CN113501075A

CN113501075A - Speed change actuating mechanism, bicycle speed changer and control method

Info

Publication number: CN113501075A
Application number: CN202110839650.5A
Authority: CN
Inventors: 刘志坤; 巩伟杰
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2021-10-15
Anticipated expiration: 2041-07-23
Also published as: CN113501075B

Abstract

The application provides a speed change actuating mechanism, a bicycle speed changer and a control method, which are applied to the bicycle speed changer and comprise a motor, a transmission module with internal threads and a sliding module fixed with a speed change line; the output shaft of motor has the external screw thread, and the transmission module spiro union just sets up in the sliding module in the external screw thread department of output shaft, and the sliding module is close to motor one end and is equipped with the separation blade to the external screw thread through the output shaft of motor drives the transmission module and rotates, makes the sliding module carry out linear motion, and then the taut speed change line that or loosen fixed on the sliding module realizes the electronic type variable speed, and whole device cost is lower, and is applicable to the bicycle of repacking traditional mechanical type variable speed system, and application scope is wide.

Description

Speed change actuating mechanism, bicycle speed changer and control method

Technical Field

The application belongs to the technical field of bicycle speed changers, and particularly relates to a speed change executing mechanism, a bicycle speed changer and a control method.

Background

The traditional mechanical speed change system carries out speed change operation through various mechanical structures such as gears, ratchets, winches and the like in a speed change operation mechanism, and along with the increase of bicycle gears, the mechanical structure of mechanical speed change becomes complicated and heavy, so that the problem of reliability reduction is brought; meanwhile, the mechanical speed change also has the problem of fatigue fracture of the speed change wire due to the winding of multiple turns of the speed change wire.

At present, some manufacturers adopt an electronic speed change system, remove a speed change line of a traditional speed change mechanical system, and directly utilize an electronic control unit to replace a complex mechanical structure, but the existing electronic speed change system is generally a whole set of electronic speed changer, needs to completely replace the traditional mechanical speed change system on a bicycle, and has higher cost.

Disclosure of Invention

The application aims to provide a speed change executing mechanism, a bicycle speed changer and a control method, and aims to solve the problem that a traditional electronic speed change system is high in cost.

In order to achieve the above object, in a first aspect, an embodiment of the present application provides a variable speed actuator, including a motor, a transmission module with an internal thread, and a sliding module to which a variable speed cable is fixed;

the output shaft of the motor is provided with an external thread, the transmission module is in threaded connection with the external thread of the output shaft and is arranged in the sliding module, and a blocking piece is arranged at one end, close to the motor, of the sliding module.

In another possible embodiment of the first aspect, the shift actuator further includes a linear guide, a housing, a wire passing seat, and a clamping member;

the linear guide rail is arranged below the external thread of the output shaft of the motor, the transmission module, the sliding module and the linear guide rail are arranged inside the shell, the wire passing seat is arranged on the outer side of one end, far away from the motor, of the shell, and the clamping piece is arranged on the outer side of the shell.

In a second aspect, embodiments of the present application provide a bicycle derailleur comprising the shift actuator, and

a shift button configured to acquire an upshift signal or a downshift signal;

and the controller is electrically connected with the gear shift button and the gear shift execution mechanism and is configured to control the gear shift execution mechanism to perform an upshift operation or a downshift operation according to the upshift signal or the downshift signal.

In another possible embodiment of the second aspect, the shift button includes a first circuit board, a first bracket, a first battery, a first housing, and a first clip ring;

the first circuit board and the first battery are mounted on two sides of the first support, the first circuit board, the first support and the first battery are mounted inside the first shell, and the clamping ring is mounted outside the first shell.

In another possible embodiment of the second aspect, the first circuit board includes:

a button switch configured to acquire an upshift signal or a downshift signal according to a high-low level;

a wireless transmission module electrically connected with the button switch and configured to wirelessly transmit the upshift signal or the downshift signal;

and the battery interface is electrically connected with the button switch and the wireless transmitting module.

