JPH10181672A - Vehicle with auxiliary power - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a user actually feel assist force being imparted by providing a motor driving part to drive a driving wheel on the basis of a signal from a torque detecting part, and changing the preset output ratio of the motor driving part to the signal from the torque detecting part with the lapse of time. SOLUTION: Manual force supplied by a pedal 5 is transmitted to a rear sprocket 51 by a chain 16 so as to rotate a rear wheel 11 through a rotating plate 57 and a spring 60. At this time, a torque detecting part detects manual driving force, that is, torque, and inputs a detection signal to a control board so where a judgment is made on whether or not the manual driving force needs large torque. In the negative case, an A-mode of an auxiliary ratio gently changing in a sine curve with the lapse of time is set, while in the affirmative case, a B-mode of the auxiliary ratio becoming the constant value at the maximum value of change in the A-mode is set, and a motor 25 is driven at the auxiliary ratio set in each mode to add motor driving force as assist force to manual driving force.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle with auxiliary power that travels with two driving forces, a human-powered driving unit and an electric-powered driving unit that drives according to the magnitude of the human-powered driving force.

[0002]

2. Description of the Related Art Conventionally, this type of vehicle with an auxiliary power is driven according to the magnitude of the torque of a human-powered drive unit and a human-powered drive unit, as described in Japanese Patent Application Laid-Open No. 6-107266 (B62M23 / 02). An electric drive unit that sets the ratio of the human-powered drive power to the electric-powered drive force to 1 to 1 and assists the human-powered drive force with the electric drive force that outputs the same drive power as the human-powered drive force. Motorized vehicles are generally known.

[0003] However, in the vehicle with the auxiliary power described above, the user can experience the auxiliary force by the electric driving force at the start of riding, but since the auxiliary ratio is constant, the user gradually gets accustomed to it. You will not feel unsatisfactory in assisting power. Then, the user feels unsatisfactory because the sense of assisting is lost.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned drawbacks, and has as its object to provide a vehicle with an auxiliary power which can provide a user with a feeling of being sufficiently assisted. .

[0005]

SUMMARY OF THE INVENTION According to the present invention, there is provided a human-powered driving unit for driving driving wheels by human power, a torque detecting unit for detecting a driving force of the human-powered driving unit, and a motor driven based on a signal from the torque detecting unit. And a control circuit for changing a ratio of an output of the electric drive unit to a predetermined signal from the torque detection unit with time.

The ratio of the output of the electric drive unit to the signal from the torque detection unit is output at a predetermined ratio set in advance when the driving force detected by the torque detection unit reaches a predetermined value set in advance. This ratio is, for example, the maximum value of the changing ratio.

The ratio of the output of the electric drive unit to the signal from the torque detector is equal to or greater than a predetermined ratio when the driving force detected by the torque detector reaches a predetermined value. This ratio is output, for example, by increasing the lower limit of the changing ratio.

With the above-described configuration, when the vehicle with the auxiliary power of the present invention starts running with the manual driving force, the electric driving force is driven in accordance with the magnitude of the manual driving force, and the manual driving force is driven by the electric driving force. Start running with assistance.

At this time, as the time elapses, the ratio of the output of the electric driving force to the human driving force, that is, the auxiliary ratio changes, and the auxiliary ratio changes to, for example, 1.0, 0.9, 0.8. Has become. By controlling in this way, the sense that the user is being assisted is not paralyzed, and the sense that the user is always assisted, because the assisting ratio changes as compared to the case where the operation is always performed at the same assisting ratio. Is obtained.

Further, when the human-powered driving force reaches a predetermined torque, that is, at the start of traveling or traveling on an uphill, the auxiliary ratio is set to a predetermined value. When assistance power is needed, it can provide sufficient assistance.

Further, when the human-powered driving force reaches a predetermined torque, that is, when the vehicle starts running or runs on an uphill, the output is performed at a predetermined ratio or more so that the auxiliary ratio does not fall below a predetermined value. Therefore, sufficient assistance can be performed without causing an insufficient assisting force, and when the ratio is equal to or more than a predetermined ratio, the assist ratio changes over time, so that the sense of being assisted is not lost.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to FIGS.

First, the structure of a bicycle with auxiliary power will be described with reference to FIGS.

1 is a head pipe 2 provided at a front part,
A main body composed of a main frame connected to a seat tube 4 provided below the saddle 3, and a pedal 5 which is connected to the seat tube 4 and can be rotated by human power is attached to the main body 1.

Reference numeral 6 denotes a front wheel which is interlocked with the movement of the steering wheel 7 and moves left and right by the operation of the steering wheel 7. The front wheel 6 comprises a spoke 8, a rim 9 and a tire 10.

Reference numeral 11 denotes a rear wheel serving as a driving wheel.
The vehicle also includes a tire 12, a rim 13, spokes 14, and a drive unit 15 for driving the rear wheel 11.

A chain 16 is hung on a front sprocket (not shown) which rotates with the rotation of the pedal 5. The other chain 16 is hung on a sprocket 51 provided on the drive unit 15. The driving force applied to the pedal 5 is transmitted to the rear wheel 11.

Reference numeral 17 denotes a battery serving as a power supply for the motor 25.
The battery 17 includes 20 1.2-volt cell batteries connected in series, and is built in a case. The battery 17 is removable and can be charged indoors when charging.

Reference numeral 18 denotes a handle rotatably provided on the battery 17, and the handle 18 is provided for removing the battery 17 from the main body 1 and carrying it.

Reference numeral 19 denotes a power switch for operating the drive unit 15. The power switch 19 has three contacts for turning on / off the power and removing the battery 17.

FIGS. 4 and 5 show the driving section 15 described above.
Shows a specific configuration.

Reference numeral 21 denotes a disc-shaped fixed casing fixedly attached to the main frame 1, and reference numeral 22 denotes a rotating casing which is coaxial with the fixed casing 21 and rotates outside the fixed casing 21. The fixed casing 21 and the rotating casing 22 together form a hub of the rear wheel 11. The stationary casing 21 and the rotating casing 22 are made of an aluminum alloy having a thickness of about 2 mm.

Reference numeral 23 denotes an L-shaped annular rib provided on the outer periphery of the rotating casing 22. The annular rib 23 is fixed to the rotating casing 22 at a plurality of positions and formed on the rotating casing 22. It is formed in a U shape together with the brim 24, and the spokes 14 are stretched from the annular rib 23 toward the rim 13 to which the tire 12 is attached.

Reference numeral 25 denotes a motor serving as a driving source, 26 denotes a rotor, and 27 denotes a stator. The motor 25 is attached to the fixed casing 21, and a portion of the motor 25 protruding from the fixed casing 21 is covered by a motor cover 28, and an output shaft 29 of the motor 25 is supported by a bearing 30. ing.

Reference numeral 31 denotes a planetary roller reduction mechanism which is screwed to the fixed casing 21 and fitted to the holding portion 32. The planetary roller reduction mechanism 31 is arranged around the same axis as the output shaft 29. .

The structure of the planetary roller speed reduction mechanism 31 will be described.

Reference numeral 33 denotes a fixed wheel fixed to the holding portion 32 with screws. Four planetary rollers 34 are provided on the inner circle of the fixed wheel 33, and the outer circumference of the planetary roller 34 is It is arranged so as to be in contact with the inner periphery of the fixed wheel 33 and to be in contact with the output shaft 29 of the motor 25 inside. An output pin 35 is provided at the center of the planetary roller 34.
A needle bearing is provided between the needle bearing and the needle bearing.

When the output shaft 29 of the motor 25 rotates, the planetary roller 34 in contact with the planetary roller reduction mechanism 31 starts rotating around the output pin 35 and is in contact with the fixed wheel 34. Start revolving around. This output pin 35
By taking out the rotating output from the motor 25, the output of the motor 25 can be taken out at a reduced speed.

Numeral 37 denotes a cylindrical support which has a bottom surface pivotally supported by the output pin 35 and penetrates the output shaft 29. The support 37 is provided between the output shaft 29 and the output shaft 29 via a bearing 38. Further, a distal end side is provided via a bearing 39.

Numeral 40 denotes a one-way clutch mounted on the outer periphery of the support member 37. The one-way clutch 40 prevents the force from the pedal 5 from being transmitted to the motor 25, and transmits the driving force of the motor 25 to the rotating casing. It works to tell 22.

Reference numeral 41 denotes a first pulley which is mounted on the output shaft 29 via two bearings and further coaxially with the output shaft 29 via the one-way clutch 40. The first pulley 41 is made of rubber. Belt 42 is hung.

Reference numeral 43 denotes a second pulley on which the other end of the belt 42 is hung. The second pulley 43 is fixed to the rotating casing 22 by bolts 44. The inside of the second pulley 43 is hollow, and a torque detecting unit 56 described later is provided therein.

Reference numeral 45 denotes a tension pulley for adjusting the tension of the belt 42. The tension pulley 45 has a roller 47 attached to one end of a support 46, and a tension pulley 45 attached to the fixed casing 21 at the other end. The screw 48 is provided, the support 46 can swing around the portion where the screw 48 is attached, the tension pulley 45 is fixed by tightening the other screw 49, and the belt 42 is pressed,
The tension of the belt 42 can be adjusted.

Reference numeral 50 denotes a control board incorporated in the fixed casing 21. The control board 50 is incorporated in a portion having no pulley. Then, the control board 50 is a torque detection unit described later.
In addition to the microcomputer that controls the rotation of the motor 25 according to the output result from 56, a drive circuit that PWM-controls the motor 25, a constant voltage circuit for inputting a starting voltage to the microcomputer, and a torque detection circuit are equipped. .

Reference numeral 51 denotes a rear sprocket on which the chain 16 is hung. The rear sprocket 51 is provided on an axle 52 via a bearing 53, and a one-way clutch 54 is provided.
It is attached to a rotating plate 57 described later via.

Reference numeral 55 denotes a rotating cylinder provided on the axle 52 via the bearing 20. The rotating cylinder 55 is
It rotates with the rotation of.

Numeral 56 denotes a torque detector mounted near the second pulley 43 and the axle 52. The torque detector 56 detects a human-powered driving force transmitted through the chain 16, that is, a human-power torque. It is provided in.

First, referring to FIG.
A description will be given based on the schematic diagram.

The turning plate 57 is concentric with the axle 52, and a pressing rod 58 and a conversion rod 59 are integrally formed at two opposite positions in the axial direction. The pressing rod 58 is formed in a column shape with a bell-shaped surface, and the elastic body, that is, the spring 60 is pressed by a curved portion of the bell shape. And the rotating plate
57 extends and retracts the spring 60, and the other end of the spring 60 is a second pulley.
The second pulley 43 is rotated while pressing the inner wall of 43.
The conversion rod 59 is a rectangular solid extending in the axle 52 direction,
The tip portion is formed diagonally so as to become shorter in the rotation direction.

A spring 60 held by the pressing rod 58
Has the other end in contact with a part of the rotating side casing 22, and presses the pressing rod
58, the spring 60 is expanded and contracted to rotate the rotating casing 22. At this time, the rotating plate 57 rotates while slightly distorting the rotating casing 22 in accordance with the expansion and contraction size of the expanded and contracted spring 60. Then, the rotating plate 57 rotates according to the distortion caused by human power. At this time, the conversion rod 59 is also rotated by a slight rotation of the rotation plate 57 at the same time, and the angled portion 62 contacting the inclined portion 61 by the inclined portion 61 formed at the tip of the conversion rod 59.
Is pushed and moves in the direction of the axle 52. A ring 63 made of aluminum is attached to the chevron portion 62, and the ring 63 is also moved by the movement of the chevron portion 62. A C-ring 64 and a spring 65 for urging the ring 63 toward the rotating plate 57 are provided at the tip of the ring 63. Therefore, the ring 63 moves in the direction of the axle 52 by the amount by which the rotating casing 22 and the rotating plate 57 are distorted.

Reference numeral 66 denotes a coil provided near the ring 63 in the fixed casing 21. The coil 66 can convert a change in inductance due to the approach of the ring 63 into an electrical signal. Can be used to detect human-powered torque.

Next, a power system diagram having the above configuration will be described with reference to FIG.

First, the human power drive system will be described. The human power given by the pedal 5 is transmitted to the rear sprocket 51 by the chain 16 and rotates the rear wheel 11 via the rotating plate 57 and the spring 60. Next, the electric drive system will be described.The magnitude of expansion and contraction of the spring 60, that is, the rotational movement distance of the rotating plate 57 is converted into movement in the direction of the axle 52 by a conversion rod 59 and a chevron 62, which are conversion members. Allow the ring 63 to move as it moves. The movement of the ring 63 is converted into a change in the inductance of the coil 66 and is input to the control board 50 as an electric signal. The control board 50 is incorporated in the fixed casing 21. Then, a signal of the coil 66 is input to the control board 50, and a drive signal is output so as to rotate the motor 25 based on the signal. Then, the output of the motor 25 is reduced by the planetary roller reduction mechanism 31 and the first pulley 41
The rear wheel 11 rotates via the.

Next, the control circuit will be described with reference to FIG.

Reference numeral 67 denotes a control circuit for performing PWM control of the motor 25 by a drive switching element 68.
67 drives the motor 25 with an output according to the torque detected by the torque detection unit 56.

Reference numeral 69 denotes a motor drive circuit for turning on and off the switching element 68 based on an output signal from the control circuit 67.

Reference numeral 70 denotes a constant voltage circuit that steps down the voltage of 24 V to 5 V and serves as the power source of the control circuit 67.

Reference numeral 71 denotes a flywheel diode connected in parallel to the motor 25.

Next, the operation of the control circuit 67 of the first embodiment will be described with reference to FIGS.

FIG. 1 is a flow chart showing a program in the control circuit 67 for setting the ratio of the output of the electric driving force to the human driving force during traveling.

First, the manual driving force applied to the pedal 5 detected by the torque detecting section 56, that is, the manual torque is input to the control circuit 67 as an electric signal. At this time, it is determined whether the human-powered driving force requires a large torque by a predetermined value, for example, whether it is larger or smaller than 100 kg · cm. If the human-powered torque is smaller than 100 kg · cm, the assist ratio is set. The mode is set to A mode, and if it is larger than 100 kg · cm, the auxiliary ratio is set to B mode, and the motor 25 is driven by the auxiliary ratio set in each mode, and the electric driving force assists the manual driving force. .

In the case of the above-mentioned A mode, 100 kg · c
It shows a manpower driving force smaller than m, that is, a normal driving time, and in the case of the B mode, a manpower driving force larger than 100 kg · cm, that is, a case where a large torque is required at the time of going uphill or starting. ing. In the flowchart in FIG. 1, the mode is set to A or B by always determining the torque of the manual driving force. In response to the rapidly changing human torque of the manual driving force, the mode is set immediately. Is switched to.

Next, the case of switching to the A mode, that is, the normal traveling mode will be described with reference to FIG.

When it is determined that the human input torque is 100 kg · cm or less, the auxiliary ratio is set to the A mode, and FIG.
As shown by the solid line in the figure, the auxiliary ratio gradually changes with a sine curve with the passage of time. The cycle of this change is
The cycle is programmed so that it is longer than the cycle of pedaling and the auxiliary ratio does not fluctuate in a short time. For example, one cycle is set to several minutes.

Next, when the manual driving force is equal to or more than the predetermined torque, the B mode is set, and as shown by the broken line in FIG.
Regardless of the passage of time, the maximum value of the change in the A mode is set to be a constant value. In the present embodiment, the maximum auxiliary ratio, that is, the set auxiliary ratio at the time of selecting the B mode is set to 1.0 with respect to the manual driving force, and the electric driving force is driven with the same torque as the manual driving force. I have. Also, A
The lowest value in the mode is set to 0.8 so that the difference between the upper and lower auxiliary ratios is not so large that the user's feeling of discomfort during driving is eliminated.

Next, as another embodiment of the first embodiment, as shown in FIG. 9, in the A mode, as in the case of the solid line in FIG. Change the ratio with a sine curve. In the B mode, that is, when the torque is equal to or more than the predetermined torque, as shown by the broken line in FIG. Therefore, the minimum level is set so as not to assist, so that when a large torque is required, the assist ratio is not too low and sufficient assist can be performed. In addition, since the auxiliary ratio changes with the lapse of time when the level is equal to or higher than the level, the user does not get used to the auxiliary force by the electric driving force, and the user does not feel lack of the auxiliary force.

Next, a second embodiment will be described with reference to FIG.

Also in this embodiment, the control by the control circuit 67 is controlled by the same flow chart as shown in FIG. 1 shown in the first embodiment, and the explanation of the flow chart will be omitted. That is, when a large torque is required for traveling, that is, when the human torque is 100 kg · cm or more, the mode is set to B mode, and when the human torque is small, that is, the human torque is 100 kg · c.
At m or less, the mode is set to A.

First, the temporal change of the auxiliary ratio when the A mode is set is shown in FIG. 10. As shown by the solid line, the auxiliary ratio changes irregularly with the lapse of time, and the auxiliary ratio becomes 0. It varies between 8 and 1.0. In this embodiment, as in the first embodiment, the speed of change of the auxiliary ratio is
It is set to be much slower than the pedal rotation.

The auxiliary ratio when the B mode is set, as shown by the broken line in FIG.
Control is performed so as to be constant at the maximum value 1.0 in the mode.

In FIG. 10 as well, the change in the auxiliary ratio is larger than the cycle of pedaling the pedal 5, so that it changes gently and irregularly.

FIG. 11 shows another embodiment of the second embodiment. In the A mode, the auxiliary ratio is changed irregularly at a slow speed in the same manner as the solid line in FIG. As in the other embodiments shown in FIG.
That is, when the manual driving force is equal to or more than the predetermined torque, the level is set at a middle of the change of the assist ratio in the A mode as shown by the broken line in FIG. Set the level. With such a setting, the assist force is not too small when the user needs a large torque. Above that level, the auxiliary ratio changes over time, so that the user does not become accustomed to the auxiliary force and there is no lack of assistance, and the user feels the lack of the auxiliary force due to the electric driving force. There is no.

In the present embodiment, the waveform is irregularly changed so as to change to an appropriate auxiliary ratio at an appropriate cycle. However, the waveform may be set so as to have a 1 / f fluctuation waveform.

Next, a third embodiment will be described with reference to FIG.

Also in this embodiment, the control by the control circuit 67 is controlled by a flowchart similar to that of FIG. 1 shown in the first embodiment, and the description of the flowchart is omitted. That is, when a large torque is required for traveling, that is, when the human torque is 100 kg · cm or more, the B mode is set. When the human torque is small, ie, the human torque is 100 kg · c.
At m or less, the mode is set to A.

In the case of this embodiment, 1.0, 0.9, 0.8
Are set in the control circuit 67 in advance.
With these set values, the auxiliary ratio is set at random with the passage of time.

First, FIG. 12 shows a temporal change of the auxiliary ratio when the A mode is set. The auxiliary ratio changes to 0.9, 1.0, 0.8 and 0.9 with the passage of time. The period of the change is set to be shorter or longer. For example, 2 in a short cycle
Minutes, set to 3 minutes in a long cycle.

The auxiliary ratio when the B mode is set, as shown by the broken line in FIG.
Control is performed so as to be constant at the maximum value of 1.0 in the A mode.

FIG. 13 shows another embodiment of the third embodiment. In the A mode, the auxiliary force changes in the same manner as the solid line in FIG. Then, at the time of the B mode, that is, when the torque is equal to or more than the predetermined torque, the level is changed in the middle of the A mode, as indicated by the broken line in FIG. 13, as in the other embodiments of the first and second embodiments. In the present embodiment, it is set to 0.88, and the lowest level is set so as not to assist at an auxiliary ratio smaller than the set value. By doing so, the assisting force is not too small when the user needs more torque. In addition, since the auxiliary ratio changes over time when the level is equal to or higher than that level, the user does not get used to the auxiliary force, and the user does not feel the lack of the auxiliary force due to the electric driving force.

[0070]

According to the present invention, a control circuit for changing the auxiliary ratio of the electric drive unit with time is provided.
The effect that the user does not get used to the assisting force due to the change of the assisting ratio with time and the assisting force does not feel unsatisfactory is exhibited.

When the human-powered driving force reaches a predetermined value, the auxiliary ratio is determined by a predetermined ratio,
For example, since the output is performed at the ratio of the maximum value of the changing assist ratio, sufficient assist can be obtained when a large assist is required for traveling. Since the assist ratio changes during normal traveling, the user is not accustomed to the assist force, and it is possible to obtain a feeling that the assist force is always obtained.

Further, the assist ratio is controlled such that when the human-powered driving force reaches a preset predetermined value, the output is controlled at a predetermined ratio or more, that is, the lower limit value of the assist ratio is increased. When you need it, you don't need a small amount of assistance to get enough assistance, and the assistance ratio changes above a certain ratio, so you don't get used to it This has the effect of being able to obtain the feeling of having power.

[Brief description of the drawings]

FIG. 1 is a flowchart of control in an embodiment of the present invention.

FIG. 2 is a graph showing a change in an auxiliary ratio according to the first embodiment of the present invention.

FIG. 3 is a power system diagram showing the embodiment of the present invention.

FIG. 4 is a side sectional view of the driving unit.

FIG. 5 is a plan view of the driving unit.

FIG. 6 is a schematic diagram showing the operation of the torque detector.

FIG. 7 is a block diagram of the control circuit.

FIG. 8 is an overall side view of the same.

FIG. 9 is a graph showing a change in an auxiliary ratio according to another embodiment of the first embodiment.

FIG. 10 is a graph showing a change in an auxiliary ratio according to the second embodiment.

FIG. 11 is a graph showing a change in an auxiliary ratio according to another embodiment of the second embodiment.

FIG. 12 is a graph showing changes in the auxiliary ratio of the third embodiment.

FIG. 13 is a graph showing a change in an auxiliary ratio according to another embodiment of the third embodiment.

[Explanation of symbols]

 11 Drive wheel 5 Pedal 16 Chain 56 Torque detector 25 Motor 15 Drive 67 Control circuit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hoshi Tomo 2-5-5 Keihanhondori, Moriguchi-shi, Osaka Sanyo Electric Co., Ltd. (72) Inventor Hiroaki Sagara 2-chome Keihanhondori, Moriguchi-shi, Osaka No. 5-5 Sanyo Electric Co., Ltd. (72) Inventor Toshihiro Matsumoto 2-5-5 Sanyo Electric Co., Ltd. (72) Inventor Yoshihiko Maeda Keihanhondori, Moriguchi City, Osaka Prefecture 2-5-5 Sanyo Electric Co., Ltd.

Claims (5)

[Claims] 1. A human-powered driving unit that drives driving wheels by human power, a torque detection unit that detects a driving force of the human-powered driving unit, and a motor that is driven based on a signal from the torque detection unit to drive the driving wheels. And a control circuit for changing a predetermined ratio of an output of the electric drive unit to a signal from the torque detection unit with time. 2. The ratio of the output of the electric drive unit to the signal from the torque detection unit is a predetermined ratio set when the driving force detected by the torque detection unit reaches a predetermined value set in advance. The vehicle with auxiliary power according to claim 1, wherein the vehicle is output with. 3. The auxiliary power unit according to claim 2, wherein the predetermined ratio is a maximum value of a ratio of an output of the electric drive unit to a changing signal from the torque detection unit. vehicle. 4. A ratio of an output of the electric drive unit to a signal from the torque detection unit, wherein when a driving force detected by the torque detection unit reaches a predetermined value, a predetermined ratio is set. The vehicle with auxiliary power according to claim 1, wherein the vehicle is output as described above. 5. The apparatus according to claim 4, wherein the predetermined ratio increases a lower limit value of a ratio of an output of the electric drive unit to a changing signal from the torque detection unit.
A vehicle with auxiliary power as described.