CN209859357U - Special vehicle steering wheel force feedback device - Google Patents
Special vehicle steering wheel force feedback device Download PDFInfo
- Publication number
- CN209859357U CN209859357U CN201920522570.5U CN201920522570U CN209859357U CN 209859357 U CN209859357 U CN 209859357U CN 201920522570 U CN201920522570 U CN 201920522570U CN 209859357 U CN209859357 U CN 209859357U
- Authority
- CN
- China
- Prior art keywords
- gear
- steering wheel
- force feedback
- feedback device
- special vehicle
- 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.)
- Active
Links
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The embodiment of the utility model discloses a special vehicle steering wheel force feedback device, the device includes axis, casing, brake mechanism, drive mechanism and microcontroller, brake mechanism includes two sets of motors and the motor drive circuit who is connected with the motor, drive mechanism includes first gear train and second gear train, the motor passes through first gear train connection axis drive power or brake force of axle output, be provided with the carousel on the axis between curb plate and the baffle, the axis passes through the drive of second gear train the carousel, this system can be according to driving state information such as driving state, speed of a motor vehicle and topographic features and environmental information calculation feedback moment in the present simulation driving, simulates out the steering moment of various motorcycle types under different driving states, and application scope is wide, has strengthened the experience sense of emulation actual driving operation in the simulation training, has better simulated driving training effect.
Description
Technical Field
The embodiment of the utility model provides a special type vehicle simulation driving training technical field, concretely relates to special type vehicle steering wheel force feedback device.
Background
When special vehicles such as armored vehicles, heavy trucks, off-road vehicles and the like are used for driving training, the special vehicles are easily limited by factors such as training sites, driving conditions and the like, corresponding driving training simulation systems appear at right time, in the special vehicle driving training simulation system, the design of the steering system is crucial, the existing steering system is mostly simulated by pure machinery, the electric automation simulation system is less, the special steering simulation system for large torque and special vehicle types is less, in the actual special vehicle driving process, due to the influence of factors such as the current vehicle driving state, the vehicle speed, the topographic characteristics and the like, different degrees of reverse torque can be caused to a steering wheel steering system, the existing steering simulation system does not have the function of simulating the steering torque of different vehicle types in different driving states, the experience difference between simulation training and actual driving operation is caused, and the problem of poor training effect of the simulation driving is caused.
SUMMERY OF THE UTILITY MODEL
Therefore, the embodiment of the utility model provides a special vehicle steering wheel force feedback device to solve current steering simulation system and do not possess the simulation function to different motorcycle types steering torque under the different travel state, cause the experience sense gap of simulation training and actual driving operation, the poor problem of training effect of simulation driving.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions: a force feedback device for a steering wheel of a special vehicle comprises a center shaft, a casing, a brake mechanism, a transmission mechanism and a microcontroller, wherein a baffle and a motor mounting plate are arranged in the casing, one end of the center shaft is connected with the steering wheel, the other end of the center shaft horizontally extends to sequentially penetrate through a side plate of the casing, the baffle and the motor mounting plate to be connected with a torque sensor, the torque sensor is connected with a rotating shaft of a photoelectric encoder, the photoelectric encoder is connected to the microcontroller, the brake mechanism comprises two groups of motors and a motor driving circuit connected with the motors, the two groups of motors are arranged on the upper portion of the motor mounting plate, a signal output end of the microcontroller is connected with a signal input end of the motor driving circuit, the transmission mechanism comprises a first gear set and a second gear set, the first gear set is arranged between the baffle and the motor mounting plate, and the motors are connected, the middle shaft between the side plate and the baffle is provided with a rotary table, the second gear set is arranged between the side plate and the rotary table, the middle shaft is driven by the second gear set to drive the rotary table, two sets of limiting columns are installed on the upper portion of the rotary table, magnetic steel is arranged in the middle of the lower portion of the two sets of limiting columns, two sets of Hall sensors are symmetrically installed on the two sides of the bottom of the baffle, when the rotary table rotates towards two sides respectively and contacts with the bottoms of the two sets of limiting columns respectively, the rotary table reaches the limiting positions of the rotating poles on the two sides, the magnetic steel contacts with the detection ends of the two sets of Hall sensors respectively to obtain rotating limiting position signals, and.
Furthermore, the first gear set comprises two groups of first gears and second gears, the two groups of first gears are respectively connected with motor shafts of the two groups of motors, and the second gears are sleeved on the middle shaft and meshed with the two groups of first gears.
