CN117097057A

CN117097057A - Harmonic speed reduction driving device, power-assisted bicycle and power-assisted control method

Info

Publication number: CN117097057A
Application number: CN202311233670.3A
Authority: CN
Inventors: 曹景宽; 张海娃
Original assignee: Wuxing Bicycle Co ltd
Current assignee: Wuxing Bicycle Co ltd
Priority date: 2023-09-22
Filing date: 2023-09-22
Publication date: 2023-11-21

Abstract

The application relates to the technical field of electric power assistance, in particular to a harmonic speed reduction driving device, a power-assisted bicycle and a power-assisted control method. Comprises a shell, a controller and an output shaft; a fixed ring is arranged in the shell, and the shell comprises a power generation area and a deceleration output area; the connector is arranged outside the output shaft, and a first bearing is arranged between the connector and the fixed ring; the connector is externally provided with a rotor sleeve, a magnet is arranged outside the rotor sleeve, and a second bearing is arranged between the rotor sleeve and the fixed ring; a unidirectional needle bearing is arranged between the rotor sleeve and the connector; a stator is arranged in the power generation area; a wave generator is arranged in the deceleration output area, a flexible wheel is arranged outside the wave generator, and a steel wheel is arranged outside the flexible wheel; a support bearing is arranged between the output fluted disc and the shell; the output shaft is provided with a driving shaft sleeve, and the driving shaft sleeve is provided with a sensor. Aiming at the defect of the traditional booster bicycle, the application utilizes the transmission principle of the cup-shaped harmonic reducer to obtain a larger reduction ratio, and has smaller whole volume and lighter weight.

Description

Harmonic speed reduction driving device, power-assisted bicycle and power-assisted control method

Technical Field

The application relates to the technical field of electric power assistance, in particular to a harmonic speed reduction driving device, a power-assisted bicycle and a power-assisted control method.

Background

The electric power assisted bicycle is a bicycle with auxiliary power, and the motor driving device arranged on the bicycle body can realize power output, so that riding is easier. In the existing booster bicycle, the power of the motor generally needs to be converted and output through a plurality of gears or planetary gears. However, the transmission mode has certain defects, such as larger overall volume and relatively larger mass, which is unfavorable for normal riding.

Disclosure of Invention

Technical problem to be solved by the application

Aiming at the technical problem that the traditional booster bicycle has defects, the application provides a harmonic speed reduction driving device, a booster bicycle and a booster control method, which utilize the transmission principle of a cup-shaped harmonic speed reducer to obtain a larger speed reduction ratio, and the booster bicycle has smaller whole volume and lighter weight.

Technical proposal

In order to solve the problems, the technical scheme provided by the application is as follows:

the harmonic speed reduction driving device comprises a shell, a controller and an output shaft, wherein the output shaft penetrates through the shell; a fixed ring is arranged in the middle of the shell, a power generation area is arranged in the shell and positioned at one side of the fixed ring, and a deceleration output area is arranged in the shell and positioned at the other side of the fixed ring; the outer side of the output shaft is sleeved with a connector, a gap exists between the connector and the output shaft, and a first bearing is arranged between the connector and the fixed ring; the connector is arranged on the outer side of the power generation area part in a sleeved mode, a magnet is arranged on the outer side of the rotor sleeve, and a second bearing is arranged between one end of the rotor sleeve and the fixed ring; a unidirectional needle bearing is arranged between the rotor sleeve and the connector; a stator is arranged in the power generation area and is in magnetic attraction fit with the magnet; the device comprises a speed reduction output area, a connector, a flexible wheel, a steel wheel, a fixed ring and a speed reduction output area, wherein the speed reduction output area is internally provided with the wave generator which is fixedly connected with the connector; the tooth plate is fixedly connected with the tooth plate, and a support bearing is arranged between the output tooth plate and the shell; the output shaft is arranged at the outer side of the deceleration output area part and is in transmission connection with the flexible gear, the transmission shaft is in transmission connection with the output shaft, a sensor is arranged on the transmission shaft and is used for detecting the torque and the rotating speed of the output shaft; the controller is electrically connected with the stator and the sensor.

Optionally, one end of the flexible gear is provided with a first internal spline, the outer side of the transmission sleeve is provided with a first external spline, and the first external spline is meshed with the first internal spline.

Optionally, a second internal spline is arranged on the transmission sleeve, a second external spline is arranged on the output shaft, and the second external spline is meshed with the second internal spline.

Optionally, a positioning check ring is arranged in the shell, and a third bearing is arranged between the other end of the rotor sleeve and the positioning check ring.

Optionally, the rotor sleeve is provided with an inner convex part, the inner wall of the inner convex part abuts against the outer wall of the unidirectional needle bearing, a fourth bearing is arranged between the connector and the rotor sleeve, and one side of the fourth bearing abuts against the side wall of the inner convex part.

Optionally, a first gasket is arranged between the fourth bearing and the unidirectional needle bearing, and a second gasket is arranged between the end part of the rotor sleeve and the step surface of the connector.

Optionally, a fifth bearing is arranged between one end of the output shaft and the shell; the flexible gear is connected with the output fluted disc through a flexible gear, and the flexible gear is connected with the output fluted disc through a transmission shaft; a seventh bearing is arranged between the connector and the output shaft, and the seventh bearing is positioned in the middle of the output shaft.

Optionally, a wind breaking part is arranged on the shell, and the shape of the wind breaking part is converged away from the shell direction.

The utility model provides a moped, includes foretell a harmonic speed reduction drive arrangement, includes a pair of crank and a tooth dish, each the crank respectively with the both ends fixed connection of output shaft, be provided with the third internal spline on the tooth dish, the outside of output fluted disc is provided with the third external spline, third external spline and the meshing cooperation of third internal spline.

The power-assisted control method is used for the harmonic speed reduction driving device or the power-assisted bicycle, the sensor obtains torque and rotation speed information of an output shaft, converts the torque and rotation speed information into a torque pulse signal and a rotation speed pulse signal and sends the torque pulse signal and the rotation speed pulse signal to the controller; when the amplitude of the moment pulse signal is larger than a set value in the controller, the controller controls the stator to be electrified; the controller adjusts the output power of the stator according to the frequency of the rotating speed pulse signal and the amplitude of the moment pulse signal.

Advantageous effects

Compared with the prior art, the technical scheme provided by the application has the following beneficial effects:

aiming at the technical problem that the traditional booster bicycle has defects, the application utilizes the transmission principle of the cup-shaped harmonic reducer to obtain a larger reduction ratio, and has smaller whole volume and lighter weight.

Drawings

Fig. 1 is a schematic structural diagram of a harmonic reduction driving device according to an embodiment of the present application.

Fig. 2 is an exploded view of a harmonic reduction driving device according to an embodiment of the present application.

Fig. 3 is an exploded schematic cross-sectional view of a harmonic reduction driving device according to an embodiment of the present application.

Fig. 4 is a schematic sectional view of an assembly of a harmonic reduction driving device according to an embodiment of the present application.

Detailed Description

For a further understanding of the present application, the present application will be described in detail with reference to the drawings and examples.

The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings. The first, second, etc. words are provided for convenience in describing the technical scheme of the present application, and have no specific limitation, and are all generic terms, and do not constitute limitation to the technical scheme of the present application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art. The technical schemes in the same embodiment and the technical schemes in different embodiments can be arranged and combined to form a new technical scheme without contradiction or conflict, which is within the scope of the application.

Example 1

Referring to fig. 1-4, this embodiment proposes a harmonic reduction driving device, which includes a housing 100, a controller 200, and an output shaft 101, where the output shaft 101 is disposed through the housing 100; a fixed ring 102 is arranged in the middle position in the shell 100, a power generation area 210 is arranged in the shell 100 at one side of the fixed ring 102, and a deceleration output area 220 is arranged in the shell 100 at the other side of the fixed ring 102; the outer side of the output shaft 101 is sleeved with a connector 103, a gap exists between the connector 103 and the output shaft 101, and a first bearing 141 is arranged between the connector 103 and the fixed ring 102; the rotor sleeve 104 is sleeved outside the part of the connector 103 located in the power generation area 210, the magnet 105 is arranged outside the rotor sleeve 104, and the second bearing 142 is arranged between one end of the rotor sleeve 104 and the fixed ring 102; a unidirectional needle bearing 106 is arranged between the rotor sleeve 104 and the connector 103; a stator 107 is arranged in the power generation area 210, and the stator 107 is in magnetic attraction fit with the magnet 105; a wave generator 108 is arranged in the deceleration output area 220, the wave generator 108 is fixedly connected with the connector 103, a flexible wheel 109 is sleeved outside the wave generator 108, a steel wheel 110 is arranged outside the flexible wheel 109, and the steel wheel 110 is fixedly connected with the fixed ring 102; the tooth plate comprises a tooth plate body and a shell body 100, and is characterized by further comprising an output tooth plate 111, wherein the output tooth plate 111 is fixedly connected with the flexible wheel 109, the output tooth plate 111 is fixedly connected with the tooth plate 201, and a support bearing 112 is arranged between the output tooth plate 111 and the shell body 100; the outer side of the part of the output shaft 101, which is positioned in the speed reduction output area 220, is provided with an outdrive sleeve 113, the outdrive sleeve 113 is in transmission connection with the flexible gear 109, the outdrive sleeve 113 is in transmission connection with the output shaft 101, the outdrive sleeve 113 is provided with a sensor 114, and the sensor 114 is used for detecting the torque and the rotating speed of the output shaft 101; the controller 200 is electrically connected to the stator 107 and the sensor 114.

The working principle of the harmonic speed reduction driving device of the embodiment is as follows:

in this embodiment, both ends of the output shaft 101 are connected to pedals of the booster bicycle, and pedal force acts on the output shaft 101. During riding, the sensor 114 can detect the torque and the rotating speed on the output shaft 101, convert the torque and the rotating speed into electric signals and transmit the electric signals to the controller 200, and the controller 200 receives the electric signals and controls the stator 107 to be electrified according to the electric signals, so that the output power of the rotor sleeve 104 is adjusted. After the stator 107 is electrified, a variable magnetic field is generated, and the variable magnetic field acts on the magnet 105, so that the rotor sleeve 104 is driven to rotate, and power is obtained. When the rotor sleeve 104 rotates, the unidirectional needle bearing 106 has unidirectional transmission characteristics, so that the rotor sleeve 104 and the connector 103 are in a clamping state, and the connector 103 obtains power. When the connector 103 rotates, the wave generator 108 is driven to rotate, and the rotation of the wave generator 108 is transmitted to the flexible gear 109, wherein the wave generator 108, the flexible gear 109 and the steel gear 110 form a harmonic speed reducing mechanism, and the flexible gear 109 is an output end of the harmonic speed reducing structure. The rotation of the flexible wheel 109 drives the output fluted disc 111 to rotate, and the output fluted disc 111 drives the booster bicycle to run through being connected with the bicycle toothed disc 201, so that the booster effect is realized.

On the contrary, when the output fluted disc 111 moves reversely, the generated torque is transmitted to the connector 103 through the harmonic speed reduction mechanism, at this time, due to the arrangement of the unidirectional needle bearing 106, the rotor sleeve 104 and the connector 103 are in a separated state, and the output fluted disc 111 and the harmonic speed reduction mechanism idle, and the reverse power is not transmitted to the rotor sleeve 104 through the connector 103. Therefore, on one hand, riding habit is met, operation of a rider is not affected, and on the other hand, a protection effect can be provided for the controller 200 unit.

In this embodiment, the supporting of the output fluted disc 111 by the supporting bearing 112 is substantially achieved indirectly, that is, the four structural members only use one supporting bearing 112 to satisfy the supporting effect, so that the number of bearings in the speed reduction output area 220 is reduced, and the overall quality of the harmonic speed reduction driving device is reduced on the premise of ensuring the supporting effect.

In this embodiment, the fixing ring 102 is a structural member for reinforcing the internal structural strength, and by the arrangement of the first bearing 141, the fixing ring 102 can support the connector 103 correspondingly, and at the same time, ensure that the connector 103 rotates stably and smoothly. And, by providing the second bearing 142, the fixing ring 102 can correspondingly support the rotor sleeve 104, and at the same time, ensure that the rotor sleeve 104 can rotate stably and smoothly.

Structurally, the harmonic speed reduction driving device of the embodiment obtains a larger speed reduction ratio by utilizing the transmission principle of the cup-shaped harmonic speed reducer. The harmonic reduction structure based on the wave generator 108, the flexspline 109 and the steel spline 110 reduces the weight to some extent compared with other reduction mechanisms. Further, the reasonable layout of the power generation area 210 and the speed reduction output area 220 is matched, so that the whole size is more compact, the occupied space of the left side and the right side of the vehicle body is smaller when the harmonic speed reduction driving device is arranged on the vehicle body, and the space distribution is as uniform as possible, so that the riding feeling of the booster bicycle is further improved.

Example 2

With reference to fig. 1-4, this embodiment provides a harmonic reduction driving device, which can be improved on the basis of the above embodiment as follows: one end of the flexible gear 109 is provided with a first internal spline, a first external spline is arranged on the outer side of the transmission sleeve, and the first external spline is meshed with the first internal spline. The present embodiment relates to a preferred connection between the flexspline 109 and the transmission sleeve, in which embodiment the rotation of the flexspline 109 is transmitted to the transmission sleeve by engagement of the first internal spline with the first external spline.

Example 3

With reference to fig. 1-4, this embodiment provides a harmonic reduction driving device, which can be improved on the basis of the above embodiment as follows: the transmission sleeve is provided with a second internal spline, the output shaft 101 is provided with a second external spline, and the second external spline is meshed with the second internal spline. The present embodiment relates to a preferred connection between the transmission sleeve and the output shaft 101, in which torque transmission between the transmission sleeve and the output shaft 101 is achieved by engagement of a second internal spline and a second external spline.

Example 4

With reference to fig. 1-4, this embodiment provides a harmonic reduction driving device, which can be improved on the basis of the above embodiment as follows: a positioning retainer ring 115 is disposed in the housing 100, and a third bearing 143 is disposed between the other end of the rotor sleeve 104 and the positioning retainer ring 115. In this embodiment, a positioning retainer ring 115 is further disposed in the housing 100, and the positioning retainer ring 115 is used to provide the third bearing 143, and in combination with the disposition of the second bearing 142 in the foregoing embodiment, the two ends of the rotor sleeve 104 obtain a sufficient supporting effect, so as to ensure that the whole rotor sleeve 104 can rotate stably and smoothly.

Example 5

With reference to fig. 1-4, this embodiment provides a harmonic reduction driving device, which can be improved on the basis of the above embodiment as follows: the rotor sleeve 104 is provided with an inner protruding portion 116, the inner wall of the inner protruding portion 116 abuts against the outer wall of the unidirectional needle bearing 106, a fourth bearing 144 is arranged between the connector 103 and the rotor sleeve 104, and one side of the fourth bearing 144 abuts against the side wall of the inner protruding portion 116. In this embodiment, through the arrangement of the inner protruding portion 116, on one hand, the inner wall of the rotor sleeve 104 can better abut against the outer wall of the unidirectional needle bearing 106, and on the other hand, the edge of the inner protruding portion 116 forms a shoulder on the inner ring portion of the rotor sleeve 104, so that a limiting effect can be achieved on the arrangement of the fourth bearing 144. The fourth bearing 144 can make the rotation of the connector 103 relative to the rotor sleeve 104 more stable and smooth, and also plays a role in supporting the rotor sleeve 104 by the connector 103.

Example 6

With reference to fig. 1-4, this embodiment provides a harmonic reduction driving device, which can be improved on the basis of the above embodiment as follows: a first spacer 151 is disposed between the fourth bearing 144 and the unidirectional needle bearing 106, and a second spacer 152 is disposed between the end of the rotor sleeve 104 and the stepped surface of the connector 103. In this embodiment, the first spacer 151 is provided to fill the gap between the fourth bearing 144 and the unidirectional needle bearing 106, so that the fourth bearing 144 and the unidirectional needle bearing 106 are isolated from each other, and the mutual influence is avoided. And, the second spacer 152 separates the unidirectional needle bearing 106 from the stepped surface of the connector 103, and the first spacer 151 and the second spacer 152 also simultaneously play a role in positioning the unidirectional needle bearing 106.

Example 7

With reference to fig. 1-4, this embodiment provides a harmonic reduction driving device, which can be improved on the basis of the above embodiment as follows: a fifth bearing 145 is disposed between one end of the output shaft 101 and the housing 100; the device further comprises a sixth bearing 146, wherein the inner diameter of the sixth bearing 146 is abutted with the outer wall of the other end of the output shaft 101, and the outer diameter of the sixth bearing 146 is abutted with the flexible gear 109 and the output fluted disc 111; a seventh bearing 147 is arranged between the connector 103 and the output shaft 101, and the seventh bearing 147 is located in the middle of the output shaft 101. The arrangement of the fifth bearing 145, the sixth bearing 146 and the seventh bearing 147 in this embodiment realizes the comprehensive support of the two ends and the middle part of the output shaft 101, thereby effectively ensuring the rotation stability of the output shaft 101. The fifth bearing 145 supports one end of the output shaft 101, the sixth bearing 146 supports the other end of the output shaft 101, the sixth bearing 146 actually transmits the supporting force of the output fluted disc 111 to the output shaft 101, and the seventh bearing 147 supports the middle part of the output shaft 101.

Example 8

With reference to fig. 1-4, this embodiment provides a harmonic reduction driving device, which can be improved on the basis of the above embodiment as follows: the casing 100 is provided with a wind breaking portion 117, and the shape of the wind breaking portion 117 converges from the casing 100 direction away from the casing 100 direction. In this embodiment, the shape of the housing 100 is further improved, the wind breaking portion 117 is disposed on the outer shape of the housing 100, the outer shape of the wind breaking portion 117 is converged from the direction of the housing 100 away from the direction of the housing 100, and a streamline structure is formed at a local position to guide the airflow towards the housing 100, so as to reduce airflow resistance and improve riding experience.

Example 9

Referring to fig. 1-4, this embodiment provides a booster bicycle, which includes a harmonic reduction driving device of the foregoing embodiment, and is characterized in that the booster bicycle includes a pair of cranks 202 and a toothed disc 201, each crank 202 is fixedly connected with two ends of the output shaft 101, a third internal spline is disposed on the toothed disc 201, a third external spline is disposed on the outer side of the output toothed disc 111, and the third external spline is engaged with the third internal spline.

Example 10

Referring to fig. 1-4, this embodiment proposes a power assisting control method, which is used in a harmonic deceleration driving apparatus of the above embodiment or in a power assisting vehicle of the above embodiment, where the sensor 114 obtains torque and rotation speed information of the output shaft 101, converts the torque and rotation speed information into a torque pulse signal and a rotation speed pulse signal, and sends the torque pulse signal and the rotation speed pulse signal to the controller 200; when the amplitude of the moment pulse signal is larger than a set value in the controller 200, the controller 200 controls the stator 107 to be powered; the controller 200 adjusts the output power of the stator 107 according to the frequency of the tacho pulse signal and the amplitude of the torque pulse signal.

The application and its embodiments have been described above by way of illustration and not limitation, and the application is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present application.

Claims

1. The harmonic speed reduction driving device is characterized by comprising a shell, a controller and an output shaft, wherein the output shaft penetrates through the shell; a fixed ring is arranged in the middle of the shell, a power generation area is arranged in the shell and positioned at one side of the fixed ring, and a deceleration output area is arranged in the shell and positioned at the other side of the fixed ring;

the outer side of the output shaft is sleeved with a connector, a gap exists between the connector and the output shaft, and a first bearing is arranged between the connector and the fixed ring; the connector is arranged on the outer side of the power generation area part in a sleeved mode, a magnet is arranged on the outer side of the rotor sleeve, and a second bearing is arranged between one end of the rotor sleeve and the fixed ring; a unidirectional needle bearing is arranged between the rotor sleeve and the connector; a stator is arranged in the power generation area and is in magnetic attraction fit with the magnet;

the device comprises a speed reduction output area, a connector, a flexible wheel, a steel wheel, a fixed ring and a speed reduction output area, wherein the speed reduction output area is internally provided with the wave generator which is fixedly connected with the connector;

the tooth plate is fixedly connected with the tooth plate, and a support bearing is arranged between the output tooth plate and the shell;

the output shaft is arranged at the outer side of the deceleration output area part and is in transmission connection with the flexible gear, the transmission shaft is in transmission connection with the output shaft, a sensor is arranged on the transmission shaft and is used for detecting the torque and the rotating speed of the output shaft; the controller is electrically connected with the stator and the sensor.

2. The harmonic reduction driving device according to claim 1, wherein a first internal spline is arranged at one end of the flexible gear, a first external spline is arranged at the outer side of the transmission sleeve, and the first external spline is meshed with the first internal spline.

3. The harmonic reduction drive of claim 1, wherein the drive sleeve is provided with a second internal spline, the output shaft is provided with a second external spline, and the second external spline is meshed with the second internal spline.

4. The harmonic reduction drive of claim 1, wherein a positioning retainer ring is disposed in the housing, and a third bearing is disposed between the other end of the rotor sleeve and the positioning retainer ring.

5. The harmonic reduction driving device according to claim 1, wherein an inner protrusion is provided on the rotor housing, an inner wall of the inner protrusion abuts against an outer wall of the unidirectional needle bearing, a fourth bearing is provided between the connector and the rotor housing, and one side of the fourth bearing abuts against a side wall of the inner protrusion.

6. The harmonic reduction drive of claim 5, wherein a first spacer is disposed between the fourth bearing and the unidirectional needle bearing, and a second spacer is disposed between the end of the rotor sleeve and the stepped surface of the connector.

7. The harmonic reduction drive of claim 1, wherein a fifth bearing is disposed between one end of the output shaft and the housing; the flexible gear is connected with the output fluted disc through a flexible gear, and the flexible gear is connected with the output fluted disc through a transmission shaft; a seventh bearing is arranged between the connector and the output shaft, and the seventh bearing is positioned in the middle of the output shaft.

8. The harmonic reduction driving device according to claim 1, wherein the casing is provided with a wind breaking portion, and the shape of the wind breaking portion is converged away from the casing direction.

9. A booster bicycle comprising a harmonic speed reduction driving device according to any one of claims 1 to 8, and comprising a pair of cranks and a toothed disc, wherein each crank is fixedly connected with two ends of the output shaft respectively, a third internal spline is arranged on the toothed disc, a third external spline is arranged on the outer side of the output fluted disc, and the third external spline is meshed and matched with the third internal spline.

10. A power assisting control method for a harmonic speed reducing driving device as defined in any one of claims 1 to 8 or for a power assisting bicycle as defined in claim 9, characterized in that the sensor acquires torque and rotation speed information of the output shaft, converts the torque and rotation speed information into torque pulse signals and rotation speed pulse signals, and sends the torque pulse signals and rotation speed pulse signals to the controller; when the amplitude of the moment pulse signal is larger than a set value in the controller, the controller controls the stator to be electrified; the controller adjusts the output power of the stator according to the frequency of the rotating speed pulse signal and the amplitude of the moment pulse signal.