Hand-force sensing simulator for steering-by-wire column

Abstract

A hand-force sensing simulator for a steering-by-wire column, the hand-force sensing simulator comprising a power-assisting electric motor (1), an upper column assembly (2), a speed reduction mechanism (3) and a control device (4), wherein the upper column assembly is mounted on one side of the power-assisting electric motor; the speed reduction mechanism is mounted in the upper column assembly, a speed reduction output end (35) of the speed reduction mechanism is connected to a power input end of the upper column assembly, a speed reduction input end (34) of the speed reduction mechanism is connected to a power output end of the power-assisting electric motor, and the central axis of the speed reduction input end coincides with the central axis of the speed reduction output end; and the control device is electrically connected to the power-assisting electric motor. By means of arranging a physical connection mechanism between the steering-by-wire column and a steering device, the simulator determines a driver's steering intention, and can feed back a road condition to the driver in time, such that the driver feels a change in a hand force when turning a steering wheel.

Description

A hand force sensing simulator for a wire-controlled steering column

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on July 21, 2023, with application number CN202310901198X and invention name “A New Type of Wire-Controlled Steering Column Feel Simulator”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present disclosure relates to the technical field of automobile steering systems, and in particular to a hand force sensing simulator for a wire-controlled steering column. Background Art

[0004] Power steering is a technology that helps drivers maneuver the vehicle more easily by increasing steering force during driving. This technology can significantly reduce the driver's steering effort at low speeds or in low-grip conditions, improving driving stability and comfort.

[0005] In existing passenger car steer-by-wire systems, there's no physical connection between the steering column and the steering gear. While the driver can turn the steering wheel at will, the steering force applied to the steering wheel can't be directly transmitted to the steering gear through the steering column, making it impossible to identify the driver's steering intention. Therefore, a hand-feel simulator is needed on the steering column to identify changes in the driver's steering force applied to the steering wheel and transmit this signal to the steering gear. Furthermore, the steering gear's feedback signal from the road surface needs to be transmitted to the steering wheel via a hand-feel sensing simulator to provide appropriate power. This provides a certain amount of assistance, preventing the driver from not feeling changes in hand force when turning the steering wheel, resulting in erratic steering.

[0006] Summary of the Invention

[0007] The present disclosure provides a hand force sensing simulator for a wire-controlled steering column, which is used to solve the problem in the prior art of passenger car wire-controlled steering systems that the lack of a physical connection mechanism between the wire-controlled steering column and the steering gear makes it impossible to identify the driver's steering intention, and cannot provide timely feedback of road conditions to the driver, resulting in the driver being unable to feel the change in hand force when turning the steering wheel, thereby causing the steering to speed up and slow down.

[0008] The present disclosure provides a hand force sensing simulator for a wire-controlled steering column, comprising: a power-assisting motor; an upper column assembly, the upper column assembly being mounted on one side of the power-assisting motor; a reduction mechanism, the reduction mechanism being mounted in the upper column assembly, the reduction output end of the reduction mechanism being connected to the power input end of the upper column assembly, the reduction input end of the reduction mechanism being connected to the power output end of the power-assisting motor, the central axis of the reduction input end being coincident with the central axis of the reduction output end; and a control device, the control device being electrically connected to the power-assisting motor to control the direction and speed of the power output end of the power-assisting motor according to a steering signal.

[0009] In one embodiment of the present disclosure, the power assist motor includes: a mounting base mounted on the steering column; and a motor mounted on the mounting base, with an end of the motor correspondingly mounted on one end of the upper column assembly.

[0010] In one embodiment of the present disclosure, the control device is installed on the end surface of the motor, and the power output end of the motor and the end surface are located on opposite sides of the motor. The power output end of the motor is the power output end of the power assist motor.

[0011] In one embodiment of the present disclosure, the control device is a hand-feel simulation controller, and the central axis of the power output end of the power assist motor coincides with the central axes of the reduction input end and the reduction output end of the reduction mechanism.

[0012] In one embodiment of the present disclosure, the steering signal includes a road feeling signal recognized by the steering gear and a sensing signal of a change in the driver's hand force applied to the steering wheel.

[0013] In one embodiment of the present disclosure, the reduction mechanism includes: an inner ring gear, one side of the inner ring gear is inserted into one end of the upper column assembly, and the other side of the inner ring gear is installed on the end wall of the motor, the inner ring gear is a circular ring structure, and the inner ring of the circular ring structure is provided with internal teeth; a sun gear, the sun gear is movably installed in the center of the inner ring gear, and the sun gear corresponds to the reduction input end; and planetary gears, several groups of planetary gears are arranged in the inner ring gear, the outer teeth of the planetary gears are respectively engaged with the inner teeth of the inner ring gear and the outer teeth of the sun gear, and the planetary gears correspond to the reduction output end.

[0014] In one embodiment of the present disclosure, the number of teeth of the outer teeth of the planetary gear is greater than the number of teeth of the outer teeth of the sun gear, and the number of teeth of the inner teeth of the ring gear is greater than the number of teeth of the outer teeth of the planetary gear.

[0015] In one embodiment of the present disclosure, the inner teeth of the ring gear, the outer teeth of the sun gear, and the outer teeth of the planet gears are all helical tooth structures.

[0016] In one embodiment of the present disclosure, the sun gear includes: a first gear; and a central shaft, wherein the first gear is mounted on one end of the central shaft, and the other end of the central shaft is connected to the power output end of the power assist motor.

[0017] In one embodiment of the present disclosure, the planetary gear includes: a second gear; and a pin shaft movably mounted at the center of the second gear.

[0018] In one embodiment of the present disclosure, the upper column assembly includes: an upper column housing, which is installed on a mounting seat; a rotating shaft, one end of which is connected to the pin of the planetary gear; and an input shaft, which is installed at the other end opposite to the rotating shaft.

[0019] In one embodiment of the present disclosure, the upper column housing includes: a first housing, in which the rotating shaft is correspondingly inserted; and a second housing, which is mounted at one end of the first housing, and in which the inner gear ring is correspondingly mounted.

[0020] In one embodiment of the present disclosure, the rotating shaft includes: a shaft, the shaft is installed in the first housing, and the first end of the shaft is connected to the input shaft; and a rotating disk, one side of the rotating disk corresponds to a plurality of planetary gears of the reduction mechanism, and the corresponding pins of the plurality of planetary gears pass through the rotating disk to be connected to the second end of the shaft on the other side opposite to the rotating disk.

[0021] As described above, some embodiments of the present disclosure provide a hand force sensing simulator for a wire-controlled steering column. A controller receives road feel and changes in the driver's hand force on the steering wheel, detected by the steering gear, to control the forward or reverse rotation of the motor and adjust the speed accordingly, thereby providing different steering assists and feedback to the driver. Specifically, when the motor power is transmitted to the upper column assembly via a reduction gear mechanism, the motor power is input through the reduction gear input terminal of the reduction gear mechanism, and after deceleration and torque increase, it is output to the upper column assembly via the reduction gear output terminal, which coincides with the central axis of the reduction gear input terminal. The power is then further output to the driver's steering wheel via the upper column assembly, thereby utilizing the coincidence of the central axes of the reduction gear input and reduction gear output terminals of the reduction gear mechanism. While achieving deceleration and torque increase of the motor power, the entire simulator envelope is minimized, providing maximum clearance for the layout of other modules of the vehicle. The simulator is integrated by assembling the reduction gear mechanism with the upper column assembly, and then assembling the upper column assembly with the power assist motor. By outputting the motor power to the sun gear of the reduction mechanism and then outputting it through the planetary gears, different gear reduction ratios are achieved to match the power of the corresponding motors. Software adjustment provides variable power assistance to enable effective steering for the driver. Furthermore, the use of helical teeth on the ring gear, planetary gears, and sun gear effectively reduces the operating noise of the motor, making the reduction mechanism compact and facilitating the layout of other modules. Therefore, some embodiments of the present disclosure effectively overcome the shortcomings of the existing technology and have high industrial value. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a schematic diagram of the overall structure according to an embodiment of the present disclosure.

[0023] FIG2 is an exploded view of a simulator according to an embodiment of the present disclosure.

[0024] FIG3 is a schematic structural diagram of a speed reduction mechanism according to an embodiment of the present disclosure.

[0025] FIG4 is a schematic structural diagram of the connection between the rotating shaft and the planetary gear according to an embodiment of the present disclosure.

[0026] Description of component numbers: power assist motor 1; upper column assembly 2; reduction mechanism 3; control device 4; mounting base 11; motor 12; upper column housing 21; rotating shaft 22; input shaft 23; first housing 211; second housing 212; shaft 221; rotating disk 222; inner ring gear 31; sun gear 32; planetary gear 33; reduction input end 34; reduction output end 35; first gear 321; center shaft 322; second gear 331; pin shaft 332. DETAILED DESCRIPTION

[0027] The following describes the embodiments of the present disclosure through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following examples and the features in the examples can be combined with each other unless there is a conflict. It should also be understood that the terms used in the examples of the present disclosure are for the purpose of describing specific embodiments, not for the purpose of limiting the scope of protection of the present disclosure. The test methods for which specific conditions are not specified in the following examples are generally carried out under conventional conditions or under the conditions recommended by the manufacturers.

[0028] Please refer to Figures 1 to 4. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the restrictive conditions for the implementation of this disclosure, so they have no technical substantive significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed in this disclosure without affecting the efficacy and purpose that can be achieved by this disclosure. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of this disclosure. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of this disclosure without substantially changing the technical content.

[0029] Please refer to Figure 1. An embodiment of the present disclosure provides a hand force sensing simulator for a wire-controlled steering column, comprising: a power-assisting motor 1; an upper column assembly 2, which is installed on one side of the power-assisting motor 1; a reduction mechanism 3, which is installed in the upper column assembly 2, with the reduction output end 35 of the reduction mechanism 3 connected to the power input end of the upper column assembly 2, and the reduction input end 34 of the reduction mechanism 3 connected to the power output end of the power-assisting motor 1, and the central axis of the reduction input end 34 coincides with the central axis of the reduction output end 35; and a control device 4, which is electrically connected to the power-assisting motor 1 to control the direction and speed of the power output end of the power-assisting motor 1 according to a steering signal.

[0030] In one embodiment of the present disclosure, during vehicle steering, a control device 4 receives road feel signals detected by the steering gear and signals indicating changes in the driver's hand force when operating the steering wheel. The control device 4 then controls the forward and reverse rotation of the power-assisting motor 1, as well as the speeds of the forward and reverse rotations, thereby assisting the steering wheel in forward and reverse rotation, providing different levels of steering assistance, and providing the driver with an appropriate hand feel. When the power-assisting motor 1 drives the reduction mechanism 3 and the upper column assembly 2 to rotate, the power-assisting motor 1 transmits power to the reduction input terminal 34 of the reduction mechanism 3. The reduction mechanism 3 then decelerates the input power at the reduction input terminal 34 before outputting it through the reduction output terminal 35. When outputting the power through the reduction output terminal 35, the axial directions of the reduction input terminal 34 and the reduction output terminal 35 coincide with each other. This ensures that the power-assisting motor 1 is decelerated by the reduction mechanism 3 without compromising its functionality and performance. While ensuring that the reduction mechanism 3 reduces the speed and increases the torque of the power-assisting motor 1, the overall simulator envelope is minimized, providing maximum clearance for the layout of other vehicle modules. The deceleration power of the deceleration output end 5 is connected to the upper column assembly 2, and then the power is further transmitted to the steering wheel through the upper column assembly 2, thereby realizing auxiliary steering when the driver's hand force acts on the steering wheel.

[0031] As shown in FIG1 , the power-assist motor 1 includes: a mounting base 11 , which is mounted on the steering column; and a motor 12 , which is mounted on the mounting base 11 , with the end of the motor 12 correspondingly mounted on one end of the upper column assembly 2 .

[0032] In one embodiment of the present disclosure, when the power-assisting motor 1 is installed on the upper column assembly 2, the motor 12 is installed on the mounting seat 11, and the upper column assembly 2 is installed on the end surface of the motor 12, so as to realize the installation of the reduction mechanism 3 between the upper column assembly 2 and the power-assisting motor 1.

[0033] The control device 4 is mounted on the end surface of the motor 12. The power output end of the motor 12 and the end surface are located on opposite sides of the motor 12. The power output end of the motor 12 is the power output end of the power assist motor 1. When installing the control device 4, by installing the control device 4 at a position corresponding to the end of the motor 12, the control device 4 can also be arranged linearly along the axial direction of the power output shaft of the motor 12, thereby further reducing the envelope space of the simulator.

[0034] The control device 4 is a hand-feel simulation controller, and the central axis of the power output end of the power assist motor 1 coincides with the central axes of the reduction input end 34 and the reduction output end 35 of the reduction mechanism 3 .

[0035] The steering signal includes the road feel signal recognized by the steering gear and the sensing signal of the change in the driver's hand force applied to the steering wheel.

[0036] Referring to the embodiment shown in FIG1 , the motor 12 and the upper column housing 21 are both mounted on the mounting base 11. Furthermore, the reduction mechanism 3 is mounted within the upper column housing 21 on one side of the motor 12. By mounting the upper column housing 21 on the end of the motor 12, the reduction mechanism 3 is integrated between the upper column housing 21 and the motor 12. During power output, the power from the motor 12 is directly output to the reduction input terminal 34. After being decelerated and torque-increased by the reduction mechanism 3, it is further output to the reduction output terminal 35. Further power is output to the upper column assembly 2 via the reduction output terminal 35.

[0037] As shown in Figure 2, the upper column assembly 2 includes: an upper column housing 21, which is installed on the mounting seat 11; a rotating shaft 22, one end of which is connected to the pin 332 of the planetary gear 33; and an input shaft 23, which is installed at the other end opposite to the rotating shaft 22.

[0038] In one embodiment of the present disclosure, when the upper column assembly 2 receives power from the reduction output end 35 and transmits it to the steering wheel, the reduction output end 35, i.e., the pin 332, revolves around the center of the first gear 331 to output power to the rotating shaft 22 mounted within the upper column housing 21. The power is then output to the input shaft 23 via the rotating shaft 22, and further to the steering wheel of the vehicle via the input shaft 23.

[0039] The upper column housing 21 includes a first housing 211 in which the rotating shaft 22 is correspondingly inserted; and a second housing 212 installed at one end of the first housing 211 , in which the inner gear ring 31 is correspondingly installed.

[0040] In one embodiment of the present disclosure, when the upper column housing 21 is installing the rotating shaft 22 and the reduction mechanism 3, the first housing 211 is used to achieve the limited installation of the rotating shaft 22, and the second housing 212 is used to achieve the installation of the inner ring gear 31, so that the end of the second housing 212 can be connected to the end of the motor 12 for assembly and installation.

[0041] Referring to the embodiment shown in FIG2 , during the simulator installation process, the control device 4 is sequentially installed on the motor 12, the reduction mechanism 3 is installed on one end of the upper column housing 21, and the end of the motor 12 is installed through the upper column housing 21. This allows the power of the motor 12 to be transmitted to the reduction input terminal 34, then decelerated by the reduction mechanism 3 and output to the rotating shaft 22 through the reduction output terminal 35. The power is then output to the input shaft 23 through the rotating shaft 22, and then to the steering wheel through the input shaft 23 to assist in the output of the power.

[0042] As shown in Figure 3, the reduction mechanism 3 includes: an inner ring gear 31, one side of the inner ring gear 31 is inserted into one end of the upper column assembly 2, and the other side of the inner ring gear 31 is installed on the end wall of the motor 12, the inner ring gear 31 is a circular ring structure, and the inner ring of the circular ring structure is provided with internal teeth; a sun gear 32, the sun gear 32 is movably mounted at the center of the inner ring gear 31, and the sun gear 32 corresponds to the reduction input end 34; and planetary gears 33, several groups of planetary gears 33 are arranged in the inner ring gear 31, the outer teeth of the planetary gears 33 are respectively engaged with the inner teeth of the inner ring gear 31 and the outer teeth of the sun gear 32, and the planetary gears 33 correspond to the reduction output end 35.

[0043] In one embodiment of the present disclosure, when the reduction mechanism 3 outputs the power of the motor 12, the power is input to the sun gear 32 through the reduction input end 34 for rotation. When the sun gear 32 rotates, the planetary gear 33 engaged with it is driven to rotate. At the same time, the planetary gear 33 is engaged with the inner teeth on the inner ring 31, thereby driving the planetary gear 33 to rotate around the center of the sun gear 32. The power of the planetary gear 33 rotating around the sun gear 32 is used as the power of the reduction output end 35, and the upper column assembly 2 outputs power.

[0044] The number of teeth of the external teeth of the planetary gears 33 is greater than the number of teeth of the external teeth of the sun gear 32 , and the number of teeth of the internal teeth of the ring gear 31 is greater than the number of teeth of the external teeth of the planetary gears 33 .

[0045] In one embodiment of the present disclosure, by designing the number of outer teeth of the planetary gear 33 to be greater than the number of inner teeth of the sun gear 32 meshing therewith, and by matching the corresponding motor power according to different gear reduction ratios, when the power of the motor 12 is transmitted to the sun gear 32, variable power assistance is provided through software adjustment to achieve the effect of reducing speed and increasing torque, thereby achieving effective steering with the hand force applied by the driver on the steering wheel.

[0046] Furthermore, the inner teeth of the inner gear ring 31 , the outer teeth of the sun gear 32 , and the outer teeth of the planetary gears 33 are all helical tooth structures.

[0047] In one embodiment of the present disclosure, the inner ring gear 31, the planetary gears 33, and the sun gear 32 are meshed with each other by using helical teeth to reduce the operating noise of the motor 12 during operation, so that the entire reduction mechanism 3 is arranged compactly in space, which is conducive to the arrangement of other modules.

[0048] The sun gear 32 includes: a first gear 321 ; and a central shaft 322 . The first gear 321 is mounted on one end of the central shaft 322 , and the other end of the central shaft 322 is connected to the power output end of the power assist motor 1 .

[0049] In one embodiment of the present disclosure, the central shaft 322 on the sun gear 32 is connected to the power-boosting motor 1 and corresponds to the reduction input end 34 , so that the sun gear 32 is driven to rotate by the power of the power-boosting motor 1 .

[0050] The planetary gear 33 includes a second gear 331 and a pin 332 movably mounted at the center of the second gear 331 .

[0051] In one embodiment of the present disclosure, the second gear 331 meshes with the first gear 321, while also meshing with the internal teeth of the ring gear 31. Consequently, when the first gear 321 rotates, the second gear 331 is simultaneously rotated and orbited around the axis of the first gear 321. Simultaneously, during this orbital motion, the second gear 331 transmits reduced output power to the upper column assembly 2 via its axis of rotation corresponding to its pin 332, acting as a reduced output at the reduction output end 35.

[0052] As shown in Figures 2 and 4, the rotating shaft 22 includes: a shaft 221, which is installed in the first housing 211, and the first end of the shaft 221 is connected to the input shaft 23; and a rotating disk 222, one side of the rotating disk 222 corresponds to the several planetary gears 33 of the reduction mechanism 3, and the corresponding pins 332 of the several planetary gears 33 pass through the rotating disk 222 to be connected to the second end of the shaft 221 on the other side opposite to the rotating disk 222.

[0053] In one embodiment of the present disclosure, during the installation of the rotating shaft 22, the rotating disk 222 is used to connect with each group of pins 332 to ensure that the center axis of the first gear 321 and the center axis of the shaft 221 coincide with each other, thereby realizing the power of the planetary gear 33 by connecting the pins 332 and the rotating disk 222 to realize power output to the shaft 221.

[0054] Furthermore, during the installation process of the rotating disk 222 , it is located between the inner wall of the second housing 212 and the inner gear ring 31 .

[0055] In summary, the present disclosure provides a hand force sensing simulator for a steering-by-wire steering column. A controller receives road feel and changes in the driver's hand force on the steering wheel, detected by the steering gear, to control the forward or reverse rotation of the motor 12 and adjust the speed accordingly, thereby providing different steering wheel assists and feedback to the driver. During the transmission of power from the motor 12 to the upper column assembly 2 via the reduction gear mechanism 3, the power of the motor 12 is input through the reduction gear input terminal 34 of the reduction gear mechanism 3. After the reduction gear mechanism 3 reduces speed and increases torque, the power is output from the reduction gear output terminal 35 of the reduction gear mechanism 3 to the upper column assembly 2. The upper column assembly 2 then outputs the power to the driver's steering wheel. By aligning the central axes of the reduction gear input terminal 34 and the reduction gear output terminal 35 of the reduction gear mechanism 3, the present disclosure achieves both reduced speed and increased torque for the motor 12 and minimizes the overall simulator envelope, providing maximum clearance for the layout of other vehicle modules. By assembling the reduction gear mechanism 3 with the upper column assembly 2, and then assembling the upper column assembly 2 with the power assist motor 1, an integrated simulator structure is achieved. By outputting the power of the motor 12 to the sun gear 32 of the reduction mechanism and outputting it through the planetary gears 33, different gear reduction ratios are matched to the power of the corresponding motor 12. Software adjustment provides variable power assistance to achieve effective steering for the driver. Furthermore, the helical meshing of the ring gear 31, planetary gears 33, and sun gear 32 effectively reduces the operating noise of the motor 12, making the reduction mechanism 3 compact and facilitating the layout of other modules. Therefore, the present disclosure effectively overcomes the shortcomings of the prior art and has high industrial value.

[0056] The above embodiments are merely illustrative of the principles and effects of this disclosure and are not intended to limit this disclosure. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this disclosure. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical concepts disclosed herein shall be covered by the claims of this disclosure.

Claims

1. A hand force sensing simulator for a wire-controlled steering column, comprising: A power assist motor (1); An upper pipe column assembly (2), wherein the upper pipe column assembly (2) is mounted on one side of the power-assisting motor (1); A deceleration mechanism (3), wherein the deceleration mechanism (3) is installed in the upper column assembly (2), a deceleration output end (35) of the deceleration mechanism (3) is connected to a power input end of the upper column assembly (2), a deceleration input end (34) of the deceleration mechanism (3) is connected to a power output end of the power assist motor (1), and a central axis of the deceleration input end (34) coincides with a central axis of the deceleration output end (35); as well as A control device (4) is electrically connected to the power-assisted motor (1) to control the direction and speed of the power output end of the power-assisted motor (1) according to a steering signal.

2. The hand force sensing simulator for a wire-controlled steering column according to claim 1, wherein: The booster motor (1) comprises: A mounting seat (11), wherein the mounting seat (11) is mounted on the steering column; and A motor (12), wherein the motor (12) is mounted on the mounting seat (11), and an end of the motor (12) is correspondingly mounted on one end of the upper column assembly (2).

3. The hand force sensing simulator for a wire-controlled steering column according to claim 2, wherein: The control device (4) is mounted on the end surface of the motor (12); the power output end of the motor (12) and the end surface are located on opposite sides of the motor (12); the power output end of the motor (12) is the power output end of the power-assisted motor (1).

4. The hand force sensing simulator for a wire-controlled steering column according to claim 1, wherein: The control device (4) is a hand-feel simulation controller, and the central axis of the power output end of the booster motor (1) coincides with the central axes of the reduction input end (34) and the reduction output end (35) of the reduction mechanism (3).

5. The hand force sensing simulator for a wire-controlled steering column according to claim 4, wherein: The steering signal includes a road feeling signal recognized by the steering gear and a sensing signal of a change in the driver's hand force applied to the steering wheel.

6. The hand force sensing simulator for a wire-controlled steering column according to claim 2, wherein: The speed reduction mechanism (3) comprises: An inner gear ring (31), one side of the inner gear ring (31) is inserted into one end of the upper column assembly (2), and the other side of the inner gear ring (31) is installed on the end wall of the motor (12), the inner gear ring (31) is a circular ring structure, and the inner ring of the circular ring structure is provided with internal teeth; a sun gear (32), the sun gear (32) being movably mounted at the center of the inner gear ring (31), the sun gear (32) corresponding to the speed reduction input end (34); and Planetary gears (33), a plurality of groups of the planetary gears (33) are arranged in the inner gear ring (31), the outer teeth of the planetary gears (33) are respectively meshed with the inner teeth of the inner gear ring (31) and the outer teeth of the sun gear (32), and the planetary gears (33) correspond to the reduction output end (35).

7. The hand force sensing simulator for a wire-controlled steering column according to claim 6, wherein: The number of teeth of the external teeth of the planetary gear (33) is greater than the number of teeth of the external teeth of the sun gear (32), and the number of teeth of the internal teeth of the inner gear ring (31) is greater than the number of teeth of the external teeth of the planetary gear (33).

8. The hand force sensing simulator for a wire-controlled steering column according to claim 6, wherein: The inner teeth of the inner gear ring (31), the outer teeth of the sun gear (32), and the outer teeth of the planetary gear (33) are all helical tooth structures.

9. The hand force sensing simulator for a wire-controlled steering column according to claim 6, wherein: The sun gear (32) comprises: a first gear (321); and A central shaft (322), one end of which is mounted with the first gear (321), and the other end of which is connected to the power output end of the power-assisting motor (1).

10. The hand force sensing simulator for a wire-controlled steering column according to claim 6, wherein: The planetary gear (33) comprises: a second gear (331); and A pin shaft (332), wherein the pin shaft (332) is movably mounted at the center of the second gear (331).

11. The hand force sensing simulator for a wire-controlled steering column according to claim 10, wherein: The upper pipe column assembly (2) comprises: An upper column housing (21), the upper column housing (21) being mounted on the mounting seat (11); a rotating shaft (22), one end of the rotating shaft (22) being connected to the pin shaft (332) of the planetary gear (33); and An input shaft (23) is mounted on the other end opposite to the rotating shaft (22).

12. The hand force sensing simulator for a wire-controlled steering column according to claim 11, wherein: The upper column housing (21) comprises: a first shell (211), wherein the rotating shaft (22) is correspondingly inserted into the first shell (211); and A second housing (212), wherein the second housing (212) is mounted on one end of the first housing (211), and the inner gear ring (31) is correspondingly mounted in the second housing (212).

13. The hand force sensing simulator for a wire-controlled steering column according to claim 12, wherein: The rotating shaft (22) comprises: a shaft rod (221), the shaft rod (221) being installed in the first housing (211), and a first end of the shaft rod (221) being connected to the input shaft (23); and A rotating disk (222), one side of the rotating disk (222) corresponds to the plurality of planetary gears (33) of the speed reduction mechanism (3), and the corresponding pins (332) of the plurality of planetary gears (33) pass through the rotating disk (222) to be connected to the second end of the shaft (221) on the other side opposite to the rotating disk (222).

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