WO2024255688A1 - 力反馈装置和电子设备 - Google Patents

力反馈装置和电子设备 Download PDF

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Publication number
WO2024255688A1
WO2024255688A1 PCT/CN2024/097898 CN2024097898W WO2024255688A1 WO 2024255688 A1 WO2024255688 A1 WO 2024255688A1 CN 2024097898 W CN2024097898 W CN 2024097898W WO 2024255688 A1 WO2024255688 A1 WO 2024255688A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmission
gear
trigger
assembly
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2024/097898
Other languages
English (en)
French (fr)
Inventor
胡万里
陈旭
林建堂
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vivo Mobile Communication Co Ltd
Original Assignee
Vivo Mobile Communication Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vivo Mobile Communication Co Ltd filed Critical Vivo Mobile Communication Co Ltd
Publication of WO2024255688A1 publication Critical patent/WO2024255688A1/zh
Priority to US19/406,928 priority Critical patent/US20260086595A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/015—Arrangements for indicating the position of a controlling member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G2505/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member

Definitions

  • the present application belongs to the technical field of electronic equipment, and specifically relates to a force feedback device and an electronic equipment.
  • a vibration mechanism is set in the electronic device, and the electronic device is vibrated by the vibration mechanism so that the user can get tactile feedback.
  • the vibration mechanism can only drive the overall vibration of the electronic device, and cannot provide accurate tactile feedback to the trigger pressed by the user.
  • the present application aims to provide a force feedback device and an electronic device, which at least solve the technical problem in the related art that the vibration mechanism cannot provide accurate tactile feedback to the trigger pressed by the user.
  • an embodiment of the present application provides a force feedback device, comprising:
  • a trigger rotatably connected to the base
  • a first transmission assembly transmission-connected to the trigger
  • the second transmission assembly includes a first gear, a transmission gear, a gear ring and a rotating bracket, the transmission gear is meshed between the first gear and the gear ring, the gear ring is fixed to the base, the rotating bracket is connected to the transmission gear, the rotating bracket can rotate relative to the first gear and the gear ring, one of the rotating bracket and the first gear is a first transmission end of the second transmission assembly, and the other is a second transmission end of the second transmission assembly, and the first transmission end is in transmission connection with the first transmission assembly;
  • a driving assembly is drivingly connected to the second driving end, and the driving assembly can drive the second driving end to rotate;
  • the trigger When the trigger rotates relative to the base, the trigger can drive the first transmission end to rotate via the first transmission assembly, and the drive assembly can drive the second transmission end to rotate to block or assist the first transmission end to rotate.
  • an embodiment of the present application provides an electronic device, comprising any one of the force feedback devices provided in the first aspect.
  • a first transmission assembly and a second transmission assembly are arranged to be transmission-connected between the trigger and the drive assembly, so that the first transmission assembly and the second transmission assembly can transmit power between the trigger and the drive assembly; and a drive assembly is arranged to be able to block or assist the rotation of the first transmission end by driving the second transmission end to rotate, so that the drive assembly can assist or hinder the rotation of the trigger relative to the base through the first transmission assembly and the second transmission assembly, so that the trigger can achieve tactile feedback such as damping, force release, vibration, and rebound, and the tactile feedback is accurately fed back to the user through the trigger, thereby improving the authenticity and accuracy of the tactile feedback.
  • FIG1 is a schematic diagram of a three-dimensional structure of an embodiment of a force feedback device according to the present application.
  • FIG2 is a second schematic diagram of the three-dimensional structure of the force feedback device according to an embodiment of the present application.
  • FIG3 is a schematic cross-sectional view of an embodiment of a force feedback device according to the present application.
  • FIG4 is a schematic diagram of the disassembled structure of an embodiment of a second transmission assembly according to the present application.
  • FIG5 is a third schematic diagram of the three-dimensional structure of the embodiment of the force feedback device according to the present application.
  • FIG6 is a fourth schematic diagram of the three-dimensional structure of the embodiment of the force feedback device according to the present application.
  • FIG7 is a schematic cross-sectional view of an embodiment of a force feedback device according to the present application.
  • FIG8 is a schematic diagram of a disassembled structure of an embodiment of a force feedback device according to the present application.
  • FIG9 is a schematic cross-sectional view of an embodiment of a second transmission assembly according to the present application.
  • FIG. 10 is a second schematic diagram of the disassembled structure of the embodiment of the force feedback device according to the present application.
  • first or “second” in the specification and claims of this application may include one or more of the features explicitly or implicitly.
  • plural means two or more.
  • and/or in the specification and claims means at least one of the connected objects, and the character “/” generally means that the objects connected before and after are in an “or” relationship.
  • the terms “installed”, “connected”, and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components.
  • installed should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components.
  • the force feedback device 100 according to an embodiment of the present application is described below in conjunction with FIGS. 1 to 10 .
  • a force feedback device 100 includes a base 1, a trigger 2, a first transmission assembly 4, a second transmission assembly 5 and a driving assembly 3.
  • the trigger 2 is rotatably connected to the base 1;
  • the first transmission assembly 4 is in transmission connection with the trigger 2;
  • the second transmission assembly 5 includes a first gear 53, a transmission gear 54, a gear ring 52 and a rotating bracket 51.
  • the transmission gear 54 is meshed between the first gear 53 and the gear ring 52.
  • the gear ring 52 is fixed to the base 1.
  • the rotating bracket 51 is connected to the transmission gear 54.
  • the rotating bracket 51 can rotate relative to the first gear 53.
  • the gear 53 and the ring gear 52 rotate, one of the rotating bracket 51 and the first gear 53 is the first transmission end of the second transmission assembly 5, and the other is the second transmission end of the second transmission assembly 5, and the first transmission end is connected to the first transmission assembly 4;
  • the driving assembly 3 is connected to the second transmission end, and the driving assembly 3 can drive the second transmission end to rotate; when the trigger 2 rotates relative to the base 1, the trigger 2 can drive the first transmission end to rotate through the first transmission assembly 4, and the driving assembly 3 can block or assist the first transmission end to rotate by driving the second transmission end to rotate.
  • the force feedback device 100 provided in the present application can be set in an electronic device, which can be a handle, remote control, etc. for interacting with other electronic devices, or a mobile phone, tablet computer, laptop computer, PDA, vehicle-mounted electronic device, augmented reality (AR)/virtual reality (VR) device, electronic game console, etc.
  • the present application embodiment does not limit the specific type of electronic device.
  • the force feedback device 100 is described by taking application of a handle as an example.
  • the base 1 can provide a mounting base for the trigger 2 and the driving assembly 3, and can also provide a receiving space for the first transmission assembly 4 and/or the second transmission assembly 5 to receive at least a portion of the first transmission assembly 4 and/or at least a portion of the second transmission assembly 5.
  • the first gear 53, the transmission gear 54, the gear ring 52 and the rotating bracket 51 can be received in the base 1 together.
  • At least a portion of the trigger 2 is exposed from the housing of the handle, so that the user can touch the trigger 2 and apply force to the trigger 2.
  • the trigger 2 is rotatably connected to the base 1, and the user can apply force to the trigger 2 and push the trigger 2 to rotate relative to the base 1 to change the rotation of the trigger 2 relative to the base 1 between the first position and the second position.
  • the trigger 2, the first transmission assembly 4, the second transmission assembly 5 and the drive assembly 3 are connected in sequence.
  • the trigger 2 rotates between the first position and the second position
  • the trigger 2 can drive the first transmission assembly 4 to move
  • the first transmission assembly 4 drives the second transmission assembly 5 to move.
  • the drive assembly 3 can also output power to the second transmission assembly 5, so that the second transmission assembly 5 moves, the second transmission assembly 5 drives the first transmission assembly 4 to move, and the first transmission assembly 4 drives or restricts the trigger 2 from rotating between the first position and the second position.
  • the first transmission assembly 4 may include one or more of a transmission rod, a gear, a worm gear, a transmission belt, and a chain to transmit the power of the trigger 2 to the second transmission assembly 5 , or transmit the power of the second transmission assembly 5 to the trigger 2 .
  • the transmission gear 54 can revolve around the first gear 53, and the transmission gear 54 also rotates.
  • the second transmission assembly 5 has a first transmission end and a second transmission end, and the second transmission assembly 5 can provide at least the following two transmission connection modes:
  • the rotating bracket 51 is the first transmission end, and the first gear 53 is the second transmission end.
