CN116928308A - Screw rod structure, force feedback device and operating handle - Google Patents

Abstract

The invention discloses a screw rod structure, a force feedback device and an operating handle, wherein the screw rod structure comprises a screw rod and a screw sleeve sleeved on the screw rod, a plurality of groups of thread matching structures are formed between the screw sleeve and the screw rod, at least one group of thread matching structures comprises a first thread convex part and a first thread groove, two side surfaces of the first thread convex part are correspondingly matched with two side wall surfaces of the first thread groove to form two groups of matching surface groups, friction forces of the two groups of matching surface groups are unequal, so that friction forces born by the screw rod and the screw sleeve when moving oppositely are different from friction forces born by the screw rod and the screw sleeve when moving reversely, resistance of one of the two matching surface groups is larger, so that the force feedback device provides larger resistance, and resistance of the other matching surface group is smaller, so that total friction resistance between the screw rod and the screw sleeve is reduced, energy loss of the force feedback device is reduced, and vibration feedback effect of the force feedback device is improved, and vibration feedback of the force feedback device is prevented.

Description

Screw rod structure, force feedback device and operating handle

Technical Field

The invention relates to the technical field of virtual equipment, in particular to a screw rod structure, a force feedback device and an operating handle.

Background

The meta universe opens a window for virtual display, how to make the virtual world more truly is the key point of the current research, the trigger is used as a window for man-machine interaction, and the trigger touch feedback can greatly improve the sense of reality of the player virtual world. When the conventional trigger touch force feedback device uses a screw rod silk sleeve as a main driving component, a good resistance effect can be provided due to large friction force between the screw rod and the silk sleeve, but the transmission thrust of the screw rod silk sleeve can be reduced due to overlarge friction force, so that energy loss is large, and vibration feedback of the force feedback device is not in line with expectations.

Disclosure of Invention

The invention mainly aims to provide a screw rod structure, a force feedback device and an operating handle, and aims to solve the problem of insufficient vibration feedback of the existing force feedback device.

In order to achieve the above-mentioned objective, the present invention provides a screw rod structure for use in a force feedback device, the screw rod structure includes a screw rod and a screw sleeve sleeved on the screw rod, a plurality of sets of screw thread matching structures are formed between the screw sleeve and the screw rod, at least one set of screw thread matching structures includes a first screw thread protrusion and a first screw thread groove, two sides of the first screw thread protrusion correspondingly match two side walls of the first screw thread groove to form two sets of matching surface groups, and friction forces of the two sets of matching surface groups are unequal.

Optionally, the contact areas of the two mating surface sets are different, so that the friction forces of the two mating surface sets are different.

Optionally, the two sets of mating surfaces are shaped differently.

Optionally, on the axial section of the screw rod, one of the two matching surface groups is arranged in a straight line along the radial direction of the screw rod, and the other matching surface group is arranged in an inclined manner, and the inclined direction is inclined towards the screw rod along the axial direction of the screw rod.

Optionally, the mating surface set includes a first mating surface and a second mating surface that mate with each other;

and in the two sets of the matching surface, the shape of the first matching surface is the same as that of the second matching surface, and the shape of the first matching surface is different from that of the second matching surface.

Optionally, on the axial section of the screw rod, the first matching surface is arranged in a straight line, and the second matching surface is arranged in a broken line.

Optionally, the roughness of the two mating surface sets is different.

The present invention also provides a force feedback device comprising:

a housing;

the operating part can be movably arranged on the shell along a first direction and at least partially positioned outside the shell;

the transmission structure comprises the screw rod structure, and a screw sleeve of the transmission structure is abutted with the operation part; the method comprises the steps of,

and the driving device is in driving connection with the screw rod structure so as to enable the screw rod and/or the screw sleeve to move.

Optionally, the driving device includes:

the resetting piece is arranged between the wire sleeve and the shell and used for resetting the operating part to an initial position; the method comprises the steps of,

the driving mechanism comprises a driving part, wherein the driving part and the silk sleeve can be arranged in a clutching way, so that the driving part is in a combined state in transmission connection with the silk sleeve and in a separated state in contact with the silk sleeve.

In addition, the invention also provides an operating handle which comprises the force feedback device.

According to the technical scheme, the screw sleeve is sleeved on the screw rod and connected through the plurality of threaded matching structures, so that rotation of the screw rod structure is converted into linear movement along the axial direction of the screw rod, meanwhile, friction forces of the two matching surface groups are different, so that friction forces born by the screw rod and the screw sleeve when moving oppositely are different from friction forces born by the screw sleeve when moving oppositely, resistance of one matching surface group of the two matching surface groups is larger, larger resistance is provided for the force feedback device, resistance of the other matching surface group is smaller, total friction resistance between the screw rod and the screw sleeve is reduced, energy loss of the force feedback device is reduced, and accordingly vibration feedback effect of the force feedback device is improved, and vibration feedback deficiency of the force feedback device is avoided.

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 cross-sectional view of a force feedback device of the present invention;

FIG. 2 is an exploded view of the force feedback device of FIG. 1;

FIG. 3 is a schematic perspective view of the screw structure of FIG. 1;

fig. 4 is a schematic structural view of the driving part in fig. 1;

FIG. 5 is a schematic cross-sectional view of a first embodiment of the lead screw structure of FIG. 1;

FIG. 6 is a schematic cross-sectional view of a second embodiment of the lead screw structure of FIG. 1;

fig. 7 is a schematic cross-sectional view of a second embodiment of the lead screw structure of fig. 1.

Reference numerals illustrate:

reference numerals	Name of the name	Reference numerals	Name of the name
				100	Screw rod structure	300	Operation part
1	Screw rod	400	Driving device
				2	Silk sleeve	410	Reset piece
21	Second concave-convex structure	420	Driving mechanism
				22	Limiting groove	421	Drive unit
3	Matching surface set	4211	First concave-convex structure
				31	A first mating surface	422	Driving motor
32	Second mating surface	423	Driving tooth
				1000	Force feedback device	500	Displacement sensor
200	Shell body

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.

In the case where a directional instruction is involved in the embodiment of the present invention, the directional instruction is merely used to explain the relative positional relationship, movement condition, etc. between the components in a specific posture, and if the specific posture is changed, the directional instruction is changed accordingly.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. 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 meta universe opens a window for virtual display, how to make the virtual world more truly is the key point of the current research, the trigger is used as a window for man-machine interaction, and the trigger touch feedback can greatly improve the sense of reality of the player virtual world. When the conventional trigger touch force feedback device uses a screw rod silk sleeve as a main driving component, a good resistance effect can be provided due to large friction force between the screw rod and the silk sleeve, but the transmission thrust of the screw rod silk sleeve can be reduced due to overlarge friction force, so that energy loss is large, and vibration feedback of the force feedback device is not in line with expectations.

In view of the above, the present invention provides a screw rod structure for a force feedback device, which aims to solve the problem of insufficient vibration feedback of the existing force feedback device. Fig. 1 to fig. 7 are schematic structural diagrams of a force feedback device according to the present invention.

Referring to fig. 1, 5, 6 and 7, the screw rod 1 structure includes a screw rod 1 and a screw sleeve 2 sleeved on the screw rod 1, multiple sets of screw thread matching structures are formed between the screw sleeve 2 and the screw rod 1, at least one set of screw thread matching structures includes a first screw thread protruding portion and a first screw thread groove, two sides of the first screw thread protruding portion are correspondingly matched with two side wall surfaces of the first screw thread groove, so as to form two sets of matching surface groups 3, and friction forces of the two sets of matching surface groups 3 are different.

