Front wheel steering feedback device based on drive-by-wire chassis

Abstract

The utility model relates to the technical field of automobile chassis, in particular to a front wheel steering feedback device based on a drive-by-wire chassis, which comprises a front axle, two ends of the front axle are fixedly connected with steering knuckles respectively, two ends of the steering knuckles are rotatably connected with steering arms respectively, hubs are rotatably arranged on the surfaces of the steering arms, and the hubs are connected with the steering knuckles respectively. And a brake cylinder mounting frame is fixedly connected to one end of the steering arm, which is in a rotating position with the steering knuckle. According to the utility model, the steering arm drives the brake cylinder mounting rack to rotate around the cylindrical bump at one end of the steering knuckle, so that the brake cylinder mounting rack drives the main body of the steering angle sensor to rotate around the cylindrical bump at one end of the steering knuckle, namely, the main body of the steering angle sensor rotates relative to the measuring shaft of the steering angle sensor; the rotation angles of the steering arm and the hub can be obtained through the rotation angle sensor, so that the rotation angles of the steering arm and the hub can be accurately fed back to the key control system, and accurate control over the unmanned vehicle by a user is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile chassis, in particular to a front wheel steering feedback device based on a wire-controlled chassis. Background Art

[0002] The control-by-wire chassis consists of five major systems: steering, braking, shifting, throttle, and suspension. The control-by-wire system eliminates some bulky and low-precision pneumatic, hydraulic, and mechanical connections, and replaces them with sensors, control units, and electromagnetic actuators driven by electrical signals. Therefore, it has the advantages of compact structure, good controllability, and fast response speed. The implementation process of control-by-wire technology: The sensor converts the driver's operating instructions into electrical signals and transmits them to the controller. The controller analyzes the signal and sends the instructions to the actuator. Finally, the functional device implements the target instructions.

[0003] Unmanned vehicles are one of the important development directions of the automotive industry in the future and have attracted much attention in the field of vehicle technology in recent years. Unmanned vehicles integrate multidisciplinary technologies such as visual perception, artificial intelligence, planning and control. They not only have important application value in dangerous tasks such as search and rescue, reconnaissance, but also have great practical significance and development potential in alleviating traffic congestion and improving traffic safety.

[0004] However, when the existing technology is actually used, the steering feedback precision and accuracy of the unmanned vehicle based on the wire-controlled chassis are not high, which affects the accurate driving of the unmanned vehicle. Utility Model Content

[0005] The utility model aims to provide a front wheel steering feedback device based on a wire-controlled chassis to solve the problem that the steering feedback precision and accuracy of an unmanned vehicle are not high, which affects the accurate driving control of the unmanned vehicle.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solution: a front wheel steering feedback device based on a wire-controlled chassis, comprising:

[0007] A front axle, both ends of the front axle are respectively fixedly connected with a steering knuckle, both ends of the steering knuckle are rotatably connected with a steering arm, a wheel hub is rotatably provided on the surface of the steering arm, and one end of the steering arm and the steering knuckle rotation position is fixedly connected with a brake cylinder mounting frame;

[0008] An angle measuring component is arranged on a brake cylinder mounting frame and is used to measure the steering angle of a steering arm. The angle measuring component includes an angle sensor arranged on the brake cylinder mounting frame. A cylindrical protrusion is provided at one end of the steering knuckle corresponding to the position of the steering arm, and the cylindrical protrusion movably passes through the steering arm and extends to both ends of the wheel hub. A positioning hole is provided at one end of the cylindrical protrusion at one end of the steering knuckle, and the position of the positioning hole corresponds to the position of a measuring shaft of the angle sensor, so that the measuring shaft of the angle sensor can rotate synchronously with the positioning hole.

[0009] Preferably, one end of each of the two steering arms is hinged with a steering tie rod, and one end of the brake cylinder mounting frame is fixedly connected with a brake cylinder for controlling a brake oil circuit.

[0010] Preferably, the angle sensor is fixedly connected to an installation top cover at one end away from the positioning hole, and a protective shell is fixedly connected to an end of the installation top cover corresponding to the position of the angle sensor, and the angle sensor is located in the protective shell, so that the protective shell protects the angle sensor, and a reset spring is fixedly connected to the surface of the angle sensor, and a positioning cover is tightly fitted on the end of the reset spring away from the mounting top cover. The positioning cover is a funnel-shaped structure, and the positioning cover is movably sleeved on the surface of the measuring axis of the angle sensor, and the bottom of the positioning cover is movably inserted into the inner wall of the positioning hole, so that the positioning cover establishes a synchronous rotation relationship between the measuring axis of the angle sensor and the positioning hole, and at the same time ensures the coaxiality of the measuring axis of the angle sensor and the positioning hole, and the surface of the measuring axis of the angle sensor, the inner wall of the positioning cover and the inner wall of the positioning hole are all regular polygonal structures, so that the angle sensor, the positioning cover and the positioning hole can rotate synchronously.

[0011] Preferably, one end of the brake cylinder mounting frame corresponding to the protective shell position is fixedly connected to a fixing frame, and both ends of the fixing frame and the brake cylinder mounting frame at opposite surfaces are respectively rotatably connected to two rotating arms, and the surfaces of the two rotating arms are movably connected to elastic metal strips, and the elastic metal strips are U-shaped structures, and the back surfaces of the two rotating arms are respectively provided with grooves, and the elastic metal strips are tightly fitted to the inner walls of the grooves, so that the elastic metal strips provide a restoring function for the relative movement of the rotating arms, and the surface of the angle sensor corresponding to the rotating arm position is fixedly connected to a positioning ring, and the inner wall of the rotating arm corresponding to the positioning ring position is provided with a positioning groove, and the positioning ring is movably connected to the inner wall of the positioning groove.

[0012] Preferably, a dividing block is fixedly connected to the surface of the protective shell, a notch is provided at one end of the protective shell corresponding to the position of the dividing block, and the width of the notch is adapted to the diameter of the cylindrical protrusion at one end of the steering knuckle, and a positioning groove for accommodating the dividing block is provided at one end of the fixing frame corresponding to the position of the dividing block.

[0013] Preferably, the ends of the rotating arms away from the fixing frame are respectively fixedly connected to two fixing rings, and the surfaces of the fixing rings are movably plugged with positioning rods, and the side walls of the protective shell corresponding to the positioning cover position are provided with through holes for inserting the positioning rods.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The utility model drives the brake cylinder mounting frame to rotate around the cylindrical convex block at one end of the steering knuckle through the steering arm, and then the brake cylinder mounting frame drives the main body of the angle sensor to rotate around the cylindrical convex block at one end of the steering knuckle, that is, the main body of the angle sensor will rotate relative to the measuring axis of the angle sensor, and the rotation angle of the steering arm and the wheel hub can be obtained through the angle sensor, so that the rotation angle of the steering arm and the wheel hub can be accurately fed back to the key control system, which is conducive to the user's accurate control of the unmanned vehicle;

[0016] 2. The utility model also only needs to pull out the positioning rod, insert the positioning rod into the inner wall of the through hole of the side wall of the protective shell, and lift the positioning cover to make it away from the inner wall of the positioning hole, then pull the protective shell outward and drive the two rotating arms to rotate in opposite directions, thereby achieving the purpose of quickly disassembling the angle sensor without affecting the chassis hydraulic system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of a front wheel steering feedback device based on a wire-controlled chassis of the utility model;

[0018] Figure 2 This is a cross-sectional view of the overall structure of a front wheel steering feedback device based on a wire-controlled chassis of the utility model;

[0019] Figure 3 This is a schematic diagram of the structure of a turning angle measurement component of a front wheel steering feedback device based on a wire-controlled chassis of the utility model;

[0020] Figure 4 This is a cross-sectional view of the structure of a turning angle measurement component of a front wheel steering feedback device based on a wire-controlled chassis of the utility model;

[0021] Figure 5 This is a schematic diagram of the protective shell structure of a front wheel steering feedback device based on a wire-controlled chassis of the utility model;

[0022] Figure 6 This is a schematic diagram of the structure of a rotating arm of a front wheel steering feedback device based on a wire-controlled chassis of the utility model;

[0023] Figure 7 This is a cross-sectional view of the rotating arm structure of a front wheel steering feedback device based on a wire-controlled chassis of the utility model;

[0024] Figure 8 It is a front cross-sectional view of the initial state of the structure of the turning angle measurement component of the front wheel steering feedback device based on the wire-controlled chassis of the utility model.

[0025] In the figure: 1. front axle; 2. steering knuckle; 3. steering arm; 4. wheel hub; 5. steering tie rod; 6. brake cylinder mounting bracket; 7. steering angle sensor; 8. positioning hole; 9. protective shell; 10. mounting top cover; 11. return spring; 12. positioning cover; 13. positioning rod; 14. fixing bracket; 15. rotating arm; 16. elastic metal strip; 17. positioning ring; 18. positioning groove; 19. separator; 20. fixing collar; 21. positioning through groove; 22. brake cylinder. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] See also Figure 1-8 The utility model provides a technical solution: a front wheel steering feedback device based on a wire-controlled chassis, comprising:

[0028] A front axle 1, with steering knuckles 2 fixedly mounted at both ends of the front axle 1, with steering arms 3 rotatably connected at both ends of the steering knuckles 2, with wheel hubs 4 rotatably mounted on the surface of the steering arms 3, and a brake wheel cylinder mounting frame 6 fixedly mounted at one end of the steering arm 3 and the steering knuckle 2;

[0029] An angle measuring assembly is arranged on a brake cylinder mounting frame 6 and is used to measure the steering angle of the steering arm 3. The angle measuring assembly includes an angle sensor 7 arranged on the brake cylinder mounting frame 6. A cylindrical protrusion is arranged at one end of the steering knuckle 2 corresponding to the position of the steering arm 3, and the cylindrical protrusion movably penetrates the steering arm 3 and extends to both ends of the wheel hub 4. A positioning hole 8 is opened at one end of the cylindrical protrusion at one end of the steering knuckle 2, and the position of the positioning hole 8 corresponds to the position of the measuring shaft of the angle sensor 7, so that the measuring shaft of the angle sensor 7 can rotate synchronously with the positioning hole 8. A steering tie rod 5 is hinged at one end of the two steering arms 3. A brake cylinder 22 for controlling the brake oil circuit is fixedly installed at one end of the brake cylinder mounting frame 6;

[0030] When the above structure is in use, when the steering arm 3 and the wheel hub 4 rotate relative to the steering knuckle 2, the steering arm 3 will drive the brake cylinder mounting frame 6 to rotate, and then the brake cylinder mounting frame 6 will drive the main body of the angle sensor 7 to rotate. Since the steering knuckle 2 is fixed, the main body of the angle sensor 7 will rotate relative to the measuring axis of the angle sensor 7, and the rotation angle of the steering arm 3 and the wheel hub 4 can be measured by the main body of the angle sensor 7, so that the rotation angle of the steering arm 3 and the wheel hub 4 can be accurately fed back to the key control system, which is beneficial to the user's precise control of the unmanned vehicle.

[0031] An end of the rotation angle sensor 7 away from the positioning hole 8 is fixedly mounted with a mounting top cover 10, and an end of the mounting top cover 10 corresponding to the position of the rotation angle sensor 7 is fixedly mounted with a protective shell 9, and the rotation angle sensor 7 is located in the protective shell 9, so that the protective shell 9 protects the rotation angle sensor 7, a reset spring 11 is fixedly mounted on the surface of the rotation angle sensor 7, and an end of the reset spring 11 away from the mounting top cover 10 is tightly fitted with a positioning cover 12, the positioning cover 12 is a funnel-shaped structure, and the positioning cover 12 is movably sleeved on the surface of the measuring axis of the rotation angle sensor 7, and the bottom of the positioning cover 12 is movably The positioning cover 12 is movably plugged into the inner wall of the positioning hole 8 so that the positioning cover 12 establishes a synchronous rotation relationship between the measuring axis of the angle sensor 7 and the positioning hole 8, and at the same time ensures the coaxiality of the measuring axis of the angle sensor 7 and the positioning hole 8. The surface of the measuring axis of the angle sensor 7, the inner wall of the positioning cover 12 and the inner wall of the positioning hole 8 are all regular polygonal structures, so that the angle sensor 7, the positioning cover 12 and the positioning hole 8 can rotate synchronously. A fixing frame 14 is fixedly installed at one end of the brake cylinder mounting frame 6 corresponding to the protective shell 9, and the fixing frame 14 is rotatably connected to the two ends of the opposite surface position of the brake cylinder mounting frame 6. There are two rotating arms 15, and the surfaces of the two rotating arms 15 are movably connected with elastic metal strips 16, and the elastic metal strips 16 are U-shaped structures. The divergent surfaces of the two rotating arms 15 are respectively provided with grooves, and the elastic metal strips 16 are tightly fitted on the inner walls of the grooves, so that the elastic metal strips 16 provide a restoring function for the relative movement of the rotating arms 15. A positioning ring 17 is fixedly installed on the surface of the rotation angle sensor 7 corresponding to the position of the rotating arm 15, and a positioning groove 18 is provided on the inner wall of the rotating arm 15 corresponding to the position of the positioning ring 17, and the positioning ring 17 is movably connected to the inner wall of the positioning groove 18. A partition block 19 is fixedly installed on the surface of the protective shell 9, and a notch is provided at one end of the protective shell 9 corresponding to the position of the partition block 19, and the width of the notch is adapted to the diameter of the cylindrical protrusion at one end of the steering knuckle 2. A positioning through groove 21 for accommodating the partition block 19 is provided at one end of the fixing frame 14 corresponding to the position of the partition block 19, and two fixing rings 20 are fixedly installed at one end of the rotating arm 15 away from the fixing frame 14, and a positioning rod 13 is movably inserted on the surface of the fixing ring 20, and a through hole for inserting the positioning rod 13 is provided on the side wall of the protective shell 9 corresponding to the position of the positioning cover 12;

[0032] When the above structure is used, the rotation angle sensor 7 is first fixedly installed with the mounting top cover 10, and then the reset spring 11 is fixedly installed with the rotation angle sensor 7, and then the positioning rod 13 is inserted into the inner wall of the through hole of the side wall of the protective shell 9, and then the positioning cover 12 is placed on the inner wall of the protective shell 9, and then the mounting top cover 10 and the protective shell 9 are connected by bolts, and at the same time, the measuring axis of the rotation angle sensor 7 will be inserted into the inner wall of the positioning cover 12, and at the same time, the reset spring 11 will drive the positioning cover 12 to fit closely on the surface of the positioning rod 13;

[0033] Then, the protective shell 9 is moved toward one end of the rotating arm 15, and the partition block 19 separates the two rotating arms 15, and the two rotating arms 15 expand the elastic metal strip 16 until the protective shell 9 is completely located on the inner wall of the rotating arm 15. At this time, the protective shell 9 is longitudinally fixed by the positioning ring 17 and the positioning groove 18, and the protective shell 9 is wrapped and fixed by the two rotating arms 15. Then, the positioning rod 13 is pulled out from the through hole on the side wall of the protective shell 9. At this time, the reset spring 11 drives the positioning cover 12 to insert into the inner wall of the positioning hole 8. At this time, the positioning hole 8, the positioning cover 12 and the measuring axis of the angle sensor 7 maintain coaxiality. Then, the positioning rod 13 is inserted into the inner wall of the two sets of fixing rings 20, and the opening and closing of the two rotating arms 15 are fixed, thereby completing the stable installation of the angle sensor 7.

[0034] Working principle: When in use, the utility model causes the steering arm 3 to drive the brake cylinder mounting frame 6 to rotate around the cylindrical protrusion at one end of the steering knuckle 2 when the steering arm 3 and the wheel hub 4 rotate relative to the steering knuckle 2, thereby causing the brake cylinder mounting frame 6 to drive the main body of the angle sensor 7 to rotate around the cylindrical protrusion at one end of the steering knuckle 2. Since the steering knuckle 2 is fixed, the measuring axis of the angle sensor 7 and the positioning hole 8 remain stationary and do not rotate, that is, when the angle sensor 7 rotates, the main body of the angle sensor 7 will rotate relative to the measuring axis of the angle sensor 7, and the rotation angle of the measuring axis of the angle sensor 7 is measured by the main body of the angle sensor 7, so that the rotation angle of the steering arm 3 and the wheel hub 4 can be obtained, so that the rotation angle of the steering arm 3 and the wheel hub 4 can be accurately fed back to the key control system, which is beneficial to the user's precise control of the unmanned vehicle;

[0035] When the device needs to be installed, first fix the rotation angle sensor 7 and the mounting top cover 10, then fix the reset spring 11 and the rotation angle sensor 7, then insert the positioning rod 13 into the inner wall of the through hole of the side wall of the protective shell 9, so that the two positioning rods 13 both penetrate the protective shell 9, and then place the positioning cover 12 on the inner wall of the protective shell 9, and make the end of the positioning cover 12 with a smaller opening be located at one end of the steering knuckle 2, then connect the mounting top cover 10 and the protective shell 9 by bolts, and at the same time, the measuring axis of the rotation angle sensor 7 will be inserted into the inner wall of the positioning cover 12, and after the mounting top cover 10 and the protective shell 9 are installed, the reset spring 11 will squeeze the positioning cover 12 and make the positioning cover 12 fit tightly against the surface of the positioning rod 13;

[0036] Then, the protective shell 9 is moved toward one end of the rotating arm 15 in contact with the surface of the brake cylinder mounting frame 6, and the dividing block 19 corresponds to the position between the two rotating arms 15. The protective shell 9 is moved toward one end of the rotating arm 15, and the protective shell 9 is separated from the two rotating arms 15 by the dividing block 19, and the two rotating arms 15 expand the elastic metal strip 16 until the protective shell 9 is completely located on the inner wall of the rotating arm 15. At this time, the positioning ring 17 is located on the inner wall of the positioning groove 18, and the elastic reset of the elastic metal strip 16 is performed so that the two rotating arms 15 wrap and fix the protective shell 9. At the same time, the positioning ring 17 cooperates with the positioning groove 18 to longitudinally fix the protective shell 9. The notch set at one end of the protective shell 9 allows the notch to pass through the cylindrical protrusion at one end of the steering knuckle 2, so that the protective shell 9 can be attached to the surface of the brake cylinder mounting frame 6 without being blocked by the cylindrical protrusion at one end of the steering knuckle 2, until the protective shell 9 is located in the middle of the inner wall of the rotating arm 15 and is wrapped by the two rotating arms 15. After fixing, the positioning rod 13 is pulled out from the through hole in the side wall of the protective shell 9. At this time, the positioning cover 12 is squeezed by the return spring 11, so that the positioning cover 12 moves to one end of the positioning hole 8, and the positioning cover 12 is inserted into the inner wall of the positioning hole 8. At this time, the measuring axes of the positioning hole 8, the positioning cover 12 and the angle sensor 7 maintain coaxiality, and then the positioning rod 13 is inserted into the inner walls of the two sets of fixing rings 20, and the opening and closing of the two rotating arms 15 are fixed, so that the two rotating arms 15 can stably fix the protective shell 9. At this time, the stable installation of the angle sensor 7 is completed. When the angle sensor 7 needs to be removed, it is only necessary to pull out the positioning rod 13, and at the same time insert the positioning rod 13 into the inner wall of the through hole in the side wall of the protective shell 9, and lift the positioning cover 12 to make it away from the inner wall of the positioning hole 8, and then pull the protective shell 9 outward and drive the two rotating arms 15 to rotate in the opposite direction, thereby achieving the purpose of quickly removing the angle sensor 7 without affecting the chassis fluid circuit system.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A front wheel steering feedback device based on a wire-controlled chassis, characterized in that: include: A front axle (1), wherein both ends of the front axle (1) are respectively fixedly connected to a steering knuckle (2), both ends of the steering knuckle (2) are rotatably connected to a steering arm (3), a wheel hub (4) is rotatably provided on the surface of the steering arm (3), and one end of the steering arm (3) at the rotational position of the steering knuckle (2) is fixedly connected to a brake wheel cylinder mounting frame (6); A turning angle measuring assembly is arranged on a brake cylinder mounting frame (6) and is used to measure the steering angle of a steering arm (3). The turning angle measuring assembly comprises a turning angle sensor (7) arranged on the brake cylinder mounting frame (6). One end of the steering knuckle (2) corresponding to the position of the steering arm (3) is provided with a cylindrical protrusion, and the cylindrical protrusion movably penetrates the steering arm (3) and extends to the two ends of the wheel hub (4). A positioning hole (8) is opened at one end of the cylindrical protrusion at one end of the steering knuckle (2), and the position of the positioning hole (8) corresponds to the position of the measuring shaft of the turning angle sensor (7), so that the measuring shaft of the turning angle sensor (7) can rotate synchronously with the positioning hole (8).

2. The front wheel steering feedback device based on a wire-controlled chassis according to claim 1, characterized in that: One end of each of the two steering arms (3) is hingedly connected to a steering tie rod (5), and one end of the brake cylinder mounting frame (6) is fixedly connected to a brake cylinder (22) for controlling a brake oil circuit.

3. The front wheel steering feedback device based on a wire-controlled chassis according to claim 2, characterized in that: The end of the rotation angle sensor (7) away from the positioning hole (8) is fixedly connected to a mounting top cover (10), and the end of the mounting top cover (10) corresponding to the position of the rotation angle sensor (7) is fixedly connected to a protective shell (9), and the rotation angle sensor (7) is located in the protective shell (9), so that the protective shell (9) protects the rotation angle sensor (7), a return spring (11) is fixedly connected to the surface of the rotation angle sensor (7), and the end of the return spring (11) away from the position of the mounting top cover (10) is tightly fitted with a positioning cover (12), and the positioning cover (12) is a funnel-shaped structure, and The positioning cover (12) is movably sleeved on the surface of the measuring shaft of the rotation angle sensor (7), and the bottom of the positioning cover (12) is movably inserted into the inner wall of the positioning hole (8), so that the positioning cover (12) establishes a synchronous rotation relationship between the measuring shaft of the rotation angle sensor (7) and the positioning hole (8), and at the same time ensures the coaxiality of the measuring shaft of the rotation angle sensor (7) and the positioning hole (8). The surface of the measuring shaft of the rotation angle sensor (7), the inner wall of the positioning cover (12) and the inner wall of the positioning hole (8) are all regular polygonal structures, so that the rotation angle sensor (7), the positioning cover (12) and the positioning hole (8) can rotate synchronously.

4. The front wheel steering feedback device based on a wire-controlled chassis according to claim 3, characterized in that: One end of the brake cylinder mounting frame (6) corresponding to the protective shell (9) is fixedly connected to a fixing frame (14), and the two ends of the fixing frame (14) at the opposite surface to the brake cylinder mounting frame (6) are respectively rotatably connected to two rotating arms (15), and the surfaces of the two rotating arms (15) are movably connected to elastic metal strips (16), and the elastic metal strips (16) are U-shaped structures. The divergent surfaces of the two rotating arms (15) are respectively provided with grooves, and the elastic metal strips (16) are tightly fitted to the inner walls of the grooves, so that the elastic metal strips (16) provide a restoring function for the relative movement of the rotating arms (15), and the surface of the rotation angle sensor (7) corresponding to the rotating arm (15) is fixedly connected to a positioning ring (17), and the inner wall of the rotating arm (15) corresponding to the positioning ring (17) is provided with a positioning groove (18), and the positioning ring (17) is movably connected to the inner wall of the positioning groove (18).

5. The front wheel steering feedback device based on a wire-controlled chassis according to claim 4, characterized in that: A spacer block (19) is fixedly connected to the surface of the protective shell (9); a notch is provided at one end of the protective shell (9) corresponding to the position of the spacer block (19); and the width of the notch matches the diameter of a cylindrical protrusion at one end of the steering knuckle (2); and a positioning through groove (21) for accommodating the spacer block (19) is provided at one end of the fixing frame (14) corresponding to the position of the spacer block (19).

6. The front wheel steering feedback device based on a wire-controlled chassis according to claim 5, characterized in that: The ends of the rotating arms (15) away from the fixed frame (14) are respectively fixedly connected to two fixed collars (20), and the surfaces of the fixed collars (20) are movably plugged with positioning rods (13), and the side walls of the protective shell (9) corresponding to the positioning cover (12) are provided with through holes for inserting the positioning rods (13).

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