WO2012002169A1 - 踏力センサ及びそれを利用した電動アシスト車 - Google Patents
踏力センサ及びそれを利用した電動アシスト車 Download PDFInfo
- Publication number
- WO2012002169A1 WO2012002169A1 PCT/JP2011/063871 JP2011063871W WO2012002169A1 WO 2012002169 A1 WO2012002169 A1 WO 2012002169A1 JP 2011063871 W JP2011063871 W JP 2011063871W WO 2012002169 A1 WO2012002169 A1 WO 2012002169A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sprocket
- drive wheel
- opening
- pedal force
- spring
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M3/00—Construction of cranks operated by hand or foot
- B62M3/16—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
- G01L3/1407—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs
- G01L3/1421—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using optical transducers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
- G01L3/1407—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs
- G01L3/1428—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers
- G01L3/1435—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers involving magnetic or electromagnetic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
- G01L3/1464—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving screws and nuts, screw-gears or cams
- G01L3/1471—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving screws and nuts, screw-gears or cams using planet wheels or conical gears
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/21—Elements
- Y10T74/2164—Cranks and pedals
- Y10T74/2165—Cranks and pedals with attached gear
Definitions
- the present invention relates to a pedal force sensor used for an electric assist bicycle or the like and an electric assist vehicle using the pedal force sensor, and more specifically, to non-linear (non-linear) detection characteristics of the pedal force.
- a torque detection device for detecting such a pedaling force is required to detect a force in a wide range of about 5 kg to 100 kg.
- torque detection means for example, there is a technique using a spring mechanism shown in Patent Document 1 below.
- Patent Document 1 an output side that transmits rotation to a wheel is urged in an anti-rotation direction by an elastic member with respect to an input side rotating body that is rotated by human power, and a phase shift between both rotating bodies. It is a torque detection device for detecting torque, and it is disclosed that an extension coil spring is used for the elastic member.
- FIG. 11A shows the relationship between the spring displacement (contraction amount) including the position where the spring starts to be displaced on the horizontal axis, the pedaling force on the upper side of the vertical axis, and the recognized pedaling force on the lower side of the vertical axis. .
- LA to LC are the cases where the spring mounting positions having the same spring constant and the same length are changed
- the thick solid line LA is the case where the spring mounting position coincides with the reference position
- the alternate long and short dash line LB is A dotted line LC indicates a case where the spring mounting position is shifted to the right side of the horizontal axis with respect to the reference position
- a dotted line LC indicates a case where the spring mounting position is shifted to the left side of the horizontal axis with respect to the reference position.
- the alternate long and short dash line LB the compression start position of the spring is shifted from the solid line LA. That is, since there is an offset, it means that the spring is not displaced until a certain amount of force is applied.
- the recognized pedaling force when the recognized pedaling force is set as indicated by a thin solid line LA ′ based on the case where the spring mounting position matches the reference position, when the pedaling force is Akg, the spring mounting position becomes the reference position. If they match, the recognized pedal effort is A '. However, when the spring mounting position is shifted to the right side of the horizontal axis, the recognized pedal force is B 'which is larger than A'. On the other hand, when the mounting position of the spring is shifted to the left side of the horizontal axis, the recognized pedal force is C 'smaller than A'. That is, even if the spring mounting position is shifted from the reference position to either the left or right side of the horizontal axis, the recognized pedal force varies. If the recognition pedal force varies, there is a problem that the sense of assist of the passenger varies from product to product.
- the second issue is the setting at the start of assist.
- a one-dot chain line LB in FIG. 11B when the spring attachment position is deviated from the reference position, the spring compression start position is deviated from the case indicated by the solid line LA. Even if the pedaling force is not applied to the pedal, the recognition pedaling force A'kg is assisted. For this reason, when the mounting position of the spring is deviated, it is necessary to set so as not to assist when the pedaling force is Akg or less, that is, to ignore the weak pedaling force.
- an object of the present invention is to detect the pedaling force using an elastic body such as a spring, including variations in characteristics such as the mounting position, length, and elastic modulus of the elastic body, and the pedaling force resulting from initial movement and acceleration. If the pedaling force is actually applied, such as during initial movement or acceleration, it will be possible to respond when sufficient assistance is required, or when the pedaling force is small
- the present invention is to provide a pedaling force sensor having good accuracy and having a characteristic capable of detecting the pedaling force in a wide range.
- Another object is to provide an electric assist vehicle equipped with the preceding pedal force sensor.
- the pedal force sensor of the present invention is disposed orthogonally to the crankshaft, disposed substantially opposite to the drivewheel, which is fixed to the crankshaft and rotates with the crankshaft, and is provided to the crankshaft.
- a substantially plate-shaped sprocket that transmits rotational force to the propulsion wheel, a plurality of pressing operation means provided on the drive wheel side, and a plurality of press receivers provided on the sprocket side facing the pressing operation means.
- the driving wheel and the sprocket are indirectly connected between the stopping means, the pressing operation means and the pressure receiving means, and according to the rotational displacement amount of the driving wheel and the sprocket, A plurality of elastic bodies that expand and contract in the circumferential direction, and a sensor that detects a relative rotational phase difference between the drive wheel and the sprocket.
- the plurality of pairs of pressing operation means and the pressure receiving means are arranged so that expansion and contraction of the plurality of elastic bodies between the means and the pressure receiving means is started at a plurality of timings. is there.
- One of the main forms is that the opening edge side of one of the plurality of first openings formed on an arbitrary circumferential track of the drive wheel is the plurality of pressing operation means, and the sprocket includes The other opening edge side of the plurality of second openings formed at positions facing the plurality of first openings is the plurality of press receiving means, and the elastic body is the first opening. It is a pedal force sensor in which the sprocket is indirectly connected to the drive wheel by being shared and stored in both corresponding second openings.
- a pedal force sensor includes a substantially plate-like drive wheel that is fixed orthogonally to the crankshaft and rotates together with the crankshaft, and is disposed opposite to the drive wheel and provided to the crankshaft.
- a substantially plate-like sprocket that transmits force to the propulsion wheel, a plurality of first openings formed on an arbitrary circumferential track of the drive wheel, and a plurality of first openings on the sprocket.
- a plurality of second openings formed at positions corresponding to the openings, and the first opening and the second opening corresponding to the second openings, and the sprocket is indirectly connected to the drive wheel.
- a first non-contact sensor which is disposed at a position where the one detected part can be detected and is spaced apart from the first detected part and which is not interlocked with the crankshaft; and the second detected part
- a second non-contact sensor which is disposed at a detectable position apart from the second detected portion and does not interlock with the crankshaft, and a plurality of elastic bodies by the elastic body compression means
- the elastic body and the elastic body compression hand so that the compression of the elastic body
- the elastic body compression means is based on one edge of the first opening of the drive wheel or at least one of the contact bodies that rotate with the drive wheel and come into contact with the elastic body. It is a pedal force sensor constituted by pressing operation means and pressing receiving means by the other edge side of the second opening of the sprocket.
- the plurality of elastic bodies are supported so as to be expandable and contractable in the circumferential direction of the drive wheel by a protrusion provided in at least one of the first opening of the drive wheel or the second opening of the sprocket. This is a pedal force sensor.
- Yet another embodiment is a pedal force sensor in which the elastic body is a coil spring. Yet another embodiment is a pedal force sensor provided with a rotation restricting means for restricting rotational displacement between the drive wheel and the sprocket within a certain range. Yet another embodiment is a pedal force sensor in which the plurality of elastic bodies include two or more types of elastic bodies having different lengths or elastic coefficients.
- the electric assist vehicle of the present invention is equipped with any of the pedal force sensors described above.
- a drive wheel fixed to the crankshaft and a sprocket that transmits the rotational force of the crankshaft to the propulsion wheel are indirectly connected by a plurality of elastic bodies, and the drive wheel
- the distance between the elastic body and the elastic body compression means is set and arranged so that the compression start timing of the plurality of elastic bodies is shifted.
- there is a pedal force sensor that uses a plurality of elastic bodies with different lengths and elastic coefficients as necessary to make the relationship between the displacement of the elastic body and the pedal force non-linear and approximate the desired detection characteristics. can get.
- FIG. 5A is a plan view of FIG. 5 viewed from the arrow FA side
- FIG. 5B is a plan view of FIG. 5 viewed from the arrow FB side
- FIG. 5C is a sprocket showing a spring housed in the first opening. It is the top view seen from the side.
- (A) is a plan view of the drive wheel (crank inner plate) as seen from the arrow FA side in FIG. 5
- (B) is a plan view of the crank gear as seen from the arrow FA side in FIG. 5
- (C) is a sprocket. It is the top view which looked at (crank outer gear) from the arrow FA side of FIG.
- FIG. It is a perspective view which shows the internal structure of the pedaling force sensor of the said Example 1.
- FIG. It is a figure explaining the effect
- FIG. It is a figure which shows an example of the detection circuit of the said Example 1.
- FIGS. 11 (A) and 11 (B) described above variations in the mounting position and length of the spring, or the length of the spring There arises a problem caused by variations in the spring constant which is in an inversely proportional relationship.
- the present invention reduces the detection pedaling force error caused by variations in the length, mounting position, and characteristics (such as elastic modulus) of the elastic body, and requires sufficient assistance during initial movement and acceleration. In the range, the pedal force can be detected in a wide range.
- a plurality of elastic bodies used for the pedaling force detection are used, and the elastic coefficients of the plurality of elastic bodies are changed.
- the pedaling force detection characteristic is made non-linear by changing the spring constant and configuring the pedaling force sensor with an arrangement that shifts the compression start timing of a plurality of elastic bodies or an arrangement that provides an offset. It is possible to provide a pedal force sensor approximated to the detection characteristic curve.
- realization of desired detection characteristics will be described by taking a case where a coil spring is used as an elastic body as an example.
- FIG. 1 shows the relationship between the spring displacement (contraction amount) including the position where the spring starts to be displaced on the horizontal axis, the pedaling force on the upper side of the vertical axis, and the recognized pedaling force by the computer on the lower side of the vertical axis.
- the characteristic indicated by the thick solid line LA and the alternate long and short dash line LB in the figure is a reference spring having the same spring length and spring constant, and the solid line LA is an alternate long and short dash line when the spring mounting position matches the reference position.
- LB indicates characteristics when the spring mounting position is shifted from the reference position, that is, when the displacement start position is shifted.
- a thick dotted line LA ′ indicates characteristics when a spring having a spring constant smaller than that of the reference product is attached so as to coincide with the reference position, and a thick two-dot chain line LB ′ indicates the same spring ( The characteristic when the displacement start position of a spring having a smaller spring constant than the reference product is shifted to the right is shown.
- the solid line LA and the alternate long and short dash line LB have different displacement start positions, it is shown on the lower side of FIG. 1 that even if the displacement of the two springs is the same, the recognized pedaling force is different. That is, in the straight NFP of the recognized pedaling force characteristic, when the spring mounting position is the solid line LA of the reference position, the recognized pedaling force is A ′, but in the case of the one-dot chain line LB where the spring mounting position is shifted, the recognized pedaling force is B ′. turn into.
- the recognized pedaling force by the computer is set so that the numerical value A ′ is displayed with reference to the solid line LA when the spring mounting position matches the reference position. In the alternate long and short dash line LB, a numerical value B ′ different from the numerical value A ′ is displayed.
- the dotted line LA ′ and the two-dot chain line LB ′ indicate that even if the displacements of the two springs are the same, the recognition pedaling force differs depending on the displacement start position. That is, in the straight NFP ′ of the recognized pedaling force characteristic, when the spring mounting position is the dotted line LA ′ of the reference position, the recognized pedaling force is A ′, but in the case of the two-dot chain line LB ′ where the spring mounting position is shifted, the recognized pedaling force is becomes C ′. That is, the difference between the recognized treading forces A ′ and C ′ due to the different displacement start positions is about half of the difference between the recognized treading forces A ′ and B ′ when using the reference standard spring.
- the horizontal axis includes the position of the spring displacement start.
- the relationship when the displacement and the vertical axis are the pedaling force is shown.
- the spring constant k has a minimum value a1 and a maximum value a6, and the slope of the characteristic line increases as the spring constant k increases in order from a1 to a6.
- a load stepping force
- the pedaling force detection range is greatly displaced by a little pedaling force.
- the change due to the pedal force is small, so that a large pedal force can be targeted with a limited length of spring, and the pedal force detection is performed.
- the range can be expanded.
- the spring constant used in theory varies depending on the displacement.
- the rise of the characteristic curve is a shape approximated to a gentle curve. This characteristic curve simply shows the concept schematically, but actually shows a characteristic curve of a spring having a composite spring constant.
- the spring displacement with respect to the change in the pedal force is large in the range where the pedal force is small, for example, in the range of 0 to 10 kg, but it is not reflected in the displacement of the pedal force.
- variations in the springs appear in the detection results, so that the variation will have less effect on the measurement of the pedal effort, for example by detecting the rowing start state in a power-assisted bicycle, It is possible to make it possible to accurately perform the control.
- FIG. 3 is an explanatory diagram showing that the number of springs used for pedal force detection changes by shifting the compression start timings of a plurality of springs.
- FIG. 3A all of the six springs SA to SF having the same length and spring constant are arranged with their positions slightly shifted.
- the springs SA to SF are compressed when the rear end RE side of the spring is fixed to the pressing-receiving wall RW on the fixed side, and the tip TE side contacts the pressing operation wall OW that is displaced according to the movement of the ball B.
- the FIG. 3A all of the six springs SA to SF having the same length and spring constant are arranged with their positions slightly shifted.
- the springs SA to SF are compressed when the rear end RE side of the spring is fixed to the pressing-receiving wall RW on the fixed side, and the tip TE side contacts the pressing operation wall OW that is displaced according to the movement of the ball B.
- FIG. 3 (A) the is shown a state before the compressive force is applied is pressed operation wall OW is in contact with the distal end TE of the spring SA at position P 0. From this state, as shown in FIG. 3 (B), moving the pressing operation wall OW to the position P 1 in the direction indicated by the arrow in the drawing by a ball B, together with the spring SA is compressed, pressing action wall OW Contacts the tip TE of the spring SB. That is, when a force for moving the pressing wall OW from the position P 0 to the position P 1 is applied, the number of springs used is one. Further, when the pressing wall OW is moved in the direction of the arrow, the compression of the springs SB, SC, SD, SE is started sequentially.
- the spring utilized is the sum of five to spring SA ⁇ SE. Furthermore, the force to move the left side of FIG from the position P 2 a pressing operation wall OW is applied, all the spring six is used.
- the number of springs used in accordance with the magnitude of the force changes when a plurality of springs used are connected in parallel. It can be said that the combined spring constants of these are additively changed. That is, even when only a spring having a small spring constant is used, by arranging a plurality of springs so that the timing of starting compression is shifted, the influence of the variation of the spring is reduced as much as possible, and the detection error is reduced. At the same time, it is possible to realize a characteristic capable of detecting a pedal force in a wide range.
- FIG. 4 is an explanatory diagram in which the above-described FIG. 3 is made to correspond to the apparatus configuration shown in FIGS. 5 to 10 below.
- FIG. 5 is a cross-sectional view showing the main part of an electrically assisted bicycle equipped with a pedal force sensor of this embodiment.
- 6A is a plan view of FIG. 5 viewed from the arrow FA side
- FIG. 6B is a plan view of FIG. 5 viewed from the arrow FB side
- FIG. 6C is in the first opening. It is the top view which looked at the stored spring from the sprocket side.
- FIG. 5 corresponds to the # A- # A cross-sectional view of FIG. 6A and the #A '-# A' cross-sectional view of FIG. 6B.
- 7A is a plan view of the drive wheel
- FIG. 7B is a crank inner gear
- FIG. 7B is a plan view of the sprocket (crank outer gear) from the arrow FA side in FIG.
- FIG. 8 is a perspective view showing the internal structure of the pedal force sensor of this embodiment
- FIG. 9 is a diagram showing the operation of this embodiment.
- FIG. 10 is a diagram illustrating an example of the detection circuit according to the present embodiment.
- two springs SA and SB having the same length are arranged at the same position, and the same springs SC ′ to SF ′ shorter than the springs SA and SB are gradually positioned. They are staggered.
- the spring constants of the springs SA and SB are, for example, 1/2 of the other springs SC ′ to SF ′.
- These springs SA, SB, SC ′ to SF ′ are fixed to the pressure receiving wall RW on the fixed side on the rear end RE side of the spring, and on the pressing operation wall OW where the tip TE side is displaced according to the movement of the ball B. Compressed by contact.
- FIG. 4A shows a state before the compression force is applied, and the pressing wall OW is in contact with the tips TE of the two springs SA and SB at the position P 0 .
- FIG. 4 (B) moving the pressing operation wall OW to the position P 1 in the direction indicated by the arrow in the drawing by a ball B, with two springs SA and SB are compressed
- the pressing wall OW contacts the tip TE of the spring SC ′. That is, when a force for moving the pressing wall OW from the position P 0 to the position P 1 is applied, the number of springs used is two. Further, when the pressing wall OW is moved in the direction of the arrow, the compression of the springs SC ′, SD ′, and SE ′ is sequentially started.
- the pressing operation wall OW spring SF ' when a force to move to a position P 2 to reach the tip of TE is applied, the spring is a long spring SA and SB to be utilized, a short spring SC', SD ', SE' This is a total of five. Furthermore, the force to move the left side of FIG from the position P 2 a pressing operation wall OW is applied, all the spring six is used. Variations can be averaged by using two springs having a spring constant of 1/2 set in parallel in this way. Further, the combined spring constant can be gradually increased by gradually shifting the positions of the four springs having the same spring constant. In addition, the spring characteristic curve can be gradually raised with a gentle rise.
- an apparatus for detecting a pedal force using this principle will be described.
- the pedal force sensor 10 of this embodiment includes a drive wheel (crank inner plate) 30, a sprocket (crank outer gear) 50, a crank inner gear 74, a plurality of coil springs (hereinafter referred to as “springs”) 80 to 90, and compression means thereof.
- a plurality of protrusions 48 provided on the drive wheel 30, a plurality of protrusions 68 provided on the sprocket 50, and non-contact sensors 168 and 170 that detect the protrusions 48 and 68 are mainly configured.
- the pedal force sensor 10 includes a rotating plate 110, a crank outer cover 120, a sensor cover 150, a rotation limiting mechanism, and the like.
- the respective units will be described in order.
- the drive wheel 30 is attached to the crankshaft 14 rotatably supported by the bicycle frame 12 so as to rotate together with the crankshaft 14.
- the crank 16 is fixed to the crankshaft 14, and the pedal shaft 24 ⁇ / b> A of the pedal 24 is attached to the distal end side of the arm 18 of the crank 16.
- a plurality of fixing arms 20 (four in the example of FIG. 6B) of the crank 16 are fixed to a crank outer cover 120 described later by mounting nuts 22.
- the crank outer cover 120 is fixed to the drive wheel 30 via the crank inner gear 74 as described later.
- crankshaft 14 rotates and the crank outer cover 120 to which the crank 16 is fixed, the crank inner gear. 74 and the drive wheel 30 also rotate together.
- the drive wheel 30 has a substantially disk shape with an opening 32 through which the crankshaft 14 can pass formed in the center, and will be described later near the edge of the opening 32.
- a plurality of holes 34 through which rivets 125 (see FIG. 5) for fixing the crank outer cover 120, the crank inner gear 74, and the rotating plate 110 together are formed at substantially equal intervals.
- a plurality of first openings 36 to 46 are provided at substantially equal intervals on a circumferential track on the outer peripheral side of the plurality of holes 34.
- first openings 36, 38, 40, 42, 44, 46 have the dimensions of the springs 80, 82, 84, 86, 88, 90 to be accommodated and the springs 80, 82, 84, 86, 88, 90 It is set as appropriate according to the timing of starting compression.
- the first opening 36 and the first opening 42 facing the opening 36 are formed to have the same dimensions, and long springs 80 and 86 are accommodated in these openings, respectively.
- the first openings 38, 40, 44, 46 are shorter than the first openings 36, 42, and short springs 82, 84, 88, 90 are accommodated in the first openings 38, 40, 44, 46, respectively.
- the springs 80 and 86 have the same length, and the other springs 82, 84, 88 and 90 have the same length and are shorter than the springs 80 and 86.
- the spring constants of these springs 80 to 90 are different, and two types of spring constants are used. That is, there are two types of springs 80, 86 having a small spring constant and a long length, and springs 82, 84, 88, 90 having a large spring constant and a short length.
- the long springs 80 and 86 correspond to the springs SA and SB shown in FIG. 4, and the short springs 82, 84, 88 and 90 correspond to the springs SC ′, SD ′, SE ′ and SF ′ shown in FIG. It corresponds to.
- FIG. 6A shows a state in which the springs 80 to 90 are stored.
- long springs 80 and 86 for example, the first openings 36 and 42 for storing the SWB 12-30 of MISUMI Corporation are open edges 36B and 42B and the free ends of the springs 80 and 86, respectively.
- the dimensions are set so that there is no gap between the end portions 80B and 86B.
- the lengths of the short springs 82, 84, 88, 90 for example, the first openings 38, 40, 44, 46 for housing the Misumi SWB12-20, are slightly different. For example, in the example shown in FIG.
- the gap between the end portion 82B of the spring 82 and the opening edge 38B is the narrowest, and then the gap between the end portion 84B of the spring 84 and the opening edge 40B, the end portion 88B of the spring 88,
- the dimensions are set so that the width of the gap widens in the order of the gap between the opening edge 44B and the gap between the end 90B of the spring 90 and the opening edge 46B.
- gap I This gap is shown as gap I in FIG.
- the opening edges 36B to 46B of the first openings 36 to 46 are regarded as the pressing operation wall OW shown in FIG. 4, and an end face 94A of a spring support 92 described later is pressed to the pressing surface shown in FIG. Considered as a receiving wall RW.
- the end portions 80A to 90A of the springs 80 to 90 are regarded as the spring rear end RE in FIG. 4 and the end portions 80B to 90B of the springs 80 to 90 are regarded as the spring front end TE in FIG. This corresponds to the adjustment width of the contact position (four contact positions in the range from positions P 1 to P 2 in FIG.
- the drive wheel 30 is provided with a plurality of protrusions 48 at substantially equal intervals on a circumferential track outside the first openings 36 to 46.
- the plurality of protrusions 48 are detected by a first non-contact sensor 168 described later.
- the drive wheel 30 configured as described above is rotatably connected to the bicycle frame 12 via a rotating plate 110 as shown in FIG.
- the rotating plate 110 has a shape in which a flange 116 is provided outside the recess 112 in which the opening 113 is formed.
- the same number of holes 114 (not shown) for passing the rivets 125 are formed at positions corresponding to the holes 34 of the drive wheel 30.
- the crank inner gear 74 has a substantially ring shape in which an opening 76 through which the crankshaft 14 penetrates is formed at the center.
- a plurality of holes 78 are formed. The holes 78 are formed at positions and intervals that coincide with the holes 34 of the drive wheel 30 when the drive wheel 30 and the crank internal gear 74 are overlapped.
- the sprocket 50 is disposed outside the crank inner gear 74, and the diameter of the central opening 52 is set slightly larger than the outer diameter of the crank inner gear 74. That is, even if the drive wheel 30 and the crank inner gear 74 rotate together with the crankshaft 14, the rotational force is not directly transmitted to the sprocket 50. Therefore, a plurality of springs 80 to 90 are used to indirectly connect the drive wheel 30 and the sprocket 50.
- the sprocket 50 has a plurality of second openings 56, 56, 58 at positions corresponding to the plurality of first openings 36, 38, 40, 42, 44, 46 when overlapped with the drive wheel 30.
- a long spring 80 is accommodated in the first opening 36 and the second opening 56
- a short spring 82 is accommodated in the first opening 38 and the second opening 58
- a short spring 84 is stored in the second opening 60
- a long spring 86 is stored in the first opening 42 and the second opening 62
- a short spring 88 is stored in the first opening 44 and the second opening 64
- a short spring 90 is accommodated in the first opening 46 and the second opening 66.
- the second openings 56 to 66 are located between the end portions 80B, 82B, 84B, 86B, 88B, and 90B of the springs 80 to 90 in the stored state and the opening edges 56B, 58B, 60B, 62B, 64B, and 66B. This is different from the first openings 36 to 46 in that the dimension is set so that there is almost no gap.
- a screw hole 72 for screwing the screw 102 is provided in the vicinity of one end portion 56A, 58A, 60A, 62A, 64A, 66A of the second openings 56-66.
- a spring support 92 shown in FIG. 8 is used in this embodiment.
- the spring support 92 has a structure in which a rod 98 is provided on a substantially cylindrical mounting base portion 94, and an end surface 94 A of the mounting base portion 94 that is the basis of the rod 98 is formed at each end portion 80 A of the springs 80 to 90.
- 82A, 84A, 86A, 88A, 90A constitutes one side of the spring compression means as the pressure receiving wall RW to which it hits.
- a step 96 and a screw hole 100 are formed in the mounting base 94.
- Springs 80 to 90 are passed through the rod 98 so that the end portions 80A to 90A face the mounting base 94 side. Then, the step portion 96 of the attachment base 94 is brought into contact with the respective opening edges 56A, 58A, 60A, 62A, 64A, 66A of the second openings 56 to 66 of the sprocket 50, and the screw holes 100 of the attachment base 94 are connected. By aligning the position of the screw hole 72 of the sprocket 50 and screwing the screw 102, the springs 80 to 90 are stored in common in the first opening and the second opening at the corresponding positions. That is, the drive wheel 30 and the sprocket 50 are indirectly connected by the springs 80 to 90.
- the springs 80 to 90 are compressed in the circumferential direction according to the amount of rotation of the drive wheel 30 in cooperation with the other of the spring compression means described later. Further, when the drive wheel 30 does not rotate, the springs 80 to 90 are supported by the rod 98 of the spring support 92 so as to expand and contract so that the shape is restored.
- the said spring support body 92 showed the structure fixed to the sprocket 50 by the screwing of the screw
- the springs 80 to 90 are accommodated in an opening formed by a combination of the first openings 36 to 46 and the second openings 56 to 66 facing the first openings 36 to 46, It suffices to be held by means other than the spring support 92 so as to be within the opening formed by the above-described combination.
- a gear portion 54 is formed on the outer peripheral portion of the sprocket 50, and a chain 73 (see FIG. 5) that drives a bicycle propulsion wheel (rear wheel) is hung on the gear portion 54. Therefore, the rotational force applied to the crankshaft 14 is indirectly transmitted from the drive wheel 30 to the sprocket 50 via the springs 80 to 90, and further transmitted from the sprocket 50 to the propulsion wheel via the chain 73.
- the A plurality of protrusions 68 are provided on the main surface of the sprocket 50 on the drive wheel side in the vicinity of the outer peripheral portion at substantially equal intervals.
- the plurality of protrusions 68 are provided in the same number as the protrusions 48 of the drive wheel 30 and are detected by a second non-contact sensor 170 described later. These protrusions 48 and 68 detect a phase difference between the drive wheel 30 and the sprocket 50, and in a state where no load is applied, as shown in FIG. It has been adjusted. Further, the sprocket 50 has a plurality of (five in the illustrated example) elongated holes between the circumferential tracks of the second openings 56, 58, 60, 62, 64, 66 and the circumferential tracks of the plurality of protrusions 68. 70 is provided. The long hole 70 restricts the rotational displacement of the drive wheel 30 and the sprocket 50 so as not to exceed a certain range by limiting the movement range of the rotation limiting pin 140 described later.
- crank outer cover 120 is provided on the main surface of the sprocket 50 on the pedal 24 side as described above. As shown in FIG. 5, the crank outer cover 120 has a recess 122 whose center is substantially the same shape as the crank inner gear 74 so that the crank outer cover 120 contacts only the crank inner gear 74 when overlapped with the sprocket 50 and the crank inner gear 74. An opening 124 through which the crankshaft 14 passes is formed at the center.
- the recess 122 is provided with a plurality of holes 123 for passing the rivets 125 at positions corresponding to the holes 34 of the drive wheel 30 and the holes 78 of the crank internal gear 74.
- the outer portion of the recess 122 rises so as to have a predetermined distance from the surface of the sprocket 50 so as not to prevent expansion and contraction of the springs 80 to 90 attached to the sprocket 50.
- crank outer cover 120 is fixed by a fixing arm 20 of the crank 16 and a mounting nut 22. Therefore, the positions of the hole 114 of the rotating plate 110, the hole 34 of the drive wheel 30, the hole 78 of the crank inner gear 74, and the hole 123 of the recess 122 of the crank outer cover 120 are aligned and fixed with the rivet 125, thereby When the crankshaft 14 is rotated by the operation, the rotating plate 110, the drive wheel 30, the crank inner gear 74, and the crank outer cover 120 are rotated together.
- a spacer 142 shown in FIGS. 5 and 8 is provided between the recess 122 of the crank outer cover 120 and the crank outer gear 74 as necessary.
- the spacer 142 has a plurality of holes 144 at positions corresponding to the holes 114, 34, 78, and 123.
- crank outer cover 120 when the crank outer cover 120 is fixed to the drive wheel 30, a plurality (not shown) are provided at positions substantially corresponding to the opening edges 36B, 38B, 40B, 42B, 44B, 46B of the first openings 36-46.
- Six pins 126, 128, 130, 132, 134, 136 are provided in the example. These pins 126 to 136 compress the end portions 80B to 90B of the springs 80 to 90 together with the opening edges 36B to 46B according to the amount of rotation of the drive wheel 30, and do not reach the sprocket 50. Is set.
- both the opening edges 36B to 46B and the pins 126 to 136 constitute the other of the spring compression means, that is, the pressing operation wall OW.
- the crank outer cover 120 is provided with a plurality of rotation limiting pins 140 at positions corresponding to the long holes 70 of the sprocket 50.
- the rotation limit pin 140 is set to a length that does not reach the drive wheel 30, and can move only within the elongated hole 70.
- the sensor cover 150 is disposed on the drive wheel 30 side, is fixed to the bicycle frame 12 by the sensor fixing plate 172, and does not rotate integrally with the drive wheel 30. Inside the opening 152 of the sensor cover 150, a recess 112 of the rotating plate 110 is accommodated via a slider 154 as shown in FIG. 5, and between the flange 114 of the rotating plate 110 and the sensor cover 150. Other sliders 156 and 158 are provided at appropriate positions.
- a sensor base 160 is provided on the outside of the sensor cover 150, that is, on the bicycle frame 12 side.
- a sensor substrate 162 and sensor bobbins 164 and 166 are provided in the sensor base 160, and a first non-contact sensor 168 is provided inside the sensor cover 150 at a position corresponding to the bobbin 164.
- a second non-contact sensor 170 is provided at a position corresponding to.
- the first non-contact sensor 168 is disposed in a non-contact state at a position where the protrusion 48 of the drive wheel 30 can be detected, and the second non-contact sensor 170 is a position where the protrusion 68 of the sprocket 150 can be detected.
- FIG. 9A shows a state where no load is applied to both the drive wheel 30 and the sprocket 50, or the same load state, that is, a state where the pedal 24 is not depressed.
- 48 and the projection 68 of the sprocket 50 are at the same position at the same circumferential angle, and no deviation (phase difference) occurs in the signals generated from the non-contact sensors 168 and 170.
- the end portions 80B and 86B of the long springs 80 and 86 are substantially in contact with the pins 126 and 132 together with the opening edges 36B and 42B of the first openings 36 and 42, and the other springs 82 and 84 are in contact.
- 88, 90 end portions 82A, 84A, 88A, 90A form predetermined gaps between the opening edges 38B, 40B, 44B, 46B and the pins 128, 130, 134, 136.
- the pedal 24 When it is desired to accelerate during initial movement or during traveling, the pedal 24 is depressed from the state shown in FIG. 9A.
- the force to depress the pedal 24 rotates the crankshaft 14 via the crank 16, It is also transmitted to the crank outer cover 150, the crank inner gear 74, the drive wheel 30, and the rotating plate 110 to rotate them integrally.
- the drive wheel 30 and the sprocket 50 are indirectly connected by the springs 80 to 90.
- the rear wheel connected to the sprocket 50 via the chain 73.
- a torque in the direction opposite to the pedaling force applied to the drive wheel 30 is applied. Therefore, the difference in torque applied to the drive wheel 30 and the sprocket 50 compresses the springs 80 to 90, and the drive wheel 30 and the sprocket 50 are relatively moved.
- a position shift When it is desired to accelerate during initial movement or during traveling, the pedal 24 is depressed from the state shown in FIG. 9A.
- the force to depress the pedal 24 rotates the crankshaft 14 via
- FIG. 9B shows a state in which the relative displacement from the sprocket 50 is caused by the rotation of the drive wheel 30.
- the end 80B (and 86B) of the spring 80 (and 86) is compressed by the opening edge 36B (and 42B) and the pin 126 (and 132) of the drive wheel 30, and the end of the spring 82 is obtained.
- the state where 82B is in contact with the opening edge 38B and the pin 128 is shown.
- the compression is started in the order in which the distance from the compression means is narrow, that is, in the present embodiment, in the order of the springs 82, 84, 88, 90.
- FIG. 9C shows a state in which the relative displacement between the drive wheel 30 and the sprocket 50 is maximized, and the end 90 ⁇ / b> B of the spring 90 is compressed by the opening edge 46 ⁇ / b> B and the pin 136.
- the protrusion 48 of the drive wheel 30 moves relative to the protrusion 68 of the sprocket 50, and the number of springs to be compressed changes. .
- the relative positional deviation between the projection 48 and the projection 68 can be detected from the signal deviation of the non-contact sensors 168 and 170.
- the detection signals of the non-contact sensors 168 and 170 are amplified by the amplifiers 180A and 180B, respectively.
- the gains are adjusted by AGC (automatic gain control) circuits 182A and 182B, respectively.
- the output signals of the amplifiers 180A and 180B whose gains are adjusted by the AGC circuits 182A and 182B are converted into rectangular wave pulses by the conversion circuits 184A and 184B, respectively.
- the converted rectangular wave pulse signal is supplied to the phase difference detection circuit 186, the phase difference is detected, and the detection result is supplied to the control circuit 188.
- the control circuit 188 generates a control signal based on the detection result of the phase difference detection circuit 186, and the electric motor 192 is driven according to the control signal. That is, the energization of the electric motor 192 by the drive circuit 190 is controlled based on the control signal of the control circuit 188. Thereby, the auxiliary drive of the electric motor 192 according to the detection result of the pedaling force becomes possible.
- the relative displacement between the drive wheel 30 and the sprocket 50 is also affected by the signals from the non-contact sensors 168 and 170 because the springs 80 to 90 are restored to their original state by the restoring force when the pedal force is not applied. There is no phase difference.
- the drive wheel 30 fixed to the crankshaft 14 and the sprocket 50 that transmits the rotational force of the crankshaft 14 to the propulsion wheel are indirectly connected by a plurality of springs 80 to 90 to drive.
- the ends 80B, 82B, 84B, 86B, 88B, 90B of the springs 80 to 90 are shifted so that the compression start timing of the springs 80 to 90 is shifted.
- One of the elastic body compressing means that is, the first opening edges 36B, 38B, 40B, 42B, 44B, 46B and the pins 126, 128, 130, 132, 134, 136 are set at their respective intervals. did. For this reason, the relationship between the amount of displacement and the pedaling force is made non-linear, and the pedaling force can be detected in a wide range.
- the pedaling force is small, that is, when the pedaling force that is affected by variations in the length of the spring or the mounting position is small, the displacement is greatly increased, so that the variation can be absorbed and at the same time the detection accuracy can be increased, and at the same time A state in which the pedaling force at the beginning of rowing in the bicycle is increased can also be detected well. As a result, the assist amount can be accurately controlled.
- the long springs 80 and 86 at the opposite positions start to compress at the same time, so the stability is increased.
- this invention is not limited to the Example mentioned above, A various change can be added in the range which does not deviate from the summary of this invention.
- the following are also included.
- (1) The shape and size of each part shown in the above-described embodiments are merely examples, and may be appropriately changed as necessary as long as the same effects are obtained.
- the sizes of the first openings 36 to 46 and the second openings 56 to 66 may be set according to the lengths of the springs 80 to 90.
- the intervals from the spring end portions 80B to 90B to the opening edges 36B to 46B of the first openings 36 to 46 and the intervals (offset) to the pins 126 to 136 are also an example, and the setting of the timing deviation at the start of compression is set.
- the attachment base end face 94A of the spring support 92 is one of the spring compression means
- the opening edges 36B to 46B and the pins 126 to 136 are the other of the spring compression means.
- these spring compression means are also examples, and the design may be changed as appropriate so as to achieve the same effect.
- the spring support mechanism by the spring support 92 shown in the above embodiment is merely an example, and the design can be changed as appropriate so as to achieve the same effect.
- a narrow slot having an angle with respect to the opening end is provided in either one of the ends of the first openings 36 to 46 and the second openings 56 to 66, and springs 80 to 80 are provided in the slots. It is also possible to hold the spring by inserting 90 ends.
- the springs 80 to 90 are held by providing a holding portion having an L-shaped cross section so as to face the periphery of the edge of the first openings 36 to 46 and the second openings 56 to 66.
- the springs 80 to 90 may be held so as not to protrude from the pair of openings of the first openings 36 to 46 and the second openings 56 to 66.
- a narrow groove having an angle with respect to the opening end described in the above (3) is provided, and the spring can be compressed.
- the torque may be measured by pulling.
- the first openings 36 to 46, the second openings 56 to 66, the number of protrusions 48 and 68, the number of the long holes 70, and the positions of the circumferential orbits where these are provided are examples, and similar effects It may be changed as appropriate within the range where (8)
- the connecting structure of the crank 16 and the crankshaft 14 is also an example, and various known connecting mechanisms may be used as long as the crank 16, the crankshaft 14, and the drive wheel 30 can rotate together.
- the detection circuit shown in FIG. 10 is also an example, and various known detection circuits can be used as long as the same effects are obtained.
- the rotation limiting mechanism shown in the above-described embodiment is also an example.
- the same effect can be obtained by providing a restriction hole (long hole 70) in the drive wheel 30 and pins 126 to 136 in the sprocket 50.
- the design may be changed as appropriate within the range.
- the coil springs 80 to 90 are used as the elastic body.
- Liquid confinement type or spring combination cylinders can also be used.
- various types of known elastic bodies can be used as long as they have long-term resilience within the pedaling force detection range.
- the nonlinear output of the pedal effort can be linearly corrected by software.
- the pedal force sensor of the present invention is mounted on the electrically assisted bicycle.
- the present invention can be applied to an electric assist wheelchair.
- a drive wheel fixed to the crankshaft and a sprocket that transmits the rotational force of the crankshaft to the propulsion wheel are indirectly connected by a plurality of elastic bodies, and the drive wheel
- the distance between the elastic body and the elastic body compression means is set and arranged so that the compression start timing of the plurality of elastic bodies is shifted.
- it is possible to approximate the desired detection characteristics by making the relationship between the displacement and the pedaling force non-linear by using a plurality of elastic bodies having different lengths and elastic coefficients as necessary. Applicable to the use of pedal force sensors. In particular, it is possible to improve the detection accuracy when the pedal force is small, and the pedal force detection in a wide range enables sufficient assistance at the time of initial movement or acceleration.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Mechanical Control Devices (AREA)
Abstract
Description
その他の目的は、先の踏力センサを搭載した電動アシスト車を提供することである。
本発明の前記及び他の目的、特徴、利点は、以下の詳細な説明及び添付図面から明瞭にする。
図中の太い実線LA及び一点鎖線LBで示される特性は、バネの長さとバネ定数が同じ基準品のバネであって、実線LAは、バネの取り付け位置が基準位置に一致する場合、一点鎖線LBは、バネの取り付け位置を基準位置からずらした場合、すなわち、変位開始位置をずらした場合の特性を示している。また、太い点線LA’は、前記基準品よりもバネ定数が小さいバネを、基準位置に一致するように取り付けた場合の特性を示し、太い二点鎖線LB’は、点線LA’と同じバネ(基準品よりもバネ定数が小さいバネ)の変位開始位置を右へずらした場合の特性を示している。
以下に、この原理を利用した踏力を検出する装置の説明をする。
初動時,あるいは、走行中に加速したい場合、図9(A)に示す状態からペダル24を踏むことになるが、ペダル24を踏む力は、クランク16を介してクランク軸14を回転させるとともに、クランク外カバー150,クランク内ギヤ74,駆動ホイール30,回転板110にも伝達され、これらを一体に回転させる。本実施例では、駆動ホイール30とスプロケット50をバネ80~90により間接的に連結しているが、ペダル24を踏んでトルクが掛かったとき、スプロケット50にはチェーン73を介して連結した後輪によって、駆動ホイール30に掛る踏力と逆方向のトルクが掛かっているから、これら駆動ホイール30とスプロケット50に掛かるトルクの差が前記バネ80~90を圧縮し、相対的に駆動ホイール30とスプロケット50の位置ずれを生じさせる。
(1) クランク軸14に固定された駆動ホイール30と、推進用車輪にクランク軸14の回転力を伝達するスプロケット50との間を、複数のバネ80~90で間接的に連結して、駆動ホイール30とスプロケット50の位相差から踏力を検出するにあたり、前記バネ80~90の圧縮開始のタイミングがずれるように、バネ80~90の端部80B、82B、84B、86B、88B,90Bと、弾性体圧縮手段の一方、すなわち第1の開口縁36B、38B、40B、42B、44B,46B及びピン126、128、130、132、134、136とのそれぞれの間隔を設定して配置することとした。このため、変位量と踏力の関係を非リニア化して、広範囲での踏力検出が可能になる。
(2) 踏力が小さいとき、すなわちバネの長さや取り付け位置のバラツキが影響する踏力の小さなときは、大きく変位するようにしたのでバラツキを吸収すると同時に検出精度を高める
ことが可能となり、同時に電動アシスト自転車における漕ぎ始めの踏力が大きくなる状態も良好に検出することができる。これにより、アシスト量の制御を的確に行なうことができる。
(3) 最初に、対向位置にある長いバネ80と86が同時に圧縮開始するため、安定性が増す。
(1) 前記実施例で示した各部の形状、寸法は一例であり、同様の効果を奏する範囲内であれば、必要に応じて適宜変更してよい。例えば、第1の開口36~46や、第2の開口56~66の大きさは、バネ80~90の長さに応じて設定すればよい。
(2) バネ端部80B~90Bから、第1の開口36~46の開口縁36B~46Bまでの間隔及びピン126~136までの間隔(オフセット)も一例であり、圧縮開始のタイミングずれの設定に応じて適宜変更してよい。また、実施例では、バネ支持体92の取り付け基部端面94Aをバネ圧縮手段の一方とし、開口縁36B~46B及びピン126~136をバネ圧縮手段の他方としたが、これも一例であり、開口縁36B~46Bのみをバネ圧縮手段の他方としてもよい。更に、これらバネ圧縮手段も一例であり、同様の効果を奏するように適宜設計変更してよい。
(4) あるいは、第1の開口36~46と第2の開口56~66の縁部周辺に対向するように断面L字状の保持部を設けることにより、バネ80~90を保持するようにして、バネ80~90が第1の開口36~46と第2の開口56~66の対の開口から飛び出さないように保持してもよい。
(5) 更に、前述の(4)の断面L字状の保持部の代わりに、前述の(3)に記載した開口端部に対して角度を有する細い溝孔を設け、バネを圧縮利用でなく引っ張り利用することでトルクを測定できるようにしてもよい。
(8) クランク16とクランク軸14の連結構造も一例であり、クランク16とクランク軸14,駆動ホイール30が一体に回転可能であれば、公知の各種の連結機構を用いてよい。
(9) 図10に示した検出回路も一例であり、同様の効果を奏する範囲内であれば、公知の各種の検出回路が利用可能である。
(11) 前述の実施例では、弾性体としてコイルバネ80~90を利用することとしたが、これも一例であり、樹脂系弾性体や、弾性を有する金属片、空気などの気体や油などの液体閉じ込め型あるいはバネ併用のシリンダも利用可能である。いずれにしても、踏力の検出範囲で長期間の復元性を有するものであれば、公知の各種の弾性体が利用可能である。
(12) 踏力に比例するアシストを行うために、踏力の非線形出力をソフトウェアで線形補正して利用することも可能である。
(13) 前述の実施例では、本発明の踏力センサを、電動アシスト自転車に搭載することとしたが、これも一例であり、踏力の検出が必要とされる他の公知の各種の電動車、例えば、電動アシスト車椅子などにも適用可能である。
12:自転車フレーム
14:クランク軸
16:クランク
18:アーム
20:固定用アーム
22:取り付けナット
24:ペダル
24A:ペダル軸
30:駆動ホイール(クランク内板)
32:開口部
34:穴
36,38,40,42,44,46:第1の開口
36A,36B,38A,38B,40A,40B,42A,42B,44A,44B,46A,46B:開口縁
48:突起
50:スプロケット(クランク外ギヤ)
52:開口部
54:ギヤ部
56,58,60,62,64,66:第2の開口
56A,56B,58A,58B,60A,60B,62A,62B,64A,64B,66A,66B:開口縁
68:突起
70:長穴
72:ネジ穴
73:チェーン
74:クランク内ギヤ
76:開口部
78:穴
80,82,84,86,88,90:コイルバネ
80A,80B,82A,82B,84A,84B,86A,86B,88A,88B,90A,90B:端部
92:バネ支持体
94:取り付け基部
94A:端面
96:段部
98:ロッド
100:ネジ穴
102:ネジ
110:回転板
112:凹部
113:開口部
114:穴
116:フランジ
120:クランク外カバー
122:凹部
123:穴
124:開口部
125:リベット
126,128,130,132,134,136:ピン
140:回転制限ピン
142:スペーサ
144:穴
150:センサカバー
152:開口部
154,156,158:スライダ
160:センサベース
162:センサ基板
164,166:センサボビン
168,170:非接触センサ
172:センサ固定板
180A,180B:増幅器
182A,182B:AGC回路
184A,184B:変換回路
186:位相差検出回路
188:制御回路
190:駆動回路
192:電動モータ
B:ボール
SA~SF,SC’~SF’:バネ
RE:バネ後端
TE:バネ先端
RW:押圧受止壁
OW:押圧動作壁
Claims (15)
- クランク軸に直交して固定され、該クランク軸と共に回転する略板状の駆動ホイールと、
前記駆動ホイールに相対向して配置されており、前記クランク軸に与えられた回転力を推進用車輪に伝達する略板状のスプロケットと、
前記駆動ホイール側に設けられた複数の押圧動作手段と、
前記スプロケット側に前記押圧動作手段に対向して設けられた複数の押圧受止手段と、
対となる前記押圧動作手段と前記押圧受止手段との間で、前記駆動ホイールとスプロケットを間接的に連結するとともに、前記駆動ホイールと前記スプロケットとの回転変位量に応じて、その円周方向に伸縮する複数の弾性体と、
前記駆動ホイールと前記スプロケットとの相対的な回転位相差を検出するセンサと、
を備えるとともに、
前記押圧動作手段と前記押圧受止手段間における複数の弾性体の伸縮が、複数のタイミングに分かれて動作開始するように、前記複数の対となる押圧動作手段と押圧受止手段を配置したことを特徴とする踏力センサ。 - 前記駆動ホイールの任意の円周軌道上に離間して形成された複数の第1の開口の一方の開口縁側が、前記複数の押圧動作手段であり、
前記スプロケットに、前記複数の第1の開口と対向する位置に形成された複数の第2の開口の他方の開口縁側が、前記複数の押圧受止手段であり、
前記弾性体が、前記第1の開口とそれに対応する第2の開口の双方に共有して収納されることで、前記スプロケットを前記駆動ホイールに対して間接的に連結することを特徴とする請求項1記載の踏力センサ。 - クランク軸に直交して固定され、該クランク軸と共に回転する略板状の駆動ホイールと、
前記駆動ホイールに相対向して配置され、前記クランク軸に与えられた回転力を推進用車輪に伝達する略板状のスプロケットと、
前記駆動ホイールの任意の円周軌道上に、離間して形成された複数の第1の開口と、
前記スプロケットに、前記複数の第1の開口と対応する位置に形成された複数の第2の開口と、
前記第1の開口とそれに対応する第2の開口の双方に共有して収納されており、前記スプロケットを前記駆動ホイールに間接的に連結するとともに、前記駆動ホイールの回転量に応じて、その円周方向に伸縮可能な複数の弾性体と、
前記駆動ホイールの回転量に応じて、前記複数の弾性体に、前記円周方向に収縮する力を付与する複数の弾性体圧縮手段と、
前記駆動ホイールに、前記第1の開口とは異なる円周軌道上に略等間隔で設けられた複数の第1の被検出部と、
前記スプロケットに、前記第2の開口及び前記第1の被検出部とは異なる円周軌道上に、略等間隔で前記第1の被検出部と同数設けられた第2の被検出部と、
前記第1の被検出部を検出可能な位置に、該第1の被検出部と離間して配置されており、前記クランク軸と連動しない第1の非接触センサと、
前記第2の被検出部を検出可能な位置に、該第2の被検出部と離間して配置されており、前記クランク軸と連動しない第2の非接触センサと、
を備えるとともに、
前記弾性体圧縮手段による複数の弾性体の圧縮が、複数のタイミングに分かれて開始するように、前記弾性体と弾性体圧縮手段が配置されていることを特徴とする踏力センサ。 - 前記弾性体圧縮手段が、
前記駆動ホイールの第1の開口の一方の縁部,又は、前記駆動ホイールとともに回転して前記弾性体に接触する接触体の少なくとも一方による押圧動作手段と、
前記スプロケットの第2の開口の他方の縁部側による押圧受止手段と、
により構成されることを特徴とする請求項3記載の踏力センサ。 - 前記複数の弾性体は、前記駆動ホイールの第1の開口又はスプロケットの第2の開口の少なくとも一方に設けられた突起により、駆動ホイールの円周方向に伸縮可能に支承されることを特徴とする請求項2に記載の踏力センサ。
- 前記複数の弾性体は、前記駆動ホイールの第1の開口又はスプロケットの第2の開口の少なくとも一方に設けられた突起により、駆動ホイールの円周方向に伸縮可能に支承されることを特徴とする請求項3に記載の踏力センサ。
- 前記複数の弾性体は、前記駆動ホイールの第1の開口又はスプロケットの第2の開口の少なくとも一方に設けられた突起により、駆動ホイールの円周方向に伸縮可能に支承されることを特徴とする請求項4に記載の踏力センサ。
- 前記弾性体が、コイルバネであることを特徴とする請求項1に記載の踏力センサ。
- 前記弾性体が、コイルバネであることを特徴とする請求項3に記載の踏力センサ。
- 前記駆動ホイールと前記スプロケット間の回転変位を、一定の範囲内に規制する回転制限手段を設けたことを特徴とする請求項1に記載の踏力センサ。
- 前記駆動ホイールと前記スプロケット間の回転変位を、一定の範囲内に規制する回転制限手段を設けたことを特徴とする請求項3に記載の踏力センサ。
- 前記複数の弾性体には、長さ又は弾性係数の少なくとも一方が異なる2種類以上の弾性体が含まれることを特徴とする請求項1に記載の踏力センサ。
- 前記複数の弾性体には、長さ又は弾性係数の少なくとも一方が異なる2種類以上の弾性体が含まれることを特徴とする請求項3に記載の踏力センサ。
- 請求項1に記載の踏力センサを搭載したことを特徴とする電動アシスト車。
- 請求項3に記載の踏力センサを搭載したことを特徴とする電動アシスト車。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201180030711.8A CN102959377B (zh) | 2010-07-02 | 2011-06-17 | 踏力传感器和利用其的电动助推车 |
EP11800634.5A EP2589944A4 (en) | 2010-07-02 | 2011-06-17 | PEDAL FORK SENSOR AND ELECTRICALLY OPERATED VEHICLE |
US13/641,851 US20130205945A1 (en) | 2010-07-02 | 2011-06-17 | Pedal force sensor and electrically-assisted vehicle using same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010-152546 | 2010-07-02 | ||
JP2010152546A JP5571482B2 (ja) | 2010-07-02 | 2010-07-02 | 踏力センサ及びそれを利用した電動アシスト車 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2012002169A1 true WO2012002169A1 (ja) | 2012-01-05 |
Family
ID=45401892
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2011/063871 WO2012002169A1 (ja) | 2010-07-02 | 2011-06-17 | 踏力センサ及びそれを利用した電動アシスト車 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20130205945A1 (ja) |
EP (1) | EP2589944A4 (ja) |
JP (1) | JP5571482B2 (ja) |
CN (1) | CN102959377B (ja) |
TW (1) | TW201206763A (ja) |
WO (1) | WO2012002169A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103381868A (zh) * | 2012-05-02 | 2013-11-06 | 荣轮科技股份有限公司 | 电动辅助自行车的踏力检测装置 |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015108152A1 (ja) * | 2014-01-20 | 2015-07-23 | 日立オートモティブシステムズ株式会社 | 回転体非接触給電装置およびトルクセンサ |
US9423310B2 (en) * | 2014-02-28 | 2016-08-23 | Shimano Inc. | Bicycle crank arm with sensor system |
CN104977113B (zh) * | 2014-04-10 | 2018-01-16 | 哈尔滨飞机工业集团有限责任公司 | 一种定翼机操纵力测试传感器 |
WO2016023220A1 (en) * | 2014-08-15 | 2016-02-18 | Cheevc Ltd | Power vector sensor device and bicycle having the same |
CN105151212B (zh) * | 2015-10-21 | 2017-10-27 | 深圳市家信信息科技开发有限公司 | 一种混合动力自行车牙盘式力矩传感器及传感检测方法 |
JP6808469B2 (ja) * | 2016-12-07 | 2021-01-06 | 日本電産コパル電子株式会社 | トルクセンサ |
JP7519756B2 (ja) * | 2018-10-09 | 2024-07-22 | 株式会社エクセディ | 自転車、及び自転車用動力伝達装置 |
FR3094756B1 (fr) * | 2019-04-04 | 2021-03-05 | Safran Aircraft Engines | Pignon d’entrainement d’un separateur air/huile d’un boitier d’accessoires de turbomachine |
EP4031437A1 (de) * | 2019-09-18 | 2022-07-27 | CYBEX GmbH | Kinderwagen oder kinderwagengestell mit einem motor und einer steuereinheit zum unterstützen des antriebs mit kraftsensorkalibrierung, verfahren zum steuern des motors und computerlesbares speichermedium |
JP6753624B1 (ja) * | 2020-01-22 | 2020-09-09 | 株式会社Freepower Innovations | 回転伝達機構、回転伝達継手、モーター及び発電機 |
CN113771865B (zh) * | 2021-08-20 | 2022-08-12 | 东南大学 | 一种车载传感器测量数据异常情况下的汽车状态估计方法 |
CN113978476B (zh) * | 2021-08-20 | 2022-08-12 | 东南大学 | 一种考虑传感器数据丢失的线控汽车轮胎侧向力估计方法 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60164230A (ja) * | 1984-02-07 | 1985-08-27 | Nec Corp | 力変換器 |
JPS613435U (ja) * | 1984-06-12 | 1986-01-10 | 財団法人鉄道総合技術研究所 | トルク記録装置 |
JPH08313376A (ja) * | 1995-05-22 | 1996-11-29 | Shisurabo:Kk | トルク検出装置及び自転車 |
JPH10232175A (ja) * | 1997-02-21 | 1998-09-02 | Sanyo Electric Co Ltd | トルク検出装置及び該装置を具えた補助動力付自転車 |
JPH10291494A (ja) * | 1996-10-25 | 1998-11-04 | Sanyo Electric Co Ltd | 補助動力付人力走行車 |
JPH11105774A (ja) * | 1997-10-07 | 1999-04-20 | Honda Motor Co Ltd | 補助動力付き自転車 |
JP2000002604A (ja) * | 1998-06-18 | 2000-01-07 | Honda Motor Co Ltd | 動力アシスト車両の入力トルク検出装置 |
JP2000272575A (ja) * | 1999-03-26 | 2000-10-03 | Sunstar Eng Inc | 電動アシスト自転車 |
JP2001249058A (ja) | 1994-07-18 | 2001-09-14 | Sanyo Electric Co Ltd | トルク検出装置 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58184527A (ja) * | 1982-04-22 | 1983-10-28 | Nippon Soken Inc | トルク検出装置 |
JPS613435A (ja) * | 1984-06-15 | 1986-01-09 | Sumitomo Electric Ind Ltd | セラミツク封止型ic |
JP3954693B2 (ja) * | 1997-07-14 | 2007-08-08 | 本田技研工業株式会社 | 電動補助車両における入力トルク検出装置 |
US6419252B1 (en) * | 1998-03-11 | 2002-07-16 | Jung-Ii Park | Traveling and accelerating system for riding a bicycle forward regardless the rotation direction of the pedals |
US6196347B1 (en) * | 1998-09-22 | 2001-03-06 | Industrial Technology Research Institute | Power transmission and pedal force sensing system for an electric bicycle |
JP2005132216A (ja) * | 2003-10-30 | 2005-05-26 | Matsushita Electric Ind Co Ltd | 踏力センサとそれを用いたペダル踏力検出装置 |
CN2707615Y (zh) * | 2004-04-21 | 2005-07-06 | 上海千鹤电动车有限公司 | 能测试电动自行车踏力和踏行速度的人力驱动系统 |
US7240586B2 (en) * | 2005-03-14 | 2007-07-10 | Wu Donald P H | Auxiliary power unit starting apparatus for an electric bicycle |
CN101638135B (zh) * | 2009-09-02 | 2011-07-27 | 苏州工业园区同盛车业有限公司 | 电动自行车的速度踏力传感装置 |
US8256554B2 (en) * | 2010-01-22 | 2012-09-04 | Foster Assets Corporation | Pedal driven apparatus having a motor |
-
2010
- 2010-07-02 JP JP2010152546A patent/JP5571482B2/ja not_active Expired - Fee Related
-
2011
- 2011-06-16 TW TW100121093A patent/TW201206763A/zh unknown
- 2011-06-17 CN CN201180030711.8A patent/CN102959377B/zh not_active Expired - Fee Related
- 2011-06-17 EP EP11800634.5A patent/EP2589944A4/en not_active Withdrawn
- 2011-06-17 US US13/641,851 patent/US20130205945A1/en not_active Abandoned
- 2011-06-17 WO PCT/JP2011/063871 patent/WO2012002169A1/ja active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60164230A (ja) * | 1984-02-07 | 1985-08-27 | Nec Corp | 力変換器 |
JPS613435U (ja) * | 1984-06-12 | 1986-01-10 | 財団法人鉄道総合技術研究所 | トルク記録装置 |
JP2001249058A (ja) | 1994-07-18 | 2001-09-14 | Sanyo Electric Co Ltd | トルク検出装置 |
JPH08313376A (ja) * | 1995-05-22 | 1996-11-29 | Shisurabo:Kk | トルク検出装置及び自転車 |
JPH10291494A (ja) * | 1996-10-25 | 1998-11-04 | Sanyo Electric Co Ltd | 補助動力付人力走行車 |
JPH10232175A (ja) * | 1997-02-21 | 1998-09-02 | Sanyo Electric Co Ltd | トルク検出装置及び該装置を具えた補助動力付自転車 |
JPH11105774A (ja) * | 1997-10-07 | 1999-04-20 | Honda Motor Co Ltd | 補助動力付き自転車 |
JP2000002604A (ja) * | 1998-06-18 | 2000-01-07 | Honda Motor Co Ltd | 動力アシスト車両の入力トルク検出装置 |
JP2000272575A (ja) * | 1999-03-26 | 2000-10-03 | Sunstar Eng Inc | 電動アシスト自転車 |
Non-Patent Citations (1)
Title |
---|
See also references of EP2589944A4 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103381868A (zh) * | 2012-05-02 | 2013-11-06 | 荣轮科技股份有限公司 | 电动辅助自行车的踏力检测装置 |
CN103381868B (zh) * | 2012-05-02 | 2016-08-24 | 荣轮科技股份有限公司 | 电动辅助自行车的踏力检测装置 |
Also Published As
Publication number | Publication date |
---|---|
CN102959377B (zh) | 2014-12-31 |
US20130205945A1 (en) | 2013-08-15 |
EP2589944A1 (en) | 2013-05-08 |
EP2589944A4 (en) | 2015-07-15 |
JP2012013626A (ja) | 2012-01-19 |
CN102959377A (zh) | 2013-03-06 |
TW201206763A (en) | 2012-02-16 |
JP5571482B2 (ja) | 2014-08-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2012002169A1 (ja) | 踏力センサ及びそれを利用した電動アシスト車 | |
US6851497B1 (en) | Power-assisted bicycle | |
US8556023B2 (en) | Electric power steering apparatus | |
KR101280638B1 (ko) | 답입식 조작 장치 | |
US20130263688A1 (en) | Vehicular operating pedal device with load sensor and operating device with load sensor | |
WO2013065353A1 (ja) | ペダル操作量検出装置 | |
JP2004243947A (ja) | ウォームシャフト可動量調整方法及び電動パワーステアリング装置用減速機 | |
US20170113756A1 (en) | Sensor for use in power-assisted mobile object, power-assisted unit, power-assisted mobile object, and torque detection method | |
JP2001334919A (ja) | ブレーキペダルの踏力検出装置 | |
DK2143628T4 (en) | SERVICE IMPROVED CYCLE AND UNIT ADAPTED FOR USE IN A SERVO IMPROVED CYCLE AND WHICH CAN BE TAKEN TO A CYCLE SYSTEM | |
JP2002154474A (ja) | 磁気検出型センサ | |
JP2004286054A (ja) | 車両用制動装置 | |
JP2010211581A (ja) | ペダル装置 | |
US11043910B2 (en) | Vibration wave motor and optical device | |
US20230053529A1 (en) | Crank spindle set-up, control and/or evaluation method and unit for a crank spindle set-up, and vehicle | |
JPH04106452A (ja) | 複合負荷試験装置 | |
JP2003019996A (ja) | 電気式補助動力付自転車の踏力検出装置 | |
JP2000131161A (ja) | トルク検出装置及びこれを備えた電動アシスト自転車 | |
JP3789283B2 (ja) | サーボプレス | |
JP2003276672A (ja) | 踏力検知機構 | |
KR20190094850A (ko) | 페달 스트로크 센서의 설치구조체 | |
JP2015033951A (ja) | ステアリング装置のベルト張力測定方法およびベルト張力調節方法 | |
JP2000074759A (ja) | トルク検出機構 | |
JPS6323585A (ja) | トルク制御式回転電動機械 | |
JP2000203484A (ja) | 電動アシスト自転車 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201180030711.8 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11800634 Country of ref document: EP Kind code of ref document: A1 |
|
REEP | Request for entry into the european phase |
Ref document number: 2011800634 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2011800634 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13641851 Country of ref document: US |