JP3096646B2 - Torque detection device and bicycle with electric motor equipped therewith - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting torque acting on a drive shaft, and more particularly to an apparatus for detecting torque applied to a drive shaft by depressing a pedal of a bicycle with an electric motor.

[0002]

2. Description of the Related Art Conventionally, when it is necessary to detect the torque of a transmission shaft transmitting a rotational force, a sensor is directly attached to the transmission shaft, and the measured value of the sensor is taken out via a slip ring and a brush. For example, in recent years, when an electric motor is connected to a driving system of a bicycle and a load at the time of depressing a pedal increases, a driving force is assisted by the electric motor with an output corresponding to the load, so that a so-called “electric motor” is used. Bike with bicycle "is used. In this type of device, the load at the time of depressing the pedal is known to be measured by measuring a torque acting on a drive shaft for transmitting power, and the output of the electric motor is controlled in accordance with the measured value. As a method of measuring drive shaft torque, Japanese Patent Application Laid-Open No.
No. 82 discloses a method of using a torsion bar as a drive shaft (96), attaching a strain gauge (97) to the torsion bar as shown in FIG. 13, and measuring torque from the amount of torsional strain. I have. The measured amount of torsional strain is taken out by a drive shaft (96), a slip ring (98) and a brush (99) attached to a casing supporting the drive shaft (96), respectively.

[0003]

However, due to the abrasion of the slip ring 98 and the brush 99 or the deterioration of the contact state, noise was mixed in the measured value, making it difficult to obtain an accurate measured value.

An object of the present invention is to measure the torque of power transmitted from a power source to an output unit via a shaft by using a measuring mechanism independent of the rotation of the shaft so that the torque is not affected by noise or the like. Another object of the present invention is to provide a torque detecting device for accurately measuring torque.

[0005]

In order to solve the above-mentioned problems, a torque detecting device (1) for measuring the torque of power transmitted from a power source to an output unit is provided with a shaft ( 11) Provided between (11a). The torque detecting device (1) includes a first rotating body (2) connected to one of a power source and an output unit,
The other of the power source and the output unit has the same rotation center as the first rotating body (2), and is connected to the first rotating body (2) by an elastic body (3) so as to be integrally rotatable. It has two rotating bodies (25). Further, a measurement mechanism (69) for measuring a value corresponding to a phase shift between the first rotating body (2) and the second rotating body (25) is provided at a position independent of the rotation of the transmission shaft.

The specific structure of the torque detecting device (1) will be described below. As shown in FIGS. 1 to 3, the transmission shaft (1
A first rotating body (2) is connected to (1). A second rotating body (25) having the same rotation center as the first rotating body (2) is connected to the transmission shaft (11a) on the output side. First rotating body (2)
The second rotating body (25) is connected to the second rotating body (25) by an elastic body (3) so as to be integrally rotatable.

[0007] The measuring mechanism (69) includes a first rotating body (2) and a second rotating body (2).
It is arranged in contact with each outer periphery of the rotating body (25), and has the following configuration. A first rotating follower (4) is in contact with the outer periphery of the first rotating body (2), and a second rotating body (25) is in contact with the second rotating body (25).
Is in contact with the rotary follower (43). Rotary follower (4) (43)
The oscillating body (48) is provided in contact with both of them. The first rotary follower (4) and the oscillating body (48), and the oscillating body (48) and the second rotary follower (43) are supported by the links (5) and (51) so that they are always in contact with each other. Have been. The rotation shaft (44) of the second rotation follower (43) is provided with a cover (53) surrounding the torque detection device (1).
It is supported by. The first rotary follower (4) is a track holding means.
The other end of the spring (58) is connected to the rotation shaft (41) of the first rotation follower (4) and the first rotation body.
A pin projecting from the cover (53) between the center of rotation of (2)
(54), and the first rotary follower (4) is always in contact with the first rotary body (2) by the urging of the spring (53). It is movably supported around 2). Rotating body (2) (25), rotating follower (4) (43) and rocking body (4
The outer periphery of 8) is cut with spur teeth, so that no slippage occurs at the abutting part.

[0008] The measuring means (6) for measuring the torque is a measured value relating to the amount of movement of the rotating shaft (41) of the first rotary follower (2) or the rotating shaft (49) of the oscillating body (48). Is measured. Measuring means
As (6), a potentiometer (61) that detects a displacement of an angle between the links (5) and (51) as a resistance value can be used.

The drive of the power source is controlled by a shaft (1) connected to the power source.
When transmitting to the output unit from 1) via the shaft (11a) connected to the output unit, if static friction force or load is applied to the output unit, the shaft
(11) Torque acts on (11a). The first rotating body (2) and the second rotating body (25) are generated by the torque applied to the shafts (11) and (11a).
And a phase shift of the rotation occurs. Torque is elastic (3)
When it acts on the rotating bodies (2) and (25) against the elastic force of (1), a phase shift occurs between the first rotating body (2) and the second rotating body (25) as shown in FIG. Occur. Specifically, the first rotating body
The phase of (2) leads the phase of the second rotating body (25). Thereby, the phase of the first rotation follower (4) advances more than the phase of the second rotation follower (43). The rotation followers (4) and (43) are in contact with the rocking body (48), and the rotation center of the second rotation follower (43) is supported by the cover (53). When the phase of the rotation follower (4) advances from the phase of the second rotation follower (43), the first rotation follower (4) becomes the first rotation body (2) and the oscillating body (48). ), While the rotating shaft (41) is in contact with the first rotating body.
It moves in the rotation direction of (4), that is, the direction of arrow A in FIG. Accordingly, the rotating shaft (49) of the oscillating body (48) moves the transmission shaft (11) (11
It moves in the direction approaching a), that is, in the direction of arrow B in FIG. When using a potentiometer (61) as the measuring means (6),
By connecting the potentiometer (61) to the links (5) and (51), a change in the angle formed by the links (5) and (51) due to the movement of the rotating shafts (41) and (49) can be detected as a resistance value. This measurement result can be used as a reference for controlling the torque of the applicable device. When the torque acting on the transmission shafts (11) and (11a) decreases, the first rotating body (2) is restored by the restoring force of the elastic body (3).
Is returned, and the first rotator (2) and the second rotator (25)
Is smaller. Along with this, the first rotation follower (4) and the rocking body (48) also move in directions opposite to the arrows A and B in FIG. 4, respectively. Therefore, the measured value detected is also a small value. When the torque acting on the transmission shafts (11) (11a) further decreases and becomes almost zero, the phases of the rotating bodies (2) and (25) match, and the first rotating follower (4) and the oscillating body The position of the rotation axis in (48) returns to the original position.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A torque detecting device (1) according to the present invention
The present invention can be applied to a device that needs to detect torque, such as a bicycle with an electric motor (7) described later, a screw fastener using an electric motor, and the like.

To implement the torque detecting device (1) on the screw tightener (15), as shown in FIG. 12, an electric motor (8) whose output is controlled by a control unit (83) is used to reduce the speed of the speed reducing mechanism (16). The transmission shaft for transmitting power to the socket (17) through the like is divided into the electric motor side and the socket side, and the shaft (11) on the electric motor (8) side is divided.
To the first rotating body (2), and the transmission shaft on the socket (17) side.
What is necessary is just to connect the 2nd rotating body (25) to (11a). socket
When bolts etc. are attached to (17) and switch (18) is closed,
The electric motor (8) rotates to tighten the bolt to a desired portion. When the tightening torque measured by the torque detecting device (1) matches the desired tightening torque, the power supply to the electric motor (8) is stopped by the control unit (83). Thereby, bolts and the like can be tightened with a desired torque.

The torque detecting device (1) of the present invention can be modified as follows in addition to the above-described configuration. For example, the rotating body (2) (25), the rotation follower (4) (43), and the rocking body (4
The outer peripheral surface of 8) is desirably cut with spur teeth in order to prevent slippage at each contact portion, but the outer peripheral surface may be surrounded by a material having a high coefficient of friction such as rubber. First rotating body (2)
May be connected to an output unit, and the second rotating body (25) may be connected to a power source. As shown in FIG. 1, the elastic body (3) includes key grooves (2) formed in the first rotating body (2) and the second rotating body (25), respectively.
3) A configuration in which a leaf spring (31), an elastic member such as rubber, or the like is fitted to (28) can be adopted. Further, as shown in FIG. 5, the first rotating body (2) and the second rotating body (25) are provided with projections (23a) and (28a), respectively, and a spring (32) is stretched between the projections. It may be.

[0013] Covers the rotation center of the first rotation follower (4).
(53), and the center of rotation of the second rotation follower (43) can be movable. The measuring means (6) may measure the moving amount of the rotating shaft itself.

The track holding means (57) includes a torque detecting device (1)
A short arc-shaped groove (not shown) centered on the transmission shaft (11) is formed in the cover (53) surrounding the transmission shaft (11), and the rotation shaft (41) of the first rotation follower (4) is formed in the groove. ) May be used.
In this case, the rotation shaft (41) of the first rotation follower (4) slides in the groove according to the change in torque. Further, as described in a second embodiment described later, the rotation axis (41) of the first rotary follower (4) is moved by the first rotary body (4). It can also be performed by connecting to a link (59) which is pivotally supported concentrically with the rotation center of (2). In addition, the first rotating body (2) and the power source can be connected using gears or the like. The same applies to the second rotating body (25) and the output unit.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment A torque detecting device (1) of the present invention is applied to a bicycle (7) with an electric motor.
A description will be given of an embodiment in which the present invention is deployed. In the following,
In the bicycle (7), the arrow F side in FIG. 6 is “front”, and the R side is “rear”. Structure description A bicycle with an electric motor (7) has a frame as shown in FIG.
A steering wheel (71) and a front wheel (72) that moves in accordance with the steering angle of the steering wheel (71) are provided at the front of (70). A saddle (73) is provided on an upper portion of the post of the frame (70), and a pedal device (74) including a sprocket (78) described later is provided at a lower center portion of the frame (70). Sprocket of pedal device (74)
From the center to the upper part of (78), a cover (53) for pivotally supporting a rotation follower of a torque detection device described later is provided. At the rear of the frame (70), a sprocket (78a) connected to the rear wheel (72a) is provided, and the sprocket (78) (78
An endless chain (79) is stretched between a).

The electric motor (8) is mounted on a central post of the bicycle (7), and includes a speed reduction mechanism and a one-way clutch (81).
Through the chain (79). Electric motor (8)
Are electrically connected to a power supply mechanism (82) disposed adjacent to the power supply mechanism. The output of the electric motor (8) is controlled by a control unit (83) described later electrically connected to the power supply mechanism (82).

As shown in FIGS. 6 and 7, the pedal device (74) includes a drive shaft (12) rotatably supported at a lower portion of a post of the frame (70), and a drive shaft (12) extending from both ends of the drive shaft (12). Crank arms (75) and (75), each of which is vertically set in the opposite direction, and crank pins (76) and (76) that protrude from the tip of each crank arm in a direction parallel to the drive shaft (12), Pedals (77) (77) rotatably supported by the respective crank pins are provided.
A sprocket (78) is fitted on the drive shaft (12).

As shown in FIGS. 6 to 8, a torque detecting device (1) according to the present invention comprises a sprocket (78) fitted on a drive shaft (12) and a rotation driven member provided around the sprocket (78). It comprises a body (4) (43), an oscillating body (48) and a potentiometer (61) arranged on links (5) (51) connecting them. The sprocket (78) includes a first rotating body (2) fitted on the drive shaft (12), and a second rotating body fitted concentrically rotatably on the outside of the first rotating body (2). (25). The first rotating body (2) includes a disk portion (21) having a circular outer periphery, and a first spur tooth portion (22) protruding from the disk portion (21) and having a flat tooth cut on the outer periphery. And a drive shaft (12) is fitted in the center. A keyway (23) for attaching an elastic body (3) to be described later is formed on the outer periphery of the disk portion (21). The second rotating body is provided on the disk portion (21) of the first rotating body (2).
(25) is fitted. In the second rotating body (25), a through hole (26) rotatably fitted to the disk portion (21) is opened at the center, and a sprocket (78) meshing with the chain (79) is provided on the outer periphery,
And a second spur tooth portion (27) protruding from the sprocket (78) and having a spur tooth cut on the outer periphery. The second rotating body (2
5) is fitted to the first rotating body (2) such that the second spur teeth (27) face the same direction as the first spur teeth (22). In addition, a key groove (28) is formed on the inner periphery of the second rotating body (25) in correspondence with the key groove (23) formed in the disk portion (21). A leaf spring (31) is fitted as an elastic body (3) over the two keyways (23) and (28), and the first rotating body (2) and the second rotating body (25) are integrally rotated. Energizing as much as possible. Leaf spring (31)
Is a spring constant enough to cause a deviation in rotation between the first rotating body (2) and the second rotating body (25) when a torque larger than a desired magnitude acts on the drive shaft (12). Have.

The second spur tooth portion (27) meshes with a second rotary follower (43) having a spur tooth cut on the outer periphery. The second rotation follower (43) is a spur gear meshing with the second spur tooth portion (27).
(45) and an oscillator (4) projecting from the spur gear (45) and described later.
The rotary follower (43) is rotatably supported by a cover (53). The spur gear (46) meshes with the spur gear (46) and has two stages of spur teeth.

The spur gear (46) of the second rotation follower (43) includes:
An oscillating body (48) with a spur tooth is engaged with the outer periphery. The rocking body (48) has a rotating shaft (49) connected to a rotating shaft (44) of a second rotation driven body (43) by a second link (51), and a rotating shaft (49).
Can swing while maintaining a state parallel to the drive shaft (12).

A first rotary follower (4) having a spur tooth cut on the outer periphery is meshed with the oscillator (48). The rotation shaft (41) of the first rotary follower (4) is oscillated by a first link (5).
It is connected to the rotation shaft (49) of (48). The first link (5) and the second link (51) are formed to have the same length between the pivots. In a state where there is no rotational deviation between the first rotating body (2) and the second rotating body (25), the first link
(5) and the second link (51) are set to form an angle of about 90 degrees. One end of a spring (58) as a track holding means (57) is attached to the rotation shaft (41) of the first rotation follower (4). The other end of the spring (58) is connected to a pin (54) projecting from the cover (53) between the rotation shaft (41) and the drive shaft (12), and is connected to the first rotation driven body. (4) is urged so as to always mesh with the first rotating body (2).

The number of teeth of the rotating body and the like is as follows as an example.

A potentiometer (6) as a measuring means (6)
1) is provided above the rotating shaft (49) of the rocking body (48) at a position independent of the rotation of the shaft (49). The potentiometer
In (61), the measuring arm (62) (62) is connected to the first link (5) and the second link (51), and detects the angle formed by the link (5) (51) as a resistance value. I do.

The potentiometer (61) includes an electric motor (8)
Are electrically connected to a control unit (83) for controlling the output of the control unit. The control unit (83) includes a central processing unit (CPU) as shown in FIG.
(84). The CPU (84) includes a memory (85) storing various data such as a relationship between a measured value of the potentiometer (61) and a current value applied to the electric motor (8), and a comparison operation circuit (86) described later. And a drive control circuit (87) electrically connected to the power supply mechanism (82). The measured value from the potentiometer (61) is connected to a comparison operation circuit (86) via an amplification circuit (88) and an A / D conversion circuit (89). The comparison operation circuit (86) compares the measured value from the potentiometer (61) with the data stored in the memory (85), determines the current value to be applied to the electric motor (8), and determines the drive control circuit (87 ). The drive control circuit (87) controls the power supply mechanism (82) to supply a current corresponding to the current value sent from the comparison operation circuit (86) to the electric motor (8). In the present embodiment, the power supply command from the drive control circuit (87) is issued when the torque acting on the sprocket (78) is a predetermined value, that is, when the angle formed by the links (5) and (51) is equal to or greater than a desired threshold. Shall only be transmitted.

Description of operation : Bicycle with electric motor provided with torque detecting device having the above structure
The operation of (7) will be described. Even if the user does not depress the pedal (77), or depresses the pedal (77), the torque generated on the drive shaft (12) can be reduced by the elastic body (3).
8 is smaller than the urging force of the leaf spring (31).
As shown in FIG. 5, the first link (5) and the second link (51) form an angle of about 90 degrees. Hereinafter, this state is referred to as a “reference state”.

When the bicycle (7) starts rowing, accelerating, climbing uphill, etc., it requires a large driving force to drive the bicycle,
When step (77) is depressed, a large torque acts on the drive shaft (12) and the sprocket (78). Sprocket (78)
When torque acts on the plate spring, the restoring force of the leaf spring (31)
As shown in FIG. 9, a first rotating body (2) and a second rotating body (25).
And the phase of the first rotator (2) becomes faster than the phase of the second rotator (25). Accordingly, the rotation speed of the first rotation follower (4) becomes faster than the rotation speed of the second rotation follower (43). First rotating follower (4)
And the second rotary follower (43) are connected to the first link (5) and the second link
The link (51) is always engaged with the rocking body (48), and the second rotation follower (43) is supported by the cover (53). The rotating shaft (41) moves in the direction of arrow A in FIG. 9 while meshing with the first spur tooth portion (22) of the first rotating body (2). Also, the rotating shaft (49) of the oscillator (48)
Moves in the direction of arrow B. Due to the movement of the rotation shafts (41) and (49) of the first rotation follower (4) and the rocking body (48), the angle between the first link (5) and the second link (51) is 90 degrees. Larger than. The change in the angle (θ in FIG. 9) is measured by the potentiometer (61), and a resistance value corresponding to the change in the angle is transmitted from the potentiometer (61) to the control unit (83).

The resistance value transmitted from the potentiometer (61) to the control unit (83) is amplified and A / D converted, and is compared with data in the memory (85) by a comparison operation circuit (86). Is greater than or equal to a desired threshold, a current value to be supplied to the electric motor (8) is calculated. The calculated current value is calculated by the drive control circuit.
(87), and a current based on the current value is supplied from the power supply mechanism (82) to the electric motor (8). Thus, the electric motor (8) drives the chain (79) to assist the running of the bicycle (7).

When the electric motor (8) assists the running of the bicycle (7), the load required for the pedal device (74) is reduced. That is, the force for depressing the pedal (77) is reduced, and the torque generated on the sprocket (78) is also reduced.
When the torque acting on the sprocket (78) decreases, the rotational deviation between the first rotating body (2) and the second rotating body (25) decreases due to the restoring force of the leaf spring (31), and the reference state Approach. Thereby, the first rotary follower that has moved
(4), the position of the rotating shafts (41) and (49) of the rocking body (48), and the links
(5) The angle formed by (51) also approaches the reference state. When the resistance value of the potentiometer (61) becomes smaller than the desired threshold, the power supply from the power supply mechanism (82) to the electric motor (8) stops. When the torque acts on the sprocket (78) again, the above operation is repeated, and the driving of the bicycle (7) is assisted by the electric motor (8). The angle formed by the links (5) and (51) is desirably set to be 120 to 130 degrees in the maximum torque load state when the reference state with no load is about 90 degrees.

Second Embodiment This embodiment shows a different embodiment of the orbit holding means (57) and the elastic body (3) of the torque detecting device (1) of the present invention. The configuration of the bicycle (7) and the control unit (83) are the same as those in the first embodiment.
The description is omitted because it is the same as. The same members as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

First, the track holding means (57) will be described. In the first embodiment, a spring (5
8) was used, but in the second embodiment, as shown in FIG. 11, the first rotary follower (4) is connected to the track holding link (59).
Holding the orbit. The base end of the track holding link (59)
The first rotating body (2) is pivotally supported concentrically with a drive shaft (12) serving as a rotation center. The first rotation follower (2) has its outer periphery meshed with the first spur teeth (22) of the first rotor (2), and the rotation shaft (41) is at the tip of the link (59). It is pivotally supported and can move only in the rotation direction of the first rotating body (2).

Next, the elastic body (3) will be described. In the first embodiment, a leaf spring (31) is used as the elastic body (3). However, in the second embodiment, as shown in FIG. 11, a first rotating body (2) and a second rotating body are used. (25) is linked by a coil spring (32). Notch in the disk (21) of the first rotating body (2)
(24) are provided, and the inner surface of the notch (24) and the through-hole (26) of the second rotating body (25) corresponding to the notch (24) have projections respectively.
(24a) and (24b) are formed, and a coil spring (32) is stretched between the projections (24a) and (24b). The coil spring (32) is actuated when a torque larger than a desired magnitude acts on the drive shaft (12).
It has such a spring constant that a rotational deviation occurs between the first rotating body (2) and the second rotating body (25).

In the torque detecting device (1) having the above structure,
When a torque equal to or greater than a desired magnitude acts on the drive shaft (12), the first rotating body is opposed to the restoring force of the coil spring (32).
A relative rotational shift occurs between (2) and the second rotating body (25). Due to this displacement, the first rotary follower (2)
The first link (5) moves in the rotation advance direction, and the angle between the first link (5) and the second link (51) changes. This angle change is measured by the potentiometer (61), and the electric motor (8) is driven by the control unit (83) in the same manner as in the first embodiment to assist the running of the bicycle (7).

As a track holding means (57), a track holding link
By using (59), the center of rotation between the first rotating body (2) and the first rotation driven body (4) is always kept at a predetermined distance, and the meshing state of the gears can be maintained well. It is possible to prevent tooth skipping and the like, so that accurate torque detection is possible.

In the above embodiment, the link (5) and the link (51)
Was measured using a potentiometer (61),
For example, the angle between the link (59) and the link (5) may be measured, or the link (5), the link (51), or the link (59) for a fixed portion such as the frame (70) or the cover (53). ) May be measured. Note that the measurement is not limited to only the angle, and the movement amount of the link or the like may be measured. Further, the measuring means (6) is not limited to the rotary potentiometer (61) for measuring the rotation angle, but may be a direct acting potentiometer, a sensor, or the like.

[0035]

According to the torque detecting device (1) having the above structure, since the measuring mechanism (69) is at a position independent of the shaft (11), it is necessary to take out the measurement result using a slip ring, a brush or the like. Therefore, accurate measurement can be performed without being affected by noise due to abrasion or the like. The torque detecting device (1) of the present invention can be easily implemented by simply replacing the sprocket (78) of the pedal device (74) and attaching a small number of gears and other components to the existing bicycle (7) with an electric motor. And no major modifications are required.

The description of the above embodiments is for the purpose of illustrating the present invention, and should not be construed as limiting the invention described in the claims or reducing the scope thereof. Further, the configuration of each part of the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made within the technical scope described in the claims.

[Brief description of the drawings]

FIG. 1 is a perspective view of a torque detection device according to the present invention.

FIG. 2 is a side view of the torque detection device of the present invention.

FIG. 3 is a sectional view taken along the line XX in FIG. 2;

FIG. 4 is a cross-sectional view of the torque detection device when a torque is acting on a shaft.

FIG. 5 is an enlarged view of a rotating body showing another embodiment of the elastic body.

FIG. 6 is a side view of a bicycle with an electric motor provided with torque detection according to the present invention.

FIG. 7 is a perspective view of the torque detecting device provided in the bicycle with the electric motor, viewed from the rear left side.

8 is a sectional view taken along the line YY in FIG. 7;

FIG. 9 is a cross-sectional view of the torque detection device when a torque is acting on the drive shaft.

FIG. 10 is an electric circuit diagram of a control unit.

FIG. 11 is a sectional view showing a different embodiment of the torque detecting device of the present invention.

FIG. 12 is a sectional view when the torque detecting device of the present invention is applied to a screw fastener.

FIG. 13 is a diagram showing a conventional torque detection.

[Explanation of symbols]

 (1) Torque detection device (11) Transmission shaft (2) First rotating body (25) Second rotating body (3) Elastic body (4) First rotating follower (43) Second rotating follower (48) Oscillator (6) Measuring means (69) Measuring mechanism

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-64-23133 (JP, A) JP-A-7-309284 (JP, A) JP-A-2-19735 (JP, A) 60835 (JP, U) Jiko 49-3351 (JP, Y1) (58) Field surveyed (Int. Cl. ⁷ , DB name) G01L 3/10-3/14 B62M 23/02

Claims (6)

(57) [Claims] 1. A torque detecting device provided on a transmission shaft for transmitting power from a power source to an output unit, wherein one of the power source and the output unit is connected to a first rotating body (2). A second rotating body (25) having the same rotation center as the first rotating body (2) is connected to the other of the source and the output unit, and the first rotating body (2) and the second rotating body are connected to each other. (25) is connected by an elastic body (3) so as to be integrally rotatable, and has a measuring mechanism (69) in contact with each outer periphery of the first rotating body (2) and the second rotating body (25). The measuring mechanism (69) includes a first rotating follower (4) abutting on the outer periphery of the first rotating body (2).
And a second rotational follower (4) in contact with the outer periphery of the second rotor (25).
3), an oscillating body (48) simultaneously in contact with both the first rotary driven body (4) and the second rotary driven body (43), a first rotary driven body (4) and an oscillating body (48), rocking body (48) and second
Links that connect the rotating followers (43) of
(5) (51), a cover (53) that supports the second rotary follower (43), and the first rotary follower (4) can be moved around the first rotary body (2). Track holding means (57) for supporting the first rotary follower (4) or the rotating shaft (41) or the rocking body (48)
And a measuring means (6) for measuring a measurement value related to the movement amount of the rotating shaft (49) of the first rotating body ( When a phase shift occurs between 2) and the second rotating body (25) against the elastic body (3), the first rotating follower (4) and the second rotating follower (43) A rotation phase difference is generated between the first rotation follower (4) and the rotation shafts (41) and (49) of the oscillating body (48), and the measuring means (6) (41) A torque detecting device for measuring a measurement value related to the movement amount of (49). 2. The torque detecting device according to claim 1, wherein the measuring means is a potentiometer for measuring an angle formed by the links. The first rotation follower (4) is supported by a spring that biases the rotation shaft (41) of the first rotation follower (4) toward the first rotation body (2). Track holding means (5)
The torque detection device according to claim 1 or 2, wherein the torque detection device is configured to perform the above-described operation. The first rotation follower (4) is supported by pivoting the rotation shaft (41) of the first rotation follower (4) concentrically with the rotation center of the first rotation body (2). The torque detecting device according to claim 1 or 2, wherein the torque detecting device is constituted by a track holding means (57) constituted by connecting to a supported link (59). 5. A pedal connected to human power (77), (77),
A drive shaft (12) fitted with a sprocket (78) meshing with a chain (79) for driving the rear wheel (72a), and a pedal (77) (7
7) an electric motor (8) for assisting the driving of the rear wheel (72a) by depressing, a torque detecting device (1) for detecting a torque acting on the drive shaft (12), and a torque detecting device (1). In a bicycle with an electric motor including a control unit (83) for controlling the electric motor (8) based on the detected value, the torque detecting device (1) includes a disc (21) and flat teeth on the outer periphery. Cut first spur teeth (22)
A first rotating body (2) having the following structure is engaged with the drive shaft (12), and a through hole (21) is formed around the inner periphery of the first rotating body (2) so that the disk portion (21) is rotatably fitted thereto. 26) is opened, and a second rotating body (25) including a sprocket (78) meshing with the chain (79) and a second spur tooth portion (27) with spur teeth cut on the outer periphery. First rotating body (2)
The first rotating body (2) and the second rotating body (25) are connected to each other by an elastic body (3) so as to be integrally rotatable, and the first spur tooth portion (22) , A first rotational follower (4) having a spur tooth cut on the outer periphery meshes with the second rotational follower (2) having a spur tooth cut on the outer periphery. (43) meshes with each other, and the first rotary follower (4) and the second rotary follower (43) both mesh with a rocking body (48) having a flat tooth cut on the outer periphery thereof. The rotating shaft (41) of the rotating follower (4) and the rotating shaft (49) of the oscillating body (48) are connected by a first link (5), and the rotating shaft (49) of the oscillating body (48) and the second The rotation axis (44) of the rotation follower (43) is linked by a second link (51), and either the first rotation follower (4) or the second rotation follower (43) The rotation follower that is supported by the cover (53) but not supported by the cover (53) maintains a constant distance between the rotation shaft and the drive shaft (12). Orbit holding means
A measuring means (6) for measuring a measurement value related to the amount of movement of the rotating shaft (49) of the rotating follower or the oscillating body (48) which is supported by (57) and is not supported by the cover (53); The measuring means (6) is electrically connected to the control section (83), and has an elastic body (3) between the first rotating body (2) and the second rotating body (25).
The first rotational follower when the phase shift
According to the phase difference between (4) and the second rotation follower (43),
A rotation shaft of the rotation follower that is not supported by the cover (53);
The rotating shaft (49) of the oscillating body (48) moves, the measuring means (6) measures a measured value related to the moving amount of the moving rotating shaft, and the control unit (83) controls the electric motor according to the measured value. An electric motor-equipped bicycle comprising a torque detection device characterized by controlling the output of the motor (8). 6. The rotation speed of the first rotation follower (4) when the first rotation body (2) makes one rotation, and the rotation speed of the second rotation body (25) is one.
When rotated, the rotation speed of the second rotation follower (43) is equal, and the teeth of the portion where the first rotation follower (4) and the second rotation follower (43) mesh with the rocker (48) are rotated. An electric motor-equipped bicycle comprising the torque detecting device according to claim 5, wherein the number is equal.