In the technical scheme of the invention, the screw sleeve 2 is sleeved on the screw rod 1 and is connected through a plurality of threaded matching structures, the screw rod 1 moves along the axial direction, the screw sleeve 2 can rotate relative to the screw rod 1 so as to convert the rotation of the screw rod structure 100 into linear motion along the axial direction of the screw rod 1, meanwhile, the friction forces of the two groups of matching surface groups 3 are different, so that the friction force born by the screw rod 1 and the screw sleeve 2 when moving oppositely is different from the friction force born by the screw sleeve 2 when moving oppositely, the resistance of one of the two matching surface groups 3 is larger, so that larger resistance is provided for the force feedback device 1000, the resistance of the other matching surface group 3 is smaller, the total friction resistance between the screw rod 1 and the screw sleeve 2 is reduced, and the energy loss of the force feedback device 1000 is reduced, thereby being beneficial to improving the vibration feedback effect of the force feedback device 1000 and avoiding the vibration feedback deficiency of the force feedback device 1000.

It can be understood that, in the two matching surface groups 3, the friction force of one matching surface group 3 may be greater than that of the other matching surface group 3, or may be smaller than that of the other matching surface group 3, which is not limited in the invention, and may be adjusted according to the need, specifically, the resistance force suffered by the screw rod 1 and the wire sleeve 2 when they move reversely is greater, that is, the friction force between the matching surface groups 3 contacted by the screw rod 1 and the wire sleeve 2 correspondingly is greater when they move reversely, so as to facilitate the improvement of the feedback force; the resistance force applied during the opposite movement is small, that is, the friction force between the other mating surface group 3 where the screw rod 1 and the screw sleeve 2 are correspondingly contacted is small when the two are moved in opposite directions, so that the screw rod structure can conveniently unload the force to the trigger (the operation part 300 hereinafter) of the force feedback device 1000. The force feedback device 1000 is repeatedly switched in the two states, and the screw rod structure continuously unloads and pushes the trigger, so that the vibration force feedback of the trigger is realized.

In order to make the friction force of the two sets of mating surface sets 3 different, in this embodiment, please refer to fig. 5 and 6, the contact areas of the two sets of mating surface sets 3 are different, so that the friction force of one of the two sets of mating surface sets 3 is greater than or less than the friction force of the other set of mating surface sets 3 by adjusting the contact areas of the two sets of mating surface sets 3.

In order to make the contact areas of the two sets of mating surface sets 3 different, specifically, in an embodiment, the shapes of the two sets of mating surface sets 3 are different, so that the two sets of mating surface sets 3 form an asymmetric design by adjusting the shapes of the two sets of mating surface sets 3, so that the contact area of one of the sets of mating surface sets 3 is different from the contact area of the other set of mating surface sets 3. Further, on the axial section of the screw rod 1, one of the two mating surface sets 3 is linearly arranged along the radial direction of the screw rod 1, and the other is obliquely arranged, and the oblique direction is along the axial direction of the screw rod 1 and is inclined towards the screw rod 1, so that the length of the mating surface set 3 which is linearly arranged along the radial direction of the screw rod 1 is smaller than the length of the mating surface set 3 which is obliquely arranged, and the contact area of the mating surface set 3 which is linearly arranged is smaller than the contact area of the mating surface set 3 which is obliquely arranged. Of course, in other embodiments, one of the mating surface sets 3 may be disposed in a straight line, and the other mating surface set 3 may be disposed in an arc shape, which is not limited in the present invention.

It will be appreciated that although the two sets of mating surfaces 3 are of different shapes, the two mating surfaces of each set of mating surfaces 3 are of the same shape so that the two mating surfaces of each set of mating surfaces 3 are fully mated. That is, two mating surfaces in the mating surface group 3 which are linearly arranged along the radial direction of the screw rod 1.

In another embodiment, the mating surface set 3 includes a first mating surface 31 and a second mating surface 32 that mate with each other, one of the two mating surface sets 3 has a shape that is identical to the shape of the first mating surface 31 and the second mating surface 32, and the other one has a shape that is different from the shape of the second mating surface 32, when the first mating surface 31 and the second mating surface 32 have a shape that is identical to the first mating surface 31, the first mating surface 31 can be fully mated with the second mating surface 32, and when the first mating surface 31 and the second mating surface 32 have a shape that is different from the shape of the second mating surface 32, the first mating surface 31 and the second mating surface 32 cannot be fully mated, and the contact area is small, so that by adjusting the shapes of the first mating surface 31 and the second mating surface 32 in the mating surface set 3, the contact areas of the two mating surface sets 3 are adjusted, so that the contact areas of the mating surface sets 3 are different from each other. Further, on the axial section of the screw rod 1, the first mating surface 31 is arranged in a straight line, and the second mating surface 32 is arranged in a fold line, so that the first mating surface 31 and the second mating surface 32 cannot be completely attached, and therefore the contact area of the mating surface group 3 with different shapes of the first mating surface 31 and the second mating surface 32 is smaller than the contact area of the mating surface group 3 with the same shape. Of course, in other embodiments, the first mating surface 31 may be disposed in a straight line, the second mating surface 32 may be disposed in an arc shape, etc., which is not limited in the present invention.

In order to make the friction force of the two sets of mating surface sets 3 different, in this embodiment, referring to fig. 7, the roughness of the two sets of mating surface sets 3 is different, so that the friction coefficient of the mating surface sets 3 is adjusted by adjusting the roughness of the mating surface sets 3, so that the friction resistance of one of the mating surface sets 3 is different from the friction resistance of the other mating surface set 3.

Referring to fig. 1 and 4, the force feedback device 1000 of the present invention further includes a housing 200, an operation portion 300, a transmission structure and a driving device 400, wherein the operation portion 300 is movably mounted on the housing 200 along a first direction and is at least partially located outside the housing 200, the transmission structure includes the above-mentioned screw 1 structure, a wire sleeve 2 of the transmission structure abuts against the operation portion 300, and the driving device 400 is in driving connection with the screw structure 100, so that the screw 1 and/or the wire sleeve 2 are/is movable, so that when a user presses the operation portion 300, the operation portion 300 pushes the wire sleeve 2 to move towards the inside of the housing 200 along the first direction, and at this time, the driving device 400 drives the screw structure 100 to move towards the outside of the housing 200 along the first direction, so as to prevent the operation portion 300 from moving, thereby enabling the force feedback device 1000 to provide feedback force, and being helpful for improving the user experience.

It should be noted that, the structure of the screw rod structure 100 in the force feedback device 1000 may refer to the embodiment of the screw rod structure 100 described above, and will not be described herein again; because the above-mentioned screw rod structure 100 is used in the force feedback device 1000 provided by the present invention, the embodiments of the force feedback device 1000 provided by the present invention include all the technical solutions of all the embodiments of the screw rod structure 100, and the achieved technical effects are identical, and are not described in detail herein.

Further, for the application scenario that is not used, the user needs to obtain force feedback with different degrees, for this purpose, in this embodiment, the driving device 400 includes a reset element 410 and a driving mechanism 420, where the reset element 410 is disposed between the wire sleeve 2 and the housing 200, so as to reset the operating portion 300 to an initial position, and the driving mechanism 420 includes a driving portion 421, where the driving portion 421 and the wire sleeve 2 are detachably disposed, so that the driving portion 421 has a coupling state in driving connection with the wire sleeve 2 and a separation state in contact with the wire sleeve 2, when a finger of the user needs to press the operating portion 300, the driving portion 421 is in the separation state, and a reset force generated by the reset element 410 is fed back to the operating portion 300, at this time, the reset force of the reset element 410 is related to a deformation amount thereof, and when a virtual feedback force needs to be simulated, the driving portion 421 is in the coupling state, so that the driving portion 421 and the wire sleeve 2 are in coupling state, and the driving portion 421 and the wire sleeve 2 are in driving connection, and the driving mechanism is able to avoid the displacement of the wire sleeve 2 from being provided, and the displacement of the wire sleeve 2 can be prevented from being provided at any time.

In order to enable the driving portion 421 to be engaged with and disengaged from the wire sleeve 2, in this embodiment, referring to fig. 1, 3 and 4, on the side portions where the driving portion 421 and the wire sleeve 2 are close to each other, a first concave-convex structure 4211 and a second concave-convex structure 21 are respectively provided, which are disposed opposite to each other in the first direction, in the engaged state, the first concave-convex structure 4211 is engaged with the second concave-convex structure 21, the driving portion 421 enables the driving portion 421 and the wire sleeve 2 to perform relative movement in the moving stroke, thereby causing the first concave-convex structure 4211 and the second concave-convex structure 21 to be close to each other or to be far away from each other, and when the first concave-convex structure 4211 and the second concave-convex structure 21 are close to each other, the first concave-convex structure 4211 and the second concave-convex structure 21 are engaged with each other, in this way, the first concave-convex structure 4211 restricts the movement of the second concave-convex structure 21 in the first direction, thereby restricting the movement of the wire sleeve 2 in the first direction, in addition to the force of the wire sleeve 2 to be applied to the wire sleeve 2 in the opposite direction, and the force of the wire sleeve 1 is restricted from being moved in the opposite direction when the first wire sleeve 2 is moved in the moving direction, and the force is applied to the wire sleeve 1 is moved in the opposite direction, thereby restricting the wire sleeve 2 from rotating relative to the first direction.

Specifically, referring to fig. 3, in the present embodiment, the driving portion 421 is rotatably mounted on the housing 200 about a rotation axis extending along the first direction, a mounting hole is formed in a middle portion of the driving portion 421 along the first direction, and the first concave-convex structure 4211 is disposed on a peripheral wall of the mounting hole; the wire sleeve 2 is arranged in the mounting hole in a penetrating manner, a limiting groove 22 is concavely formed in the peripheral wall of the wire sleeve 2 at a position corresponding to the first concave-convex structure 4211, and a second concave-convex structure 21 is formed on one side wall of the limiting groove 22.

It can be understood that the groove width of the limiting groove 22 is set to be greater than the width of the first concave-convex structure 4211, and when the driving portion 421 is in the separated state, the first concave-convex structure 4211 is located in the limiting groove 22 and is spaced from the second concave-convex structure 21, and when the driving portion 421 is in the combined state, the first concave-convex structure 4211 moves to a side wall of the limiting groove 22 near the second concave-convex structure 21, and is gradually engaged with the second concave-convex structure 21.

It should be noted that, the first concave-convex structure 4211 and the second concave-convex structure 21 may be configured as racks, or one of them may be configured as racks, and the other may be configured as convex.

In order to enable the driving portion 421 and the wire sleeve 2 to be stably switched from the separated state to the combined state and to enable the reaction force in the circumferential direction of the wire sleeve 2 to be more balanced, a plurality of the limiting grooves 22 may be provided, and accordingly, the first concave-convex structure 4211 and the second concave-convex structure 21 may also be provided in plurality, and each of the first concave-convex structures 4211 is provided in a corresponding one of the limiting grooves 22.

Specifically, a reverse force that the driving mechanism 420 can act on the wire sleeve 2 is realized, and in this embodiment, a tooth portion is provided on the peripheral side of the driving portion 421; the driving mechanism 420 further includes a driving motor 422 and driving teeth 423, the driving motor 422 having a rotation shaft disposed along the first direction; the driving teeth 423 are coaxially and fixedly connected to the rotating shaft so as to be driven by the rotating shaft to rotate, and the driving teeth 423 are meshed with the tooth portion, so that the rotating direction of the rotating shaft of the driving motor 422 is set to be opposite to the rotating direction of the wire sleeve 2 driven by the screw rod 1, for example, when the screw rod 1 is driven by the operating portion 300 to move along the first direction, if the internal thread of the wire sleeve 2 is set to finally enable the wire sleeve 2 to rotate clockwise, the rotating direction of the driving portion 421 is also rotated clockwise at this time, so that the driving teeth 423 are driven to rotate anticlockwise, and the direction of the output torque of the rotating shaft of the driving motor 422 can be set to be clockwise at this time, and thus, the reverse torque of the wire sleeve 2 is transmitted to the screw rod 1 through the driving portion 421, so that the reverse torque of the wire sleeve 2 is prevented from being driven by the operating portion 300 to move along the first direction, and finally the force feedback effect is realized on the operating portion 300.