  • the rotating bracket 51 is connected to the first transmission component 4 in transmission connection, and the first gear 53 is connected to the driving component 3 in transmission connection.
  • the driving shaft of the driving component 3 drives the first gear 53 to rotate, and the first gear 53 drives the transmission gear 54 meshing with it to rotate around the central axis of the first gear 53.
  • the ring gear 52 is fixed to the base 1, the ring gear 52 does not rotate with the transmission gear 54.
  • the transmission gear 54 drives the rotating bracket 51 to rotate, and the rotating bracket 51 outputs power to the first transmission component 4.
  • the transmission direction of the force when the first transmission component 4 outputs power to the first transmission end is opposite to the transmission direction of the force when the driving component 3 outputs power to the second transmission end, which will not be repeated here.
  • the second type is that the first gear 53 is the first transmission end, and the rotating bracket 51 is the second transmission end.
  • the first gear 53 is connected to the first transmission component 4 in transmission connection
  • the rotating bracket 51 is connected to the driving component 3 in transmission connection.
  • the driving shaft of the driving component 3 drives the rotating bracket 51 to rotate
  • the rotating bracket 51 drives the transmission gear 54 connected thereto to rotate around the central axis of the first gear 53.
  • the ring gear 52 is fixed to the base 1, the ring gear 52 does not rotate with the transmission gear 54.
  • the transmission gear 54 drives the first gear 53 to rotate, and the first gear 53 outputs power to the driving component 3.
  • the transmission direction of the force when the first transmission component 4 outputs power to the first transmission end is opposite to the transmission direction of the force when the driving component 3 outputs power to the second transmission end, which will not be described one by one here.
  • the driving assembly 3 may include a driving member such as a rotary motor or a linear motor.
  • the driving assembly 3 may directly or indirectly output power in both positive and negative directions to the second transmission assembly 5 through the driving member.
  • the power output by the driving assembly 3 is consistent with the direction in which the trigger 2 drives the second transmission end to rotate through the first transmission assembly 4, the power output by the driving assembly 3 is coordinated with the second transmission end 5.
  • the power output by the drive assembly 3 is opposite to the direction in which the trigger 2 drives the second transmission end to rotate through the first transmission assembly 4, the power output by the drive assembly 3 hinders the second transmission end from rotating.
  • tactile feedback such as pressing damping, force release, vibration, and rebound can be achieved.
  • the first transmission assembly 4 and the second transmission assembly 5 are arranged to be transmission-connected between the trigger 2 and the drive assembly 3, so that the first transmission assembly 4 and the second transmission assembly 5 can transmit power between the trigger 2 and the drive assembly 3;
  • the transmission gear 54 is arranged to mesh between the first gear 53 and the ring gear 52, and the rotating bracket 51 is arranged to be connected with the transmission gear 54, so that the transmission ratio of the second transmission assembly 5 can be adjusted by adjusting the number of teeth of the transmission gear 54, the first gear 53 and the ring gear 52, so that the force feedback device 100 can achieve force feedback response with different precisions;
  • the drive assembly 3 is arranged to be able to block or assist the rotation of the first transmission end by driving the second transmission end to rotate, so that the drive assembly 3 can assist or hinder the rotation of the trigger 2 relative to the base 1 through the first transmission assembly 4 and the second transmission assembly 5, so that the trigger 2 can achieve tactile feedback such as damping, force release, vibration, rebound, etc., and the tactile feedback is accurately fed back to
  • the transmission ratio of the second transmission assembly 5 is greater than 1, the speed of the power input end of the second transmission assembly 5 is greater than the speed of the power output end, and the second transmission assembly 5 performs a movement to reduce speed and increase torque.
  • the transmission ratio of the second transmission assembly 5 is less than 1, the speed of the power input end of the second transmission assembly 5 is less than the speed of the power output end, and the second transmission assembly 5 performs a movement to increase speed and reduce torque. Therefore, those skilled in the art can determine whether the drive assembly 3 is connected to the rotating bracket 51 or the ring gear 52 according to the demand for increasing or reducing the output speed of the drive assembly 3 and the demand for increasing or reducing the output torque of the drive assembly 3.
  • the first transmission end is a rotating bracket 51
  • the second transmission end is a first gear 53
  • the first transmission assembly 4 the rotating bracket 51, the first gear 53 and the driving assembly 3 are arranged in sequence along the first direction X.
  • the torque input by the driving mechanism through the first gear 53 can be increased by the second transmission assembly 5, so as to increase the torque that the driving assembly 3 can act on the trigger 2 through the first transmission assembly 4 and the second transmission assembly 5 while keeping the maximum output torque of the driving assembly 3 unchanged.
  • Figure 5 is a schematic diagram of the three-dimensional structure of the force feedback device 100 when the trigger 2 is in the first position
  • Figure 6 is a schematic diagram of the three-dimensional structure of the force feedback device 100 when the trigger 2 is in the second position.
  • the first position is that the trigger 2 is in an initial position relative to the base 1
  • the second position is that the trigger 2 is in a pressed position relative to the base 1.
  • the user presses the trigger 2, so that the trigger 2 rotates from the first position to the second position along the direction of the dotted arrow in FIG. 5 , and the trigger 2 and the base 1 rotate around the axis L1 shown in FIG. 2 .
  • the rotating bracket 51 rotates around the axis L2 shown in FIG. 2
  • the rotating bracket 51 drives the transmission gear 54 to rotate while revolving around the first gear 53.
  • the transmission gear 54 inputs the first gear 53 to drive the first gear 53 to rotate along the first circumferential direction. Driving force for self-rotation.
  • the driving component 3 When the driving component 3 outputs the driving force for self-rotation along the first circumferential direction to the first gear 53, the driving component 3 can assist the first gear 53 in self-rotation along the first circumferential direction, so that the user feels the tactile feedback of force release, that is, the tactile feedback that pressing the trigger 2 is effortless, and the directions of the first circumferential direction and the second circumferential direction are opposite.
  • the driving component 3 When the driving component 3 outputs the driving force for self-rotation along the second circumferential direction to the first gear 53, the driving component 3 can hinder the first gear 53 from self-rotating along the first circumferential direction, so that the user feels the tactile feedback of pressure damping, that is, the tactile feedback that pressing the trigger 2 is effortless.
  • the driving assembly 3 outputs the driving force to drive the first gear 53 to rotate along the second circumferential direction
  • the driving assembly 3 drives the first gear 53 to rotate along the second circumferential direction
  • the first gear 53 drives the transmission gear 54 to rotate while revolving around the first gear 53
  • the transmission gear 54 drives the rotating bracket 51 to rotate
  • the rotating bracket 51 outputs power to the first transmission assembly 4
  • the first transmission assembly 4 can drive the trigger 2 to rotate from the second position to the first position, so that the user can feel the tactile feedback of the rebound of the trigger 2, that is, the trigger 2 returns to the initial position.
  • the user lightly touches the trigger 2, and when the drive component 3 outputs a driving force to the first gear 53 for reciprocating rotation along the first circumferential direction and along the second circumferential direction, the drive component 3 drives the first gear 53 to reciprocate along the first circumferential direction and along the second circumferential direction, the first gear 53 drives the transmission gear 54 to rotate while revolving around the first gear 53, the transmission gear 54 drives the rotating bracket 51 to rotate, and the rotating bracket 51 outputs a driving force for reciprocating rotation along the first circumferential direction and along the second circumferential direction to the first transmission component 4, and the first transmission component 4 can drive the trigger 2 to reciprocate between the first position and the second position, so that the user can feel the tactile feedback of the vibration of the trigger 2.
  • the first transmission component 4, the rotating bracket 51, the first gear 53 and the driving component 3 are arranged in sequence along the first direction X.
  • the trigger 2 moves or the driving mechanism drives
  • the rotating bracket 51 and the first gear 53 rotate
  • the transmission gear 54 rotates while revolving around the first gear 53, so that the first transmission component 4 does not move in the first direction X, and power transmission can be achieved, thereby eliminating the need to reserve moving space for the second transmission component 5 in the first direction X, thereby reducing the length of the force feedback device 100 in the first direction X.
  • the base 1 has a first opening 12 and a second opening 13 arranged along the first direction X
  • the second transmission assembly 5 is arranged in the base 1
  • a portion of the rotating bracket 51 extends out of the base 1 through the first opening 12 and is connected to the first transmission assembly 4
  • a portion of the driving assembly 3 extends into the base 1 through the second opening 13 and is connected to the first gear 53.
