CN115465399A - Torque and speed sensor device and electric bicycle - Google Patents

Torque and speed sensor device and electric bicycle Download PDF

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Publication number
CN115465399A
CN115465399A CN202211198968.0A CN202211198968A CN115465399A CN 115465399 A CN115465399 A CN 115465399A CN 202211198968 A CN202211198968 A CN 202211198968A CN 115465399 A CN115465399 A CN 115465399A
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torque
speed
wall
mounting
sensing device
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CN115465399B (en
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周佳林
罗绍俊
熊贵林
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Guangdong Welling Motor Manufacturing Co Ltd
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Guangdong Welling Motor Manufacturing Co Ltd
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Priority to PCT/CN2023/084796 priority patent/WO2024066262A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62MRIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40Rider propelled cycles with auxiliary electric motor
    • B62M6/45Control or actuating devices therefor
    • B62M6/50Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/20Cycle computers as cycle accessories
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40Sensor arrangements; Mounting thereof
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40Sensor arrangements; Mounting thereof
    • B62J45/41Sensor arrangements; Mounting thereof characterised by the type of sensor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40Sensor arrangements; Mounting thereof
    • B62J45/41Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/412Speed sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40Sensor arrangements; Mounting thereof
    • B62J45/42Sensor arrangements; Mounting thereof characterised by mounting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62JCYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40Sensor arrangements; Mounting thereof
    • B62J45/42Sensor arrangements; Mounting thereof characterised by mounting
    • B62J45/421Sensor arrangements; Mounting thereof characterised by mounting at the pedal crank
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62MRIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40Rider propelled cycles with auxiliary electric motor
    • B62M6/45Control or actuating devices therefor

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The invention discloses a torque and speed sensing device and an electric bicycle, wherein the torque and speed sensing device comprises a center shaft, a connecting piece, a deforming piece, a mounting frame, a signal processing circuit board, a speed sensor, a permanent magnet and a torque sensor, the center shaft is rotationally arranged in a five-way pipe, an induction tooth part is arranged on the outer wall of the center shaft, the connecting piece is sleeved on the periphery of the center shaft, the speed sensor is arranged on the signal processing circuit board and is arranged opposite to the induction tooth part, compared with the existing torque and speed sensor, the torque and speed sensing device is simpler to process a face tooth part and lower in processing difficulty by arranging the induction tooth part on the center shaft, and the tooth number density can be higher on the other hand, so that the induction precision of the speed sensor is improved.

Description

力矩及速度传感装置及电动自行车Torque and speed sensor device and electric bicycle

技术领域technical field

本发明涉及电动自行车技术领域,特别涉及一种力矩及速度传感装置及电动自行车。The invention relates to the technical field of electric bicycles, in particular to a torque and speed sensing device and an electric bicycle.

背景技术Background technique

相关技术中,轮毂电机驱动系统因具有价格优势及改装简便的优点,而在助力电动自行车行业占有一定的市场。轮毂电机的动力驱动如何与人力配合才能使用户获得舒适的骑行感,一直是助力电动自行车从业者追求的目标,而人力的信号采集对驱动控制的依据至关重要。电动自行车轮毂电机的优势之一是对传统自行车的改动小、改装简单,同时传统自行车左右脚踏的动力最早汇集的地方在中轴上,因此如何做到在传统自行车中轴安装的空间实现信号采集且对传统自行车改装最小是助力电动自行车驱动部件设计的难点之一。Among the related technologies, the in-wheel motor driving system occupies a certain market in the electric bicycle industry due to its price advantage and the advantages of easy modification. How the power drive of the hub motor cooperates with manpower to enable users to obtain a comfortable riding experience has always been the goal pursued by electric bicycle practitioners, and the signal acquisition of manpower is crucial to the basis of drive control. One of the advantages of electric bicycle hub motors is that the changes to traditional bicycles are small and the modification is simple. At the same time, the power of the left and right pedals of traditional bicycles first gathers on the central shaft, so how to realize the signal in the space where the traditional bicycle central shaft is installed Acquisition and minimal modification of traditional bicycles is one of the difficulties in the design of power-assisted electric bicycle drive components.

目前,市场上现有的产品,转速和转向感应的方案采用的是在中轴上安装一个径向充磁的速度磁环,磁环对应的位置放置速度感应器,中轴受力转动时带动速度磁环同步转动,速度感应器感应速度磁环转动时的磁场变化判断中轴的转速和转向。这种方案存在的问题:1、速度磁环的极对数越多精度越高。但是空间直径较小,充磁宽度又有限制,导致极对数一般只能做到16对极;2、力矩传感器的感应依托电或磁,速度磁环存在磁场,且与变形件距离较近,容易干扰力矩传感器的信号,降低了力矩传感器的精度。At present, the existing products on the market, the scheme of speed and steering induction adopts a radially magnetized speed magnetic ring on the central shaft, and a speed sensor is placed at the corresponding position of the magnetic ring. When the central shaft is forced to rotate, it drives The speed magnetic ring rotates synchronously, and the speed sensor senses the magnetic field change when the speed magnetic ring rotates to judge the rotational speed and steering direction of the center shaft. Problems in this scheme: 1. The more the number of pole pairs of the speed magnetic ring, the higher the precision. However, the space diameter is small and the magnetization width is limited, so the number of pole pairs can only be 16 pairs of poles; 2. The induction of the torque sensor relies on electricity or magnetism, and the speed magnetic ring has a magnetic field, and the distance between it and the deformed part is relatively close , It is easy to interfere with the signal of the torque sensor, which reduces the accuracy of the torque sensor.

发明内容Contents of the invention

本发明旨在至少解决现有技术中存在的技术问题之一。为此,本发明提出一种感应精度高的力矩及速度传感装置。The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention proposes a torque and speed sensing device with high sensing precision.

本发明另外还提供一种具有上述力矩及速度传感装置的电动自行车。The present invention also provides an electric bicycle with the above torque and speed sensing device.

根据本发明第一方面实施例的力矩及速度传感装置,包括:The torque and speed sensing device according to the embodiment of the first aspect of the present invention includes:

中轴,转动设置于五通管内,所述中轴的外壁设置有感应齿部,所述感应齿部包括沿所述中轴的外壁周向均布的多个齿;The central shaft is rotatably arranged in the five-way pipe, and the outer wall of the central shaft is provided with an induction tooth portion, and the induction tooth portion includes a plurality of teeth uniformly distributed along the outer wall of the central shaft;

连接件,套设于所述中轴的外周,用于将动力传输至牙盘;The connecting piece is sleeved on the outer periphery of the central shaft, and is used to transmit power to the crankset;

变形件,一端固定连接所述中轴,另一端固定连接所述连接件;A deformable part, one end is fixedly connected to the central shaft, and the other end is fixedly connected to the connecting part;

安装架,固定设置于所述五通管内并套设于所述变形件的外周;The mounting frame is fixedly arranged in the bottom bracket and sleeved on the outer periphery of the deformable part;

信号处理线路板,安装于所述安装架;A signal processing circuit board installed on the mounting frame;

速度感应器,安装于所述信号处理线路板,并与所述感应齿部相对设置;a speed sensor installed on the signal processing circuit board and arranged opposite to the induction tooth;

永磁体,安装于所述信号处理线路板背离所述速度感应器的一侧,所述速度感应器用于感应所述永磁体的磁场变化,以输送速度信号至所述信号处理线路板;A permanent magnet installed on the side of the signal processing circuit board away from the speed sensor, the speed sensor is used to sense the change of the magnetic field of the permanent magnet to transmit a speed signal to the signal processing circuit board;

力矩感应器,安装于所述安装架,用于感应所述变形件的形变,以输送力矩信号至所述信号处理线路板。The torque sensor is installed on the installation frame and is used for sensing the deformation of the deformable part, so as to transmit the torque signal to the signal processing circuit board.

根据本发明第一方面实施例的力矩及速度传感装置,至少具有如下有益效果:The torque and speed sensing device according to the embodiment of the first aspect of the present invention has at least the following beneficial effects:

用户通过踩踏将动力输入中轴使得中轴旋转时,跟随中轴旋转的感应齿部的多个齿能够引起永磁体的磁场发生变化,速度感应器能够感应磁场的变化而产生速度信号,然后将速度信号输送至信号处理线路板进行处理以获得中轴的旋转速度和旋转方向,同时中轴旋转时,中轴的动力通过变形件输送至连接件,然后再通过连接件输送至牙盘以带动车轮转动,变形件在输送动力的过程中会产生形变,力矩感应器能够感应变形件的形变而产生力矩信号,然后将力矩信号输送至信号处理线路板进行处理以获得输入中轴的动力的力矩大小,信号处理线路板将速度信号和力矩信号初步处理后发送至轮毂电机的控制器,控制器再控制轮毂电机输出合适的动力以配合人力驱动车辆行驶,从而使得用户能够获得舒适的骑行感。相对现有的力矩及速度传感器,该力矩及速度传感装置通过在中轴设置感应齿部,一方面齿的加工更简单,降低加工的难度,另一方面齿数密度能够设置更高,从而有利于提高速度感应器的感应精度,同时由于永磁体安装于安装架上而远离变形件,能够减少永磁体对变形件的磁化影响,减少对力矩感应器的干扰,从而有利于提高力矩感应器的感应精度。When the user inputs power into the central shaft by stepping on it to make the central shaft rotate, the multiple teeth of the induction teeth following the rotation of the central shaft can cause the magnetic field of the permanent magnet to change, and the speed sensor can sense the change of the magnetic field to generate a speed signal, and then the The speed signal is sent to the signal processing circuit board for processing to obtain the rotation speed and rotation direction of the center shaft. At the same time, when the center shaft rotates, the power of the center shaft is transmitted to the connecting part through the deformation part, and then sent to the tooth plate through the connecting part to drive When the wheel rotates, the deformed part will deform during the process of transmitting power. The torque sensor can sense the deformation of the deformed part to generate a torque signal, and then transmit the torque signal to the signal processing circuit board for processing to obtain the torque of the power input to the center shaft Size, the signal processing circuit board sends the speed signal and torque signal to the controller of the hub motor after preliminary processing, and the controller then controls the hub motor to output appropriate power to cooperate with human-driven vehicles, so that users can get a comfortable riding experience . Compared with the existing torque and speed sensors, the torque and speed sensing device is equipped with induction teeth on the central shaft. On the one hand, the processing of the teeth is simpler and the difficulty of processing is reduced. On the other hand, the tooth number density can be set higher, so that there is It is beneficial to improve the induction accuracy of the speed sensor. At the same time, since the permanent magnet is installed on the mounting frame and is far away from the deformed part, it can reduce the magnetization effect of the permanent magnet on the deformed part and reduce the interference to the torque sensor, thereby helping to improve the performance of the torque sensor. Sensing accuracy.

根据本发明的一些实施例,所述力矩及速度传感装置还包括屏蔽件,所述屏蔽件罩设于所述力矩感应器的外周。According to some embodiments of the present invention, the torque and speed sensing device further includes a shield, and the shield is disposed on the outer periphery of the torque sensor.

根据本发明的一些实施例,所述安装架的外壁设置有位于所述力矩感应器轴向两端的凸起,所述屏蔽件卡设于两个所述凸起之间。According to some embodiments of the present invention, the outer wall of the installation frame is provided with protrusions located at both axial ends of the torque sensor, and the shielding member is clamped between the two protrusions.

根据本发明的一些实施例,所述力矩感应器包括两个感应线圈,所述安装架的外壁设置有两个环形槽,两个所述感应线圈安装于相应的所述环形槽内。According to some embodiments of the present invention, the torque sensor includes two induction coils, the outer wall of the installation frame is provided with two annular grooves, and the two induction coils are installed in the corresponding annular grooves.

根据本发明的一些实施例,所述力矩感应器还包括连接线,所述感应线圈通过所述连接线与所述信号处理线路板连接,所述安装架的外壁设置有用于避让所述连接线的避让槽。According to some embodiments of the present invention, the torque sensor further includes a connection wire, the induction coil is connected to the signal processing circuit board through the connection wire, and the outer wall of the installation frame is provided with a avoidance slot.

根据本发明的一些实施例,所述安装架设置有凹槽,所述速度感应器嵌入于所述凹槽内。According to some embodiments of the present invention, the installation frame is provided with a groove, and the speed sensor is embedded in the groove.

根据本发明的一些实施例,还包括第一安装座和第二安装座,所述第一安装座和所述第二安装座安装于所述五通管沿轴向的两端,所述中轴通过第一轴承转动安装于所述第一安装座,所述连接件通过第二轴承转动安装于所述第二安装座。According to some embodiments of the present invention, it further includes a first mounting seat and a second mounting seat, the first mounting seat and the second mounting seat are mounted on both ends of the bottom bracket tube in the axial direction, and the middle The shaft is rotatably mounted on the first mounting seat through the first bearing, and the connecting piece is rotatably mounted on the second mounting seat through the second bearing.

根据本发明的一些实施例,所述第一安装座的内壁设置有卡槽,所述安装架的外壁设置有凸筋,所述安装架通过所述凸筋卡接于所述卡槽而周向固定于所述第一安装座。According to some embodiments of the present invention, the inner wall of the first mounting seat is provided with a card slot, and the outer wall of the mounting frame is provided with a rib, and the mounting frame is connected to the card slot by the rib and fixed on the first mount.

根据本发明的一些实施例,所述变形件的外壁设置有凸台,所述中轴的外壁安装有限位件,所述安装架卡设于所述凸台和所述限位件之间。According to some embodiments of the present invention, a boss is provided on the outer wall of the deformation member, a limiting member is installed on the outer wall of the central shaft, and the installation frame is clamped between the boss and the limiting member.

根据本发明的一些实施例,所述中轴的外壁设置有安装齿部,所述变形件的内壁设置有与所述安装齿部配合的配合齿部。According to some embodiments of the present invention, the outer wall of the central shaft is provided with a mounting tooth portion, and the inner wall of the deformation member is provided with a mating tooth portion that cooperates with the mounting tooth portion.

根据本发明的一些实施例,所述中轴的外壁还设置有挡环,所述挡环位于所述安装齿部和所述感应齿部之间。According to some embodiments of the present invention, the outer wall of the central shaft is further provided with a stop ring, and the stop ring is located between the installation tooth part and the induction tooth part.

根据本发明第二方面实施例的电动自行车,包括本发明第一方面实施例的力矩及速度传感装置。The electric bicycle according to the embodiment of the second aspect of the present invention includes the torque and speed sensing device of the embodiment of the first aspect of the present invention.

根据本发明第二方面实施例的电动自行车,至少具有如下有益效果:The electric bicycle according to the embodiment of the second aspect of the present invention has at least the following beneficial effects:

电动自行车由于采用上述的力矩及速度传感装置,用户通过踩踏将动力输入中轴使得中轴旋转时,跟随中轴旋转的感应齿部的多个齿能够引起永磁体的磁场发生变化,速度感应器能够感应磁场的变化而产生速度信号,然后将速度信号输送至信号处理线路板进行处理以获得中轴的旋转速度和旋转方向,同时中轴旋转时,中轴的动力通过变形件输送至连接件,然后再通过连接件输送至牙盘以带动车轮转动,变形件在输送动力的过程中会产生形变,力矩感应器能够感应变形件的形变而产生力矩信号,然后将力矩信号输送至信号处理线路板进行处理以获得输入中轴的动力的力矩大小,信号处理线路板将速度信号和力矩信号初步处理后发送至轮毂电机的控制器,控制器再控制轮毂电机输出合适的动力以配合人力驱动车辆行驶,从而使得用户能够获得舒适的骑行感。相对现有的力矩及速度传感器,该力矩及速度传感装置通过在中轴设置感应齿部,一方面齿的加工更简单,降低加工的难度,另一方面齿数密度能够设置更高,从而有利于提高速度感应器的感应精度,同时由于永磁体安装于安装架上而远离变形件,能够减少永磁体对变形件的磁化影响,减少对力矩感应器的干扰,从而有利于提高力矩感应器的感应精度,进而有利于提高轮毂电机助力的效果,从而提高用户骑行的舒适度。Since the electric bicycle adopts the above-mentioned torque and speed sensing device, when the user inputs power into the central shaft by stepping on it to make the central shaft rotate, the multiple teeth of the induction teeth that follow the rotation of the central shaft can cause the magnetic field of the permanent magnet to change, and the speed sensing The sensor can sense the change of the magnetic field to generate a speed signal, and then send the speed signal to the signal processing circuit board for processing to obtain the rotation speed and direction of the center shaft. At the same time, when the center shaft rotates, the power of the center shaft is transmitted to the connection The parts are then sent to the crankset through the connecting parts to drive the wheels to rotate. The deformed parts will deform during the process of transmitting power. The torque sensor can sense the deformation of the deformed parts to generate a torque signal, and then send the torque signal to the signal processing The circuit board performs processing to obtain the torque of the power input to the center shaft. The signal processing circuit board sends the speed signal and torque signal to the controller of the hub motor after preliminary processing. The controller then controls the hub motor to output appropriate power to match the human drive. The vehicle travels, so that the user can obtain a comfortable riding feeling. Compared with the existing torque and speed sensors, the torque and speed sensing device is equipped with induction teeth on the central shaft. On the one hand, the processing of the teeth is simpler and the difficulty of processing is reduced. On the other hand, the tooth number density can be set higher, so that there is It is beneficial to improve the induction accuracy of the speed sensor. At the same time, since the permanent magnet is installed on the mounting frame and is far away from the deformed part, it can reduce the magnetization effect of the permanent magnet on the deformed part and reduce the interference to the torque sensor, thereby helping to improve the performance of the torque sensor. Induction accuracy, which in turn helps to improve the effect of the hub motor power assist, thereby improving the riding comfort of the user.

本发明的附加方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本发明的实践了解到。Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

附图说明Description of drawings

图1是本发明一些实施例的力矩及速度传感装置的剖视结构示意图;Fig. 1 is a schematic cross-sectional structure diagram of a torque and speed sensing device in some embodiments of the present invention;

图2是图1中的A处放大图;Figure 2 is an enlarged view of A in Figure 1;

图3是本发明一些实施例的力矩及速度传感装置的分解结构示意图;3 is a schematic diagram of an exploded structure of a torque and speed sensing device in some embodiments of the present invention;

图4是本发明一些实施例的中轴的立体结构示意图;Fig. 4 is a schematic diagram of the three-dimensional structure of the central axis of some embodiments of the present invention;

图5是本发明一些实施例的安装架、信号处理线路板、速度感应器和力矩感应器的分解结构示意图;Fig. 5 is a schematic diagram of an exploded structure of a mounting frame, a signal processing circuit board, a speed sensor and a torque sensor in some embodiments of the present invention;

图6是本发明一些实施例的连接件的立体结构示意图;Fig. 6 is a three-dimensional structural schematic diagram of a connector in some embodiments of the present invention;

图7是本发明一些实施例的变形件的立体结构示意图;Fig. 7 is a schematic perspective view of the three-dimensional structure of the deformable part in some embodiments of the present invention;

图8是本发明一些实施例的第一安装座的立体结构示意图。Fig. 8 is a schematic perspective view of the first mounting base of some embodiments of the present invention.

附图标记:Reference signs:

中轴100;感应齿部110;安装齿部120;挡环130;Central shaft 100; induction tooth part 110; installation tooth part 120; retaining ring 130;

连接件200;配合连接部210;Connecting piece 200; Cooperating connecting part 210;

变形件300;配合齿部310;凸台320;连接齿部330;Deformation part 300; matching tooth part 310; boss 320; connecting tooth part 330;

安装架400;凹槽410;凸筋420;倒扣结构430;凸环结构440;环形槽450;避让槽460;Mounting frame 400; groove 410; rib 420; undercut structure 430; protruding ring structure 440; annular groove 450; avoidance groove 460;

信号处理线路板500;信号线510;Signal processing circuit board 500; signal line 510;

速度感应器600;Speed sensor 600;

永磁体700;permanent magnet 700;

力矩感应器800;感应线圈810;连接线820;屏蔽件830;Torque sensor 800; induction coil 810; connecting wire 820; shielding part 830;

五通管900;第一安装座910;卡槽911;第二安装座920;第一轴承930;第二轴承940。The bottom bracket 900 ; the first mounting base 910 ; the card slot 911 ; the second mounting base 920 ; the first bearing 930 ; the second bearing 940 .

具体实施方式detailed description

下面详细描述本发明的实施例,所述实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的,仅用于解释本发明,而不能理解为对本发明的限制。Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

在本发明的描述中,需要理解的是,涉及到方位描述,例如上、下、前、后、左、右等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

在本发明的描述中,若干的含义是一个或者多个,多个的含义是两个以上,大于、小于、超过等理解为不包括本数,以上、以下、以内等理解为包括本数。如果有描述到第一、第二只是用于区分技术特征为目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。In the description of the present invention, several means one or more, and multiple means two or more. Greater than, less than, exceeding, etc. are understood as not including the original number, and above, below, within, etc. are understood as including the original number. If the description of the first and second is only for the purpose of distinguishing the technical features, it cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features relation.

本发明的描述中,除非另有明确的限定,设置、安装、连接、装配、配合等词语应做广义理解,所属技术领域技术人员可以接合技术方案的具体内容合理确定上述词语在本发明中的具体含义。In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, connection, assembly, and cooperation should be understood in a broad sense, and those skilled in the art can reasonably determine the meaning of the above words in the present invention in conjunction with the specific content of the technical solution Concrete meaning.

相关技术中,轮毂电机驱动系统因具有价格优势及改装简便的优点,而在助力电动自行车行业占有一定的市场。轮毂电机的动力驱动如何与人力配合才能使用户获得舒适的骑行感,一直是助力电动自行车从业者追求的目标,而人力的信号采集对驱动控制的依据至关重要。电动自行车轮毂电机的优势之一是对传统自行车的改动小、改装简单,同时传统自行车左右脚踏的动力最早汇集的地方在中轴上,因此如何做到在传统自行车中轴安装的空间实现信号采集且对传统自行车改装最小是助力电动自行车驱动部件设计的难点之一。Among the related technologies, the in-wheel motor driving system occupies a certain market in the electric bicycle industry due to its price advantage and the advantages of easy modification. How the power drive of the hub motor cooperates with manpower to enable users to obtain a comfortable riding experience has always been the goal pursued by electric bicycle practitioners, and the signal acquisition of manpower is crucial to the basis of drive control. One of the advantages of electric bicycle hub motors is that the changes to traditional bicycles are small and the modification is simple. At the same time, the power of the left and right pedals of traditional bicycles first gathers on the central shaft, so how to realize the signal in the space where the traditional bicycle central shaft is installed Acquisition and minimal modification of traditional bicycles is one of the difficulties in the design of power-assisted electric bicycle drive components.

目前,市场上现有的产品,转速和转向感应的方案采用的是在中轴上安装一个径向充磁的速度磁环,磁环对应的位置放置速度感应器,中轴受力转动时带动速度磁环同步转动,速度感应器感应速度磁环转动时的磁场变化判断中轴的转速和转向。这种方案存在的问题:1、速度磁环的极对数越多精度越高。但是空间直径较小,充磁宽度又有限制,导致极对数一般只能做到16对极;2、力矩传感器的感应依托电或磁,速度磁环存在磁场,且与变形件距离较近,容易干扰力矩传感器的信号,降低了力矩传感器的精度。At present, the existing products on the market, the scheme of speed and steering induction adopts a radially magnetized speed magnetic ring on the central shaft, and a speed sensor is placed at the corresponding position of the magnetic ring. When the central shaft is forced to rotate, it drives The speed magnetic ring rotates synchronously, and the speed sensor senses the magnetic field change when the speed magnetic ring rotates to judge the rotational speed and steering direction of the center shaft. Problems in this scheme: 1. The more the number of pole pairs of the speed magnetic ring, the higher the precision. However, the space diameter is small and the magnetization width is limited, so the number of pole pairs can only be 16 pairs of poles; 2. The induction of the torque sensor relies on electricity or magnetism, and the speed magnetic ring has a magnetic field, and the distance between it and the deformed part is relatively close , It is easy to interfere with the signal of the torque sensor, which reduces the accuracy of the torque sensor.

为了解决上述的至少一个技术问题,本发明提出一种力矩及速度传感装置,其能够获得较高的感应精度,同时加工更简单。In order to solve at least one of the above-mentioned technical problems, the present invention proposes a torque and speed sensing device, which can obtain higher sensing accuracy and is simpler to manufacture.

参照图1至图3,本发明第一方面实施例提供的一种力矩及速度传感装置,包括中轴100、连接件200、变形件300、安装架400、信号处理线路板500、速度感应器600、永磁体700和力矩感应器800。助力电动自行车的车架设置有五通管900,中轴100设置于五通管900内并能够在五通管900内转动,中轴100的两端连接脚踏板,因此用户在踩踏脚踏板的时候,踩踏的动力将输入中轴100。中轴100的外壁设置有感应齿部110,感应齿部110包括多个齿,多个齿沿着中轴100的外壁周向均布,相邻的齿与齿之间具有间隙。Referring to Fig. 1 to Fig. 3, a torque and speed sensing device provided by the embodiment of the first aspect of the present invention includes a central axis 100, a connecting piece 200, a deformable part 300, a mounting frame 400, a signal processing circuit board 500, a speed sensing 600, permanent magnet 700 and torque sensor 800. The frame of the power-assisted electric bicycle is provided with a bottom bracket 900, and the central axis 100 is arranged in the bottom bracket 900 and can rotate in the bottom bracket 900. When pedaling, the power of pedaling will be input to the bottom bracket 100. The outer wall of the central shaft 100 is provided with a sensing tooth portion 110 , the sensing tooth portion 110 includes a plurality of teeth, and the plurality of teeth are uniformly distributed along the outer wall of the central shaft 100 , with gaps between adjacent teeth.

连接件200套设于中轴100的外周,并与中轴100同轴间隙配合。连接件200与牙盘连接,用于将动力传输至牙盘,牙盘再通过传动机构带动车轮转动。The connecting member 200 is sheathed on the outer periphery of the central shaft 100 and coaxially and loosely matched with the central shaft 100 . The connecting piece 200 is connected with the crankshaft for transmitting power to the crankshaft, and the crankshaft drives the wheel to rotate through the transmission mechanism.

变形件300的一端与中轴100固定连接,另一端与连接件200固定连接,起到将中轴100的动力传递至连接件200的作用。例如,变形件300大致呈筒体结构,可以将变形件300的一端套接固定于中轴100的外壁,另一端与中轴100同轴间隙配合,连接件200套接固定于变形件300的另一端的外壁。变形件300在传递动力的过程中会受到较大的扭矩,同时会产生一定的形变,因此变形件300可以采用具有较高强度和一定弹性的金属材料制成,例如可以采用铝合金或者钢材制成。One end of the deformable member 300 is fixedly connected to the central shaft 100 , and the other end is fixedly connected to the connecting member 200 , so as to transmit the power of the central shaft 100 to the connecting member 200 . For example, the deformable part 300 is roughly in the shape of a cylinder, and one end of the deformable part 300 can be socketed and fixed on the outer wall of the central shaft 100, and the other end can be coaxially matched with the central shaft 100, and the connecting part 200 can be socketed and fixed on the outer wall of the deformable part 300. the outer wall at the other end. The deformable part 300 will be subject to a large torque during the power transmission process, and will produce a certain deformation at the same time, so the deformable part 300 can be made of a metal material with high strength and certain elasticity, for example, it can be made of aluminum alloy or steel become.

安装架400固定设置于五通管900内,且安装架400套设于变形件300的外周。信号处理线路板500安装于安装架400背离中轴100的一侧,信号处理线路板500设置有信号线510,信号线510与轮毂电机的控制器连接。速度感应器600安装于信号处理线路板500上,且速度感应器600与中轴100的感应齿部110相对设置。永磁体700安装于信号处理线路板500背离速度感应器600的一侧,速度感应器600用于感应永磁体700的磁场变化,以输送速度信号至信号处理线路板500。具体的,中轴100转动时,感应齿部110跟随中轴100转动,由于磁感线会优先通过磁导率高的材料,因此感应齿部110的多个齿转动时会带动磁感线移动,从而使得永磁体700的磁场发生变化,速度感应器600能够感应到该变化而输出相应的速度信号。The installation frame 400 is fixedly disposed in the bottom bracket 900 , and the installation frame 400 is sheathed on the outer periphery of the deformation member 300 . The signal processing circuit board 500 is installed on the side of the mounting frame 400 away from the center shaft 100 , and the signal processing circuit board 500 is provided with a signal line 510 connected to the controller of the in-wheel motor. The speed sensor 600 is installed on the signal processing circuit board 500 , and the speed sensor 600 is disposed opposite to the sensing tooth portion 110 of the center shaft 100 . The permanent magnet 700 is installed on the side of the signal processing circuit board 500 facing away from the speed sensor 600 . The speed sensor 600 is used to sense the change of the magnetic field of the permanent magnet 700 to transmit the speed signal to the signal processing circuit board 500 . Specifically, when the central shaft 100 rotates, the induction tooth part 110 follows the rotation of the central shaft 100. Since the magnetic field lines will preferentially pass through materials with high magnetic permeability, the multiple teeth of the induction tooth part 110 will drive the magnetic field lines to move when they rotate. , so that the magnetic field of the permanent magnet 700 changes, and the speed sensor 600 can sense the change and output a corresponding speed signal.

力矩感应器800安装于安装架400,力矩感应器800能够感应变形件300的形变,以输送力矩信号至信号处理线路板500。具体的,力矩感应器800位于变形件300的中部位置的外侧,从而可以更为灵敏地感应变形件300的扭曲变形程度。The torque sensor 800 is installed on the installation frame 400 , and the torque sensor 800 can sense the deformation of the deformable part 300 to transmit the torque signal to the signal processing circuit board 500 . Specifically, the torque sensor 800 is located outside the middle of the deformable part 300 , so that it can more sensitively sense the degree of twisting and deformation of the deformable part 300 .

用户踩踏踏板时,踏板将动力输入中轴100使得中轴100旋转,跟随中轴100旋转的感应齿部110的多个齿能够引起永磁体700的磁场发生变化,速度感应器600能够感应磁场的变化而产生速度信号,然后将速度信号输送至信号处理线路板500进行处理以获得中轴100的旋转速度和旋转方向,同时中轴100旋转时,中轴100的动力通过变形件300输送至连接件200,然后再通过连接件200输送至牙盘以带动车轮转动,变形件300在输送动力的过程中会产生形变,力矩感应器800能够感应变形件300的形变而产生力矩信号,然后将力矩信号输送至信号处理线路板500进行处理以获得输入中轴100的动力的力矩大小,信号处理线路板500将速度信号和力矩信号初步处理后发送至轮毂电机的控制器,控制器再控制轮毂电机输出合适的动力以配合人力驱动车辆行驶,从而使得用户能够获得舒适的骑行感。相对现有的力矩及速度传感器,本申请通过在中轴100设置感应齿部110,一方面齿的加工更简单,降低加工的难度,另一方面齿数密度能够设置更高,从而有利于提高速度感应器600的感应精度,同时由于永磁体700安装于安装架400上,因此能够相对现有的技术更为远离变形件300,减少永磁体700对变形件300的磁化影响,减少对力矩感应器800的干扰,从而有利于提高力矩感应器800的感应精度。When the user steps on the pedal, the pedal will input power into the central shaft 100 to make the central shaft 100 rotate, and the multiple teeth of the induction tooth part 110 following the rotation of the central shaft 100 can cause the magnetic field of the permanent magnet 700 to change, and the speed sensor 600 can sense the magnetic field. change to generate a speed signal, and then send the speed signal to the signal processing circuit board 500 for processing to obtain the rotation speed and direction of rotation of the central shaft 100. At the same time, when the central shaft 100 rotates, the power of the central shaft 100 is transmitted to the connection through the deformable part 300 part 200, and then transported to the crankshaft through the connecting part 200 to drive the wheel to rotate, the deformation part 300 will be deformed in the process of transmitting power, and the torque sensor 800 can sense the deformation of the deformation part 300 to generate a torque signal, and then the torque The signal is sent to the signal processing circuit board 500 for processing to obtain the torque of the power input to the center shaft 100. The signal processing circuit board 500 sends the speed signal and torque signal to the controller of the hub motor after preliminary processing, and the controller then controls the hub motor Proper power is output to cooperate with manpower to drive the vehicle, so that the user can obtain a comfortable riding experience. Compared with the existing torque and speed sensors, this application sets the induction tooth part 110 on the central shaft 100. On the one hand, the processing of the teeth is simpler and the difficulty of processing is reduced. On the other hand, the tooth number density can be set higher, which is beneficial to increase the speed. The induction accuracy of the inductor 600, and because the permanent magnet 700 is installed on the mounting frame 400, it can be farther away from the deformable part 300 than the existing technology, reducing the magnetization effect of the permanent magnet 700 on the deformable part 300 and reducing the impact on the torque sensor. 800 interference, which is beneficial to improve the sensing accuracy of the torque sensor 800.

可以理解的是,为了降低外界信号对力矩感应器800的干扰,参照图1和图5,在本发明的一些实施例中,该速度及力矩传感装置还包括屏蔽件830,屏蔽件830罩设于力矩感应器800的外周,从而可以隔绝外界的电磁信号干扰,提高力矩感应器800的感应精度。具体的,屏蔽件830采用金属材料制成,例如屏蔽件830可以是金属壳体或者金属丝网构成,能够起到良好的屏蔽作用。It can be understood that, in order to reduce the interference of external signals to the torque sensor 800, referring to FIG. 1 and FIG. It is arranged on the outer periphery of the torque sensor 800 so as to isolate external electromagnetic signal interference and improve the sensing accuracy of the torque sensor 800 . Specifically, the shielding part 830 is made of metal material, for example, the shielding part 830 may be made of a metal shell or a wire mesh, which can play a good shielding effect.

可以理解的是,为了将屏蔽件830限位于安装架400上,参照图5,在本发明的一些实施例中,安装架400的外壁设置有两个凸起,两个凸起位于力矩感应器800轴向两端的外侧,屏蔽件830罩设于力矩感应器800的外周时,两个凸起能够起到限制屏蔽件830沿轴向移动的作用,从而可以防止屏蔽件830沿轴向窜动,有利于提高屏蔽件830对力矩感应器800的屏蔽效果。当然,两个凸起的结构可以相同,也可以不同,例如,其中一个凸起为凸环结构440,另一个凸起为倒扣结构430,倒扣结构430远离凸环结构440的一侧具有便于屏蔽件830导入的斜面。安装屏蔽件830时,可以将屏蔽件830由倒扣结构430朝向凸环结构440的方向移动而套接于力矩感应器800的外周,当屏蔽件830移动至倒扣结构430和凸环结构440之间时,屏蔽件830将被倒扣结构430和凸环结构440限位而无法轴向移动。It can be understood that, in order to limit the shielding member 830 on the installation frame 400, referring to FIG. On the outer sides of both ends of the axial direction of 800, when the shielding member 830 is placed on the outer periphery of the torque sensor 800, the two protrusions can limit the movement of the shielding member 830 in the axial direction, thereby preventing the shielding member 830 from moving in the axial direction , which is beneficial to improve the shielding effect of the shielding member 830 on the torque sensor 800 . Of course, the structures of the two protrusions can be the same or different. For example, one of the protrusions is a protruding ring structure 440, and the other protrusion is an undercut structure 430. The side of the undercut structure 430 away from the protruding ring structure 440 has Slopes to facilitate the introduction of the shield 830 . When installing the shield 830, the shield 830 can be moved from the undercut structure 430 toward the convex ring structure 440 to be sleeved on the outer periphery of the torque sensor 800. When the shield 830 moves to the undercut structure 430 and the convex ring structure 440 When between, the shielding member 830 will be limited by the undercut structure 430 and the protruding ring structure 440 and cannot move axially.

需要说明的是,在本发明的一些实施例中,参照图5,力矩感应器800包括两个感应线圈810,安装架400的外壁设置有两个环形槽450,两个感应线圈810绕设安装于相应的环形槽450内,从而使得感应线圈810的安装更加牢固,防止感应线圈810容易晃动而影响对变形件300形变的感应精度。It should be noted that, in some embodiments of the present invention, referring to FIG. 5 , the torque sensor 800 includes two induction coils 810, and the outer wall of the installation frame 400 is provided with two annular grooves 450, and the two induction coils 810 are wound and installed. In the corresponding annular groove 450 , the installation of the induction coil 810 is made firmer, preventing the induction coil 810 from easily shaking and affecting the sensing accuracy of the deformation of the deformable part 300 .

可以理解的是,在本发明的一些实施例中,参照图5,力矩感应器800还包括连接线820,感应线圈810通过连接线820与信号处理线路板500连接,安装架400的外壁设置有避让槽460,连接线820容置于避让槽460内,从而可以避免连接线820凸出于安装架400的外壁,有利于提高连接线820的安装稳固性,同时减少外界对连接线820的影响,从而有利于进一步提高力矩感应器800的感应精度。It can be understood that, in some embodiments of the present invention, referring to FIG. 5 , the torque sensor 800 also includes a connecting wire 820, the induction coil 810 is connected to the signal processing circuit board 500 through the connecting wire 820, and the outer wall of the mounting frame 400 is provided with The avoidance groove 460, the connection line 820 is accommodated in the avoidance groove 460, so that the connection line 820 can be prevented from protruding from the outer wall of the installation frame 400, which is conducive to improving the installation stability of the connection line 820 and reducing the influence of the outside on the connection line 820 , so that it is beneficial to further improve the sensing accuracy of the torque sensor 800 .

可以理解的是,在本发明的一些实施例中,参照图2,安装架400设置有凹槽410,速度感应器600嵌入于凹槽410内,从而使得速度感应器600和永磁体700更为靠近感应齿部110,使得感应齿部110旋转时能够更容易引起永磁体700的磁场变化,从而有利于提高速度感应器600的感应精度。It can be understood that, in some embodiments of the present invention, with reference to FIG. Being close to the sensing tooth portion 110 makes it easier to cause a change in the magnetic field of the permanent magnet 700 when the sensing tooth portion 110 rotates, thereby improving the sensing accuracy of the speed sensor 600 .

可以理解的是,为了方便安装中轴100和连接件200,在本发明的一些实施例中,参照图1,力矩及速度传感装置还包括第一安装座910、第二安装座920、第一轴承930和第二轴承940,第一安装座910和第二安装座920安装于五通管900沿轴向的两端,中轴100通过第一轴承930转动安装于第一安装座910,连接件200通过第二轴承940转动安装于第二安装座920。具体的,第一安装座910可以通过螺纹连接或者过盈配合的方式固定安装于五通管900沿轴向的一端,第二安装座920可以通过螺纹连接或者过盈配合的方式固定安装于五通管900沿轴向的另一端。第一安装座910为中空结构,第一轴承930的外圈固定连接于第一安装座910的内壁,第一轴承930的内圈套接固定于中轴100的外壁,因此中轴100能够通过第一轴承930安装于五通管900内,并能够实现顺畅地转动。第二安装座920为中空结构,第二轴承940的外圈固定连接于第二安装座920的内壁,第二轴承940的内圈固定套接于连接件200的外壁,从而使得连接件200能够通过第二轴承940实现顺畅地转动。It can be understood that, in order to facilitate the installation of the central shaft 100 and the connecting piece 200, in some embodiments of the present invention, referring to FIG. A bearing 930 and a second bearing 940, the first mounting seat 910 and the second mounting seat 920 are mounted on both ends of the bottom bracket 900 in the axial direction, the central shaft 100 is rotatably mounted on the first mounting seat 910 through the first bearing 930, The connecting member 200 is rotatably mounted on the second mounting base 920 through the second bearing 940 . Specifically, the first mounting seat 910 can be fixedly mounted on one end of the bottom bracket 900 in the axial direction through threaded connection or interference fit, and the second mounting seat 920 can be fixedly mounted on the bottom bracket 900 through threaded connection or interference fit. The other end of the through pipe 900 along the axial direction. The first mounting base 910 is a hollow structure, the outer ring of the first bearing 930 is fixedly connected to the inner wall of the first mounting base 910, and the inner ring of the first bearing 930 is sleeved and fixed on the outer wall of the central shaft 100, so the central shaft 100 can pass through the first mounting base 910. A bearing 930 is installed in the bottom bracket 900 and can rotate smoothly. The second mounting seat 920 is a hollow structure, the outer ring of the second bearing 940 is fixedly connected to the inner wall of the second mounting seat 920, and the inner ring of the second bearing 940 is fixedly sleeved on the outer wall of the connecting piece 200, so that the connecting piece 200 can Smooth rotation is achieved by the second bearing 940 .

当然,还可以在中轴100的外壁和第一安装座910的内壁设置有相配合的第一滚道,第一滚道内安装有滚珠,从而使得中轴100可以转动安装于第一安装座910内。类似的,连接件200的外壁和第二安装座920的内壁也可以设置有相配合的第二滚道,第二滚道内安装有滚珠,从而使得连接件200能够转动安装于第二安装座920内。Of course, the outer wall of the central shaft 100 and the inner wall of the first mounting seat 910 can also be provided with a first raceway that cooperates, and balls are installed in the first raceway, so that the central shaft 100 can be rotatably installed on the first mounting seat 910 Inside. Similarly, the outer wall of the connector 200 and the inner wall of the second mounting seat 920 can also be provided with a matching second raceway, and balls are installed in the second raceway, so that the connector 200 can be rotatably mounted on the second mounting seat 920 Inside.

可以理解的是,为了能够将安装架400沿周向固定设置于五通管900内,参照图5和图8,在本发明的一些实施例中,第一安装座910的内壁设置有卡槽911,安装架400的外壁设置有凸筋420,卡槽911和凸筋420均沿五通管900的轴向设置,安装架400通过凸筋420卡接于卡槽911而安装于第一安装座910,从而使得安装架400能够实现周向的固定,从而可以防止安装架400相对五通管900转动而影响安装在其上的相关部件的正常工作。当然,卡槽911可以设置有多个,多个卡槽911沿周向间隔分布设置,凸筋420也可以设置有多个,多个凸筋420沿周向间隔分布设置,从而通过多个凸筋420分别卡入对应的卡槽911内,使得安装架400能够更为稳固地周向固定在五通管900内。当然,还可以将安装架400固定连接于五通管900的内壁,或者将安装架400固定连接于第二安装座920。It can be understood that, in order to fix the installation frame 400 in the bottom bracket 900 in the circumferential direction, referring to FIG. 5 and FIG. 8 , in some embodiments of the present invention, the inner wall of the first installation base 910 is provided with a card slot 911, the outer wall of the mounting frame 400 is provided with a rib 420, the slot 911 and the rib 420 are arranged along the axial direction of the bottom bracket 900, the mounting frame 400 is mounted on the first installation by snapping the rib 420 to the slot 911 Seat 910, so that the mounting frame 400 can be fixed in the circumferential direction, thereby preventing the mounting frame 400 from rotating relative to the bottom bracket 900 and affecting the normal operation of related components installed thereon. Of course, there can be multiple locking grooves 911, and the multiple locking grooves 911 are arranged at intervals along the circumferential direction. There can also be multiple ribs 420, and the plurality of ribs 420 are arranged at intervals along the circumferential direction, so that through the plurality of convex ribs, The ribs 420 are snapped into the corresponding slots 911 , so that the mounting bracket 400 can be more stably fixed in the bottom bracket 900 in the circumferential direction. Of course, the installation frame 400 can also be fixedly connected to the inner wall of the bottom bracket 900 , or the installation frame 400 can be fixedly connected to the second installation seat 920 .

可以理解的是,为了能够在轴向上限位安装架400,防止安装架400沿轴向窜动,在本发明的一些实施例中,参照图1和图7,变形件300远离速度感应器600的一端的外壁设置有凸台320,中轴100远离力矩感应器800的一端的外壁安装有限位件,安装架400卡设于凸台320和限位件之间,从而使得凸台320和限位件可以起到阻挡安装架400的作用,防止安装架400沿轴向窜动。具体的,限位件可以是卡簧或者轴套等结构,其能够很好地阻挡安装架400沿轴向移动。It can be understood that, in order to limit the installation frame 400 in the axial direction and prevent the installation frame 400 from moving in the axial direction, in some embodiments of the present invention, referring to FIG. 1 and FIG. 7 , the deformation member 300 is far away from the speed sensor 600 The outer wall of one end of the central shaft 100 is provided with a boss 320, and the outer wall of the end of the central axis 100 far away from the torque sensor 800 is equipped with a limiter, and the mounting frame 400 is clamped between the boss 320 and the limiter, so that the boss 320 and the limiter The position piece can play a role of blocking the installation frame 400 to prevent the installation frame 400 from moving in the axial direction. Specifically, the limiting member may be a structure such as a snap ring or a bushing, which can well block the movement of the installation frame 400 in the axial direction.

可以理解的是,为了能够将中轴100的动力更可靠地传递至变形件300,在本发明的一些实施例中,参照图4和图7,中轴100的外壁设置有安装齿部120,安装齿部120包括多个周向均布的齿,变形件300的内壁设置有与安装齿部120配合的配合齿部310,配合齿部310包括多个沿周向均布的配合齿,安装时,将配合齿部310套于安装齿部120的外周,使得变形件300卡接固定于中轴100的外壁,同时通过齿和齿的配合,使得中轴100和变形件300之间的动力传递更可靠,减少动力过大时变形件300相对中轴100打滑的状况。类似的,变形件300与连接件200之间也可以采用相似的结构实现动力的可靠传递。例如,参照图6和图7,变形件300远离配合齿部310的一端的外壁设置有连接齿部330,连接件200一端的内壁设置有配合连接部210,配合连接部210套接于连接齿部330,从而使得连接件200固定连接于变形件300,同时两者之间通过齿和齿的配合传递动力,使得动力的传递更可靠。It can be understood that, in order to transmit the power of the central shaft 100 to the deformation member 300 more reliably, in some embodiments of the present invention, referring to FIG. 4 and FIG. 7 , the outer wall of the central shaft 100 is provided with a mounting tooth portion 120, The installation tooth portion 120 includes a plurality of circumferentially evenly distributed teeth, and the inner wall of the deformation member 300 is provided with a mating tooth portion 310 that cooperates with the installation tooth portion 120. The mating tooth portion 310 includes a plurality of circumferentially evenly distributed mating teeth. The tooth part 310 is set on the outer periphery of the tooth part 120, so that the deformable part 300 is clamped and fixed on the outer wall of the central shaft 100, and the power transmission between the central shaft 100 and the deformable part 300 is more reliable through the cooperation of the teeth. The situation that the deformation member 300 slips relative to the center shaft 100 when the power is too large is reduced. Similarly, a similar structure can also be adopted between the deformation member 300 and the connecting member 200 to realize reliable transmission of power. For example, referring to FIGS. 6 and 7 , the outer wall of the deformable part 300 away from the end of the matching tooth portion 310 is provided with a connecting tooth portion 330 , and the inner wall of one end of the connector 200 is provided with a matching connecting portion 210 , and the matching connecting portion 210 is sleeved on the connecting tooth. part 330, so that the connecting part 200 is fixedly connected to the deformable part 300, and the power is transmitted between the two through the cooperation of the teeth, so that the power transmission is more reliable.

需要说明的是,为了防止变形件300沿轴向移动,在本发明的一些实施例,参照图1和图4,中轴100的外壁还设置有挡环130,挡环130位于安装齿部120和感应齿部110之间,挡环130可以起到阻挡变形件300轴向移动的作用,当然,还可以在中轴100的外壁上固定安装卡簧等限位结构,卡簧位于变形件300远离挡环130的一侧,从而通过卡簧和挡环130的配合限制变形件300的轴向移动。It should be noted that, in order to prevent the deformation member 300 from moving in the axial direction, in some embodiments of the present invention, referring to FIG. 1 and FIG. Between the inductive tooth portion 110, the retaining ring 130 can block the axial movement of the deformable part 300. Of course, a stopper such as a retaining spring can be fixedly installed on the outer wall of the central axis 100, and the retaining ring is located on the deformable part 300. A side away from the stop ring 130 , thereby restricting the axial movement of the deformation member 300 through the cooperation of the snap spring and the stop ring 130 .

本发明第二方面实施例的电动自行车,包括车架、车轮、轮毂电机以及本发明第一方面实施例的力矩及速度传感装置。车架设置有五通管900,力矩及速度传感装置安装于五通管900内,车轮可转动安装于车架,轮毂电机的机壳与车轮固定连接。力矩及速度传感装置将采集到的中轴100的转速、转向和力矩信息发送给控制器,控制器根据上述信息控制轮毂电机输出合适的动力,以配合用户踩踏的动力驱使车轮转动而实现良好的助力效果,从而使得用户能够获得舒适的骑行感。The electric bicycle of the embodiment of the second aspect of the present invention includes a vehicle frame, wheels, hub motors, and the torque and speed sensing device of the embodiment of the first aspect of the present invention. The frame is provided with a bottom bracket 900, and the torque and speed sensing devices are installed in the bottom bracket 900. The wheels are rotatably mounted on the frame, and the casing of the hub motor is fixedly connected with the wheels. The torque and speed sensing device sends the collected rotational speed, steering and torque information of the center shaft 100 to the controller, and the controller controls the hub motor to output appropriate power according to the above information, so as to drive the wheel to rotate with the power of the user's pedaling to achieve good performance. The boost effect, so that the user can obtain a comfortable riding feeling.

该电动自行车由于采用本发明第一方面实施例的力矩及速度传感装置,当用户踩踏踏板时,踏板将动力输入中轴100使得中轴100旋转,跟随中轴100旋转的感应齿部110的多个齿能够引起永磁体700的磁场发生变化,速度感应器600能够感应磁场的变化而产生速度信号,然后将速度信号输送至信号处理线路板500进行处理以获得中轴100的旋转速度和旋转方向,同时中轴100旋转时,中轴100的动力通过变形件300输送至连接件200,然后再通过连接件200输送至牙盘以带动车轮转动,变形件300在输送动力的过程中会产生形变,力矩感应器800能够感应变形件300的形变而产生力矩信号,然后将力矩信号输送至信号处理线路板500进行处理以获得输入中轴100的动力的力矩大小,信号处理线路板500将速度信号和力矩信号初步处理后发送至轮毂电机的控制器,控制器再控制轮毂电机输出合适的动力以配合人力驱动车辆行驶,从而使得用户能够获得舒适的骑行感。相对现有的力矩及速度传感器,本申请通过在中轴100设置感应齿部110,一方面齿的加工更简单,降低加工的难度,另一方面齿数密度能够设置更高,从而有利于提高速度感应器600的感应精度,同时由于永磁体700安装于安装架400上而远离变形件300,能够减少永磁体700对变形件300的磁化影响,减少对力矩感应器800的干扰,从而有利于提高力矩感应器800的感应精度。Since the electric bicycle adopts the torque and speed sensing device of the embodiment of the first aspect of the present invention, when the user steps on the pedal, the pedal will input power into the central shaft 100 to make the central shaft 100 rotate, and the induction teeth 110 that follow the rotation of the central shaft 100 A plurality of teeth can cause the magnetic field of the permanent magnet 700 to change, and the speed sensor 600 can sense the change of the magnetic field to generate a speed signal, and then send the speed signal to the signal processing circuit board 500 for processing to obtain the rotation speed and rotation speed of the central shaft 100 At the same time, when the center shaft 100 rotates, the power of the center shaft 100 is transmitted to the connection part 200 through the deformation part 300, and then is transmitted to the crankshaft through the connection part 200 to drive the wheel to rotate. The deformation part 300 will generate during the power transmission process. deformation, the torque sensor 800 can sense the deformation of the deformable part 300 to generate a torque signal, and then transmit the torque signal to the signal processing circuit board 500 for processing to obtain the torque value of the power input to the center shaft 100, and the signal processing circuit board 500 converts the speed After preliminary processing, the signal and torque signal are sent to the controller of the hub motor, and the controller then controls the hub motor to output appropriate power to cooperate with the human-driven vehicle, so that the user can obtain a comfortable riding experience. Compared with the existing torque and speed sensors, this application sets the induction tooth part 110 on the central shaft 100. On the one hand, the processing of the teeth is simpler and the difficulty of processing is reduced. On the other hand, the tooth number density can be set higher, which is beneficial to increase the speed. The induction accuracy of the inductor 600, at the same time, because the permanent magnet 700 is installed on the mounting frame 400 and away from the deformable part 300, can reduce the magnetization influence of the permanent magnet 700 on the deformable part 300, reduce the interference to the torque inductor 800, thereby helping to improve The sensing accuracy of the torque sensor 800 .

上面接合附图对本发明实施例作了详细说明,但是本发明不限于上述实施例,在所属技术领域普通技术人员所具备的知识范围内,还可以在不脱离本发明宗旨的前提下作出各种变化。The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, within the scope of knowledge possessed by those of ordinary skill in the art, various modifications can be made without departing from the spirit of the present invention. Variety.

Claims (12)

1. Moment and speed sensing device, its characterized in that includes:
the middle shaft is rotatably arranged in the five-way pipe and is provided with an induction tooth part, and the induction tooth part comprises a plurality of teeth which are uniformly distributed along the circumferential direction of the outer wall of the middle shaft;
the connecting piece is sleeved on the periphery of the middle shaft and used for transmitting power to the chain wheel;
one end of the deformation piece is fixedly connected with the middle shaft, and the other end of the deformation piece is fixedly connected with the connecting piece;
the mounting frame is fixedly arranged in the five-way pipe and sleeved on the periphery of the deformation piece;
the signal processing circuit board is arranged on the mounting rack;
the speed inductor is arranged on the signal processing circuit board and is opposite to the induction tooth part;
the permanent magnet is arranged on one side, away from the speed sensor, of the signal processing circuit board, and the speed sensor is used for sensing the change of a magnetic field of the permanent magnet and transmitting a speed signal to the signal processing circuit board;
and the torque sensor is arranged on the mounting frame and used for sensing the deformation of the deformation piece so as to transmit a torque signal to the signal processing circuit board.
2. The torque and speed sensing device according to claim 1, further comprising a shield covering an outer periphery of the torque sensor.
3. The torque and speed sensor according to claim 2, wherein the outer wall of the mounting bracket is provided with protrusions at both axial ends of the torque sensor, and the shield is clamped between the two protrusions.
4. The torque and speed sensing device according to claim 1, wherein the torque sensor comprises two induction coils, the outer wall of the mounting bracket is provided with two annular grooves, and the two induction coils are mounted in the corresponding annular grooves.
5. The torque and speed sensing device according to claim 4, wherein the torque sensor further comprises a connecting wire, the induction coil is connected with the signal processing circuit board through the connecting wire, and an avoiding groove for avoiding the connecting wire is provided on an outer wall of the mounting frame.
6. The torque and speed sensing device according to claim 1 wherein said mounting bracket is provided with a recess, said speed sensor being embedded in said recess.
7. The torque and speed sensing device according to claim 1, further comprising a first mounting seat and a second mounting seat, wherein the first mounting seat and the second mounting seat are mounted at two axial ends of the five-way pipe, the middle shaft is rotatably mounted on the first mounting seat through a first bearing, and the connecting member is rotatably mounted on the second mounting seat through a second bearing.
8. The torque and speed sensing device according to claim 7, wherein a clamping groove is formed in an inner wall of the first mounting seat, a rib is formed in an outer wall of the mounting frame, and the mounting frame is circumferentially fixed to the first mounting seat through the rib clamped in the clamping groove.
9. The torque and speed sensor according to claim 8, wherein the outer wall of the deformation member is provided with a boss, the outer wall of the middle shaft is provided with a limiting member, and the mounting bracket is clamped between the boss and the limiting member.
10. The torque and speed sensor according to claim 1, wherein the outer wall of the middle shaft is provided with a mounting tooth portion, and the inner wall of the deformation member is provided with a mating tooth portion which mates with the mounting tooth portion.
11. The torque and speed sensing device according to claim 10, wherein a stop ring is further disposed on an outer wall of the bottom bracket shaft, and the stop ring is located between the mounting teeth and the sensing teeth.
12. Electric bicycle, characterized in that it comprises a torque and speed sensing device according to any of claims 1 to 11.
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WO2024066262A1 (en) * 2022-09-29 2024-04-04 广东威灵电机制造有限公司 Torque and speed sensing device and electric bicycle

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