The greater the reverse torque force output from the driving motor 422, the greater the reverse resistance force that ultimately acts on the operation unit 300, and the greater the rotational speed of the driving motor 422 when a greater force feedback is required and the lesser the rotational speed of the driving motor 422 when a lesser force feedback is required, according to a real-time game scenario.

It should be understood that the maximum torque value of the driving motor 422 is set to be smaller than that of the case 2 rotating clockwise, so that the user does not feel distortion of the game experience caused by complete pressing of the operating part 300.

Since the positions of the operation parts 300 are different, the feedback force applied to the operation parts 300 is also different, and for this reason, in the present embodiment, a displacement sensor 500 is disposed in the housing 200 to detect the position of the operation parts 300, and thus, by disposing the displacement sensor 500, the position of the operation parts 300 is obtained, so that the user can adjust the position of the operation parts 300 as required, thereby enabling the user to obtain feedback forces of different degrees.

In addition, the present invention provides an operating handle including the force feedback device 1000. It should be noted that, the structure of the force feedback device 1000 in the operation handle may refer to the embodiment of the force feedback device 1000 described above, and will not be described herein again; because the force feedback device 1000 is used in the operation handle provided by the present invention, the embodiment of the operation handle provided by the present invention includes all the technical solutions of all the embodiments of the force feedback device 1000, and the achieved technical effects are identical, and are not described in detail herein.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the specification and drawings of the present invention or direct/indirect application in other related technical fields are included in the scope of the present invention.

Claims (10)

1. The utility model provides a lead screw structure, is used on force feedback device, its characterized in that, the lead screw structure includes lead screw and cover are located the silk cover of lead screw, the silk cover with be formed with multiunit screw thread fit structure between the lead screw, at least one set of screw thread fit structure includes first screw thread convex part and first screw thread groove, the both sides face correspondence of first screw thread convex part with the both sides wall cooperation of first screw thread groove to be formed with two sets of mating surface groups, two sets of the frictional force of mating surface group is inequality.

2. A lead screw structure as in claim 1, wherein the contact areas of said two sets of mating surfaces are unequal such that the friction of said two sets of mating surfaces are unequal.

3. A force feedback device lead screw structure according to claim 2, wherein the two sets of mating surfaces are differently shaped.

4. A screw structure according to claim 3, wherein, in an axial section of said screw, one of said two sets of mating surfaces is disposed in a straight line in a radial direction of said screw, and the other is disposed in an inclined direction in an axial direction of said screw toward said screw.

5. The lead screw structure of claim 2, wherein the set of mating surfaces includes first and second mating surfaces that mate with each other;

and in the two sets of the matching surface, the shape of the first matching surface is the same as that of the second matching surface, and the shape of the first matching surface is different from that of the second matching surface.

6. A lead screw structure as in claim 5, wherein said first mating surface is disposed in a straight line and said second mating surface is disposed in a broken line in an axial cross section of said lead screw.

7. A lead screw structure as in claim 1, wherein the mating surface sets of the two sets have different roughness.

8. A force feedback device, comprising:

a housing;

the operating part can be movably arranged on the shell along a first direction and at least partially positioned outside the shell;

a transmission structure comprising the screw rod structure according to any one of claims 1 to 7, wherein a wire sleeve of the transmission structure abuts against the operation portion; the method comprises the steps of,

and the driving device is in driving connection with the screw rod structure so as to enable the screw rod and/or the screw sleeve to move.

9. A lead screw structure according to claim 8, wherein said drive means comprises:

the resetting piece is arranged between the wire sleeve and the shell and used for resetting the operating part to an initial position; the method comprises the steps of,

the driving mechanism comprises a driving part, wherein the driving part and the silk sleeve can be arranged in a clutching way, so that the driving part is in a combined state in transmission connection with the silk sleeve and in a separated state in contact with the silk sleeve.

10. An operating handle comprising a force feedback device as claimed in any one of claims 8 to 9.