WO2025007798A1 - 丝杆结构、力反馈装置及操作手柄 - Google Patents

丝杆结构、力反馈装置及操作手柄 Download PDF

Info

Publication number
WO2025007798A1
WO2025007798A1 PCT/CN2024/101968 CN2024101968W WO2025007798A1 WO 2025007798 A1 WO2025007798 A1 WO 2025007798A1 CN 2024101968 W CN2024101968 W CN 2024101968W WO 2025007798 A1 WO2025007798 A1 WO 2025007798A1
Authority
WO
WIPO (PCT)
Prior art keywords
mating surface
groups
screw rod
sleeve
screw
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/CN2024/101968
Other languages
English (en)
French (fr)
Inventor
朱跃光
刘兆江
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.)
Goertek Inc
Original Assignee
Goertek Inc
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 Goertek Inc filed Critical Goertek Inc
Publication of WO2025007798A1 publication Critical patent/WO2025007798A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts

Definitions

  • the present invention relates to the technical field of virtual equipment, and in particular to a screw rod structure, a force feedback device and an operating handle.
  • the metaverse has opened a window for virtual display. How to make the virtual world more realistic is the focus of current research.
  • the trigger's tactile feedback can greatly improve the player's sense of reality in the virtual world.
  • the trigger tactile force feedback device uses a screw thread sleeve as the main driving component, due to the large friction between the screw thread sleeve, it can provide a good resistance effect.
  • excessive friction will reduce the screw thread sleeve transmission thrust, resulting in a large energy loss, causing the vibration feedback of the force feedback device to be unsatisfactory.
  • the main purpose of the present invention is to provide a screw structure, a force feedback device and an operating handle, aiming to solve the problem of insufficient vibration feedback of the existing force feedback device.
  • the present invention proposes a screw structure for use in a force feedback device, wherein the screw structure includes a screw and a thread sleeve sleeved on the screw, and multiple groups of threaded matching structures are formed between the thread sleeve and the screw, at least one group of the threaded matching structures includes a first threaded protrusion and a first threaded groove, and two side surfaces of the first threaded protrusion correspond to and match with two side wall surfaces of the first threaded groove to form two groups of matching surface groups, and the friction forces of the two groups of matching surface groups are different.
  • the contact areas of the two groups of mating surface groups are unequal, so that the friction forces of the two groups of mating surface groups are unequal.
  • the two groups of mating surface groups have different shapes.
  • one is arranged in a straight line along the radial direction of the screw rod, and the other is arranged obliquely, and the inclination direction is inclined toward the screw rod along the axial direction of the screw rod.
  • the mating surface group includes a first mating surface and a second mating surface that fit together;
  • the first mating surface and the second mating surface in one of them have the same shape, and the first mating surface and the second mating surface in the other of them have different shapes.
  • the first mating surface is arranged in a straight line
  • the second mating surface is arranged in a broken line.
  • the roughness of the two groups of mating surfaces is different.
  • the present invention also provides a force feedback device, comprising:
  • An operating portion movably mounted on the housing along a first direction and at least partially outside the housing;
  • a transmission structure comprising the above-mentioned screw rod structure, wherein the screw sleeve of the transmission structure abuts against the operating part;
  • a driving device drives the screw rod structure to move the screw rod and/or the screw sleeve.
  • the driving device comprises:
  • a reset member disposed between the wire sleeve and the housing, for resetting the operating portion to an initial position
  • the driving mechanism comprises a driving part, and the driving part and the silk sleeve can be arranged in a clutch, so that the driving part has a combined state of transmission connection with the silk sleeve and a separated state of contact and combination with the silk sleeve.
  • the present invention also provides an operating handle, which includes the above-mentioned force feedback device.
  • the wire sleeve is sleeved on the screw rod and connected by a plurality of the threaded matching structures to convert the rotation of the screw rod structure into a linear movement along the axial direction of the screw rod.
  • the friction forces of the two groups of matching surface groups are different, so that the friction forces received by the screw rod and the wire sleeve when they move toward each other are different from the friction forces received when they move in the opposite direction, so that the resistance of one of the two matching surface groups is larger, so as to provide a larger resistance for the force feedback device, and the resistance of the other matching surface group is smaller, so as to reduce the total friction resistance between the screw rod and the wire sleeve, reduce the energy loss of the force feedback device, thereby helping to improve the vibration feedback effect of the force feedback device to avoid insufficient vibration feedback of the force feedback device.
  • FIG1 is a schematic cross-sectional view of a force feedback device of the present invention.
  • FIG2 is a schematic diagram of the exploded structure of the force feedback device in FIG1 ;
  • FIG3 is a schematic diagram of the three-dimensional structure of the screw rod structure in FIG1 ;
  • FIG4 is a schematic structural diagram of the driving unit in FIG1 ;
  • FIG5 is a schematic cross-sectional view of a first embodiment of the screw rod structure in FIG1 ;
  • FIG6 is a cross-sectional structural schematic diagram of a second embodiment of the screw rod structure in FIG1 ;
  • FIG. 7 is a schematic cross-sectional view of a second embodiment of the screw rod structure in FIG. 1 .
  • the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.
  • the metaverse has opened a window for virtual display. How to make the virtual world more realistic is the focus of current research.
  • the trigger's tactile feedback can greatly improve the player's sense of reality in the virtual world.
  • the trigger tactile force feedback device uses a screw thread sleeve as the main driving component, due to the large friction between the screw thread sleeve, it can provide a good resistance effect.
  • excessive friction will reduce the screw thread sleeve transmission thrust, resulting in a large energy loss, causing the vibration feedback of the force feedback device to be unsatisfactory.
  • the present invention provides a screw structure used in a force feedback device, aiming to solve the problem of insufficient vibration feedback of the existing force feedback device.
  • Figures 1 to 7 are schematic diagrams of the structure of the force feedback device provided by the present invention.
  • the screw rod 1 structure includes a screw rod 1 and a thread sleeve 2 sleeved on the screw rod 1.
  • Multiple groups of threaded matching structures are formed between the thread sleeve 2 and the screw rod 1.
  • At least one group of the threaded matching structures includes a first threaded protrusion and a first thread groove.
  • the two side surfaces of the first threaded protrusion correspond to the two side walls of the first thread groove to form two groups of matching surface groups 3.
