the acting force F1 of the key 2 to the support member 6 is always larger than the force arm L2 of the acting force F2 of the lever 511 to the support member 6, so that the effect of saving the force can be achieved, and the excessive pressing force required for pressing the key 2 can be prevented.

As a preferred embodiment, as shown in fig. 5, 6 and 10, the force feedback device further includes a gear shaft 7 rotatably connected to the left barrier 1a of the frame body 1, a gear 70 connected to the gear shaft 7, and a first sensor 71 for detecting rotation of the gear shaft 7. The support 6 comprises a first gear part 63 which meshes with a gear 70, the first gear part 63 being an internal gear in the embodiment shown in the figures, and the first gear part 63 being an external gear in other embodiments. The sensor 71 is preferably a rotary slide rheostat, which is connected to the gear shaft 7. When the second transmission member 51 moves, it drives the support member 6 to rotate through the lever portion 511, and the first gear portion 63 drives the gear 70 and the gear shaft 7 to rotate, so that the sensor 71 can determine the states of the key 2 and the second transmission member 51 by detecting the rotation of the gear shaft 7, for example, detect whether the key 2 is pressed down, in some cases, when the key 2 is detected to be pressed down, the control system can control the motor 4 to perform forward rotation and reverse rotation according to the driving signal (for example, a signal corresponding to a game scene) so as to apply a reaction force to the key 2 or realize quick release force, and the forward rotation of the motor 4 refers to the rotation of the motor 4 when the motor 4 drives the second transmission member 51 to apply a jacking force to the key 2, and the reverse rotation direction of the motor 4 is opposite to the forward rotation.

When the force feedback device works, different use scenes can be simulated by controlling parameters such as the rotation direction or the speed of the motor 4, for example, the motor 4 can apply a reaction force opposite to the pressing direction to the key 2 when rotating forwards, and the motor 4 can realize quick force release when rotating backwards. As a preferred embodiment, the transmission mechanism 5 is configured to drive the second transmission member 51 to move when the first transmission member 50 rotates, and simultaneously drive the first transmission member 50 to rotate when the second transmission member 51 moves, so that self-locking can be prevented by controlling the thread angle of lift of the thread. Like this, when pressing button 2, button 2 can drive second driving medium 51 and remove, and second driving medium 51 drives first driving medium 50 and rotates this moment, brings certain resistance, and this resistance is less than the reaction force when motor 4 corotation, is greater than the resistance when motor 4 reverses, can further richer use experience, simulates richer scene. It will be appreciated that the amount of resistance created when pressing the key 2 can be adjusted by controlling the amount of thread lead angle.

Example 2

As shown in fig. 11, in the present embodiment, compared with embodiment 1, the key 2 is provided with a first magnet 21, and the support 6 is provided with a second magnet 22 on top. The first magnet 21 and the second magnet 22 are disposed in homopolar opposition to each other, forming a magnetic repulsive force therebetween. In this way, the keys 2 and the support 6 are separated by a magnetic repulsive force. It is possible to prevent the key 2 and the support 6 from being worn out due to frequent contact or due to relative sliding of the contact surfaces. In this way, the use experience of the force feedback device does not change due to wear, and can be kept consistent for a longer time.

It will be appreciated that the second magnet 22 may also be provided on the second transmission member 51, avoiding physical contact between the key 2 and the support member 6 and the second transmission member 51 by magnetic repulsion between the key 2 and the second transmission member 51.

Example 3

As shown in fig. 12, in the present embodiment, as compared with embodiment 1, the abutting piece 24 is detachably connected to the key 2, and the block 62 for abutting the abutting piece 24 is provided on the support 6, and the block 62 is also detachably connected to the support 6. The detachable connection may be, for example, adhesive, screw connection, snap connection, etc. In this way, when the block 62 and the abutment 24 are worn, the use experience of the force feedback device can be restored by replacing the block 62 and the abutment 24, and the overall scrapping of the force feedback device can be avoided.

Example 4

As shown in fig. 13 to 15, the main difference between the present embodiment and embodiment 1 is that in the present embodiment, the force feedback device does not include the support member 6 and the gear 70, and the second transmission member 51 is in direct contact with the key 2 to achieve transmission.

As shown in fig. 13, in the present embodiment, the frame 1 includes a base plate 1e, a left baffle plate 1a and a right baffle plate 1b, the outer contour of the cross section of the second transmission member 51 is rectangular, the left baffle plate 1a and the right baffle plate 1b form a receiving cavity 10, and the second transmission member 51 is coupled in the receiving cavity 10.

As shown in fig. 14, the force feedback device includes a second sensor 72 for detecting the movement of the second transmission member 51, and the second sensor 72 is fixedly connected to the frame body 1 and connected to the second transmission member 51. Preferably, the second sensor 72 is a linear slide rheostat, and the movement of the second transmission member 51 causes the linear slide rheostat to sense a signal, so that the control system can determine the states of the key 2 and the second transmission member 51 according to the signal of the linear slide rheostat.

The top of the second transmission member 51 is provided with a cylinder 510 protruding towards the key 2, the end of the cylinder 510 is a spherical surface 512, the inner surface of the key 2 is provided with a spherical pit 230, and the diameter of the spherical pit 230 is larger than that of the spherical surface 512 at the end of the cylinder 510. The spherical surface 512 at the end of the column 510 is used to abut the spherical recess 230 to form a gimbal-like device that is more evenly stressed during lifting and pressing.

As shown in fig. 15, the key 2 is provided with an extension plate 23 extending toward the housing 1 and a third magnet 25 attached to the extension plate 23. In the process of pressing the key 2, the extension plate 23 can extend to the outer side of the outer peripheral surface of the frame 1, specifically, the outer side of the right baffle 1b, and it is understood that the extension plate 23 may also be disposed inside the frame 1. The hall sensor 11 for sensing the third magnet 25 is arranged on the frame body 1, and when the key 2 is pressed to the bottommost part, the third magnet 25 is arranged opposite to the hall sensor 11, so that the hall sensor 11 senses the third magnet 25, and the sensing signal is triggered. In this way, the control system can accurately judge whether the key 2 is pressed to the bottom standard position according to the signal of the Hall sensor 11.

It will be appreciated that the hall sensor 11 may be mounted on the extension board 23, and the third magnet 25 may be mounted on the frame 1, so that the hall sensor 11 may be opposite to the third magnet 25 when the key 2 is pressed, thereby triggering the sensing signal.

It is understood that the structure of the hall sensor 11 sensing the third magnet 25 can be applied to other embodiments as well, as shown in fig. 16, and fig. 16 shows a schematic structural diagram when the structure is applied to the force feedback device in embodiment 1. In fig. 16, the hall sensor 11 is arranged perpendicular to the PCB board 14, and when the key 2 is pressed to the bottom, the third magnet 25 approaches the hall sensor 11, thereby triggering the sensing signal.

Example 5

As shown in fig. 17 to 20, the main difference between the present embodiment and embodiment 1 is that the force feedback device rotates 70 by the rack 513, and the second transmission member 51 is in direct contact with the key 2 to realize transmission.

As shown in fig. 17 and 18, the force feedback device also has a gear shaft 7 rotatably connected to the frame body 1 and a gear 70 connected to the gear shaft 7, and also detects the rotation of the gear shaft 7 by a first sensor 71. The difference is that the second transmission member 51 is provided with a rack 513 on the side, the rack 513 is engaged with the gear 70, and when the second transmission member 51 moves, the rack 513 drives the gear 70 to rotate, so that the first sensor 71 senses a corresponding signal, and the first sensor 71 is preferably a rotary slide rheostat.

In this embodiment, the abutting structure of the second transmission member 51 and the key 2 is similar to that of embodiment 4, as shown in fig. 19 and 20, a column 510 protruding toward the key 2 is provided at the top of the second transmission member 51, the end of the column 510 is a spherical surface 512, a spherical pit 230 is provided on the inner surface of the key 2, and the diameter of the spherical pit 230 is larger than that of the spherical surface 512 at the end of the column 510. The spherical surface 512 at the end of the column 510 is used to abut the spherical recess 230 to form a gimbal-like device that is more evenly stressed during lifting and pressing.

Example 6

The present embodiment discloses an electronic device comprising the force feedback device described above. The electronic device may be, for example, a handle, a toy gun, etc., capable of providing force feedback with the field of use Jing Duiying via a force feedback device, thereby enhancing the use experience.

The foregoing is merely exemplary of the invention and other modifications can be made without departing from the scope of the invention.

Claims

1. A force feedback device, comprising:

a frame body (1) provided with a containing cavity (10);

the key (2) is rotatably connected with the frame body (1), and the key (2) is connected with the frame body (1) through a rotating shaft (20);

the elastic piece (3) is used for applying a reset force to the key (2), part of the elastic piece (3) is connected with the frame body (1), and the other part of the elastic piece is connected with the key (2), and when the key (2) is pressed down, the elastic piece (3) is elastically deformed;

a motor (4) connected with the frame body (1); the method comprises the steps of,

the transmission mechanism (5) is at least partially arranged in the accommodating cavity (10) and comprises a first transmission part (50) driven by the motor (4) to rotate and a second transmission part (51) in threaded connection with the first transmission part (50), the second transmission part (51) is provided with internal threads, the first transmission part (50) is provided with external threads matched with the internal threads, or the first transmission part (50) is provided with internal threads, the second transmission part (51) is provided with external threads matched with the internal threads, and the rotational freedom degree of the second transmission part (51) is limited, so that the second transmission part (51) can only move along the axis of the first transmission part (50), and the second transmission part (51) is in transmission connection with the key (2);

the transmission mechanism (5) is configured to drive the second transmission member (51) to move when the first transmission member (50) rotates, and drive the first transmission member (50) to rotate when the second transmission member (51) moves.

2. Force feedback device according to claim 1, characterized in that the second transmission member (51) is provided with an internal thread, the first transmission member (50) is provided with an external thread mating with the internal thread, the second transmission member (51) has a cross-section with an outer contour that is not circular, and the frame body (1) is at least partially in abutment with the outer circumferential surface of the second transmission member (51) for limiting the rotational freedom of the second transmission member (51).

3. Force feedback device according to claim 2, characterized in that the second transmission member (51) is slidingly coupled with the receiving cavity (10).

4. Force feedback device according to claim 1, characterized in that the axis of the shaft (20) is perpendicular to the direction of movement of the second transmission member (51).

5. The force feedback device according to claim 4, wherein the elastic member (3) is a torsion spring, which is sleeved on the rotating shaft (20), and two torsion arms (30) of the torsion spring are respectively connected with the frame body (1) and the key (2).

6. Force feedback device according to any of claims 1 to 5, further comprising a support (6) rotatably connected to the frame (1), the rotation axis of the support (6) being the same as or parallel to the rotation axis of the key (2), the support (6) being provided with a guide track (60), the second transmission member (51) being provided with a stem (511) slidingly coupled to the guide track (60), the second transmission member (51) being provided with an internal thread, the first transmission member (50) being provided with an external thread adapted to the internal thread, the support (6) and the second transmission member (51) being force-transmitting through the guide track (60) and the stem (511).

7. Force feedback device according to claim 6, wherein the guide rail (60) has a proximal end and a distal end, the proximal end being closer to the rotational axis of the housing (1) than the distal end, the stem (511) being movable along the guide rail (60) towards the distal end when the key (2) is depressed.

8. A force feedback device according to claim 6, further comprising a gear shaft (7) rotatably connected to the frame (1), a gear (70) connected to the gear shaft (7), and a first sensor (71) for detecting rotation of the gear shaft (7), the support (6) comprising a first gear part (63) engaging the gear (70), the first sensor (71) being a rotary slide rheostat.

9. Force feedback device according to claim 7, characterized in that the key (2) abuts the support (6) or the second transmission member (51) for transmitting power.

10. Force feedback device according to claim 6, characterized in that the key (2) is provided with a first magnet (21), and the support member (6) or the second transmission member (51) is provided with a second magnet (22) arranged homopolar opposite to the first magnet (21).

11. Force feedback device according to any of claims 1-5, characterized in that the second transmission member (51) is provided with a cylinder (510) protruding towards the key (2), the end of the cylinder (510) being spherical, the key (2) being provided with a spherical recess (230) having a larger diameter than the end of the cylinder (510), the cylinder (510) being in abutment with the spherical recess (230) for transmitting power.

12. Force feedback device according to any of claims 1 to 5, characterized in that the key (2) is provided with an extension plate (23) and a third magnet (25) connected to the extension plate (23), the frame (1) is provided with a hall sensor (11) for sensing the third magnet (25), the hall sensor (11) triggering a sensing signal when the key (2) is pressed to the bottommost part; or,

the button (2) is provided with extension board (23) and connect in hall sensor (11) on extension board (23), support body (1) are provided with third magnet (25), hall sensor (11) are used for the response third magnet (25), when button (2) are pressed to the bottommost, hall sensor (11) trigger induction signal.

13. A force feedback device according to any of claims 1-5, further comprising a second sensor (72) for detecting movement of the second transmission member (51), the second sensor (72) being a linear slide rheostat fixed to the frame (1).

14. An electronic device comprising a force feedback arrangement according to any of claims 1 to 13.