CN220924420U - Torque sensor and booster bicycle - Google Patents
Torque sensor and booster bicycle Download PDFInfo
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- CN220924420U CN220924420U CN202322388457.1U CN202322388457U CN220924420U CN 220924420 U CN220924420 U CN 220924420U CN 202322388457 U CN202322388457 U CN 202322388457U CN 220924420 U CN220924420 U CN 220924420U
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 107
- 238000001514 detection method Methods 0.000 claims abstract description 90
- 238000012545 processing Methods 0.000 claims description 16
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- 238000000034 method Methods 0.000 description 19
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- 230000006870 function Effects 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
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- 229910000851 Alloy steel Inorganic materials 0.000 description 1
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- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
- B62J45/411—Torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/42—Sensor arrangements; Mounting thereof characterised by mounting
- B62J45/421—Sensor arrangements; Mounting thereof characterised by mounting at the pedal crank
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/101—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/109—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving measuring phase difference of two signals or pulse trains
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Electromagnetism (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The embodiment of the utility model relates to the field of power-assisted electric bicycles and discloses a torque sensor and a power-assisted bicycle, wherein the torque sensor comprises a center shaft, a torque strain sleeve, a signal detection ring fixing sleeve, a first angular displacement sensor and a second angular displacement sensor, the first angular displacement sensor comprises a first magnetic ring and a first magnetic signal detection ring, the second angular displacement sensor comprises a second magnetic ring and a second magnetic signal detection ring, the torque sensor is simple and reliable in structure, torque data can be obtained through angular displacement data acquired by the first angular displacement sensor and the second angular displacement sensor, and when the torque sensor is applied to power-assisted bicycles, speed, direction, power and other information of the bicycle can be calculated based on the angular displacement data and the torque data.
Description
Cross reference to related applications
The present application claims priority from China patent office, application No. 202211364033.5, entitled "Torque sensor, moped, torque detection method and processor," filed on App. 11, 02, 2022, the entire contents of which are incorporated herein by reference.
Technical Field
The embodiment of the utility model relates to the field of power-assisted electric bicycles, in particular to a torque sensor and a power-assisted bicycle.
Background
Along with the improvement of the living standard of people, more and more people begin to pay attention to a healthy, green and leisure travel mode, and the power-assisted bicycle travel is taken as an aerobic exercise body-building mode, so that the low-carbon and environment-friendly riding fatigue of the user can be reduced, and the power-assisted bicycle is popular with people.
The center shaft torque sensor is used as a feedback element of the torque and the rotating speed of the power-assisted bicycle, is one of key parts of a power-assisted bicycle system, has sensitivity and precision directly influencing riding experience of a rider, and is a key part for improving comfort of the power-assisted bicycle. The existing center shaft sensor of the power-assisted bicycle in the market comprises a pedal frequency rotating speed sensor, an analog torque sensor and a torque sensor.
In the process of implementing the embodiment of the present utility model, the inventors found that at least the following problems exist in the related art of the above existing torque sensor: the pedal frequency rotating speed sensor can only feed back rotating speed signals, can not effectively sense the intention of a rider, and has poor riding experience; the simulated torque sensor is based on a rotating speed sensor, and the rotating speed signal is processed by software to simulate torque information, so that the intention of a user can not be effectively reflected; the torque sensor adopts the strain gauge to measure the torque change, and has high manufacturing cost and difficult popularization and application.
Disclosure of utility model
The embodiment of the application provides a torque sensor and a power-assisted bicycle.
The aim of the embodiment of the utility model is realized by the following technical scheme:
In order to solve the above technical problem, in a first aspect, an embodiment of the present utility model provides a torque sensor, including: a center shaft; the torsion strain sleeve is sleeved on the middle shaft, and one end of the torsion strain sleeve is fixedly connected with the middle shaft; the signal detection ring fixing sleeve is sleeved outside the torsion strain sleeve, and the center shaft and the torsion strain sleeve can rotate relative to the signal detection ring fixing sleeve; the first angular displacement sensor comprises a first magnetic ring and a first magnetic signal detection ring, wherein the first magnetic ring is sleeved at one end of the center shaft, and the first magnetic signal detection ring is fixed at one end of the inner side of the signal detection ring fixing sleeve; the second angular displacement sensor comprises a second magnetic ring and a second magnetic signal detection ring, wherein the second magnetic ring is sleeved at the other end of the torsion strain sleeve, and the second magnetic signal detection ring is fixed at the other end of the inner side of the signal detection ring fixing sleeve.
In some embodiments, the torque sensor further comprises a torque output connecting sleeve sleeved on the middle shaft, and the torque output connecting sleeve is connected with the other end of the torque strain sleeve.
In some embodiments, one end of the torque output connecting sleeve is in sliding friction fit with the middle shaft, and the other end of the torque output connecting sleeve is sleeved on the torque strain sleeve; the middle shaft is connected with one end of the torsion strain sleeve through a key, and/or the torsion output connecting sleeve is connected with the other end of the torsion strain sleeve through a key.
In some embodiments, the torque sensor further comprises: the first bearing bowl is rotatably connected with one end of the center shaft; the second bearing bowl is rotatably connected with the other end of the middle shaft; and the two ends of the signal detection ring fixing sleeve are respectively and fixedly connected with the first bearing bowl and the second bearing bowl.
In some embodiments, the torsion strain sleeve is provided with a plurality of through grooves, and the through grooves are distributed along the circumferential direction of the torsion strain sleeve.
In some embodiments, a signal processing circuit board is disposed on the outer side of the signal detection ring fixing sleeve, and the signal processing circuit board is electrically connected with the first magnetic signal detection ring and the second magnetic signal detection ring respectively.
In some embodiments, the first magnetic ring and the second magnetic ring are each radially magnetized with a single pair of poles; the first magnetic signal detection ring comprises a plurality of first magnetic sensitive elements which are multiples of three, the first magnetic sensitive elements are uniformly distributed on the outer side of the first magnetic ring along a circumferential direction, and the distances between the first magnetic sensitive elements and the first magnetic ring are equal; and/or the second magnetic signal detection ring comprises a plurality of second magnetic sensitive elements which are multiples of three, the second magnetic sensitive elements are uniformly distributed on the outer side of the second magnetic ring along a circumferential direction, and the distances between the second magnetic sensitive elements and the second magnetic ring are equal.
In some embodiments, the first magnetic ring and the second magnetic ring are each radially magnetized for a plurality of pairs of poles; the first magnetic signal detection ring comprises a plurality of first magnetic sensitive elements which are multiples of three, the first magnetic sensitive elements are distributed on the outer side of the first magnetic ring along an arc direction, the interval between every two adjacent first magnetic sensitive elements is equal, and the distance between each first magnetic sensitive element and the first magnetic ring is equal; the second magnetic signal detection ring comprises a plurality of second magnetic sensitive elements which are multiples of three, the second magnetic sensitive elements are distributed on the outer side of the second magnetic ring along an arc direction, the intervals of every two adjacent second magnetic sensitive elements are equal, and the distances between the second magnetic sensitive elements and the second magnetic ring are equal.
In some embodiments, the calculation formula of the interval angle of two adjacent first magnetic sensors or the interval angle of two adjacent second magnetic sensors is as follows:
Wherein T represents the interval angle of two adjacent first/second magnetic sensitive elements, n represents the logarithm of the magnetic poles of the first magnetic ring or the second magnetic ring, and m represents the logarithm of the magnetic poles with the whole period of the actual interval of any two first/second magnetic sensitive elements.
In order to solve the above technical problem, in a second aspect, an embodiment of the present utility model provides a booster bicycle, including: the torque sensor of the first aspect; a pedal connected with a center shaft of the torque sensor; and the chain chuck is connected with the torsion strain sleeve of the torsion sensor.
Compared with the prior art, the utility model has the beneficial effects that: in comparison with the prior art, the embodiment of the utility model provides a torque sensor and a power-assisted bicycle, wherein the torque sensor comprises a center shaft, a torque strain sleeve, a signal detection ring fixing sleeve, a first angular displacement sensor and a second angular displacement sensor, the first angular displacement sensor comprises a first magnetic ring and a first magnetic signal detection ring, the second angular displacement sensor comprises a second magnetic ring and a second magnetic signal detection ring, the torque sensor is simple and reliable in structure, torque data can be obtained through angular displacement data acquired by the first angular displacement sensor and the second angular displacement sensor, and when the torque sensor is applied to the power-assisted bicycle, speed, direction, power and other information of the power-assisted bicycle can be calculated based on the angular displacement data and the torque data.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements/modules and steps, and in which the figures do not include the true to scale unless expressly indicated by the contrary reference numerals.
Fig. 1 is a schematic perspective view of a torque sensor according to a first embodiment of the present utility model;
FIG. 2 is a side cross-sectional view of the torque sensor shown in FIG. 1;
FIG. 3 is a schematic illustration of the construction of a torsion strain jacket in the torque sensor of FIG. 1;
FIG. 4 is a schematic structural view of the first/second magnetic ring shown in FIG. 1 as a single pair of polar magnetic rings and having three magneto-sensitive elements in the first/second angular displacement sensor;
FIG. 5 is a schematic structural view of the first/second magnetic ring shown in FIG. 1 as a single pair of polar magnetic rings and having six magneto-sensitive elements therein;
FIG. 6 is a schematic diagram of the first/second angular displacement sensor when the first/second magnetic ring shown in FIG. 1 is a plurality of pairs of polar magnetic rings;
fig. 7 is a flow chart of a torque detection method according to a second embodiment of the present utility model;
Fig. 8 is a flowchart of another torque detection method according to the second embodiment of the present utility model;
fig. 9 is a flowchart of another torque detection method according to the second embodiment of the present utility model;
FIG. 10 is a block diagram illustrating a power assisted bicycle according to a third embodiment of the present utility model;
fig. 11 is a schematic hardware structure of a processor according to a fourth embodiment of the present utility model.
Detailed Description
The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It should be noted that, if not in conflict, the features of the embodiments of the present utility model may be combined with each other, which is within the protection scope of the present utility model. In addition, while functional block division is performed in a device diagram and logical order is shown in a flowchart, in some cases, the steps shown or described may be performed differently than block division in a device, or order in a flowchart. Moreover, the words "first," "second," and the like as used herein do not limit the data and order of execution, but merely distinguish between identical or similar items that have substantially the same function and effect.
It will be understood that when an element is referred to as being "mounted" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.
In addition, the technical features of the embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.
In order to solve the problems that a torque sensor in the current power-assisted bicycle is complex in structure and high in cost, and other various center shaft sensors are single in function, the embodiment of the utility model provides the torque sensor and the power-assisted bicycle, the torque sensor is simple and reliable in structure, and two high-precision angular displacement sensors, namely a first angular displacement sensor and a second angular displacement sensor, are arranged at two ends of a torque transmission strain sleeve, so that real-time measurement of micro-variation of a diagonal displacement difference is realized, and therefore, measurement of torque variation is realized.
In particular, embodiments of the present utility model are further described below with reference to the accompanying drawings.
Example 1
An embodiment of the present utility model provides a torque sensor, please refer to fig. 1, 2 and 3, wherein fig. 1 shows a three-dimensional structure of the torque sensor provided in the embodiment of the present utility model, fig. 2 shows a side cross-sectional view of the torque sensor shown in fig. 1, and fig. 3 shows a structure of a torsion strain sleeve in the torque sensor shown in fig. 1. As shown in fig. 1, 2 and 3, the torque sensor 10 includes: the device comprises a central shaft 11, a torsion strain sleeve 12, a torsion output connecting sleeve 13, a first bearing bowl 14, a second bearing bowl 15, a signal detection ring fixing sleeve 16, a first angular displacement sensor 17 and a second angular displacement sensor 18.
The middle shaft 11 is provided with a key 111 at one end; the middle shaft 11 can be used for being connected with a pedal 20 of a booster bicycle or a structure capable of applying torsion on other electrical equipment, so that the magnetic ring arranged on the middle shaft 11 is driven to rotate due to the rotation of the applied torsion, and the magnetic sensor can determine the torsion through detecting the change of a magnetic field.
The torsion strain sleeve 12 is sleeved on the middle shaft 11, one end of the torsion strain sleeve 12 is fixedly connected with the middle shaft 11, and specifically, one end of the torsion strain sleeve 12 is connected with the middle shaft 11 through the key 111; in some embodiments, the torsion strain sleeve 12 is provided with a plurality of through grooves 121, and the through grooves 121 are distributed along the circumferential direction of the torsion strain sleeve 12, so that the torsion deformation effect can be increased. The torsion strain sleeve 12 can be made of alloy steel and the like, so that the torsion strain sleeve has good elastic recovery capability and certain deformation plasticity.
The torque output connecting sleeve 13 is sleeved on the center shaft 11 and is connected with the other end of the torque strain sleeve 12. Specifically, the torque output connecting sleeve 13 may be in sliding friction fit with the bottom bracket 11, and the torque output connecting sleeve 13 may be connected with the torque strain sleeve 12 through a key; the torque output connecting sleeve 13 is used for driving other rotating devices such as wheels on electric equipment such as a booster bicycle to rotate.
The first bearing bowl 14 is rotatably connected with one end of the central shaft 11, the second bearing bowl 15 is rotatably connected with the torsion output connecting sleeve 13 at the other end of the central shaft 11, and the first bearing bowl 14 and the second bearing bowl 15 are used for bearing the central shaft 11. The bearing is arranged between the first bearing bowl 14 and the middle shaft 11, and the bearing is also arranged between the second bearing bowl 15 and the torque output connecting sleeve 13, so that the middle shaft 11 and the torque output connecting sleeve 13 can rotate relative to the first bearing bowl 14 and the second bearing bowl 15 through the bearing. Preferably, the first bearing bowl 14 and the second bearing bowl 15 may be aluminum bowls made of aluminum materials.
The signal detection ring fixing sleeve 16 is sleeved outside the torsion strain sleeve 12, that is, indirectly sleeved on the central shaft 11, and the central shaft 11 and the torsion strain sleeve 12 can rotate relative to the signal detection ring fixing sleeve 16, and two ends of the signal detection ring fixing sleeve 16 are respectively and fixedly connected with the first bearing bowl 14 and the second bearing bowl 15. Specifically, the two ends of the signal detection ring fixing sleeve 16 are fixed on the inner sides of the first bearing bowl 14 and the second bearing bowl 15 respectively through edges formed by extending outwards, and the first magnetic signal detection ring 172 and the second magnetic signal detection ring 182 are fixed on the two ends of the inner side of the signal detection ring fixing sleeve 16.
A signal processing circuit board 161 is further disposed on the outer side of the signal detection ring fixing sleeve 16, and the signal processing circuit board 161 is electrically connected to the first magnetic signal detection ring 172 and the second magnetic signal detection ring 182 respectively; the signal processing circuit board 161 may be a printed circuit board/printed circuit board (Printed Circuit Board, PCB), and the signal processing circuit board 161 may be further provided with a processor/micro control unit (Micro Controller Unit, MCU), where the processor may be capable of executing a torque detection method, calculating torque according to the angular displacement data collected by the first angular displacement sensor 17 and the second angular displacement sensor 18, and further may calculate speed, direction, power, etc., and a communication interface connected to the processor may be further provided on the signal processing circuit board 161, and output a torque signal, a speed signal, a direction signal, and/or a power signal through the communication interface. The analog signals can be output through communication interfaces such as DA conversion, for example, the torque signals can be output by adopting analog signals, the speed signals can be output by adopting pulse signals, and the direction signals can be output by adopting level logic; serial digital signals may also be output through a communication interface such as SPI or USART, for example, by directly packaging the speed and direction signals into digital signals.
The first angular displacement sensor 17 comprises a first magnetic ring 171 and a first magnetic signal detection ring 172, wherein the first magnetic ring 171 is sleeved at one end of the central shaft 11, and the first magnetic signal detection ring 172 is fixed at one end of the inner side of the signal detection ring fixing sleeve 16; the first magnetic signal detecting ring 172 is used for detecting a magnetic field change of the first magnetic ring 171.
The second angular displacement sensor 18 includes a second magnetic ring 181 and a second magnetic signal detection ring 182, where the second magnetic ring 181 is sleeved on the other end of the torsion strain sleeve 12, and the second magnetic signal detection ring 182 is fixed on the other end of the inner side of the signal detection ring fixing sleeve 16; the second magnetic signal detecting ring 182 is used for detecting the magnetic field change of the second magnetic ring 181.
In some embodiments, please refer to fig. 4 and 5, which illustrate the structure of the first angular displacement sensor 17 or the second angular displacement sensor 18 when the first magnetic ring 171 and the second magnetic ring 181 are radially magnetized in a single pair of poles, respectively. The first magnetic signal detecting ring 172 includes a multiple of three first magnetic sensors 172a, each of the first magnetic sensors 172a is uniformly distributed on the outer side of the first magnetic ring 171 along a circumferential direction, and the distance between each of the first magnetic sensors 172a and the first magnetic ring 171 is equal; the second magnetic signal detecting ring 182 includes a multiple of three second magnetic sensing elements 182a, each of the second magnetic sensing elements 182a is uniformly distributed on the outer side of the second magnetic ring 181 along a circumferential direction, and the distances between each of the second magnetic sensing elements 182a and the second magnetic ring 181 are equal. The radial direction D shown in fig. 4 and 5 is any radial direction of the first magnetic ring 171 or the second magnetic ring 181, and the distance between each of the first magnetic sensors 172a and the first magnetic ring 171 or the distance between each of the second magnetic sensors 182a and the second magnetic ring 181 is the radial direction D.
Specifically, fig. 4 shows an example in which the number of the first magnetic sensors or the second magnetic sensors is three, and at this time, the first magnetic sensors 172a or the second magnetic sensors 182a are uniformly distributed on the outer side of the first magnetic ring 171 or the second magnetic ring 181 along a circumferential direction by 120 °, that is, when the first magnetic ring 171 or the second magnetic ring 181 rotates, a sinusoidal signal of three-phase 120-degree electrical phase difference is generated in one mechanical rotation period; fig. 5 shows an example in which the number of the first magnetic sensors or the second magnetic sensors is six, at this time, the first magnetic sensors 172a or the second magnetic sensors 182a are uniformly distributed on the outer side of the first magnetic ring 171 or the second magnetic ring 181 along a circumferential direction by 60 °, that is, when the first magnetic ring 171 or the second magnetic ring 181 rotates, the two first magnetic sensors 172a or the second magnetic sensors 182a distributed by 180 ° generate symmetrical sinusoidal signals, after the AD sampling by the processor is subjected to differential processing, a higher resolution of analog signals than the three first magnetic sensors 172a or the second magnetic sensors 182a can be obtained, and meanwhile, the mechanical error of installation is reduced. The above-mentioned circumferential direction refers to any concentric outer circumference of the first magnetic ring 171 or the second magnetic ring 181, on which the first magnetic sensor or the second magnetic sensor is located.
In some embodiments, please refer to fig. 6, which illustrates the structure of the first angular displacement sensor 17 or the second angular displacement sensor 18 when the first magnetic ring 171 and the second magnetic ring 181 are radially magnetized with multiple pairs of poles. The first magnetic signal detecting ring 172 includes a multiple of three first magnetic sensors 172a, each first magnetic sensor 172a is distributed on the outer side of the first magnetic ring 171 along an arc direction, the interval between every two adjacent first magnetic sensors 172a is equal, and the distance between each first magnetic sensor 172a and the first magnetic ring 171 is equal; the second magnetic signal detection ring 182 includes a multiple of three second magnetic sensing elements 182a, each second magnetic sensing element 182a is distributed on the outer side of the second magnetic ring 181 along an arc direction, the interval between every two adjacent second magnetic sensing elements 182a is equal, and the distance between each second magnetic sensing element 182a and the second magnetic ring 181 is equal. In the radial direction indicated by the indication line D in fig. 6, the distances between each of the first magnetic sensors 172a and the first magnetic ring 171 are equal, and the distances between each of the second magnetic sensors 182a and the second magnetic ring 181 are equal. The above-mentioned arc direction refers to a part of an arc of an outer circumference of any one of the first magnetic ring 171 or the second magnetic ring 181, and the first magneto-sensitive element or the second magneto-sensitive element is located in the arc.
The calculation formula of the interval angle between two adjacent first magneto-sensitive elements 172a or the interval angle between two adjacent second magneto-sensitive elements 182a is as follows:
Wherein T represents the spacing angle of two adjacent first magnetic sensors 172a or two adjacent second magnetic sensors 182a, n represents the logarithm of the magnetic poles of the first magnetic ring 171 or the second magnetic ring 181, and m represents the logarithm of the magnetic poles with the whole period of the actual spacing of any two first magnetic sensors 172a or any two second magnetic sensors 182 a. When the first magnetic ring 171 or the second magnetic ring 181 rotates, a sinusoidal signal of three phases 120 degrees electric phase difference of n periods is generated in one mechanical rotation period.
It should be noted that fig. 4, fig. 5, and fig. 6 are only examples of embodiments of the present utility model, the number of pairs of the magnetic poles in the first magnetic ring 171 and the second magnetic ring 181, and the number and distribution of the first magnetic sensing elements 172a and the second magnetic sensing elements 182a may be set according to actual needs, and the embodiments of the present utility model are not limited.
When the torque sensor provided by the embodiment of the utility model works, the center shaft 11 is driven by external force to rotate the torque strain sleeve 12, namely the first magnetic ring 171 and the second magnetic ring 181 are driven to rotate, and the first magnetic signal detection ring 172 and the second magnetic signal detection ring 182 at two ends of the signal detection fixed sleeve 16 can respectively detect the magnetic field changes of the first magnetic ring 171 and the second magnetic ring 181. One end of the torsion strain sleeve 12 facing the first magnetic ring 171 is fixedly connected with the central shaft 11 through a key 111, the torsion output connecting sleeve 13 is not fixedly connected with the central shaft 11 in the radial direction, and one end of the torsion strain sleeve 12 facing the second magnetic ring 181 is fixedly connected with the torsion output connecting sleeve 13, namely, one end of the torsion strain sleeve 12 facing the second magnetic ring 181 is not fixedly connected with the central shaft 11 in the radial direction; when the middle shaft 11 is driven by externally applied force to rotate the torsion strain sleeve 12, under the action of torque, one end of the torsion strain sleeve 12 facing the second magnetic ring 181 slightly rotates relative to the middle shaft 11, so that the angular displacement data collected by the first magnetic signal detection ring 172 and the second magnetic signal detection ring 182 have deviation, and therefore, the slight change of the angular displacement difference caused by the torque change can be determined based on the difference condition between the first angular displacement data output by the first magnetic signal detection ring 172 and the second angular displacement data output by the second magnetic signal detection ring 182, and the torque applied to the torque sensor can be determined in a table look-up mode.
Example two
The embodiment of the utility model provides a torque detection method with high response frequency and high detection precision, which is applied to a torque sensor as described in the first embodiment, please refer to fig. 7, which shows a flow of the torque detection method provided in the embodiment of the utility model, and the method includes but is not limited to the following steps:
step S10: collecting first angular displacement data through the first angular displacement sensor, and collecting second angular displacement data through the second angular displacement sensor;
In the embodiment of the present utility model, when the torque sensor according to the first embodiment is used to detect torque, the device and the apparatus adopting the torque sensor according to the first embodiment can apply force through the central shaft 11, the central shaft 11 drives the first magnetic ring 171 to rotate, and the central shaft 11 also transmits the force to the torsion strain sleeve 12 fixedly connected with the central shaft 11 to drive the torsion strain sleeve 12 and the second magnetic ring 181 arranged on the torsion strain sleeve 12 to rotate. After the central shaft 11 rotates relative to the signal detection fixed sleeve 16, the first magnetic signal detection ring 172 and the second magnetic signal detection ring 182 at two ends of the signal detection ring fixed sleeve 16 can respectively detect the magnetic field changes of the first magnetic ring 171 and the second magnetic ring 181, determine the rotation angle according to the magnitude of the magnetic field changes, determine rotation speed equiangular displacement data according to the speed of the magnetic field changes, and respectively characterize the torque of the force applied on the equipment and the device adopting the torque sensor according to the angular displacement data obtained by detecting the two signal detection rings. Then, the processor on the signal processing circuit board 161 according to the first embodiment may obtain the three-phase analog signal output by the first angular displacement sensor 17 and the three-phase analog signal output by the second angular displacement sensor 18 by means of AD pickup, so as to obtain the first angular displacement data θ1 and the second angular displacement data θ2. Wherein, the first angular displacement data θ1 and the second angular displacement data θ2 can be set to have an output range of 0 to 65535.
Step S20: calculating a table lookup address according to the first angular displacement data and the second angular displacement data;
After the first angular displacement data θ1 and the second angular displacement data θ2 are obtained, a standard data table can be combined to calculate a table lookup address, specifically, the table lookup address can be calculated according to a formula of the table lookup address described in the following step S54, and under two conditions of radial magnetization of a single pair of poles and radial magnetization of multiple pairs of poles, the table lookup address is calculated according to the corresponding formula. Wherein, when the multi-pole structure is adopted, the angular resolution of the mechanical period can be increased, so that the effective resolution of the detected torque is higher.
Step S30: and searching a standard data table according to the table lookup address to obtain the torque currently applied to the torque sensor.
After the table lookup address is calculated, a standard data table is searched according to the table lookup address delta, so that the torque T applied to the torque sensor at present is obtained. Further, an analog signal or a serial digital signal containing torque information is output through a communication interface on the signal processing circuit board 161.
In some embodiments, when the torque sensor is applied to an electrical device such as a moped, the torque sensor may also be used to detect information such as a speed, a direction, a power, etc. of the current electrical device, specifically, please refer to fig. 8, which shows a flow of another torque detection method provided by an embodiment of the present utility model, where the method further includes:
Step S41: acquiring a current speed signal and a direction signal according to the front-back variation difference value of the first angular displacement data;
When the first angular displacement data theta 1 are read in real time, the front-back variation difference value of the first angular displacement data theta 1 can be determined according to the data of the first angular displacement data theta 1 acquired for a plurality of times before and after the current acquired first angular displacement data theta 1, so that the current speed signal Sp and the direction signal Di r are acquired. Further, a speed pulse and direction level signal or a serial digital signal including speed and direction information can be outputted through the communication interface on the signal processing circuit board 161 as well. Also, when the torque sensor is applied to a bicycle, the bicycle forward direction may be set to dir=0, and when dir=1 is stepped on later, the output torque t=0 may be set.
Step S42: and calculating the current power according to the current speed signal and the current torque applied to the torque sensor.
Further, according to the current speed signal Sp and the torque T currently applied to the torque sensor, the power of the current electric device may be calculated, for example, the power of the moped is p=η×t×sp, where P represents the current power, η is a power coefficient, determined by the electric device itself, T represents the torque currently applied to the torque sensor, and Sp represents the current speed signal. Further, a serial digital signal containing power information can also be output through a communication interface on the signal processing board 161.
In some embodiments, the torque sensor may further establish or update and calibrate a standard data table for searching for torque before being used for actually measuring torque, for example, by eliminating the influence of factors such as temperature drift through error correction, and in particular, please refer to fig. 9, which shows a flow of still another torque detection method provided by an embodiment of the present utility model, where the method further includes:
Step S51: judging whether the torque sensor is in a stressed state or not;
Firstly, whether the torque sensor is in a non-stressed state or in a stressed calibration state in a standard mode is required to be judged, namely whether the torque sensor is in a stressed state is judged, if not, the torque sensor is in the non-stressed state, the step S52 is skipped, if yes, the torque sensor is in the stressed calibration state, and if yes, the step S53 is skipped.
Step S52: marking the first angular displacement data and the second angular displacement data as a first angular displacement value and a second angular displacement value;
When the device is in a non-stressed state, acquiring and storing the first angular displacement data theta 1, and marking the first angular displacement data theta 1 as a first angular displacement value theta 1_s; meanwhile, the second angular displacement data theta 2 is acquired and stored, and the second angular displacement data theta 2 is marked as a second angular displacement value theta 2_s.
Step S53: applying torque to the torque sensor, and collecting and recording an angular displacement data table from zero torque to maximum torque;
Under the stress state, torque T is applied to the torque sensor through the outside, the applied torque is gradually applied to the preset maximum torque from zero torque, the first angular displacement data theta 1 and the second angular displacement data theta 2 are synchronously read in real time through the high-speed data acquisition system while the torque is applied, the torque T, the first angular displacement data theta 1 and the second angular displacement data theta 2 at the same moment are mapped and stored, and therefore the angular displacement data tables theta 1[ n ], theta 2[ n ] and T [ n ] with mapping relations at the same time are obtained, and the n represents the sampling points of the high-speed data acquisition system in the torque application process.
Step S54: and storing the angular displacement data table according to a table lookup address to obtain the standard data table.
After the angular displacement data table is obtained, different torques T [ n ] are correspondingly stored with a first angular displacement data table [ theta ] 1[ n ] and a second angular displacement data table [ theta ] 2[ n ] under the torques according to table lookup addresses, in order to ensure the accuracy of the data, a high-speed acquisition system is adopted to acquire n groups of data under the same torque and store the n groups of data into the corresponding data table, and the sampling point number n can be set according to actual needs. Wherein, the table lookup address can be expressed as:
δ＝|(θ1[n]-θ1_s)-(θ2[n]-θ2_s)|
delta represents the table lookup address, theta 1[ n ] represents the angular displacement data table of the torque corresponding to the first angular displacement value, theta 1_s represents the first angular displacement value, theta 2[ n ] represents the angular displacement data table of the torque corresponding to the second angular displacement value, theta 2_s represents the second angular displacement value, and n represents the sampling point number in the torque applying process.
When the first magnetic ring 171 and the second magnetic ring 181 are radially magnetized with multiple pairs of poles, the judgment of the cross-section between the multiple magnetic poles is involved, and the relative displacement between the two angular displacement sensors is small, so that only one section jump is usually generated, and when the table lookup address δ >32768, the table lookup address may be expressed as:
if：(θ1[n]-θ1_s)>(θ2[n]-θ2_s)，
δ＝|(θ1[n]-θ1_s)-int16((θ2[n]-θ2_s)+65535)|；
if：(θ1[n]-θ1_s)<(θ2[n]-θ2_s)，
δ＝|(int16(θ1[n]-θ1_s)+65535)-(θ2[n]-θ2_s)|
Example III
An embodiment of the present utility model provides a booster bicycle 1, please refer to fig. 10, which shows a block diagram of the booster bicycle 1 provided in the embodiment of the present utility model, the booster bicycle 1 includes: torque sensor 10, pedal 20 and chain cartridge 30.
The torque sensor 10 is the torque sensor 10 provided in the first embodiment, and the torque of the moped 1 can be measured by the torque detection method provided in the second embodiment, and the details of the torque sensor are not described herein. When the torque sensor 10 according to the first embodiment is used, the torque sensor 10 may be fixed in a central shaft hole of a power-assisted bicycle, and a central shaft of the torque sensor 10 may be coaxially fixed with the central shaft hole of the power-assisted bicycle.
The pedal 20 is connected with the middle shaft 11 of the torque sensor 10, and can be connected with the middle shaft 11 of the torque sensor 10 through a connecting rod 21; the rider drives the booster bicycle 1 forward by applying force through the pedal 20.
The chain chuck 30 is connected with the torsion strain sleeve 12 of the torsion sensor 10, and can be fixed on the torsion output connecting sleeve 13 of the torsion sensor 10, so that after a rider steps on the pedal 20, the bicycle wheel can be driven to rotate through the chain on the middle shaft 11, the torsion output connecting sleeve 13 and the chain chuck 30.
When a rider applies force to the pedal 20 by feet during riding of the booster bicycle 1, the force is applied to the middle shaft 11 through the pedal connecting rod 21, the middle shaft 11 is connected with the torsion strain sleeve 12 through the key 111, the torsion strain sleeve 12 is connected with the torsion output connecting sleeve 13, the chain chuck 30 fixed on the torsion output connecting sleeve 13 is driven to rotate, and the chain chuck 30 drives the rear wheel of the booster bicycle to advance through a chain. Since the torsion strain sleeve 12 serves as a force transmission member, rotation torsion is generated at both ends as a force receiving point and a force applying point, and the rotation micro-deformation of the torsion strain sleeve 12 is realized by designing the structure of the torsion strain sleeve 12. High-precision angular displacement sensors (a first angular displacement sensor 17 and a second angular displacement sensor 18) are arranged at two ends of the torsion strain sleeve 12, angular displacement data are measured through the two angular displacement sensors, an angular displacement change difference is determined according to the two angular displacement data, and then the current torque is obtained after table lookup. At the same time, by means of one of the angular displacement sensors (first angular displacement sensor 17), the rotational speed and the direction of operation can also be acquired, so that the current power of the moped 1 can be acquired by means of the torque and the rotational speed.
Example IV
The embodiment of the utility model also provides a processor, please refer to fig. 11, which shows a hardware structure of the processor capable of executing the torque detection method described in fig. 7 to 9. The processor 100 may be a processor provided on the signal processing circuit board 161 in the first embodiment.
The processor 100 includes: at least one single-chip microcomputer 101; and a memory 102 communicatively connected to the at least one single-chip microcomputer 101, an example of which is shown in fig. 11 as a single-chip microcomputer 101. The memory 102 stores instructions executable by the at least one single-chip microcomputer 101, where the instructions are executed by the at least one single-chip microcomputer 101, so that the at least one single-chip microcomputer 101 can execute the torque detection method described in fig. 7 to 9. The single chip 101 and the memory 102 may be connected by a bus or other means, which is illustrated in fig. 11 as a bus connection.
The memory 102 is used as a non-volatile computer readable storage medium for storing non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions/modules corresponding to the torque detection method in the embodiment of the present application. The singlechip 101 executes various functional applications and data processing of the server by running nonvolatile software programs, instructions and modules stored in the memory 102, that is, implements the torque detection method of the above method embodiment.
The memory 102 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the torque detection device, etc. In addition, the memory 102 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 102 may optionally include memory remotely located relative to the single chip microcomputer 101, which may be connected to the torque detection device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 102, which when executed by the one or more singlechips 101, perform the torque detection method in any of the method embodiments described above, e.g., perform the method steps of fig. 7-9 described above.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the methods provided in the embodiments of the present application.
Embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer-executable instructions which are executed by one or more single-chip computers, for example, performing the method steps of fig. 7-9 described above.
Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the torque detection method in any of the method embodiments described above, for example, to perform the method steps of fig. 7 to 9 described above.
The embodiment of the utility model provides a torque sensor and a power-assisted bicycle, wherein the torque sensor comprises a center shaft, a torque strain sleeve, a signal detection ring fixing sleeve, a first angular displacement sensor and a second angular displacement sensor, the first angular displacement sensor comprises a first magnetic ring and a first magnetic signal detection ring, the second angular displacement sensor comprises a second magnetic ring and a second magnetic signal detection ring, the torque sensor is simple and reliable in structure, torque data can be obtained through angular displacement data acquired by the first angular displacement sensor and the second angular displacement sensor, and when the torque sensor is applied to the power-assisted bicycle, speed, direction, power and other information of the power-assisted bicycle can be calculated based on the angular displacement data and the torque data.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Those skilled in the art will appreciate that all or part of the processes implementing the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the program may include processes of the embodiments of the methods described above when executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random-access Memory (Random Access Memory, RAM), or the like.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the utility model, the steps may be implemented in any order, and there are many other variations of the different aspects of the utility model as described above, which are not provided in details for the sake of brevity; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.
Claims (10)
1. A torque sensor, comprising:
a center shaft;
The torsion strain sleeve is sleeved on the middle shaft, and one end of the torsion strain sleeve is fixedly connected with the middle shaft;
The signal detection ring fixing sleeve is sleeved outside the torsion strain sleeve, and the center shaft and the torsion strain sleeve can rotate relative to the signal detection ring fixing sleeve;
The first angular displacement sensor comprises a first magnetic ring and a first magnetic signal detection ring, wherein the first magnetic ring is sleeved at one end of the center shaft, and the first magnetic signal detection ring is fixed at one end of the inner side of the signal detection ring fixing sleeve;
the second angular displacement sensor comprises a second magnetic ring and a second magnetic signal detection ring, wherein the second magnetic ring is sleeved at the other end of the torsion strain sleeve, and the second magnetic signal detection ring is fixed at the other end of the inner side of the signal detection ring fixing sleeve.
2. The torque sensor of claim 1, further comprising a torque output connection sleeve sleeved on the central shaft, wherein the torque output connection sleeve is connected with the other end of the torque strain sleeve.
3. The torque sensor according to claim 2, wherein,
One end of the torsion output connecting sleeve is in sliding friction fit with the middle shaft, and the other end of the torsion output connecting sleeve is sleeved on the torsion strain sleeve;
the middle shaft is connected with one end of the torsion strain sleeve through a key, and/or the torsion output connecting sleeve is connected with the other end of the torsion strain sleeve through a key.
4. The torque sensor of claim 1, further comprising:
The first bearing bowl is rotatably connected with one end of the center shaft;
The second bearing bowl is rotatably connected with the other end of the middle shaft; and there is a combination of a plurality of the above-mentioned components,
And two ends of the signal detection ring fixing sleeve are fixedly connected with the first bearing bowl and the second bearing bowl respectively.
5. The torque sensor according to claim 1, wherein,
The torsion strain sleeve is provided with a plurality of through grooves, and the through grooves are distributed along the circumferential direction of the torsion strain sleeve.
6. The torque sensor according to claim 1, wherein,
The outside of the fixed cover of signal detection ring is provided with signal processing circuit board, signal processing circuit board respectively with first magnetic signal detection ring with the second magnetic signal detection ring electricity is connected.
7. The torque sensor according to any one of claims 1 to 6, wherein,
The first magnetic ring and the second magnetic ring are radially magnetized in a single pair of poles respectively;
The first magnetic signal detection ring comprises a plurality of first magnetic sensitive elements which are multiples of three, the first magnetic sensitive elements are uniformly distributed on the outer side of the first magnetic ring along a circumferential direction, and the distances between the first magnetic sensitive elements and the first magnetic ring are equal; and/or
The second magnetic signal detection ring comprises a plurality of second magnetic sensitive elements which are multiples of three, the second magnetic sensitive elements are uniformly distributed on the outer side of the second magnetic ring along a circumferential direction, and the distances between the second magnetic sensitive elements and the second magnetic ring are equal.
8. The torque sensor according to any one of claims 1 to 6, wherein,
The first magnetic ring and the second magnetic ring are respectively in radial magnetizing of a plurality of pairs of poles;
the first magnetic signal detection ring comprises a plurality of first magnetic sensitive elements which are multiples of three, the first magnetic sensitive elements are distributed on the outer side of the first magnetic ring along an arc direction, the interval between every two adjacent first magnetic sensitive elements is equal, and the distance between each first magnetic sensitive element and the first magnetic ring is equal;
The second magnetic signal detection ring comprises a plurality of second magnetic sensitive elements which are multiples of three, the second magnetic sensitive elements are distributed on the outer side of the second magnetic ring along an arc direction, the intervals of every two adjacent second magnetic sensitive elements are equal, and the distances between the second magnetic sensitive elements and the second magnetic ring are equal.
9. The torque sensor according to claim 8, wherein,
The calculation formula of the interval angle of two adjacent first magnetic sensors or the interval angle of two adjacent second magnetic sensors is as follows:
Wherein T represents the interval angle of two adjacent first/second magnetic sensitive elements, n represents the logarithm of the magnetic poles of the first magnetic ring or the second magnetic ring, and m represents the logarithm of the magnetic poles with the whole period of the actual interval of any two first/second magnetic sensitive elements.
10. A power assisted bicycle, comprising:
A torque sensor as claimed in any one of claims 1 to 9;
a pedal connected with a center shaft of the torque sensor;
And the chain chuck is connected with the torsion strain sleeve of the torsion sensor.
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| CN202211364033.5A CN115610569A (en) | 2022-11-02 | 2022-11-02 | Torque sensor, power-assisted bicycle, torque detection method and processor |
| CN2022113640335 | 2022-11-02 |
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| CN202211364033.5A Pending CN115610569A (en) | 2022-11-02 | 2022-11-02 | Torque sensor, power-assisted bicycle, torque detection method and processor |
| CN202322388457.1U Active CN220924420U (en) | 2022-11-02 | 2023-09-04 | Torque sensor and booster bicycle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006078198A (en) * | 2004-09-07 | 2006-03-23 | Kayaba Ind Co Ltd | Torque sensor |
| JP5008274B2 (en) * | 2005-05-18 | 2012-08-22 | 光洋電子工業株式会社 | Torque detection device and rotation angle detection device |
| CN203544280U (en) * | 2013-08-08 | 2014-04-16 | 苏州捷诚科技有限公司 | Center shaft type torque sensor |
| CN203544279U (en) * | 2013-08-08 | 2014-04-16 | 苏州捷诚科技有限公司 | Center shaft type torque sensor |
| CN215598587U (en) * | 2021-07-15 | 2022-01-21 | 北京零极创新科技有限公司 | Torque sensor and electric power-assisted vehicle |
| CN114894357B (en) * | 2022-06-07 | 2024-04-26 | 浙江雅迪机车有限公司 | Displacement type power sensor for moped and signal processing method thereof |
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