CN108627294A - Low-resistance formula axis torque measuring method - Google Patents
Low-resistance formula axis torque measuring method Download PDFInfo
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- CN108627294A CN108627294A CN201810428672.0A CN201810428672A CN108627294A CN 108627294 A CN108627294 A CN 108627294A CN 201810428672 A CN201810428672 A CN 201810428672A CN 108627294 A CN108627294 A CN 108627294A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0009—Force sensors associated with a bearing
- G01L5/0023—Force sensors associated with a bearing by using magnetic sensors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0009—Force sensors associated with a bearing
- G01L5/0019—Force sensors associated with a bearing by using strain gages, piezoelectric, piezo-resistive or other ohmic-resistance based sensors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
Abstract
The present application relates to moped actuation techniques fields, specifically disclose a kind of low-resistance formula axis torque measuring method, including the following contents：Central axis, the deformation bridge being arranged on axis deform upon, and interconnecting piece and the axis of deformation bridge and axis rotate together, and deformation is passed to the strain blade unit being arranged on deformation bridge by the suspending part of deformation bridge；Strain blade unit, which detects the deformation quantity of deformation bridge and deformation quantity is converted into electric signal, passes to torque Acquisition Circuit；While central axis, as axis rotates together, relative motion occurs the magnet ring being arranged on axis for the magnet ring of the double Hall subassemblies and face that are arranged in installation set；Two unipolarity Hall elements in double Hall subassemblies do relative motion respectively along the circumference of magnet ring, and two Hall elements, which are respectively induced the poles N being continuously arranged on magnet ring and the poles S and form pulse signal transmission, gives torque Acquisition Circuit.
Description
Technical field
The present invention relates to moped actuation techniques fields, and in particular to a kind of moped low-resistance formula axis torque
Detection method.
Background technology
Axis is the core component of moped, for driving, controlling vehicle normally travel.Cyclist when riding,
The torsional moment for driving wheel movement by driving central axis, therefore detecting axis, which can be used for calculating cyclist, to be applied to
The watt level of moped, and then so that moped is provided power-assisted and reduce cyclist's acting, keep cyclist laborsaving
It easily completes to ride.
The detection without completion to torsional moment size at all of existing many low-resistance formula axis torque measuring methods, even if
There is detection method to be completed at the same time the detection to torsional moment size, but can not accurately obtain detected value in turn can not be accurate
Detect torsional moment.
However, existing low-resistance formula axis torque measuring method leads to not accurate because its structure setting is unreasonable
Detect torque in ground.Applicant's synchronization has applied for that a kind of low-resistance formula axis moment measuring device, the application exactly utilize this device
The method for carrying out moment inspecting.
Invention content
The invention is intended to provide a kind of low-resistance formula axis torque measuring method that can accurately detect torque.
To achieve the above objectives, following method is provided：
Method one：Low-resistance formula axis torque measuring method, including the following contents：
Central axis, the deformation bridge being arranged on axis deform upon, and deformation bridge is with the interconnecting piece of axis together with axis
Deformation is passed to the strain blade unit being arranged on deformation bridge by rotation, the suspending part of deformation bridge；Strain blade unit detects shape
Become the deformation quantity of bridge and deformation quantity is converted into electric signal and passes to torque Acquisition Circuit；
While central axis, for the magnet ring being arranged on axis as axis rotates together, what is be arranged in installation set is double
Relative motion occurs for Hall subassembly and the magnet ring of face；Two unipolarity Hall elements in double Hall subassemblies respectively along
The circumference of magnet ring does relative motion, and two Hall elements are respectively induced the poles N being continuously arranged on magnet ring and the poles S and form pulse letter
Number it is transferred to torque Acquisition Circuit；
Torque Acquisition Circuit receives strain blade unit and transmits the electric signal come and its logic is converted into torque size, torque
Collecting unit receives the pulse signal that two Hall element transmission come and the rotation direction for being converted into stepping frequency and axis, and will
These electric signals are wirelessly sent to torque control and treatment circuit.
The operation principle and advantage of the present invention is：
Double Hall subassemblies of the invention are with central axis, and magnet ring is static, and double Hall subassemblies are located in the encirclement of magnet ring.
The rotation direction that the stepping frequency and axis of axis are detected by magnet ring and double Hall subassemblies, by deformation bridge
Strain blade unit detects torsional moment size.Stepping frequency is the poles S that Hall element senses in the unit time or the poles N
Number divided by the number for scrunching the poles S or the poles N that a Hall element senses.The rotation direction of axis passes through two Hall members
The phase difference of the poles N and the poles S that part senses obtains.
Because all magnetic poles in magnet ring together form a complete loop configuration, i.e., it is to connect between magnetic pole and magnetic pole
Continuous, it only needs to fix entire magnet ring when installation, simplifies installation procedure, keep installation more efficient and convenient；
And after fixing magnet ring, on magnet ring, the position of each magnetic pole just will not generate opposite variation, even if with the rotation of axis
Change in location occurs for entire magnet ring, but the relative position on magnet ring between each magnetic pole remains constant, this to pass through
The relative position of magnetic pole judges that the detection precision of double Hall subassemblies of identification can't be affected, and avoids because of each
Position of magnetic pole change and caused by error, effectively improve accuracy of detection；And because being continuously coupled, magnetic between magnetic pole and magnetic pole
There is no double non-detectable parts of Hall subassembly between pole and magnetic pole so that any phase occurs between magnet ring and double Hall subassemblies
Movement can be detected by double Hall subassemblies at once, improve the sensitivity of detection, compared to separated, discontinuous magnetic now
Steel, the magnet ring that the present invention uses are installed more convenient, and precision and sensitivity are obtained for and significantly improve.
Because one end of deformation bridge is fixed on axis, the other end is hanging, this makes what axis was formed in rotation process
Torsion can pass to deformation bridge by the interconnecting piece of axis and deformation bridge, and deformation bridge is enable to detect torsion, enhancing inspection in time
The sensitivity of survey, and the deformation generated because of torsion that can vacantly make for deforming the bridge other end becomes readily apparent from, and makes on deformation bridge
Strain blade unit can more be accurately detected torsion, and then the torsional moment size measured is made more to level off to really
Value.In addition, strain blade unit is uniformly arranged on deformation bridge, it is able to detect that the deformation of each position on deformation bridge in this way
Amount can overcome and fall the deformation bridge error of itself, avoid causing different location to generate because of deformation bridge thickness inconsistent
Deformation is different and then strain measurement result is made the case where error occur, and strain blade unit is enable to be accurately detected torsion power
Square sizes values.
The ingenious setting magnet ring of the present invention and double Hall subassemblies, enable double Hall subassemblies to be accurately detected stepping frequency in
Rotational axis direction, the output power to obtain axis torque and people detect necessary parameter.It is equal that blade unit is strained in the present invention
It is even to be arranged on deformation bridge, so that strain blade unit is overcome the mismachining tolerance of deformation bridge, improves torsional moment size detection
Accuracy.The present invention maintains high accurancy and precision in the links of detection, and the torque that left back logical calculated comes out is made equally to have
There is high-precision.
Method two：Low-resistance formula axis torque measuring method, including the following contents：
Central axis, the deformation bridge being arranged on axis deform upon, and deformation bridge is with the interconnecting piece of axis together with axis
Deformation is passed to the strain blade unit being arranged on deformation bridge by rotation, the suspending part of deformation bridge；Strain blade unit detects shape
Become the deformation quantity of bridge and deformation quantity is converted into electric signal and passes to torque Acquisition Circuit；
While central axis, the double Hall subassemblies being arranged on axis are arranged as axis rotates together in installation set
On magnet ring and face double Hall subassemblies occur relative motion；Two unipolarity Hall elements point in double Hall subassemblies
It does not do relative motion along the circumference of magnet ring, two Hall elements are respectively induced the poles N being continuously arranged on magnet ring and the poles S and are formed
Pulse signal transmission gives torque Acquisition Circuit；
Torque Acquisition Circuit receives strain blade unit and transmits the electric signal come and its logic is converted into torque size, torque
Collecting unit receives the pulse signal that two Hall element transmission come and the rotation direction for being converted into stepping frequency and axis, and will
These electric signals are sent to torque control and treatment circuit.
With method one the difference is that the installation site of magnet ring and double Hall subassembly, when work, double Hall subassemblies are quiet
Only, magnet ring is located at outside magnet ring with central axis, double Hall subassemblies.
Method three：On the basis of method one or two further, the right bowl group being arranged on axis is by there is first bearing
It is connected between axis, the left bowl group being arranged on axis passes through fourth bearing and middle axis connection；One end of the installation set with
Right bowl group is fixedly connected, and the other end of installation set passes through second bearing and 3rd bearing and middle axis connection；The inner ring of all bearings
All it is fixedly connected with axis.
The article connected on entire axis is connected by bearing, and sleeve and axis are fixed in this way
Together.Original wear-resistant pad is substituted, sliding friction Variable roll is rubbed, the service life of wear-out part is extended, reduces frictional resistance,
The loss in power transmittance process is reduced, accuracy of detection is improved, extends life of product；Bearing is reduced in rotation process
With the axis of sleeve/radially wobble, the fluctuation of mutual induction amount between wireless power transmitting coil and wireless power receiving coil is reduced,
The fluctuation for reducing energy transmission improves the stability and consistency of product.
Method four：On the basis of method three further, axis be equipped with clamp spring, by clamp spring respectively in each bearing
Circle is fixedly connected.
It is fixedly connected with bearing inner race by the clamp spring on axis, avoids producing relative rotation, reduce friction loss, improved
System service life.
Method five：On the basis of method one or two further, the deformation bridge is sleeved on axis, and deformation bridge is logical with axis
Cross reverse thread connection.
Deformation bridge is connect with axis by reverse thread structure, and original dentalation make-up is substituted, and ensures axis and shape
Become seamless connectivity between covering, dentation is avoided to dock the shake during positive and negative rotation, ensures the accuracy of data acquisition, and install
It is convenient.
Method six：On the basis of method five further, the lateral surface of the free end of the deformation bridge be equipped with it is radial to
The dentalation of outer protrusion, deformation bridge are connect by dentalation with claw.
It can ensure that the power of the right and left is transmitted to by deformation bridge on claw in this way, to reach double-side torque effect.
Method seven：On the basis of method six further, when setting strains blade unit, first by the outer surface edge of deformation bridge
The circumferential multiple detection units for being divided into area equation, a strain blade unit is installed in each detection unit.
Because of the presence of mismachining tolerance, deformation bridge itself is possible to can have the case where became uneven, in order to avoid this
Situation gives the error brought of detection, and present detection method is that foil gauge is sticked to the outer surface of entire deformation bridge, but in this way
Extremely waste foil gauge.A strain only need to be arranged in each detection unit divided equally by dividing equally deformation bridge in the present invention
Blade unit, each in detection unit respectively, the thickness of deformation bridge is almost consistent, and the error to testing result is also identical
, therefore more strain blade units need not be set, there are one strain blade units to detect, and will not both miss in this way
The position that any one needs on deformation bridge detect, will not cause the waste of foil gauge, be effectively saved cost, while
Accuracy of detection is not influenced.The present invention effectively reduces the quantity of foil gauge under the premise of ensureing accuracy of detection, saves
Cost.
Method eight：On the basis of method one or two further, the strain blade unit orthogonal is answered including two
Become piece, by each foil gauge and axis axis direction angle at 45 °, makes two foil gauges one favour stone half-bridges of composition, two
It strains blade unit and forms a favour stone full-bridge；Even number is set on deformation bridge and strains blade unit.
A favour stone full-bridge is constituted by two strain blade units, by favour stone full-bridge, by foil gauge because of detection
The type variable that torsional moment size generates is changed into the torsional moment sizes values that strain measurement arrives.
Description of the drawings
Fig. 1 is the structural schematic diagram of detection device used in low-resistance formula axis torque measuring method embodiment 1 of the present invention.
Fig. 2 is the knot of the deformation bridge of detection device used in low-resistance formula axis torque measuring method embodiment 1 of the present invention
Structure schematic diagram.
Fig. 3 is the logic diagram of detection device used in low-resistance formula axis torque measuring method embodiment 1 of the present invention.
Fig. 4 is the multi-pole magnet-ring of detection device used in low-resistance formula axis torque measuring method embodiment 1 of the present invention
Structural schematic diagram.
Fig. 5 is the two poles of the earth magnet ring of detection device used in low-resistance formula axis torque measuring method embodiment 1 of the present invention
Structural schematic diagram.
Fig. 6 is the logic diagram of detection device used in low-resistance formula axis torque measuring method embodiment 2 of the present invention.
Fig. 7 is the logic diagram of detection device used in low-resistance formula axis torque measuring method embodiment 3 of the present invention.
Fig. 8 is the logic diagram of detection device used in low-resistance formula axis torque measuring method embodiment 4 of the present invention.
Fig. 9 is the structural schematic diagram of detection device used in low-resistance formula axis torque measuring method embodiment 5 of the present invention.
Figure 10 is the multi-pole magnet-ring of detection device used in low-resistance formula axis torque measuring method embodiment 5 of the present invention
Structural schematic diagram.
Figure 11 is the two poles of the earth magnet ring of detection device used in low-resistance formula axis torque measuring method embodiment 5 of the present invention
Structural schematic diagram.
Specific implementation mode
Below by the further details of explanation of specific implementation mode：
Reference numeral in Figure of description includes：Axis 1, locking nut 2, claw 3, right bowl group 4, the first clamp spring 5, shape
Become bridge 6, first bearing 7, dirt-proof boot 8, installation set 9, magnetic shield 10, multi-pole magnet-ring 11, foil gauge 12, circuit board 13, first every
Magnetic sheet 14, wireless power receiving coil 15, the second antifreeze plate 16, wireless power transmitting coil 17, second bearing 18,3rd bearing
19, the second clamp spring 20, fourth bearing 21, left bowl group 22, first switch Hall 23, second switch Hall 24, the two poles of the earth magnet ring 25, double
Polarity linear Hall 26.
Embodiment 1：
Embodiment 1 is substantially as shown in Fig. 1：1 moment inspecting system of axis include locking nut 2, claw 3, left bowl group 22,
Right bowl group 4, axis 1, deformation bridge 6, sleeve and magnetic shield 10.
Such as Fig. 1 and shown, the left end of axis 1 connects left crank and the right side of Vehicular left pedal with right end by fastening screw respectively
The right crank of foot pedal, left crank are located at the left side of left bowl group 22, and right crank is located at the right of right bowl group 4.The lateral surface of axis 1
It is provided with external screw thread on the upper position being connect with deformation bridge 6.The deformation bridge 6 is sleeved on axis 1, and deformation bridge 6 is with axis 1 by anti-
To threaded connection, the internal thread of 1 threaded portion of axis and deformation bridge 6 is to lock.Deformation bridge 6 passes through reverse thread structure with axis 1
Connection substitutes original dentalation make-up, ensures seamless connectivity between axis 1 and deformation set, avoids dentation docking positive and negative
Shake during turning ensures the accuracy of data acquisition, and easy for installation.
Left bowl group 22 and right bowl group 4 are separately mounted to the left and right both ends of axis 1, and left bowl group 22 and right bowl group 4 have
The Five-way tube both ends of external screw thread, force-aid bicycle frame are provided with internal thread corresponding with left and right bowl group 4, and axis 1 passes through left bowl group
22 are mounted on right bowl group 4 in Five-way tube.The vehicle frame of axis 1 and moped is connected into one by left bowl group 22 and right bowl group 4
A entirety, meanwhile, 4 pairs of left bowl group 22 and right bowl group are connected to all structures on axis 1 and play a limit and fixed work
With.Left bowl group 22 is fixed on by fourth bearing 21 on axis 1, and right bowl group 4 is fixed on by first bearing 7 on axis 1, wherein
The inner ring of fourth bearing 21 is contacted with axis 1, and the inner ring of first bearing 7 is contacted with deformation bridge 6 is pressed on axis 1 by deformation bridge 6
On.The inside of right bowl group 4 is equipped with the first clamp spring 5 radially-inwardly stretched out, is limited to first bearing 7 by the first clamp spring 5.The
The left side of one clamp spring 5 is abutted with the right side of first bearing 7.
Sleeve includes being sleeved on from inside to outside on axis 1, for fixing axis 1 or being provided for other devices on axis 1
Magnetic shield 10, installation set 9 and the dirt-proof boot 8 of connection structure.It is provided between magnetic shield 10 and dirt-proof boot 8 from inside to outside in
The first antifreeze plate 14 and the second antifreeze plate 16 of axis 1.The first antifreeze plate 14 close to axis 1 has lower magnetic permeability, prevents
Circuit between first antifreeze plate 14 and the second antifreeze plate 16 transmits electromagnetic signal to axis 1, reduces axis 1 to being arranged in axis
The influence of circuit on 1.The second antifreeze plate 16 far from axis 1 has higher magnetic permeability, guides the first antifreeze plate 14 and the
Circuit between two antifreeze plates 16 sends electromagnetic signal towards the direction of the second antifreeze plate 16, can ensure the outside in magnetic field in this way
Diverging, enables the circuit being arranged on axis 1 preferably to transfer out signal.
Magnetic shield 10 is directly sleeved on axis 1, and the longitudinal section of axis 1 and 10 contact portion of magnetic shield is ladder step structure, i.e.,
There are bumps, the medial surface of magnetic shield 10 to match with the lateral surface shape of axis 1 for axis 1 and the contact surface of magnetic shield 10, because
Magnetic shield 10 can be directly socketed on axis 1 by this, and without worrying that magnetic shield 10 can horizontally slip.The left end of magnetic shield 10
Face is abutted with the right side of 3rd bearing 19, and the right side of magnetic shield 10 is abutted with the circuit board 13 being arranged on axis 1.In order to
So that circuit board 13 is not slided on axis 1, the mounting groove of the installation of power circuit board 13 is provided on the lateral surface of axis 1.Pass through
3rd bearing 19 further limits magnetic shield 10, so that magnetic shield 10 is steadily covered by 3rd bearing 19 and circuit board 13
It is connected on axis 1, does not generate sliding.The second annular groove is provided on the lateral surface of magnetic shield 10, the position of the second annular groove is located at
The underface of first annular slot.Second annular groove and first annular slot are all coaxial with axis 1.In the second annular groove, from it is interior to
It is socketed with the first antifreeze plate 14 and wireless power receiving coil 15 successively outside.Wireless power receiving coil 15 connects with circuit board 13
It connects, powers for circuit board 13.Wireless power receiving coil 15 can be rotated together with axis 1.
By first annular slot and the second annular groove, make to be socketed with successively from inside to outside between magnetic shield 10 and dirt-proof boot 8
First antifreeze plate 14, wireless power receiving coil 15, wireless power transmitting coil 17 and the second antifreeze plate 16, because first annular
Slot and the second annular groove be coaxial and the second annular groove is located at the lower section of first annular slot, makes in the first antifreeze plate 14 and second every magnetic
Wireless power receiving coil 15 between piece 16 forms coaxial and parallel thimble structure with wireless power transmitting coil 17, wirelessly
Power supply transmitting coil 17 surrounds wireless power receiving coil 15.It is set on wireless power transmitting coil 17 and force-aid bicycle frame
The driving circuit conducting wire connection set.It is generated by wireless power transmitting coil 17 according to Maxwell's Theory of Electromagnetic Field driving circuit
The electric field of the electric field of variation, variation can evoke changing magnetic field, and by the resonance between coil, ray circle is received in wireless power
The electric field for generating variation, achievees the effect that energy transmission.Because of wireless power transmitting coil 17 and wireless power receiving coil 15
Coil is parallel, always exists the magnetic flux of variation each other, therefore no matter whether coil rotates can generate electric current,
Ensure the normal power supply of 1 moment inspecting system of axis.
By the first antifreeze plate 14, the resonance line for making wireless power transmitting coil 17 and wireless power receiving coil 15 constitute
Circle is isolated with axis 1, is improved coil quality factor, is reduced the loss of energy transmission, improves the stability and one of product
Cause property.By the second antifreeze plate 16, it is equivalent to outside resonance coil and is wound with one layer of magnetic separator, avoid the energy of resonance coil
It measures to external radiation, reduces loss；Influence of the unlike material frame five-through pipe to product is reduced, the absorption of metal Five-way tube is reduced
Energy, avoid the situation for causing system power dissipation unstable, ensure that homogeneity of product.
Wherein, the longitudinal section of the right end of dirt-proof boot 8 is also ladder step structure, and ladder step structure refers to having to be had as ladder
There are the structure that right angle is bent, i.e. the right end integrated molding of dirt-proof boot 8 to be connected to the tubular structure that a diameter becomes smaller.Right bowl group 4
Inside contacted with the lateral surface of 8 right end of dirt-proof boot, i.e., right bowl group 4 compresses the right end of dirt-proof boot 8.The left end of dirt-proof boot 8 is direct
It is abutted with the end face of left bowl group 22.The both ends of dirt-proof boot 8 are connected with left bowl group 22 and right bowl group 4 respectively, and composition one is in week
Upward ring lives the unified whole of axis 1, and convenient and left bowl group 22 and right bowl group 4 together surround the device being connected on axis 1
Firmly, it can be connected firmly on axis 1.
The left end of installation set 9 and the longitudinal section of right end are all ladder step structure, and the left end and right end diameter of installation set 9 all subtract
It is small, so that the left end lateral surface of installation set 9 is in contact with left 22 medial surface of bowl group, right end lateral surface and the dirt-proof boot 8 of installation set 9
Medial surface is in contact.First annular slot is provided on the lateral surface of installation set 9 on the position of left bowl group 22, in first annular slot
It is socketed with wireless power transmitting coil 17 and the second antifreeze plate 16 successively from inside to outside.From a left side on the left end medial surface of installation set 9
It turns right and is connected with second bearing 18 and 3rd bearing 19 in turn, the inner ring of second bearing 18 and 3rd bearing 19 is contacted with axis 1,
Installation set 9 is socketed in securely on axis 1 by 19 two bearings of second bearing 18 and 3rd bearing, while making installation set 9
It axis 1 can be moved relatively by second bearing 18 and 3rd bearing 19, so that installation set 9 is kept when axis 1 is in rotation
It is static, so that the wireless power transmitting coil 17 being arranged in first annular slot is still arranged on force-aid bicycle frame
And it is connect with driving circuit, wherein driving circuit is connect with the power supply for being arranged in vehicle frame etc..
It is provided with groove on the lateral surface that axis 1 is connect with left bowl group 22, the second clamp spring 20, the second card are connected with by groove
Spring 20 between fourth bearing 21 and second bearing 18, support by the left side of fourth bearing 21 and the right side of the second clamp spring 20
It connects, the right side of second bearing 18 is abutted with the left side of the second clamp spring 20, and the second clamp spring 20 plays while limiting left bowl group
22 and installation set 9 work.Second clamp spring 20 can also be directly clamped with the inner ring of second bearing 18 and 3rd bearing 19, avoid making
The inner ring of second bearing 18 and 3rd bearing 19 generates relative motion with axis 1.
In the present embodiment, double Hall subassemblies, the peace outside mounting groove are installed on the circuit board 13 in 1 mounting groove of axis
There are one the multi-pole magnet-ring 11 with double Hall subassembly faces, multi-pole magnet-ring 11 and axis 1 are coaxial for installation on encapsulation 9.Double Hall groups
Two switch Hall face multi-pole magnet-rings 11 in part.It is linear that bipolarity is installed on circuit board 13 in 1 mounting groove of axis
Hall 26, there are one the two poles of the earth magnet ring 25 with 26 face of bipolarity linear Hall, the two poles of the earth for installation in the installation set 9 outside mounting groove
Magnet ring 25 and axis 1 are coaxial.
Circuit board 13 in mounting groove is torque signals acquisition process plate makes torque signals adopt by mounting groove
Collection processing board will not generate sliding on axis 1.
As shown in figure 3, being mounted at torque Acquisition Circuit and torque on torque signals acquisition process plate in the present embodiment
Manage control circuit.Torque Acquisition Circuit and torque control and treatment circuit are installed on axis 1, as axis 1 rotates together.Together
The wireless power receiving coil 15 on axis 1 is arranged by the electromagnetic induction with wireless power transmitting coil 17 to entire power in sample
Square signal acquisition process plate is powered.
Wherein, torque Acquisition Circuit includes the 12 favour stone full-bridge of foil gauge of foil gauge Unit 12 composition, with foil gauge 12
Favour stone full-bridge connection the first amplifier unit, the first microcontroller being connect with the first amplifier unit, and with the first micro-control
The first transmitting module of device connection processed being used for torque control and treatment circuit transmission telecommunications number.
Torque control and treatment circuit includes the first receiving module for being connect with the first transmitting module, is used for and first
Second microcontroller of receiving module connection, current detector, the double Hall subassemblies for being used for connecting with the second microcontroller respectively
With bipolarity linear Hall 26, and the second transmitting module for being connect with the second microcontroller.
Wherein, double Hall subassemblies include two unipolar switches for being used for detecting 1 rotation direction of stepping frequency and axis
Hall, the two switch Halls are respectively first switch Hall 23 and second switch Hall 24, and wherein first switch Hall 23 is felt
It answers the poles N, second switch Hall 24 to incude the poles S, is high level when first switch Hall 23 incudes the poles N, others are low
Level, when first switch Hall 23 and the relative rotation of multi-pole magnet-ring 11, first switch Hall 23 forms one and indicates height electricity
The rectangular wave of planometer rule variation.Equally, second switch Hall 24 is high level when sensing the poles S, and others are low level, when
When second switch Hall 24 is relatively rotated with multi-pole magnet-ring 11, second switch Hall 24 forms one and indicates that low and high level rule becomes
The rectangular wave of change.According to two unipolarity switch Halls formed potential diagram rising edge number, can Logical Deriving export scrunch
Frequency.Because the installation site of first switch Hall 23 and second switch Hall 24 is arranged side by side, and two switch Hall senses
The magnetic pole answered is different, therefore can be with Logical Deriving by the relative position of the rising edge of the potential diagram of two each self-formings of switch Hall
Export the steering of axis 1.Using the prior art, when axis 1 rotates forward, the power supply power supply on moped, when axis 1 inverts
When, the power cut-off on moped avoids the reversion of axis 1 from causing harmful effect to motor etc..
Bipolarity linear Hall 26, the poles N can be sensed but also sense the poles S by referring to, with induction magnetic pole difference and
Bipolarity linear Hall 26 becomes different relative to the position of magnetic pole of the two poles of the earth magnet ring, and the voltage for continuously generating induction connects
Continuous curve indicates, when half bowlder of the poles S and N extremely equal lengths, the voltage change that bipolarity linear Hall 26 senses is bent
Line is sinusoidal or cosine curve.Using the logical calculated to sinusoidal or cosine curve, crank can be calculated in each electricity
Corresponding rotational angle in pressure value, and the corresponding pedalling force size of each crank angle degree, and then can be to those arm of forces
The pedalling force that very little is unable on the rotational angle position of accurate response pedalling force variation compensates.
Torque control and treatment circuit goes out pedalling force and sent according to pedalling force according to crank angle degree logical calculated to be accelerated
Signal is spent to electric machine controller, and electric machine controller adjustment motor reaches the speed of electric machine theory output power.It is rotated by crank
Angle reduction cyclist leg is applied to the pedalling force of moped, and the response brought because of the fluctuation of the arm of force is avoided to prolong
Late, make cyclist when increasing pedalling force on any crank angle degree position, can access and timely respond to, improve cyclist
Experience of riding.
The microcontroller of universal models may be used in the first microcontroller and the second microcontroller in the present embodiment.
In torque Acquisition Circuit, is rotated and generated by the axis 1 that 12 favour stone full-bridge of foil gauge detects foil gauge 12
Torsional moment size be changed into the deformation of foil gauge 12 and then be changed into the resistance variations of 12 favour stone full-bridge of foil gauge, by because
The voltage signal that variation is synchronized for resistance variations passes to the first amplifier unit, is believed voltage change by the first amplifier unit
Pass to the first microcontroller as torque acquisition module after number amplification, the first microcontroller is by this characterization torsional moment size
Voltage change signal torque control and treatment circuit is sent to by the first transmitting module and the first receiving module.Torque processing control
As the second microcontroller of torque processing module in circuit processed, table is obtained from torque Acquisition Circuit by the first receiving module
The voltage signal of torsional moment size is levied, meanwhile, it is linear by the double Hall subassemblies and bipolarity that are connect with the second microcontroller
Hall 26 obtains the electric signal of characterization stepping frequency and crank angle degree, and the second microcontroller is according to prior art logical calculated
Go out stepping frequency.Second microcontroller will be turned round according to the torque size for indicating that the electric signal logical calculated of torsional moment size goes out
Force square size is multiplied by stepping frequency and obtains the manpower output power of cyclist, then manpower output power is multiplied by assistant's ratio, obtains
To electric machine theory output power.
Second microcontroller goes out crank angle degree according to arcsine or anticosine logical calculated.In the second microcontroller
The pedalling force on this rotational angle position is exported according to crank angle degree Logical Deriving, the second microcontroller is according to pedalling force size
Variation generate acceleration signal be sent to electric machine controller, make electric machine controller adjustment motor reach electric machine theory output power
Speed.The pedalling force that cyclist leg is applied to moped is restored by crank angle degree, is avoided because of the arm of force
The operating lag for fluctuating and bringing makes cyclist when increasing pedalling force on any crank angle degree position, can access
It timely responds to, improves the experience of riding of cyclist.
Second microcontroller is by the second transmitting module and the second receiving module, by electric machine theory output power and acceleration
Signal sends jointly to electric machine controller, so that electric machine controller is rotated according to electric machine theory output power motor, makes motor
According to the actual demand of cyclist accurately power-assisted can be provided for moped.When the crank angle degree detected does not exist
When in pre-stored rotational angle range value, torque size actual response at this time force of the cyclist to moped
Situation, therefore logical calculated that directly torque size is multiplied with stepping frequency goes out manpower output power.
Because the torque Acquisition Circuit and torque control and treatment circuit in the present embodiment are all disposed on axis 1,
Conducting wire connection may be used in connection between two circuits, i.e. the first transmitting module and the first receiving module are interconnection
Conducting wire.And the second transmitting module and the second receiving module between torque control and treatment circuit and electric machine controller are channel radio
Letter, the second transmitting module and the second receiving module can be bluetooth module, radio-frequency module or other channel radios being wirelessly connected
Believe module.
In addition, the second microcontroller in torque control and treatment circuit is also associated with velocity sensor, the prior art is utilized
Detect the travel speed of moped, and automatically selected according to travel speed be stored in advance in it is more in the second microcontroller
A assist rate, each assist rate are traveling speed one-to-one with a travel speed value range, being arrived by contrasting detection
Degree and travel speed value range choose the corresponding assist rate of travel speed as calculating current motor theory output power
Key parameter participate in calculate.
The motor current signal detected is passed to the second microcontroller by the current detector in torque control and treatment circuit
Device, the actual current and gone out by electric machine theory output power logical calculated that the second microcontroller comparison current detector detects
Theoretical current value, increase or reduce output power of motor, enable motor according to moped actual travel situation come
The power-assisted size of regulation motor ensures that cyclist is firmly effortless, and also power saving simultaneously.
The wireless power receiving coil 15 for generating electric current and torque signals acquisition process plate are separated in the present embodiment, it can
The high-frequency signal that wireless power receiving coil 15 receives is isolated with the low frequency signal that torque signals acquisition process plate receives, is kept away
Exempt from the interference acquired to torque signals.First antenna is installed on torque signals acquisition process plate, at torque signals acquisition
The second antenna is installed on the axis 1 of reason backboard side, i.e., is mounted with torque signals acquisition process plate, torque letter in the side of mounting groove
It is mounted with first antenna on number acquisition process plate, is mounted with second day at the back side of first antenna in the other side of mounting groove
Line, two radio antennas are located in the opposite sides of 1 mounting groove of axis, and two radio antenna conducting wires are connected
It is connected into the rotable antenna rotated together with axis 1, the shortcomings that present antenna back side because be blocked can not transmit is compensated for, makes
The rotable antenna of formation can 360 deg carry out signal transmission in all directions.Meanwhile because there are two radio antenna,
The intensity for strengthening aerial signal transmission, especially when axis 1 rotates, it is closer from obtaining that always there are one radio antennas,
And because two antennas can gamut radiation, effectively increase the continuity and signal strength of signal transmission, ensure that axis 1 exists
Data are not lost in rotary course, it is ensured that the accuracy of data acquisition improves sensitivity and the stability of system.
It is connected to the snakelike cabling on axis 1 of the conducting wire between first antenna and the second antenna and is wound a coil,
Ensure that the external world in rotation process of axis 1 can be not in dead angle, while coil also plays and fixes second day with normal communication
The effect of line.
First antenna and the second antenna in the present embodiment are two transmitting terminals of the second transmitting module, and torque processing is controlled
The electric machine theory output power that circuit counting processed goes out passes to electric machine controller.
In the present embodiment, current detector can directly use operational amplifier circuit, be acquired by the direct AD of operational amplifier circuit.It is exactly
A faint voltage signal is acquired, after amplifier is amplified, acquires that in filtered algorithm to obtain current of electric big by AD
It is small.Current detector can be regarded to the second amplifier unit as, the second amplifier unit and the first amplifier unit are the same, directly using packet
Existing amplifier chip containing operational amplifier circuit.
As shown in figure 4, the multi-pole magnet-ring 11 in the present embodiment shares 48 magnetic poles, that is, have 24 to pole,
One includes the poles N and the poles S to pole.On entire multi-pole magnet-ring 11 one to pole one pole is disposed adjacent, i.e., the poles N and
The poles S are spaced setting on entire multi-pole magnet-ring 11.When two switch Halls are when following axis 1 to rotate together, two switches are suddenly
You can sense continually changing magnetic pole on multi-pole magnet-ring 11.Because the poles N and the poles S are spaced, switched by two
The number that the number and the poles S that the poles N that Hall is respectively induced occur occur, is able to detect that the stepping frequency of moped.
Two switch Halls according to the characteristic of itself, occur N and the poles S whens be high level, remaining is low level, Neng Goushi
When form the detection trajectory diagram of the poles N and the poles S, the phase difference by forming trajectory diagram can judge the steering of axis 1.Example
Such as, the rising edge of first switch Hall trajectory diagram corresponds to second switch Hall signal when axis 1 rotates clockwise
High level, the failing edge of first switch Hall corresponds to the low level of the signal of second switch Hall.And work as 1 inverse time of axis
The rising edge of first switch Hall corresponds to the low level of second switch Hall signal when needle rotates, first switch Hall
Failing edge corresponds to the high level of second switch Hall signal.The prior art is used for detecting stepping frequency and generally uses magnet steel, magnetic
The steel capital is discontinuous, needs respectively to install the magnet steel of different magnetic poles, troublesome in poeration, complex process.Because of multipole magnetic
Ring 11 is an entirety, easy for installation, and each magnetic pole all fixes on multi-pole magnet-ring 11, and relative position will not change,
Keep detection more accurate, thus use multi-pole magnet-ring 11, compared with the prior art in use magnet steel, not only simplify erector
Skill also improves detection sensitivity；Coordinate with double Halls, can not only calculate and step on frequency, 1 rotation direction of axis can be detected, simplifies
Structure, it is cost-effective.
In order to make switch Hall be more precisely carried out detection, when installing switch Hall, by two switch Halls
Corresponding one makes another switch Hall pair to pole when one of switch Hall is aligned this to the extremely middle poles N center
The intersection of the neat poles N and adjacent S pole can maximize avoid magnetizing fluctuation and Hall patch is swung leads to following logic in this way
Confusion because theoretically the poles N and the poles S are magnetized uniformly, but really has fluctuation, and switch Hall relative position is in batch
Error is also likely to be present when patch.Two switch Halls are installed according to the method for front, error can be avoided to the maximum extent.
As shown in figure 5, the two poles of the earth magnet ring 25 in the present embodiment includes the poles S of semicircular in shape shape and one is in semicircle
The poles N of shape, bipolarity linear Hall 26 are arranged in the two poles of the earth magnet ring 25.When bipolarity linear Hall 26 is followed by 1 turn of axis
When dynamic, bipolarity linear Hall 26 can incude the poles N and the poles S along the medial surface of the two poles of the earth magnet ring 25, because of the length of the poles N and the poles S
Spend it is equal, bipolarity linear Hall 26 incude magnetic pole formed potential diagram be a sine or cosine curve.It is bent by calculating
The slope of line can accurately calculate the rotational angle of each moment crank, so level off in those arm of forces 0 position, it is right
Torque size compensates, when making over these locations, 1 moment inspecting system of axis through this embodiment can it is sensitive and
When react to the variation of the torsion of cyclist, so that the power-assisted that moped provides is disclosure satisfy that the practical need of cyclist
It asks.
As depicted in figs. 1 and 2,6 left end of deformation bridge is threaded togather by reverse thread and axis 1；Deformation bridge 6 is right
End is connect with claw 3 by trench structure or dentalation, and the right end of claw 3 is equipped with the locking being threadedly coupled with deformation bridge 6
Nut 2 is compressed claw 3 and deformation bridge 6 by locking nut 2.The fluted disc of moped to split nut by being fixed on card
On pawl 3.
Specifically, deformation bridge 6 is a tubular structure that is coaxial with axis 1 and being sleeved on outside axis 1, the left end of deformation bridge 6
Equipped with reversed internal thread, the left end of deformation bridge 6 is linked together by reverse thread structure and axis 1.The right end of deformation bridge 6 is outstanding
The empty gap for having very little with axis 1, the right end lateral surface of deformation bridge 6 are equipped with the dentalation outwardly protruded, and right end passes through tooth
Shape structure is connect with fluted disc, can ensure that the power of the right and left is transmitted to fluted disc to reach double-side torque by deformation set in this way
Effect.
Wherein, deformation bridge 6 is divided into N equal portions by deformation bridge 6 along 1 axis direction of axis, in the deformation of each equal portions
Bridge 6 all has exterior surface area of the same area and identical volume.Be bonded on the deformation bridge 6 of each equal portions identical quantity and
The foil gauge 12 of shape.Specifically, as shown in Fig. 2, pasting foil gauge 12 in deformation bridge 6 and 1 connecting portion outer ring of axis, individually
The projecting direction angle at 45 ° of foil gauge 12 and 1 axis of axis, two foil gauges 12 form a half-bridge, i.e., in each equal portions
The outer surface of deformation bridge 6 all paste a half-bridge.In the present embodiment, by 6 liang of equal portions of deformation bridge, then having pasted one and half
After bridge, it is rotated further by 180 ° of position and pastes the composition half-bridge of a pair of of foil gauge 12 again in the manner described above, two groups of half-bridges form one entirely
Bridge；Although it is now generally in the art that this, which pastes direction and angle, present embodiment ensure that inferior the case where intensity
Part deformation bridge 6 reduces 12 quantity of foil gauge by structure optimization, unlike other existing deformation bridges 6 need on each position
Foil gauge 12 is all pasted, only needs to paste one group of foil gauge 12 on the outer surface of each equal portions in the present embodiment, reduce
Cost and ensure acquisition precision.Using deformation bridge 6 in the present embodiment, after collecting foil gauge 12 and transmitting the stress come,
First by Amplification, detection sensitivity is improved；Reducing heat treatment or machining leads to 6 case hardness of deformation bridge or thickness
The uneven influence to stress distribution is spent, homogeneity of product is improved.
The present embodiment posts foil gauge 12 in deformation bridge 6 and 1 connecting portion outer ring of axis, single foil gauge 12 with it is axial at
45 °, two composition half-bridges；It is rotated further by 90 ° of position and pastes the composition half-bridge of a pair of of foil gauge 12, two groups of half-bridges again in the manner described above
A full-bridge is formed, the first microcontroller is input to after the amplification of the first amplifier unit, converses corresponding force size；In this way may be used
To avoid because deformation bridge 6 process it is uneven caused by stress Acquisition Error.It is pasted on 6 circumference of deformation bridge in compared with the prior art
The way of full foil gauge 12, the present embodiment not only reduces the quantity of foil gauge 12, reduces cost, also by dividing equally deformation bridge
6 circumferential area makes to be detected there are one foil gauge 12 on each position being divided equally, and then can ensure deformation bridge 6
There is the foil gauge 12 of detection in all directions, as long as respectively reasonable quantity, then can effectively be protected on the basis of reducing cost
Demonstrate,prove the accuracy of detection of deformation bridge 6.
When cyclist tramples left/right crank, power all can be transmitted to deformation bridge 6 by axis 1, pass through deformation bridge 6
It is transmitted to claw 3 again, claw 3 is rotated with active toothed disk.The stress intensity above deformation bridge 6, foil gauge are acquired by foil gauge 12
Collected transformation for stress is passed to the first microcontroller by 12 for electric signal by the first amplifier unit, and the first level controller will
It passes to the second microcontroller, and it is big that the second microcontroller by conversion obtains cyclist's size i.e. torsional moment of currently exerting oneself
It is small, torsional moment is calculated in conjunction with the arm of force being stored in advance in the second microcontroller on each crank angle degree position,
Torsional moment is multiplied by the stepping frequency that double Hall subassemblies detect and the coefficient value being stored in advance in the first microcontroller, meter
Calculating obtains current manpower output power.It is previously stored with assist rate in second microcontroller and corresponds to table, assist rate corresponds in table
Including multigroup travel speed being arranged in a one-to-one correspondence and assist rate.It can determine by the travel speed that velocity sensor detects
The assist rate currently needed, torque control and treatment circuit should be provided according to assist rate and when the output power of forefathers calculates motor
Theoretical output power, the theoretical current value of motor is further calculated out, by electric machine controller according to theoretical output power control
Motor speed processed and then the power-assisted size that motor offer is provided.By compare the motor actual current that detects of current detector and
Theoretical current value carrys out the rotating speed of real-time regulation motor.
Meanwhile going out the angle of rotation of each moment crank by the two poles of the earth magnet ring 25 and 26 logical calculated of bipolarity linear Hall
Degree, pre-set formula logical calculated can go out each crank angle degree by this rotational angle from the second microcontroller
On pedalling force, pass through the compensation method that is stored in advance on the second microcontroller and compensate pedalling force and form an acceleration letter
Number, allow electric machine controller according to this acceleration.Specific compensation method can be that proportional increase or reduction motor turn
Dynamic speed can also be some other logical calculateds to control the speed of motor rotation.Pass through the two poles of the earth magnet ring 25 and bipolarity
Linear Hall 26 can avoid causing the torque signals of acquisition and people actually firmly variant because the compensation arm of force moves in a circle
The case where, synchronism between human and machine is improved, people is avoided to have an effect suddenly in the minimum place of the arm of force, sensor low-response or without response
Problem.
Each assist rate obtained according to current driving speed is a definite value, and occurrence is carried out according to respective standard
Setting.People rides in different road conditions needs different power, according to the assist rate that mark the inside requires, controls people and motor
Output power relationship, it is firmly effortless to ensure that bicyclist rides.
In the market most prior art scheme can not precise acquisition torque, accurately controlled so cannot reach, Jin Erwu
The output power of people is accurately calculated in method, and motor can not be made to provide rational power-assisted, very bad body is caused to cyclist
Test sense.
The scheme of rotating speed is only detected in compared with prior art, the present embodiment can detect rotating speed and torque simultaneously, and can
Accomplish the precise acquisition to torque, Torque Control core is how to calculate stabilization and accurate people tramples power and motor is defeated
Go out power, how deformation bridge 6 by equal portions and is pasted foil gauge 12 and ensure that power acquires uniform essence by us in structure design
Really, ensure the accurate of motor power calculation further through hardware circuit and software filtering, to reach a dynamic flat by adjusting in real time
Weighing apparatus.When motor is under the control of electric machine controller, after being rotated according to certain electric machine theory output power, setting is in motor
On current detector by electric current of the motor in rotation process be detected and by actual current value feed back to torque handle mould
Block.The second microcontroller in torque processing module is compared according to by actual current value and theoretical current value, if the two is not
So that actual current value and theoretical current value is tended to be equal by adjusting the theoretical output power of motor when the same, is adjusting
The rotating speed of motor is adjusted while output power of motor, and then the power-assisted for making motor generate is adjusted, entire moment inspecting, control
System and adjusting form a closed loop, and the adjusting of motor power-assisted is made to reach a dynamic equilibrium.Briefly, calculate people's first
Output power detects output power of motor by current collector, output power of motor is increased or reduced to adjust by comparing.
It is detected by the current feedback and crank turned position that introduce motor in the present embodiment, improves the response time and ride
Row comfort level ensures that cyclist exerts oneself effortless while more power saving.
In the fixation to sleeve, especially in the fixation of installation set 9, the present embodiment is using bearing instead of traditional
Wear-resistant pad or clamp spring, making entire axis 1, almost upper no frictional force generates, effectively reduce because overcoming self friction power and
The energy of consumption.Specifically increase a ring stiffener by left side place in turnbarrel, by respectively pacifying at reinforcing rib both ends
A bearing is filled, and adds a clamp spring to be close to left end bearing on axis 1, in this way rotation plastic cement cylinder in
Axis 1 is fixed together.Original wear-resistant pad is substituted, sliding friction Variable roll is rubbed, the service life of wear-out part is extended, reduces
Frictional resistance reduces the loss in power transmittance process, improves accuracy of detection, extends life of product；Bearing is reduced to exist
With the axis of sleeve/radially wobble in rotation process, the fluctuation of mutual induction amount between two resonance coils is reduced, reduces energy biography
Defeated fluctuation improves the stability and consistency of product.
In the art, people are in fixes sleeve, and universal means and inertial thinking are exactly in one end of sleeve with one
A bearing is fixed, and is limited the position of sleeve by increasing clamp spring on axis 1 in the other end of sleeve, still, is easy in this way
Cause to generate friction between clamp spring and sleeve, being used for a long time can make the gap between clamp spring and sleeve increasing.The present embodiment
It is to add two bearings in the same side of installation set 9, i.e., second bearing 18 and 3rd bearing 19 are simultaneously installation set 9 and magnetic shield 10
It clamps, the second clamp spring 20 is clamped between fourth bearing 21 and second bearing 18, and the second clamp spring 20 will not be with second bearing 18
Outer ring contact, resistance caused by reducing phase mutual friction centering axis 1 improves the service life of product.Second bearing 18 and third
For bearing 19 while more steadily connecting installation set 9 with axis 1,3rd bearing 19 and the abutting of magnetic shield 10 are also fine
Ground plays position-limiting action to magnetic shield 10.
Deformation bridge 6 is connect with axis 1 by reverse thread structure, substitutes original dentalation make-up, ensure axis 1 with
Seamless connectivity between deformation bridge 6 avoids dentation from docking the shake during positive and negative rotation, ensures the accuracy of data acquisition, and
It is easy for installation.
Rotation multi-pole magnet-ring 11 substitutes existing magnetic steel structure, simplifies mounting process, improves detection sensitivity；With double Hall groups
Part coordinates, and can not only calculate stepping frequency, can also detect 1 rotation direction of axis, simplifies structure, cost-effective.
Axis 1 rotates always in use, and the present embodiment uses wireless power and communication, on axis 1
Face is wound with resonance coil, and resonance coil is wound with one layer of antifreeze plate both above and below, and antifreeze plate maintains an equal level with coil or be higher than coil,
By antifreeze plate coil and axis 1 and surrounding metal part, such as bearing isolation, reduce wireless power energy loss.
In the present embodiment, multi-pole magnet-ring 11 and double Hall subassemblies are followed by the rotation of axis 1 and synchronous generation relative motion,
So that two unipolarity switch Halls in double Hall subassemblies is obtained the potential diagram of induction generation by incuding the poles S and the poles N, leads to
Rising edge number Logical Deriving in overpotential figure exports stepping frequency.The torsion for making axis 1 rotate is passed to by deformation bridge 6
Foil gauge Unit 12 detects the torsional moment size electric signal of characterization axis 1 by foil gauge Unit 12 and passes electric signal
Circuit board 13 is passed, circuit board 13 shifts out torsional moment size onto by logic.The torsional moment size detected is multiplied by power
Arm just obtains torsional moment.The detection of the arm of force uses the prior art.
When riding moped, manpower output power P=K*N*F, K are constant, and N is torsional moment, and F is to scrunch frequency
Rate；The output power that cyclist is currently applied to moped is conversed using the product of stepping frequency and torsional moment, and
It is multiplied by manpower output power according to assist rate, the theoretical output power of motor can be calculated, according to electric machine theory output power
Control motor is rotated, and power-assisted is provided to moped.
Cyclist makes crank move in a circle when scrunching foot pedal, forms the motive torque that cyclist is applied to crank,
Crank drives central axis in rotation process, forms the torsional moment of axis.However, crank is turning to certain rotational angles
When, because of effective arm very little, the pedalling force for making one to scrunch foot pedal can not be all for forming motive torque, if at this
On a little rotational angle positions, if cyclist increases prodigious torsion suddenly, collected torque signals still very little, at this time without
Method is really exerted a force requirement by torque size to react cyclist.The variation meeting very little of motive torque, and then make the torsion of axis
Force square can not accurately and timely respond, and give cyclist very bad experience of riding.And existing axis moment inspecting system
There is no take any effective measures for this problem for system.By the two poles of the earth magnet ring and bipolarity linear Hall 26, make this two
A device synchronizes generation relative motion with the rotation of axis 1, and bipolarity linear Hall 26 is enable to pass through to the two poles of the earth magnet ring
The detection of the upper poles N and the poles S forms the electric signal for being used for characterizing crank angle degree, and electric signal is sent to circuit board 13, electricity
Road plate 13 derives the rotational angle of current crank by logical calculated.For cyclist when scrunching foot pedal, people is in the mistake trampled
Crank is moving in a circle in journey, and when being trampled with same power, collected torque signals are a sine wave (parts y >=0 weeks
Phase is π), it is directly mended according to the size of the pedalling force of recovery when arm of force very little by the detection to crank position
It repays, improves the real-time of the sensitivity of moment inspecting and system response when people has an effect suddenly, enable the timely root of moped
Power-assisted is provided according to Man's Demands are cycled, improves comfort level of riding.And these no functions of the existing torque sensor in market, so
In the reinforcing suddenly of the minimum place of the arm of force, response is very slow.
The ingenious setting multi-pole magnet-ring 11 of the present embodiment and double Hall subassemblies make double Hall subassemblies be able to detect that and scrunch frequency
Rate goes out torque size by logical calculated, and the output power to obtain 1 torque of axis and people detects necessary parameter.This hair
Bright ingenious setting the two poles of the earth magnet ring 25 and bipolarity linear Hall 26 make axis 1 when because torsion generates rotation, and bipolarity is linear
Hall 26 by incude the pole change on the two poles of the earth magnet ring 25 obtain voltage change of the crank in rotation process sinogram or
Person's cosine figure, the angle of current crank and axis 1 is gone out by logical calculated.It, being capable of basis in conjunction with the torque size calculated
The turned position of crank calculates size of the crank at this time with torsion on the angle of axis 1 and axis 1.
The present embodiment, ingenious setting multi-pole magnet-ring and double Hall subassemblies and the two poles of the earth magnet ring and bipolarity linear Hall, no
Only moped can be made accurately to provide power-assisted according to the actual demand of cyclist, additionally it is possible to present torque effectively be avoided to examine
The problem of examining system leads to response system low-response because of crank angle degree.
The article connected on the entire axis of the present embodiment is connected by bearing, in this way sleeve in
Axis is fixed together.Original wear-resistant pad is substituted, sliding friction Variable roll is rubbed, the service life of wear-out part is extended, reduces
Frictional resistance reduces the loss in power transmittance process, improves accuracy of detection, extends life of product；Bearing is reduced to exist
With the axis of sleeve/radially wobble in rotation process, reduce between wireless power transmitting coil and wireless power receiving coil mutually
The fluctuation of sensibility reciprocal reduces the fluctuation of energy transmission, improves the stability and consistency of product.
The present embodiment by magnetic shield, can by wireless power transmitting coil and wireless power receiving coil with power-assisted voluntarily
Other metal structures of vehicle, such as vehicle frame, bearing, axis are all kept apart, and coil can be avoided to produce electricl energy to the maximum extent
Loss.
Embodiment 2：
As shown in fig. 6, the present embodiment is with embodiment 1, difference lies in double Hall subassemblies and bipolarity linear Hall 26 connect
It is connected in torque Acquisition Circuit, the first microcontroller obtains characterization stepping frequency and axis 1 rotation direction from double Hall subassemblies
Electric signal, the first microcontroller obtain the electric signal of characterization crank angle degree from bipolarity linear Hall 26, and these are electric
Signal passes to torque control and treatment circuit.Two circuits can be together arranged on axis 1 at this time, can also be provided separately,
Torque Acquisition Circuit is arranged on axis 1 and torque control and treatment circuit is arranged in installation set 9.When torque Acquisition Circuit and power
When square control and treatment circuit is provided separately, the first transmitting module and the first receiving module are wireless transport module, first day
Line and the second antenna are exactly two transmitting terminals of the first transmitting module.
Embodiment 3：
As shown in fig. 7, the present embodiment is with embodiment 1, difference lies in double Hall subassemblies and foil gauge Unit 12 are connected to
In torque Acquisition Circuit, the first microcontroller obtains the telecommunications of characterization stepping frequency and 1 rotation direction of axis from double Hall subassemblies
Number, bipolarity linear Hall 26 is connected in torque control and treatment circuit, and the second microcontroller is obtained from bipolarity linear Hall 26
To the electric signal of characterization crank angle degree.Two circuits can be together arranged on axis 1 at this time, can also be provided separately,
Torque Acquisition Circuit is arranged on axis 1 and torque control and treatment circuit is arranged in installation set 9.When torque Acquisition Circuit and power
When square control and treatment circuit is provided separately, the first transmitting module and the first receiving module are wireless transport module, first day
Line and the second antenna are exactly two transmitting terminals of the first transmitting module.
Embodiment 4：
As shown in figure 8, the present embodiment is with embodiment 1, difference lies in bipolarity linear Hall 26 and foil gauge Unit 12
It is connected in torque Acquisition Circuit, the first microcontroller obtains the telecommunications of characterization crank angle degree from bipolarity linear Hall 26
Number.Double Hall subassemblies are connected in torque control and treatment circuit, and the second microcontroller obtains characterization from double Hall subassemblies and scrunches frequency
The electric signal of 1 rotation direction of rate and axis.Two circuits can be together arranged on axis 1 at this time, can also be provided separately, power
Square Acquisition Circuit is arranged on axis 1 and torque control and treatment circuit is arranged in installation set 9.When torque Acquisition Circuit and torque
When control and treatment circuit is provided separately, the first transmitting module and the first receiving module are wireless transport module, first antenna
It is exactly two transmitting terminals of the first transmitting module with the second antenna.
Embodiment 5：
As shown in Fig. 9, Figure 10 and Figure 11, the present embodiment difference from Example 1 is, the setting of torque Acquisition Circuit exists
On axis 1, torque control and treatment circuit is arranged in installation set 9.
Mounting torque signal acquiring board, multi-pole magnet-ring 11 and the two poles of the earth magnet ring 25 on axis 1 are pacified on torque signals collection plate
Torque Acquisition Circuit has been filled, first antenna is installed on torque signals collection plate, it is opposite with torque signals collection plate on axis 1
Side on the second antenna is installed, two radio antennas are connected to form rotable antenna with conducting wire.In installation set 9
Mounting torque signal-processing board installs moment control and treatment circuit in torque signals processing board.Meanwhile torque signals processing board
On be mounted with to emit the antenna receiving module of signal for receiving first antenna and the second antenna, antenna receiving module adopts torque
Collector transmits the signal come and passes to the second microcontroller as torque processing module.It is mounted in torque signals processing board
Two with the switch Hall of 11 face of multi-pole magnet-ring, respectively first switch Hall 23 and second switch Hall 24.Torque signals
The bipolarity linear Hall 26 with 25 face of the two poles of the earth magnet ring is mounted in processing board.Double Hall subassemblies at this time are located at multi-pole magnet-ring
Outside 11, bipolarity linear Hall 26 is located at outside the two poles of the earth magnet ring 25.First antenna and the second antenna are two of the first transmitting module
Transmitting terminal.
Embodiment 6：
Difference from Example 1 is that the both ends of dirt-proof boot 8 are ladder step structure, the i.e. diameter at the both ends of dirt-proof boot 8
Less than the diameter of middle section so that it is convenient to which the both ends of dirt-proof boot 8 are connected with left bowl group 22 and right bowl group 4 respectively, it is convenient and
Left bowl group 22 and right bowl group 4 together surround the device being connected on axis 1, can be connected firmly on axis 1.
Embodiment 7：
Difference from Example 1 is, the circuit board 13 in mounting groove include the power panel being separated from each other and
Torque signals acquisition process plate is mounted with torque Acquisition Circuit and torque control and treatment circuit on torque signals acquisition process plate.
Power panel is electrically connected with wireless power receiving coil 15, and power panel is electrically connected with torque signals collection plate, and power panel is believed for torque
The power supply of number acquisition process plate.Power panel and torque signals collection plate are all sleeved in mounting groove side by side.In power panel and torque signals
It is connected between acquisition process plate and magnetic sheet is isolated for interference third is isolated.By power panel and torque signals acquisition process plate point
It opens, high-frequency signal can be isolated, avoid the interference to signal acquisition.
Embodiment 8：
It is in place of the difference of embodiment 1, the second clamp spring 20 and the inner ring of second bearing 18 are fixed, and second bearing 18 is made
It does not produce relative rotation with the second clamp spring 20, reduces phase mutual friction and form the resistance for hindering axis 1 to rotate, improve the product whole longevity
Life.
Embodiment 9：
Be in place of the difference of embodiment 1, the second clamp spring 20 inner ring with second bearing 18 and fourth bearing 21 respectively
It is fixed, so that the inner ring of second bearing 18 and fourth bearing 21 relative to rotation is generated will not be all avoided that phase mutual friction is caused to form resistance
The resistance for hindering axis 1 to rotate improves product bulk life time.
Embodiment 10：
It is in place of the difference of embodiment 1, rotational angle range value is previously provided in the second microcontroller, rotates
Angular range value is the too small corresponding rotational angle set in position of those arm of forces.When what the second microcontroller logical calculated went out turns
When dynamic angle is in rotational angle range value, the second microcontroller is according to the electric signal logical calculated for indicating torsional moment size
The torsional moment size gone out.Torque control and treatment circuit calculates manpower output power by stepping frequency and torsional moment size
Afterwards, torque control and treatment circuit exports the pedalling force that leg is applied to crank according to crank angle degree Logical Deriving, by scrunching
The size variation of power proportionally increases or reduces manpower output power, and then is gone out than logical calculated according to assistant revised
Electric machine theory output power, i.e. motor synthesize output power, and motor synthesis output power is sent to electric machine controller control electricity
Machine rotates, and restoring cyclist leg by crank angle degree is applied to the pedalling force of moped, and then passes through pedalling force
It corrects torsional moment size and forms resultant moment size, the crank brought because of the fluctuation of the arm of force is avoided to be transmitted on axis
Power error makes cyclist when changing pedalling force on any crank angle degree position, regulation motor can provide in time
Power-assisted, improve the experience of riding of cyclist.
Above-described is only the embodiment of the present invention, and the common sense such as well known concrete structure and characteristic are not made herein in scheme
Excessive description, technical field that the present invention belongs to is all before one skilled in the art know the applying date or priority date
Ordinary technical knowledge can know the prior art all in the field, and with using routine experiment hand before the date
The ability of section, one skilled in the art can improve in conjunction with self-ability and implement under the enlightenment that the application provides
This programme, some typical known features or known method should not implement the application as one skilled in the art
Obstacle.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, can also make
Go out several modifications and improvements, these should also be considered as protection scope of the present invention, these all do not interfere with the effect that the present invention is implemented
Fruit and patent practicability.The scope of protection required by this application should be based on the content of the claims, the tool in specification
The records such as body embodiment can be used for explaining the content of claim.
Claims (8)
1. low-resistance formula axis torque measuring method, it is characterised in that：Including the following contents：
Central axis, the deformation bridge being arranged on axis deform upon, and interconnecting piece and the axis of deformation bridge and axis rotate together,
Deformation is passed to the strain blade unit being arranged on deformation bridge by the suspending part of deformation bridge；Strain blade unit detects deformation bridge
Deformation quantity is simultaneously converted into electric signal and passes to torque Acquisition Circuit by deformation quantity；
While central axis, the magnet ring being arranged on axis is as axis rotates together, double Halls for being arranged in installation set
Relative motion occurs for component and the magnet ring of face；Two unipolarity Hall elements in double Hall subassemblies are respectively along magnet ring
Circumference do relative motion, two Hall elements be respectively induced the poles N being continuously arranged on magnet ring and the poles S and formed pulse signal biography
It is defeated by torque Acquisition Circuit；
Torque Acquisition Circuit receives strain blade unit and transmits the electric signal come and its logic is converted into torque size, torque acquisition
Unit receives the pulse signals that the transmission of two Hall elements comes and the rotation direction for being converted into stepping frequency and axis, and by these
Electric signal is wirelessly sent to torque control and treatment circuit.
2. low-resistance formula axis torque measuring method, it is characterised in that：Including the following contents：
Central axis, the deformation bridge being arranged on axis deform upon, and interconnecting piece and the axis of deformation bridge and axis rotate together,
Deformation is passed to the strain blade unit being arranged on deformation bridge by the suspending part of deformation bridge；Strain blade unit detects deformation bridge
Deformation quantity is simultaneously converted into electric signal and passes to torque Acquisition Circuit by deformation quantity；
While central axis, the double Hall subassemblies being arranged on axis are arranged as axis rotates together in installation set
Relative motion occurs for magnet ring and double Hall subassemblies of face；Two unipolarity Hall elements in double Hall subassemblies edge respectively
The circumference for magnet ring does relative motion, and two Hall elements are respectively induced the poles N being continuously arranged on magnet ring and the poles S and form pulse
Signal transmission gives torque Acquisition Circuit；
Torque Acquisition Circuit receives strain blade unit and transmits the electric signal come and its logic is converted into torque size, torque acquisition
Unit receives the pulse signals that the transmission of two Hall elements comes and the rotation direction for being converted into stepping frequency and axis, and by these
Electric signal is sent to torque control and treatment circuit.
3. low-resistance formula axis torque measuring method according to claim 1 or 2, it is characterised in that：It is arranged on axis
Right bowl group is connected by having between first bearing and axis, and the left bowl group being arranged on axis is connected by fourth bearing and axis
It connects；One end of the installation set is fixedly connected with right bowl group, and the other end of installation set is by second bearing and 3rd bearing in
Axis connection；The inner ring of all bearings is all fixedly connected with axis.
4. low-resistance formula axis torque measuring method according to claim 3, it is characterised in that：Axis is equipped with clamp spring, leads to
Clamp spring is crossed to be fixedly connected with each bearing inner race respectively.
5. low-resistance formula axis torque measuring method according to claim 1 or 2, it is characterised in that：The deformation bridge is sleeved on
On axis, deformation bridge is connect with axis by reverse thread.
6. low-resistance formula axis torque measuring method according to claim 5, it is characterised in that：The free end of the deformation bridge
Lateral surface be equipped with the dentalation that projects radially outward, deformation bridge is connect by dentalation with claw.
7. low-resistance formula axis torque measuring method according to claim 6, it is characterised in that：Blade unit is strained in setting
When, the outer surface of deformation bridge is first circumferentially divided into multiple detection units of area equation, is pacified in each detection unit
Fill a strain blade unit.
8. low-resistance formula axis torque measuring method according to claim 1 or 2, it is characterised in that：The strain blade unit
Each foil gauge and axis axis direction angle at 45 ° are made into two foil gauge compositions including two orthogonal foil gauges
One favour stone half-bridge, two strain blade units form a favour stone full-bridge；Even number foil gauge list is set on deformation bridge
Member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810428672.0A CN108627294A (en) | 2018-05-07 | 2018-05-07 | Low-resistance formula axis torque measuring method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810428672.0A CN108627294A (en) | 2018-05-07 | 2018-05-07 | Low-resistance formula axis torque measuring method |
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| CN108627294A true CN108627294A (en) | 2018-10-09 |
Family
ID=63695724
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|---|---|---|---|
| CN201810428672.0A Pending CN108627294A (en) | 2018-05-07 | 2018-05-07 | Low-resistance formula axis torque measuring method |
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| CN114144646A (en) * | 2019-05-17 | 2022-03-04 | 麻省理工学院 | Apparatus and method for monitoring health and performance of a mechanical system |
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Effective date of registration: 20210104 Address after: 215000 building 4, No.200, Xingpu Road, Shengpu, Suzhou Industrial Park, Suzhou City, Jiangsu Province Applicant after: ACMA electric drive system (Suzhou) Co.,Ltd. Address before: 400039 No.001, 2nd floor, Kewei high tech complex, No.2, Baihe Village, Shixin Road, Jiulongpo District, Chongqing Applicant before: CHONGQING SANYEHUA TECHNOLOGY Co.,Ltd. |
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Application publication date: 20181009 |