In another possible embodiment of the second aspect, the controller includes a second circuit board, a third circuit board, a second battery, a magnetically attractive terminal, a second bracket, a second housing, and a second clamping ring;

the magnetic terminal is electrically connected with the second battery, the second battery is installed inside the second support, the second circuit board and the third circuit board are installed on two sides of the second support, the second circuit board, the third circuit board, the second battery, the magnetic terminal and the second support are installed inside the second shell, and the second clamping ring is installed outside the second shell.

In another possible embodiment of the second aspect, the second circuit board includes:

the wireless receiving module is wirelessly connected with the gear shift button and is configured to wirelessly receive the upshifting signal or the downshifting signal;

the control module is electrically connected with the wireless receiving module and is configured to output a driving signal according to the upshifting signal or the downshifting signal;

a voltage reduction module electrically connected with the wireless receiving module and the control module and configured to supply power to the wireless receiving module and the control module.

In another possible embodiment of the second aspect, the third circuit board includes:

the steering engine control module is electrically connected with the control module and is configured to rotate the steering engine by a corresponding angle according to the driving signal;

a motor control module electrically connected with the control module and configured to rotate a motor for a corresponding number of turns according to the driving signal;

the motor encoder is electrically connected with the motor control module and the control module and is configured to feed back the current gear of the motor control module to the control module in real time;

and the boosting and charging module is electrically connected with the rudder control module, the motor control module and the motor encoder and is configured to boost the output voltage of the second battery and access an external charging power supply to supply power to the rudder control module, the motor control module and the motor encoder.

In a third aspect, embodiments of the present application provide a method of controlling a bicycle transmission, comprising the steps of:

reading the recorded initial gear of the speed change actuating mechanism;

restoring the gear of the speed change actuating mechanism to the initial gear;

controlling the gear shift executing mechanism to move by a corresponding gear distance according to the upshift signal or the downshift signal in combination with the initial gear;

and recording a new gear after the gear shifting actuating mechanism moves by the corresponding gear distance.

In another possible embodiment of the third aspect, the controlling the shift actuator to move by a corresponding gear distance in conjunction with the initial gear according to the upshift or downshift signal includes:

when the gear shift button is pressed for more than a first preset time length, setting a gear zero point according to the upshift signal, and controlling the whole transmission module to shift according to the downshift signal;

finely adjusting the position of the gear shift actuator forward or backward in combination with the initial gear according to the upshift signal or the downshift signal when the shift button is pressed for more than a second preset time period;

when the gear shift button is pressed for more than a third preset time and the gear of the gear shift execution mechanism is in a highest gear or a lowest gear, keeping the gear unchanged;

when the gear shift button is pressed for more than a third preset time and the gear of the gear shift execution mechanism is not in the highest gear or the lowest gear, the gear of the gear shift execution mechanism is increased by one gear or decreased by one gear according to the gear shift up signal or the gear shift down signal and the initial gear;

the first preset duration is longer than the second preset duration, and the second preset duration is longer than the third preset duration.

In another possible embodiment of the third aspect, before recording the new gear after the shift actuator moves the corresponding gear distance, the method further includes:

and carrying out proportional integral operation according to the difference value between the current gear position and the target gear position of the transmission module to obtain a motor output value until the transmission module reaches the target gear position.

and calculating the moving speed of the transmission module according to the difference value between the last sampling position of the transmission module and the current sampling position and the sampling frequency until the sampling speed is zero.

Compared with the prior art, the embodiment of the application has the advantages that: the transmission module is driven to rotate by the external threads of the output shaft of the motor, the sliding module is made to perform linear motion, and then the fixed speed change line on the sliding module is tensioned or loosened, electronic speed change is achieved, the whole device is a modified kit, can be directly installed on a bicycle adopting a traditional mechanical speed change system, and is matched for use and low in cost.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a shift actuator according to an embodiment of the present disclosure;

FIG. 2 is an exploded view of a variable speed actuator provided in accordance with an embodiment of the present application;

FIG. 3 is a schematic external view of a shift actuator according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a shift button of the bicycle shifter provided in the embodiments of the present application;

FIG. 5 is an exploded view of a shift button of the bicycle shifter provided in accordance with the present embodiment of the application;

FIG. 6 is a circuit diagram of a first circuit board of the bicycle shifter provided in the embodiments of the present application;

FIG. 7 is a schematic structural diagram of a controller of a bicycle shifter provided in an embodiment of the present application;

FIG. 8 is an exploded view of a controller for a bicycle shifter provided in accordance with an embodiment of the present application;

FIG. 9 is a circuit diagram of a second circuit board and a third circuit board of the bicycle shifter provided in the embodiments of the present application;

FIG. 10 is a flowchart of a method of controlling a bicycle shifter provided in an embodiment of the present application.

Description of reference numerals:

100-motor, 101-linear guide rail, 102-shell, 103-wire passing base, 104-clamping piece, 200-transmission module, 300-sliding module, 400-speed changing button, 410-first circuit board, 411-button switch, 412-wireless sending module, 413-battery interface, 420-first bracket, 430-first battery, 440-first shell, 450-first clamping ring, 500-controller, 510-second circuit board, 511-wireless receiving module, 512-control module, 513-voltage reducing module, 520-third circuit board, 521-rudder machine control module, 522-motor control module, 523-motor encoder, 524-voltage increasing charging module, 530-second battery, 540-magnetic attraction terminal, 550-second holder, 560-second shell, 570-second clip.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The existing electronic speed change system of the bicycle has higher selling price and cost because the speed change line of the traditional mechanical speed change system is removed and the electronic control unit is directly utilized to replace a complex mechanical structure, and the electronic speed change system can not be popularized to the common bicycle; meanwhile, the electronic speed change system in the market is mainly a whole set of speed change kit, and the traditional mechanical speed change system on the bicycle needs to be completely replaced, so that the cost is higher.

Therefore, the application provides a variable speed actuating mechanism, locate the slip module with the external screw thread department and the cover of the output shaft of transmission module spiro union in the output shaft of motor, the slip module cup joints in the output shaft outside and is equipped with the separation blade near the one end of motor, thereby the output shaft through the motor rotates and drives the transmission module and rotate, make the slip module be linear motion, and then take-up or relax the last fixed speed change line of slip module, make the derailleur take place the displacement behind the bicycle derailleur, stir the bicycle chain to another flywheel of bicycle derailleur, realize electronic type variable speed and the cost is lower, be applicable to the bicycle of repacking traditional mechanical variable speed system simultaneously.

The shift actuator provided by the present application will be described by way of example with reference to the accompanying drawings:

fig. 1 is a schematic structural diagram of a shift actuator according to an embodiment of the present application, and as shown in fig. 1, for convenience of description, only the parts related to the embodiment are shown, and detailed descriptions are as follows: illustratively, the motor 100, the transmission module 200 with internal threads, and the sliding module 300 fixed with a speed change line may be included, the output shaft of the motor 100 has external threads, the transmission module 200 is screwed to the external threads of the output shaft and is disposed in the sliding module 300, and a stopper is disposed at one end of the sliding module 300 close to the motor 100.

In the embodiment of the application, the external screw thread of the output shaft through the motor (for example, can be motor or motor control module) and the internal thread in the transmission module form self-locking thread drive mechanism, the rotary motion of output shaft is converted into the transmission module and rotates along the external screw thread of output shaft, further drive the sliding module and fix the speed change line on the sliding module through the transmission module and be linear motion, thereby make the speed change line strained or loosen, the derailleur takes place the displacement behind the rethread bicycle derailleur, shift the bicycle chain to another flywheel of bicycle derailleur, realize the electronic type variable speed.

Fig. 2 is an exploded view of a shift actuator according to an embodiment of the present disclosure, and fig. 3 is an external structural schematic view of the shift actuator according to the embodiment of the present disclosure, as shown in fig. 2 and 3, the shift actuator may further include a linear guide 101, a housing 102, a wire guide seat 103, and a clamping member 104; the linear guide 101 is installed below the external thread of the output shaft of the motor 100, the transmission module 200, the sliding module 300 and the linear guide 101 are installed inside the housing 102, the wire passing base 103 is installed outside one end of the housing 102 far away from the motor 100, and the clamping piece 104 is installed outside the housing 102.

In the embodiment of the application, the sliding module is limited to rotate along with the external thread of the output shaft through the linear guide rail, so that the sliding module can do linear motion along the direction of the linear guide rail, and a speed change line mounting hole, a motor mounting hole and a shell mounting hole are provided; meanwhile, the sliding module is provided with a square bulge which can be matched with the square groove in the linear guide rail, and a speed change line mounting hole is formed in the square bulge. When the speed changing line is installed, the speed changing line penetrates through the speed changing line installation hole, and the speed changing line can be driven to move through the linear motion of the transmission module. The casing includes casing top cap and casing bottom, protects inside components and parts through the casing, reduces the influence of external environment to inside components and parts, provides holder installation hole site, linear guide installation hole site and variable speed line simultaneously and crosses the line hole. The installation position of the speed changing line pipe is provided by the line passing seat. One end of the speed change line is inserted into the line passing seat, and the other end of the speed change line is inserted into the line inlet hole of the rear derailleur, so that the speed change line can be protected and the trend of the speed change line can be controlled. The shift actuator is mounted to the bicycle shifter by a clamp.

The application of the variable speed actuating mechanism can be refitted aiming at various existing bicycles using the traditional mechanical variable speed system, the threshold of variable speed debugging of the bicycle is reduced, a rider does not need to master the pull wire ratio of the speed changer, the upper limit and the lower limit of variable speed and knowledge needed to be involved in the debugging process of shifting the variable speed stroke and the like, the variable speed system can be debugged by himself, the response time of the variable speed system can be reduced, and the accuracy of variable speed is improved.

Fig. 4 is a schematic structural diagram of a shift button of a bicycle transmission provided in an embodiment of the present application, and fig. 7 is a schematic structural diagram of a controller of a bicycle transmission provided in an embodiment of the present application, as shown in fig. 4 and 7, which exemplarily provides a bicycle transmission that may include a shift actuator, and a shift button 400 configured to acquire an upshift signal or a downshift signal; and a controller 500 electrically connected to the shift button 400 and the shift actuator and configured to control the shift actuator to perform an upshift operation or a downshift operation according to the upshift signal or the downshift signal.

In the embodiment of the application, the gear-up signal or the gear-down signal of a user is obtained through the gear-shifting button, and the gear-shifting executing mechanism is controlled to perform the gear-up operation or the gear-down operation through the controller according to the gear-up signal or the gear-down signal, so that the speed and the gear of the bicycle can be adjusted directly through electronic signal transmission without mechanical braking.

Fig. 5 is an exploded view of a shift button of a bicycle shifter provided in an embodiment of the present application, and as shown in fig. 5, an example shift button 400 includes a first circuit board 410, a first bracket 420, a first battery 430, a first case 440, and a first clip 450; the first circuit board 410 and the first battery 430 are mounted at both sides of the first bracket 420, the first circuit board 410, the first bracket 420 and the first battery 430 are mounted inside the first case 440, and the clip 450 is mounted outside the first case 440.

In the embodiment of the application, the upshift requirement or the downshift requirement of a user is acquired through the first circuit board; the first circuit board and the first battery are connected through the first support, a mounting hole for connecting the first shell is provided, a gap between the printed circuit board and the wireless sending module is filled, and the first circuit board is protected; supplying power to the first circuit board through the first battery; the first circuit board, the first bracket and the first battery are protected by the first shell, so that the influence of the external environment on the circuit is reduced; the first shell comprises a top cover and a bottom cover, the bottom cover is provided with a thin wall which is consistent with the outer edge of the top cover in shape, and after the top cover and the bottom cover are assembled, external liquid can enter the shell only by passing through the thin wall due to the action of gravity. Consequently, this structure can prevent to a certain extent that rain from spattering the intaking that brings, has certain waterproof dustproof ability for guaranteeing the shell simultaneously, will annotate waterproof glue in each hole department of shell after the assembly is accomplished, keeps the light touch switch still work when preventing into water. Install shift button on the bicycle handlebar through first clamp ring, first clamp ring includes first clamp ring and first clamp ring down, the adjacent one end of first clamp ring and first clamp ring all is equipped with the through-hole of mutually supporting on first, form a pivot after inserting the bolt, can make first clamp ring rotate around this pivot, be convenient for install, the other end of first clamp ring and the other end of first clamp ring all are equipped with the hole of mountable locking bolt down, can lock first clamp ring after first clamp ring and handlebar cooperation, thereby fix shift button on the bicycle handlebar, still be equipped with the hole of being connected with first shell simultaneously at first clamp ring both ends, be used for through bolt and first shell fixed connection.

Fig. 6 is a circuit diagram of a first circuit board of a bicycle transmission provided by an embodiment of the present application, and as shown in fig. 6, the first circuit board 410 may exemplarily include a push switch 411 configured to obtain an upshift signal or a downshift signal according to a high-low level; a wireless transmission module 412 electrically connected to the button switch 411 and configured to wirelessly transmit an upshift signal or a downshift signal; the battery interface 413 is electrically connected to the button switch 411 and the wireless transmission module 412.

In the embodiment of the application, the up-shift signal or the down-shift signal is obtained by the button switch according to the high and low levels, for example, the button switch may include an up-shift button and a down-shift button, the up-shift signal and the down-shift signal are respectively output after being pressed, the level states of the up-shift button and the down-shift button are monitored by the wireless transmission module, whenever the level change of the pin of the up-shift button or the down-shift button is monitored, the corresponding up-shift signal or the down-shift signal is transmitted to the wireless reception module, and the battery power supply or the external power supply is connected through the battery interface to supply power to the button switch and the wireless transmission module.

Fig. 8 is an exploded view of a controller of a bicycle shifter provided in an embodiment of the present application, and as shown in fig. 8, the controller 500 may exemplarily include a second circuit board 510, a third circuit board 520, a second battery 530, a magnetically attracted terminal 540, a second bracket 550, a second case 560, and a second clip 570; the magnetic terminal 540 is electrically connected with the second battery 530, the second battery 530 is mounted inside the second bracket 550, the second circuit board 510 and the third circuit board 520 are mounted on two sides of the second bracket 550, the second circuit board 510, the third circuit board 520, the second battery 530, the magnetic terminal 540 and the second bracket 550 are mounted inside the second shell 560, and the second clamping ring 570 is mounted outside the second shell 560. Wherein the second housing 560 includes a second top cover and a second bottom cover.

In the embodiment of the application, the second circuit board receives the upshift signal or the downshift signal and generates a corresponding driving signal, the third circuit board drives the steering engine or the motor to rotate by a corresponding angle according to the driving signal, the second circuit board and the third circuit board are powered by the second battery, the magnetic attraction terminal is connected with an external power supply to charge the second battery, the second circuit board and the third circuit board are fixed with the battery through the second support, and mounting holes for the second top cover and the second bottom cover are provided, a concave table (for example, a concave table with an axis inclined by 30 degrees) which is matched with the inner side of the top of the second top cover is arranged on the outer side of the top of the second support, so that the second support can be smoothly assembled into the second top cover, and a convex table and a mounting hole for connecting the second bottom cover are arranged on the outer side of the bottom of the second support; the second shell protects the internal components of the controller, the influence of the external environment on the internal components is reduced, two through holes with central axes inclined by 30 degrees relative to the wall surface of the second top cover are formed in the outer wall of the second top cover, bolts are inserted into the through holes and are used for being connected with the second support to fix the second support, and external liquid needs to flow into the through holes inclined by 30 degrees from bottom to top if entering the second shell, so that the structure can prevent water from entering the through holes due to rain splash to a certain degree; simultaneously, the second bottom provides the installation position of magnetism terminal of inhaling and crosses the line hole, and the second bottom is equipped with the thin wall of following the shape unanimity outward with the second top cap, and second top cap and second bottom assembly back because the effect of gravity, outside liquid need cross inside this thin wall could enter into the second shell, consequently, the intaking that can prevent that the rain from spattering and bringing of certain degree. On being fixed in bicycle seat pipe with the second shell through the second clamp ring, be equipped with the through-hole of being connected with the cooperation of second shell on the second clamp ring, can form the pivot behind the screw in bolt, when the locking bolt of the second clamp ring other end was not screwed in, can make the second clamp ring rotatory around the pivot, make things convenient for the dismouting.

Fig. 9 is a circuit diagram of a second circuit board and a third circuit board of a bicycle transmission provided by an embodiment of the present application, and as shown in fig. 9, the second circuit board 510 may exemplarily include a wireless receiving module 511 wirelessly connected with the shift button 400 and configured to wirelessly receive an upshift signal or a downshift signal; a control module 512 electrically connected to the wireless receiving module 511 and configured to output a driving signal according to the upshift signal or the downshift signal; and a voltage reduction module 513 electrically connected to the wireless receiving module 511 and the control module 512, and configured to supply power to the wireless receiving module 511 and the control module 512.

As shown in fig. 9, for example, the third circuit board 520 may include a steering engine control module 521, electrically connected to the control module 512, and configured to rotate the steering engine by a corresponding angle according to the driving signal; a motor control module 522 electrically connected to the control module 512 and configured to rotate the motor a corresponding number of turns according to the driving signal; a motor encoder 523 electrically connected to the motor control module 522 and the control module 512, and configured to feed back the current gear of the motor control module 522 to the control module 512 in real time; and the boost charging module 524 is electrically connected with the steering engine control module 521, the motor control module 522 and the motor encoder 523, and is configured to boost the output voltage of the second battery 530 and access an external charging power supply to supply power to the steering engine control module 521, the motor control module 522 and the motor encoder 523.

In the embodiment of the application, the wireless receiving module receives the upshift signal or the downshift signal sent by the wireless sending module, the control module generates the driving signal corresponding to the steering engine control module or the motor control module according to the upshift signal or the downshift signal, and the voltage reduction module provides stable 3.3V voltage for the wireless receiving module and the control module. The steering engine rotates by a corresponding angle according to the driving signal to drive the rear derailleur to move the bicycle chain to the other flywheel, the motor rotates by a corresponding number of turns according to the driving signal to drive the rear derailleur to move the bicycle chain to the other flywheel, and the motor encoder feeds back the current gear of the motor control module to the control module in real time so as to accurately adjust the rotating angle of the motor; the voltage of the 3.7V lithium battery is increased to 9V through the boost charging module, so that the VIN interface of the control module can be driven, and the torque of the motor is improved through high voltage. Outside 5VIN is the magnetism that is used for charging in the controller and inhales the terminal, can connect outside USB power, if charge precious etc to charge to the controller. Meanwhile, the driving signal output by the control module is a low-power PWM signal, and the steering engine or the motor cannot be directly driven, so that the steering engine or the motor receives the low-power PWM signal from the control module, and the power supply of the boosting charging module is adopted to drive the steering engine or the motor to rotate.

Fig. 10 is a flowchart of a control method of a bicycle transmission provided by an embodiment of the present application, and as shown in fig. 10, the control method of a bicycle transmission provided by an embodiment of the present application may include the steps of:

s1, reading the recorded initial gear of the gear shifting actuating mechanism;

s2, restoring the gear of the gear-shifting actuating mechanism to the initial gear;

s3, controlling the shift actuator to move a corresponding gear distance according to the upshift signal or the downshift signal in combination with the initial gear;

and S4, recording a new gear after the gear shift actuating mechanism moves by the corresponding gear distance.

In the embodiment of the application, after an accident such as power failure occurs and in the process of restarting initialization of the controller, the memory (such as a read only memory or an EEPROM) is used for acquiring gear data before power failure, the recorded initial gear of the variable speed executing mechanism is read at first, and then the gear of the variable speed executing mechanism is restored to the initial gear, so that after restarting under some limit working conditions, the transmission module can still maintain the original position, and the transmission module is prevented from automatically returning to the initial position when being initialized. The limit condition may include battery power exhaustion, accidental disconnection of the controller, or long-term non-use of the disconnected power supply.

Then, controlling the gear shift executing mechanism to move by a corresponding gear distance according to the upshifting signal or the downshifting signal in combination with the initial gear, and comprising the following steps: judging whether the shift button is pressed for more than a first preset time, when the shift button is pressed for more than the first preset time, setting a zero point of a gear according to an upshift signal, and controlling the whole deviation of a transmission module according to a downshift signal, otherwise, judging whether the shift button is pressed for more than a second preset time; when the speed change button is pressed for more than a second preset time length, finely adjusting the position of the speed change executing mechanism forwards or backwards according to an upshift signal or a downshift signal in combination with an initial gear, otherwise, judging that the speed change button is pressed for more than a third preset time length; when the speed change button is pressed for more than a third preset duration, judging whether the gear of the speed change executing mechanism is in the highest gear or the lowest gear, and otherwise, keeping the gear unchanged; when the gear shift button is pressed for more than a third preset time and the gear of the gear shift execution mechanism is in the highest gear or the lowest gear, keeping the gear unchanged; when the gear shift button is pressed for more than a third preset time and the gear of the gear shift execution mechanism is not in the highest gear or the lowest gear, the gear of the gear shift execution mechanism is increased by one gear or decreased by one gear according to the gear shift up signal or the gear shift down signal and the initial gear; and recording a new gear after the gear distance corresponding to the movement of the variable speed executing mechanism is obtained, wherein the first preset time length is longer than the second preset time length, and the second preset time length is longer than the third preset time length.

In the embodiment of the application, the position of the nut cannot be changed through external force due to the self-locking property of the speed change executing mechanism. Therefore, the integral offset function is arranged, and the integral coordinate can be far away from the motor by preset displacement (for example, 10mm) after the downshift key is pressed for a first preset time (for example, 10 seconds), so that the adjustment can be carried out according to the condition that the position of the transmission module is too close to the motor. Zero setting function: namely, after the gear-up key is pressed for a first preset time (for example, 10 seconds), the current position of the transmission module is set to 0 position, and the gear is restored to 1 gear, so that the gear-shifting execution mechanism can be applied to various bicycles. Entering a debugging mode after a long-time upshift key is pressed for a second preset time (for example, 5 seconds), and moving the position of the transmission module corresponding to the current gear forward in the debugging mode by pressing the upshift key for a short time (for example, 1-2 seconds); the transmission module position corresponding to the current gear can be moved backwards by pressing the downshift key for a short time (which may be 1-2 seconds, for example). The debug mode can be exited after a long press of the downshift key for a second predetermined duration (which may be, for example, 5 seconds). The third preset time period may be 1-2 seconds. Through upwards or the position of fine setting variable speed actuating mechanism downwards, can provide the fine setting function for the motor turned angle that each gear corresponds, guarantee the commonality of this application. Because the steering wheel turned angle that different gears of different bicycles correspond may be different, when the fine setting function that provides the angle can make this application install on different bicycles, upwards or fine setting downwards motor turned angle according to the effect of actual variable speed to obtain better variable speed effect.

For example, before recording a new shift position after the shift actuator moves by the corresponding shift position distance, the method may further include: and carrying out proportional integral operation according to the difference value between the current gear position and the target gear position of the transmission module to obtain the output value of the motor until the transmission module reaches the target gear position.

In the embodiment of the application, the position of the transmission module is controlled through proportional-integral operation. The pulse input of a motor encoder is operated to obtain a feedback value of the current transmission module position, then proportional integral operation is carried out on the feedback value to obtain an output value suitable for the current position, and the motor outputs a force corresponding to the output value, so that the effect of closed-loop position control is achieved.

For example, before recording a new shift position after the shift actuator moves by the corresponding shift position distance, the method may further include: and calculating the moving speed of the transmission module according to the difference value between the last sampling position of the transmission module and the current sampling position and the sampling frequency until the sampling speed is zero.

In the embodiment of the application, the moving speed of the transmission module is calculated according to the difference value between the last sampling position of the transmission module and the current sampling position and the sampling frequency, when the moving speed is 0, the current position is recorded into a memory (such as a read only memory (rom) or an electrically erasable programmable read-only memory (EEPROM)), otherwise, the moving speed of the transmission module is calculated again according to the difference value between the last sampling position of the transmission module and the current sampling position and the sampling frequency until the moving speed is 0, so that the motor encoder achieves the effect of an absolute encoder, and the application range is wide.

The working process of the application is as follows: firstly, pressing down an upshift button or a downshift button of a speed change button, sending an upshift signal or a downshift signal through a wireless sending module, receiving a signal from the speed change button through a wireless receiving module, converting the wireless signal into a switching value signal and transmitting the switching value signal to a controller, judging that the pressed button is the upshift button or the downshift button through the controller, judging that the next operation of the motor is upshift, downshift or unchanged according to the current gear, calculating to obtain the rotating speed required by the motor by the controller according to the difference value of the current gear position and the target gear position of the motor after determining the gear operation, and shifting a bicycle chain to another flywheel of the bicycle transmission through the displacement of a rear derailleur to realize the electronic speed change operation; meanwhile, the motor encoder feeds the current position of the motor back to the controller in real time to form a closed-loop control system. After the closed-loop control, the linear guide rail and the sliding module move to the target position and pull the speed change line at the same time, so that the whole control device has low cost, is suitable for modifying the bicycle of the traditional mechanical speed change system, and has wide application range.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed bicycle shifter and method can be implemented in other ways. For example, the above-described bicycle transmission embodiments are merely illustrative, and for example, a division of modules or units is merely a logical division, and additional divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. A speed change actuating mechanism is applied to a bicycle speed changer and is characterized by comprising a motor, a transmission module with internal threads and a sliding module fixed with a speed change line;

2. The variable speed actuator of claim 1, further comprising a linear guide, a housing, a wire passing seat, and a clamping member;

the linear guide rail is arranged below the external thread of the output shaft of the motor, the transmission module, the sliding module and the linear guide rail are arranged inside the shell, the wire passing seat is arranged on the outer side, far away from the motor, of the shell, and the clamping piece is arranged on the outer side of the shell.

3. A bicycle derailleur, characterized in that it comprises a gear change actuator according to claim 1 or 2, and

a shift button configured to acquire an upshift signal or a downshift signal;

4. The bicycle shifter of claim 3, wherein the shift button includes a first circuit board, a first bracket, a first battery, a first housing and a first clip;

5. The bicycle shifter of claim 4, wherein the first circuit board includes:

6. The bicycle shifter of claim 3, wherein the controller includes a second circuit board, a third circuit board, a second battery, a magnetically attractive terminal, a second bracket, a second housing, and a second clamping ring;

7. The bicycle shifter of claim 6, wherein the second circuit board includes:

8. The bicycle shifter of claim 7, wherein the third circuit board includes:

9. A method of controlling a bicycle derailleur according to any one of claims 3-8, comprising the steps of:

reading the recorded initial gear of the speed change actuating mechanism;

restoring the gear of the speed change actuating mechanism to the initial gear;

10. The control method according to claim 9, wherein said controlling the shift actuator to move a corresponding gear distance in conjunction with the initial gear in accordance with the upshift or downshift signal includes:

11. The control method according to claim 9 or 10, wherein said registering before the new gear after the shift actuator has moved the corresponding gear distance further comprises:

12. The control method according to claim 9 or 10, wherein said registering before the new gear after the shift actuator has moved the corresponding gear distance further comprises: