An electronic gear shifter with adjustable force value and a gear shifting system

Abstract

The application discloses a force-adjustable electronic gear shifter, which comprises a support, a control rod, a detection device and a damping mechanism. The control rod is rotatably connected with the support through at least one rotating shaft, and the axis of the rotating shaft extends along a first direction. The detection device is used for acquiring at least one parameter information of the control rod or a controlled object. The damping mechanism is used for applying damping force to the control rod. At least one damping mechanism is arranged for each rotating shaft of the control rod. The damping mechanism and the control rod are arranged along a second direction, and the second direction is perpendicular to the first direction. The damping shaft of the damping mechanism can move linearly along the extension direction of the damping mechanism under the driving of the control rod, so as to change the state of the damping mechanism. The damping force of the damping mechanism in different states is preset according to the at least one parameter information. The electronic gear shifter can realize accurate adjustment of the damping force, reduce the cross-sectional size of the electronic gear shifter, and meet the lightweight design requirement of the electronic gear shifter.

Description

Technical Field

[0001] This invention relates to the field of gear shifters, and more particularly to an electronic gear shifter and shifting system with adjustable force. Background Technology

[0002] In the movement of vehicles, aircraft, and work mechanisms, joysticks are frequently used for gear shifting or control. Providing tactile feedback to the operator during joystick movement allows for a clearer perception of the gear shifting status or the operating status of the controlled object, facilitating more precise control.

[0003] Chinese invention patent CN102308127B discloses a force feedback control device used in electronic gear shifters. This device incorporates an actuator; when the control element moves to the locked position, the corresponding actuator vibrates. This vibration is transmitted to the control element and perceived by the user. Different vibration frequencies can be set at different positions of the control element to produce different tactile sensations. However, this method cannot generate a variable force to resist the control element, nor can it adjust the force magnitude according to the state of the controlled object. Therefore, this tactile feedback method cannot fully meet the application requirements.

[0004] A tactile transmission device is disclosed in Chinese invention patent CN1646833A. It uses an actuator within the device, connected to a rotating component via a transmission mechanism, to apply resistance generated by the actuator to the rotating component, thus creating tactile feedback. This device has a complex structure, occupies a large space, has many different parts, and incurs high production costs. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, this invention provides an electronic shifter and shifting system with adjustable force. The electronic shifter can adjust the damping force according to changes in input conditions or changes in the state of the controlled object, thereby improving the user's operating feel. The overall structure of the electronic shifter is simple, with fewer types of parts, meeting the lightweight design requirements of the electronic shifter. The internal structure of the electronic shifter adopts a linear layout, reducing the cross-sectional size of the electronic shifter and meeting the layout requirements.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] Firstly, an electronic gear shifter with adjustable force, comprising:

[0008] support;

[0009] A control lever is rotatably connected to the bracket via at least one pivot; the axis of the pivot extends along a first direction.

[0010] A detection device is used to acquire at least one parameter information of the control lever or the controlled object;

[0011] A damping mechanism is provided to apply a damping force to the control rod. At least one damping mechanism is provided for each rotation axis of the control rod. The damping mechanism is arranged along a second direction with the control rod, and the second direction is perpendicular to the first direction. The damping axis of the damping mechanism can move linearly along the extension direction of the damping mechanism under the drive of the control rod to change the state of the damping mechanism. The damping force of the damping mechanism in different states is preset according to at least one parameter.

[0012] Typically, the second direction is a vertical direction, and the first direction is any horizontal direction perpendicular to the second direction. Alternatively, the second direction can be the axial direction of the electronic shifter, and the first direction can be any radial direction of the electronic shifter. By arranging the damping mechanism and the control lever along the second direction, with the damping mechanism extending along the second direction and both arranged linearly along the second direction, the cross-sectional dimensions of the electronic shifter in the direction perpendicular to the second direction can be reduced, such as reducing the radial dimensions of the electronic shifter. When the electronic shifter is installed inside the vehicle, the space occupied by the electronic shifter in the driver's cabin can be reduced, thereby meeting the customer's need to save cabin space.

[0013] The controlled objects include vehicles, flying devices, and operating mechanisms. The operating mechanisms include hoisting equipment and excavating equipment.

[0014] The bracket can be designed as a frame structure and connected inside the housing. Alternatively, the bracket can be integrally formed on the inner wall of the housing for connecting the control rod.

[0015] The damping mechanism is a magnetorheological damper. A linear magnetorheological damper of model C30-16A can be selected. One end of the damping mechanism is connected to a control rod, and the other end can be connected to a bracket or housing. The rotation of the control rod drives the damping shaft to move linearly along the extension direction of the damping mechanism, changing the state of the damping mechanism. Magnetorheological fluid is a smart material that changes from a fluid to a viscoelastic solid when passing through a magnetic field; when the magnetic field disappears, the viscoelastic solid becomes a flowing fluid again. By controlling the current to change the magnetic field strength, the magnitude of the fluid yield stress can be precisely controlled, realizing intelligent control of the controlled object. In use, the magnetorheological fluid flows through a narrow gap. By adjusting the strength of the magnetic field at this gap, the resistance to fluid flow is controlled. Therefore, the damping ratio between the damping force and parameter information is preset in the controller, so that the damping mechanism has different damping forces in different states. Generally, the greater the angle of rotation of the control lever relative to its initial position, the greater the acceleration, the faster the speed of the controlled object, or the higher the position of the controlled object, the greater the damping force can be. This allows the user to receive feedback from different states, improving the operating feel. The damping ratio between the damping force and the parameter information can be adjusted based on user experience, experimental data, etc. This enables adjustable damping force in the electronic gear shifter.

[0016] The damping mechanism and detection device can be wirelessly connected to the controller. The controller adjusts the damping force of the damping mechanism based on the detection data sent by the detection device and the preset damping ratio.

[0017] Preferably, it further includes a self-returning mechanism, with at least one self-returning mechanism provided for each rotation axis of the control lever. The self-returning mechanism is used to apply a reset force to the control lever, causing the control lever to return to its initial state. By simultaneously providing a damping mechanism and a self-returning mechanism in each rotation direction, the control lever not only achieves automatic return but also exhibits smoother movement, preventing wobbling and facilitating precise control of the controlled object.

[0018] More preferably, the self-returning mechanism and the control rod are arranged along the second direction, one end of the self-returning mechanism is connected to the control rod, and the other end is connected to the bracket or housing. The rod of the self-returning mechanism can move linearly along the extension direction of the self-returning mechanism under the drive of the control rod, thereby generating a restoring force.

[0019] Both the damping mechanism and the self-returning mechanism are set along the second direction with the control lever. The damping mechanism and the self-returning mechanism extend along the second direction and are arranged linearly. This ensures that after the damping mechanism and the self-returning mechanism are set, the plane dimension in the vertical second direction does not increase or increases by a small range. This minimizes the cross-sectional dimension of the electronic shifter in the vertical second direction and reduces the radial dimension of the electronic shifter, thus meeting the shifter arrangement requirements.

[0020] More preferably, the self-returning mechanism includes a column, a rod disposed within the column, at least one pair of movable members, and an elastic member; one end of the rod extends through the end of the column and is connected to the control rod, and the rod is movable along the extension direction of the column; the movable member is movably connected to the rod, and the two movable members in pairs are arranged along the extension direction of the column, and any one of the movable members can move along the extension direction of the column under the action of the rod, and the two movable members in the pair move in opposite directions under the drive of the rod; the elastic member is connected between the two movable members in the pair.

[0021] When either of the two moving parts in a pair is in a non-initial position, the elastic element is deformed, thereby generating a restoring force between the two elastic elements that returns the moving part to its initial position. The two moving parts move in opposite directions, causing the elastic elements to deform in the same way. When the rods have the same amount of movement in different directions, they can provide the same amount of compression or tension, producing the same return effect, making the operation of the return mechanism more stable and reliable.

[0022] More preferably, the damping mechanism and the self-returning mechanism are connected between the control rod and the bracket or housing via screws or pins. Typically, connecting holes are provided at both ends of the damping mechanism. Specifically, a connecting hole is provided at the end of the damping shaft that protrudes from the damping shell, and a screw installed in this connecting hole connects it to the control rod. A connecting hole is provided at the end of the damping shell opposite to the control rod, and a pin installed in this connecting hole connects it to the housing. When the control rod rotates, the damping shell is stationary relative to the housing or bracket. The damping shaft is pulled out or pressed into the damping shell by the control rod, causing the damping shaft to move linearly relative to the bracket in a second direction, thus changing the state of the damping mechanism. Similarly, a connecting hole is provided at the end of the self-returning mechanism that protrudes from the column, and a screw installed in this connecting hole connects it to the control rod. A connecting hole is provided at the end of the column opposite to the control rod, and a pin installed in this connecting hole connects it to the bracket or housing. When the control lever rotates, the column is stationary relative to the bracket or housing. The lever is pulled out or pressed into the column by the control lever, causing the lever to move linearly relative to the bracket in the second direction, changing the state of the self-returning mechanism and generating a restoring force.

[0023] Using screws or pins for connection results in a simple connection structure, requires fewer types of parts, reduces production costs, and better meets the needs of lightweight design. Screw or pin connections also effectively reduce gaps at the connection points, allowing for a more compact product layout and further reducing the size of the electronic shifter.

[0024] Typically, the damping mechanism and the self-returning mechanism can be arranged around the central axis of the bracket. Preferably, the damping mechanism and the self-returning mechanism are arranged within the axial extension space of the control lever, so that the arrangement of the damping mechanism and the self-returning mechanism does not require additional size increase in the first direction of the shifter.

[0025] Damping mechanisms and self-returning mechanisms acting on the same rotating shaft can be designed as generator modules, which facilitates assembly, replacement and application.

[0026] Preferably, the control lever includes a first rotating component and a second rotating component rotatably connected to the bracket, and a handle for pushing the first rotating component and the second rotating component to rotate. The movement directions of the first rotating component and the second rotating component are perpendicular. The control lever includes multiple rotating components and can rotate in multiple directions. Each rotation direction can be equipped with a corresponding drive mechanism, thereby meeting the control requirements of multiple actions.

[0027] More preferably, the first rotating component is connected to the bracket via a first rotating shaft, and the second rotating component is connected to the bracket via a second rotating shaft, the axes of the first and second rotating shafts being perpendicular to each other; the first and second rotating components are respectively provided with a first rotating hole and a second rotating hole, the first rotating hole and the second rotating hole being arranged opposite each other along a second direction, the handle passing through the first rotating hole and extending into the second rotating hole, the handle being connected to the second rotating component via a third rotating shaft, the axis of the third rotating shaft being perpendicular to the axis of the second rotating shaft. The control lever has a simple structure and is easy to install.

[0028] Preferably, the detection device includes a magnet and a Hall sensor for detecting changes in the magnetic field. The magnet is disposed at the ends of the first and second rotating shafts, and the Hall sensor is fixed to the support relative to the magnet. The detection device can detect the rotation angle or position of the rotating shafts, and use this rotation angle or position information as parameter information for adjusting the damping force. In addition to the above detection device, speed detection devices, position detection devices, etc., can also be installed on the controlled object to obtain parameter information for damping force adjustment.

[0029] When the controlled object is a flying device, the pitch and roll movements of the flying device can be controlled by operating the handle. When the controlled object is a vehicle, the acceleration and deceleration of the vehicle can be controlled by operating the handle. When the controlled object is a working mechanism, the steering and movement of the working mechanism can be controlled by operating the handle.

[0030] Secondly, a shifting system includes the aforementioned force-adjustable electronic shifter, controller, and controlled object; the controller is connected to both the electronic shifter and the controlled object, and adjusts the damping force according to parameter information from a detection device, and controls the movement of the controlled object according to instructions from the electronic shifter; the controlled object includes vehicles, flying devices, and operating mechanisms.

[0031] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0032] 1. By arranging the damping mechanism and self-returning mechanism along the second direction, respectively, and extending them linearly in this direction, the cross-sectional dimensions of the damping mechanism and self-returning mechanism in the perpendicular second direction can be reduced, thereby minimizing the radial dimensions of the electronic shifter. When the electronic shifter is installed inside the vehicle, the space it occupies in the driver's cabin can be reduced, thus meeting the customer's need for space-saving in the driver's cabin.

[0033] 2. The damping mechanism uses a magnetorheological damper, which controls the resistance to fluid flow by changing the magnetic field strength through the control of the current, thereby achieving precise adjustment of the damping force.

[0034] 3. The self-returning mechanism enables the handle to return to its original position. When the rod is pressed into or pulled out of the column, the elastic element deforms in the same way, thus producing the same return effect on the rod, making the operation of the return mechanism more stable and reliable.

[0035] 4. A damping mechanism and a self-returning mechanism are set for each axis of the control lever, so that the control lever is always subjected to opposite forces when it rotates, making the movement of the handle smoother, preventing wobbling, and facilitating precise control of the controlled object.

[0036] 5. The damping mechanism and self-returning mechanism are connected to the control rod and housing at both ends via screws or pins, respectively. This connection structure is simple, requires fewer types of parts, reduces production costs, and better meets the lightweight design requirements of the product. Using screws or pins also effectively reduces the gap at the connection, making the product layout more compact and further reducing the size of the electronic shifter.

[0037] To make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the electronic gear shifter structure in Embodiment 1 of the present invention;

[0040] Figure 2 This is a schematic diagram of the internal structure of the electronic gear shifter in Embodiment 1 of the present invention;

[0041] Figure 3 This is a schematic cross-sectional view of the electronic gear shifter in the first direction according to Embodiment 1 of the present invention;

[0042] Figure 4 This is a schematic cross-sectional view of the electronic gear shifter in the second direction according to Embodiment 1 of the present invention;

[0043] Figure 5 This is a schematic cross-sectional view of the shell in Embodiment 1 of the present invention;

[0044] Figure 6 This is a schematic diagram of the internal structure of the self-returning mechanism in Embodiment 1 of the present invention.

[0045] The reference numerals in the above figures are as follows: 1. Housing; 11. Through hole; 12. Connecting part; 13. Bracket; 2. Control rod; 21. First rotating component; 211. First rotating shaft; 212. First body; 213. First rotating hole; 22. Second rotating component; 221. Second rotating shaft; 222. Second body; 223. Second rotating hole; 23. Handle; 231. Third rotating shaft; 3. Damping mechanism; 31. Damping shaft; 32. Damping shell; 4. Self-returning mechanism; 41. Column; 411. Limiting part; 42. Rod; 421. Pushing part; 43. Moving part; 44. Compression spring; 5. Screw; 6. Pin; 71. Magnet; 72. Hall sensor; 73. Circuit board. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Example 1: See Figures 1-6As shown, an electronic shifter with adjustable force includes a housing 1, a housing 13 disposed within the housing 1, a control lever 2 disposed on the housing 13, a damping mechanism 3 and a self-returning mechanism 4 connected between the control lever 2 and the housing 1, and a detection device for acquiring parameter information to adjust the damping force.

[0048] See Figure 5 As shown, the housing 1 has a cavity for accommodating the control lever 2, damping mechanism 3, self-returning mechanism 4, and detection device. A pair of housings 13 are provided in the length and width directions of the housing 1 for fitting the rotating shaft of the control lever 2. A connecting part 12 is provided at the bottom of the housing 1, and the connecting part 12 has a connecting hole for fixing the damping mechanism 3. A through hole 11 is provided at the top of the housing 1, allowing the handle 23 of the control lever 2 to extend from inside the housing 1 to the outside, facilitating user operation and execution of different actions on the controlled object. A rubber ring is provided around the through hole 11 to cushion excessive rotation of the handle 23.

[0049] See Figures 2-4 As shown, the control lever 2 includes a first rotating component 21, a second rotating component 22, and a handle 23.

[0050] The first rotating member 21 includes a first body 212, which is formed by bending a flat plate, and has an open structure on the side opposite to the through hole 11 of the housing 1. A first rotating shaft 211 is provided on the outer side of the first body 212 opposite to the housing 1, and the first rotating shaft 211 is integrally formed with the first body 212. The axis of the first rotating shaft 211 is arranged along the length direction of the housing 1. The first rotating shaft 211 is sleeved on the bracket 13 inside the housing 1, so that the first rotating member 21 can rotate around the length direction of the housing 1. A connecting part 12 is provided on the inner side of the first body 212 opposite to the housing 1 for connecting the damping mechanism 3 and the self-returning mechanism 4. A first rotating hole 213 is provided on the first body 212 opposite to the through hole 11 on the housing 1, and the first rotating hole 213 is used to accommodate the handle 23.

[0051] The second rotating component 22 includes a second body 222, which has a frame structure and is located inside the first body 212. A second rotating shaft 221 is provided on the outer side of the second body 222 opposite to the housing 1, and the second rotating shaft 221 is integrally formed with the second body 222. The axis of the second rotating shaft 221 is arranged along the width direction of the housing 1. The second rotating shaft 221 is sleeved on a bracket 13 inside the housing 1, thereby allowing the second rotating component 22 to rotate around the width direction of the housing 1. Connecting portions 12 are provided on both sides of the second rotating shaft 221 for connecting a damping mechanism 3 and a self-returning mechanism 4. A second rotating hole 223 is provided on the second body 222 opposite to the first rotating hole 213. The length of the first rotating hole 213 is greater than the length of the second rotating hole 223 to avoid interference.

[0052] The handle 23 has a first end and a second end. The first end is located on the outside of the housing 1, and the second end extends through the through hole 11 and the first rotating hole 213 of the housing 1 into the second rotating hole 223. The second end of the handle 23 is connected to the second rotating member 22 via a through-hole third rotating shaft 231, the axis of which is perpendicular to the axis of the second rotating shaft 221. When the handle 23 rotates about the width of the housing 1, the third rotating shaft 231 restricts its movement, keeping the handle 23 stationary relative to the second rotating member 22, thus enabling the second rotating member 22 to rotate synchronously. When the handle 23 rotates about the length of the housing 1, it rotates about the third rotating shaft 231 relative to the second rotating member 22, thereby enabling the first rotating member 21 to rotate synchronously, allowing one handle 23 to control the rotation of two rotating members in different directions.

[0053] The two damping mechanisms 3, the two self-returning mechanisms 4, and the second rotating component 22 are all located within the axial extension space of the first rotating component 21 in the housing 1, making the arrangement of the electronic shifter in the radial direction more compact and reducing the dimensions of the electronic shifter in the length and width directions.

[0054] The connecting parts 12 on the first rotating member 21 and the second rotating member 22 include connecting holes. The ends of the damping mechanism 3 and the self-returning mechanism 4 are provided with corresponding connecting holes. The damping mechanism 3 and the self-returning mechanism 4 are connected to the control rod 2 respectively by screws 5 set in the connecting holes. The connection structure is simple, easy to assemble, requires fewer types of parts, facilitates the lightweight design of the product, and reduces production costs.

[0055] The damping mechanism 3 is a linear magnetorheological damper. It includes a damping shell 32, a damping shaft 31 movable along the extension direction of the damping shell 32, and a magnetorheological fluid disposed within the damping shell 32. The bottom of the damping shell 32 is connected to the connecting part 12 of the housing 1 via a pin 6. The top of the damping shaft 31 is connected to the control rod 2 via a screw 5. In use, by preset currents under different conditions, the magnetic field strength is changed by controlling the current, thus achieving precise adjustment of the damping force.

[0056] See Figure 6 As shown, the self-returning mechanism 4 includes a column 41, a rod 42 disposed within the column 41, two movable parts 43, and a compression spring 44 connecting the two movable parts 43. One end of the rod 42 extends out of the end of the column 41 and is connected to the control rod 2 by a screw 5. The rod 42 can move along the extension direction of the column 41. The movable parts 43 are sleeved on the rod 42. The two movable parts 43 are arranged along the extension direction of the column 41. Any one of the movable parts 43 can move along the extension direction of the column 41 under the action of the rod 42, and the movement directions of the paired movable parts 43 under the drive of the rod 42 are opposite. The bottom of the column 41 is connected to the connecting part 12 of the housing 1 by a pin 6.

[0057] Within the column 41, a limiting portion 411 is provided corresponding to each of the movable members 43. The limiting portions 411 of the two pairs of movable members 43 are both located on the side of the movable member 43 facing away from the compression spring 44. In the initial position, the movable member 43 is in contact with the corresponding limiting portion 411. A pushing portion 421 is provided on the rod 42. The pushing portion 421 is located on the side of the movable member 43 facing away from the compression spring 44, so that when the rod 42 moves, the pushing portion 421 pushes the movable member 43 away from the initial position.

[0058] When the rod 42 is pulled out of or pressed into the column 41 by the control rod 2, the compression spring 44 is compressed under the action of the movable part 43 and deforms in the same way, thereby producing the same return effect on the rod 42, making the operation of the return mechanism more stable and reliable.

[0059] The detection device includes a magnet 71 and a Hall sensor 72 for detecting changes in the magnetic field. The magnet 71 is disposed at the ends of the first rotating shaft 211 and the second rotating shaft 221. The Hall sensor 72 is disposed on a circuit board 73 opposite to the magnet 71. The circuit board 73 is fixed to the bracket 13.

[0060] The electronic shifter operates as follows: the user pushes the handle 23, causing it to rotate around the length or width of the housing 1. The Hall sensor 72 detects the rotation angle of the shaft and transmits the result to the controller. The controller calculates the speed of the handle 23 based on the rotation angle and outputs a pulse signal according to a preset relationship between speed and damping force. The damping force of the magnetorheological damper is then adjusted. In addition to adjusting the damping force based on the speed of the handle 23, multiple detection devices can be set to adjust the damping force based on multiple detection parameters, such as adjusting it according to the motion state of the controlled object.

[0061] A gear shifting system includes an electronic gear shifter with adjustable force as described above, a controller, and a controlled object; the controller is connected to both the electronic gear shifter and the controlled object, and adjusts the damping force according to parameter information from a detection device, and controls the movement of the controlled object according to instructions from the electronic gear shifter; the controlled object includes a vehicle, a flight device, or a working mechanism.

[0062] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A force-adjustable electronic gear shifter, characterized by, include: support; A control lever is rotatably connected to the bracket via at least one pivot, the axis of which extends along a first direction; A detection device is used to acquire at least one parameter information of the control lever or the controlled object; A damping mechanism is provided to apply a damping force to the control rod. At least one damping mechanism is provided for each rotation axis of the control rod. The damping mechanism is arranged along a second direction with the control rod. The second direction is perpendicular to the first direction. The damping axis of the damping mechanism can move linearly along the extension direction of the damping mechanism under the drive of the control rod to change the state of the damping mechanism. The damping force of the damping mechanism in different states is preset according to at least one parameter information. The self-returning mechanism is provided at least one for each rotation axis of the control lever. The self-returning mechanism is used to apply a reset force to the control lever to reset the control lever to its initial state. The self-returning mechanism and the control lever are arranged along the second direction. The lever of the self-returning mechanism can move linearly along the extension direction of the self-returning mechanism under the drive of the control lever, thereby generating a reset force.

2. The force-adjustable electronic gear shifter according to claim 1, characterized in that The damping mechanism is a magnetorheological damper.

3. The force-adjustable electronic gear shifter of claim 1, wherein, The self-returning mechanism includes a column, a rod disposed within the column, at least one pair of movable members, and an elastic member; one end of the rod extends through the end of the column and is connected to the control rod, and the rod can move along the extension direction of the column; the movable member is movably connected to the rod, and the two movable members in pairs are arranged along the extension direction of the column, and any one of the movable members can move along the extension direction of the column under the action of the rod, and the two movable members in the pair move in opposite directions under the drive of the rod; the elastic member is connected between the two movable members in the pair.

4. The force-adjustable electronic shifter of claim 1, wherein, The damping mechanism and self-returning mechanism are connected between the control rod and the bracket by screws or pins.

5. The force-adjustable electronic shifter of claim 1, wherein, The control lever includes a first rotating component and a second rotating component that are rotatably connected to the bracket, and a handle for pushing the first rotating component and the second rotating component to rotate, wherein the movement directions of the first rotating component and the second rotating component are perpendicular.

6. The force-adjustable electronic shifter according to claim 5, characterized in that, The first rotating component is connected to the bracket via a first rotating shaft, and the second rotating component is connected to the bracket via a second rotating shaft. The axes of the first rotating shaft and the second rotating shaft are perpendicular to each other. The first rotating component and the second rotating component are respectively provided with a first rotating hole and a second rotating hole. The first rotating hole and the second rotating hole are arranged opposite to each other along a second direction. The handle passes through the first rotating hole and extends into the second rotating hole. The handle is connected to the second rotating component via a third rotating shaft. The axis of the third rotating shaft is perpendicular to the axis of the second rotating shaft.

7. The force-adjustable electronic shifter according to claim 5, characterized in that, The detection device includes a magnet and a Hall sensor for detecting changes in the magnetic field. The magnet is disposed at the ends of the first and second rotating shafts, and the Hall sensor is fixed to the bracket relative to the magnet.

8. A gear shifting system, characterized in that, The shifting system includes an electronic shifter with adjustable force as described in any one of claims 1-7, a controller, and a controlled object; the controller is connected to the electronic shifter and the controlled object respectively, and the controller adjusts the damping force according to the parameter information of the detection device and controls the movement of the controlled object according to the instructions of the electronic shifter; the controlled object includes vehicles, flying devices, and working mechanisms.

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