  • the first transmission assembly 4 can be arranged on one side of the base 1 along the first direction X, and the driving assembly 3 can be arranged on the other side of the base 1 along the first direction X.
  • the base 1 can not only provide a receiving space for accommodating the ring gear 52, the first gear 53 and the transmission gear 54, but also can confine the lubricant used for lubricating the ring gear 52, the first gear 53 and the transmission gear 54 within the base 1, and can also provide an installation foundation for the ring gear 52, the rotating bracket 51 and the driving assembly 3.
  • the ring gear 52 , the first gear 53 and the transmission gear 54 are arranged in the base 1 to prevent foreign matter from entering the base 1 and interfering with the coordinated movement among the ring gear 52 , the first gear 53 and the transmission gear 54 .
  • the base 1 includes a first cover 14 and a second cover 15 that cover each other, the first opening 12 is disposed on the first cover 14, the second opening 13 is disposed on the second cover 15, and the gear ring 52 is fixed to the first cover 14 and the second cover 15. /or on the second cover body 15.
  • the first cover 14 and the second cover 15 cover each other, and the first cover 14 and the second cover 15 jointly define a receiving space.
  • the ring gear 52 is fixed to the first cover 14 and/or the second cover 15, so that when the transmission gear 54 rotates, the ring gear 52 fixed to the first cover 14 and/or the second cover 15 does not rotate.
  • the ring gear 52 is fixed to the second cover 15, and the ring gear 52 and the second cover 15 are an integrally formed part to increase the connection stability of the ring gear 52 and the second cover 15.
  • the gear ring 52 is fixed on the second cover body 15
  • the first cover body 14 includes a cover plate 141 and a side plate 142
  • the side plate 142 is disposed on the cover plate 141
  • the side plate 142 is disposed around the gear ring 52
  • the second cover body 15 is covered on the side plate 142 .
  • the inner tooth surface of the gear ring 52 meshes with the transmission gear 54, and the outer surface of the gear ring 52 is arranged opposite to the side plate 142.
  • the side plate 142 By arranging the side plate 142 around the gear ring 52 , the side plate 142 can protect the gear ring 52 , reduce or avoid external force damaging the gear ring 52 , and improve the movement stability of the second transmission assembly 5 .
  • the rotating bracket 51 includes a mounting plate 541, a first connecting rod 542 and a second connecting rod 543, the first connecting rod 542 and the second connecting rod 543 are connected to both sides of the mounting plate 541 along the first direction X, the first connecting rod 542 extends out of the base 1 and is connected to the first transmission assembly 4, and the second connecting rod 543 is connected to the transmission gear 54.
  • multiple transmission gears 54 there are also multiple second connecting rods 543, and multiple second connecting rods 543 are connected to multiple transmission gears 54 in a one-to-one correspondence.
  • Multiple transmission gears 54 can share the load to reduce the force between each transmission gear 54 and the second connecting rod 543, and reduce the size of the transmission gear 54.
  • multiple transmission gears 54 can be evenly spaced around the first gear 53 to increase the stability of the rotation and revolution of the transmission gear 54.
  • there are three transmission gears 54 and the three transmission gears 54 are evenly arranged around the first gear 53.
  • the first connecting rod 542 is coaxially arranged with the first gear 53, and the projections of the three second connecting rods 543 on the mounting plate 541 are arranged around the projections of the first connecting rod 542 on the mounting plate 541.
  • the stroke of the trigger 2 from the first position to the second position is shorter, so that when the trigger 2 rotates from the first position to the second position, the stroke of the transmission gear 54 orbiting around the first gear 53 is smaller than the circumference of the first gear 53, that is, during the rotation of the trigger 2 between the first position and the second position, the transmission gear 54 does not need to orbit around the first gear 53 in a full circle.
  • the gear ring 52 includes a plurality of arc-shaped racks 521 and stoppers 522 disposed at both ends of the arc-shaped racks 521.
  • the plurality of arc-shaped racks 521 orbit around the first gear 53.
  • the plurality of transmission gears 54 are arranged in sequence and spaced apart, and mesh with the plurality of arc-shaped racks 521 respectively and one by one.
  • the stopper 522 may be a protrusion relative to the arc-shaped member and close to the first gear 53 along the radial direction of the gear ring 52.
  • the two stoppers 522 located between the two arc-shaped racks 521 may be an integral part, and the arc-shaped racks 521 and the stoppers 522 are alternately arranged around the first gear 53.
  • the limiting member 522 can limit the revolution stroke of each transmission gear 54 and the length of the arc-shaped rack 521 corresponding to the transmission gear 54 to be consistent, thereby limiting the revolution stroke of the transmission gear 54 and limiting the rotation angle of the trigger 2 relative to the base 1.
  • each transmission gear 54 when the trigger 2 is at the first position relative to the base 1, each transmission gear 54 is in contact with a stopper 522 at one end of the arc-shaped rack 521; when the trigger 2 is at the second position relative to the base 1, each transmission gear 54 is in contact with a stopper 522 at the other end of the arc-shaped rack 521.
  • the stopper 522 can prevent the trigger 2 from rotating relative to the base 1 beyond the first position or the second position.
  • the lengths of the arc-shaped racks 521 can be the same.
  • the second transmission assembly 5 further includes a bearing 55 .
  • the bearing 55 is sleeved between the rotating bracket 51 and the base 1 .
  • the bearing 55 sleeved between the rotating bracket 51 and the base 1 can reduce the friction between the rotating bracket 51 and the base 1.
  • the bearing 55 is sleeved between the first connecting rod 542 and the first cover 14.
  • a relief recess 145 can be provided on the cover plate 141 of the first cover 14, and the bearing 55 can be placed in the relief recess 145.
  • the relief recess 145 can limit the bearing 55, and the relief recess 145 can accommodate at least part of the bearing 55, thereby improving the assembly compactness of the second transmission assembly 5 and the base 1.
  • the first transmission assembly 4 includes a swing arm 41 and a second gear 42, one end of the swing arm 41 is rotatably connected to the trigger 2, and the trigger 2 can drive the swing arm 41 to rotate relative to the base 1;
  • the second gear 42 is connected to the rotating bracket 51 and meshes with the swing arm 41, the second gear 42, the second transmission assembly 5 and the driving assembly 3 are connected in sequence along the first direction X, the second transmission assembly 5 and the trigger 2 are spaced apart along the second direction Y, and the first direction X and the second direction Y are intersected.
  • One end of the swing arm 41 and the trigger 2 may be an integrally formed structure.
  • the swing arm 41 may rotate together with the trigger 2 at the same angular velocity.
  • the other end of the swing arm 41 has meshing teeth meshing with the second gear 42.
  • the swing arm 41 may drive the second gear 42 to rotate.
  • the rotational force generated by the rotation of the second gear 42 is input into the first rotating end to drive the second rotating end to rotate.
  • the rotation of the trigger 2 can be transmitted to the second transmission assembly 5; by setting the number of teeth of the second transmission assembly 5, the transmission ratio of the first rotating end and the second rotating end can be adjusted to improve the precision of the force feedback of the driving assembly 3 on the rotation of the trigger 2 through the first transmission assembly 4 and the second transmission assembly 5.
  • the second transmission assembly 5 and the trigger 2 are arranged at intervals along the second direction Y to reduce the length of the force feedback device 100 in the first direction X.
  • the trigger 2 rotates around the first axis L between the first position and the second position, and the trigger 2 drives the swing arm 41 to rotate around the first axis L and translate within a reference plane.
  • the first axis L extends along the first direction X.
  • the second gear 42, the gear 43 and the gear 44 are connected to each other.
  • the movable bracket 51, the gear ring 52, and the first gear ring 52 are coaxially arranged along the axis L2 shown in Fig. 2.
  • the first direction X and the second direction Y are arranged perpendicularly, and the reference surface can be arranged along the first direction X with the base 1.
  • the force feedback device 100 further includes a detection mechanism 6 and a control mechanism.
  • the detection mechanism 6 includes a first sensor 61 and a second sensor 62, one of which is disposed on the first transmission component 4 and the other on the base 1.
  • the first sensor 61 moves away from or approaches the second sensor 62, and the first sensor 61 can generate relative position information of the first sensor 61 and the second sensor 62;
  • the control mechanism is electrically connected to the drive component 3 and the first sensor 61, respectively, and the control mechanism can control the drive component 3 to drive the second transmission end to rotate according to the relative position information.
  • the first sensing element 61 and the second sensing element 62 are provided so that the distance between the two can be detected by the first sensing element 61 and the second sensing element 62, and the relative position relationship between the trigger 2 and the base 1 can be equivalently obtained.
  • One of the first sensing element 61 and the second sensing element 62 can be a magnetic element, and the other can be a Hall element.
  • the relative position information can be an analog signal or a digital signal.
  • the control mechanism includes a control chip, and the detection mechanism 6 can be electrically connected to the control chip to send the analog signal or digital signal detected to the control chip.
  • the control chip can generate a control signal for controlling the drive component 3 according to the analog signal or the digital signal, and the drive component 3 outputs power in different directions and different magnitudes according to the control signal, so that the drive component 3 can output power in different directions and different magnitudes according to the relative positions of the trigger 2 and the base 1.
  • the first sensing member 61 is disposed on the swing arm 41 to facilitate the force feedback device 100 to replace triggers 2 of different specifications. Since the trigger 2 needs to be exposed to the housing of the electronic device and bear the thrust applied by the user, the swing arm 41 has better stability than the trigger 2. By disposing the first sensing member 61 on the swing arm 41, the stability of the first sensing member 61 is improved.
  • the force feedback device 100 further includes a rotating shaft 71 and a return spring 73 .
  • the trigger 2 , the base 1 and the return spring 73 are all sleeved on the rotating shaft 71 , and the return spring 73 abuts between the base 1 and the trigger 2 .
  • the reset spring 73 When the user applies force to press the trigger 2 to rotate relative to the base 1, the reset spring 73 is deformed under the action of the base 1 and the trigger 2. When the user releases the trigger 2, the elastic restoring force of the reset spring 73 drives the base 1 and the trigger 2 to rotate relative to each other and reset.
  • the first position is the initial position of the trigger 2 relative to the base 1
  • the second position is the pressing position of the trigger 2 relative to the base 1.
  • the user presses the trigger 2, so that the trigger 2 rotates from the first position to the second position, and the reset spring 73 is deformed when the trigger 2 and the base 1 squeeze.
  • the user releases the trigger 2, and the elastic restoring force of the reset spring 73 drives the base 1 and the trigger 2 to rotate from the second position to the first position.
  • the trigger 2, the base 1 and the return spring 73 are all sleeved on the rotating shaft 71 to ensure that the trigger 2 and the base 1 can rotate relative to each other around the axial direction of the rotating shaft 71; the return spring 73 is arranged to abut between the base 1 and the trigger 2, so that the trigger 2 can automatically return to the second position from the first position, or automatically return to the first position from the second position, without being pressed by the user.
  • the trigger 2 includes a main body 22 and a first rotating part 21 connected to each other, the first rotating part 21 is sleeved on the rotating shaft 71, and the base 1 includes a side plate 142 and a second rotating part 144 connected to each other, The second rotating portion 144 is sleeved on the rotating shaft 71 , and the return spring 73 abuts between the main body 22 and the side plate 142 .
  • the first rotating part 21 and the second rotating part 144 may have a through hole, and the rotating shaft 71 may be inserted into the through hole along the first direction X.
  • the first cover body 14 of the base 1 includes a side plate 142, a cover plate 141 and a connecting plate arranged at intervals along the first direction X, the side plate 142 connects the cover plate 141 and the connecting plate, and the areas with through holes on the cover plate 141 and the connecting plate are reused as the second rotating parts 144 arranged at intervals.
  • the base 1 includes a protrusion, which protrudes relative to the first cover 14 in a direction away from the drive assembly 3, and the protrusion is arranged opposite to the swing arm 41.
  • the first sensor 61 is arranged on a side of the swing arm 41 close to the protrusion, and the second sensor 62 is arranged on the protrusion.
  • the mounting seat can avoid the movement of the swing arm 41.
  • the mounting seat has a first surface, and the protrusion is arranged to protrude relative to the first surface.
  • the swing arm 41 can rotate within a reference plane where the first surface is located.
  • the force feedback device 100 has at least one of a first working mode, a second working mode, and a third working mode.
  • the driving assembly 3 drives the second transmission end to rotate, so that the trigger 2 reciprocates between the first position and the second position relative to the base 1;
  • the trigger 2 drives the first transmission end to rotate along the first circumferential direction through the first transmission assembly 4, and the driving assembly 3 drives the second transmission end to rotate along the first circumferential direction;
  • the trigger 2 drives the first transmission end to rotate along the first circumferential direction through the first transmission assembly 4, and the driving assembly 3 drives the second transmission end to rotate along the second circumferential direction;
  • the first circumferential direction and the second circumferential direction are in opposite directions.
  • the first working mode may be a vibration mode.
  • the driving component 3 drives the second transmission end to reciprocate and rotate in the counterclockwise direction and the clockwise direction, and the trigger 2 reciprocates and rotates between the first position and the second position relative to the base 1 through the transmission of the first transmission component 4 and the second transmission component 5, and the user feels the vibration of the trigger 2.
  • the second working mode may be a force release mode.
  • the second transmission end rotates along the first circumferential direction
  • the driving assembly 3 drives the second transmission end to rotate along the first circumferential direction, and the user feels the force release of pressing the trigger 2.
  • the second working mode may be a rebound mode.
  • the driving assembly 3 drives the second transmission end to rotate along the first circumferential direction or the second circumferential direction, and the trigger 2 is installed relative to the base 1 under the action of the first transmission assembly 4, and the user feels that the trigger 2 rebounds to the initial position.
  • the second working mode may be a damping mode.
  • the second transmission end rotates along the first circumferential direction
  • the driving assembly 3 drives the second transmission end to rotate along the second circumferential direction. The user needs to apply a greater force to the trigger.
  • the force feedback device 100 may also have initialization wear.
  • the drive assembly 3 drives the second transmission end to rotate, so that the trigger 2 is at a preset initial position relative to the base 1.
  • the present application also discloses an electronic device, which includes the force feedback device 100 in any of the above embodiments.
  • the force feedback device 100 in any of the above embodiments is applied to the electronic device to achieve tactile feedback such as damping, force release, vibration, and rebound through the trigger 2.
  • the tactile feedback is accurately fed back to the user through the trigger 2, thereby improving the authenticity and accuracy of the tactile feedback.
  • the electronic device disclosed in the embodiments of the present application may be a smart phone, a tablet computer, an e-book reader, a wearable device (such as a smart watch), an electronic game console, or the like.
  • the embodiments of the present application do not limit the specific types of electronic devices.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.
  • one embodiment means that a particular feature, structure or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present application.
  • examples of the term “in one embodiment” here do not necessarily all refer to the same embodiment.
  • any reference signs placed between brackets shall not be construed as limiting the claims.
  • the word “comprising” does not exclude the presence of elements or steps not listed in the claims.
  • the word “a” or “an” preceding an element does not exclude the presence of a plurality of such elements.
  • the present application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware.
  • the use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

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Abstract

一种力反馈装置和电子设备，涉及电子设备技术领域。力反馈装置（100）包括：基座（1）、扳机（2）、第一传动组件（4）和第二传动组件（5）；扳机（2）转动连接于基座（1）；第一传动组件（4）与扳机（2）传动连接；第二传动组件（5）包括第一齿轮（53）、传动齿轮（54）、齿圈（52）和转动支架（51），传动齿轮（54）啮合于第一齿轮（53）和齿圈（52）之间，齿圈（52）与基座（1）固定，转动支架（51）与传动齿轮（54）连接，转动支架（51）能够相对第一齿轮（53）和齿圈（52）自转；驱动组件（3）能够驱动第二传动端自转；扳机（2）相对基座（1）转动的情况下，扳机（2）能够通过第一传动组件（4）带动第一传动端自转，驱动组件（3）能够通过驱动第二传动端自转，以阻挡或助力第一传动端自转。

Description

力反馈装置和电子设备
相关申请的交叉引用
本申请要求在2023年06月13日提交中国专利局、申请号为202310698734.0、名称为“力反馈装置和电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于电子设备技术领域，具体涉及一种力反馈装置和电子设备。
背景技术
随着科技的发展，电子设备的功能越来越丰富。电子设备已成为人们日常出行、娱乐、沟通等多种社交生活中必不可少的工具之一。相关技术中，为了提高用户操作电子设备过程中的实体触感，在电子设备内设置振动机构，通过振动机构实现电子设备振动，使得用户可以得到触觉反馈。振动机构仅能驱动电子设备整体振动，不能对用户按压的扳机进行精准的触觉反馈。
因此，上述问题导致相关技术中的振动机构不能对用户按压的扳机进行精准的触觉反馈。
发明内容
本申请旨在提供一种力反馈装置和电子设备，至少解决相关技术中的振动机构不能对用户按压的扳机进行精准的触觉反馈的技术问题。
第一方面，本申请实施例提出了一种力反馈装置，包括：
基座；
扳机，转动连接于基座；
第一传动组件，与扳机传动连接；
第二传动组件，包括第一齿轮、传动齿轮、齿圈和转动支架，传动齿轮啮合于第一齿轮和齿圈之间，齿圈与基座固定，转动支架与传动齿轮连接，转动支架能够相对第一齿轮和齿圈自转，转动支架和第一齿轮中的一者为第二传动组件的第一传动端，另一者为第二传动组件的第二传动端，第一传动端与第一传动组件传动连接；
驱动组件，与第二传动端传动连接，驱动组件能够驱动第二传动端自转；
扳机相对基座转动的情况下，扳机能够通过第一传动组件带动第一传动端自转，驱动组件能够通过驱动第二传动端自转，以阻挡或助力第一传动端自转。
第二方面，本申请实施例提出了一种电子设备，包括第一方面提供的任一项力反馈装置。
在本申请的实施例中，通过设置第一传动组件和第二传动组件传动连接于扳机和驱动组件之间，使得第一传动组件和第二传动组件可以在扳机和驱动组件之间传输动力；通过设置驱动组件能够通过驱动第二传动端自转，以阻挡或助力第一传动端自转，使得驱动组件可以通过第一传动组件和第二传动组件助力或阻碍扳机相对基座的转动，使得扳机可以实现阻尼、泄力、振动、反弹等触觉反馈，该触觉反馈精准的通过扳机反馈至用户，提高了触觉反馈的真实性和准确性。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本申请的力反馈装置的实施例的立体结构示意图之一；
图2是根据本申请的力反馈装置的实施例的立体结构示意图之二；
图3是根据本申请的力反馈装置的实施例的剖面结构示意图；
图4是根据本申请的第二传动组件的实施例的拆解结构示意图；
图5是根据本申请的力反馈装置的实施例的立体结构示意图之三；
图6是根据本申请的力反馈装置的实施例的立体结构示意图之四；
图7是根据本申请的力反馈装置的实施例的剖面结构示意图；
图8是根据本申请的力反馈装置的实施例的拆解结构示意图之一；
图9是根据本申请的第二传动组件的实施例的剖面结构示意图；
图10是根据本申请的力反馈装置的实施例的拆解结构示意图之二。
附图标记：100－力反馈装置，1－基座，12－第一开口，13－第二开口，14－第一盖体，141－盖板，142－侧板，144－第二转动部，145－凹部，15－第二盖体，2－扳机，21－第一转动部，22－主体，3－驱动组件，4－第一传动组件，41－摆臂，42－第二齿轮，5－第二传动组件，51－转动支架，541－安装板，542－第一连接杆，543－第二连接杆，52－齿圈，521－弧形齿条，522－限位件，53－齿轮，54－传动齿轮，55－轴承，6－检测机构，61－第一感应件，62－第二感应件，71－转轴，73－复位弹簧，X－第一方向，Y－第二方向，L1－轴线，L2－轴线。
具体实施例
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中 的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
下面结合图1至图10描述根据本申请实施例的力反馈装置100。
请参阅图1、图2、图3和图4，一种力反馈装置100包括基座1、扳机2、第一传动组件4和第二传动组件5和驱动组件3，扳机2转动连接于基座1；第一传动组件4与扳机2传动连接；第二传动组件5包括第一齿轮53、传动齿轮54、齿圈52和转动支架51，传动齿轮54啮合于第一齿轮53和齿圈52之间，齿圈52与基座1固定，转动支架51与传动齿轮54连接，转动支架51能够相对第一齿轮53和齿圈52自转，转动支架51和第一齿轮53中的一者为第二传动组件5的第一传动端，另一者为第二传动组件5的第二传动端，第一传动端与第一传动组件4传动连接；驱动组件3与第二传动端传动连接，驱动组件3能够驱动第二传动端自转；扳机2相对基座1转动的情况下，扳机2能够通过第一传动组件4带动第一传动端自转，驱动组件3能够通过驱动第二传动端自转阻挡或助力第一传动端自转。
本申请提供的力反馈装置100可以设置在电子设备中，该电子设备可以是用于与其他电子设备交互的手柄、遥控器等，还可以是手机、平板电脑、笔记本电脑、掌上电脑、车载电子设备、增强现实(augmented reality，AR)/虚拟现实(virtual reality，VR)设备、电子游戏机等设备，本申请实施例不限制电子设备的具体种类。为方便描述，以下 以力反馈装置100应用于手柄为例进行描述。
基座1可以为扳机2和驱动组件3提供安装基础，还可以为第一传动组件4和/或第二传动组件5提供收容空间，以收容第一传动组件4的至少部分和/或第二传动组件5的至少部分。例如：第一齿轮53、传动齿轮54、齿圈52和转动支架51可以一并收容在基座1内。
扳机2的至少部分外露于手柄的壳体，使得用户可以触碰扳机2并向扳机2施力。扳机2转动连接于基座1，用户可以向扳机2施力并推动扳机2相对基座1转动，以改变扳机2相对基座1在第一位置和第二位置之间转动。
扳机2、第一传动组件4、第二传动组件5和驱动组件3依次连接。扳机2在第一位置和第二位置转动时，扳机2可带动第一传动组件4运动，第一传动组件4带动第二传动组件5运动。驱动组件3也可以向第二传动组件5输出动力，使得第二传动组件5运动，第二传动组件5带动第一传动组件4运动，第一传动组件4带动或限制扳机2在第一位置和第二位置转动。
第一传动组件4可以包括传动杆、齿轮、蜗杆、传动带、链条中的一个或多个，以将扳机2的动力传递至第二传动组件5，或将第二传动组件5的动力传递至扳机2。
传动齿轮54可以绕着第一齿轮53公转，传动齿轮54也进行自转。在本申请提供的实施例中，第二传动组件5具有第一传动端和第二传动端，第二传动组件5至少可以提供以下两种传动连接方式：
