DE102021213229A1 - BICYCLE DERAILLEUR - Google Patents

Abstract

A bicycle derailleur 10 is provided, basically comprising a base member 12, a moveable member 14, a pivot structure 16, and a position sensor 94. As shown in FIG. The hinge structure 16 is configured to movably connect the moveable member 14 relative to the base member 12 . The position sensor 94 is configured to sense a relative angular position between the articulation structure 16 and at least one of the base member 12 and the moveable member 14 .

Description

The present invention relates generally to a bicycle derailleur and a method of controlling shifting of a bicycle derailleur.

In bicycles, a drive train is usually used to transfer the pedaling power to the rear wheel. The drive train can be a chain-driven drive train, for example. In some cases, a transmission device is provided that changes the transmission ratio of the drive train. An example of a transmission device is a bicycle derailleur that selectively moves a bicycle chain from one of a plurality of sprockets to another to change the speed of the bicycle. A typical derailleur consists of a base member, a moveable member that supports a chain guide, and a link structure coupled between the base member and the moveable member such that the chain guide moves laterally relative to the base member. Recently, derailleurs have been fitted with electric motors to facilitate gear shifting. In an electric motor bicycle derailleur, shifting may occur in response to user actuation of an operating device or automatically based on one or more bicycle conditions.

The present invention relates generally to various features of a bicycle derailleur. An object of the present invention is to detect a relative angular position between a link structure and at least one base member and one movable member to determine the current state of the bicycle derailleur.

In view of the prior art and in accordance with a first aspect of the present invention, there is provided a bicycle derailleur basically comprising a base member, a movable member, a link structure and a position sensor. The hinge structure is configured to movably connect the movable member relative to the base member. The position sensor is designed to detect a relative angular position between the joint structure and the base element and/or the movable element.

With the bicycle derailleur according to the first aspect, it is easy to determine whether a shifting operation has been successfully completed.

According to a second aspect of the present invention, the bicycle derailleur according to the first aspect further includes an actuator provided on one of the base member, the movable member and the link structure, the actuator being operatively coupled to the link structure. In the bicycle derailleur according to the second aspect, the movable member can be easily moved relative to the base member by the actuator to perform a gear shifting operation.

According to a third aspect of the present invention, the bicycle derailleur according to the second aspect further includes a rotary encoder configured to detect movement of the actuator. In the bicycle derailleur according to the third aspect, the gear position of the bicycle derailleur can be easily detected by detecting the movement of the actuator using the rotary encoder.

According to a fourth aspect of the present invention, the bicycle derailleur according to the third aspect is configured such that the actuator includes a motor and a reduction gear. In the bicycle derailleur according to the fourth aspect, the movable member can be moved relative to the base member with a sufficient output torque by using the motor and the reduction gear to perform a shifting operation.

According to a fifth aspect of the present invention, the bicycle derailleur according to the fourth aspect is configured such that the rotary encoder is configured to detect movement of at least a part of the reduction gear. With the bicycle derailleur according to the fifth aspect, the gear position of the bicycle derailleur can be more easily detected by detecting the movement of at least a part of the reduction gear.

According to a sixth aspect of the present invention, the bicycle derailleur according to any one of the second to fifth aspects further includes a controller configured to actuate the actuator in response to a shift command. In the bicycle derailleur according to the sixth aspect, the actuator can be easily controlled by the controller in response to a shift command.

According to a seventh aspect of the present invention, the bicycle derailleur according to the sixth aspect is configured such that the control unit is configured to monitor a detected value of the rotary encoder, and the control unit is configured to, in response to receiving the shift command, Operating amount of the actuator controls. With the bicycle derailleur according to according to the seventh aspect, the actuator can be accurately controlled by the controller in response to a shift command.

According to an eighth aspect of the present invention, the bicycle derailleur according to the sixth aspect or the seventh aspect is configured such that the controller is configured to monitor a detected value of the position sensor, and the controller is configured to, in response to the Shift command determines whether a shift is complete when the detected value of the position sensor changes by a first predetermined amount. In the bicycle derailleur according to the eighth aspect, it can be determined whether a shifting operation is completed by monitoring the detected value of the position sensor.

According to a ninth aspect of the present invention, the bicycle derailleur according to the eighth aspect is configured such that the controller is configured to determine that the shifting operation is not completed when the detected value of the position sensor changes by a second predetermined amount that differs from the first predetermined amount is different. In the bicycle transmission according to the ninth aspect, it can be determined whether a shifting operation is not completed by comparing the detected value of the position sensor with the first predetermined amount.

According to a tenth aspect of the present invention, the bicycle derailleur according to the ninth aspect is configured such that the controller is configured to further operate the actuator for an additional operation amount to move the movable member relative to the base member when it is determined that the switching process is not completed in response to the switching command. With the bicycle derailleur according to the tenth aspect, it is possible to complete the shifting operation by operating the actuator an additional operation amount when it is determined that the shifting operation is not completed in response to the shifting command.

According to an eleventh aspect of the present invention, the bicycle derailleur of the tenth aspect is configured such that the controller is configured to further increase the actuator for the additional operation amount based on at least one of the detected value of the rotary encoder and the detected value of the position sensor operate. In the bicycle derailleur according to the eleventh aspect, it is possible to determine the additional operation amount required for the completion of the shifting operation based on at least one of the detected value of the rotary encoder and the detected value of the position sensor.

According to a twelfth aspect of the present invention, the bicycle derailleur according to the eleventh aspect is configured such that the controller is configured to further operate the actuator based on both the detected value of the rotary encoder and the detected value of the position sensor. With the bicycle derailleur according to the twelfth aspect, it is possible to more accurately determine the additional operation amount required to complete the shifting operation using at least one of the detected value of the rotary encoder and the detected value of the position sensor.

According to a thirteenth aspect of the present invention, the bicycle derailleur according to any one of the eighth to twelfth aspects further includes a memory having correlation data correlating the detected value of the rotary encoder with the detected value of the position sensor. With the bicycle derailleur according to the thirteenth aspect, it is easy to determine whether a shifting operation has been successful by storing in memory correlation data correlating the detected value of the encoder with the detected value of the position sensor.

According to a fourteenth aspect of the present invention, the bicycle derailleur of the thirteenth aspect is configured such that the controller is configured to update the detected value of the rotary encoder of the correlation data relative to the detected value of the position sensor after a successful shifting operation. With the bicycle derailleur according to the fourteenth aspect, it is possible to recalibrate the bicycle derailleur after a successful shifting operation.

According to a fifteenth aspect of the present invention, the bicycle derailleur according to any one of the sixth to fourteenth aspects is configured such that the controller is further configured to output an error signal to a notification device. With the bicycle derailleur according to the fifteenth aspect, a user can be notified when a shifting operation has failed.

According to a sixteenth aspect of the present invention, the bicycle derailleur according to any one of the first to fifteenth aspects is configured such that the position sensor includes at least one of the following elements: a potentiometer, a photoelectric sensor, a rotation sensor and a rotary encoder. With the bicycle derailleur according to the sixteenth aspect, it is possible to easily Way to detect a relative angular position between the joint structure and the base element and / or the movable element using a potentiometer, a light barrier, a rotation sensor and / or a rotary encoder.

According to a seventeenth aspect of the present invention, the bicycle derailleur according to any one of the first to sixteenth aspects is configured such that the link structure includes a first link and a second link. The first link has a first end pivotally connected to the base member and a second end pivotally connected to the movable member. The second link has a third end pivotally connected to the base member and a fourth end pivotally connected to the movable member. In the bicycle derailleur of the seventeenth aspect, the first link and the second link form a four-bar linkage connecting the movable member to the base member so that the movable member can be moved laterally relative to the base member while maintaining the orientation of the movable member .

According to an eighteenth aspect of the present invention, the bicycle derailleur of the seventeenth aspect is configured such that the position sensor is disposed between the base member and the first link. Also, with the bicycle derailleur according to the eighteenth aspect, it is possible to easily detect a relative angular position between the base member and the first link.

According to a nineteenth aspect of the present invention, the bicycle derailleur according to the seventeenth aspect is configured such that the position sensor is arranged between the base member and the second link. With the bicycle derailleur according to the nineteenth aspect, it is also possible to easily detect a relative angular position between the base member and the second link.

According to a twentieth aspect of the present invention, the bicycle derailleur of the seventeenth aspect is configured such that the position sensor is arranged between the movable member and the first link. Also, with the bicycle derailleur according to the twentieth aspect, it is possible to easily detect a relative angular position between the movable member and the first link.

According to a twenty-first aspect of the present invention, the bicycle derailleur of the seventeenth aspect is configured such that the position sensor is arranged between the movable member and the second link. Also, with the bicycle derailleur according to the twenty-first aspect, it is possible to easily detect a relative angular position between the movable member and the second link.

According to a twenty-second aspect of the present invention, there is provided a control method for controlling a shifting operation of a bicycle derailleur that includes a base member, a movable member, a hinge structure, and an actuator operatively coupled to the hinge structure. The control method includes operating the actuator in response to receiving a shift command; sensing a relative angular position between the articulation structure and the base member and/or the moveable member using a position sensor; and determining a status of the shift based on a sensed value of the position sensor.

In the bicycle derailleur according to the twenty-second aspect, it is easy to determine whether a shifting operation has been successfully completed based on a detected value of the position sensor.

• 1 eine Seitenansicht eines Fahrrads ist, das mit einem Fahrradumwerfer gemäß einer Ausführungsform ausgestattet ist;
• 2 eine äußere Seitenansicht des in 1 dargestellten Fahrradumwerfers ist;
• 3 eine innere Seitenansicht des in 2 dargestellten Fahrradumwerfers ist;
• 4 eine schräge Innenansicht des in den 2 und 3 dargestellten Fahrradumwerfers ist, gesehen in einer Richtung parallel zu den Schwenkachsen der Gelenkstruktur;
• 5 eine teilweise explodierte, perspektivische Ansicht des beweglichen Elements und der Kettenführung des in den 1 bis 4 dargestellten Fahrradumwerfers ist;
• 6 eine weitere explodierte, perspektivische Ansicht des in 5 dargestellten beweglichen Elements und der Kettenführung ist;
• 7 eine explodierte, perspektivische Ansicht des in den 5 bis 6 dargestellten beweglichen Elements und der Kettenführung ist, jedoch von der Innenseite des Fahrradumwerfers aus gesehen;
• 8 eine schräge Außenansicht des Aktuators ist, bei der ein Teil des Gehäuses weggelassen wurde, um den Motor und das Untersetzungsgetriebe zu zeigen;
• 9 eine perspektivische Ansicht des in 8 dargestellten Aktuators ist, in der zusätzliche interne Stützstrukturen weggelassen wurden, um die Leiterplatte zu zeigen, die neben dem Motor und dem Untersetzungsgetriebe angeordnet ist;
• 10 ein schematisches Gesamtblockdiagramm ist, das eine elektrische Ausbildung des in 1 dargestellten Fahrradumwerfers zeigt, die drahtlos mit einer Bedienvorrichtung und einer Benachrichtigungsvorrichtung kommuniziert;
• 11 eine schräge Außenansicht des in den 1 bis 4 dargestellten Fahrradumwerfers ist, in der der Positionssensor in einer ersten Sensoranordnung vorgesehen ist;
• 12 eine schräge Außenansicht ist, ähnlich wie 11, des in den 1 bis 4 dargestellten Fahrradumwerfers, bei der der Positionssensor jedoch in einer zweiten Sensoranordnung vorgesehen ist;
• 13 eine schräge Außenansicht ist, ähnlich wie 11, des in den 1 bis 4 dargestellten Fahrradumwerfers, bei der der Positionssensor jedoch in einer dritten Sensoranordnung vorgesehen ist;
• 14 eine schräge Außenansicht ist, ähnlich wie 11, des in den 1 bis 4 dargestellten Fahrradumwerfers, bei der der Positionssensor jedoch in einer vierten Sensoranordnung vorgesehen ist;
• 15 eine schräge Innenansicht des in den 1 bis 4 dargestellten Fahrradumwerfers ist, in der der Positionssensor in einer fünften Sensoranordnung vorgesehen ist;
• 16 eine schräge Innenansicht ist, ähnlich wie 15, des in den 1 bis 4 dargestellten Fahrradumwerfers, bei der der Positionssensor jedoch in einer sechsten Sensoranordnung vorgesehen ist;
• 17 eine schräge Innenansicht ist, ähnlich wie 15, des in den 1 bis 4 dargestellten Fahrradumwerfers, bei der der Positionssensor jedoch in einer siebten Sensoranordnung vorgesehen ist;
• 18 eine schräge Innenansicht ist, ähnlich wie 15, des in den 1 bis 4 dargestellten Fahrradumwerfers, bei der der Positionssensor jedoch in einer achten Sensoranordnung vorgesehen ist; und
• 19 ein Flussdiagramm ist, das einen Schaltvorgang zeigt, der von der Steuerung des Fahrradumwerfers ausgeführt wird.

Other objects, features, aspects and advantages of the disclosed bicycle transmission and control method will also become apparent to those skilled in the art from the following detailed description which, taken in conjunction with the accompanying drawings, discloses preferred embodiments of the bicycle transmission and control method, wherein:

• 1 12 is a side view of a bicycle equipped with a bicycle derailleur according to an embodiment;
• 2 an external side view of the in 1 illustrated bicycle derailleur;
• 3 an inside side view of the in 2 illustrated bicycle derailleur;
• 4 an oblique interior view of the 2 and 3 The illustrated bicycle derailleur is viewed in a direction parallel to the pivot axes of the link structure;
• 5 12 is a partially exploded perspective view of the moving element and chain guide of the embodiment shown in FIGS 1 until 4 illustrated bicycle derailleur;
• 6 another exploded, perspective view of the in 5 shown moving element and the chain guide;
• 7 an exploded, perspective view of the in the 5 until 6 movable member and the chain guide shown, but viewed from the inside of the bicycle derailleur;
• 8th Figure 12 is an oblique external view of the actuator with part of the housing broken away to show the motor and reduction gear;
• 9 a perspective view of the in 8th of the actuator shown, with additional internal support structures omitted to show the circuit board located adjacent the motor and reduction gear;
• 10 Fig. 12 is an overall schematic block diagram showing an electrical embodiment of the Fig 1 illustrated bicycle derailleur that communicates wirelessly with an operating device and a notification device;
• 11 an oblique exterior view of the 1 until 4 illustrated bicycle derailleur in which the position sensor is provided in a first sensor assembly;
• 12 an oblique exterior view is similar to 11 , des in the 1 until 4 illustrated bicycle derailleur, but in which the position sensor is provided in a second sensor assembly;
• 13 an oblique exterior view is similar to 11 , des in the 1 until 4 illustrated bicycle derailleur, but in which the position sensor is provided in a third sensor assembly;
• 14 an oblique exterior view is similar to 11 , des in the 1 until 4 illustrated bicycle derailleur, but in which the position sensor is provided in a fourth sensor array;
• 15 an oblique interior view of the 1 until 4 illustrated bicycle derailleur in which the position sensor is provided in a fifth sensor assembly;
• 16 an oblique interior view is similar to 15 , des in the 1 until 4 illustrated bicycle derailleur, but in which the position sensor is provided in a sixth sensor array;
• 17 an oblique interior view is similar to 15 , des in the 1 until 4 shown bicycle derailleur, but in which the position sensor is provided in a seventh sensor array;
• 18 an oblique interior view is similar to 15 , des in the 1 until 4 shown bicycle derailleur, but in which the position sensor is provided in an eighth sensor array; and
• 19 Fig. 12 is a flow chart showing a shifting operation performed by the controller of the bicycle derailleur.

Selected embodiments will now be explained with reference to the drawings. It will be apparent to those skilled in the bicycle field from this disclosure that the following descriptions of the embodiments are intended for purposes of illustration only and not limitation of the invention as defined in the appended claims and their equivalents.

In 1 First, a bicycle B is shown, which is equipped with a bicycle derailleur 10 according to a first embodiment. Bicycle B is an electrically assisted bicycle (e-bike). In addition, the bicycle B of the illustrated embodiment is a mountain bike. Alternatively, the bicycle B can be a racing bike, a city bike, a cargo bike, a recumbent bike or another type of off-road bike such as a cyclocross bike. The bicycle B includes a vehicle body VB supported by a rear wheel RW and a front wheel FW. The vehicle body VB mainly includes a front frame body FB and a rear frame body RB (a swingarm). The vehicle body VB is also equipped with a handlebar H and a front fork FF for steering the front wheel FW. The rear frame body RB is pivotally attached to a rear portion of the front frame body FB so that the rear frame body RB can pivot with respect to the front frame body FB.

The rear wheel RW is mounted at a rear end of the rear frame body RB. A rear shock absorber RS is operatively interposed between the front frame body FB and the rear frame body RB. The rear shock absorber RS is provided between the front frame body FB and the rear frame body RB to control the movement of the rear frame body RB with respect to the front frame body FB. Namely, the rear shock absorber RS absorbs the shocks transmitted from the rear wheel RW. The rear wheel RW is rotatably attached to the rear frame body RB.

The front wheel FW is fixed to the front frame body FB via the front fork FF. The front wheel FW is fixed to a lower end of the front fork FF. A bicycle saddle S is on conventionally attached to a seat tube of the front frame body FB. The front fork FF is pivotally attached to a head tube of the front frame body FB. The handlebar H is attached to the upper end of a steering column or a steerer tube of the front fork FF. The front fork FF absorbs the shocks transmitted by the front wheel FW. Preferably, the rear shock absorber RS and the front fork FF are electrically adjustable suspensions. For example, the stiffness and/or the stroke length of the rear shock absorber RS and the front fork FF can be adjusted.

The bicycle B also includes a cycle computer SC, which is an example of a notification device. Here, the cycle computer SC is attached to the front frame body FB. Alternatively, the cycle computer SC can also be attached to the handlebar H. The cycle computer SC informs the rider of various riding and/or operational states of the bicycle B. For example, the cycle computer SC displays a current gear position detected by information related to the bicycle derailleur 10 and notifies the rider of a shift error state detected by the Information regarding the bicycle derailleur 10 is acquired. The current gear position is a sprocket that is currently engaged with the chain. The cycle computer SC can also contain various control programs for automatically controlling one or more vehicle components. For example, the bicycle computer SC can be equipped with an automatic shifting program for changing the gears of the bicycle derailleur 10 based on one or more riding and/or operating conditions of the bicycle B.

The bicycle B further includes an electric drive unit DU having an electric motor that provides drive assist force to a front sprocket FS. The electric drive unit DU can be actuated to assist in the propulsion of the bicycle B in a conventional manner. The electric drive unit DU is operated in response to a human driving force applied to the pedals PD, for example. The electric drive unit DU is driven by electric power supplied from a battery pack BP attached to a down tube of the bicycle B. Here, the drive train is, for example, a chain drive type including a crank C, the front sprocket FS, a plurality of rear sprockets CS, and a chain CN. The crank C includes a crank axle CA1 and a pair of crank arms CA2. The crank axle CA1 is rotatably supported on the front frame body FB via the electric drive unit DU. The crank arms CA2 are attached to opposite ends of the crank axle CA1. A pedal PD is rotatably connected to the distal end of each of the crank arms CA2. The drive train can be selected from any type and can be a belt drive type or a shaft drive type.

The bicycle derailleur 10 is attached to the bicycle frame. More specifically, the bicycle derailleur 10 is fixed to the rear frame body RB to shift the chain CN between the rear sprockets CS. The bicycle derailleur 10 is a type of gear shifting device. In this case, the bicycle derailleur 10 is an electric rear derailleur, which is an example of an electric shifting device or an electric transmission device. However, the bicycle derailleur may include a front derailleur and a rear derailleur. Both the front derailleur and the rear derailleur may be an electric derailleur. The bicycle derailleur 10 is connected to the battery pack BP via an electric wire EW to receive electric power from the battery pack BP. Alternatively, the bicycle derailleur 10 can also be equipped with its own power supply. For example, the bicycle derailleur 10 can be equipped with a battery or a capacitor. The bicycle derailleur 10 can be electrically connected to a battery via an electronic connector. In other words, the battery can be directly detachably attached to the bicycle derailleur 10 . The battery can be attached to either the base member, the movable member, or the articulated structure. The battery may be detachably attached to the linkage structure of the bicycle derailleur 10 .

The bicycle derailleur 10 can be operated when a rider of the bicycle B manually operates a gear shift operating device or a shift lever SL, which is a shift operating device. The bicycle derailleur 10 may also be automatically actuated based on riding conditions and/or operating conditions of the bicycle B. The bicycle derailleur 10 operates in response to operation of the gear shift operating device SL between a plurality of gear positions such that the bicycle chain CN is moved by the bicycle derailleur 10 in a lateral direction between the rear sprockets CS. As in 2 As can be seen, the bicycle derailleur 10 is in top shift (gear) so that the chain CN is routed to the rear sprocket CS with the fewest number of teeth. The term “top shift (gear)” means that the bicycle derailleur 10 is in an operating position where the chain CN is routed onto the rear sprocket CS with the smallest number of teeth. The term "lowest switch position" refers to the operating position of the bicycle derailleur 10 in which the chain CN is guided on the rear sprocket CS with the largest number of teeth.

As in the 2 until 4 As shown, the bicycle derailleur 10 basically comprises a base member 12, a moveable member 14, and a hinge structure 16. The hinge structure 16 is configured to movably connect the moveable member 14 relative to the base member 12. As shown in FIG. Specifically, the base member 12 is attached to the rear frame body RB, and the hinge structure 16 movably connects the movable member 14 to the base member 12. In this way, the movable member 14 can be moved in a lateral direction of the bicycle B relative to the base member 12. Here, the bicycle derailleur 10 also includes a chain guide 18. The chain guide 18 is configured to be pivotally connected to the movable member 14 about a pivot axis P1. The chain guide 18 is configured to move the chain CN between a plurality of sprockets of a sprocket assembly to change the shift stage (gear). The chain guide 18 is formed to contact the chain CN to slide the chain CN between the rear sprockets CS when the movable member 14 moves in the lateral direction of the bicycle B relative to the base member 12 .

The bicycle derailleur 10 further includes an actuator 20 attached to either the base member 12, the movable member 14, or the linkage structure 16. As shown in FIG. In the illustrated embodiment, the actuator 20 is attached to the base member 12 . However, the actuator 20 may be attached to either the moveable member 14 or the articulation structure 16 as needed and/or desired. In any case, the actuator 20 is coupled to the articulation structure 16 . In other words, the actuator 20 is operatively coupled to the articulation structure 16 to move the moveable member 14 relative to the base member 12 in response to a shift command. In this case the actuator 20 is an electric motor unit. In the embodiment shown, the bicycle derailleur 10 is therefore an electric rear derailleur.

In the embodiment shown, the base element 12 comprises a base body 22 which supports the actuator 20 . The hinge structure 16 is pivotally connected to the base 22 as discussed below. The base 12 further includes an axle bracket 24 pivotally attached to the main body 22 by an axle bolt 26 . The axle bolt 26 defines a pivot axis P2 defined by a central longitudinal axis of the axle bolt 26 . The pivot axis P2 defined by the axle bolt 26 is sometimes referred to as the B-axis of the rear derailleur. The pivot axis P2 is parallel to the pivot axis P1. The body 22 and axle mount 24 are preferably made of a hard, rigid material such as a light metal (e.g., aluminum alloy). The axle bracket 24 is mounted to the rear frame body RB with a mounting bolt 28 . That is, the bicycle derailleur 10 is fixed to the rear frame body RB with the fixing bolt 28 .

As in the 5 until 7 As can be seen, the movable element 14 is movably connected to the base element 12 via the hinge structure 16 . Movable element 14 is preferably made of a hard, rigid material such as a light metal (e.g., aluminum alloy). The movable member 14 pivotally supports the chain guide 18 about an axis 30 for rotation about the pivot axis P1, sometimes referred to as the rear derailleur P-axis. The axle 30 is fixed to the chain guide 18 and is rotatably supported in a bore 14a of the movable member 14 in a conventional manner.

The bicycle derailleur 10 further includes a biasing member 32. The biasing member 32 is operatively disposed between the movable member 14 and the chain guide 18 to bias the chain guide 18 relative to the movable member 14 in a first direction about the pivot axis P1. Here, the biasing member 32 includes a torsion spring. In particular, the torsion spring of biasing member 32 is preferably a coiled torsion spring disposed coaxially about axis 30 . The biasing member 32 is disposed in the bore 14a of the movable member 14. As shown in FIG. Biasing member 32 has a first end 32a coupled to movable member 14 and a second end 32b coupled to chain guide 18 for applying a rotational biasing force to chain guide 18 in a conventional manner.

As in the 2 until 4 As shown, the chain guide 18 basically comprises a pair of chain cage plates 34, a guide pulley 36 and an idler pulley 38. The guide pulley 36 and the tension pulley 38 are both rotatably disposed between the chain cage plates 34. In the illustrated embodiment, the deflection roller 36 is rotatably arranged on the axle 30, while the chain guide 18 is fixed to the axle 30 in a rotationally fixed manner.

The hinge structure 16 will now be discussed in more detail. The hinge structure 16 supports the moveable member 14 relative to the base member 12 moving off. In other words, the articulation structure 16 connects the moveable member 14 to the base member 12. In the illustrated embodiment, the articulation structure 16 includes a first link 40 and a second link 42. The first link 40 has a first end 40a pivotally connected to the base member 12 and a second end 40b pivotally connected to the movable member 14. As shown in FIG. The second link 42 has a third end 42a pivotally connected to the base member 12 and a fourth end 42b pivotally connected to the movable member 14 . The first link 40 is sometimes referred to herein as the inner link. The second link 42 is also sometimes referred to herein as an outer link.

As in 4 As can be seen, the articulation structure 16 further includes a biasing member 44 disposed between the first link 40 and the second link 42 for biasing the movable member 14 toward either a low gear position or a high gear position. In the illustrated embodiment, the biasing member 44 is a coil tension spring that biases the movable member 14 toward the low gear position. With this arrangement, the biasing member 44 is stretched as the movable member 14 moves from the low-speed position to the high-speed position. In the low gear position, the biasing member 44 is preloaded (slightly stretched) to be stabilized in the low gear position.

In the illustrated embodiment, the first linkage 40 is coupled to the actuator 20 via an actuator protection mechanism 46 . In particular, the first link 40 includes a first link 48 and a second link 50. Alternatively, the first link 48 can be omitted and the first link 40 can be made of a single piece if needed and/or desired. The second connecting member 50 is fixedly connected to an intermediate portion of the first connecting member 48 by a fastener 52 . The first link member 48 forms the second end 40b of the first link 40 which is pivotally connected to the movable member 14. As shown in FIG. On the other hand, the first connection element 48 and the second connection element 50 together form the first end 40a of the first connection 40.

The actuator protection mechanism 46 is coupled between an output shaft 54 of the actuator 20 and the first link 40 . The actuator protection mechanism 46 includes an output member 56, a drive link 58, and a biasing member 60. The actuator protection mechanism 46 is movably disposed between a drive-transmitting position that connects a drive force of the actuator 20 to the first link 40, and a non-drive-transmit position that transmits the drive force of the actuator 20 separates from the first connection 40. The actuator protection mechanism 46 essentially performs two functions. First, the actuator protection mechanism 46 normally transmits a driving force of the actuator 20 to the first link 40 to move the moveable member 14 relative to the base member 12 . Second, the actuator protection mechanism 46 interrupts the transmission of a driving force from the actuator 20 to the first link 40 so that the actuator 20 can continue to operate even when the movable member 14 is not moving relative to the base member 12 (e.g., if it is jammed ) or the force for moving the movable member 14 with respect to the base member 12 becomes larger than a prescribed operating force. In this way, the actuator 20 is protected by the actuator protection mechanism 46 in certain situations. Since safety structures such as the actuator protection mechanism 46 are well known in bicycle transmissions, the actuator protection mechanism 46 will not be discussed further.

As in the 8th and 9 As can be seen, the actuator 20 basically comprises a motor 62 and a reduction gear 64. The motor 62 and reduction gear 64 are housed in a housing which is fixed to the base member 12. As can be seen in FIG. The motor 62 is a reversible electric motor. Motor 62 is a reversible electric motor. The motor 62 has an output shaft 65 which is connected to the reduction gear 64 . The reduction gear 64 includes a first stage gear 66, a second stage gear 68, a third stage gear 70 and a sector gear 72. The large gear portion of the first stage gear 66 meshes with a worm gear 74 of the output shaft 65. The small gear of the first stage gear 66 meshes with the large gear of the second stage gear 68 . The small gear of the second step gear 68 meshes with the large gear of the third step gear 70 . The small gear of the third step gear 70 meshes with the sector gear 72 . The output shaft 54 of the actuator 20 is fixed to the sector gear 72 to pivotally support the sector gear 72 to the actuator 20 housing. The output shaft 54 is connected to the output member 56 of the actuator protection mechanism 46 . The rotation of the output shaft 54 by the motor 62 causes the output member 56 of the actuator protection mechanism to rotate Mushroom 46 rotates, which in turn causes the first linkage 40 to rotate relative to the base member 12. In this way, the rotational power of the motor 62 is transmitted to move the movable member 14 and the chain guide 18 in the lateral direction of the bicycle B.

Referring to the 9 and 10 For example, the bicycle derailleur 10 further includes a controller 80 configured to actuate the actuator 20 in response to receiving a shift command. In other words, the controller 80 operates the actuator 20 to move the movable member 14 and the chain guide 18 in the lateral direction of the bicycle B when receiving a shift command from the gear shift operating device SL. The controller 80 is contained on a printed circuit board 82 here. In the illustrated embodiment, the printed circuit board 82 is arranged in the housing of the actuator 20 . Controller 80 is an electronic controller that includes one or more processors 84 that execute a predetermined shift program to operate engine 62 . The processor of the controller 80 includes, for example, a central processing unit (CPU) or a microprocessor unit (MPU). Controller 80 may include one or more microcomputers. Thus, as used herein, the terms "controller" and "electronic controller" refer to hardware running a software program, not a human. The circuit board 82 may include a sensor for sensing information about the environment of the circuit board 82, such as the temperature around the circuit board 82.

The bicycle derailleur 10 also includes a memory 86. Here the memory 86 is housed on the circuit board 82 of the controller 80. FIG. Alternatively or additionally, the memory 86 can be provided separately from the controller 80 . The memory 86 stores a control program and information used for an engine control process for performing a shift. Memory 86 may comprise any computer storage device or any non-transitory computer-readable medium, with the sole exception of a transitory propagated signal. The memory 86 includes, for example, non-volatile memory and volatile memory. The non-volatile memory comprises, for example, at least one of a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory includes, for example, random access memory (RAM).

Preferably, the controller 80 also includes an actuator controller 88 for driving the motor 62. The actuator controller 88 is electrically connected to the controller 80. FIG. Actuator controller 88 drives motor 62 in accordance with a control signal from controller 80 . The controller 80 and the actuator controller 88 are preferably housed in the housing of the actuator 20 . For example, controller 80 and actuator controller 88 may reside on the same circuit board or on separate circuit boards. In this case, the actuator controller 88 is a drive circuit provided on the circuit board 82 . The actuator controller 88 includes an inverter circuit. The actuator controller 88 controls the electric power supplied to the motor 62 from the battery pack BP.

How from the 9 and 10 As can be seen, the bicycle derailleur 10 further includes a rotary encoder 90 configured to sense movement of the actuator 20 . In this case, the encoder 90 is configured to sense movement of at least a portion of the reduction gear 64 . In particular, the rotary encoder 90 is designed in such a way that it detects a state of a magnetic field. More specifically, the rotary encoder 90 is designed to detect a change in the magnetic field. The controller 80 is configured to calculate a rotation angle of one of the gears of the reduction gear 64 based on the magnetic field change detected by the rotary encoder 90 . In this case, the encoder 90 includes a sensor 90A and a magnet 90B. The sensor 90A is mounted on the circuit board 82 . The magnet 90B is fixed to the shaft of the second step gear 68 . Thus, when the second stage gear 68 of the reduction gear 64 rotates in accordance with the operation of the motor 62, the rotary encoder 90 can detect a change in the state of the reduction gear 64.

Basically, the controller 80 is designed in such a way that it monitors a detected value of the rotary encoder 90 . The controller 80 determines a current gear position of the bicycle derailleur 10 based on the sensed value of the encoder 90 relative to a predetermined value stored in the memory 86 . In this way, the controller 80 can determine the current gear position of the bicycle derailleur 10 based on the sensed value of the rotary encoder 90 . However, the rotary encoder 90 can only detect the angle of rotation of one of the gears of the reduction gear 64 . In other words, the rotary encoder 90 cannot sense an actual condition of the bicycle derailleur 10 . In particular, the rotary encoder 90 cannot detect the current state of the chain guide 18 .

As in 10 As shown, the bicycle derailleur 10 further includes a wireless communicator 92 configured to wirelessly communicate with the gear shift operating device SL and the cycle computer SC, which is an example of a notification device. More specifically, wireless communicator 92 is configured to both transmit and receive wireless signals. The wireless communicator 92 sends wireless signals to the cycle computer SC and/or other notification device. In addition, the wireless communicator 92 receives wireless signals from the shift operation device SL. For example, wireless communicator 92 may be a wireless transceiver. The wireless communication signals may be radio frequency (RF) signals, ultra-wideband communication signals, radio frequency identification (RFID) communication, ANT+ communication, or BluetoothO communication, or any other type of signal suitable for short-range wireless communication, as is usual in the bicycle sector. Alternatively or additionally, the bicycle derailleur 10 can be equipped with a wired communication circuit. For example, the controller 80 can communicate with the battery pack BP and the other components via the electric line EW using Power Line Communication (PLC). The wired communication of the bicycle derailleur 10 can also take place via a controller area network (CAN) or a universal asynchronous receiver-transmitter (UART).

The bicycle derailleur 10 also includes a position sensor 94. The position sensor 94 is configured to sense a relative angular position between the linkage structure and at least one of the base member 12 and the movable member 14. As shown in FIG. In principle, the controller 80 is designed in such a way that it monitors a detected value of the position sensor 94 . Then, the controller 80 is configured to, in response to the shift command, determine whether a shift is complete when the sensed value of the position sensor 94 changes by a first predetermined amount. On the other hand, the controller 80 is configured to determine that the shift is not complete when the sensed value of the position sensor 94 changes by a second predetermined amount that is different from the first predetermined amount. In other words, the controller 80 determines a status of the shifting operation based on a sensed value of the position sensor 94 with respect to a predetermined value. In particular, the controller 80 stores an absolute value relating to each of the sprocket positions relative to each of the sprockets in the memory 86. Thus, the value sensed by the position sensor 94 is related to the absolute value stored in the memory 86 of the controller 80, to determine whether the shifting operation is completed or not.

The position sensor 94 preferably comprises at least one of the following elements: a potentiometer, a light barrier, a rotation sensor and a rotary encoder. Thus, the position sensor 94 typically includes a first portion 94A and a second portion 94B. One of the two parts 94A and 94B is a detector and the other of the two parts 94A and 94B is a detected part. In any event, the position sensor 94 is configured to sense an angular position between the articulation structure 16 and at least one of the base member 12 and the moveable member 14 .

As in the 11 and 12 As can be seen, the position sensor 94 is arranged between the base element 12 and the second connection 42, for example. In the 11 and 12 the position sensor 94 is located near the pivot axis between the base member 12 and the second link 42 . In the sensor arrangement of 11 the first part 94A is arranged on the second connection 42 and the second part 94B is arranged on the base element 12 . In the sensor arrangement of 12 the first part 94A is arranged on the base member 12 and the second part 94B is arranged on the second connection 42 .

Alternatively, the position sensor 94 is, for example, as shown in FIGS 13 and 14 1, disposed between the moveable member 14 and the second link 42. FIG. Here, in the 13 and 14 , the position sensor 94 is located adjacent to the pivot axis between the movable member 14 and the second link 42 . In the sensor arrangement of 13 the first portion 94A is disposed on the second link 42 and the second portion 94B is disposed on the movable member 14. In the sensor arrangement of 14 the first portion 94A is disposed on the movable member 14 and the second portion 94B is disposed on the second link 42 .

Alternatively, the position sensor 94 is, for example, as shown in FIGS 15 and 16 1, disposed between the base member 12 and the first link 40. FIG. Here, in the 15 and 16 , the position sensor 94 is positioned adjacent the pivot axis located between the base member 12 and the first link 40 . In the sensor arrangement of 15 the first portion 94A is disposed on the first connection 40 and the second portion 94B is disposed on the base member 12. In the sensor arrangement of 16 the first part 94A is arranged on the base member 12 and the second part 94B is arranged on the first connection 40 .

Alternatively, the position sensor, for example, as in the 17 and 18 1, disposed between the moveable member 14 and the first link 40. FIG. Here, in the 17 and 18 , the position sensor 94 is located adjacent the axis of rotation between the movable member 14 and the first link 40 . In the sensor arrangement of 17 the first portion 94A is disposed on the movable member 14 and the second portion 94B is disposed on the first link 40. In the sensor arrangement of 18 the first portion 94A is disposed on the first link 40 and the second portion 94B is disposed on the movable member 14.

Now what is the flow chart of 19 is concerned, the control process of the flowchart is executed by the controller 80 to perform a control method for controlling a shifting operation of the bicycle derailleur 10, which includes the base member 12, the movable member 14, the joint structure 16, and the actuator 20 connected to the joint structure 16 functionally connected.

In step S1, the controller 80 receives the shift command from either the gearshift operation device SL or the cycle computer SC. The shift command can be, for example, a single shift command for shifting a single gear or a double shift command for shifting two gears. Then it goes to step S2.

In step S2, controller 80 reads the previously sensed value of rotary encoder 90, the previously sensed value of position sensor 94, and the stored gear positions from memory 86. Preferably, memory 86 contains correlation data that correlates the sensed value of rotary encoder 90 with the sensed value of the Correlate position sensor. This correlation data is also read from the memory 86 in step S2. Then the procedure goes to step S3.

In step S3, the controller 80 controls the actuator 20 to move the link structure 16, which in turn moves the movable member 14 and the chain guide 18 in a lateral direction of the bicycle B. In this way, the chain guide 18 switches the chain CN from a current sprocket to a target sprocket. In other words, in a shifting situation, when the shifting command is received from the controller 80 and then the actuator 20 is supplied with electrical energy from the battery pack BP, the motor 62 operates so that the movable element 14 and the chain guide 18 move in one Switching direction with respect to the base element 12 moves. For example, when the user operates the operating device SL to shift the bicycle derailleur 10 , the controller 80 is configured to control the motor 62 so that the movable member 14 and the chain guide 18 move with respect to the base member 12 . Thus, in step S3, the controller 80 is configured to control an operation amount of the actuator 20 in response to receiving the shift command. Then the process proceeds to step S4.

In step S4, the controller 80 reads a current detection value of the rotary encoder 90 and a current detection value of the position sensor 94 and stores the current detection value of the rotary encoder 90 and the current detection value of the position sensor 94 in the memory 86. Thus, the control method includes detecting a relative angular position between the articulation structure 16 and at least one of the base member 12 and the movable member 14 using the position sensor 94. The method then continues with step S5.

In step S5, the controller 80 monitors the operation of the actuator 20 using the rotary encoder 90 and the position sensor 94 to determine the position of the movable element 14 and the chain guide 18 and to determine whether the movable element 14 and the chain guide 18 are at the target position achieved. In other words, after operation of the motor 62, the controller 80 determines whether the current gear position matches the target gear position by comparing the current sensed value of the rotary encoder 90 and the current sensed value of the position sensor 94 with the previously stored values for the target gear position . Thus, the control method further includes determining a status of the shifting operation based on a sensed value of the position sensor 94. If the controller 80 determines the position of the movable member 14 and the chain guide 18 has not reached the target position, the controller 80 proceeds to step S6 . When the controller 80 detects the position of the movable member 14 and the chain guide 18 has reached the target position, the controller 80 proceeds to step S8.

In step S6, the controller 80 outputs a signal to the cycle computer SC or at least one other notification device, such as a smartphone, a visual notification device, a haptic notification device and/or an acoustic notification device. The notification can take place optically, haptically and/or acoustically as required and/or desired. Therefore, in step S6, the controller 80 is further configured to output an error notification signal to a notification device such as the cycle computer SC. After the output of the error notification signal to the notification device, such as for example, the cycle computer SC, the controller 80 proceeds to step S7.

In step S7, the controller 80 controls the actuator 20 to move the link structure 16 a further amount, which in turn moves the movable member 14 and chain guide 18 a further amount in a lateral direction of the bicycle B. This further amount can either be in the same lateral direction of the bicycle B or in the opposite lateral direction of the bicycle B to the original direction of movement of step S3. In this way, the chain guide 18 shifts the chain CN to the target sprocket. Thus, in step S7, the controller 80 is configured to further operate the actuator 20 for an additional operation amount to move the movable member 14 relative to the base member 12 when determining that the shifting operation is not completed in response to the shift command . In this case, the controller 80 is configured to further operate the actuator 20 based on the detected value of the rotary encoder 90 and/or the detected value of the position sensor 94 for the additional operation amount. Preferably, the controller 80 is configured to further operate the actuator 20 based on the sensed value of the rotary encoder 90 and the sensed value of the position sensor 94 . Then the procedure goes back to step S4.

If the shifting operation was successful in step S5, the process goes to step S8. In step S8, the controller 80 updates the previously detected values of the rotary encoder 90 and the detected value of the position sensor 94 that have been stored in the memory 86. In addition, in step S8, the controller 80 updates the detected value of the rotary encoder 90 of the correlation data relative to the detected value of the position sensor 94 after the successful shifting operation. The controller 80 is thus designed in step S8 to update the detected value of the rotary encoder 90 of the correlation data relative to the detected value of the position sensor 94 after a successful shifting process.

For purposes of understanding the scope of the present invention, the term "comprising" and its derivatives, as used herein, are open-ended terms specifying the presence of the recited features, elements, components, groups, integers, and/or steps, but does not exclude the presence of other unspecified features, elements, components, groups, integers and/or steps. The foregoing also applies to words of similar import such as the terms "including", "with" and their derivatives. Also, the terms "part", "section", "portion", "member" or "element" when used in the singular may have the dual meaning of a single part or a plurality of parts, unless otherwise specified .

The directional terms used here "frame-side", "non-frame-side", "forwards", "backwards", "front", "rear", "above", "below", "above", "below", "upward" , "down", "top", "bottom", "sideways", "vertical", "horizontal", "vertical" and "transverse" and all other similar directional terms refer to the directions of a bicycle in the upright riding position that is equipped with equipped with the bicycle derailleur. Accordingly, these directional terms used to describe the bicycle derailleur should be understood with respect to a bicycle that is in an upright riding position on a horizontal surface and is equipped with the bicycle derailleur. The terms "left" and "right" are used to mean "right" when referring to the rear of the bike when viewed from the right-hand side, and "left" when referring to the rear of the bike when viewed from the left-hand side covers the back of the bike.

The phrase "at least one of" as used in this disclosure means "one or more" of a desired selection. For example, the phrase "at least one of" as used in this disclosure means "only a single choice" or "both of two choices" when the number of choices is two. As another example, the phrase "at least one of" as used in this disclosure means "only a single choice" or "any combination of at least two choices" when the number of choices is at least three. Also, as used in this disclosure, the term "and/or" means "either one or both of."

It should be understood that while the terms "first" and "second" may be used herein to describe various components, such components should not be limited by those terms. These terms are only used to distinguish one component from another. For example, a first component described above could be referred to as a second component and vice versa without departing from the teachings of the present invention.

The term "attached" or "attaching" as used herein includes configurations in which one element is directly attached to another element by attaching the element directly to the other ren element is attached; configurations in which the element is indirectly attached to the other element by attaching the element to the intermediate element(s) which in turn are attached to the other element; and configurations in which one element is integrated with another element, ie one element is essentially part of the other element. This definition also applies to words with similar meanings, for example "joined", "connected", "coupled", "assembled", "glued", "attached" and their derivatives. Finally, as used herein, terms such as "substantially,""about," and "approximately" mean a departure from the modified term such that the end result is not materially altered.

Although only selected embodiments have been chosen to illustrate the present invention, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the scope of the invention as defined in the appended claims. For example, unless expressly stated otherwise, the size, shape, location, or orientation of the various components can be changed as needed and/or desired so long as the changes do not materially affect their intended function. Unless expressly stated otherwise, components that are directly connected or in contact with each other may have intermediate structures as long as the changes do not materially affect their intended function. The functions of one element can be performed by two elements and vice versa, unless explicitly stated otherwise. The structures and functions of one embodiment can be carried over into another embodiment. It is not necessary for all advantages to be present in a particular embodiment at the same time. Any feature which, alone or in combination with other features, distinguishes itself from the prior art should also be regarded as a separate description of further inventions of the applicant, including the structural and/or functional concepts embodied by such feature or features . Therefore, the foregoing descriptions of the embodiments according to the present invention are intended for purposes of illustration only and not limitation of the invention as defined in the appended claims and their equivalents.

Reference List

10

bicycle derailleur

12

basic element

14

moving element

14a

drilling

16

joint structure

18

chain guide

20

actuator

22

body

24

axle mount

26

axle bolt

28

mounting screw

30

axis

32

biasing element

32a

First ending

32b

second ending

34

Pair of chain cage plates

36

pulley

38

idler pulley

40

First connection (inner connection)

40a

First ending

40b

second ending

42

Second connection (outer connection)

42a

Third ending

42b

fourth end

44

biasing element

46

actuator protection mechanism

48

First fastener

50

Second connector

52

fastener

54

output shaft

56

output element

58

drive connection

60

biasing element

62

engine

64

reduction gear

65

output shaft

66

First step gear

68

Second step gear

70

Third step gear

72

dental arch

74

worm wheel

80

steering

82

circuit board

84

processor

86

Storage

88

actuator control (motor control)

90

encoder

90A

sensor

90B

magnet

92

Wireless Communicator

94

position sensor

94A

First part

94B

Second part

B

Bicycle

bp

battery pack

C

crank

CA1

crank axle

CA2

Pair of crank arms

CN

Chain

CS

Multiple rear sprockets

YOU

Electric drive unit

EW

Electrical line

FB

Front frame body

FF

front fork

FS

Front sprocket

fw

front wheel

H

handlebar

PD

pedal

P1

axis of rotation

p2

axis of rotation

RB

Rear frame body

RS

Rear shock absorber

RW

rear wheel

S

bicycle saddle

SC

bike computer

SL

Gear shift operating device / shift lever (actuating device)

S1 to S8

method steps

vb

vehicle body

Claims (22)

A bicycle derailleur (10) comprising: a base (12); a movable element (14); a hinge structure (16) configured to movably connect the movable member (14) relative to the base member (12); and a position sensor (94) configured to detect a relative angular position between the articulation structure (16) and at least one of the base member (12) and the movable element (14) detected. Bicycle derailleur (10) according to claim 1 , further comprising an actuator (20) provided on one of the base member (12), the movable member (14) and the articulation structure (16), the actuator (20) being operatively coupled to the articulation structure (16). Bicycle derailleur (10) according to claim 2 , further comprising a rotary encoder (90) which is designed so that it detects a movement of the actuator (20). Bicycle derailleur (10) according to claim 3 , wherein the actuator (20) comprises a motor (62) and a reduction gear (64). Bicycle derailleur (10) according to claim 4 , wherein the rotary encoder (90) is designed so that it detects a movement of at least a portion of the reduction gear (64). Bicycle derailleur (10) according to one of claims 2 until 5 , further comprising: a controller (80) configured to actuate the actuator (20) in response to receiving a shift command. Bicycle derailleur (10) according to claim 6 wherein the controller (80) is adapted to monitor a detected value of the rotary encoder (90), and the controller (80) is adapted to control an amount of operation of the actuator (20) in response to receiving the shift command . Bicycle derailleur (10) according to claim 6 or 7 wherein the controller (80) is adapted to monitor a sensed value of the position sensor (94), and the controller (80) is adapted to determine in response to the shift command whether a shift is complete when the sensed value of the position sensor (94) changes by a first predetermined amount. Bicycle derailleur (10) according to claim 8 wherein the controller (80) is configured to determine that the shift is not complete when the sensed value of the position sensor (94) changes by a second predetermined amount that differs from the first predetermined amount. Bicycle derailleur (10) according to claim 9 , wherein the controller (80) is configured to further actuate the actuator (20) for an additional actuation amount to move the movable member (14) relative to the base member (12) when it determines that the shifting operation is in reaction to the switching command is not complete. Bicycle derailleur (10) according to claim 10 wherein the controller (80) is configured to further operate the actuator (20) for the additional operation amount based on the detected value of the rotary encoder (90) and/or the detected value of the position sensor (94). Bicycle derailleur (10) according to claim 11 , wherein the controller (80) is adapted to further operate the actuator (20) based on both the sensed value of the rotary encoder (90) and the sensed value of the position sensor (94). Bicycle derailleur (10) according to one of Claims 8 until 12 , further comprising a memory (86) containing correlation data correlating the detected value of the rotary encoder (90) with the detected value of the position sensor (94). Bicycle derailleur (10) according to Claim 13 , wherein the controller (80) is designed such that it updates the detected value of the rotary encoder (90) of the correlation data relative to the detected value of the position sensor (94) after a successful switching operation. Bicycle derailleur (10) according to one of Claims 6 until 14 , wherein the controller (80) is further configured to output an error reporting signal to a notification device. Bicycle derailleur (10) according to one of Claims 1 until 15 , wherein the position sensor (94) comprises at least one of a potentiometer, a light barrier, a rotation sensor and a rotary encoder. Bicycle derailleur (10) according to one of Claims 1 until 16 wherein the articulation structure (16) includes a first link (40) and a second link (42), the first link (40) having a first end (40a) pivotally coupled to the base member (12) and a second end (40b) pivotally coupled to the movable member (14) and the second link (42) has a third end (42a) pivotally coupled to the base member (12) and a fourth end (42b) , which is pivotally coupled to the movable element (14). Bicycle derailleur (10) according to Claim 17 wherein the position sensor (94) is disposed between the base member (12) and the first link (40). Bicycle derailleur (10) according to Claim 17 , wherein the position sensor (94) is arranged between the base element (12) and the second connection (42). Bicycle derailleur (10) according to Claim 17 wherein the position sensor (94) is disposed between the movable member (14) and the first link (40). Bicycle derailleur (10) according to Claim 17 wherein the position sensor (94) is disposed between the movable member (14) and the second link (42). A control method for controlling a shifting operation of a bicycle derailleur (10) having a base member (12), a movable member (14), a hinge structure (16), and an actuator (20) operatively coupled to the hinge structure (16), wherein the control method comprises: actuating the actuator (20) in response to receiving a shift command; sensing a relative angular position between the articulation structure (16) and at least one of the base member (12) and the moveable member (14) using a position sensor (94); and determining a status of the shift based on a sensed value of the position sensor (94).

Images