  • the friction forces of the two groups of matching surface groups 3 are different.
  • the thread sleeve 2 is sleeved on the threaded rod 1 and is connected to the threaded rod 1 by a plurality of threaded rods.
  • the threaded matching structure is connected, the screw rod 1 moves axially, and the wire sleeve 2 can rotate relative to the screw rod 1 to convert the rotation of the screw rod structure 100 into a linear movement along the axial direction of the screw rod 1.
  • the friction forces of the two groups of matching surface groups 3 are different, so that the friction forces received by the screw rod 1 and the wire sleeve 2 when they move towards each other are different from the friction forces received when they move in the opposite direction, so that one of the two matching surface groups 3 has a larger resistance, so as to provide a larger resistance for the force feedback device 1000, and the resistance of the other matching surface group 3 is smaller, so as to reduce the total friction resistance between the screw rod 1 and the wire sleeve 2, reduce the energy loss of the force feedback device 1000, thereby helping to improve the vibration feedback effect of the force feedback device 1000, so as to avoid insufficient vibration feedback of the force feedback device 1000.
  • the friction force of one of the mating surface groups 3 may be greater than the other mating surface group 3, or may be less than the other mating surface group 3.
  • the present invention does not limit this and can be adjusted as needed.
  • the resistance encountered by the screw rod 1 and the wire sleeve 2 when they move in the opposite direction is relatively large, that is, when the two move in the opposite direction, the friction force between the mating surface group 3 correspondingly contacted by the screw rod 1 and the wire sleeve 2 is large, which is convenient for improving the feedback force;
  • the resistance encountered when they move in the opposite direction is relatively small, that is, when the two move in the opposite direction, the friction force between the other mating surface group 3 correspondingly contacted by the screw rod 1 and the wire sleeve 2 is small, which is convenient for the screw rod structure to unload the force of the trigger (hereinafter referred to as the operating part 300) of the force feedback device 1000.
  • the force feedback device 1000 repeatedly switches between the above two states,
  • the contact areas of the two groups of mating surface groups 3 are not equal, so that the friction force of the two groups of mating surface groups 3 is not equal. In this way, the contact areas of the two groups of mating surface groups 3 are adjusted in order to adjust the friction force of the two groups of mating surface groups 3, so that the friction force of one of the mating surface groups 3 is greater than or less than the friction force of the other mating surface group 3.
  • the shapes of the two groups of the mating surface groups 3 are different.
  • the two groups of the mating surface groups 3 form an asymmetric design, so that the contact area of one of the mating surface groups 3 is different from the contact area of the other mating surface group 3.
  • the screw rod 1, of the two groups of the mating surface groups 3 one is arranged in a straight line along the radial direction of the screw rod 1, and the other is arranged in an inclined direction, and its inclination direction is inclined toward the screw rod 1 along the axial direction of the screw rod 1.
  • the length of the mating surface group 3 arranged in a straight line along the radial direction of the screw rod 1 is less than the length of the mating surface group 3 arranged in an inclined manner, so that the contact area of the mating surface group 3 arranged in a straight line is less than that of the mating surface group 3 arranged in an inclined manner.
  • the contact area of the inclined mating surface group 3. may be arranged in a straight line, and the other mating surface group 3 may be arranged in an arc shape, etc., and the present invention does not limit this.
  • the shapes of the two groups of mating surface groups 3 are different, the shapes of the two mating surfaces that cooperate with each other in each mating surface group 3 are the same, so that the two mating surfaces in each mating surface group 3 can be completely fitted. That is, the two mating surfaces in the mating surface group 3 that are arranged in a straight line along the radial direction of the screw rod 1 are both arranged in a straight line along the radial direction of the screw rod 1.
  • the mating surface group 3 includes a first mating surface 31 and a second mating surface 32 that cooperate with each other.
  • the first mating surface 31 and the second mating surface 32 in one of them have the same shape, and the first mating surface 31 and the second mating surface 32 in the other one have different shapes.
  • the first mating surface 31 and the second mating surface 32 are the same, the first mating surface 31 can be completely fitted with the second mating surface 32, and the contact area is larger.
  • the shapes of the first mating surface 31 and the second mating surface 32 are different, the first mating surface 31 and the second mating surface 32 cannot be completely fitted with each other, and the contact area is smaller.
  • the contact areas of the two groups of mating surface groups 3 can be adjusted, so that the contact area of one of the mating surface groups 3 is different from the contact area of the other mating surface group 3.
  • the first mating surface 31 is arranged in a straight line
  • the second mating surface 32 is arranged in a broken line, so that the first mating surface 31 and the second mating surface 32 cannot be completely fitted, so that 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.
  • the first mating surface 31 can also be arranged in a straight line
  • the second mating surface 32 can be arranged in an arc shape, etc., and the present invention is not limited to this.
  • the roughness of the two groups of mating surface groups 3 is different.
  • the friction coefficient of the mating surface group 3 is adjusted, so that the friction resistance of one of the mating surface groups 3 is different from the friction resistance of the other mating surface group 3.
  • the force feedback device 1000 of the present invention comprises a housing 200, an operating portion 300, a transmission structure and a driving device 400.
  • the operating portion 300 can be movably mounted on the housing 200 along a first direction and at least partially located outside the housing 200.
  • the transmission structure comprises the screw rod 1 structure described above.
  • the screw sleeve 2 of the transmission structure abuts against the operating portion 300.
  • the driving device 400 drives the screw rod 1 to connect the operating portion 300.
  • the screw rod structure 100 enables the screw rod 1 and/or the wire sleeve 2 to move. In this way, when the user presses the operating part 300, the operating part 300 pushes the wire sleeve 2 to move along the first direction toward the inside of the shell 200.
  • the driving device 400 drives the screw rod structure 100 to move, so that the wire sleeve 2 moves along the first direction toward the outside of the shell 200, so as to prevent the operating part 300 from moving, thereby enabling the force feedback device 1000 to provide feedback force, which helps to improve the user experience.
  • the structure of the screw structure 100 in the force feedback device 1000 can refer to the embodiment of the screw structure 100 mentioned above, which will not be described in detail here; since the screw structure 100 mentioned above is used in the force feedback device 1000 provided by the present invention, the embodiment of the force feedback device 1000 provided by the present invention includes all technical solutions of all embodiments of the screw structure 100 mentioned above, and the technical effects achieved are also exactly the same, which will not be described in detail here.
  • the driving device 400 includes a reset member 410 and a driving mechanism 420.
  • the reset member 410 is arranged between the silk sleeve 2 and the housing 200 to reset the operating portion 300 to an initial position.
  • the driving mechanism 420 includes a driving portion 421.
  • the driving portion 421 and the silk sleeve 2 can be arranged to be disengaged so that the driving portion 421 has a combined state of transmission connection with the silk sleeve 2 and a separated state of contact and connection with the silk sleeve 2.
  • the driving portion 421 can be disengaged from the silk sleeve 2.
  • the driving part 421 is in the separated state, and the restoring force generated by the restoring member 410 is fed back to the operating part 300.
  • the restoring force of the restoring member 410 is related to its deformation.
  • the driving part 421 is in the combined state, so that the driving part 421 is combined with the silk sleeve 2, and the reverse driving force provided by the driving mechanism 420 is transmitted to the silk sleeve 2 through the driving part 421, which can prevent the silk sleeve 2 from shifting along the first direction to provide feedback force at any time, and can also prevent slippage between the silk sleeve 2 and the screw rod 1.
  • the driving part 421 and the silk sleeve 2 are provided with a first concave-convex structure 4211 and a second concave-convex structure 21 which are arranged opposite to each other in the first direction, respectively.
  • the first concave-convex structure 4211 is meshed with the second concave-convex structure 21, and the driving part 421 is in the movable stroke, so that the driving part 421 and the silk sleeve 2 move relative to each other, thereby causing the first concave-convex structure 4211 and the second concave-convex structure 21 to be arranged close to or away from each other.
  • the first concave-convex structure 4211 and the second concave-convex structure 21 are close to each other, the The first concave-convex structure 4211 and the second concave-convex structure 21 are meshed with each other, so that the first concave-convex structure 4211 limits the movement of the second concave-convex structure 21 in the first direction, thereby limiting the movement of the wire sleeve 2 in the first direction.
  • the wire sleeve 2 When the wire sleeve 2 is restricted and locked in the first direction, at this time, when the screw rod 1 moves along the first direction, the wire sleeve 2 can only rotate relative to the screw rod 1, so that the force fed back to the operating part 300, in addition to the reset force of the reset member 410, also has the reverse rotation force of the driving mechanism 420 acting on the wire sleeve 2, thereby increasing the force reacting on the screw rod 1.
  • the driving part 421 is rotatably installed on the shell 200 around a rotating shaft extending along the first direction, and a mounting hole is penetrated through the middle part of the driving part 421 along the first direction, and the first concave-convex structure 4211 is arranged on the surrounding wall of the mounting hole; the silk sleeve 2 is passed through the mounting hole, and a limiting groove 22 is recessed on the surrounding wall of the silk sleeve 2 corresponding to the position of the first concave-convex structure 4211, and the second concave-convex structure 21 is formed on one side wall of the limiting groove 22.
  • 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 part 421 is in the separated state, the first concave-convex structure 4211 is in the limiting groove 22 and is spaced apart from the second concave-convex structure 21, and when the driving part 421 is in the combined state, the first concave-convex structure 4211 moves to a side wall of the limiting groove 22 close to the second concave-convex structure 21, and gradually engages and clamps with the second concave-convex structure 21.
  • first concave-convex structure 4211 and the second concave-convex structure 21 can be configured as a rack, or one of them can be configured as a rack and the other can be configured as a convex portion.
  • a plurality of limit grooves 22 can be provided, and accordingly, a plurality of first concave-convex structures 4211 and second concave-convex structures 21 can also be provided, and each of the first concave-convex structures 4211 is provided in a corresponding limit groove 22.
  • the driving mechanism 420 is capable of exerting a reverse force on the silk sleeve 2.
  • a tooth portion is provided on the peripheral side of the driving portion 421;
  • the driving mechanism 420 also includes a driving motor 422 and driving teeth 423, and the driving motor 422 has a rotating shaft arranged along the first direction;
  • the driving teeth 423 are coaxially fixedly connected to the rotating shaft so as to be driven to rotate by the rotating shaft, and the driving teeth 423 are meshed with the tooth portion, so that the rotation direction of the rotating shaft of the driving motor 422 is controlled.
  • the direction is set to be opposite to the rotation direction of the wire sleeve 2 after being driven by the screw rod 1.
  • the rotation direction of the driving part 421 is also clockwise, thereby driving the driving tooth 423 to rotate counterclockwise.
  • the direction of the output torque of the rotating shaft of the driving motor 422 can be set to be clockwise.
  • this reverse torque is transmitted to the wire sleeve 2 through the driving part 421, and the reverse torque of the wire sleeve 2 will be transmitted to the screw rod 1, thereby preventing the screw rod 1 from being driven by the operating part 300 to move along the first direction, which is ultimately reflected in the increase of the force acting on the operating part 300, thereby achieving a force feedback effect.
  • the maximum torque value of the driving motor 422 is set to be smaller than the torque value when the silk sleeve 2 rotates clockwise. In this way, when the user presses the operating part 300, he will not feel the distortion of the gaming experience caused by the complete pressing.
  • a displacement sensor 500 is provided in the shell 200 to detect the position of the operating part 300.
  • the position of the operating part 300 can be obtained so that the user can adjust the position of the operating part 300 as needed, thereby enabling the user to obtain different degrees of feedback force.
  • the present invention further provides an operating handle, the operating handle comprising the above-mentioned force feedback device 1000.
  • the structure of the force feedback device 1000 in the operating handle can refer to the embodiment of the above-mentioned force feedback device 1000, which will not be described in detail here; since the above-mentioned force feedback device 1000 is used in the operating handle provided by the present invention, the embodiment of the operating handle provided by the present invention includes all technical solutions of all embodiments of the above-mentioned force feedback device 1000, and the technical effects achieved are also exactly the same, which will not be described in detail here.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

一种丝杆结构（100）、力反馈装置（1000）及操作手柄，其中，丝杆结构（100）包括丝杆（1）以及套设于丝杆（1）的丝套（2），丝套（2）与丝杆（1）之间形成有多组螺纹配合结构，至少一组螺纹配合结构包括第一螺纹凸部和第一螺纹槽，第一螺纹凸部的两侧面对应与第一螺纹槽的两侧壁面配合，以形成有两组配合面组（3），两组配合面组（3）的摩擦力不等，使得丝杆（1）与丝套（2）在相向活动时受到的摩擦力与在反向活动时受到的摩擦力不同，使得两个配合面组（3）中的其中之一配合面组（3）的阻力较大，以便力反馈装置（1000）提供较大的阻力，另一配合面组（3）的阻力较小，以便降低丝杆（1）与丝套（2）之间的总摩擦阻力，减小力反馈装置（1000）的能量损失，从而有助于提高力反馈装置（1000）的振动反馈效果，以免力反馈装置（1000）的振动反馈不足。

Description

丝杆结构、力反馈装置及操作手柄 技术领域
本发明涉及虚拟设备技术领域，特别涉及一种丝杆结构、力反馈装置及操作手柄。
背景技术
元宇宙为虚拟显示打开了窗口，如何让虚拟世界更真实是现在研究的重点，扳机作为人机交互的窗口，扳机触觉反馈能极大的提高玩家虚拟世界的真实感。现在扳机触觉力反馈装置使用丝杆丝套做驱动主要部件时，由于丝杆与丝套之间摩擦力大，能提供很好的阻力效果，但是摩擦力过大会降低丝杆丝套传动推力，使得能量损失较大，导致力反馈装置的振动反馈不符合预期。
发明内容
本发明的主要目的是提出一种丝杆结构、力反馈装置及操作手柄，旨在解决现有力反馈装置的振动反馈不足的问题。
为实现上述目的，本发明提出一种丝杆结构，用在力反馈装置上，所述丝杆结构包括丝杆以及套设于所述丝杆的丝套，所述丝套与所述丝杆之间形成有多组螺纹配合结构，至少一组所述螺纹配合结构包括第一螺纹凸部和第一螺纹槽，所述第一螺纹凸部的两侧面对应与所述第一螺纹槽的两侧壁面配合，以形成有两组配合面组，两组所述配合面组的摩擦力不等。
可选地，两组所述配合面组的接触面积不等，以使得所述两组配合面组的摩擦力不等。
可选地，两组所述配合面组的形状不同。
可选地，在所述丝杆的轴向截面上，两组所述配合面组中，其中之一沿所述丝杆的径向呈直线设置，另一呈倾斜设置，其倾斜方向为沿所述丝杆轴向朝所述丝杆倾斜。
可选地，所述配合面组包括相互配合的第一配合面与第二配合面；
两组所述配合面组中，其中之一中的所述第一配合面与所述第二配合面的形状相同，另一中的所述第一配合面与第二配合面的形状不同。
可选地，在所述丝杆的轴向截面上，所述第一配合面呈直线设置，所述第二配合面呈折线设置。
可选地，两组所述配合面组的粗糙度不同。
本发明还提供一种力反馈装置，包括：
壳体；
操作部，可沿第一方向活动安装于所述壳体且至少部分处于所述壳体外；
传动结构，包括上述的丝杆结构，所述传动结构的丝套与所述操作部抵接；以及，
驱动装置，驱动连接所述丝杆结构，以使得所述丝杆和/或所述丝套活动。
可选地，所述驱动装置包括：
复位件，设于所述丝套与所述壳体之间，用以将所述操作部复位至初始位置；以及，
驱动机构，包括驱动部，所述驱动部与所述丝套可离合设置，以使得所述驱动部具有与所述丝套传动连接的结合状态、以及与所述丝套接触结合的分离状态。
此外，本发明还提供一种操作手柄，所述操作手柄包括上述的力反馈装置。
本发明的技术方案中，所述丝套套设于所述丝杆，并通过多个所述螺纹配合结构连接，以将所述丝杆结构的转动转化沿所述丝杆轴向的直线活动，同时两组所述配合面组的摩擦力不同，使得所述丝杆与所述丝套在相向活动时受到的摩擦力与在反向活动时受到的摩擦力不同，使得两个所述配合面组中的其中之一所述配合面组的阻力较大，以便为所述力反馈装置提供较大的阻力，另一所述配合面组的阻力较小，以便降低所述丝杆与所述丝套之间的总摩擦阻力，减小所述力反馈装置的能量损失，从而有助于提高所述力反馈装置的振动反馈效果，以免所述力反馈装置的振动反馈不足。
附图说明
为了更清楚地说明本发明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简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，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示出的结构获得其他的附图。
图1为本发明的力反馈装置的剖视结构示意图；
图2为图1中的力反馈装置的分解结构示意图；
图3为图1中的丝杆结构的立体结构示意图；
图4为图1中的驱动部的结构示意图；
图5为图1中的丝杆结构的第一实施例的剖视结构示意图；
图6为图1中的丝杆结构的第二实施例的剖视结构示意图；
图7为图1中的丝杆结构的第二实施例的剖视结构示意图。
附图标号说明：
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，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，都属于本发明保护的范围。
需要说明，若本发明实施例中有涉及方向性指示，则该方向性指示仅用于解释在某一特定姿态下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，若本发明实施例中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
元宇宙为虚拟显示打开了窗口，如何让虚拟世界更真实是现在研究的重点，扳机作为人机交互的窗口，扳机触觉反馈能极大的提高玩家虚拟世界的真实感。现在扳机触觉力反馈装置使用丝杆丝套做驱动主要部件时，由于丝杆与丝套之间摩擦力大，能提供很好的阻力效果，但是摩擦力过大会降低丝杆丝套传动推力，使得能量损失较大，导致力反馈装置的振动反馈不符合预期。
鉴于此，本发明提供一种丝杆结构，用在力反馈装置上，旨在解决现有力反馈装置的振动反馈不足的问题。其中，图1至图7为本发明提供的力反馈装置的结构示意图。
请参阅图1、图5、图6和图7，所述丝杆1结构包括丝杆1以及套设于所述丝杆1的丝套2，所述丝套2与所述丝杆1之间形成有多组螺纹配合结构，至少一组所述螺纹配合结构包括第一螺纹凸部和第一螺纹槽，所述第一螺纹凸部的两侧面对应与所述第一螺纹槽的两侧壁面配合，以形成有两组配合面组3，两组所述配合面组3的摩擦力不等。
本发明的技术方案中，所述丝套2套设于所述丝杆1，并通过多个所述螺 纹配合结构连接，丝杆1沿轴向移动，丝套2可与丝杆1发生相对转动，以将所述丝杆结构100的转动转化沿所述丝杆1轴向的直线活动，同时两组所述配合面组3的摩擦力不同，使得所述丝杆1与所述丝套2在相向活动时受到的摩擦力与在反向活动时受到的摩擦力不同，使得两个所述配合面组3中的其中之一所述配合面组3的阻力较大，以便为所述力反馈装置1000提供较大的阻力，另一所述配合面组3的阻力较小，以便降低所述丝杆1与所述丝套2之间的总摩擦阻力，减小所述力反馈装置1000的能量损失，从而有助于提高所述力反馈装置1000的振动反馈效果，以免所述力反馈装置1000的振动反馈不足。
可以理解的是，两个所述配合面组3中，其中之一所述配合面组3的摩擦力可以是大于另一所述配合面组3，也可以是小于另一所述配合面组3，本发明对此不做限定，可以根据需要进行调整，具体地，所述丝杆1与所述丝套2反向活动时受到的阻力较大，即两者反向运动时，丝杆1和丝套2相应接触的配合面组3之间的摩擦力大，便于提高反馈力；在相向活动时受到的阻力较小，即两者相向运动时，丝杆1和丝套2相应接触的另一配合面组3之间的摩擦力小，便于丝杆结构对力反馈装置1000的扳机(下文中的操作部300)进行卸力。力反馈装置1000在如上的两个状态下反复切换，丝杆结构对扳机不断卸力与顶推，从而实现扳机的振动力反馈。
为了使得两组所述配合面组3的摩擦力不同，在本实施例中，请参阅图5和图6，两组所述配合面组3的接触面积不等，以使得所述两组配合面组3的摩擦力不等，如此，通过调整两组所述配合面组3的接触面积，以便调整两组所述配合面组3的摩擦力，使得其中之一所述配合面组3的摩擦力大于或者小于另一所述配合面组3的摩擦力。
为了使得两组所述配合面组3的接触面积不同，具体地，在一实施例中，两组所述配合面组3的形状不同，如此，通过调整两组所述配合面组3的形状，以使两组所述配合面组3形成非对称设计，从而使得其中之一所述配合面组3的接触面积与另一所述配合面组3的接触面积不同。进一步地，在所述丝杆1的轴向截面上，两组所述配合面组3中，其中之一沿所述丝杆1的径向呈直线设置，另一呈倾斜设置，其倾斜方向为沿所述丝杆1轴向朝所述丝杆1倾斜，如此，沿所述丝杆1径向呈直线设置的所述配合面组3的长度小于呈倾斜设置的所述配合面组3的长度，使得呈直线设置的所述配合面组3的接触面积小于 呈倾斜设置的所述配合面组3的接触面积。当然，在其他实施例中，也可以是其中之一所述配合面组3呈直线设置，另一所述配合面组3呈弧形设置等，本发明对此不做限定。
可以理解的是，虽然两组所述配合面组3的形状不同，但是各所述配合面组3内相互配合的两个配合面的形状是相同的，以使各所述配合面组3内的两个配合面能够完全贴合。即沿所述丝杆1径向呈直线设置的所述配合面组3中的两个配合面均是沿所述丝杆1径向呈直线设置。
在另一实施例中，所述配合面组3包括相互配合的第一配合面31与第二配合面32，两组所述配合面组3中，其中之一中的所述第一配合面31与所述第二配合面32的形状相同，另一中的所述第一配合面31与第二配合面32的形状不同，所述第一配合面31与所述第二配合面32的形状相同时，所述第一配合面31能够与所述第二配合面32完全贴合，接触面积较大，而所述第一配合面31与所述第二配合面32的形状不相同时，所述第一配合面31与所述第二配合面32不能完全贴合，接触面积较小，如此，通过调整所述配合面组3内的所述第一配合面31与所述第二配合面32的形状，以便调整两组所述配合面组3接触面积，从而使得其中之一所述配合面组3的接触面积与另一所述配合面组3的接触面积不同。进一步地，在所述丝杆1的轴向截面上，所述第一配合面31呈直线设置，所述第二配合面32呈折线设置，使得所述第一配合面31与所述第二配合面32不能完全贴合，从而使得所述第一配合面31与所述第二配合面32形状不同的所述配合面组3的接触面积小于形状相同的所述配合面组3的接触面积。当然，在其他实施例中，还可以是所述第一配合面31呈直线设置，所述第二配合面32呈弧形设置等，本发明对此不做限定。
为了使得两组所述配合面组3的摩擦力不同，在本实施例中，请参阅图7，两组所述配合面组3的粗糙度不同，如此，通过调整所述配合面组3的粗糙度，以便调整所述配合面组3的摩擦系数，从而使得其中之一所述配合面组3的摩擦阻力与另一所述配合面组3的摩擦阻力不同。
请参阅图1和图4，本发明还力反馈装置1000包括壳体200、操作部300、传动结构以及驱动装置400，所述操作部300可沿第一方向活动安装于所述壳体200且至少部分处于所述壳体200外，所述传动结构包括上述的丝杆1结构，所述传动结构的丝套2与所述操作部300抵接，所述驱动装置400驱动连接所述 丝杆结构100，以使得所述丝杆1和/或所述丝套2活动，如此，以在用户按压所述操作部300时，所述操作部300推动所述丝套2沿第一方向朝所述壳体200内活动，此时，所述驱动装置400驱动所述丝杆结构100活动，以使所述丝套2沿第一方向朝所述壳体200外活动，以便阻止所述操作部300活动，从而使得所述力反馈装置1000能够提供反馈力，有助于提升用户的使用体验。
需要说明的是，所述力反馈装置1000中的丝杆结构100的结构可参照上述丝杆结构100的实施例，此处不再赘述；由于在本发明提供的力反馈装置1000中使用了上述丝杆结构100，因此，本发明提供的力反馈装置1000的实施例包括上述丝杆结构100全部实施例的全部技术方案，且所达到的技术效果也完全相同，在此不再赘述。
进一步地，对于不用的应用场景，用户需要获得不同程度的力反馈，为此，在本实施例中，所述驱动装置400包括复位件410以及驱动机构420，所述复位件410设于所述丝套2与所述壳体200之间，用以将所述操作部300复位至初始位置，所述驱动机构420，包括驱动部421，所述驱动部421与所述丝套2可离合设置，以使得所述驱动部421具有与所述丝套2传动连接的结合状态、以及与所述丝套2接触结合的分离状态，当用户手指需要按压操作所述操作部300的时候，所述驱动部421处于所述分离状态，所述复位件410产生的复位力反馈到所述操作部300，此时，所述复位件410的复位力与其形变量有关，当需要模拟虚拟的反馈力时，此时，将所述驱动部421处于所述结合状态，使得所述驱动部421与所述丝套2相结合，通过所述驱动部421将所述驱动机构420提供的反向驱动力传递给所述丝套2，既能够避免所述丝套2沿所述第一方向产生移位，以随时提供反馈力，又能够避免所述丝套2和所述丝杆1之间存在滑移。
为了使得所述驱动部421能够与所述丝套2合离，在本实施例中，请参阅图1、图3和图4，所述驱动部421和所述丝套2相互靠近的侧部上，分别设置有在所述第一方向上呈相对设置的第一凹凸结构4211和第二凹凸结构21，在所述结合状态，所述第一凹凸结构4211与所述第二凹凸结构21相啮合，所述驱动部421在活动行程中，使得所述驱动部421和所述丝套2发生相对的活动，从而导致所述第一凹凸结构4211和所述第二凹凸结构21可以相互靠近或是远离的设置，在所述第一凹凸结构4211和所述第二凹凸结构21相互靠近时，所述 第一凹凸结构4211和所述第二凹凸结构21相互啮合，如此，所述第一凹凸结构4211限制所述第二凹凸结构21在所述第一方向上的活动，从而限制所述丝套2在所述第一方向上的活动，当所述丝套2在所述第一方向上被限制锁止时，此时，在所述丝杆1沿所述第一方向活动时，所述丝套2只能与所述丝杆1发生相对转动，使得反馈至所述操作部300上的力除了所述复位件410的复位力，还具有所述驱动机构420通过作用于所述丝套2上的反向转动的力，从而增加反作用于所述丝杆1上的力。
具体地，请参阅图3，在本实施例中，所述驱动部421绕沿所述第一方向延伸的转轴转动安装于所述壳体200，所述驱动部421的中部沿所述第一方向贯设有安装孔，所述安装孔的周壁上设置有所述第一凹凸结构4211；所述丝套2穿设于所述安装孔，所述丝套2的周壁对应所述第一凹凸结构4211的位置凹设有限位槽22，所述限位槽22的一侧壁形成有所述第二凹凸结构21。
可以理解的是，所述限位槽22的槽宽设置为大于所述第一凹凸结构4211的宽度，而在所述驱动部421处于所述分离状态时，所述第一凹凸结构4211处于所述限位槽22内，且与所述第二凹凸结构21间隔设置，而在所述驱动部421处于所述结合状态时，所述第一凹凸结构4211活动至所述限位槽22的靠近设置有所述第二凹凸结构21的一个侧壁处，逐步与所述第二凹凸结构21发生啮合卡持。
还需要说明的是，所述第一凹凸结构4211和所述第二凹凸结构21可以设置为齿条的形式，或是其中之一设置为齿条，另一设置为凸部。
为了使得所述驱动部421与所述丝套2自所述分离状态能够稳定的切换至所述结合状态，并且使得所述丝套2周向上的反作用力能够更为均衡，所述限位槽22可以设置多个，相应地，所述第一凹凸结构4211和所述第二凹凸结构21可以也设置有多个，各所述第一凹凸结构4211设置在对应的一所述限位槽22内。
具体地，实现所述驱动机构420能够作用于所述丝套2上的反向作用力，在本实施例中，所述驱动部421的周侧设置有齿部；所述驱动机构420还包括驱动电机422和驱动齿423，所述驱动电机422具有沿所述第一方向设置的转轴；所述驱动齿423同轴固定连接于所述转轴，以被所述转轴带动转动，所述驱动齿423与所述齿部相啮合，如此，所述驱动电机422的所述转轴的转动方 向设置为与所述丝套2被所述丝杆1驱动后的转动方向相逆，比如，当所述丝杆1被所述操作部300驱动沿所述第一方向活动时，若将所述丝套2的内螺纹设置为最终使得所述丝套2沿顺时针转动的情形时，此时所述驱动部421的转动方向也沿顺时针转动，从而带动所述驱动齿423逆时针旋转，此时可设置所述驱动电机422的所述转轴输出扭矩的方向为顺时针方向，如此，这个反向的扭力通过所述驱动部421传递至所述丝套2，丝套2的反向扭力会传递给所述丝杆1，从而阻止所述丝杆1被所述操作部300驱动沿所述第一方向活动，最终体现在所述操作部300上的作用力增大，从而实现力反馈效果。
需要说明的是，因所述驱动电机422输出的反向扭力越大，那么最终作用于所述操作部300上的反向阻力越大，那么，可以根据实时的游戏场景，在需要较大的力反馈时，增大所述驱动电机422的转速，在需要较小的力反馈时，减小所述驱动电机422的转速。
应该理解的是，所述驱动电机422的最大扭力值设置得小于所述丝套2正向顺时针转动时的扭力值，如此，用户在按压所述操作部300时，不会感受到完全按压不动而导致的游戏体验感失真的情形。
由于所述操作部300的位置不同，所述操作部300受到的反馈力也会不同，为此，在本实施例中，所述壳体200内设有位移传感器500，用以探测所述操作部300的位置，如此，通过设置所述位移传感器500，获取所述操作部300的位置，以便用户根据需要调整所述操作部300的位置，从而使得用户能够获得不同程度的反馈力。
此外，实现上述目的，本发明还提供一种操作手柄，所述操作手柄包括上述的力反馈装置1000。需要说明的是，所述操作手柄中的力反馈装置1000的结构可参照上述力反馈装置1000的实施例，此处不再赘述；由于在本发明提供的操作手柄中使用了上述力反馈装置1000，因此，本发明提供的操作手柄的实施例包括上述力反馈装置1000全部实施例的全部技术方案，且所达到的技术效果也完全相同，在此不再赘述。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的构思下，利用本发明说明书及附图内容所做的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。

Claims (10)

  1. 一种丝杆结构，用在力反馈装置上，其特征在于，所述丝杆结构包括丝杆以及套设于所述丝杆的丝套，所述丝套与所述丝杆之间形成有多组螺纹配合结构，至少一组所述螺纹配合结构包括第一螺纹凸部和第一螺纹槽，所述第一螺纹凸部的两侧面对应与所述第一螺纹槽的两侧壁面配合，以形成有两组配合面组，两组所述配合面组的摩擦力不等。
  2. 如权利要求1所述的丝杆结构，其特征在于，两组所述配合面组的接触面积不等，以使得所述两组配合面组的摩擦力不等。
  3. 如权利要求2所述的力反馈装置丝杆结构，其特征在于，两组所述配合面组的形状不同。
  4. 如权利要求3所述的丝杆结构，其特征在于，在所述丝杆的轴向截面上，两组所述配合面组中，其中之一沿所述丝杆的径向呈直线设置，另一呈倾斜设置，其倾斜方向为沿所述丝杆轴向朝所述丝杆倾斜。
  5. 如权利要求2所述的丝杆结构，其特征在于，所述配合面组包括相互配合的第一配合面与第二配合面；
    两组所述配合面组中，其中之一中的所述第一配合面与所述第二配合面的形状相同，另一中的所述第一配合面与第二配合面的形状不同。
  6. 如权利要求5所述的丝杆结构，其特征在于，在所述丝杆的轴向截面上，所述第一配合面呈直线设置，所述第二配合面呈折线设置。
  7. 如权利要求1所述的丝杆结构，其特征在于，两组所述配合面组的粗糙度不同。
  8. 一种力反馈装置，其特征在于，包括：
    壳体；
    操作部，可沿第一方向活动安装于所述壳体且至少部分处于所述壳体外；
    传动结构，包括如权利要求1至7任意一项所述的丝杆结构，所述传动结构的丝套与所述操作部抵接；以及，
    驱动装置，驱动连接所述丝杆结构，以使得所述丝杆和/或所述丝套活动。
  9. 如权利要求8所述的丝杆结构，其特征在于，所述驱动装置包括：
    复位件，设于所述丝套与所述壳体之间，用以将所述操作部复位至初始位置；以及，
    驱动机构，包括驱动部，所述驱动部与所述丝套可离合设置，以使得所述驱动部具有与所述丝套传动连接的结合状态、以及与所述丝套接触结合的分离状态。
  10. 一种操作手柄，其特征在于，包括如权利要求8至9任意一项所述的力反馈装置。
PCT/CN2024/101968 2023-07-03 2024-06-27 丝杆结构、力反馈装置及操作手柄 Ceased WO2025007798A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202310806494.1 2023-07-03
CN202310806494.1A CN116928308A (zh) 2023-07-03 2023-07-03 丝杆结构、力反馈装置及操作手柄

Publications (1)

Publication Number Publication Date
WO2025007798A1 true WO2025007798A1 (zh) 2025-01-09

Family

ID=88378239

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2024/101968 Ceased WO2025007798A1 (zh) 2023-07-03 2024-06-27 丝杆结构、力反馈装置及操作手柄

Country Status (2)

Country Link
CN (1) CN116928308A (zh)
WO (1) WO2025007798A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120900196A (zh) * 2025-10-11 2025-11-07 歌尔股份有限公司 力反馈装置及手柄

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116928308A (zh) * 2023-07-03 2023-10-24 歌尔股份有限公司 丝杆结构、力反馈装置及操作手柄

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1169577A (en) * 1966-12-20 1969-11-05 Girling Ltd Improvements in Self-Adjusting Mechanisms
DE102016204562A1 (de) * 2016-03-18 2017-09-21 Zf Friedrichshafen Ag Aktuator einer Hinterachslenkung und Verfahren zur Beeinflussung des Lenkwinkels
WO2020020987A1 (de) * 2018-07-26 2020-01-30 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Bamberg Antriebsanordnung zur motorischen verstellung einer klappe eines kraftfahrzeugs
CN116271792A (zh) * 2022-12-27 2023-06-23 歌尔股份有限公司 力反馈装置及手柄
CN116928308A (zh) * 2023-07-03 2023-10-24 歌尔股份有限公司 丝杆结构、力反馈装置及操作手柄

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1169577A (en) * 1966-12-20 1969-11-05 Girling Ltd Improvements in Self-Adjusting Mechanisms
DE102016204562A1 (de) * 2016-03-18 2017-09-21 Zf Friedrichshafen Ag Aktuator einer Hinterachslenkung und Verfahren zur Beeinflussung des Lenkwinkels
WO2020020987A1 (de) * 2018-07-26 2020-01-30 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Bamberg Antriebsanordnung zur motorischen verstellung einer klappe eines kraftfahrzeugs
CN116271792A (zh) * 2022-12-27 2023-06-23 歌尔股份有限公司 力反馈装置及手柄
CN116928308A (zh) * 2023-07-03 2023-10-24 歌尔股份有限公司 丝杆结构、力反馈装置及操作手柄

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120900196A (zh) * 2025-10-11 2025-11-07 歌尔股份有限公司 力反馈装置及手柄

Also Published As

Publication number Publication date
CN116928308A (zh) 2023-10-24

Similar Documents

Publication Publication Date Title
WO2025007798A1 (zh) 丝杆结构、力反馈装置及操作手柄
JP2003130159A5 (zh)
CN107091285B (zh) 一种超越离合器
US12083421B2 (en) Force feedback apparatus
WO2023070895A1 (zh) 力反馈装置、电子设备以及电子设备系统
JPWO2016199521A1 (ja) 変速機構
WO2023197894A1 (zh) 力反馈装置及电子设备
WO2024120003A1 (zh) 灯光调节装置和摄影辅助设备
CN118550363A (zh) 服务器设备
EP3722849A1 (en) Optical fiber connector
CN120361357B (zh) 一种注射装置的剂量调节机构和注射装置
CN120503238A (zh) 灵巧手和机器人
CN209100518U (zh) 一种离合机构
CN116072465A (zh) 按键组件和手柄
CN110061730B (zh) 一种按键结构、终端设备及终端设备的控制方法
CN219720628U (zh) 转向控制组件及内窥镜
WO2005033556A1 (ja) モーター駆動型変速機操作装置
CN221841371U (zh) 一种笔记本电脑
JP2023144724A (ja) ドグクラッチ
TWI884473B (zh) 抽拉式轉動結構及卡扣裝置
CN220988204U (zh) 角度调节机构及椅子
CN115966431A (zh) 扳机按键装置和电子设备
CN209329363U (zh) 压接工具
CN205315542U (zh) 一种结合速度可调的离合器
CN223956491U (zh) 开关装置及电子设备

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 24835279

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE