Multi-working-condition modular adaptive operating device and steering wheel simulation system

Abstract

This application provides a multi-condition modular adaptable operating device and a steering wheel simulation system. The operating device includes: a composite core power mechanism for providing axial and rotational motion power during operation to simulate resistance during operation; a connecting component connected to the output connecting rod; and an operating lever connected to the composite core power mechanism via the connecting component for power transmission with the composite core power mechanism during operation. The connecting component and the operating lever each have at least two degrees of freedom. This application features high space utilization, a flattened power module volume, optimized internal space layout, and the ability to quickly switch between linear and rotary composite motions, facilitating adaptation to different application scenarios.

Description

Technical Field

[0001] This application belongs to the field of mechanical control technology, and relates to a steering operation device, particularly a multi-condition modular adaptable operation device and steering wheel simulation system. Background Technology

[0002] A steering wheel, also known as a steering wheel, is a wheel-shaped device used to control the direction of travel in automobiles, construction machinery, agricultural vehicles, and aircraft. Aircraft also use steering wheels for directional control. Because some devices' steering wheel operations only involve single-directional movements, while others may include combined movements in other directions, it is necessary to combine operations from different directions.

[0003] One existing approach involves directly mounting a power source in one direction onto a structure moving in the other direction, transmitting power directly to the operating unit. However, this method typically results in a large power source mass, which significantly increases the equivalent inertia of the moving parts when directly transmitted to the operating unit. This makes the operating unit sluggish, difficult to position quickly, especially in high-frequency reciprocating motion; it also leads to dynamic response delays, operator fatigue, and loss of accuracy.

[0004] Another approach is to transmit motion to the bottom through a flexible structure, isolating the power source from the control unit. However, this method makes the flexible structure prone to tension fluctuations, which can lead to slippage or loosening after long-term use; it also results in a high coefficient of friction, which can generate heat; the wear life of the flexible material is relatively short, and it requires regular checks of tension, lubrication, or replacement of worn parts; there are also issues with idle travel error, friction loss, and short maintenance cycles.

[0005] Furthermore, both of these methods are only applicable to a single use case and cannot be adapted to multiple use cases. For example, using a linear mode for desktop use and a swinging structure for simulation use results in large motion inertia and an inability to quickly switch between different operation modes. Additionally, they cannot cover directional control in other industries (such as racing steering wheels), leading to low product coverage, dispersed resources, and an inability to evenly distribute costs. Summary of the Invention

[0006] The purpose of this application is to provide a multi-condition modular adaptable operating device and steering wheel simulation system to solve the problem that the prior art cannot effectively support the free switching between swing operation and rotation operation.

[0007] In a first aspect, this application provides a multi-condition modular adaptable operating device, comprising: The composite core power mechanism is used to provide axial and rotational motion power during operation to simulate the resistance during operation; A connecting component is connected to the composite core power mechanism; The control lever is connected to the composite core power mechanism via the connecting component, and is used to transmit power to the composite core power mechanism during operation; The connecting component and the operating lever have at least two degrees of freedom.

[0008] In one implementation of the first aspect, the top of the operating lever is movably connected to the connecting component, the top of the operating lever is constrained by a bearing to rotate in a first direction, and the bottom of the operating lever is constrained by a bearing to swing about a second direction.

[0009] In one implementation of the first aspect, a central shaft is mounted at the bottom of the operating lever, and a third bearing is mounted on the outer wall of the operating lever. The central shaft is inserted into the third bearing to be rotatably connected to the operating lever, so that the operating lever swings about the axis of the second direction. An output shaft is connected to the top of the operating lever through a connecting flange. The output shaft is connected to the connecting component to realize power transmission. The top of the operating lever is rotatably connected to the connecting flange through a fourth bearing, so that the top of the operating lever is supported and constrained by the fourth bearing and rotates about the first direction.

[0010] In one implementation of the first aspect, the connecting component is formed by two universal joints connected in series.

[0011] In one implementation of the first aspect, the composite core power mechanism includes: Base plate; A movable base is movably mounted on the base plate; The rotating base is rotatably installed inside the moving base and moves synchronously with the moving base; An axial drive assembly is connected to the motion base to drive the motion base to move linearly along a first direction; A rotary drive assembly is connected to the rotating base to drive the rotating base to rotate about the first direction; The output connecting rod is fixedly connected to the rotating base so as to move synchronously with the rotating base; A power source, installed on the base plate, provides power to the axial drive assembly and the rotary drive assembly, respectively. The output connecting rod is fixedly connected to the rotating base so as to move synchronously with the rotating base, and when the axial drive assembly drives the moving base to move linearly along the first direction, the rotating base moves synchronously along the first direction.

[0012] In this application, a decoupled modular design of the axial drive component and the rotary drive component is used to realize the composite motion of both linear and rotary motion. The entire power unit has high space utilization and the power module has a flat volume, which optimizes the internal space layout of the equipment and makes it easy to install in a small space.

[0013] In one implementation of the first aspect, the power source includes a first power source, and the axial drive assembly includes: The first pulley is located at one end above the base plate; The fourth pulley is located at the other end above the base plate; The belt is fixedly connected to the motion base via a connecting plate and is sleeved between the first pulley and the fourth pulley; A sliding mechanism is installed between the base plate and the moving base to guide the moving base to move linearly along the first direction; The first power source is connected to the center of the fourth pulley to drive the belt to rotate by driving the fourth pulley.

[0014] In this embodiment, the first power source drives the belt to rotate via the first pulley. The rotation of the belt drives the moving base to move linearly along the first direction. During the entire linear motion, the first power source remains fixed and does not move with it, which reduces the weight of the entire operating device, makes the response faster, and reduces lag.

[0015] In one implementation of the first aspect, the sliding mechanism includes a linear guide rail and a slider. The linear guide rail is mounted above the base plate, the slider is fixedly connected to the motion base, and the bottom of the slider is provided with a groove that matches the linear guide rail. The motion base moves linearly along the linear guide rail under the drive of the belt via the slider.

[0016] In one implementation of the first aspect, the rotation drive assembly includes: A first support plate is installed at one end of the surface of the base plate; The first rotating disk is rotatably connected to the first support plate; A second support plate is installed at the other end of the surface of the base plate; The second rotating disk is rotatably connected to the second support plate; A speed reduction mechanism is mounted on the base plate, fixedly connected to the second rotating disk, and driven to rotate. A cylindrical guide rail is fixedly connected between the first rotating disk and the second rotating disk; The output connecting rod passes through the first rotating disk and is fixedly connected to the rotating base. The rotating base is provided with a linear bearing that matches the cylindrical guide rail, so that it can move along the axial direction of the cylindrical guide rail through the linear bearing. The rotating base is rotatably mounted inside the moving base through the first bearing and rotates around the first direction, so as to transmit the push-pull load of linear motion through the first bearing and transmit the push-pull load through the rotational torque of rotational motion through the linear bearing.

[0017] In one implementation of the first aspect, the power source further includes a second power source mounted on the base plate, and the reduction mechanism includes: The second pulley is located on the side of the second support plate away from the first support plate; The third pulley is connected to the second power source to rotate under the drive of the second power source; A speed reduction synchronous belt is fitted between the second pulley and the third pulley so that the rotation of the third pulley drives the second pulley to rotate. The second rotating disk has a connecting shaft at its center, which is fixedly connected to the center of the second pulley so that the second rotating disk can be driven to rotate by the rotation of the second pulley, and the diameter of the second pulley is larger than the diameter of the third pulley.

[0018] In this embodiment, the second power source drives the second pulley to rotate via the third pulley and the reduction synchronous belt. The center of the second pulley is fixedly connected to the insertion shaft at the center of the second rotating disk. Thus, the second pulley drives the second rotating disk to rotate, which in turn drives the rotating base to rotate. During the entire rotation process, the mass of the second power source does not move, which reduces the weight of the entire operating device, makes the response faster, and reduces lag.

[0019] In one implementation of the first aspect, a second bearing is installed at the outer end of both the first and second rotating disks. A bearing groove for accommodating the second bearing is provided inside both the first and second support plates. The second bearing is fixedly installed inside the bearing groove. The output connecting rod is inserted into the second bearing outside the first rotating disk and fixedly connected to the rotating base. The output connecting rod passes through the bearing groove in the first support plate and is suspended in the air.

[0020] In one implementation of the first aspect, a locking mechanism is further included. The locking mechanism is disposed on the base plate and connected to the moving base to constrain the movement of the moving base and the rotating base. In a first state, the locking mechanism limits the axial drive assembly and releases the limit on the rotary drive assembly to restrict the linear movement of the output connecting rod in the first direction and unlock the multi-turn rotation around the first direction. In a second state, the locking mechanism limits the rotary drive assembly and releases the limit on the axial drive assembly to realize the linear-rotational combined motion of the output connecting rod.

[0021] In this implementation, the movement of the motion base drives the movement of the locking tongue to push the spring pin. At the same time, the locking and unlocking of the locking tongue is achieved through the cooperation of the pull pin and the locking tongue hole. This enables the entire power device to quickly switch between multi-turn rotation in the first state and linear rotation compound motion in the second state, making it easy to adapt to different application scenarios.

[0022] In one implementation of the first aspect, the locking mechanism includes: A locking tongue is fixedly installed on the top of the moving base near the second support plate. A spring pin is installed inside the second support plate and moves toward the second support plate along the first direction; A pull pin is inserted into the top of the second support plate; A latch hole is provided at one end of the surface of the latch near the pull pin and matches the pull pin. An arc-shaped slot is provided inside the second rotating disk; The pull pin engages with the locking tongue hole to lock and unlock the moving base in the first direction, and the spring pin engages with the arc-shaped groove to limit the rotation angle of the rotating base, thereby switching between multi-turn rotation state and limited angle rotation state.

[0023] In one implementation of the first aspect, the second support plate has an opening groove inside that is directly opposite to the latch. A protrusion structure, directly opposite the latch, is fixedly installed above the end of the spring pin away from the moving base. The second support plate has a channel inside that matches the protrusion structure and the spring pin. After the latch inserts into the opening groove, it pushes the protrusion structure at the end of the spring pin to move along the channel away from the moving base. The end of the spring pin away from the protrusion structure inserts into the second support plate and extends to the arc-shaped groove. Inside, and outside the spring pin, a spring pin spring is also sleeved. When the spring pin is not pushed by the latch, it is in the second state. Under the action of the spring pin spring, the spring pin is fixedly inserted into the arc-shaped groove, and the projection of the pull pin in the second direction falls on the moving path of the latch hole, so that after the latch moves to the corresponding position, the pull pin is pressed down and inserted into the latch hole to fix the latch, so that the spring pin is disengaged from the arc-shaped groove and enters the first state. The second direction is the direction perpendicular to the plane where the latch is located.

[0024] In one implementation of the first aspect, after the moving base pushes the latch into the opening slot, the pull pin is released so that it is inserted into the latch hole and the latch is fixed. The spring pin then disengages from the arc-shaped slot and enters the first state to restrict the linear movement of the output connecting rod in the first direction and unlock the multi-turn rotation around the first direction. After the pull pin is pulled out of the latch hole and fixed, the spring pin is inserted into the arc-shaped slot under the action of the spring pin spring and enters the second state, realizing the linear rotational compound motion of the output connecting rod.

[0025] In one implementation of the first aspect, the central angle of the arc-shaped slot does not exceed 180°, and in the second state, the rotation angle of the output connecting rod does not exceed the central angle of the arc-shaped slot.

[0026] Secondly, the present invention also provides a steering wheel simulation system, characterized in that it is applied to flight simulation, vehicle steering control simulation or industrial control, and uses the above-mentioned multi-condition modular adaptation operation device to perform steering wheel simulation operation.

[0027] As described above, the multi-condition modular adaptable operating device and steering wheel simulation system described in this application have the following beneficial effects: This application utilizes a multi-condition modular adaptable operating device formed by adapting a composite core power mechanism with an operating lever and connecting components. This device enables the free switching between two combined motion conditions: rotational and swinging motion. It is convenient to adapt to different application scenarios. Furthermore, through the decoupled modular design of the axial drive component and the rotary drive component, it achieves linear and rotary motion. The locking mechanism enables the switching between different motion states. The entire power device has high space utilization, and the power module is flat, optimizing the internal space layout of the equipment and facilitating installation in confined spaces. The locking mechanism switches between different motion states by using the movement of the motion base to drive the locking tongue to push the spring pin. At the same time, the locking and unlocking of the locking tongue is achieved through the cooperation of the pull pin and the locking tongue hole, so as to realize the rapid switching between the multi-turn rotation of the entire power mechanism in the first state and the linear rotational composite motion in the second state. Attached Figure Description

[0028] Figure 1 The diagram shown is a schematic representation of the overall structure of the multi-condition modular adaptable operating device described in this application embodiment.

[0029] Figure 2 The diagram shown is a structural schematic of the operating lever in the multi-condition modular adaptable operating device described in this application embodiment. Figure 3 The diagram shown is a split structural diagram of the composite core power mechanism in the multi-condition modular adaptable operating device described in this application embodiment.

[0030] Figure 4 The diagram shown is a structural schematic of the axial drive component in the composite core power mechanism of the multi-condition modular adaptable operating device described in this application embodiment.

[0031] Figure 5 The diagram shown is a structural schematic of the rotary drive component in the composite core power mechanism of the multi-condition modular adaptable operating device described in the embodiments of this application.

[0032] Figure 6 The diagram shows the connection between the first and second rotating disks in the composite core power mechanism of the multi-condition modular adaptable operating device described in this application embodiment.

[0033] Figure 7 The image shown is a partial cross-sectional view of the second support plate in the composite core power mechanism of the multi-condition modular adaptable operating device described in this application embodiment.

[0034] Figure 8 Displayed as Figure 7 A magnified structural diagram of A when the spring pin is located inside the arc-shaped groove.

[0035] Figure 9 Displayed as Figure 7 An enlarged structural diagram of A after the locking tongue is pushed to disengage the spring pin from the arc-shaped slot.

[0036] Label Explanation: 1-Belt; 2-First pulley; 3-First power source; 4-Second power source; 5-Pull pin; 6-Spring pin; 7-Lock tongue; 8-Connecting plate; 9-Base plate; 10-Motion base; 11-Slider; 12-Linear guide rail; 13-Second rotating disk; 14-First bearing; 15-Rotating base; 16-Linear bearing; 17-Cylindrical guide rail; 18-Connecting component; 19-First rotating disk; 20-Second bearing; 21-Output connecting rod; 22-Second pulley; 23-Third pulley; 24-Reduction synchronous belt; 25-Fourth pulley; 26-Operating lever; 27-Sliding mechanism; 28-First support plate; 29-Second support plate; 30-Reduction mechanism; 31-Plug-in shaft; 32-Bearing groove; 33-Opening groove; 34-Opening; 35-Protruding structure; 36-Slide groove; 37-Channel; 61-Spring pin; 71-Lock hole; 131-Arc-shaped groove; 261-Central shaft; 262-Third bearing; 263-Connecting flange; 264-Output shaft; 265-Fourth bearing. Detailed Implementation

[0037] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0038] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0039] See Figures 1 to 9The following embodiments of this application provide the aforementioned multi-condition modular adaptable operating device and steering wheel simulation system. This application, through the adaptation of a composite core power mechanism with operating levers and connecting components, forms a multi-condition modular adaptable operating device capable of freely switching between rotary and swing motions, facilitating adaptation to different application scenarios. Furthermore, through the decoupled modular design of the axial drive component and the rotary drive component, linear and rotary motions are achieved, and the switching between different motion states is achieved through a locking mechanism. The entire power device has high space utilization, a flattened power module volume, and optimized internal space layout, making it easy to install in confined spaces. Moreover, the locking mechanism switches between different motion states, utilizing the movement of the motion base to drive the locking tongue to push the spring pin. Simultaneously, the locking and unlocking of the locking tongue is achieved through the cooperation of the pull pin and the locking tongue hole, enabling rapid switching between multi-turn rotation in the first state and linear rotational composite motion in the second state.

[0040] The technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0041] like Figure 1 and Figure 2 As shown, this embodiment provides a multi-condition modular adaptable operating device, including: The composite core power mechanism is used to provide axial and rotational motion power during operation to simulate the resistance during operation; Connecting component 18 is connected to the composite core power mechanism; The operating lever 26 is connected to the composite core power mechanism via the connecting component 18, and is used to realize power transmission with the composite core power mechanism during operation; The connecting component 18 and the operating lever 26 each have at least two degrees of freedom.

[0042] In this embodiment, the docking module consisting of the operating lever 26 and the connecting component 18 can connect the external operating part to the composite core power mechanism that provides axial and rotational motion power. The composite core power mechanism provides resistance to simulate the resistance during actual operation. That is, the composite core power mechanism transmits power to the operating part to realize motion transmission, thereby simulating the steering wheel operation process.

[0043] In some embodiments, the top of the operating lever 26 is movably connected to the connecting member 18, the top of the operating lever 26 is constrained by a bearing to rotate in a first direction, and the bottom of the operating lever 26 is constrained by a bearing to swing about a second direction.

[0044] In this embodiment, the top and bottom of the operating lever 26 are constrained by bearings to realize rotational movement along the first direction and swinging movement around the second direction, thereby enabling the operating lever 26 to freely switch between rotational and swinging motions to meet the needs of different operating conditions.

[0045] In some other embodiments, reference is made to Figure 2 The operating lever 26 has a central shaft 261 mounted at its bottom and a third bearing 262 mounted on its outer wall. The central shaft 261 is inserted into the third bearing 262 to rotatably connect with the operating lever 26, allowing the operating lever 26 to swing around the axis of the second direction. The top of the operating lever 26 is connected to an output shaft 264 via a connecting flange 263. The output shaft 264 is connected to the connecting component 18 to transmit power. The top of the operating lever 26 is rotatably connected to the connecting flange 263 via a fourth bearing 265, which supports and constrains the top of the operating lever 26 and allows it to rotate around the first direction.

[0046] In this embodiment, the bottom of the operating lever 26 is rotatably connected to the central shaft 261 via a third bearing 262. The second direction is the direction of the axis where the central shaft 261 is located, thereby enabling the operating lever 26 to rotate around the axis where the central shaft 261 is located. When the composite core power mechanism outputs power to make the output connecting rod 21 move linearly, the output connecting rod 21 pushes the output shaft 264 at the top of the operating lever 26 to move linearly through the docking module. However, the bottom of the operating lever 26 is constrained by the third bearing 262 and can only swing around the direction of the axis where the central shaft 261 is located as the second direction, that is, along... Figure 1 The operating lever 26 swings in the X-axis direction; and because the top of the operating lever 26 is rotatably connected to the connecting flange 263 via the fourth bearing 265, the top of the operating lever 26 can rotate around the first direction. That is, when the composite core power mechanism outputs power to make the output connecting rod 21 rotate, the rotational motion output by the output connecting rod 21 drives the output shaft 264 at the top of the operating lever 26 to rotate around the first direction via the docking module. Figure 1 It rotates along the Y-axis. This allows for free switching between rotational and oscillating motions via external components, meeting the operational requirements of different scenarios.

[0047] The aforementioned multi-condition modular adaptable operating device can be adapted to different simulation software to switch to different simulation scenarios. For example, it can be connected to racing steering wheel simulation software to simulate racing operation, connected to flight simulation software to simulate flight operation, and connected to industrial control simulation software to simulate industrial control, thereby adapting to different application scenarios and being highly practical.

[0048] In some other embodiments, the connecting component 18 is formed by two universal joints connected in series.

[0049] Specifically, the connecting component 18 has two degrees of freedom. The connecting component 18 is composed of two universal joints connected in series. Each universal joint corresponds to one degree of freedom, so as to form a structure with two degrees of freedom to realize power transmission and thus adapt to linear-rotational composite motion during operation.

[0050] In some other embodiments, reference is made to Figure 1 and Figure 3 The composite core power mechanism includes: Base plate 9; The motion base 10 is movably mounted on the base plate 9; The rotating base 15 is rotatably installed inside the moving base 10 and moves synchronously with the moving base 10; An axial drive assembly is connected to the motion base 10 to drive the motion base 10 to move linearly along a first direction; A rotary drive assembly is connected to the rotating base 15 to drive the rotating base 15 to rotate around the first direction; The output connecting rod 21 is fixedly connected to the rotating base 15 so as to move synchronously with the rotating base 15; A power source, installed on the base plate 9, provides power to the axial drive assembly and the rotary drive assembly, respectively. When the axial drive assembly drives the motion base 10 to move linearly along the first direction, the rotating base 15 moves synchronously along the first direction.

[0051] In this embodiment, the axial drive assembly drives the motion base 10 to move linearly along the first direction, while the rotary drive assembly drives the rotating base 15 to rotate around the first direction, thus decoupling the linear and rotary motions. The rotating base 15 is rotatably installed inside the motion base 10 and moves synchronously with the motion base 10, enabling synchronous movement of axial linear and rotary motions. The linear and rotary motions are transmitted to the outside through the output connecting rod 21, achieving independent transmission of linear and rotary motions. Furthermore, the entire power unit has a flattened volume, which is beneficial for optimizing the internal space layout of the equipment and facilitating installation in confined spaces.

[0052] In some embodiments, reference Figure 4 The power source includes a first power source 3, and the axial drive assembly includes: The first pulley 2 is located at one end above the base plate 9; The fourth pulley 25 is located at the other end above the base plate 9; The belt 1 is fixedly connected to the motion base 10 via the connecting plate 8 and is sleeved between the first pulley 2 and the fourth pulley 25; A sliding mechanism 27 is installed between the base plate 9 and the motion base 10 to guide the motion base 10 to move linearly along the first direction. The first power source 3 is connected to the center of the fourth pulley 25 so as to drive the belt 1 to rotate by driving the fourth pulley 25.

[0053] In this embodiment, since the axial drive assembly is used to drive the motion base 10 to move linearly along the first direction, in specific operation, the first power source 3 drives the fourth pulley 25 to rotate. Since the fourth pulley 25 and the first pulley 2 are transmitted through the belt 1, and the belt 1 is fixedly connected to the motion base 10 through the connecting plate 8, when the first power source 3 drives the belt 1 to rotate through the fourth pulley 25, under the action of the sliding mechanism 27, the belt 1 drives the motion base 10 to move linearly along the first direction on the surface of the base plate 9 through the connecting plate 8, so as to drive the rotating base 15 and the output connecting rod 21 to move linearly synchronously.

[0054] Furthermore, since the motion base 10 is fixedly connected to the connecting plate 8 and the belt 1, the motion base 10 can withstand a certain load and move stably during movement.

[0055] In some other embodiments, the sliding mechanism 27 includes a linear guide rail 12 and a slider 11. The linear guide rail 12 is mounted above the base plate 9, and the slider 11 is fixedly connected to the motion base 10. The bottom of the slider 11 is provided with a groove 36 that matches the linear guide rail 12. The motion base 10 moves linearly along the linear guide rail 12 via the slider 11 under the drive of the belt 1.

[0056] In this embodiment, when the first power source 3 drives the moving base 10 to move linearly in the first direction through the transmission action of the fourth pulley 25 and the belt 1, the moving base 10 can move smoothly along the linear guide rail 12 by setting the linear guide rail 12 and the slider 11, thereby reducing the resistance during movement.

[0057] In some other embodiments, the first direction is the direction of the axis along which the length of the linear guide 12 lies.

[0058] In some embodiments, reference Figure 5 and Figure 6 The rotation drive assembly includes: The first support plate 28 is installed at one end of the surface of the base plate 9; The first rotating disk 19 is rotatably connected to the first support plate 28; The second support plate 29 is installed on the other end of the surface of the base plate 9; The second rotating disk 13 is rotatably connected to the second support plate 29; The speed reduction mechanism 30 is mounted on the base plate 9, fixedly connected to the second rotating disk 13 and driven to rotate; A cylindrical guide rail 17 is fixedly connected between the first rotating disk 19 and the second rotating disk 13; The output connecting rod 21 passes through the first rotating disk 19 and is fixedly connected to the rotating base 15. The rotating base 15 is provided with a linear bearing 16 that matches the cylindrical guide rail 17, so that it can move along the axial direction of the cylindrical guide rail 17 through the linear bearing 16. The rotating base 15 is rotatably mounted inside the moving base 10 through the first bearing 14 and rotates around the first direction so that the push-pull load of linear motion is transmitted through the first bearing 14 and the rotational torque during rotation is transmitted through the linear bearing 16.

[0059] In this embodiment, the rotary drive assembly drives the rotating base 15 to rotate around the first direction. Specifically, the reduction mechanism 30 acts as a power source to drive the second rotating disk 13 to rotate. Since the second rotating disk 13 and the first rotating disk 19 are fixedly connected by a cylindrical guide rail 17, the rotation of the second rotating disk 13 drives the cylindrical guide rail 17 and the first rotating disk 19 to rotate synchronously. The first rotating disk 19 is rotatably connected to the first support plate 28, and the second rotating disk 13 is rotatably connected to the second support plate 29, ensuring that the rotation of the first rotating disk 19 and the second rotating disk 13 is not obstructed. Furthermore, since the rotating base 15 and the cylindrical guide rail 17 are connected by a linear bearing 16, the rotating base 15 can move smoothly along the surface of the cylindrical guide rail 17, and when the cylindrical guide rail 17 rotates, it can also drive the rotating base 15 to rotate synchronously. The rotating base 15 is installed inside the moving base 10 via the first bearing 14, so that the rotation of the rotating base 15 will not affect the movement of the moving base 10. The output connecting rod 21 is connected to the rotating base 15, thereby realizing the rotational movement of the rotating base 15 and the output connecting rod 21.

[0060] The rotating base 15 and the cylindrical guide rail 17 are connected by a linear bearing 16 to achieve linear motion. The rotating base 15 is rotatably mounted to the moving base 10 via a first bearing 14 to rotate around a first direction. Throughout the process, the linear motion and rotational motion are decoupled through the linear bearing 16 and the first bearing 14. The linear bearing 16 is only responsible for the linear motion of the rotating base 15 along the cylindrical guide rail 17, while the rotational torque generated by the rotational motion of the rotating base 15 is transmitted by the linear bearing 16, and the push-pull load generated by the linear motion along the cylindrical guide rail 17 is transmitted by the first bearing 14. This ensures that the rotational torque of the rotational motion and the push-pull load of the linear motion will not cause the cylindrical guide rail 17 to jam or be damaged.

[0061] The number of cylindrical guide rails 17 is one or more.

[0062] For example, there are two cylindrical guide rails 17 arranged side by side. The linear motion and rotational motion are decoupled by the linear bearing 16 and the first bearing 14. This not only helps to improve the stability of the rotating base 15 when it moves linearly along the first direction, but also ensures that the rotational torque generated by the rotational motion of the rotating base 15 is transmitted by the linear bearing 16, and the push-pull load generated by the linear motion is transmitted by the first bearing 14. This ensures that the rotational torque of the rotational motion and the push-pull load of the linear motion will not cause the cylindrical guide rail 17 to jam or be damaged.

[0063] Furthermore, both the first support plate 28 and the second support plate 29 have openings 34 at their bottoms. The first pulley 2 is rotatably installed inside the opening 34 in the first support plate 28. The belt 1 passes through the opening 34 inside the second support plate 29 and is sleeved on the fourth pulley 25. The fourth pulley 25 is fixedly connected to the first power source 3 so that the belt 1 can be driven to rotate by the first power source 3.

[0064] In some other embodiments, the power source further includes a second power source 4 mounted on the base plate 9, and the reduction mechanism 30 includes: The second pulley 22 is disposed on the side of the second support plate 29 away from the first support plate 28; The third pulley 23 is fixedly connected to the second power source 4 and rotates under the drive of the second power source 4; A speed reduction synchronous belt 24 is sleeved between the second pulley 22 and the third pulley 23, so as to drive the second pulley 22 to rotate through the rotation of the third pulley 23; The second rotating disk 13 has a connecting shaft 31 at its center, which is fixedly connected to the center of the second pulley 22 so that the second rotating disk 13 can be driven to rotate by the rotation of the second pulley 22, and the diameter of the second pulley 22 is larger than the diameter of the third pulley 23.

[0065] In this embodiment, the reduction mechanism 30 transmits the power provided by the second power source 4 to the second rotating disk 13, so that the rotation of the second rotating disk 13 drives the rotating base 15 to rotate. Specifically, after the second power source 4 provides rotational power to drive the third pulley 23 to rotate, the second pulley 22 is driven to rotate because the second pulley 22 and the third pulley 23 are connected by a reduction synchronous belt 24. Since the center of the second pulley 22 is fixedly connected to the insertion shaft 31 at the center of the second rotating disk 13, the rotation of the second pulley 22 directly drives the second rotating disk 13 to rotate through the insertion shaft 31.

[0066] Furthermore, since the diameter of the second pulley 22 is larger than the diameter of the third pulley 23, the angular velocity of the second pulley 22 is smaller than that of the third pulley 23. The second pulley 22 is fixedly connected to the insertion shaft 31 at the center of the second rotating disk 13, and the second pulley 22 rotates synchronously with the second rotating disk 13. Since the third pulley 23 is fixedly connected to the second power source 4 and rotates synchronously, it is beneficial to amplify the motor force of the second power source 4 and achieve force amplification.

[0067] It should be noted that, due to the direction around the first direction (i.e. Figure 1 The response speed of rotation (in the Y-axis direction) is negatively correlated with its moment of inertia. The calculation formula is M=Ia. When the torque M is constant, the larger the moment of inertia I, the smaller the angular acceleration a, and the slower the response. The formula for calculating its rotational moment of inertia is I=mr². By adding the cylindrical guide rail 17, the first rotating disk 19, and the second rotating disk 13, its mass increases. However, by optimizing its radius, the formula shows that the radius has a greater weight than the mass. Therefore, reducing the radius can effectively reduce the moment of inertia of the rotational drive component, thereby improving the response speed of the entire power device when rotating around the first direction.

[0068] In some other embodiments, a second bearing 20 is installed at the outer end of both the first rotating disk 19 and the second rotating disk 13. The first support plate 28 and the second support plate 29 are both provided with bearing grooves 32 to accommodate the second bearing 20. The second bearing 20 is fixedly installed inside the bearing grooves 32. The output connecting rod 21 is inserted into the second bearing 20 outside the first rotating disk 19 and fixedly connected to the rotating base 15. The output connecting rod 21 passes through the bearing grooves 32 in the first support plate 28 and is suspended in the air.

[0069] In this embodiment, the first rotating disk 19 is rotatably connected to the first support plate 28, and the second rotating disk 13 is rotatably connected to the second support plate 29. Specifically, a second bearing 20 is installed outside the first rotating disk 19 and the second rotating disk 13, while the output connecting rod 21 passes through the first rotating disk 19. By installing the second bearing 20 outside the first rotating disk 19 and the second rotating disk 13, and providing bearing grooves 32 inside the first support plate 28 and the second support plate 29 to accommodate the second bearing 20, the first rotating disk 19 and the second rotating disk 13 are rotatably connected to the first support plate 28 and the second support plate 29 respectively, ensuring that the rotation of the first rotating disk 19 and the second rotating disk 13 is not restricted. Furthermore, since the output connecting rod 21 is inserted into the second bearing 20 outside the first rotating disk 19 and fixedly connected to the rotating base 15, the output connecting rod 21 can move synchronously with the rotating base 15.

[0070] In some embodiments, the composite core power mechanism further includes a locking mechanism disposed on the base plate 9 and connected to the motion base 10 to constrain the movement of the motion base 10 and the rotating base 15. In a first state, the locking mechanism limits the axial drive component and releases the limit on the rotary drive component to restrict the linear movement of the output connecting rod 21 in the first direction and unlocks multiple rotations around the first direction. In a second state, the locking mechanism limits the rotary drive component and releases the limit on the axial drive component to realize the linear-rotational composite movement of the output connecting rod 21.

[0071] In this embodiment, the dual-guide rail structure, composed of the axial drive assembly and the rotary drive assembly, transmits rotational motion from different positions to the end power source, enabling a fixed power source to drive rotational motion at different positions. A locking mechanism allows for independent transmission and selective locking of linear and rotational motions. The locking mechanism constrains the linear motion of the moving base 10 and the rotational motion of the rotating base 15, allowing for free switching between multi-turn rotation and linear-rotational composite motion through mechanical structures.

[0072] Specifically, in the first state, the locking mechanism is in a locked state, the linear motion driven by the axial drive component is locked, and the rotary drive component is released from constraint to achieve multiple free rotations. In the second state, the locking mechanism is in an unlocked state, the linear motion driven by the axial drive component is unlocked, and the rotary drive component is restricted to rotating at a preset angle, thereby realizing a linear-rotational composite motion.

[0073] In some other embodiments, reference is made to Figures 7 to 9 The locking mechanism includes: The locking tongue 7 is fixedly installed on the top of the moving base 10 near the second support plate 29; The spring pin 6 is installed inside the second support plate 29 and moves along the first direction toward the second support plate 29; Pull pin 5 is inserted into the top of the second support plate 29; A latch hole 71 is provided at one end of the surface of the latch 7 near the pull pin 5 and matches the pull pin 5; An arc-shaped slot 131 is provided inside the second rotating disk 13; The pull pin 5 cooperates with the locking tongue hole 71 to lock and unlock the linear movement of the moving base 10 in the first direction, and the spring pin 6 cooperates with the arc-shaped groove 131 to limit the rotation angle of the rotating base 15, so as to realize the switching between multi-turn rotation state and limited angle rotation state.

[0074] In this embodiment, the locking mechanism cooperates with the latch hole 71 through the pull pin 5 to lock and unlock the moving base 10 when it moves linearly in the first direction, so as to control the linear movement. The spring pin 6 cooperates with the arc-shaped groove 131 to control the rotation angle of the rotating base 15, so as to realize the free switching of the rotating base 15 from a multi-turn rotation state to a limited angle rotation state to meet the use under different conditions, especially to realize the simulation control of steering wheel operation.

[0075] In some further embodiments, the second support plate 29 has an opening groove 33 directly opposite to the latch 7. A protrusion 35, directly opposite the latch 7, is fixedly installed above the end of the spring pin 6 away from the moving base 10. The second support plate 29 has a channel 37 that matches the protrusion 35 and the spring pin 6. After the latch 7 is inserted into the opening groove 33, it pushes the spring pin 6 along the channel 37 in a direction away from the moving base 10. The spring pin 6 is inserted into the second support plate 29 and extends into the arc-shaped slot 131. A spring-loaded pin 61 is also sleeved on the outside of the pin 6. When the spring-loaded pin 6 is not pushed by the latch 7, it is in the second state. Under the action of the spring-loaded pin 61, the spring-loaded pin 6 is fixedly inserted into the arc-shaped slot 131. The projection of the pull pin 5 in the second direction falls on the moving path of the latch hole 71, so that after the latch 7 moves to the corresponding position, the pull pin 5 is pressed down and inserted into the latch hole 71 to fix the latch 7, so that the spring-loaded pin 6 is disengaged from the arc-shaped slot 131 and enters the first state. The second direction is the direction perpendicular to the plane where the latch 7 is located.

[0076] Specifically, in actual operation, when the first state of movement is required, the locking tongue 7 is pushed. The locking tongue 7 pushes the protruding structure 35 above the spring pin 6 to move along the channel 37 away from the moving base 10, thereby causing the spring pin 6 to leave the arc-shaped slot 131 inside the second rotating disk 13 and compressing the spring pin spring 61. Then, the pull pin 5 is pressed down and inserted into the locking tongue hole 71 of the locking tongue 7 to fix the locking tongue 7. After the spring pin 6 leaves the arc-shaped slot 131 of the second rotating disk 13, the second rotating disk 13 can rotate a full circle after losing the restriction of the spring pin 6. And because the pull pin 5 fixes the locking tongue 7 after being inserted into the locking tongue hole 71, the linear movement of the moving base 10 and the rotating base 15 in the first direction (i.e., the direction where the Y-axis is located) is restricted. When the second state of motion is required, the pull pin 5 is pulled upward to be pulled out from inside the latch hole 71. Without the restriction of the pull pin 5, under the action of the spring pin 61, the spring pin 6 automatically resets and inserts into the arc-shaped slot 131 of the second rotating disk 13. Due to the removal of the restriction of the pull pin 5, the moving base 10 and the rotating base 15 resume linear motion along the first direction. However, since the spring pin 6 is inserted into the arc-shaped slot 131 of the second rotating disk 13, the rotational motion of the second rotating disk 13 around the axis of the first direction is restricted. Each rotation can only be restricted to within the central angle of the arc-shaped slot 131, thereby constraining the rotation of the rotating base 15 to rotate at a fixed angle.

[0077] In other embodiments, after the motion base 10 pushes the latch 7 into the opening slot 33, the pull pin 5 is released so that the pull pin 5 is inserted into the latch hole 71 and the latch 7 is fixed. The spring pin 6 is disengaged from the arc-shaped slot 131 and enters the first state to restrict the linear movement of the output connecting rod 21 in the first direction and unlock the multi-turn rotation around the first direction. After the pull pin 5 is pulled out from the latch hole 71 and fixed, the spring pin 6 is inserted into the arc-shaped slot 131 under the action of the spring pin spring 61 and enters the second state, realizing the linear-rotational composite motion of the output connecting rod 21.

[0078] There are generally two common modes for directional control: flight mode and racing mode. In flight mode, the steering wheel controls the aircraft's two main flight axes through directional manipulation. Rotating the steering wheel left or right causes the ailerons on the trailing edges of the wings to deflect upwards on one side and downwards on the other, generating a rolling moment. Pushing the steering wheel forward deflects the elevator downwards, causing the nose to drop and the aircraft to descend; pulling it back deflects the elevator upwards, causing the nose to rise and the aircraft to climb. In racing mode, the vehicle's direction is controlled by turning the steering wheel. Turning the steering wheel transmits the rotation to the steering gear via the steering shaft. The steering gear applies corresponding force to the steering lever based on the steering wheel's rotation angle and speed, thereby changing the steering angle of the wheels and achieving directional control of the vehicle.

[0079] In this application, after pushing the latch 7 and ejecting the spring pin 6, the pull pin 5 is lowered to insert into the latch hole 71, thus entering the first state. At this time, the linear motion of the output connecting rod 21 in the first direction is restricted, while the multi-turn rotational motion around the first direction is unrestrained, thereby realizing the racing driving mode. When it is necessary to switch to the flight driving mode, simply pull up the pull pin 5. After the latch 7 is unrestrained, it rebounds to the initial position under the action of the spring pin spring 61 and enters the arc-shaped slot 131 to limit the rotation of the second rotating disk 13, thus entering the second state. At this time, the linear motion of the output connecting rod 21 in the first direction is unrestrained, while the rotational motion around the first direction is restricted to rotate within the central angle of the arc-shaped slot 131, realizing the linear-rotational composite motion.

[0080] In some embodiments, the central angle of the arc-shaped slot 131 does not exceed 180°, and in the second state, the rotation angle of the output connecting rod 21 does not exceed the central angle of the arc-shaped slot 131.

[0081] For example, the central angle of the arc-shaped slot 131 is 180 degrees, so that the output connecting rod 21 is restricted to rotating within 180 degrees when it rotates.

[0082] Compared to traditional solutions, the response speed of translational motion along the Y-axis is negatively correlated with its mass. The calculation formula is F=ma; when the force F is constant, the larger the mass m, the smaller the acceleration a, and the slower the response. In this solution, the first power source 3 and the second power source 4 do not move synchronously with the output connecting rod 21, effectively reducing its load mass. This significantly improves the response speed, and the greater the output force and the heavier the motor, the better the improvement effect.

[0083] It should be noted that the axial drive assembly in this solution uses a synchronous belt to convert rotary motion into linear motion. Based on this principle, it can be replaced by a helical pair structure such as a ball screw or a gear and rack structure. The rotary drive assembly uses a synchronous belt reduction structure, which can be replaced by gears, direct-drive structures, etc., which will not be elaborated here.

[0084] The present invention also discloses a steering wheel simulation system, which is applied to flight simulation, vehicle steering control simulation or industrial control, and uses the above-mentioned multi-condition modular adaptation operation device to perform steering wheel simulation operation.

[0085] Specifically, the power provided by the multi-condition modular adaptable operating device with a composite core power mechanism simulates the resistance during real-world operation, thereby achieving simulated steering wheel operation. This facilitates simulation training for steering wheel operation of aircraft or vehicles, meeting the needs of simulated flight, vehicle steering, and industrial control, and is suitable for various operating scenarios. Since the working principle of the multi-condition modular adaptable operating device has already been described above, it will not be repeated here.

[0086] The descriptions of the processes or structures corresponding to the above figures each have their own emphasis. For parts of a process or structure that are not described in detail, please refer to the relevant descriptions of other processes or structures.

[0087] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A multi-condition modular adaptive operating device, characterized in that, include: The composite core power mechanism is used to provide axial and rotational motion power during operation to simulate the resistance during operation; A connecting component is connected to the composite core power mechanism; The control lever is connected to the composite core power mechanism via the connecting component, and is used to transmit power to the composite core power mechanism during operation; The connecting component and the operating lever have at least two degrees of freedom.

2. The multi-condition modular adaptable operating device according to claim 1, characterized in that, The top of the operating lever is movably connected to the connecting component. The top of the operating lever is constrained by a bearing to rotate in a first direction, and the bottom of the operating lever is constrained by a bearing to swing about a second direction.

3. The multi-condition modular adaptable operating device according to claim 2, characterized in that, A central shaft is installed at the bottom of the operating lever, and a third bearing is installed on the outer wall of the operating lever. The central shaft is inserted into the third bearing to be rotatably connected to the operating lever, so that the operating lever swings about the axis of the second direction. An output shaft is connected to the top of the operating lever through a connecting flange. The output shaft is connected to the connecting component to realize power transmission. The top of the operating lever is rotatably connected to the connecting flange through a fourth bearing, so that the top of the operating lever is supported and constrained by the fourth bearing and rotates about the first direction.

4. The multi-condition modular adaptable operating device according to claim 1, characterized in that, The connecting component is formed by two universal joints connected in series.

5. The multi-condition modular adaptable operating device according to any one of claims 1 to 4, characterized in that, The composite core power mechanism includes: Base plate; A movable base is movably mounted on the base plate; The rotating base is rotatably installed inside the moving base and moves synchronously with the moving base; An axial drive assembly is connected to the motion base to drive the motion base to move linearly along a first direction; A rotary drive assembly is connected to the rotating base to drive the rotating base to rotate about the first direction; The output connecting rod is fixedly connected to the rotating base so as to move synchronously with the rotating base; A power source, installed on the base plate, provides power to the axial drive assembly and the rotary drive assembly, respectively. The output connecting rod is fixedly connected to the rotating base so as to move synchronously with the rotating base, and when the axial drive assembly drives the moving base to move linearly along the first direction, the rotating base moves synchronously along the first direction.

6. The multi-condition modular adaptable operating device according to claim 5, characterized in that, The power source includes a first power source, and the axial drive assembly includes: The first pulley is located at one end above the base plate; The fourth pulley is located at the other end above the base plate; The belt is fixedly connected to the motion base via a connecting plate and is sleeved between the first pulley and the fourth pulley; A sliding mechanism is installed between the base plate and the moving base to guide the moving base to move linearly along the first direction; The first power source is connected to the center of the fourth pulley to drive the belt to rotate by driving the fourth pulley.

7. The multi-condition modular adaptable operating device according to claim 6, characterized in that, The sliding mechanism includes a linear guide rail and a slider. The linear guide rail is installed above the base plate, and the slider is fixedly connected to the motion base. The bottom of the slider is provided with a groove that matches the linear guide rail. The motion base moves linearly along the linear guide rail under the drive of the belt via the slider.

8. The multi-condition modular adaptable operating device according to claim 5 or 6, characterized in that, The rotation drive assembly includes: A first support plate is installed at one end of the surface of the base plate; The first rotating disk is rotatably connected to the first support plate; A second support plate is installed at the other end of the surface of the base plate; The second rotating disk is rotatably connected to the second support plate; A speed reduction mechanism is mounted on the base plate, fixedly connected to the second rotating disk, and driven to rotate. A cylindrical guide rail is fixedly connected between the first rotating disk and the second rotating disk; The output connecting rod passes through the first rotating disk and is fixedly connected to the rotating base. The rotating base is provided with a linear bearing that matches the cylindrical guide rail, so that it can move along the axial direction of the cylindrical guide rail through the linear bearing. The rotating base is rotatably mounted inside the moving base through the first bearing and rotates around the first direction, so as to transmit the push-pull load of linear motion through the first bearing and transmit the rotational torque during rotational motion through the linear bearing.

9. The multi-condition modular adaptable operating device according to claim 8, characterized in that, The power source also includes a second power source mounted on the base plate, and the reduction mechanism includes: The second pulley is located on the side of the second support plate away from the first support plate; The third pulley is connected to the second power source to rotate under the drive of the second power source; A speed reduction synchronous belt is fitted between the second pulley and the third pulley so that the rotation of the third pulley drives the second pulley to rotate. The second rotating disk has a connecting shaft at its center, which is fixedly connected to the center of the second pulley so that the second rotating disk can be driven to rotate by the rotation of the second pulley, and the diameter of the second pulley is larger than the diameter of the third pulley.

10. The multi-condition modular adaptable operating device according to claim 8, characterized in that, Both the first and second rotating disks have a second bearing installed at their outer ends. Both the first and second support plates have bearing grooves inside to accommodate the second bearing. The second bearing is fixedly installed inside the bearing groove. The output connecting rod is inserted into the second bearing outside the first rotating disk and fixedly connected to the rotating base. The output connecting rod passes through the bearing groove in the first support plate and is suspended in the air.

11. The multi-condition modular adaptable operating device according to claim 8, characterized in that, It also includes a locking mechanism, which is disposed on the base plate and connected to the moving base to constrain the movement of the moving base and the rotating base. In a first state, the locking mechanism limits the axial drive assembly and releases the limit on the rotary drive assembly to restrict the linear movement of the output connecting rod in the first direction and unlock the multi-turn rotation around the first direction. In a second state, the locking mechanism limits the rotary drive assembly and releases the limit on the axial drive assembly to realize the linear-rotational combined motion of the output connecting rod.

12. The multi-condition modular adaptable operating device according to claim 11, characterized in that, The locking mechanism includes: A locking tongue is fixedly installed on the top of the moving base near the second support plate. A spring pin is installed inside the second support plate and moves toward the second support plate along the first direction; A pull pin is inserted into the top of the second support plate; A latch hole is provided at one end of the surface of the latch near the pull pin and matches the pull pin. An arc-shaped slot is provided inside the second rotating disk; The pull pin engages with the locking tongue hole to lock and unlock the moving base in the first direction, and the spring pin engages with the arc-shaped groove to limit the rotation angle of the rotating base, thereby switching between multi-turn rotation state and limited angle rotation state.

13. The multi-condition modular adaptable operating device according to claim 12, characterized in that, The second support plate has an opening groove inside that is directly opposite to the latch. A protrusion structure directly opposite the latch is fixedly installed above the end of the spring pin away from the moving base. The second support plate has a channel inside that matches the protrusion structure and the spring pin. After the latch inserts into the opening groove, it pushes the protrusion structure at the end of the spring pin to move away from the moving base along the channel. The end of the spring pin away from the protrusion structure inserts into the second support plate and extends into the arc-shaped groove. A spring pin spring is also sleeved on the outside of the spring pin. When the spring pin is not pushed by the latch, it is in the second state. Under the action of the spring pin spring, the spring pin is fixedly inserted into the arc-shaped groove, and the projection of the pull pin in the second direction falls on the moving path of the latch hole. After the latch moves to the corresponding position, the pull pin is pressed down and inserted into the latch hole to fix the latch, so that the spring pin disengages from the arc-shaped groove and enters the first state. The second direction is a direction perpendicular to the plane where the latch is located.

14. The multi-condition modular adaptable operating device according to claim 13, characterized in that, After the moving base pushes the latch into the opening slot, the pull pin is released so that it is inserted into the latch hole and the latch is fixed. The spring pin then disengages from the arc-shaped slot and enters the first state to restrict the linear movement of the output connecting rod in the first direction and unlock the multi-turn rotation around the first direction. After the pull pin is pulled out of the latch hole and fixed, the spring pin is inserted into the arc-shaped slot under the action of the spring pin spring and enters the second state, realizing the linear rotational compound motion of the output connecting rod.

15. The multi-condition modular adaptable operating device according to claim 12, characterized in that, The central angle of the arc-shaped slot does not exceed 180°, and in the second state, the rotation angle of the output connecting rod does not exceed the central angle of the arc-shaped slot.

16. A steering wheel simulation system, characterized in that, It is applied to flight simulation, vehicle steering control simulation or industrial control, and uses the multi-condition modular adaptable operating device as described in any one of claims 1 to 15 to perform steering wheel simulation operation.

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