CN207611513U - A kind of axis limit and motor-driven driving simulator transfer - Google Patents
A kind of axis limit and motor-driven driving simulator transfer Download PDFInfo
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- CN207611513U CN207611513U CN201721270615.1U CN201721270615U CN207611513U CN 207611513 U CN207611513 U CN 207611513U CN 201721270615 U CN201721270615 U CN 201721270615U CN 207611513 U CN207611513 U CN 207611513U
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Abstract
A kind of axis limit and motor-driven driving simulator transfer, it includes steering wheel, the first and second rotary shaft, the first ~ tetra- gear, the first ~ tetra- bearing, bearing sleeve, bearing sleeve are fixedly mounted with plate, transfer frame foreboard, bottom plate, back plate, locating part, block piece, angle measuring sensor, motor.Bearing sleeve, bearing sleeve is fixedly mounted with plate and first, two bearings are for installing the first rotary shaft, it is socketed with steering wheel in first rotary shaft, first, three gears, second gear is mounted on motor shaft end and is engaged with first gear, third, four bearings are for installing the second rotary shaft, 4th geared sleeve engages in the second rotary shaft and with third gear, locating part and block piece realize limit function, motor realizes vibration and return function, the angle measuring sensor for being connected to the second rotary shaft end realizes outer corner measurement function, Hall angular transducer can be selected in angle measuring sensor, potentiometer, photoelectric encoder, magnetic sensitive angle sensor etc., flexibly and easily.
Description
Technical field
The utility model is related to driving simulator technical field more particularly to driving simulator transfers.
Background technology
Driving simulator is a kind of teaching equipment of driver training, it builds virtual driving using virtual reality emulation technology
Training environment, student is interacted by the operating member of driving simulator with drive simulating software, to learn driving efficiency.
New student is giveed training using drive simulating technology, can not only train new student safe efficiently, and with it is at low cost,
Zero-emission, environmentally protective feature；If making full use of drive simulating training method, significantly economic benefit and society can be brought
It can benefit.Driving simulator generally includes the operations such as steering wheel, clutch, service brake, throttle, parking brake, steering indicating light, windscreen wiper, gear
Component.The mechanism being connected with steering wheel is transfer, it be in all operating members of automobile simulator most it is complicated also the most
The fidelity of important operating member, transfer will directly affect experience of the user to entire automobile simulator.Usually,
Transfer in driving simulator needs following function：Limit is returned just and outer corner measurement, if to obtain better body
It tests, usual transfer can also increase vibrating function.
Limit：In general, its rotational angle is restricted when driving simulator steering wheel rotates, ± 720 are generally included
Degree（I.e. therefrom position starts to take two turns to the left or to the right steering wheel）With ± 540 degree（I.e. therefrom start can be to for position for steering wheel
A left side is turned around to the right partly）Two kinds.
Hui Zheng：In the driving process of vehicle, if steering wheel has rotated certain angle, steering wheel can self-aligning
To middle position.
Outer corner measurement：In order to enable drive simulating program links with steering wheel, the angle of rotation for knowing steering wheel at any time is needed
Degree, therefore just need installing angle measurement sensor on the steering wheel.
Vibration Simulation：When vehicle encounters the abnormal conditions such as bumpy road, collision in simulating driving procedure, steering wheel will produce
Vibration.
In the prior art, the pinion and-rack car steering mould with reference to described in Chinese patent ZL201520879731.8
Quasi- device transfer, utilization orientation column, universal joint and rack-and-pinion are coordinated, and are tooth by the convert rotational motion of steering wheel
The linear motion of item, and during rack linear moves, the compressed capability based on the spring being arranged on worm screw so that turn to
Device realize back just with limit, meanwhile, coordinate the first rivet and the second rivet to make the bar magnet on drive rod in straight line
Magnetic field changes in motion process, leads to the voltage change of hall device, realizes the function that steering wheel angle measures；Although should
Scheme can also realize automobile driving simulator return just, limit and the basic functions such as angle measurement, but due to worm screw resistance
It is larger, it needs to coordinate larger spring that could return positive direction disk, causes steering wheel return positive force excessive, safety and feel are poor；
Positive automobile driving simulator is mechanically returned with reference to described in Chinese patent ZL201420372533.8 turns to dress
It sets, when steering wheel rotates, rotary shaft rotation has been driven by gear cooperation rotation, and then driven limit rotating handle, first
Bar magnet and the rotation of the second bar magnet, when rotation touches limited block to limit rotating handle to the left or to the right, steering wheel can not
It is rotated further, here it is the limit functions of steering wheel.In rotary course, two springs in rotary shaft can be also supplied to side
To the torque of one self-aligning of disk, realize steering wheel self-aligning, when the first bar magnet and the second bar magnet rotate with
The relative angle of Hall angular transducer changes, to export different voltage values, to realize outer corner measurement.Meanwhile
The dual spring with reference to described in Chinese patent ZL201520224226.X returns positive automobile driving simulator transfer, in
State's patent ZL201420372533.8 implementations are substantially similar, improve the installation site of spring, convenient for being torn open to spring
Dress.But this two inevitable disadvantages of patent are:（1）When steering wheel is near center location, the deformation of two springs
It is smaller, keep aligning torque smaller, makes steering wheel is more difficult near center location to automatically return to center position.（2）Limited block and
It limits rotating handle and occupies larger space, keep transfer volume larger.（3）Use two springs carry out back just drive, cost compared with
Height, it is inconsistent to positive dynamics is returned that the individual differences of two springs easily leads to left and right.
To sum up, although the driving simulator transfer provided in the prior art can also provide it is basic as return just, limit
The functions such as angle measurement, but preferable safety and handling property can not be provided, or necessarily waste larger space and to turn to
Device volume is larger and to control back technical problems, the user experiences such as positive dynamics is inconsistent poor.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides a kind of axis limit and motor-driven driving simulator
Transfer, which is characterized in that it include steering wheel 1, the first rotary shaft 2, first bearing 3, bearing sleeve 4, second bearing 5,
Bearing sleeve is fixedly mounted with plate 6, first gear 7, transfer frame foreboard 8, third gear 11, transfer chassis base 12, turns
To device frame back plate 13, the second rotary shaft 14,3rd bearing 15, the 4th gear 16, block piece 17, locating part 18, the 4th axis
Hold 19, angle measuring sensor 20, at least one set of motor 9 and the second gear 10 coordinated with the motor 9, transfer frame
Foreboard 8, transfer chassis base 12 and transfer frame back plate 13 are for constituting transfer frame body, bearing sleeve
4 end sets have bearing sleeve to be fixedly mounted with plate 6, and 4 both ends of bearing sleeve are respectively equipped with first bearing 3 and second bearing 5, the first rotation
Axis 2 penetrates in first bearing 3 and second bearing 5, and the both ends of the first rotary shaft 2 are respectively sleeved on steering wheel 1 and third gear 11,
First rotary shaft 2 is socketed with first gear 7, and first gear 7 is between second bearing 5 and third gear 11, second gear 10
It engages mounted on 9 shaft end of motor and with first gear 7, motor 9 is mounted on transfer frame foreboard 8, the second rotary shaft 14
Both ends are socketed with 3rd bearing 15 and fourth bearing 19, the 4th gear 16 be socketed in the second rotary shaft 14 and with third gear 11
It engages, finite place piece 18 is socketed in the second rotary shaft 14, block piece 17 is mounted on transfer frame body, second rotation
One end of shaft 14 is provided with the angle measuring sensor 20.
Optionally, in the utility model, multiple motors can be used, transfer is driven, motor is installed in steering
On device frame foreboard 8, the gear coordinated with motor is connected on the central shaft of each motor, the gear being connected on each motor
Engaged with the first gear 7.
Optionally, the angle measuring sensor 20 specifically include the first bar magnet 20-1, the second bar magnet 20-2,
Circuit board 20-3 and Hall angular transducer 20-4, the first bar magnet 20-1 and the second bar magnet 20-2 bonding
Together, it and is sticked to the end of second rotary shaft 14 together, in the first bar magnet 20-1 and second bar shaped
The side of magnet 20-2 is provided with the circuit board 20-3 in a non-contact manner, and the Hall angle is provided on the circuit board 20-3
Spend sensor 20-4.
Optionally, the angle measuring sensor 20 includes circular magnet 20-5, circuit board 20-3 and Hall angle sensor
The poles N and the poles S of device 20-4, the circular magnet 20-5 are in same disc, and the circular magnet 20-5 is sticked to second rotation
The circuit board 20-3, the circuit board 20- is arranged in the outside of the circular magnet 20-5 in the end of axis 14 in a non-contact manner
The Hall angular transducer 20-4 is provided on 3.
Optionally, the angle measuring sensor 20 is using potentiometer 20-6.
Optionally, the angle measuring sensor 20 is using photoelectric encoder 20-7.
Optionally, the angle measuring sensor 20 is using magnetic sensitive angle sensor 20-8.
Utility model works principle：Steering wheel, first gear and third gear are all socketed in the first rotary shaft, the side of making
It synchronous can only be rotated to disk, first gear and third gear around the first rotary shaft；4th gear and locating part are socketed in second
In rotary shaft, angle measuring sensor is connected in the second rotary shaft, make that the 4th gear, locating part can only synchronize around the second rotation
Shaft rotates；Second gear is socketed on the output shaft of motor, and the output shaft around motor that second gear can only also synchronize is made to revolve
Turn.
（1）Due to being provided with block piece by locating part, which makes the rotation angle of locating part be restricted, because of limit
Part and the 4th gear synchronous, make the rotation angle of the 4th gear be restricted, because third gear and the 4th direct geared engage, side
To disk and third gear synchronous the limit function of transfer is realized to make the rotation angle of steering wheel be restricted.
（2）Angle measuring sensor connects the second rotary shaft and can measure the rotational angle of the second rotary shaft, the second rotation
Shaft is rotated with the 4th gear synchronous, and the 4th gear is directly engaged with first gear, and first gear is synchronous with steering wheel, so angle
Spend measurement sensor can also measurement direction disk rotational angle, realize the outer corner measurement function of transfer.
（3）When steering wheel to the left（Or to the right）When deviateing center, a control voltage can be inputted to motor（The pole of voltage
Property control motor rotation direction）, motor output shaft is made to occur to the right（Or to the left）Rotation, to make second gear also occur to
It is right（Or to the left）Rotation, first gear are engaged with second gear, and first gear is made also to be occurred to the right by torque（Or to the left）Turn
It is dynamic, to make steering wheel also occur to the right（Or to the left）Center is rotated back into, the return function of transfer is realized.
（4）When motor quickly turn left and right-hand rotation switches, passes through second gear, first gear and the first rotary shaft and pass
It is delivered to steering wheel, makes steering wheel that switching of quickly turning left and turn right also occur, realizes the Vibration Simulation function of steering wheel.
The utility model has the advantages that：
1, the utility model can fully achieve the required limit of transfer, outer corner measurement, return function, and can be real
Existing vibrating function.
2, Hall angular transducer, potentiometer, photoelectric encoder, magnetic sensitive angle sensor can be selected in angle measuring sensor
It is abundant Deng, washability, flexibly and easily, different demands can be directed to, especially when using Hall angular transducer and two bar shaped magnetic
It is signal accuracy height, good reliability, at low cost when iron carries out outer corner measurement, simultaneously as Hall angular transducer is contactless
Sensor, sensor and the non-Hard link of mechanical device, for sensor with mechanical device there is no abrasion, sensor service life is long.
3, it is driven using motor, time positive dynamics is uniform and strength is adjustable, can also carry out Vibration Simulation.
4, plate is fixedly mounted with using first bearing, second bearing, bearing sleeve and bearing sleeve and the first rotary shaft is installed, make first
Farther out, the first rotary shaft is more firm, and bearing sleeve can be used to install vehicle driving simulator simultaneously for two stress points distance of rotary shaft
The components such as stacked switch, make it is simple and reliable for structure, it is at low cost.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model；
Fig. 2 is the structure schematic top plan view of the utility model；
Fig. 3 is the dimensional structure diagram under two motor drivings of the utility model；
Fig. 4 is the dimensional structure diagram that the utility model uses the first sensor；
Fig. 5 is the dimensional structure diagram that the utility model uses second of sensor；
Fig. 6 is the dimensional structure diagram that the utility model uses the third sensor；
Fig. 7 is the dimensional structure diagram that the utility model uses the 4th kind of sensor；
Fig. 8 is the dimensional structure diagram that the utility model uses the 5th kind of sensor.
Specific implementation mode
In order to be more clearly understood that the above objects, features, and advantages of the utility model, below in conjunction with the accompanying drawings and have
The utility model is further described in detail in body embodiment.
Many details are elaborated in the following description in order to fully understand the utility model, still, this practicality
Novel to be implemented different from other modes described here using other, therefore, the utility model is not limited to following
The limitation of disclosed specific embodiment.
Present embodiment provides a kind of axis limit and motor-driven driving simulator transfer, such as Fig. 1 institutes
Show, which is characterized in that it includes steering wheel 1, the first rotary shaft 2, first bearing 3, bearing sleeve 4, second bearing 5, bearing holder (housing, cover)
Pipe is fixedly mounted with plate 6, first gear 7, transfer frame foreboard 8, third gear 11, transfer chassis base 12, transfer
Frame back plate 13, the second rotary shaft 14,3rd bearing 15, the 4th gear 16, block piece 17, locating part 18, fourth bearing 19, angle
Degree measurement sensor 20, at least one set of motor 9 and the second gear 10 coordinated with the motor 9, transfer frame foreboard 8,
Transfer chassis base 12 and transfer frame back plate 13 are for constituting transfer frame body, 4 end of bearing sleeve
It is provided with bearing sleeve and is fixedly mounted with plate 6,4 both ends of bearing sleeve are respectively equipped with first bearing 3 and second bearing 5, and the first rotary shaft 2 is worn
Entering in first bearing 3 and second bearing 5, the both ends of the first rotary shaft 2 are respectively sleeved on steering wheel 1 and third gear 11, and first
Rotary shaft 2 is socketed with first gear 7, and first gear 7 between second bearing 5 and third gear 11, install by second gear 10
It engages in 9 shaft end of motor and with first gear 7, motor 9 is mounted on transfer frame foreboard 8,14 both ends of the second rotary shaft
It is socketed with 3rd bearing 15 and fourth bearing 19, the 4th gear 16 is socketed in the second rotary shaft 14 and is nibbled with third gear 11
It closes, finite place piece 18 is socketed in the second rotary shaft 14, block piece 17 is mounted on transfer frame body, second rotation
One end of axis 14 is provided with the angle measuring sensor 20.Fig. 2 show the structure schematic top plan view of the utility model.
In the utility model, uses motor and transfer is driven, it is possible to understand that, the utility model is specific
When implementation, multiple motors also can be used, transfer is driven, you can to cover the scheme of multiple motors and gear.In order to
Distinguished with motor 9 and second gear 10, it is exemplary, as shown in figure 3, give two motors jointly to transfer into
The dimensional structure diagram of row driving, compared to Fig. 1, which is characterized in that it further includes motor 9-1 and second gear 10-1, electricity
Machine 9-1 and the motor that motor 9 is structural principle all same, the motor 9-1 is mounted on transfer frame foreboard 8, in institute
It states motor 9-1 front output shafts end and is provided with second gear 10-1, second gear 10-1 is structural principle all same with second gear 10
Gear, the second gear 10-1 engages with the first gear 7, the second gear 10 and the second gear 10-1
The driving first gear 7 that cooperates under the driving of motor 9 and motor 9-1 respectively rotates.
It should be understood that 3 motors, 4 motors, 5 motors ... in the specific implementation, can also be used in the utility model
Transfer is driven simultaneously, at this point, compared to Fig. 1, which is characterized in that it further includes motor 9-1, motor 9-2, motor
9-3 ... and second gear 10-1, second gear 10-2, second gear 10-3 ..., the motor 9-1, motor 9-2, motor
9-3 ... is mounted on transfer frame foreboard 8, the motor 9-1, motor 9-2, motor 9-3 ... front output shafts end difference
Be provided with second gear 10-1, second gear 10-2, second gear 10-3 ..., the second gear 10, second gear 10-1,
Second gear 10-2, second gear 10-3 ... are engaged with the first gear 7.Using three and the embodiment party of the above motor
Case, because motor is identical with the mounting means and operation principle of second gear, not attached drawing repeats herein.
In practice, motor and can have with the gear structure of motor cooperation it is at least one, the application not to motor and
It is specifically limited with the quantity of the gear of motor cooperation, every electricity for having same or similar quantity and principle with this programme
Machine and gear matching relationship each fall within the protection domain of the application.
In the specific implementation, kinds of schemes may be used in angle measuring sensor to the utility model.
Optionally, as shown in figure 4, the angle measuring sensor 20 specifically includes the first bar magnet 20-1, Article 2
Shape magnet 20-2, circuit board 20-3 and Hall angular transducer 20-4, the first bar magnet 20-1 and second bar shaped
Magnet 20-2 is bonded together, and is sticked to the end of second rotary shaft 14 together, in the first bar magnet 20-1 and
The side of the second bar magnet 20-2 is provided with the circuit board 20-3 in a non-contact manner, is arranged on the circuit board 20-3
There is the Hall angle degree sensor 20-4.
Optionally, as shown in figure 5, the angle measuring sensor 20 is including circular magnet 20-5, circuit board 20-3 and suddenly
The poles N and the poles S of your angular transducer 20-4, the circular magnet 20-5 are in same disc, and the circular magnet 20-5 is sticked to institute
The circuit board 20-3, institute is arranged in the outside of the circular magnet 20-5 in the end for stating the second rotary shaft 14 in a non-contact manner
It states and is provided with the Hall angular transducer 20-4 on circuit board 20-3.
Optionally, as shown in fig. 6, the angle measuring sensor uses potentiometer 20-6.
Optionally, as shown in fig. 7, the angle measuring sensor uses photoelectric encoder 20-7.
Optionally, as shown in figure 8, the angle measuring sensor uses magnetic sensitive angle sensor 20-8, the magnetosensitive angle
Degree sensor 20-8 is a kind of by angle of the component encapsulations such as circular magnet, circuit board and Hall angular transducer in a container
Measurement sensor, the magnetic sensitive angle sensor 20-8 are connect with the second rotary shaft 14.
Compared with prior art, a kind of limit of axis and motor-driven driving simulator transfer that the present embodiment proposes,
Gear structure is used, makes simple in structure, at low cost, good hand touch has further the advantage that：（1）Steering dress can be fully achieved
Required limit, outer corner measurement, return function are set, and can realize vibrating function.（2）Angle measuring sensor washability is rich
Richness can be directed to different demands, especially when carrying out outer corner measurement using contactless Hall angular transducer, signal accuracy
Height, good reliability, at low cost, sensor and the non-Hard link of mechanical device, there is no abrasion, sensors with mechanical device for sensor
Service life is long.（3）It is driven using motor, time positive dynamics is uniform and strength is adjustable, can also carry out Vibration Simulation, specifically
When implementation, it can also be driven using multiple motors, it is same obtaining when driving transfer jointly using multiple motors
Under the driving moment of size, the output power of single motor is smaller, keeps motor cost low.（4）Using first bearing, the second axis
Hold, bearing sleeve and bearing sleeve are fixedly mounted with plate and install the first rotary shaft, make two stress points distance of the first rotary shaft farther out, the
One rotary shaft is more firm, and bearing sleeve can be used to install the components such as the stacked switch of vehicle driving simulator simultaneously, make it is simple in structure can
It leans on, it is at low cost.
It should be understood that the utility model can be used for simulating traditional fuel combustion vehicle, it is dynamic to can be used for simulation mixing
Power vehicle or pure electric vehicle, do not limit herein.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (6)
1. a kind of axis limit and motor-driven driving simulator transfer, which is characterized in that it includes steering wheel 1, first
Rotary shaft 2, first bearing 3, bearing sleeve 4, second bearing 5, bearing sleeve are fixedly mounted with plate 6, first gear 7, transfer frame
Foreboard 8, third gear 11, transfer chassis base 12, transfer frame back plate 13, the second rotary shaft 14,3rd bearing
15, the 4th gear 16, block piece 17, locating part 18, fourth bearing 19, angle measuring sensor 20, at least one set of motor 9 and with
The second gear 10 that the motor 9 coordinates, transfer frame foreboard 8, transfer chassis base 12 and transfer frame
For back plate 13 for constituting transfer frame body, 4 end set of bearing sleeve has bearing sleeve to be fixedly mounted with plate 6,4 liang of bearing sleeve
End is respectively equipped with first bearing 3 and second bearing 5, and the first rotary shaft 2 penetrates in first bearing 3 and second bearing 5, the first rotation
The both ends of axis 2 are respectively sleeved on steering wheel 1 and third gear 11, and the first rotary shaft 2 is socketed with first gear 7, first gear 7
Between second bearing 5 and third gear 11, second gear 10 is mounted on 9 shaft end of motor and is engaged with first gear 7, motor 9
On transfer frame foreboard 8,14 both ends of the second rotary shaft are socketed with 3rd bearing 15 and fourth bearing 19, the 4th tooth
Wheel 16 is socketed in the second rotary shaft 14 and is engaged with third gear 11, and finite place piece 18, blocking are socketed in the second rotary shaft 14
Part 17 is mounted on transfer frame body, and one end of second rotary shaft 14 is provided with the angle measuring sensor
20。
2. a kind of axis limit according to claim 1 and motor-driven driving simulator transfer, which is characterized in that
The angle measuring sensor 20 specifically includes the first bar magnet 20-1, the second bar magnet 20-2, circuit board 20-3 and suddenly
That angular transducer 20-4, the first bar magnet 20-1 and the second bar magnet 20-2 are bonded together, and together
It is sticked to the end of second rotary shaft 14, in the side of the first bar magnet 20-1 and the second bar magnet 20-2
It is provided with the circuit board 20-3 in a non-contact manner, the Hall angular transducer 20-4 is provided on the circuit board 20-3.
3. a kind of axis limit according to claim 1 and motor-driven driving simulator transfer, which is characterized in that
The angle measuring sensor 20 includes circular magnet 20-5, circuit board 20-3 and Hall angular transducer 20-4, the circle
The poles N and the poles S of magnet 20-5 is in same disc, and the circular magnet 20-5 is sticked to the end of second rotary shaft 14, in institute
The circuit board 20-3 is arranged in the outside for stating circular magnet 20-5 in a non-contact manner, be provided on the circuit board 20-3 it is described suddenly
You are angular transducer 20-4.
4. a kind of axis limit according to claim 1 and motor-driven driving simulator transfer, which is characterized in that
The angle measuring sensor 20 is using potentiometer 20-6.
5. a kind of axis limit according to claim 1 and motor-driven driving simulator transfer, which is characterized in that
The angle measuring sensor 20 is using photoelectric encoder 20-7.
6. a kind of axis limit according to claim 1 and motor-driven driving simulator transfer, which is characterized in that
The angle measuring sensor 20 is using magnetic sensitive angle sensor 20-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721270615.1U CN207611513U (en) | 2017-09-29 | 2017-09-29 | A kind of axis limit and motor-driven driving simulator transfer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721270615.1U CN207611513U (en) | 2017-09-29 | 2017-09-29 | A kind of axis limit and motor-driven driving simulator transfer |
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| CN207611513U true CN207611513U (en) | 2018-07-13 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110379246A (en) * | 2019-08-15 | 2019-10-25 | 合肥威艾尔智能技术有限公司 | A kind of 360 degree rotation commander's station cupola simulator |
| WO2021018098A1 (en) * | 2019-07-26 | 2021-02-04 | 纳恩博（北京）科技有限公司 | Steering detection mechanism and vehicle having same |
| CN114684250A (en) * | 2020-12-30 | 2022-07-01 | 比亚迪股份有限公司 | Vehicle steering system and vehicle with same |
-
2017
- 2017-09-29 CN CN201721270615.1U patent/CN207611513U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021018098A1 (en) * | 2019-07-26 | 2021-02-04 | 纳恩博（北京）科技有限公司 | Steering detection mechanism and vehicle having same |
| CN110379246A (en) * | 2019-08-15 | 2019-10-25 | 合肥威艾尔智能技术有限公司 | A kind of 360 degree rotation commander's station cupola simulator |
| CN110379246B (en) * | 2019-08-15 | 2024-01-12 | 合肥威艾尔智能技术有限公司 | 360 rotatory long command tower analogue means of degree |
| CN114684250A (en) * | 2020-12-30 | 2022-07-01 | 比亚迪股份有限公司 | Vehicle steering system and vehicle with same |
| CN114684250B (en) * | 2020-12-30 | 2023-11-14 | 比亚迪股份有限公司 | Vehicle steering system and vehicle with same |
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