Furthermore, the second gear set comprises a third gear, a duplicate gear and an internal gear, the third gear is sleeved on the middle shaft, the duplicate gear is arranged on one side of the middle shaft, a duplicate gear shaft which is rotatably connected with the side plate is arranged in the duplicate gear, the third gear is meshed with front teeth of the duplicate gear, the internal gear is meshed with rear teeth of the duplicate gear, and the internal gear is arranged in the rotary table and meshed with inner teeth of the rotary table.
Further, a supporting seat used for supporting the duplicate gear is arranged between the side plate and the rotary table, the supporting seat is arranged between front teeth and rear teeth of the duplicate gear, and a shaft sleeve is arranged between the duplicate gear shaft and the supporting seat in a penetrating mode.
Further, the signal output end of the microcontroller is connected with the signal input end of the motor driving circuit through the optical coupling isolation circuit.
Further, the motor driving circuit is connected with a current detection circuit, and the current detection circuit is connected to an ADC acquisition end of the microcontroller.
Furthermore, the microcontroller is connected with an upper computer through an RS485 communication module.
Furthermore, the device also comprises a power circuit for supplying power, and a DC power socket and an aviation socket are arranged on the side plate on the other side of the casing.
Further, a button switch is arranged on the side plate on the other side of the machine shell.
The embodiment of the utility model provides a have following advantage:
the embodiment of the utility model provides a special vehicle steering wheel force feedback device, the system adopts an electric automatic steering simulation system, the double motors output driving force or braking force to the middle shaft, the control is flexible, the torque sensor can output real-time torque, the feedback adjustment is convenient, the photoelectric encoder can measure the current steering angle in real time, the system has the power-on self-checking function, the return-to-zero point and the current steering angle of the steering wheel can be automatically identified, the system is suitable for the simulated steering of special vehicles with different numbers of turning turns and angles, the feedback torque can be calculated according to the state information and the environment information such as the driving state, the speed, the terrain characteristics and the like in the current simulated driving, the steering torque of various vehicle types in different driving states can be simulated, the application range is wide, the experience sense of the simulated actual driving operation in the simulated training is enhanced, and the better simulated driving training effect is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
Fig. 1 is a schematic view of an internal structure of a force feedback device for a steering wheel of a special vehicle according to embodiment 1 of the present invention;
fig. 2 is a schematic internal top view structure diagram of a special vehicle steering wheel force feedback device provided in embodiment 1 of the present invention;
FIG. 3 is a schematic sectional view taken along line A-A of FIG. 2;
FIG. 4 is a schematic sectional view taken along line B-B of FIG. 2;
fig. 5 is a schematic side structural view of a special vehicle steering wheel force feedback device provided in embodiment 1 of the present invention;
fig. 6 is another schematic side view of a force feedback device for a steering wheel of a special vehicle according to embodiment 1 of the present invention;
fig. 7 is a control schematic block diagram of a special vehicle steering wheel force feedback device provided in embodiment 1 of the present invention;
fig. 8 is a schematic circuit diagram of a microcontroller of a force feedback device for a steering wheel of a special vehicle according to embodiment 1 of the present invention;
fig. 9 is a schematic view of an RS232 serial port communication circuit of a force feedback device for a steering wheel of a special vehicle provided in embodiment 1 of the present invention;
fig. 10 is a schematic view of an optical coupling isolation circuit of a force feedback device of a steering wheel of a special vehicle according to embodiment 1 of the present invention;
fig. 11 is a schematic view of a motor driving circuit of a force feedback device for a steering wheel of a special vehicle according to embodiment 1 of the present invention;
fig. 12 is a schematic circuit diagram of a motor download communication module of a force feedback device for a steering wheel of a special vehicle according to embodiment 1 of the present invention;
fig. 13 is a circuit schematic diagram of an RS485 communication module of a special vehicle steering wheel force feedback device provided in embodiment 1 of the present invention;
fig. 14 is a schematic diagram of an interface circuit of a photoelectric encoder of a force feedback device for a steering wheel of a special vehicle according to embodiment 1 of the present invention;
fig. 15 is a schematic diagram of a hall sensor interface circuit of a force feedback device for a steering wheel of a special vehicle provided in embodiment 1 of the present invention;
fig. 16 is a schematic diagram of a power supply circuit of a force feedback device for a steering wheel of a special vehicle according to embodiment 1 of the present invention.
