CN105846596A - Motor for electric aided-bicycle and intelligent control system for motor - Google Patents
Motor for electric aided-bicycle and intelligent control system for motor Download PDFInfo
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- CN105846596A CN105846596A CN201610406442.5A CN201610406442A CN105846596A CN 105846596 A CN105846596 A CN 105846596A CN 201610406442 A CN201610406442 A CN 201610406442A CN 105846596 A CN105846596 A CN 105846596A
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- motor
- ratchet
- magnet steel
- end cap
- card pedestal
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a motor for an electric aided-bicycle. The motor comprises a tread drive part, wherein a clamping base (1) of the tread drive part drives an end cover (3) to rotate through a ratchet-pawl mechanism (2) in a one-way manner; a fixing ring (5) is embedded into an inner cavity of the clamping base (1); multiple pieces of magnetic steel (6) arranged in a ring are embedded into the fixing ring (5); a tread sensor (8) arranged oppositely to the magnetic steel (6) is arranged on a motor shaft (7); and the tread sensor (8) can induce the rotating direction and the rotating speed of the magnetic steel (6) in real time through a magnetic field change of the magnetic steel (5). An intelligent control system comprises a controller (15), a battery (20) and the motor (21), wherein the controller (15) is used for processing information from the inside of the motor (21). According to the motor for the electric aided-bicycle and the intelligent control system for the motor, signals are dense; the sensitivity is high; the power starting angle during the starting period is small; and the time for detecting that a user stops treading is short.
Description
Technical field
The present invention relates to electric assisted bicycle technical field, a kind of signal is intensive, highly sensitive, starting time power-assisted start that angle is little and detection user stops time of trampling short motor for electric assisted bicycle and intelligence control system thereof.
Background technology
Electric assisted bicycle has cycling leisure and electric motor car light labour-saving feature concurrently, is the most increasingly received by the market.At present, major part Power assisted control scheme on market, the assistant sensor of employing and the wheel hub motor of electric bicycle are respectively independent two parts.Assistant sensor is generally mounted at bicycle rack axis, is measured by assistant sensor and tramples frequency when user rides, and converts that information into digital signal and pass to controller, controller regulate PWM duty cycle, finally realize power-assisted.(1), the assistant sensor of axis but program shortcoming is more:, be limited to user tramples frequency (being typically 120 rpms to the maximum, typically between 50-90 rpm), and signal is few, and sensitivity is limited；(2), during starting, certain angle to be trampled (minimum 24 °) just can start power-assisted；(3), stop trampling detection time length (more than 100 milliseconds)；(4) it is limited that what, assistant sensor collected tramples single and controller the control mode of frequency information；(5) currently mainly there are two kinds of control modes, a kind of control mode is to trample signal as power-assisted switch, detect that regulating motor after trampling signal reaches specified gear speed, another kind of control mode is to be converted into certain PWM duty cycle value by trampling frequency, height is stepped on frequency and is exported high motor speed, but its motor speed exported adaptive user can not trample rhythm very well, motor speed is caused (to occur stepping on sky in advance, sky is stepped on) or lag behind user trample frequency (power-assisted is the most weak), the experience of both the above is the most bad；(6), accessory is more needed for assistant sensor, and installation accuracy is high, and fixed form is complicated, and naked is exposed on the external in environment, reliability and poor stability.
Summary of the invention
The problem that it is an object of the invention to exist for prior art, it is provided that a kind of signal is intensive, highly sensitive, starting time power-assisted start that angle is little and detection user stops time of trampling short motor for electric assisted bicycle and intelligence control system thereof.
It is an object of the invention to solve by the following technical programs:
A kind of motor for electric assisted bicycle, divides including motor driving part and tramples drive part, it is characterised in that the card pedestal trampling drive part described in: is rotated by ratchet and pawl arrangement unidirectional drive end cap, and end cap is fixed on motor wheel hub and both linkages；The inner chamber of described card pedestal is equipped with retainer ring, and in retainer ring, it is equipped with several magnet steel arranged in the form of a ring along the circumference of motor shaft, being provided with the tread sensors just arranged magnet steel on motor shaft, tread sensors can sense rotation direction and the velocity of rotation of magnet steel in real time by the changes of magnetic field of magnet steel.
The N of described magnet steel extremely unifies the S towards motor shaft or magnet steel and extremely unifies to arrange towards motor shaft；The number N ＜ π r/W of the magnet steel in described retainer ring, wherein r is the internal diameter of the ring bodies that magnet steel is constituted, and W is the width of single magnet steel.
Leave the gap of 2mm～5mm between magnet steel inwall and the outer wall of motor shaft in described retainer ring, and between retainer ring and the driven member of ratchet and pawl arrangement, be also provided with gap.
Described end cap is provided with can the wheel rotation sensor of Real-time Collection faster rotating wheel.
Described ratchet and pawl arrangement includes the ratchet arranged on the inverse spine apparatus arranged on the inwall of card pedestal and column foot axle center part or includes the inverse spine apparatus arranged on the ratchet arranged on the inwall of card pedestal and column foot axle center part；Described column foot axle center part and card pedestal constitute the column foot of this motor and column foot axle center part and end cap is fixedly linked, and card pedestal rotates under the drive of flywheel and transfers the motion to column foot axle center part, end cap and motor wheel hub by ratchet and pawl arrangement.
Described ratchet and pawl arrangement includes on the ratchet that arranges the ratchet that arrange at the connecting portion of inverse spine apparatus or include on the extension component of card pedestal on the inverse spine apparatus arranged on the extension component of card pedestal and end cap and end cap should the inverse spine apparatus of setting at the connecting portion of ratchet；To the connecting portion of extension component of card pedestal constituting the column foot of this motor on the extension component of described card pedestal and end cap, card pedestal rotates under the drive of flywheel and by ratchet and pawl arrangement, motion is transferred directly to end cap and motor wheel hub.
Described motor driving part divides motor stator, rotor and the planetary gear speed-reduction clutch mechanism including being fixed on motor shaft, rotor can be made to rotate after motor stator energising, rotor drives planetary gear speed-reduction clutch mechanism to drive the motor wheel hub engaged with planetary gear speed-reduction clutch mechanism to rotate.
A kind of intelligent motor control system for electric assisted bicycle, the battery including controller, powered to controller and motor, it is characterized in that: described controller includes single-chip microcomputer, tramples signal acquisition circuit and motor-drive circuit, trample signal acquisition circuit to obtain rotation direction that user tramples and velocity of rotation by the tread sensors arranged in motor and pass to single-chip microcomputer, single-chip microcomputer velocity of rotation and the time state trampled according to the user obtained draw the acceleration that user tramples；Single-chip microcomputer controls PWM duty cycle output according to the acceleration that user tramples and controls the motor driving part of motor by motor-drive circuit and divide and drive the rotating speed of motor wheel hub.
Being additionally provided with vehicle wheel rotation signal acquisition circuit in described controller, vehicle wheel rotation signal acquisition circuit can be obtained the velocity of rotation of wheel by the wheel rotation sensor arranged in motor and be passed to single-chip microcomputer.
Described tread sensors uses and is capable of identify that one or more Hall elements of positive and reverse steering are made, and wheel rotation sensor also uses Hall element to make；Described Hall element is latch Hall or Hall switch.
The present invention has the following advantages compared to existing technology:
The present invention is by being equipped with retainer ring in the inner chamber of card pedestal, and in retainer ring, it is equipped with several magnet steel arranged in the form of a ring along the circumference of motor shaft, being provided with the tread sensors just arranged magnet steel on motor shaft, tread sensors can sense rotation direction and the velocity of rotation of magnet steel in real time by the changes of magnetic field of magnet steel；The tread sensors and the magnet steel power-assisted transducing signal making intelligence control system gather that matches that arrange at motor internal are intensive, highly sensitive, user tramples minimum angles 5 ° can start power-assisted, detection user stops trampling and stopping the time of power-assisted output and is as short as 20 milliseconds, and makes power-assisted heat transfer agent more rich by the setting of wheel rotation sensor.
The intelligence control system of the present invention can be according to trampling the intention that the information intelligent identification user such as speed and acceleration accelerates and slows down, it is provided that more intelligent power-assisted is experienced；Controller drives the rotating speed that divides of motor driving part of motor to follow the speed that user tramples, and does not haves rotating speed that the motor driving part of motor divides advanced or lag behind user and trample the situation of speed；And owing to without installing assistant sensor again at axis, power-assisted transducing signal derives from the inside of motor, and the information of collection is more reliable and more stable.
Accompanying drawing explanation
Accompanying drawing 1 is the electric machine structure schematic diagram for electric assisted bicycle of the present invention；
Accompanying drawing 2 is the electric machine structure sectional view for electric assisted bicycle of the present invention；
Accompanying drawing 3 is the retainer ring structural representation with magnet steel of the present invention；
Accompanying drawing 4 is the intelligent motor control system theory diagram for electric assisted bicycle of the present invention.
Wherein: 1 card pedestal；2 ratchet and pawl arrangements；3 end caps；4 motor wheel hubs；5 retainer ring；6 magnet steel；7 motor shafts；8 tread sensors；9 column foot axle center parts；10 column foots；11 motor stators；12 rotors；13 planetary gear speed-reduction clutch mechanisms；14 wheel rotation sensors；15 controllers；16 single-chip microcomputers；17 trample signal acquisition circuit；18 vehicle wheel rotation signal acquisition circuits；19 motor-drive circuits；20 batteries；21 motors.
Detailed description of the invention
The present invention is further illustrated with embodiment below in conjunction with the accompanying drawings.
As Figure 1-3: a kind of motor for electric assisted bicycle, divide including motor driving part and trample drive part, motor driving part divides motor stator 11, rotor 12 and the planetary gear speed-reduction clutch mechanism 13 including being fixed on motor shaft 7, rotor 12 can be made to rotate after motor stator 11 energising, rotor 12 drives planetary gear speed-reduction clutch mechanism 13 to drive the motor wheel hub 4 engaged with planetary gear speed-reduction clutch mechanism 13 to rotate；Trampling the card pedestal 1 of drive part for installing cassette flywheel and being rotated by ratchet and pawl arrangement 2 unidirectional drive end cap 3 under the drive of cassette flywheel, end cap 3 is fixed on motor wheel hub 4 and both linkages；The inner chamber of card pedestal 1 is equipped with retainer ring 5, the outer wall of the retainer ring 5 being made up of non-magnetic screen material is threaded into, bond or alternate manner is fixed on the inwall of card pedestal 1, several magnet steel 6 arranged in the form of a ring along the circumference of motor shaft 7 it are equipped with in retainer ring 5, leave the gap of 2mm～5mm between magnet steel 6 inwall and the outer wall of motor shaft 7 in retainer ring 5, and between the driven member of retainer ring 5 and ratchet and pawl arrangement 2, be also provided with gap；The additionally number N ＜ π r/W of the magnet steel 6 in retainer ring 5, wherein r is the internal diameter of the ring bodies that magnet steel 6 is constituted, and W is the width of single magnet steel；And the S extremely unification that the N of magnet steel 6 extremely unifies towards motor shaft 7 or magnet steel 6 is arranged towards motor shaft 7, being provided with the tread sensors 8 just arranged magnet steel 6 on motor shaft 7, tread sensors 8 can sense rotation direction and the velocity of rotation of magnet steel 6 in real time by the changes of magnetic field of magnet steel 5.Be provided with on end cap 3 can the wheel rotation sensor 14 of Real-time Collection faster rotating wheel simultaneously.Specific to ratchet and pawl arrangement 2 and the structure of the column foot 10 of this motor, a kind of scheme is: ratchet and pawl arrangement 2 includes the ratchet arranged on the inverse spine apparatus arranged on the inwall of card pedestal 1 and column foot axle center part 9 or includes the inverse spine apparatus arranged on the ratchet arranged on the inwall of card pedestal 1 and column foot axle center part 9；The column foot axle center part 9 being made up of pawl structures, end cap attachment structure and bearing assembly etc. and card pedestal 1 constitute the column foot 10 of this motor and column foot axle center part 9 and end cap 3 is fixedly linked, and card pedestal 1 rotates under the drive of flywheel and passes through ratchet and pawl arrangement 2 and transfers the motion to column foot axle center part 9, end cap 3 and the motor wheel hub 4 of synchronous axial system.Another kind of scheme is: ratchet and pawl arrangement 2 includes on the ratchet that arranges the ratchet that arrange at the connecting portion of inverse spine apparatus or include on the extension component of card pedestal 1 on the inverse spine apparatus arranged on the extension component of card pedestal 1 and end cap 3 and end cap 3 should the inverse spine apparatus of setting at the connecting portion of ratchet；To the connecting portion of extension component of card pedestal 1 constituting the column foot 10 of this motor on the extension component of card pedestal 1 and end cap 3, card pedestal 1 is rotated under the drive of flywheel and motion is transferred directly to by ratchet and pawl arrangement 2 end cap 3 and the motor wheel hub 4 of synchronous axial system.In sum, the structure of i.e. so-called column foot 10: for the mono-directional overrun clutch structure of click and for connecting the parts of speed changing flywheel for bicycle.
As shown in Figure 4: a kind of intelligent motor control system for electric assisted bicycle, including controller 15, to battery 20 and the motor 21 of controller 15 power supply, this controller 15 includes single-chip microcomputer 16, trample signal acquisition circuit 17, vehicle wheel rotation signal acquisition circuit 18 and motor-drive circuit 19, trample signal acquisition circuit 17 to obtain rotation direction that user tramples and velocity of rotation by the tread sensors 8 arranged in motor 21 and pass to single-chip microcomputer 16, velocity of rotation and the time state trampled according to the user obtained by single-chip microcomputer 16 draw the acceleration that user tramples；Single-chip microcomputer 16 controls PWM duty cycle output according to the acceleration that user tramples and controls the motor driving part of motor 21 by motor-drive circuit 19 and divide and drive the rotating speed of motor wheel hub 4.The velocity of rotation obtaining wheel in real time can be passed to the vehicle wheel rotation signal acquisition circuit 18 in controller 15 and be passed to single-chip microcomputer 16 by vehicle wheel rotation signal acquisition circuit 18 by wheel rotation sensor 14, and motor driving part can be divided the rotating speed driving motor wheel hub 4 to be finely adjusted according to the real-time velocity of rotation of wheel by single-chip microcomputer 16.In above-mentioned intelligent motor control system, tread sensors 8 uses and is capable of identify that one or more Hall elements of positive and reverse steering are made, and wheel rotation sensor 14 also uses Hall element to make；Above-mentioned Hall element is latch Hall or Hall switch, and above-mentioned Hall element is connected on the corresponding component of controller 15 by lead-out wire and cable respectively.
When the motor 21 of the present invention uses, when user's forward is trampled, pedal band movable chain wheel successively, cassette flywheel, card pedestal 1, retainer ring 5 rotate forward, now the tread sensors 8 on motor shaft 7 senses the rotation direction of magnet steel 6 and velocity of rotation and by digital signal, the situation sensed is exported trampling signal acquisition circuit 17 and passing to single-chip microcomputer 16 to controller 15, single-chip microcomputer 16 identifies digital signal the pulse frequency obtaining magnet steel 6 signal or umber of pulse, and single-chip microcomputer 16 draws current acceleration according to the time state between magnet steel 6 signal pulse；Single-chip microcomputer 16 controls PWM duty cycle output according to the acceleration that user tramples and controls the motor driving part of motor 21 by motor-drive circuit 19 and divide and drive the rotating speed of motor wheel hub 4.Motor wheel hub 4 synchronous axial system is made by ratchet and pawl arrangement 2 unidirectional drive end cap 3 additionally, due to card pedestal 1, the real-time velocity of rotation of wheel is passed to single-chip microcomputer 16 by vehicle wheel rotation signal acquisition circuit 18 by the wheel rotation sensor 14 being arranged on end cap 3, and motor driving part can be divided the rotating speed of 19 driving motor wheel hubs 4 to be finely adjusted according to the real-time velocity of rotation of wheel by single-chip microcomputer 16.In above process, the rotating speed that controller 15 drives the motor driving part of motor 21 to divide follows the speed that user tramples, and does not haves rotating speed that the motor driving part of motor 21 divides advanced or lag behind user and trample the situation of speed.When user is in static starting, controller 15 can Intelligent Recognition user accelerate to be intended to, and the motor driving part controlling motor 21 divides raising torsion, coordinates comfortable the completing of user to start to walk to accelerate and climbing；When user is in climbing, controller 15 tramples linear decline amplitude and the waving interval of acceleration of speed according to user, it determines user is in climbing state, and the motor driving part controlling motor 21 divides raising torsion, helps user easily to climb；When user stops trampling or reversely trampling, controller 15 can recognize that the action of user and stops the power-assisted output that the motor driving part of motor 21 divides, and its fastest response time is 20 milliseconds.
The present invention is by being equipped with retainer ring 5 in the inner chamber of card pedestal 1, and in retainer ring 5, it is equipped with several magnet steel 6 arranged in the form of a ring along the circumference of motor shaft 7, being provided with the tread sensors 8 just arranged magnet steel 6 on motor shaft 7, tread sensors 8 can sense rotation direction and the velocity of rotation of magnet steel 6 in real time by the changes of magnetic field of magnet steel 6；The tread sensors 8 and the magnet steel 6 power-assisted transducing signal making intelligence control system gather that matches that arrange inside motor 21 are intensive, highly sensitive, user tramples minimum angles 5 ° can start power-assisted, detection user stops trampling and stopping the time of power-assisted output and is as short as 20 milliseconds, and makes power-assisted heat transfer agent more rich by the setting of wheel rotation sensor 14.The intelligence control system of the present invention can be according to trampling the intention that the information intelligent identification user such as speed and acceleration accelerates and slows down, it is provided that more intelligent power-assisted is experienced；The rotating speed that controller 15 drives the motor driving part of motor 21 to divide follows the speed that user tramples, and does not haves rotating speed that the motor driving part of motor 21 divides advanced or lag behind user and trample the situation of speed；And owing to without installing assistant sensor again at axis, power-assisted transducing signal derives from the inside of motor 21, and the information of collection is more reliable and more stable.
Above example is only the technological thought that the present invention is described, it is impossible to limiting protection scope of the present invention with this, every technological thought proposed according to the present invention, any change done on the basis of technical scheme, within each falling within scope；The technology that the present invention is not directed to all can be realized by prior art.
Claims (10)
1. the motor for electric assisted bicycle, divide including motor driving part and trample drive part, it is characterized in that: described in trample the card pedestal (1) of drive part and rotated by ratchet and pawl arrangement (2) unidirectional drive end cap (3), end cap (3) is fixed on that motor wheel hub (4) is upper and both linkages；The inner chamber of described card pedestal (1) is equipped with retainer ring (5), and in retainer ring (5), it is equipped with several magnet steel (6) arranged in the form of a ring along the circumference of motor shaft (7), being provided with the tread sensors (8) just arranged magnet steel (6) on motor shaft (7), tread sensors (8) can sense rotation direction and the velocity of rotation of magnet steel (6) in real time by the changes of magnetic field of magnet steel (5).
Motor for electric assisted bicycle the most according to claim 1, it is characterised in that: the N of described magnet steel (6) extremely unifies the S towards motor shaft (7) or magnet steel (6) and extremely unifies to arrange towards motor shaft (7)；The number N ＜ π r/W of the magnet steel (6) in described retainer ring (5), wherein r is the internal diameter of the ring bodies that magnet steel (6) is constituted, and W is the width of single magnet steel (6).
Motor for electric assisted bicycle the most according to claim 1, it is characterized in that: leave the gap of 2mm～5mm between magnet steel (6) inwall and the outer wall of motor shaft (7) in described retainer ring (5), and be also provided with gap between the driven member of retainer ring (5) and ratchet and pawl arrangement (2).
Motor for electric assisted bicycle the most according to claim 1, it is characterised in that: described end cap (3) is provided with can the wheel rotation sensor (14) of Real-time Collection faster rotating wheel.
Motor for electric assisted bicycle the most according to claim 1, it is characterised in that: described ratchet and pawl arrangement (2) includes the upper ratchet arranged of the inverse spine apparatus arranged on the inwall of card pedestal (1) and column foot axle center part (9) or includes the upper inverse spine apparatus arranged of ratchet and column foot axle center part (9) arranged on the inwall of card pedestal (1)；Described column foot axle center part (9) and card pedestal (1) constitute the column foot (10) of this motor and column foot axle center part (9) and end cap (3) is fixedly linked, and card pedestal (1) rotates under the drive of flywheel and passes through ratchet and pawl arrangement (2) and transfers the motion to column foot axle center part (9), end cap (3) and motor wheel hub (4).
Motor for electric assisted bicycle the most according to claim 1, it is characterised in that: described ratchet and pawl arrangement (2) includes on the inverse spine apparatus arranged on the extension component of card pedestal (1) and the upper ratchet to arranging at the connecting portion of inverse spine apparatus of end cap (3) or the ratchet including setting on the extension component of card pedestal (1) and end cap (3) should the inverse spine apparatus of setting at the connecting portion of ratchet；To the connecting portion of extension component of card pedestal (1) constituting the column foot (10) of this motor on the extension component of described card pedestal (1) and end cap (3), card pedestal (1) rotates under the drive of flywheel and by ratchet and pawl arrangement (2), motion is transferred directly to end cap (3) and motor wheel hub (4).
Motor for electric assisted bicycle the most according to claim 1, it is characterized in that: described motor driving part divides motor stator (11), rotor (12) and the planetary gear speed-reduction clutch mechanism (13) including being fixed on motor shaft (7), rotor (12) can be made to rotate after motor stator (11) energising, rotor (12) drives planetary gear speed-reduction clutch mechanism (13) to drive the motor wheel hub (4) engaged with planetary gear speed-reduction clutch mechanism (13) to rotate.
8. the intelligent motor control system for electric assisted bicycle according to claim 1, including controller (15), the battery (20) powered to controller (15) and motor (21), it is characterized in that: described controller (15) includes single-chip microcomputer (16), trample signal acquisition circuit (17) and motor-drive circuit (19), trample the tread sensors (8) that signal acquisition circuit (17) can pass through to arrange in motor (21) obtain rotation direction that user tramples and velocity of rotation and pass to single-chip microcomputer (16), velocity of rotation and the time state trampled according to the user obtained by single-chip microcomputer (16) draw the acceleration that user tramples；Single-chip microcomputer (16) controls PWM duty cycle according to the acceleration that user tramples and exports and pass through motor-drive circuit (19) and control the motor driving part of motor (21) and divide and drive the rotating speed of motor wheel hub (4).
Intelligent motor control system for electric assisted bicycle the most according to claim 8, it is characterized in that: be additionally provided with vehicle wheel rotation signal acquisition circuit (18) in described controller (15), the wheel rotation sensor (14) that vehicle wheel rotation signal acquisition circuit (18) is arranged in can passing through motor (21) obtains the velocity of rotation of wheel and passes to single-chip microcomputer (16).
Intelligent motor control system for electric assisted bicycle the most according to claim 8, it is characterized in that: described tread sensors (8) uses and is capable of identify that one or more Hall elements of positive and reverse steering are made, and wheel rotation sensor (14) also uses Hall element to make；Described Hall element is latch Hall or Hall switch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610406442.5A CN105846596B (en) | 2016-06-12 | 2016-06-12 | A kind of motor and its intelligence control system for electric assisted bicycle |
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| CN201610406442.5A CN105846596B (en) | 2016-06-12 | 2016-06-12 | A kind of motor and its intelligence control system for electric assisted bicycle |
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| CN105846596A true CN105846596A (en) | 2016-08-10 |
| CN105846596B CN105846596B (en) | 2019-03-22 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105966540A (en) * | 2016-06-12 | 2016-09-28 | 南京壹佰克智能科技有限公司 | Motor for electric power bicycle |
| CN107508431A (en) * | 2017-09-05 | 2017-12-22 | 潘俊 | A kind of motor of built-in booster sensor |
| CN108871639A (en) * | 2018-05-07 | 2018-11-23 | 重庆三叶花科技有限公司 | Axis moment inspecting system |
| CN108896090A (en) * | 2018-06-28 | 2018-11-27 | 上海钧正网络科技有限公司 | A kind of motor bicycle steps on frequency detection system and its detection method |
| WO2020001362A1 (en) * | 2018-06-29 | 2020-01-02 | 浙江超级电气科技有限公司 | Intelligent electric wheel hub |
| WO2022023774A1 (en) * | 2020-07-31 | 2022-02-03 | Ebike Systems Ltd | Electrically- assisted pedal cycles |
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| WO2020001362A1 (en) * | 2018-06-29 | 2020-01-02 | 浙江超级电气科技有限公司 | Intelligent electric wheel hub |
| US11873058B2 (en) | 2018-06-29 | 2024-01-16 | Zhejiang Chaoji Electrical Technology Co., Ltd. | Intelligent electric wheel hub |
| WO2022023774A1 (en) * | 2020-07-31 | 2022-02-03 | Ebike Systems Ltd | Electrically- assisted pedal cycles |
| GB2597734A (en) * | 2020-07-31 | 2022-02-09 | Ebike Systems Ltd | Electrically-assisted pedal cycles |
| GB2597734B (en) * | 2020-07-31 | 2023-01-11 | Ebike Systems Ltd | Electrically-assisted pedal cycles |
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| CN105846596B (en) | 2019-03-22 |
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