第一种，转动支架51为第一传动端，第一齿轮53为第二传动端。转动支架51和第一传动组件4传动连接，第一齿轮53和驱动组件3传动连接。在驱动组件3向第二传动端输出动力的情况下，驱动组件3的驱动轴驱动第一齿轮53自转，第一齿轮53带动与其啮合的传动齿轮54绕第一齿轮53的中心轴转动，由于齿圈52与基座1固定，齿圈52不随着传动齿轮54转动，传动齿轮54带动转动支架51自转，转动支架51向第一传动组件4输出动力。第一传动组件4向第一传动端输出动力时力的传动方向与驱动组件3向第二传动端输出动力时力的传动方向相反，在此不再一一赘述。
第二种，第一齿轮53为第一传动端，转动支架51为第二传动端。第一齿轮53和第一传动组件4传动连接，转动支架51和驱动组件3传动连接。在驱动组件3向第二传动端输出动力的情况下，驱动组件3的驱动轴驱动转动支架51自转，转动支架51带动与其连接的传动齿轮54绕第一齿轮53的中心轴转动，由于齿圈52与基座1固定，齿圈52不随着传动齿轮54转动，传动齿轮54带动第一齿轮53自转，第一齿轮53向驱动组件3输出动力。第一传动组件4向第一传动端输出动力时力的传动方向与驱动组件3向第二传动端输出动力时力的传动方向相反，在此不再一一赘述。
驱动组件3可以包括旋转电机、直线电机等驱动件。驱动组件3可以通过驱动件直接或间接的向第二传动组件5输出正反两个方向的动力。在驱动组件3输出的动力与扳机2通过第一传动组件4带动第二传动端转动的方向一致时，驱动组件3输出的动力协 助第二传动端转动。在驱动组件3输出的动力与扳机2通过第一传动组件4带动第二传动端转动的方向相反时，驱动组件3输出的动力阻碍第二传动端转动。通过调节驱动组件3的输出动力的作用方向、动力的扭矩大小、动力的输出时长等参数，可以实现按压阻尼、泄力、振动、反弹等触觉反馈。
在本实施例提供的力反馈装置100中，通过设置第一传动组件4和第二传动组件5传动连接于扳机2和驱动组件3之间，使得第一传动组件4和第二传动组件5可以在扳机2和驱动组件3之间传输动力；通过设置传动齿轮54啮合在第一齿轮53和齿圈52之间，设置转动支架51与传动齿轮54连接，从而可以通过调整传动齿轮54、第一齿轮53和齿圈52的齿数，调整第二传动组件5的传动比，使得力反馈装置100可以实现不同精度的力反馈响应；通过设置驱动组件3能够通过驱动第二传动端自转，以阻挡或助力第一传动端自转，使得驱动组件3可以通过第一传动组件4和第二传动组件5助力或阻碍扳机2相对基座1的转动，使得扳机2可以实现阻尼、泄力、振动、反弹等触觉反馈，该触觉反馈精准的通过扳机2反馈至用户，提高了触觉反馈的真实性和准确性。
在齿圈52固定，第一齿轮53为动力输入端，转动支架51为动力输出端的情况下，第二传动组件5的传动比大于1，第二传动组件5的动力输入端的转速大于动力输出端的转速，第二传动组件5做减速、增加扭矩的运动。在齿圈52固定，转动支架51为动力输入端，第一齿轮53为动力输出端的情况下，第二传动组件5的传动比小于1，第二传动组件5的动力输入端的转速小于动力输出端的转速，第二传动组件5做增速、降低扭矩的运动。因此本领域技术人员可以根据对驱动组件3输出转速的增速或减速的需求、对驱动组件3输出扭矩的增扭或降扭的需求，确定驱动组件3与转动支架51连接还是与齿圈52连接。
在一些实施例中，第一传动端为转动支架51，第二传动端为第一齿轮53，第一传动组件4、转动支架51、第一齿轮53和驱动组件3沿第一方向X依次设置。
由于转动支架51与第一传动组件4连接，第一齿轮53与驱动组件3连接，使得驱动机构通过第一齿轮53输入的扭矩能通过第二传动组件5增扭，以在保持驱动组件3的最大输出扭矩不变的情况下，提高驱动组件3可通过第一传动组件4和第二传动组件5作用在扳机2上的扭矩。
请结合参阅图5和图6，图5为扳机2处于第一位置时力反馈装置100的立体结构示意图，图6为扳机2处于第二位置时力反馈装置100的立体结构示意图。示例性的，第一位置为扳机2相对于基座1处于初始位置，第二位置为扳机2相对于基座1处于按压位置。
示例性地，如图2和图5所示，用户按压扳机2，使得扳机2沿图图5示虚线箭头方向自第一位置向第二位置转动，扳机2和基座1绕图2所示的轴线L1转动，在扳机2的带动下，转动支架51绕图2所示的轴线L2自转，转动支架51带动传动齿轮54自转的同时绕第一齿轮53公转，传动齿轮54向第一齿轮53输入驱动第一齿轮53沿第一周向 自转的驱动力。在驱动组件3向该第一齿轮53输出驱动沿第一周向自转的驱动力的情况下，驱动组件3可助力该第一齿轮53沿第一周向自转，使得用户感受到泄力的触觉反馈，即按压扳机2不费力的触觉反馈，第一周向和第二周向的方向相反。在驱动组件3向该第一齿轮53输出驱动沿第二周向自转的驱动力的情况下，驱动组件3可阻碍该第一齿轮53沿第一周向自转，使得用户感受到按压阻尼的触觉反馈，即按压扳机2费力的触觉反馈。
示例性地，如图6所示，用户按压在扳机2上，扳机2处于第二位置。在驱动组件3向该第一齿轮53输出驱动沿第二周向自转的驱动力的情况下，驱动组件3驱动第一齿轮53沿第二周向自转，第一齿轮53带动传动齿轮54自转的同时绕第一齿轮53公转，传动齿轮54带动转动支架51转动，转动支架51向第一传动组件4输出动力，第一传动组件4可驱动扳机2自第二位置向第一位置转动，使得用户感受到扳机2反弹的触觉反馈，即扳机2返回至初始位置。
示例性地，用户轻触扳机2，在驱动组件3向该第一齿轮53输出驱动沿第一周向和沿第二周向往复自转的驱动力的情况下，驱动组件3驱动第一齿轮53沿第一周向和沿第二周向往复自转，第一齿轮53带动传动齿轮54自转的同时绕第一齿轮53公转，传动齿轮54带动转动支架51转动，转动支架51向第一传动组件4输出沿第一周向和沿第二周向往复自转的动力，第一传动组件4可驱动扳机2在第一位置和第二位置之间往复转动，使得用户感受到扳机2振动的触觉反馈。
在本申请提供的实施例中，第一传动组件4、转动支架51、第一齿轮53和驱动组件3沿第一方向X依次设置，在扳机2运动或驱动机构驱动的情况下，转动支架51和第一齿轮53自转，传动齿轮54自转的同时绕第一齿轮53公转，使得第一传动组件4在第一方向X不移动，即可实现动力的传动，从而可省去在第一方向X上为第二传动组件5预留移动空间，减小力反馈装置100在第一方向X上的长度。
请参阅图7和图8，在一些实施例中，基座1具有沿第一方向X设置的第一开口12和第二开口13，第二传动组件5设于基座1中，转动支架51的部分通过第一开口12伸出基座1并与第一传动组件4连接，驱动组件3的部分通过第二开口13伸入基座1并与第一齿轮53连接。
第一传动组件4可以沿第一方向X设置在基座1的一侧，驱动组件3可以沿第一方向X设置在基座1的另一侧。基座1不仅可以提供收纳齿圈52、第一齿轮53和传动齿轮54的收容空间，还可以为将用于润滑齿圈52、第一齿轮53和传动齿轮54的润滑剂限制在基座1内，还可以为齿圈52、转动支架51、驱动组件3提供安装基础。
通过将齿圈52、第一齿轮53和传动齿轮54设于基座1中，以避免杂质等进入基座1干扰齿圈52、第一齿轮53和传动齿轮54之间相互配合运动。
在一些实施例中，基座1包括相盖合的第一盖体14和第二盖体15，第一开口12设置于第一盖体14上，第二开口13设置于第二盖体15上，齿圈52固定于第一盖体14和 /或第二盖体15上。
第一盖体14和第二盖体15相互盖合，第一盖体14和第二盖体15共同限定出收容空间。齿圈52固定于第一盖体14和/或第二盖体15上，从而在传动齿轮54转动时，固定在第一盖体14和/或第二盖体15上的齿圈52不转动。在图8所示的实施例中，齿圈52固定于第二盖体15上，齿圈52和第二盖体15为一体成型件，以增加齿圈52和第二盖体15的连接稳定性。
在一些实施例中，齿圈52固定于第二盖体15上，第一盖体14包括盖板141和侧板142，侧板142设置在盖板141上，侧板142绕齿圈52设置，第二盖体15盖设在侧板142上。
齿圈52为内齿面与传动齿轮54啮合，齿圈52的外表面与侧板142相对设置。装配时，可以先将第一齿轮53、传动齿轮54、转动支架51和第二盖体15上的齿圈52装配，再将第一盖体14盖设在第二盖体15上，并使得转动支架51的部分伸出第一开口12。
通过设置侧板142绕齿圈52设置，使得侧板142可以对齿圈52进行保护，减小或避免外力损坏齿圈52，提高第二传动组件5运动的稳定性。
在一些实施例中，转动支架51包括安装板541、第一连接杆542和第二连接杆543，第一连接杆542和第二连接杆543连接于安装板541沿第一方向X的两侧，第一连接杆542伸出基座1并与第一传动组件4连接，第二连接杆543与传动齿轮54连接。
通过在安装板541上设置第一连接杆542和第二连接杆543，从而可以通过转动支架51在第二齿轮42和传动齿轮54之间传递动力。
在一些实施例中，传动齿轮54的数量为多个，多个传动齿轮54绕第一齿轮53设置，转动支架51分别与多个传动齿轮54连接。
在传动齿轮54的数量为多个的情况下，第二连接杆543的数量也为多个，多个第二连接杆543与多个传动齿轮54一一对应连接。传动齿轮54的数量越多，第二传动组件5能够承担的负荷越大。多个传动齿轮54可以共同承担载荷，以减小每个传动齿轮54和第二连接杆543的作用力，减小传动齿轮54的尺寸。
为了使传动齿轮54各啮合处的径向分力和传动齿轮54公转所产生的离心力得以平衡，可以将多个传动齿轮54绕第一齿轮53均匀间隔设置，增加传动齿轮54自转和公转的平稳性。在图8所示的实施例中，传动齿轮54为3个，3传动齿轮54均匀的绕第一齿轮53设置。第一连接杆542与第一齿轮53同轴设置，3个第二连接杆543在安装板541的投影绕第一连接杆542在安装板541的投影设置。
请参阅图9，在一些实施例中，为了方便用户按压扳机2，扳机2在第一位置到第二位置的行程较短，使得扳机2从第一位置转动至第二位置，传动齿轮54绕第一齿轮53公转的行程小于第一齿轮53的周长，即扳机2在第一位置和第二位置转动的过程中，传动齿轮54不需要绕第一齿轮53整圈公转。因此在一些实施例中，齿圈52包括多个弧形齿条521、以及设置于弧形齿条521两端的限位件522，多个弧形齿条521绕第一齿轮53 依次间隔设置，多个传动齿轮54分别与多个弧形齿条521一一对应啮合。
限位件522可以是相对弧形件沿齿圈52的径向向靠近第一齿轮53的凸起。位于两弧形齿条521之间的两个限位件522可以为一体件，弧形齿条521和限位件522绕第一齿轮53交替设置。
限位件522能限位各传动齿轮54的公转行程、以及传动齿轮54对应啮合的弧形齿条521的长度一致，从而可以限制传动齿轮54的公转行程，限制扳机2相对基座1转动的角度。
可选地，在扳机2相对基座1位于第一位置的情况下，各传动齿轮54分别与位于弧形齿条521一端的限位件522接触；在扳机2相对基座1位于第二位置的情况下，各传动齿轮54分别与位于弧形齿条521另一端的限位件522接触。从通过设置限位件522可以避免扳机2相对基座1转动至超出第一位置或第二位置。弧形齿条521的长度可以相同。
请一并参阅图8和图10，在一些实施例中，第二传动组件5还包括轴承55，轴承55套设在转动支架51和基座1之间。
套设在转动支架51和基座1之间的轴承55能够减小转动支架51与基座1之间的摩擦。可选地，轴承55套设在第一连接杆542和第一盖体14之间。第一盖体14的盖板141上可以设置避让凹部145，轴承55可以放置在避让凹部145内，避让凹部145可以对轴承55进行限位，同时避让凹部145收容至少部分轴承55，提高第二传动组件5和基座1的装配紧凑度。
在一些实施例中，第一传动组件4包括摆臂41和第二齿轮42，摆臂41的一端转动连接于扳机2，扳机2能够带动摆臂41相对于基座1转动；第二齿轮42与转动支架51连接并与摆臂41啮合，第二齿轮42、第二传动组件5和驱动组件3沿第一方向X依次连接，第二传动组件5与扳机2沿第二方向Y间隔设置，第一方向X与第二方向Y相交设置。
摆臂41的一端与扳机2可以为一体成型结构。扳机2以一定角速度转动的情况下，摆臂41可保持相同的角速度一同转动。摆臂41的另一端具有与第二齿轮42啮合的啮合齿，摆臂41转动的情况下，摆臂41可推动第二齿轮42自转。第二齿轮42转动产生的旋转力输入第一转动端，以带动第二转动端自转。
在本实施例中，通过设置摆臂41和第二齿轮42，使得扳机2的转动可以传递至第二传动组件5；通过设置第二传动组件5的齿数，可以调节第一转动端和第二转动端的传动比，提高驱动组件3通过第一传动组件4和第二传动组件5对扳机2转动的力反馈的精细度。设置第二传动组件5与扳机2沿第二方向Y间隔设置，以减小力反馈装置100在第一方向X上长度。
可选地，扳机2绕第一轴线L在第一位置和第二位置之间转动，扳机2带动摆臂41绕第一轴线L转动在一参考面内平移，第一轴线L沿第一方向X延伸，第二齿轮42、转 动支架51、齿圈52、第一齿圈52沿图2所示的轴线L2同轴设置。第一方向X和第二方向Y垂直设置，该参考面可以与基座1沿第一方向X设置。
在一些实施例中，力反馈装置100还包括检测机构6和控制机构。检测机构6包括第一感应件61和第二感应件62，第一感应件61和第二感应件62中的一者设置在第一传动组件4上，另一者设置在基座1上，扳机2相对基座1在第一位置和第二位置之间转动的情况下，第一感应件61向第二感应件62远离或靠近，第一感应件61能够生成第一感应件61和第二感应件62的相对位置信息；控制机构分别与驱动组件3、第一感应件61电连接，控制机构能够根据相对位置信息控制驱动组件3驱动第二传动端自转。
设置第一感应件61和第二感应件62，从而能够通过第一感应件61和第二感应件62检测两者之间相隔的距离，等效得到扳机2和基座1之间的相对位置关系。第一感应件61和第二感应件62中一个可以为磁性件，另一个可以为霍尔元件。
相对位置信息可以为模拟信号或数字信号。控制机构包括控制芯片，检测机构6可以与控制芯片电连接，以将检测得到的模拟信号或数字信号发送至控制芯片，控制芯片可以根据该模拟信号或数字信号生成控制驱动组件3的控制信号，驱动组件3根据控制信号输出不同方向、不同大小的动力，从而实现驱动组件3能够根据扳机2和基座1相对位置不同输出不同方向、不同大小的动力。
由于不同规格的电子设备需要适配具有不同外形的扳机2，所以将第一感应件61设置摆臂41上，以方便力反馈装置100替换不同规格的扳机2。由于扳机2需要外露于电子设备的壳体并承接用户施加的推力，所以摆臂41相较于扳机2具有更好的稳定性，通过将第一感应件61设置在摆臂41上，以提高第一感应件61的稳定性。
在一些实施例中，力反馈装置100还包括转轴71和复位弹簧73，扳机2、基座1和复位弹簧73均套设在转轴71上，复位弹簧73抵接在基座1和扳机2之间。
在用户施力按压扳机2相对基座1转动的过程中，复位弹簧73在基座1和扳机2的作用下发生形变。用户松开扳机2时，复位弹簧73的弹性复原力驱动基座1和扳机2的相对转动复位。
示例性的，第一位置为扳机2相对于基座1处于初始位置，第二位置为扳机2相对于基座1处于按压位置。用户按压扳机2，使得扳机2自第一位置向第二位置转动，在扳机2和基座1挤压复位弹簧73发生形变。用户松开扳机2，复位弹簧73的弹性复原力驱动基座1和扳机2自第二位置向第一位置转动。
通过设置扳机2、基座1和复位弹簧73均套设在转轴71上，以保证扳机2和基座1可绕转轴71的轴向相对转动；通过设置复位弹簧73抵接在基座1和扳机2之间，使得扳机2在无用户按压的情况下，可以自动自第一位置复位至第二位置，或自动自第二位置复位至第一位置。
在一些实施例中，扳机2包括相连接的主体部22和第一转动部21，间隔设置的第一转动部21套设在转轴71上，基座1包括相连接的侧板142和第二转动部144，间隔设置 的第二转动部144套设在转轴71上，复位弹簧73抵接在主体部22和侧板142之间。
第一转动部21和第二转动部144绕转轴71转动的过程中，主体部22和侧板142之间相互靠近，使得抵接在主体部22和侧板142之间的复位弹簧73可以被主体部22和侧板142压缩。，
第一转动部21和第二转动部144可以具有贯穿的通孔，转轴71可以沿第一方向X插入该通孔内。基座1的第一盖体14包括侧板142、沿第一方向X间隔设置的盖板141和连接板，侧板142连接盖板141和连接板，盖板141和连接板上具有通孔的区域复用为间隔设置的第二转动部144。
在一些实施例中，基座1包括凸出部，凸出部相对第一盖体14向背离驱动组件3的方向凸出，凸出部与摆臂41相对设置，第一感应件61设置于摆臂41靠近凸出部的一侧，第二感应件62设置于凸出部上。通过将第二感应件62设置在凸出部上，使得安装座可以避让摆臂41的移动。可选的，安装座具有第一表面，凸出部相对于该第一表面凸出设置。摆臂41可以在第一表面所在的参考面内转动。
在一些实施例中，力反馈装置100具有第一工作模式、第二工作模式和第三工作模式中的至少一种，
在力反馈装置100处于第一工作模式下的情况下，驱动组件3驱动第二传动端自转，以使扳机2相对基座1在第一位置和第二位置之间往复转动；
在力反馈装置100处于第二工作模式，且扳机2相对基座1在第一位置和第二位置之间转动的情况下，扳机2通过第一传动组件4带动第一传动端沿第一周向自转，驱动组件3驱动第二传动端沿第一周向自转；
在力反馈装置100处于第三工作模式，且扳机2相对基座1在第一位置和第二位置之间转动的情况下，扳机2通过第一传动组件4带动第一传动端沿第一周向自转，驱动组件3驱动第二传动端沿第二周向自转；
其中，第一周向和第二周向的方向相反。
第一工作模式可以为振动模式。驱动组件3驱动第二传动端沿逆时针方向和顺时针方向往复自转，经过第一传动组件4和第二传动组件5传动，扳机2相对基座1在第一位置和第二位置之间往复转动，用户感受到扳机2振动。
第二工作模式可以为泄力模式。在用户按压扳机2转动的过程中，第二传动端沿第一周向转动，驱动组件3驱动第二传动端沿第一周向自转，用户感受到按压扳机2泄力。
第二工作模式可以为反弹模式。在用户按压扳机2后松开，驱动组件3驱动第二传动端沿第一周向或第二周向自转，扳机2在第一传动组件4的作用下相对基座1装懂，用户感受到扳机2反弹至初始位置。
第二工作模式可以为阻尼模式。在用户按压扳机2转动的过程中，第二传动端沿第一周向转动，驱动组件3驱动第二传动端沿第二周向自转，用户需要向扳机施加更大作用力。
力反馈装置100还可以具有初始化磨损。在力反馈装置100初次上电时，驱动组件3驱动第二传动端自转，以使扳机2相对基座1在预设初始位置。
本申请实施例还公开了一种电子设备，该电子设备包括上述任意实施例中的力反馈装置100。将上述任意实施例中的力反馈装置100应用于该电子设备可以通过扳机2实现阻尼、泄力、振动、反弹等触觉反馈，该触觉反馈精准的通过扳机2反馈至用户，提高了触觉反馈的真实性和准确性。
本申请实施例公开的电子设备可以是智能手机、平板电脑、电子书阅读器、可穿戴设备(例如智能手表)、电子游戏机等设备，本申请实施例不限制电子设备的具体种类。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
本文中所称的“一个实施例”、“实施例”或者“一个或者多个实施例”意味着，结合实施例描述的特定特征、结构或者特性包括在本申请的至少一个实施例中。此外，请注意，这里“在一个实施例中”的词语例子不一定全指同一个实施例。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下被实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (12)

  1. 一种力反馈装置，包括：
    基座；
    扳机，转动连接于所述基座；
    第一传动组件，与所述扳机传动连接；
    第二传动组件，包括第一齿轮、传动齿轮、齿圈和转动支架，所述传动齿轮啮合于所述第一齿轮和所述齿圈之间，所述齿圈与所述基座固定，所述转动支架与所述传动齿轮连接，所述转动支架能够相对所述第一齿轮和所述齿圈自转，所述转动支架和所述第一齿轮中的一者为所述第二传动组件的第一传动端，另一者为所述第二传动组件的第二传动端，所述第一传动端与所述第一传动组件传动连接；
    驱动组件，与所述第二传动端传动连接，所述驱动组件能够驱动所述第二传动端自转；
    所述扳机相对所述基座转动的情况下，所述扳机能够通过所述第一传动组件带动所述第一传动端自转，所述驱动组件能够通过驱动所述第二传动端自转，以阻挡或助力所述第一传动端自转。
  2. 根据权利要求1所述的力反馈装置，其中，所述第一传动端为所述转动支架，所述第二传动端为所述第一齿轮，所述第一传动组件、所述转动支架、所述第一齿轮和所述驱动组件沿第一方向依次设置。
  3. 根据权利要求2所述的力反馈装置，其中，所述基座具有沿所述第一方向设置的第一开口和第二开口，所述第二传动组件设于所述基座中，所述转动支架的部分通过所述第一开口伸出所述基座并与所述第一传动组件连接，所述驱动组件的部分通过所述第二开口伸入所述基座并与所述第一齿轮连接。
  4. 根据权利要求3所述的力反馈装置，其中，所述基座包括沿所述第一方向相盖合的第一盖体和第二盖体，所述第一开口设置于所述第一盖体上，所述第二开口设置于所述第二盖体上，所述齿圈固定于所述第一盖体和/或所述第二盖体上。
  5. 根据权利要求4所述的力反馈装置，其中，所述齿圈固定于所述第二盖体上，所述第一盖体包括盖板和设置在所述盖板上的侧板，所述第二盖体盖设在所述侧板上，所述侧板环绕在所述齿圈的外侧。
  6. 根据权利要求1所述的力反馈装置，其中，所述转动支架包括安装板、第一连接杆和第二连接杆，所述第一连接杆和所述第二连接杆连接于所述安装板沿所述第一方向的两侧，所述第一连接杆伸出所述基座并与所述第一传动组件连接，所述第二连接杆与所述传动齿轮连接。
  7. 根据权利要求1所述的力反馈装置，其中，所述传动齿轮的数量为多个，多个所述传动齿轮绕所述第一齿轮设置，所述转动支架分别与多个所述传动齿轮连接。
  8. 根据权利要求7所述的力反馈装置，其中，所述齿圈包括多个弧形齿条、以及设置于所述弧形齿条两端的限位件，多个所述弧形齿条绕所述第一齿轮依次间隔设置，多个所述传动齿轮分别与多个所述弧形齿条一一对应啮合。
  9. 根据权利要求1所述的力反馈装置，其中，所述第一传动组件包括：
    摆臂，一端转动连接于所述扳机，所述扳机能够带动所述摆臂相对于所述基座转动；
    第二齿轮，与所述第一传动端连接并与所述摆臂啮合，所述第二齿轮、所述第二传动组件和所述驱动组件沿第一方向依次连接，所述第二传动组件与所述扳机沿第二方向间隔设置，所述第一方向与所述第二方向相交设置。
  10. 根据权利要求1所述的力反馈装置，其中，所述力反馈装置还包括：
    检测机构，包括第一感应件和第二感应件，所述第一感应件和所述第二感应件中的一者设置在所述第一传动组件上，另一者设置在所述基座上，所述扳机相对所述基座在第一位置和第二位置之间转动的情况下，所述第一感应件向所述第二感应件远离或靠近，所述第一感应件能够生成所述第一感应件和所述第二感应件的相对位置信息；
    控制机构，分别与所述驱动组件、所述第一感应件电连接，所述控制机构能够根据所述相对位置信息控制所述驱动组件驱动所述第二传动端自转。
  11. 根据权利要求1所述的力反馈装置，其中，所述力反馈装置具有第一工作模式、第二工作模式和第三工作模式中的至少一种，
    在所述力反馈装置处于所述第一工作模式下的情况下，所述驱动组件驱动所述第二传动端自转，以使所述扳机相对所述基座在第一位置和第二位置之间往复转动；
    在所述力反馈装置处于所述第二工作模式，且所述扳机相对所述基座在所述第一位置和所述第二位置之间转动的情况下，所述扳机通过所述第一传动组件带动所述第一传动端沿第一周向自转，所述驱动组件驱动所述第二传动端沿所述第一周向自转；
    在所述力反馈装置处于所述第三工作模式，且所述扳机相对所述基座在所述第一位置和所述第二位置之间转动的情况下，所述扳机通过所述第一传动组件带动所述第一传动端沿所述第一周向自转，所述驱动组件驱动所述第二传动端沿第二周向自转；
    其中，所述第一周向和所述第二周向的方向相反。
  12. 一种电子设备，包括：
    如权利要求1至11中任一项所述的力反馈装置。
PCT/CN2024/097898 2023-06-13 2024-06-07 力反馈装置和电子设备 Ceased WO2024255688A1 (zh)

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