In the figure: the middle shaft is 1, the machine shell is 2, the brake mechanism is 3, the transmission mechanism is 4, the microcontroller is 5, the baffle is 6, the motor mounting plate is 7, the torque sensor is 8, the photoelectric encoder is 9, the rotary table is 10, the supporting seat is 11, the limiting column is 12, the magnetic steel is 13, the Hall sensor is 14, the power circuit is 15, the DC power socket is 16, the aviation socket 17, the RS485 communication module is 18, the upper computer 19, the button switch 21, the motor 31, the motor driving circuit 32, the optical coupling isolation circuit 33, the current detection circuit 34, the first gear set 41, the second gear set 42, the first gear 411, the second gear 412, the third gear 421, the duplicate gear 422 and the internal gear 423.
Detailed Description
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
The embodiment provides a special vehicle steering wheel force feedback device, and the system comprises a middle shaft 1, a casing 2, a brake mechanism 3, a transmission mechanism 4 and a microcontroller 5.
Casing 2 includes the bottom plate, the left and right sides curb plate of being connected perpendicularly with the bottom plate, front and back both sides curb plate and the roof that sets up relatively with the bottom plate, as shown in fig. 1, fig. 2, fig. 1 and fig. 5 are shown, fig. 2 removes the roof for the device respectively, the internal structure sketch and the inside structure sketch of overlooking of front and back both sides curb plate and right side curb plate, be provided with baffle 6 and motor mounting panel 7 in the casing 2, the steering wheel is connected to axis 1 one end, axis 1 other end level extension runs through the left side curb plate of casing 2 in proper order, baffle 6 and motor mounting panel 7 connect torque sensor 8, can export real-time moment of torsion, make things convenient for feedback regulation, torque sensor 8 connects photoelectric encoder 9's pivot, photoelectric encoder 9 is connected to microcontroller 5, adopt photoelectric encoder 9 to measure real.
Brake mechanism 3 includes two sets of motors 31 and the motor drive circuit 32 who is connected with motor 31, 7 upper portions at motor 31 mounting panel are installed to two sets of motors 31, two motor 31 symmetries set up, control is nimble, do not need the brake part, the structure is nimble, microcontroller 5's signal output part connects motor drive circuit 32's signal input part, furtherly, microcontroller 5's signal output part passes through the signal input part that opto-coupler isolation circuit 33 connects motor drive circuit 32, adopt opto-coupler isolation, the operation is reliable. Further, the motor driving circuit 32 is connected with a current detection circuit 34, and the current detection circuit 34 is connected to an ADC acquisition terminal of the microcontroller 5.
The transmission mechanism 4 comprises a first gear set 41 and a second gear set 42, the first gear set 41 is arranged between the baffle 6 and the mounting plate 7 of the motor 31, the motor 31 is connected with the middle shaft 1 through the first gear set 41 to output driving force or braking force to the middle shaft 1, further, the first gear set 41 comprises two groups of first gears 411 and two groups of second gears 412, the two groups of first gears 411 are respectively connected with the shafts of the motors 31 of the two groups of motors 31, and the second gear 412 is sleeved on the middle shaft 1 and meshed with the two groups of first gears 411.
A rotating disc 10 is arranged on a central shaft 1 between the side plate and the baffle 6, a second gear set 42 is arranged between the side plate and the rotating disc 10, the central shaft 1 drives the rotating disc 10 through the second gear set 42, further, as shown in fig. 4, the second gear set 42 comprises a third gear 421, a duplicate gear 422 and an internal gear 423, the third gear 421 is sleeved on the central shaft 1, the duplicate gear 422 is arranged on one side of the central shaft 1, a duplicate gear 422 shaft rotatably connected with the side plate is arranged in the duplicate gear 422, the third gear 421 is meshed with front teeth of the duplicate gear 422, the internal gear 423 is meshed with rear teeth of the duplicate gear 422, and the internal gear 423 is arranged in the rotating disc 10 and meshed with internal teeth of the rotating disc 10. Further, a supporting seat 11 for supporting the dual gear 422 is arranged between the side plate and the rotary table 10, the supporting seat 11 is arranged between front teeth and rear teeth of the dual gear 422, a shaft of the dual gear 422 penetrates through the supporting seat 11, and a shaft sleeve is arranged between the supporting seat and the dual gear 422.
Two sets of spacing posts 12 are installed on carousel 10 upper portion, the department is provided with magnet steel 13 in the middle of the below of two sets of spacing posts 12, 6 bottom bilateral symmetry of baffle installs two sets of hall sensor 14, when carousel 10 respectively to both sides rotatory to two sets of spacing posts 12 respectively with 6 bottom contact of baffle, carousel 10 reachs the rotation limit of both sides extremely and magnet steel 13 respectively with the sense terminal contact acquisition rotation limit position signal of two sets of hall sensor 14, two sets of hall sensor 14 all are connected to microcontroller 5. The system has the power-on self-checking function, automatically identifies the current turning turns, angles and return-to-zero points, calculates the return-to-zero points by detecting the rotation limits on two sides, has an adjustable mechanical structure, can adapt to special vehicles with different turns, and has a wide application range.
The control process of the special vehicle steering wheel force feedback device of the embodiment is shown in fig. 7, the microcontroller 5 adopts an STM32 series single chip microcomputer, as shown in fig. 8, 4 paths of PWM control signals are output, the PWM control signals are connected to the signal input end of the motor driving circuit 32 after optical coupling isolation, the motor 31 is driven by the motor driving circuit 32 to output driving force or braking force to the middle shaft 1, the optical coupling isolation circuit is shown in fig. 10, the motor driving circuit 32 is shown in fig. 11, current detection is performed on the motor driving circuit 32 through the current detection circuit 34, sampling current is fed back to an ADC acquisition port of the microcontroller 5, data required by closed-loop control of the motor 31 are calculated, and damage to the motor 31 caused by overlong stalling time of the motor 31 is prevented. The microcontroller 5 is connected with an RS485 communication module through an RS232 serial port communication circuit, the RS232 serial port communication circuit is shown in figure 9, the RS485 communication module is connected with an upper computer, the RS485 communication module is shown in figure 13, RS485 bus communication is adopted, the expansibility is good, the transmission distance is long, a 3D simulation driving system is arranged on the upper computer, the force feedback system can issue the simulated driving state information such as the vehicle starting state, the vehicle speed and the like and the environment information such as the lane state and the like to the force feedback system, the downloading communication module is shown in fig. 12, the force feedback system calculates and outputs the simulated feedback torque of various vehicle types under different driving states according to the relevant information, the microcontroller 5 is respectively connected with the photoelectric encoder 9 and the hall sensor 14 through a photoelectric encoder interface circuit and a hall sensor interface circuit, the photoelectric encoder interface circuit is shown in fig. 14, and the hall sensor interface circuit is shown in fig. 15.
The system also comprises a power circuit 15 for supplying power, as shown in fig. 16, a DC power socket 16, an aviation socket 17 and a button switch 21 are arranged on the right side plate of the casing 2, as shown in fig. 6, the system is used for controlling the system to be powered on, the system adopts an integrated design, independent 24V power supply, independent communication and flexible use are realized.
The force feedback method of the special vehicle steering wheel force feedback device comprises the following steps:
when the system is powered on initially, the microcontroller 5 drives the motor 31 to rotate through the motor driving circuit 32, the motor 31 drives the middle shaft 1 to rotate through the first gear set 41, the rotating shafts of the torque sensor 8 and the photoelectric encoder 9 rotate along with the rotation, and the middle shaft 1 drives the turntable 10 to rotate to one side through the second gear set 42;
when the limiting column 12 rotates to be in contact with the bottom of the baffle 6, the rotary table 10 reaches the rotating limit of the side, the detection end of the Hall sensor 14 on the same side of the rotating side of the rotary table 10 on the baffle 6 is in contact with the magnetic steel 13 to acquire a first rotating limit signal of the side, the first rotating limit signal is sent to the microcontroller 5, and the microcontroller 5 acquires the acquired signal of the photoelectric encoder 9 and performs signal zeroing processing;
the microcontroller 5 drives the motor 31 to rotate reversely through the motor driving circuit 32, the motor 31 drives the middle shaft 1 to rotate reversely through the first gear set 41, the rotating shafts of the torque sensor 8 and the photoelectric encoder 9 rotate along with the rotation, and the middle shaft 1 drives the turntable 10 to rotate towards the other side through the second gear set 42;
when the other group of limiting columns 12 rotates to be in contact with the bottom of the baffle 6, the rotary table 10 reaches the rotating limit position of the other side, the detection end of the other group of Hall sensors 14 on the same side as the rotating side of the rotary table 10 on the baffle 6 is in contact with the magnetic steel 13 to acquire a second rotating limit position signal of the other side, the second rotating limit position signal is sent to the microcontroller 5, the microcontroller 5 acquires the maximum rotating angle of the middle shaft 1 measured by the photoelectric encoder 9, the return-to-zero point is calculated, the steering wheel is returned to zero and return to positive by the driving motor 31 according to the rotating angle of the middle shaft 1 measured by the photoelectric encoder 9 in real time, and the system initialization is completed;
after the initialization is completed, in the simulated driving state, the microcontroller 5 calculates a feedback torque according to the simulated driving state information and the environment information sent by the upper computer, drives the motor 31 to output a corresponding braking force to the middle shaft 1 according to the feedback torque, performs feedback torque verification through the real-time torque acquired by the torque sensor 8, and simultaneously uploads the rotation angle of the middle shaft 1 acquired by the photoelectric encoder 9 in real time to the upper computer.
The magnitude of the feedback torque accords with the parameters of the real vehicle operation, the real vehicle power-assisted steering system of the special vehicle generally adopts mechanical hydraulic power assistance, the rotating torque is larger at low speed, the torque is slightly smaller at high speed, the force feedback can output continuous return-to-positive torque when the vehicle turns in the driving process, the force feedback outputs static torque when the vehicle turns in a static state, the torque stops when the vehicle turns in a stopping state, the return-to-positive effect is not realized, and different feedback torques are simulated according to the simulation driving state information of the vehicle starting state, the vehicle speed and the like and the environment information of the lane state and the like. Further, the moment also changes with a change in the steering angle when the vehicle is traveling. And the force feedback always provides the current steering angle data to the upper computer in a normal operation state, so that physical data is provided for the upper computer to simulate steering.
The system adopts an electric automatic steering simulation system, the driving force or the braking force is output to the middle shaft 1 through double motors, the control is flexible, the torque sensor can output real-time torque, the feedback adjustment is convenient, the photoelectric encoder measures the current steering angle in real time, the system has a power-on self-checking function, the return-to-zero point and the current rotating angle of the steering wheel are automatically identified, the system is suitable for the simulated steering of special vehicles with different rotating turns and angles, the feedback torque can be calculated according to state information and environment information such as the driving state, the speed, the terrain characteristics and the like in the current simulated driving, the steering torque of various vehicle types in different driving states is simulated, the application range is wide, the experience sense of simulated actual driving operation in the simulated training is enhanced, and the better simulated driving training effect is.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. The special vehicle steering wheel force feedback device is characterized by comprising a middle shaft, a casing, a braking mechanism, a transmission mechanism and a microcontroller, wherein a baffle and a motor mounting plate are arranged in the casing, one end of the middle shaft is connected with a steering wheel, the other end of the middle shaft horizontally extends to sequentially penetrate through a side plate of the casing, the baffle and the motor mounting plate to be connected with a torque sensor, the torque sensor is connected with a rotating shaft of a photoelectric encoder, the photoelectric encoder is connected with the microcontroller, the braking mechanism comprises two groups of motors and a motor driving circuit connected with the motors, the two groups of motors are arranged on the upper portion of the motor mounting plate, a signal output end of the microcontroller is connected with a signal input end of the motor driving circuit, the transmission mechanism comprises a first gear set and a second gear set, the first gear set is arranged between the baffle, the motor is connected with the middle shaft through a first gear set and outputs driving force or braking force to the middle shaft, a rotary plate is arranged on the middle shaft between the side plate and the baffle, a second gear set is arranged between the side plate and the rotary plate, the middle shaft drives the rotary plate through the second gear set, two sets of limiting columns are mounted on the upper portion of the rotary plate, magnetic steel is arranged in the middle of the lower portion of each set of limiting columns, two sets of Hall sensors are symmetrically mounted on two sides of the bottom of the baffle, when the rotary plate rotates towards two sides respectively and the two sets of limiting columns are in contact with the bottom of the baffle respectively, the rotary plate reaches the rotating poles on two sides and the magnetic steel is in contact with the detection ends of the two sets of Hall sensors respectively to obtain rotating.
2. The special vehicle steering wheel force feedback device according to claim 1, wherein the first gear set comprises two sets of first gears and a second gear, the two sets of first gears are respectively connected with motor shafts of two sets of motors, and the second gear is sleeved on the middle shaft and meshed with the two sets of first gears.
3. A special vehicle steering wheel force feedback device according to claim 1, wherein the second gear set comprises a third gear, a duplicate gear and an internal gear, the third gear is sleeved on a center shaft, the duplicate gear is arranged on one side of the center shaft, a duplicate gear shaft rotatably connected with the side plate is arranged in the duplicate gear, the third gear is meshed with front teeth of the duplicate gear, the internal gear is meshed with rear teeth of the duplicate gear, and the internal gear is arranged in the turntable and meshed with internal teeth of the turntable.
4. The special vehicle steering wheel force feedback device according to claim 3, wherein a support seat for supporting the duplicate gear is arranged between the side plate and the rotary table, the support seat is arranged between front teeth and rear teeth of the duplicate gear, the duplicate gear shaft penetrates through the support seat, and a shaft sleeve is arranged between the duplicate gear shaft and the support seat.
5. The special vehicle steering wheel force feedback device according to claim 1, wherein a signal output end of the microcontroller is connected with a signal input end of the motor driving circuit through an optical coupling isolation circuit.
6. The special vehicle steering wheel force feedback device according to claim 1, wherein a current detection circuit is connected to the motor driving circuit, and the current detection circuit is connected to an ADC (analog to digital converter) acquisition end of the microcontroller.
7. A special vehicle steering wheel force feedback device according to claim 1, wherein said microcontroller is connected to an upper computer via an RS485 communication module.
8. The special vehicle steering wheel force feedback device according to claim 1, further comprising a power circuit for supplying power, wherein a DC power socket and an aviation socket are arranged on the other side plate of the casing.
9. A special vehicle steering wheel force feedback device according to claim 1, wherein a push button switch is provided on the other side plate of said housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920522570.5U CN209859357U (en) | 2019-04-17 | 2019-04-17 | Special vehicle steering wheel force feedback device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920522570.5U CN209859357U (en) | 2019-04-17 | 2019-04-17 | Special vehicle steering wheel force feedback device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209859357U true CN209859357U (en) | 2019-12-27 |
Family
ID=68938085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920522570.5U Active CN209859357U (en) | 2019-04-17 | 2019-04-17 | Special vehicle steering wheel force feedback device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209859357U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109903633A (en) * | 2019-04-17 | 2019-06-18 | 刘雪枫 | A kind of special vehicle steering wheel feedback device and its force feedback method |
-
2019
- 2019-04-17 CN CN201920522570.5U patent/CN209859357U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109903633A (en) * | 2019-04-17 | 2019-06-18 | 刘雪枫 | A kind of special vehicle steering wheel feedback device and its force feedback method |
| CN109903633B (en) * | 2019-04-17 | 2024-06-18 | 刘雪枫 | Special vehicle steering wheel force feedback device and force feedback method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105460130B (en) | A kind of balance car | |
| CN201228037Y (en) | Two-wheel self balancing electric motor vehicle | |
| CN201405929Y (en) | Intelligent display device for automobile steering rudder position | |
| CN104443008B (en) | Electric boosting steering system | |
| CN103661786A (en) | Automatic gear shifting system of two-wheel middle-mounted power electric vehicle | |
| CN209859357U (en) | Special vehicle steering wheel force feedback device | |
| CN107507487A (en) | A kind of rack is spacing and the driving simulator transfer of displacement-type measurement | |
| CN201021151Y (en) | Electronic differential speed controller for electromobile steering | |
| CN104052196A (en) | Motor for assistance bicycles | |
| CN201946212U (en) | Control experiment table for automobile four-wheel steering system | |
| CN107452248A (en) | A kind of spacing and motor-driven driving simulator transfer of rack | |
| CN107424471A (en) | A kind of gear position limiting and motor-driven driving simulator transfer | |
| CN207082972U (en) | Wheel hub motor and wheel hub motor system | |
| CN109903633B (en) | Special vehicle steering wheel force feedback device and force feedback method thereof | |
| CN218825910U (en) | Steering device of driving training simulator | |
| CN102530078B (en) | System for displaying automobile wheel steering angles | |
| CN201457608U (en) | Anti-drift two-wheel self-balancing electric vehicle | |
| CN101947974A (en) | Electronic steering angle displacement correction system for electric vehicles driven by children | |
| CN105539704A (en) | Operating lever internally provided with attitude indicator and electric vehicle provided with operating lever | |
| CN210271477U (en) | Automobile electric power steering system teaching aid | |
| CN109228885A (en) | A kind of electric car electronic differential calculation method | |
| CN2659725Y (en) | Auto steering differential gear of electric vehicle | |
| CN206938990U (en) | A kind of self-balancing bicycle of intelligent drives | |
| WO2014019412A1 (en) | Power-assist bicycle using sensor having multiple magnetic blocks of unevenly distributed magnetic fluxes in housing | |
| CN218955964U (en) | Double-rotor multifunctional sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |