CN108871639A - Axis moment inspecting system - Google Patents

Axis moment inspecting system Download PDF

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Publication number
CN108871639A
CN108871639A CN201810428667.XA CN201810428667A CN108871639A CN 108871639 A CN108871639 A CN 108871639A CN 201810428667 A CN201810428667 A CN 201810428667A CN 108871639 A CN108871639 A CN 108871639A
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CN
China
Prior art keywords
axis
pole
torque
characterization
electric signal
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Granted
Application number
CN201810428667.XA
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Chinese (zh)
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CN108871639B (en
Inventor
夏静满
胡江勇
李家成
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ANANDA DRIVE TECHNOLOGY (JIANGSU) Co.,Ltd.
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Chongqing Clover Technology Co Ltd
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Priority to CN201810428667.XA priority Critical patent/CN108871639B/en
Publication of CN108871639A publication Critical patent/CN108871639A/en
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Publication of CN108871639B publication Critical patent/CN108871639B/en
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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
    • 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
    • G01L5/0076—Force sensors associated with manufacturing machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L9/00—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
    • G01L9/14—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means involving the displacement of magnets, e.g. electromagnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts
    • G01M13/04—Bearings

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  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The present application relates to moped actuation techniques field, specifically disclosing a kind of axis moment inspecting system includes sleeve, deformation bridge and circuit board；Strain blade unit is provided on the deformation bridge；One end of the deformation bridge is fixedly connected with axis, and the other end of deformation bridge is hanging；The sleeve includes the installation set with axis relative motion；Be provided between the installation set and axis can with central axis the synchronous multi-pole magnet-ring and pair Hall subassembly for generating relative motion；The multi-pole magnet-ring includes multiple pole N and the pole S being connected to each other；Double Hall subassemblies include two unipolarity switch Halls, the two unipolarity switch Halls can do relative motion along the circumference of multi-pole magnet-ring；Another induction pole S of two unipolarity switch Halls, one induction pole N in double Hall subassemblies；The application can accurately detect to obtain torque.

Description

Axis moment inspecting system
Technical field
The present invention relates to moped actuation techniques fields, and in particular to a kind of moped axis moment inspecting system System.
Background technique
Moped, also known as booster type electric bicycle are a kind of works of riding between bicycle and electric vehicle Tool, by electric power assist manpower be supplied to cyclery required kinetic energy in, it be people pursue it is efficient, convenient, healthy, The product of the life style of environmental protection.
Axis, which refers to, to be used to connect two foot pedals on moped, and the chain on claw and claw is driven to rotate Structure, axis are the core components of moped, for driving, controlling vehicle normally travel.Cyclist needs when riding Central axis is driven by scrunching foot pedal, and then drives and rotates with the claw of middle axis connection, and claw drives chain rotation, chain Band moves tyre rotation.When the power for being applied to moped is greater than the power of resistance, moped can be driven It travels forward.In order to mitigate the acting burden of cyclist, so that cyclist is easily effortlessly ridden, need the output work to people Rate carries out detection determination, then calculates the output power that moped should provide, makes moped and cyclist one It acts the power generated and overcomes the power for falling resistance generation.And the output power of people is proportional to the product of torque and stepping frequency.This In torque refer to that the torsional moment of axis, stepping frequency refer to frequency when cyclist tramples foot pedal.In order to accurate It detects the output power as forefathers, needs to be arranged axis moment inspecting system.
Primarily now there is following several axis torques system detection system：
(1) velocity profile vacation assistant sensor is used, there is no in detection for the actual speed of the moped only detected The torque of axis, the power-assisted for causing moped to provide differ farther out with power-assisted actually required, and precision is low, effect is poor.
(2) a set of elastic element is loaded between axis and chain wheel or between motor and flywheel, utilizes elastic element stress deformation Slip displacement afterwards, pushes corresponding mechanical action, and the conversion of the physical quantity variations such as magnetic field, light quantity will be generated between static sensor device For electricity, the pedal force of cyclist is detected with this；Elastic element pushes after deformation and does mechanical action, will necessarily meet with resistance Power and be restricted the amplitude of deformation and mechanical action all, originally not strong detection signal is further decreased, make detection spirit Sensitivity is low, and consistency and stability are poor；In addition, elastic element leads to detection essence with that can generate expendable deformation later long Degree further decreases.
(3) a set of elastic element is loaded between axis and chain wheel or between motor and flywheel, and at elastic element both ends, is divided Pulse generating unit is not loaded onto, is displaced using the slip after elastic element stress deformation, makes to generate phase difference between two trains of pulse, It is converted through phase discriminator, detects to cycle and pedal power；Because different stepping frequencies can generate different pulse frequencies, cause same Power correspond to different phase differences, algorithm is complicated and consistency is poor.
(4) deformable body is set between the axis of rotation and sprocket support, directly stickup foil gauge, and amplifying circuit is set, with Extraneous slip ring, brush connection；Sensor in this detection system is rotating always, and slip ring and brush during rotation can Expendable loss is generated, leads to that sensor life-time is short, durability is poor.
(5) deformable body is set between the axis of rotation and sprocket support, pastes special material on it, makes it after stress Generate magnetic conductance variation, cause it is mating with it, not with its rotation coil group inductance variation, pass through detection inductance or lotus root collaboration number turn It is changed to corresponding electricity；The shortcomings that this detection system is complex process, at high cost.
(6) movable pressing-wheel is loaded on chain major loop, the displacement that detection pinch roller generates under chain tension is and quiet The physical quantity variations such as magnetic field, light quantity are generated between state senser element, and are converted to electricity, and linearized conversion detects cyclist's Pedal power；The versatility and consistency of this detection system are poor, and needing vehicle frame specially to cooperate just can achieve effect, some vehicles without Method uses.
To sum up, existing axis moment inspecting system is unable to the torsional moment of precise acquisition axis, and then can not be quasi- The output power for really detecting cyclist, makes moped that can not accurately provide power-assisted, eventually leads to moped Using effect is poor.
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 during rotation, 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, when cyclist increases considerably pedalling force suddenly, the variation meeting very little of motive torque, and then make axis Torsional moment can not accurately and timely respond, give cyclist very bad experience of riding.And existing axis torque inspection Examining system is not directed to this problem and takes any effective measures.
Summary of the invention
The invention is intended to provide a kind of can change according to cyclist's pedalling force to make the axis moment inspecting timely responded to System.
To achieve the above objectives, following scheme is provided：
Scheme one：Axis moment inspecting system, including the two poles of the earth magnet ring, bipolarity linear Hall and circuit board；
One of setting in the two poles of the earth magnet ring and bipolarity linear Hall is on axis and as axis rotates together, separately One opposite static setting of axis；The two poles of the earth magnet ring includes that two shapes are identical and be connected to each other to the pole N of ring section and S Pole；The bipolarity linear Hall can do relative motion along the circumference of the two poles of the earth magnet ring；The circuit board, linearly suddenly from bipolarity The electric signal of characterization crank angle degree is received in you.
Explanation of nouns：
Bipolarity linear Hall：Finger can sense the pole N and sense the pole S, with the difference for incuding magnetic pole and with The difference of position of magnetic pole, and continuously indicate the voltage that induction generates with continuous curve, when the pole S and N extremely equal length Half bowlder, the voltage change curve that bipolarity linear Hall senses is sinusoidal or cosine curve.
The working principle of the invention and advantage are：
By the setting of the two poles of the earth magnet ring and bipolarity linear Hall, make it possible to accurately detect the rotational angle of crank, Because two pole forms of the two poles of the earth magnet ring are identical and constitute ring section, when cyclist scrunches foot pedal with same power Make crank complete a circular motion when, the collected people of bipolarity linear Hall be applied to crank motive torque be one just String wave (partial periodicity of y >=0 is π), and then each rotational angle of crank can be calculated by logic calculation.Pass through what is detected Crank angle degree, Logical Deriving export the size of pedalling force, and then the pedalling force on the rotational angle position small to effective arm It compensates.The real-time for improving the sensitivity of moment inspecting and system response when people has an effect suddenly, enables moped In time according to Man's Demands offer power-assisted is cycled, comfort level of riding is improved.
The present invention can effectively improve synchronism between human and machine, experience of preferably riding to cyclist.
Scheme two：It on the basis of scheme one further, further include multi-pole magnet-ring and double Hall subassemblies；The multi-pole magnet-ring It is arranged with one in double Hall subassemblies on axis and as axis rotates together, and another opposite static setting of axis； The circuit board receives the electric signal of characterization stepping frequency from double Hall subassemblies；The multi-pole magnet-ring include multiple shapes it is identical and It is connected to each other to the pole N and the pole S of ring section；The pole N and the pole S in multi-pole magnet-ring are arranged alternately；Double Hall subassemblies include Two unipolarity switch Halls, the two unipolarity switch Halls can do relative motion along the circumference of multi-pole magnet-ring；It is double suddenly Another induction pole S of two unipolarity switch Halls, one induction pole N in your component.
Explanation of nouns：
Unipolarity switch Hall：The Hall element that the pole N can only be incuded perhaps can only incude the pole S is sensing the pole N or S Will form when pole indicates high level or low level rectangular wave；According to the rising edge for the potential diagram that unipolarity switch Hall is formed Number, Logical Deriving export stepping frequency.
Stepping frequency：Refer to that cyclist scrunches the frequency of power-assisted bike pedal plate.
The magnet steel used in compared with the prior art, each magnetic pole in multi-pole magnet-ring is continuously coupled, multipole magnetic Each magnetic pole in ring has connected into an entirety, not only easy for installation, is also beneficial to keep switch Hall more accurate delicately Incude magnetic pole, the stepping frequency for detecting double Hall subassemblies is more accurate, and stepping frequency is the necessity for calculating torsional moment Parameter, and then keep the torsional moment of logic calculation more accurate, and relative motion and the axis of multi-pole magnet-ring and double Hall subassemblies Rotation it is synchronous, moped can be made accurately to reflect central axis situation and power-assisted is accurately provided.
Scheme three：It on the basis of scheme two further, further include the deformation bridge being arranged on axis, on the deformation bridge Equipped with strain blade unit；The circuit board receives the electric signal of characterization torsional moment size from strain blade unit.
One of multi-pole magnet-ring and double Hall subassemblies are followed by the rotation of axis and keep multi-pole magnet-ring and pair Hall subassemblies synchronous Relative motion is generated, detects that the electric signal of characterization stepping frequency (can be direct by multi-pole magnet-ring and double Hall subassemblies The electric signal for detecting stepping frequency is also possible to detect the electric signal of energy Logical Deriving export stepping frequency, specific feelings This will not be repeated here depending on the selection of the concrete model of switch Hall for condition), and this electric signal is passed into circuit board, circuit board is logical It crosses logic calculation and derives stepping frequency.Deformation bridge is applied to the torsion on axis and is transmitted to strain blade unit by deformation, The electric signal for characterizing torsional moment size is passed to circuit board by strain blade unit, and circuit board derives torsion by logic calculation Torque size.Stepping frequency and torsional moment size are the key that calculate cyclist to be applied to moped output power ginseng Number, by being accurately detected the two parameter values, can be precisely calculated manpower output power, and then accurately calculate needs The theoretical output power of moped output, provides moped according to this power moped and accurately helps Power.
Scheme four：On the basis of scheme three further, it is arranged at moment Acquisition Circuit and torque on the circuit board Manage control circuit；The torque Acquisition Circuit, for receiving the electric signal of characterization torsional moment size from strain blade unit；It is described Torque control and treatment circuit receives the electric signal of characterization torsional moment size from the torque Acquisition Circuit and logic calculation goes out to turn round Force square size, the torque control and treatment circuit receive the electric signal and logic calculation of characterization stepping frequency from double Hall subassemblies Stepping frequency out, the torque control and treatment circuit receive the electric signal of characterization crank angle degree simultaneously from bipolarity linear Hall Logic calculation goes out crank angle degree.
Double Hall subassemblies and bipolarity linear Hall are connected in torque control and treatment circuit, and torque Acquisition Circuit is only from answering Become in blade unit and acquires signal.Control motor can be conveniently calculated by the torsional moment size and stepping frequency that detect to turn Dynamic electric machine theory output power, the power-assisted for providing moped meet the actual demand of cyclist.
Scheme five：On the basis of scheme three further, it is arranged at moment Acquisition Circuit and torque on the circuit board Manage control circuit；The torque Acquisition Circuit is used to for receiving the electric signal of characterization torsional moment size from strain blade unit The electric signal of characterization stepping frequency is received from double Hall subassemblies, is used to receive characterization crank angle degree from bipolarity linear Hall Electric signal；The torque control and treatment circuit, be used to from the torque Acquisition Circuit receive respectively characterize torsional moment size, Simultaneously logic calculation goes out torsional moment size, stepping frequency and crank angle to the electric signal of stepping frequency and crank angle degree Degree.
Double Hall subassemblies, bipolarity linear Hall and strain blade unit are all connected in torque Acquisition Circuit, and torque is adopted Collector collects torsional moment size, stepping frequency and crank angle degree simultaneously, and torque control and treatment circuit is used to pass through Torsional moment size and stepping frequency calculate electric machine theory output power, and are mended by crank angle degree for pedalling force It repays.
Scheme six：On the basis of scheme three further, it is arranged at moment Acquisition Circuit and torque on the circuit board Manage control circuit；The torque Acquisition Circuit is used to for receiving the electric signal of characterization torsional moment size from strain blade unit The electric signal of characterization stepping frequency is received from double Hall subassemblies；The torque control and treatment circuit is used to from bipolarity linearly suddenly You receive the electric signal of characterization crank angle degree and logic calculation goes out crank angle degree；The torque control and treatment circuit, For receiving the electric signal of characterization torsional moment size and stepping frequency respectively from the torque Acquisition Circuit, simultaneously logic calculation goes out Torsional moment size and stepping frequency.
Strain blade unit, double Hall subassemblies are connected in torque Acquisition Circuit, and bipolarity linear Hall is connected at torque It manages in control circuit.
Scheme seven：On the basis of scheme three further, it is arranged at moment Acquisition Circuit and torque on the circuit board Manage control circuit；The torque Acquisition Circuit is used to for receiving the electric signal of characterization torsional moment size from strain blade unit The electric signal of characterization crank angle degree is received from bipolarity linear Hall；The torque control and treatment circuit, be used to from it is double suddenly Your component receives the electric signal of characterization stepping frequency and logic calculation goes out stepping frequency；The torque control and treatment circuit, is used to The electric signal of characterization torsional moment size and crank angle degree respectively is received from the torque Acquisition Circuit and logic calculation goes out Torsional moment size and crank angle degree.
Strain blade unit, bipolarity linear Hall are connected in torque Acquisition Circuit, and double Hall subassemblies are connected at torque It manages in control circuit.
Scheme eight：On the basis of any one scheme in scheme four to seven further, the torque processing control electricity Road goes out electric machine theory output power and be sent to according to torsional moment size and stepping frequency logic calculation to be turned for controlling motor Dynamic electric machine controller.
By electric machine theory output power, electric machine controller is enable to control motor according to the actual demand situation of cyclist Rotation, provides accurate power-assisted for moped.
Scheme nine：On the basis of scheme eight further, the torque control and treatment circuit is patrolled according to crank angle degree It collects and calculates pedalling force and acceleration signal is sent to electric machine controller according to pedalling force, electric machine controller adjustment motor reaches electricity The speed of mechanism opinion output power.
The pedalling force that cyclist leg is applied to moped is restored by crank angle degree, is avoided because of the arm of force It fluctuates and bring operating lag, 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.
Scheme ten：On the basis of any one scheme in scheme four to seven further, the torque processing control electricity Road according to crank angle degree logic calculation go out pedalling force and according to pedalling force correct torsional moment size formed resultant moment it is big Small, torque control and treatment circuit goes out motor synthesis output power according to resultant moment size and stepping frequency logic calculation and sends To the electric machine controller for being used to control motor rotation.
Cyclist leg is restored by crank angle degree and is applied to the pedalling force of moped, and then passes through pedalling force Amendment torsional moment size formation resultant moment size, avoids the fluctuation because of the arm of force and bring crank is transmitted on axis Power error makes cyclist when changing pedalling force on any crank angle degree position, can adjust motor offer in time Power-assisted, improve the experience of riding of cyclist.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of axis moment inspecting system embodiment 1 of the present invention.
Fig. 2 is the structural schematic diagram of deformation bridge in axis moment inspecting system embodiment 1 of the present invention.
Fig. 3 is the logic diagram of axis moment inspecting system embodiment 1 of the present invention.
Fig. 4 is the structural schematic diagram of multi-pole magnet-ring in axis moment inspecting system embodiment 1 of the present invention.
Fig. 5 is the structural schematic diagram of the two poles of the earth magnet ring in axis moment inspecting system embodiment 1 of the present invention.
Fig. 6 is the logic diagram of axis moment inspecting system embodiment 2 of the present invention.
Fig. 7 is the logic diagram of axis moment inspecting system embodiment 3 of the present invention.
Fig. 8 is the logic diagram of axis moment inspecting system embodiment 4 of the present invention.
Fig. 9 is the structural schematic diagram of axis moment inspecting system embodiment 5 of the present invention.
Figure 10 is the structural schematic diagram of multi-pole magnet-ring in axis moment inspecting system embodiment 5 of the present invention.
Figure 11 is the structural schematic diagram of the two poles of the earth magnet ring in axis moment inspecting system embodiment 5 of the present invention.
Specific embodiment
Below by the further details of explanation of specific embodiment：
Appended drawing reference in Figure of description includes：Axis 1, locking nut 2, claw 3, right bowl group 4, the first circlip 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 circlip 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 passes through left crank and the right side that fastening screw connects Vehicular left pedal with right end 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 External screw thread is provided on the upper position connecting with deformation bridge 6.On axis 1, deformation bridge 6 and axis 1 pass through instead 6 sets of the deformation bridge To threaded connection, the internal screw thread of 1 threaded portion of axis and deformation bridge 6 is to lock.Deformation bridge 6 and axis 1 pass through reverse thread structure Connection substitutes original dentalation make-up, guarantees seamless connectivity between axis 1 and deformation set, avoids dentation docking positive and negative Shake during turning guarantees 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 External screw thread, the Five-way tube both ends of force-aid bicycle frame are provided with internal screw thread corresponding with left and right bowl group 4, and axis 1 passes through left bowl group 22 are mounted in Five-way tube with right bowl group 4.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 axis 1 by fourth bearing 21, and right bowl group 4 is fixed on axis 1 by first bearing 7, 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 for deformation bridge 6 On.The inside of right bowl group 4 is equipped with the first circlip 5 radially-inwardly stretched out, is limited by the first circlip 5 to first bearing 7.The The left side of one circlip 5 is abutted with the right side of first bearing 7.
Sleeve includes being covered on axis 1 from inside to outside, for fixing axis 1 or providing 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 1 pair of axis and is arranged in axis The influence of circuit on 1.The magnetic permeability with higher of the second antifreeze plate 16 far from axis 1 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 guarantee 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., The contact surface of axis 1 and magnetic shield 10 has bumps, and the medial surface of magnetic shield 10 matches with the lateral surface shape of axis 1, because Magnetic shield 10 can be directly socketed on axis 1 by this, and not have to worry 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 connects 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 successively socketed with the first antifreeze plate 14 and wireless power receiving coil 15 outside.Wireless power receiving coil 15 and circuit board 13 connect 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 successively to be socketed with 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 according to Maxwell's Theory of Electromagnetic Field driving circuit by wireless power transmitting coil 17 The electric field of the electric field of variation, variation can evoke changing magnetic field, by the resonance between coil, receive ray circle 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 be it is parallel, always exist the magnetic flux of variation each other, therefore no matter whether coil rotates can generate electric current, Guarantee the normal power supply of 1 moment inspecting system of axis.
By the first antifreeze plate 14, the resonance line for constituting wireless power transmitting coil 17 and wireless power receiving coil 15 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 The right end integrated molding of the structure for having right angle to bend, i.e. dirt-proof boot 8 is connected to the tubular structure that a diameter becomes smaller.Right bowl group 4 Inside and 8 right end of dirt-proof boot outside face contact, i.e. right bowl group 4 right end that compresses 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, form one 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 of installation set 9 and right end diameter 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 position of left bowl group 22 on the lateral surface of installation set 9, in first annular slot It is successively socketed with wireless power transmitting coil 17 and the second antifreeze plate 16 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, be able to maintain installation set 9 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 that vehicle frame etc. is arranged in.
It is provided with groove on the lateral surface that axis 1 is connect with left bowl group 22, the second circlip 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 circlip 20 It connects, the right side of second bearing 18 is abutted with the left side of the second circlip 20, and the second circlip 20 plays while limiting left bowl group 22 and installation set 9 work.Second circlip 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 and axis 1 generate relative motion.
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 The multi-pole magnet-ring 11 of one with double Hall subassembly faces are installed, multi-pole magnet-ring 11 and axis 1 are coaxial 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 the circuit board 13 in 1 mounting groove of axis Hall 26 is equipped with the two poles of the earth magnet ring 25 of one with 26 face of bipolarity linear Hall, the two poles of the earth in the installation set 9 outside mounting groove Magnet ring 25 and axis 1 are coaxial.
The circuit board 13 being mounted in mounting groove adopts torque signals by mounting groove for torque signals acquisition process plate 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 in by the electromagnetic induction with wireless power transmitting coil 17 to entire power in sample The power supply of square signal acquisition process plate.
Wherein, torque Acquisition Circuit, the 12 favour stone full-bridge of foil gauge including 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 to torque control and treatment circuit transmission telecommunications number.
Torque control and treatment circuit is used to and first including the first receiving module for being used to connect with the first transmitting module Second microcontroller of receiving module connection, for current detector, the double Hall subassemblies being connect respectively with the second microcontroller 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 to detect 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 The pole N is answered, it is high level when first switch Hall 23 incudes the pole N that second switch Hall 24, which incudes the pole S, and others are low Level, when first switch Hall 23 and the relative rotation of multi-pole magnet-ring 11, first switch Hall 23 forms an expression height electricity The rectangular wave of planometer rule variation.Equally, second switch Hall 24 is high level when sensing the pole S, and others are low level, when When second switch Hall 24 and multi-pole magnet-ring 11 relatively rotate, second switch Hall 24 forms an expression low and high level rule and 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, 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 adverse effect to motor etc..
Bipolarity linear Hall 26, the pole N can be sensed but also sense the pole 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 pole S and N extremely equal length, the voltage change that bipolarity linear Hall 26 senses is bent Line is sinusoidal or cosine curve.Using the logic calculation to sinusoidal or cosine curve, crank can be calculated in each electricity Corresponding rotational angle and the corresponding pedalling force size of each crank angle degree in pressure value, 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 logic calculation 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 fluctuation and the bring response because 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 first microcontroller and the second microcontroller can use the single-chip microcontroller of universal models in the present embodiment.
In torque Acquisition Circuit, the rotation of axis 1 for being detected foil gauge 12 by 12 favour stone full-bridge of foil gauge is generated 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 The first microcontroller as torque acquisition module is passed to after number amplification, this is characterized torsional moment size by the first microcontroller 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 logic calculation Stepping frequency out.Second microcontroller will be turned round according to the torque size for indicating that the electric signal logic calculation of torsional moment size goes out Force square size obtains the manpower output power of cyclist multiplied by stepping frequency, then manpower output power is obtained multiplied by assistant's ratio To electric machine theory output power.
Second microcontroller goes out crank angle degree according to arcsine or anticosine logic calculation.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 It fluctuates and bring operating lag, 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, rotates electric machine controller according to electric machine theory output power motor, makes motor Power-assisted accurately can be provided for moped according to the actual demand of cyclist.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 logic calculation 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, Connection between two circuits can be connected using conducting wire, i.e. the first transmitting module and the first receiving module are interconnected 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 the bluetooth module, radio-frequency module or other channel radios of wireless connection Believe module.
In addition, the second microcontroller in torque control and treatment circuit is also connected 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 that current detector in torque control and treatment circuit will test passes to the second microcontroller Device, the actual current and gone out by electric machine theory output power logic calculation 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 motor is adjusted, guarantees 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 received low frequency signal of torque signals acquisition process plate, 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 It manages and the second antenna is installed on the axis 1 of backboard side, i.e., be mounted with torque signals acquisition process plate, torque letter in the side of mounting groove First antenna is mounted 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, Strengthen aerial signal transmission intensity, especially when axis 1 rotate when, always have a radio antenna from it is closer, And because two antennas can gamut radiation, effectively increase the continuity and signal strength of signal transmission, guarantee that axis 1 exists Data are not lost in rotary course, it is ensured that the accuracy of data acquisition improves the sensitivity and 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, Guarantee that the external world can be not in dead angle, while coil also plays and fixes second day with normal communication to axis 1 during rotation 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, operational amplifier circuit is can be directly used in current detector, is acquired by the direct AD of operational amplifier circuit.It is exactly A faint voltage signal is acquired, after amplifier is amplified, by AD acquisition to obtain current of electric big by filtering algorithm 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 adopt 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 pole N and the pole S to pole.On entire multi-pole magnet-ring 11 one to pole one pole is disposed adjacent, i.e., the pole N and The pole S is 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 pole N and the pole S be it is spaced, pass through two switch The number that the number and the pole S that the pole N that Hall is respectively induced occurs occur, is able to detect that the stepping frequency of moped. Two switch Halls according to itself characteristic, occur N and the pole S when be high level, remaining is low level, Neng Goushi When form the detection trajectory diagram of the pole N and the pole S, the phase difference by forming trajectory diagram can judge the steering of axis 1.Example Such as, the corresponding second switch Hall signal of the rising edge of first switch Hall trajectory diagram when axis 1 rotates clockwise High level, the low level of the signal of corresponding second switch Hall of the failing edge of first switch Hall.And work as 1 inverse time of axis The low level of the corresponding second switch Hall signal of the rising edge of first switch Hall when needle rotates, first switch Hall The high level of the corresponding second switch Hall signal of failing edge.The prior art, which is used to detect stepping frequency, generally uses magnet steel, magnetic The steel capital be it is discontinuous, need 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, Make to detect it is more accurate, therefore use multi-pole magnet-ring 11, compared with the prior art in use magnet steel, not only simplify erector Skill, also raising detection sensitivity；Cooperate with double Halls, can not only calculate and step on frequency, can detecte 1 rotation direction of axis, simplifies Structure, save the cost.
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 when one of switch Hall is aligned this to the extremely middle pole N center to pole The intersection of the neat pole 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 pole N and the pole 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 pole S of a semicircular in shape shape and one is in semicircle The pole 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 pole N and the pole S along the medial surface of the two poles of the earth magnet ring 25, because of the length of the pole N and the pole 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, and then level off to 0 position in those arm of forces, 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, the power-assisted for providing moped can satisfy 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 with 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 is by being fixed on card to split nut On pawl 3.
Specifically, deformation bridge 6 is one coaxial with axis 1 and cover the tubular structure outside axis 1, the left end of deformation bridge 6 Equipped with reversed internal screw thread, the left end of deformation bridge 6 is linked together by reverse thread structure with 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 guarantee that the power of the right and left is transmitted to fluted disc by deformation set to reach double-side torque in this way Effect.
Wherein, deformation bridge 6 is divided into N equal portions along 1 axis direction of axis by deformation bridge 6, 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 a pair of of the composition of foil gauge 12 half-bridge again in the manner described above, two groups of half-bridges form one entirely Bridge；Although this paste direction and angle be it is now generally in the art, 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 guarantee acquisition precision.Using deformation bridge 6 in the present embodiment, after collecting the stress that the transmitting of foil gauge 12 comes, First by Amplification, detection sensitivity is improved；Reducing heat treatment or machining leads to 6 surface hardness of deformation bridge or thickness Degree improves homogeneity of product unevenly to the influence of stress distribution.
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 a pair of of the composition of foil gauge 12 half-bridge, 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 Stress Acquisition Error caused by avoid being processed unevenly because of deformation bridge 6.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 costs, also by dividing equally deformation bridge 6 circumferential area makes have a foil gauge 12 to be detected on each position being divided equally, and then can guarantee deformation bridge 6 There is the foil gauge 12 of detection in all directions, as long as respectively reasonable quantity, can effectively protect on the basis of cost reduction Demonstrate,prove the detection accuracy 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 the first amplifier unit for electric signal by 12, 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, By the stepping frequency that torsional moment is detected multiplied by double Hall subassemblies 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 The travel speed and assist rate being arranged in a one-to-one correspondence including multiple groups.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 to adjust the revolving speed of motor in real time.
Meanwhile going out the angle of rotation of each moment crank by the two poles of the earth magnet ring 25 and 26 logic calculation of bipolarity linear Hall Degree, pre-set formula logic calculation can go out each crank angle degree from the second microcontroller by this rotational angle 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 proportional increase or reduction motor turns Dynamic speed is also possible to other some logic calculations to control the speed of motor rotation.Pass through the two poles of the earth magnet ring 25 and bipolarity Linear Hall 26, can be avoided causes 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 smallest 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 guarantee that bicyclist rides.
In the market most prior art scheme can not precise acquisition torque, so accurate control, Jin Erwu cannot be reached The output power of people is accurately calculated in method, and motor can not be made to provide reasonable power-assisted, very bad body is caused to cyclist Test sense.
The scheme of revolving speed is only detected compared to the prior art, and the present embodiment can detect revolving 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 Power out, deformation bridge 6 is passed through equal portions in structure design and how to paste foil gauge 12 by us ensures that power acquires uniform essence 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, it is arranged in motor On current detector by the electric current of motor during rotation carry out detection and by actual current value feed back to torque processing 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 revolving speed of motor is adjusted while output power of motor, and then the power-assisted for generating motor 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, adjusts by comparing and increase or reduce output power of motor.
By introducing the current feedback and the detection of crank turned position of motor in the present embodiment, improves the response time and ride Row comfort level guarantees 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 circlip, 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 circlip 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 detection accuracy, 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 circlip on axis 1 in the other end of sleeve, still, is easy in this way Cause to generate friction between circlip and sleeve, being used for a long time can make the gap between circlip 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 circlip 20 is clamped between fourth bearing 21 and second bearing 18, and the second circlip 20 will not be with second bearing 18 Outer ring contact, reduce resistance caused by phase mutual friction centering axis 1, improve 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, guarantee axis 1 with Seamless connectivity between deformation bridge 6 avoids dentation from docking the shake during positive and negative rotation, guarantees 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 cooperation, can not only calculate stepping frequency, can also detect 1 rotation direction of axis, simplify structure, save the cost.
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 and coil maintain an equal level or are higher than coil, Coil and axis 1 and surrounding metal part, such as bearing are isolated by antifreeze plate, 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 that induction generates by the induction pole S and the pole N, leads to Rising edge number Logical Deriving in overpotential figure exports stepping frequency.The torsion for rotating axis 1 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 by logic.The torsional moment size that will test 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 According to assist rate multiplied by manpower output power, the theoretical output power of motor can be calculated, according to electric machine theory output power Control motor is rotated, and provides power-assisted 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 during rotation, 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 very big torsion suddenly, collected torque signals still very little, at this time without Method is reacted cyclist by torque size and really exerted a force requirement.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 pole N and the pole S forms the electric signal for being used to characterize crank angle degree, and electric signal is sent to circuit board 13, electricity Road plate 13 derives the rotational angle of current crank by logic calculation.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 (part y >=0 weeks Phase is π), by the detection to crank position, when arm of force very little, directly mended according to the size of the pedalling force of recovery 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 smallest place of the arm of force, respond very slow.
The ingenious setting multi-pole magnet-ring 11 of the present embodiment and double Hall subassemblies are able to detect that double Hall subassemblies and scrunch frequency Rate goes out torque size by logic calculation, detects necessary parameter to obtain the output power of 1 torque of axis and people.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 induction the two poles of the earth magnet ring 25 on pole change obtain the voltage change of crank during rotation sinogram or Person's cosine figure, the angle of current crank Yu axis 1 is gone out by logic calculation.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 detection accuracy, 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, can be by wireless power transmitting coil and wireless power receiving coil and power-assisted voluntarily by magnetic shield 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 the difference from embodiment 1 is that, double Hall subassemblies and bipolarity linear Hall 26 connect It connects 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 arranged in together 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 the difference from embodiment 1 is that, 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 arranged in together 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 the difference from embodiment 1 is that, 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 arranged in together 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, this embodiment differs from embodiment 1 in that, 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 antenna receiving module for receiving first antenna and the second antenna transmitting signal, antenna receiving module adopts torque The signal that collector transmitting comes 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 being mounted in mounting groove include power panel 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 torque letter The power supply of number acquisition process plate.Power panel and torque signals collection plate all cover in mounting groove side by side.In power panel and torque signals It is connected between acquisition process plate for interference third isolation magnetic sheet 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 circlip 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 circlip 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 circlip 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 all will not be avoided phase mutual friction relative to rotation is generated and is formed 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 logic calculation went out turns When dynamic angle is in rotational angle range value, the second microcontroller is according to the electric signal logic calculation for indicating torsional moment size Torsional moment size 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 more revised out than logic calculation according to assistant 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 rotation restores cyclist leg by crank angle degree and is applied to the pedalling force of moped, and then passes through pedalling force Amendment torsional moment size formation resultant moment size, avoids the fluctuation because of the arm of force and bring crank is transmitted on axis Power error makes cyclist when changing pedalling force on any crank angle degree position, can adjust motor offer in time Power-assisted, improve the experience of riding of cyclist.
What has been described above is only an embodiment of the present invention, and the common sense such as well known specific 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 have using routine experiment hand before the date The ability of section, one skilled in the art can improve and be implemented in conjunction with self-ability under the enlightenment that the application provides This programme, some typical known features or known method should not become one skilled in the art and implement the application Obstacle.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, can also make Several modifications and improvements out, these also should be considered as protection scope of the present invention, these all will not influence 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 (10)

1. axis moment inspecting system, including circuit board；It is characterized in that：It further include the two poles of the earth magnet ring and bipolarity linear Hall；
One of setting in the two poles of the earth magnet ring and bipolarity linear Hall on axis and as axis rotates together, another The opposite static setting of axis；The two poles of the earth magnet ring includes that two shapes are identical and be connected to each other to the pole N and the pole S of ring section； The bipolarity linear Hall can do relative motion along the circumference of the two poles of the earth magnet ring；The circuit board, from bipolarity linear Hall The middle electric signal for receiving characterization crank angle degree.
2. axis moment inspecting system according to claim 1, it is characterised in that：It further include multi-pole magnet-ring and double Hall groups Part；One in the multi-pole magnet-ring and double Hall subassemblies is arranged on axis and as axis rotates together, and another phase To the static setting of axis；The circuit board receives the electric signal of characterization stepping frequency from double Hall subassemblies；The multi-pole magnet-ring packet It is identical and be connected to each other to the pole N and the pole S of ring section to include multiple shapes；The pole N and the pole S in multi-pole magnet-ring are arranged alternately；Institute Stating double Hall subassemblies includes two unipolarity switch Halls, the two unipolarity switch Halls can be along the circumference of multi-pole magnet-ring It does relative motion；Another induction pole S of two unipolarity switch Halls, one induction pole N in double Hall subassemblies.
3. axis moment inspecting system according to claim 2, it is characterised in that：It further include the deformation being arranged on axis Bridge, the deformation bridge are equipped with strain blade unit；The circuit board receives the electricity of characterization torsional moment size from strain blade unit Signal.
4. axis moment inspecting system according to claim 3, it is characterised in that：Moment is arranged on the circuit board to adopt Collector and torque control and treatment circuit；The torque Acquisition Circuit is used to receive characterization torsional moment from strain blade unit big Small electric signal；The torque control and treatment circuit receives the telecommunications of characterization torsional moment size from the torque Acquisition Circuit Number and logic calculation go out torsional moment size, the torque control and treatment circuit receives characterization stepping frequency from double Hall subassemblies Electric signal and logic calculation go out stepping frequency, and the torque control and treatment circuit receives characterization crank from bipolarity linear Hall and turns The electric signal and logic calculation of dynamic angle go out crank angle degree.
5. axis moment inspecting system according to claim 3, it is characterised in that：Moment is arranged on the circuit board to adopt Collector and torque control and treatment circuit；The torque Acquisition Circuit is used to receive characterization torsional moment from strain blade unit big Small electric signal is used to receive from bipolarity linear Hall for receiving the electric signal of characterization stepping frequency from double Hall subassemblies Characterize the electric signal of crank angle degree；The torque control and treatment circuit is used to receive from the torque Acquisition Circuit and distinguish The electric signal and logic calculation of characterization torsional moment size, stepping frequency and crank angle degree go out torsional moment size, scrunch Frequency and crank angle degree.
6. axis moment inspecting system according to claim 3, it is characterised in that：Moment is arranged on the circuit board to adopt Collector and torque control and treatment circuit；The torque Acquisition Circuit is used to receive characterization torsional moment from strain blade unit big Small electric signal, for receiving the electric signal of characterization stepping frequency from double Hall subassemblies；The torque control and treatment circuit, is used to The electric signal of characterization crank angle degree is received from bipolarity linear Hall and logic calculation goes out crank angle degree；The torque Control and treatment circuit, for receiving the electric signal for characterizing torsional moment size and stepping frequency respectively from the torque Acquisition Circuit And logic calculation goes out torsional moment size and stepping frequency.
7. axis moment inspecting system according to claim 3, it is characterised in that：Moment is arranged on the circuit board to adopt Collector and torque control and treatment circuit；The torque Acquisition Circuit is used to receive characterization torsional moment from strain blade unit big Small electric signal, for receiving the electric signal of characterization crank angle degree from bipolarity linear Hall；The torque processing control Circuit, for simultaneously logic calculation goes out stepping frequency from the electric signal of double Hall subassemblies reception characterization stepping frequency；At the torque Control circuit is managed, for receiving the telecommunications for characterizing torsional moment size and crank angle degree respectively from the torque Acquisition Circuit Number and logic calculation go out torsional moment size and crank angle degree.
8. according to axis moment inspecting system described in any one in claim 4 to 7, it is characterised in that：The torque Control and treatment circuit according to torsional moment size and stepping frequency logic calculation go out electric machine theory output power and be sent to for Control the electric machine controller of motor rotation.
9. axis moment inspecting system according to claim 8, it is characterised in that：The torque control and treatment circuit according to Crank angle degree logic calculation goes out pedalling force and sends acceleration signal to electric machine controller, electric machine controller according to pedalling force Adjustment motor reaches the speed of electric machine theory output power.
10. according to axis moment inspecting system described in any one in claim 4 to 7, it is characterised in that：The torque Control and treatment circuit goes out pedalling force and correct torsional moment size according to pedalling force according to crank angle degree logic calculation to be formed Resultant moment size, torque control and treatment circuit go out motor synthesis output according to resultant moment size and stepping frequency logic calculation Power is simultaneously sent to the electric machine controller rotated for controlling motor.
CN201810428667.XA 2018-05-07 2018-05-07 Center shaft moment detection system Active CN108871639B (en)

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CN114623963A (en) * 2020-12-11 2022-06-14 财团法人工业技术研究院 Spindle device with torque sensor
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