CN103171733A - Central-shaft torque sensing device for electric bicycle - Google Patents
Central-shaft torque sensing device for electric bicycle Download PDFInfo
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- CN103171733A CN103171733A CN2013101210888A CN201310121088A CN103171733A CN 103171733 A CN103171733 A CN 103171733A CN 2013101210888 A CN2013101210888 A CN 2013101210888A CN 201310121088 A CN201310121088 A CN 201310121088A CN 103171733 A CN103171733 A CN 103171733A
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Abstract
The invention discloses a central-shaft torque sensing device for an electric bicycle. The central-shaft torque sensing device comprises a central shaft assembled in a five-way tube via a bearing, cranks fixed on the central shaft, a chain wheel sleeved on the central shaft, and an elastic torsion member connected with the central shaft and the chain wheel, wherein left and right torque sensing magnetic steel capable of generating peripheral relative displacement during the torsion of the elastic torsion member are fixed on the elastic torsion member; a magnetic induction coil wrapping the left and right torque sensing magnetic steel is further sleeved outside the elastic torsion member and is electrically connected with a motor control circuit board via a circuit board between the central shaft and the inner wall of the five-way tube; and the motor control circuit board is electrically connected with a motor of the electric bicycle. The device is high in induction sensitivity and accuracy, and capable of accurately detecting torque signals transmitted by the left crank and the right crank in a non-contact manner via a magneto-electricity conversion mode.
Description
Technical field
The present invention relates to a kind of parts of Electrical Bicycle, be specifically related to a kind of electrical bicycle middle shaft moment sensor.
Background technology
Electrical Bicycle promotes the use in China just day by day due to its brisk characteristics such as laborsaving and pollution-free.Traditional Electrical Bicycle all comes speed governing with handgrip, namely control the horsepower output of motor with handgrip, when at present increasing Electrical Bicycle mainly adopts torque sensor that the people is ridden, the power of pedaling of pin converts corresponding voltage signal output to, control the running power of motor after the circuit for controlling motor plate amplifies processing, can greatly save the energy like this.
The sensor that is used at present Electrical Bicycle mostly is Hall revolution speed transducer, this sensor uses magnet steel to stick on the turning unit such as the axis of Electrical Bicycle or flywheel surface, and on the non-rotatable members such as vehicle frame main shaft, Hall element is installed, when people's tap pedal, axis or flywheel rotation produce the variation current potential corresponding to torsional moment, and export corresponding voltage signal, can control the horsepower output of motor after amplifying processing.Yet there is following problems in this class Electrical Bicycle sensor:
1, can not detect the Static and dynamic moment of torsion, survey precision is poor, can not zero start in riding, level road and descending ride middle can occur electric boosted excessive and make battery produce unnecessary discharge.
2, because magnet steel is not arranged on axis actv. force part, it is also not obvious because of the change in displacement that torsion produces, often obvious when slow speed of revolution, not obvious during high rotating speed, therefore make the output of induced potential signal inaccurate, the working stability of sensor and reliability all descend greatly.
Summary of the invention
The present invention seeks to: provide a kind of induction sensitivity and accuracy high electrical bicycle middle shaft moment sensor.
technical scheme of the present invention is: a kind of electrical bicycle middle shaft moment sensor, comprise the axis in Five-way tube by bearing assemble, be fixed on the crank on axis, and be sheathed on chain wheel on axis, it also comprises an elastic torsion member that connects axis and chain wheel, be fixed with left moment sensing magnet steel and the right moment sensing magnet steel that can produce circumferential relative displacement when the elastic torsion member reverses on this elastic torsion member, the outside of described elastic torsion member is also overlapped has one to wrap in described left moment sensing magnet steel and the outer magnetic induction coil of right moment sensing magnet steel, this magnetic induction coil is electrically connected to the circuit for controlling motor plate through a wiring board that is installed between axis and Five-way tube inwall, described circuit for controlling motor plate is electrically connected to the motor of Electrical Bicycle.
Be integrated with the velocity response Hall on described wiring board, be fixed with the velocity response magnet steel corresponding with described velocity response Hall on described axis.
Be shaped with the hole that is positioned at described right moment sensing magnet steel bottom on described axis.
Described elastic torsion member is made of the ring set that is positioned at left part and the driver plate that is positioned at right part, wherein, ring set is enclosed within outside axis and its left end passes through set pin) fix with axis, driver plate also is enclosed within outside axis and axially is pressed on the right part of the described collar by an axle with jump ring, simultaneously at the position that the collar and driver plate compress mutually, the collar and driver plate be provided with cooperatively interact so that both at circumferential relatively-stationary latch.
Along the circumferential direction be provided with many spaced apart, the axial slits between described left moment sensing magnet steel and right moment sensing magnet steel on the ring set wall of described ring set.
Be provided with positive stop key between described driver plate and axis.
Described magnetic induction coil by the coil bracket that is enclosed within the outer tubular of ring set, be wrapped in the coil on coil bracket and wrap in coil outer left magnetic guiding loop and right magnetic guiding loop and consist of.
Advantage of the present invention is:
1. the present invention is by being installed on the stressed of elastic torsion member between axis and chain wheel, and the moment of torsion displacement that produces left and right moment sensing magnet steel, compare existing Hall moment sensor, the moment transmission puts in place, the faint defective of moment induced signal in the time of can not having slow speed of revolution, but can guarantee all the time high sensitivity and the high precision of induced signal.
2. only need the stressed torsion of axis to obtain torque signals by magnetic induction coil in the present invention, therefore can detect the Static and dynamic moment of torsion, compare existing Hall moment sensor, serviceability is more reliable and more stable, but also can guarantee that Electrical Bicycle riding middle zero start and keep the stable of rideability.
3, in Electrical Bicycle startup and the process of riding, the people steps on pedal drive crank and middle shaft rotation, axis passes to the collar with torsion, the collar passes to driver plate with torsion again, in this process, because the collar is subject to circumferential torsion, thereby make it that circumferential deformation occur, so, just produce circumferential relative displacement between the left moment sensing magnet steel of fixing on the collar and right moment sensing magnet steel, again owing to being shaped with the hole that is positioned at right moment sensing magnet steel bottom on axis, when circumferential torsional deflection occurs in the collar, the relative position of right moment sensing magnet steel and hole changes, the magnetic resistance that causes field circuit changes, cause changing and obtaining magnetic field variation signal by this magnetic induction coil induction by the magnetic flow of magnetic induction coil, and convert this signal to voltage signal by wiring board and export to the circuit for controlling motor plate through pig-tail wire, the circuit for controlling motor buttress goes out according to this calculated signals the watt level that electrical motor should be exported, thereby the ratio that reaches the power of manpower and electrical motor output keeps stable and consistent, make personnel by bike can experience the comfortable power impression that exceeds manpower, extension as bicycle, perform to happy impression by bike ultimate attainment.
4, the present invention adopts the mode of magnetoelectricity conversion, measure accurately the variable quantity of elasticity original paper in non-contacting situation, the aviation value that this device can the variation of measuring workpieces in a zone simultaneously, can improve like this antijamming capability and the fiduciary level of product, this invention has made up needs on the go, can not obtain by contact the fields of measurement blank of torque signals.
5, technology of the present invention can be applied to the torsion of measuring chain in bicycle rear-hub, can also be applied to various sports equipment parts joints needs to measure moment in motion process measuring mechanism simultaneously.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples:
Fig. 1 is the sectional structure schematic diagram of the embodiment of the present invention.
wherein: the 1-Five-way tube, the 2-chain wheel, 3-chain wheel fix screw, the 4-crank, 5-crank bolt of rear end plate, the 6-axis, the 7-driver plate, the 8-ring set, the right wrister of 9-, the right deep groove ball bearing of 10-, the right magnetic guiding loop of 11-, the right moment sensing magnet steel of 12-, the 13-coil, the 14-pig-tail wire, the left magnetic guiding loop of 15-, the 16-coil bracket, the left moment sensing magnet steel of 17-, the 18-lining, the 19-wiring board, the left wrister of 20-, the left deep groove ball bearing of 21-, the 22-bearing lining, the 23-hexagonal nut, 24-velocity response Hall, the 25-set pin, 26-velocity response magnet steel, the 27-positive stop key, 28-axle jump ring, the 29-hole.
The specific embodiment
Fig. 1 has shown a specific embodiment of electrical bicycle middle shaft moment sensor of the present invention, it is specifically by Five-way tube 1, chain wheel 2, chain wheel fix screw 3, crank 4, crank bolt of rear end plate 5, axis 6, driver plate 7, ring set 8, right wrister 9, right deep groove ball bearing 10, right magnetic guiding loop 11, right moment sensing magnet steel 12, coil 13, pig-tail wire 14, left magnetic guiding loop 15, coil bracket 16, left moment sensing magnet steel 17, lining 18, wiring board 19, left wrister 20, left deep groove ball bearing 21, bearing lining 22, hexagonal nut 23, velocity response Hall 24, set pin 25, velocity response magnet steel 26, positive stop key 27, and axle forms with jump ring 28 these parts.
The same with routine techniques, wear axis 6 in described Five-way tube 1, the two ends of axis 6 all are fixed with crank 4 by crank bolt of rear end plate 5, simultaneously sheathed chain wheel 2 on described axis 6, this chain wheel 2 is positioned at Five-way tube 1 right side, and Five-way tube 1 two ends are respectively arranged with left wrister 20 and right wrister 9.The crank 4 that relates in the present embodiment is mounted with electric bicycle pedal with routine techniques is the same when reality is used, and is trampled and driven rotary by the people.
key improvements of the present invention is that this electrical bicycle middle shaft moment sensor also comprises an elastic torsion member that connects axis 6 and chain wheel 2, be fixed with circumferentially left moment sensing magnet steel 17 spaced apart of a plurality of edges on this elastic torsion member, and the circumferential right moment sensing magnet steel 12 spaced apart in a plurality of edges, when reversing, the elastic torsion member can produce circumferential relative displacement (can produce circumferential deformation when the elastic torsion member is subject to circumferential twisting resistance) between described left moment sensing magnet steel 17 and right moment sensing magnet steel 12, and to be shaped with the hole 29(that is positioned at right moment sensing magnet steel 12 bottoms on axis 6 be blind hole).as shown in Figure 1, elastic torsion member in the present embodiment is specifically by being positioned at ring set 8 and driver plate 7 consists of, its middle ring sleeve 8 is positioned at the left side of driver plate 7 and both is Split type structure, ring set 7 is enclosed within outside axis 6 and its left end fixes by set pin 25 and axis 6, thereby driver plate 7 also is enclosed within outside axis 6 and its right part axially is pressed on driver plate the right part of the described collar 8 by an axle with jump ring 28 chuckings, and at the position that the collar 8 and driver plate 7 compress mutually, the collar 8 and driver plate 7 are provided with the latch that cooperatively interacts, thereby the collar 8 fastens with latch on driver plate 7 and makes both circumferentially relative fixing, that is: the collar is provided with latch, also be provided with latch on driver plate, latch both is fastened togather, when one of them parts circumferentially rotates, another parts also can rotate thereupon.
The outside of described elastic torsion member is also overlapped has one to wrap in described left moment sensing magnet steel 17 and the outer magnetic induction coil of right moment sensing magnet steel 12, this magnetic induction coil is electrically connected to the circuit for controlling motor plate through a wiring board 19 that is installed between axis 6 and Five-way tube 1 inwall, and described circuit for controlling motor plate is electrically connected to the motor (not shown) of Electrical Bicycle.With reference to shown in Figure 1, the magnetic induction coil in the present embodiment specifically by the coil bracket 16 that is enclosed within the outer tubular of ring set 8, be wrapped in the coil 13 on coil bracket and wrap in coil outer left magnetic guiding loop 15 and right magnetic guiding loop 11 and consist of.
In addition, this example also is integrated with velocity response Hall 24 on described wiring board 15, is fixed with the velocity response magnet steel 26 corresponding with described velocity response Hall body 24 on axis 6.
Again in conjunction with shown in Figure 1, be provided with right deep groove ball bearing 10 between right wrister 9 in the present embodiment and driver plate 7, be provided with left deep groove ball bearing 21 between left wrister 20 and axis 6, this left deep groove ball bearing 21 is enclosed within on axis 6 by bearing lining 22, then by hexagonal nut 22 axial lockings.
Still in conjunction with shown in Figure 1, existing principle of work with the present embodiment is described below:
in Electrical Bicycle startup and the process of riding, the people steps on pedal drive crank 4 and axis 6 rotations, 6 of axis pass to the collar 8 with torsion, the collar 8 passes to torsion driver plate 7 again, in this process, because the collar 8 is subject to circumferential torsion, thereby make it that circumferential deformation (coil and coil bracket be outage in this process) occur, so, just produce circumferential relative displacement between the left moment sensing magnet steel 17 of fixing on the collar 8 and right moment sensing magnet steel 12, again owing to being shaped with the hole 29 that is positioned at right moment sensing magnet steel 12 bottoms on axis 6, when circumferential torsional deflection occurs in the collar 8, right moment sensing magnet steel 12 changes with the relative position of hole 29, the magnetic resistance that causes field circuit changes, cause changing and obtaining magnetic field variation signal by this magnetic induction coil induction by the magnetic flow of magnetic induction coil, and convert this signal to voltage signal by wiring board 19 and export to the circuit for controlling motor plate through pig-tail wire 14.Described circuit for controlling motor buttress is exported respectively corresponding control signal according to the power of voltage signal, and drive motor reduces or improve running power to play good power-assisted effect, greatly saves the energy.Certainly, velocity response Hall 24 and velocity response magnet steel 26 have also been introduced in the present embodiment, their principle of work is the same with routine techniques, velocity response magnet steel 26 changes the magnetic field of its generation with axis 6 rotations, utilize velocity response Hall 24 to obtain the magnetic field variation signal of velocity response magnet steel 26, convert the magnetic field variation signal that 24 inductions of velocity response Hall obtain to speed signal by wiring board 19 again, export to again the circuit for controlling motor plate, control motor rotation power after being processed by it.
In addition, this example also along the circumferential direction is being provided with many spaced apart, axial slits between described left moment sensing magnet steel 17 and right moment sensing magnet steel 12 in order to make the collar 8 under twisting force circumferential deformation occur more easily on the ring set wall of the collar 8.simultaneously excessive and cause structural failure for fear of the collar 8 deflections again, this example is provided with again the positive stop key 27 that can rotate by a small margin with driver plate 7 between described driver plate 7 and axis 6, be achieved in that specifically limiting stopper 27 is stuck in the keyway of offering on driver plate 7 and axis 6, wherein, the keyway size of offering on axis 6 is slightly larger than the size of positive stop key 27, when the collar 8 produces by a small margin circumferential deformation, positive stop key 27 is followed driver plate 7 and is produced circumferentially moving by a small margin with respect to axis 6, and when the circumferential amount of movement of positive stop key 27 props up the cell wall of keyway on axis 6 greatly, just can not continue mobile, can not be excessive with this deflection that limits the collar 8.
Certainly, above-described embodiment only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow people can understand content of the present invention and implement according to this, can not limit protection scope of the present invention with this.The all Spirit Essence of main technical schemes is done according to the present invention equivalent transformation or modification are within all should being encompassed in protection scope of the present invention.
Claims (7)
1. electrical bicycle middle shaft moment sensor, comprise the axis (6) in Five-way tube (1) by bearing assemble, be fixed on the crank (4) on axis (6), and be sheathed on chain wheel (2) on axis (6), it is characterized in that: also comprise an elastic torsion member that connects axis (6) and chain wheel (2), be fixed with left moment sensing magnet steel (17) and the right moment sensing magnet steel (12) that can produce circumferential relative displacement when the elastic torsion member reverses on this elastic torsion member, the outside of described elastic torsion member is also overlapped has one to wrap in described left moment sensing magnet steel (17) and the outer magnetic induction coil of right moment sensing magnet steel (12), this magnetic induction coil is electrically connected to the circuit for controlling motor plate through a wiring board (19) that is installed between axis (6) and Five-way tube (1) inwall, described circuit for controlling motor plate is electrically connected to the motor of Electrical Bicycle.
2. electrical bicycle middle shaft moment sensor according to claim 1, it is characterized in that: be integrated with velocity response Hall (24) on described wiring board (15), be fixed with the velocity response magnet steel (26) corresponding with described velocity response Hall (24) on described axis (6).
3. electrical bicycle middle shaft moment sensor according to claim 1, is characterized in that: be shaped with the hole (29) that is positioned at described right moment sensing magnet steel (12) bottom on described axis (6).
4. electrical bicycle middle shaft moment sensor according to claim 1 and 2, it is characterized in that: described elastic torsion member is made of ring set (8) and the driver plate (7) of Split type structure, wherein, ring set (7) is enclosed within outside axis (6) and its left end fixes by set pin (25) and axis (6), driver plate (7) also is enclosed within axis (6) outward and it axially is pressed on the right part of the described collar (8) with jump ring (28) by an axle, simultaneously at position that the collar (8) and driver plate (7) compress mutually, the collar (8) and driver plate (7) are provided with and cooperatively interact, to prevent both relative to the latch that circumferentially rotates.
5. electrical bicycle middle shaft moment sensor according to claim 4 is characterized in that: along the circumferential direction be provided with on the ring set wall of described ring set (8) many spaced apart, be positioned at the axial slit between described left moment sensing magnet steel (17) and right moment sensing magnet steel (12).
6. electrical bicycle middle shaft moment sensor according to claim 4, is characterized in that: be provided with positive stop key (27) between described driver plate (7) and axis (6).
7. electrical bicycle middle shaft moment sensor according to claim 4 is characterized in that: described magnetic induction coil (13) by the coil bracket (16) that is enclosed within the outer tubular of ring set (8), be wrapped in the coil (13) on coil bracket and wrap in the outer left magnetic guiding loop (15) of coil and right magnetic guiding loop (11) formation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310121088.8A CN103171733B (en) | 2013-04-09 | 2013-04-09 | A kind of electrical bicycle middle shaft moment sensor |
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| CN201310121088.8A CN103171733B (en) | 2013-04-09 | 2013-04-09 | A kind of electrical bicycle middle shaft moment sensor |
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| CN103171733A true CN103171733A (en) | 2013-06-26 |
| CN103171733B CN103171733B (en) | 2015-09-30 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103381876A (en) * | 2013-08-08 | 2013-11-06 | 苏州捷诚科技有限公司 | Central shaft type torque sensor |
| CN103612702A (en) * | 2013-10-29 | 2014-03-05 | 苏州莱士格车业有限公司 | Speed adjusting device in electric bicycle |
| CN103935456A (en) * | 2014-04-01 | 2014-07-23 | 钟德斌 | Centre shaft moment sensor |
| CN105015692A (en) * | 2014-04-22 | 2015-11-04 | 苏州八方电机科技有限公司 | Torque-speed sensing device for center shaft of electric bicycle |
| CN105905225A (en) * | 2016-07-01 | 2016-08-31 | 武汉千斤智能科技有限公司 | Center shaft sensor system and electric power-assisted bicycle |
| CN106143777A (en) * | 2015-04-22 | 2016-11-23 | 苏州赛诺伊电动科技有限公司 | A kind of Moped Scooter built-in motor and moment measuring device thereof |
| CN106627964A (en) * | 2016-11-22 | 2017-05-10 | 昆山朗德森机电科技有限公司 | Torque sensor and detecting system for electric bicycle |
| CN106864658A (en) * | 2017-04-07 | 2017-06-20 | 苏州盛亿电机有限公司 | Electrical bicycle middle shaft Dao Sha mechanisms with fail safe function of stopping |
| CN107031784A (en) * | 2017-05-04 | 2017-08-11 | 深圳哥智行科技有限公司 | The chain wheel formula moment sensor of bicycle |
| CN107054545A (en) * | 2017-05-04 | 2017-08-18 | 深圳哥智行科技有限公司 | The trailing wheel of motor wheel hub structure and bicycle |
| CN108583768A (en) * | 2018-07-02 | 2018-09-28 | 常州野人电子科技有限公司 | A kind of power system of electric automobile, torque-measuring apparatus and its working method |
| WO2018202124A1 (en) * | 2017-05-05 | 2018-11-08 | 捷安特电动车（昆山）有限公司 | Device for detecting vehicle operation parameters |
| CN109398579A (en) * | 2018-11-29 | 2019-03-01 | 八方电气(苏州)股份有限公司 | Bicycle square opening axis |
| CN114379695A (en) * | 2021-02-06 | 2022-04-22 | 珠海蓝图控制器科技有限公司 | Middle motor |
| WO2024066262A1 (en) * | 2022-09-29 | 2024-04-04 | 广东威灵电机制造有限公司 | Torque and speed sensing device and electric bicycle |
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| TWI604982B (en) * | 2016-07-18 | 2017-11-11 | 行安機電股份有限公司 | Torque detector |
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| CN202703824U (en) * | 2012-07-04 | 2013-01-30 | 南京东玫和创科技有限公司 | Speed sensor of electric bicycle |
| CN203172841U (en) * | 2013-04-09 | 2013-09-04 | 苏州八方电机科技有限公司 | Center shaft torque sensing device for electric bicycle |
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| CN202083502U (en) * | 2011-04-08 | 2011-12-21 | 深圳市琛玛华夏科技有限公司 | Moment sensor of electric power-assisted vehicle |
| CN202703824U (en) * | 2012-07-04 | 2013-01-30 | 南京东玫和创科技有限公司 | Speed sensor of electric bicycle |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103381876A (en) * | 2013-08-08 | 2013-11-06 | 苏州捷诚科技有限公司 | Central shaft type torque sensor |
| CN103612702A (en) * | 2013-10-29 | 2014-03-05 | 苏州莱士格车业有限公司 | Speed adjusting device in electric bicycle |
| CN103612702B (en) * | 2013-10-29 | 2016-06-29 | 苏州莱士格车业有限公司 | Arrangements for speed regulation in electric bicycle |
| CN103935456B (en) * | 2014-04-01 | 2016-07-27 | 钟德斌 | A kind of axis torque sensor |
| CN103935456A (en) * | 2014-04-01 | 2014-07-23 | 钟德斌 | Centre shaft moment sensor |
| EP3056421A4 (en) * | 2014-04-22 | 2017-08-09 | Suzhou Bafang Electric Motor Science Technology Co. Ltd | Electric bicycle central axle torque speed sense device |
| CN105015692A (en) * | 2014-04-22 | 2015-11-04 | 苏州八方电机科技有限公司 | Torque-speed sensing device for center shaft of electric bicycle |
| CN106143777A (en) * | 2015-04-22 | 2016-11-23 | 苏州赛诺伊电动科技有限公司 | A kind of Moped Scooter built-in motor and moment measuring device thereof |
| CN105905225A (en) * | 2016-07-01 | 2016-08-31 | 武汉千斤智能科技有限公司 | Center shaft sensor system and electric power-assisted bicycle |
| CN105905225B (en) * | 2016-07-01 | 2019-11-08 | 武汉天腾动力科技有限公司 | Sensor for axle system and electric assisted bicycle |
| CN106627964A (en) * | 2016-11-22 | 2017-05-10 | 昆山朗德森机电科技有限公司 | Torque sensor and detecting system for electric bicycle |
| CN106864658A (en) * | 2017-04-07 | 2017-06-20 | 苏州盛亿电机有限公司 | Electrical bicycle middle shaft Dao Sha mechanisms with fail safe function of stopping |
| CN107054545A (en) * | 2017-05-04 | 2017-08-18 | 深圳哥智行科技有限公司 | The trailing wheel of motor wheel hub structure and bicycle |
| CN107031784A (en) * | 2017-05-04 | 2017-08-11 | 深圳哥智行科技有限公司 | The chain wheel formula moment sensor of bicycle |
| WO2018202124A1 (en) * | 2017-05-05 | 2018-11-08 | 捷安特电动车（昆山）有限公司 | Device for detecting vehicle operation parameters |
| US11320328B2 (en) | 2017-05-05 | 2022-05-03 | Giant Electric Vehicle Kunshan Co., Ltd | Operation parameter detecting apparatus for vehicle |
| CN108583768A (en) * | 2018-07-02 | 2018-09-28 | 常州野人电子科技有限公司 | A kind of power system of electric automobile, torque-measuring apparatus and its working method |
| CN109398579A (en) * | 2018-11-29 | 2019-03-01 | 八方电气(苏州)股份有限公司 | Bicycle square opening axis |
| CN114379695A (en) * | 2021-02-06 | 2022-04-22 | 珠海蓝图控制器科技有限公司 | Middle motor |
| CN114379695B (en) * | 2021-02-06 | 2023-09-01 | 珠海蓝图运动科技股份有限公司 | Centrally-mounted motor |
| WO2024066262A1 (en) * | 2022-09-29 | 2024-04-04 | 广东威灵电机制造有限公司 | Torque and speed sensing device and electric bicycle |
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| CN103171733B (en) | 2015-09-30 |
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