WO2014042267A1 - 相対回転角度変位検出装置、同検出装置を用いたトルク検出装置およびトルク制御装置、並びに同制御装置を備えた車両 - Google Patents
相対回転角度変位検出装置、同検出装置を用いたトルク検出装置およびトルク制御装置、並びに同制御装置を備えた車両 Download PDFInfo
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- WO2014042267A1 WO2014042267A1 PCT/JP2013/074980 JP2013074980W WO2014042267A1 WO 2014042267 A1 WO2014042267 A1 WO 2014042267A1 JP 2013074980 W JP2013074980 W JP 2013074980W WO 2014042267 A1 WO2014042267 A1 WO 2014042267A1
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- Prior art keywords
- magnetic
- relative
- rotation
- ring
- permanent magnet
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
- B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/048—Power-assistance activated by pushing on hand rim or on handlebar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/14—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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/38—General characteristics of devices characterised by sensor means for torque
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/40—Position sensors comprising arrangements for concentrating or redirecting magnetic flux
Definitions
- the present invention relates to a relative rotational angular displacement detection device, a torque detection device and a torque control device using the detection device, and an electric assist wheelchair, an electric assist riding vehicle and a power steering device provided with the torque control device.
- a pair of hand rims are provided outside the pair of left and right large wheels.
- the pair of hand rims are provided on the large wheels so that the rotation axis of the hand rim is coaxial with the axis of the axle.
- the rotational force is transmitted to the large wheels, causing the manual wheelchair to travel.
- a power assist system has been developed in which the optimal assist force that is suitable for the manual force to move the hand rim is transmitted to the drive wheels by the electric motor. ing.
- a wheelchair can be easily moved by rotating the wheel by combining the force of driving the wheelchair's hand rim and the power of the motor output accordingly.
- This type of power assist system is not limited to a wheelchair, and is also employed in, for example, an electrically assisted bicycle, a power steering device of an automobile, and the like.
- this type of power assist system is provided with a detection device for detecting a torque by detecting a relative rotational angular displacement of a pair of rotational members that rotate relative to each other and whose rotational axes are coaxially arranged.
- the following devices are disclosed as this type of relative rotational angular displacement or relative rotational torque displacement detection device (see, for example, Patent Document 1).
- the apparatus includes a pair of first and second shaft members whose rotation axes are arranged coaxially, a cylindrical magnet fixed to the first shaft member, and a pair of yoke rings fixed to the second shaft member.
- a pair of magnetic flux collecting rings provided with magnetic flux collecting protrusions so as to surround each yoke ring, and the yoke rings arranged between the magnetic flux collecting protrusions according to the relative angular displacement of the first shaft member and the second shaft member
- a magnetic sensor configured to detect a change in magnetic flux generated in the magnetic field.
- the first shaft member includes a first shaft member and a coaxial cylindrical magnet.
- the cylindrical magnet rotates together with the first shaft member.
- This cylindrical magnet is magnetized in the radial direction of the rotation axis and has magnetic poles (N pole and S pole) arranged in the radial direction of the rotation axis.
- the second shaft member includes a pair of yoke rings that rotate integrally with the second shaft member.
- Each yoke ring has the same number of magnetic pole claws as the number of pairs of N poles and S poles.
- Each magnetic pole claw is arranged to face the magnetic pole of the cylindrical magnet outside the cylindrical magnet in the radial direction of the rotation axis.
- the pair of yoke rings are arranged so that the magnetic pole claws are opposed to each other in the axial direction of the rotation axis and are alternately arranged in the circumferential direction. Further, two magnetism collecting rings for collecting magnetic fluxes respectively generated in the yoke rings are arranged so as to surround the yoke rings on the outer side in the radial direction of the rotation axis of the corresponding yoke ring.
- each yoke ring in order to accurately detect a change in magnetic flux density, a pair of yoke rings are arranged close to each other so that triangular magnetic pole claws formed on each ring are alternately positioned in the circumferential direction. It was necessary to arrange the circumferential intervals and axial intervals of the magnetic pole claws to be constant. Furthermore, it is necessary to arrange the magnetic pole claws so that the distance between the magnetic pole claws and the cylindrical magnet in the radial direction is also constant. For this reason, each yoke ring is required not only to have high dimensional processing accuracy in the circumferential direction, the axial direction, and the radial direction, but also to require high assembly accuracy of both the yoke rings and the cylindrical magnet. Therefore, when the detection accuracy is improved, there is a problem that the manufacturing and assembly costs of the detection device increase.
- An object of the present invention is to provide a relative rotation angle displacement detection device, a torque detection device using the same detection device, and a torque capable of accurately detecting the relative rotation angle displacement while having a simple structure for manufacturing and assembling the detection device. It is to provide a control device, and an electric assist wheelchair, an electric assist riding vehicle, or a power steering device including the torque control device.
- a relative rotational angular displacement detector is A pair of rotating members that relatively rotate in the circumferential direction of the rotation axis; Magnetic poles provided on one rotary member of the pair of rotary members and magnetized in the axial direction of the rotary axis are arranged in a manner in which the polarities are alternately different in the circumferential direction of the rotary axis, and each of the magnetic poles is A permanent magnet having a circumferential width; A plurality of protrusions each having a circumferential width, wherein at least one circumferential width is smaller than the circumferential width of at least one of the magnetic poles, and provided on the other rotating member of the pair of rotating members An annular ring body, the axis of which is arranged coaxially with the axis of rotation and having a magnetization strength that changes according to the position of the protrusion relative to the position of the magnetic pole, A magnetic detection
- the permanent magnet is magnetized on one rotating member of the pair of rotating members that relatively rotate in the circumferential direction of the rotation axis, and the magnetic pole magnetized in the axial direction of the rotation axis is around the rotation axis. It arrange
- Each of the plurality of protrusions of the guide ring has a width in the circumferential direction, and at least one circumferential width is smaller than a circumferential width of at least one magnetic pole.
- the protrusion part of a guidance ring can be made into a simple shape. Therefore, the protrusion of the guide ring can be formed with high accuracy.
- the magnetic pole and the plurality of protrusions of the permanent magnet have a circumferential width. Among the plurality of protrusions, at least one circumferential width is smaller than the circumferential width of the magnetic pole.
- the annular ring body has such a strength of magnetization that changes in accordance with the relative positional relationship between the magnetic pole and the protrusion (that is, the position of the protrusion with respect to the position of the magnetic pole). The relative positional relationship between the magnetic pole and the protrusion can be set relatively easily.
- each member such as the induction ring and the permanent magnet. Therefore, according to the configuration of (1), it is possible to accurately detect the relative rotational angular displacement of the pair of rotational members that rotate relative to each other, while the structure is simple to manufacture and assemble.
- the present invention can employ the following configuration, for example.
- the ring body of the induction ring includes an annular plane portion that extends in a direction transverse to the magnetization direction of the permanent magnet,
- the magnetic detection unit is configured to detect a magnetic flux of the annular plane portion of the ring body.
- the magnetic detection unit detects the magnetic flux of the annular flat portion that extends in the direction transverse to the magnetization direction of the permanent magnet.
- the annular plane portion extends in a direction transverse to the magnetization direction of the permanent magnet (the axial direction of the rotation axis). Accordingly, the relative position of the magnetic detection unit with respect to the annular flat surface portion is in a direction transverse to the magnetization direction of the permanent magnet (for example, the radial direction of the rotation axis) due to errors in manufacturing or assembling the member. Even if it deviates, the influence on the detection accuracy of the magnetic detection unit hardly occurs. In other words, the assembly of each member becomes easier. Therefore, according to the configuration of (2), it is possible to more accurately detect the relative rotational angular displacement of the pair of rotational members that rotate relative to each other while facilitating manufacture and assembly.
- the magnetic detection unit includes a magnetic sensor for detecting magnetic flux,
- the said magnetic sensor is a sensor which detects the magnetic flux of the magnetization direction of the said permanent magnet among the magnetic fluxes of the said annular plane part.
- the magnetic sensor detects the magnetic flux in the magnetization direction of the permanent magnet out of the magnetic flux in the annular plane portion.
- the magnetic flux in the magnetization direction of the permanent magnet is stronger than the magnetic flux in the other direction. Therefore, since the magnetic sensor can detect a relatively strong magnetic flux, it is not easily affected by noise or the like. Thereby, the relative rotational angular displacement of the pair of relative rotating members can be detected with higher accuracy.
- At least one of the ring main body and the magnetic sensor of the guide ring is provided at a position different from the protrusion of the guide ring in the axial direction of the rotation axis.
- the position and position of at least one of the ring body and the magnetic sensor and the protrusion are made different in the axial direction, thereby further facilitating the structure and assembly while ensuring the detection accuracy. it can.
- the magnetic detection unit includes an intermediate yoke having a first plane part, The first flat surface portion is disposed between the magnetic sensor and the ring main body, and is disposed to face the annular flat surface portion of the ring main body with a gap in the magnetization direction of the permanent magnet. .
- the magnetic flux of the induction ring is collected, and the amplitude of the magnetic flux received by the ring body directly from the permanent magnet is averaged regardless of the phase of the protrusion. Can do. Thereby, detection accuracy can be improved more.
- a ring main body annular plane part
- a ring main body can be provided more outside in the radial direction of the rotation axis.
- the relative rotational angular displacement detection device according to (5), The surface area of the first flat portion of the intermediate yoke is smaller than the surface area of the annular flat portion of the ring body.
- the relative rotational angular displacement detection device according to (5) or (6), At least one of the ring main body, the intermediate yoke, and the magnetic sensor is provided at a position different from the protrusion in the radial direction of the rotation axis.
- the magnetic pole has a group of N poles and a group of S poles
- the induction ring has a first state having a relatively small magnetization intensity and a second state having a relatively large magnetization intensity; In the first state, the protrusion is formed on the magnetic pole so that a difference between the magnetization intensity of the induction ring due to the group of N poles and the magnetization intensity of the induction ring due to the group of S poles is small.
- the protrusion is formed on the magnetic pole so that a difference between the magnetization strength of the induction ring due to the N pole group and the magnetization strength of the induction ring due to the S pole group is large. Located against.
- the relative position detection accuracy can be further improved by the difference between the magnetization intensity of the induction ring in the first state and the magnetization intensity of the induction ring in the second state.
- a torque detector The torque detector is (1) to (10) any one of the relative rotation detection displacement devices;
- An elastic member disposed between the pair of rotating members, The pair of rotating members is constantly applied with an urging force in the relative rotational direction by the elastic member, The pair of rotating members rotate both when one rotating member of the pair of rotating members rotates relative to the other rotating member by a predetermined rotation angle against the urging force of the elastic member. It has a relative rotation restricting portion that prevents relative rotation of the member.
- a torque control device includes: (1) to (10) any one of the relative rotation detection displacement devices; A rotation drive member connected to any one of the pair of rotation members and to which a rotational force is applied by a user; A power source for applying a rotational force to the other rotating member; When the one rotation member rotates relative to the other rotation member by a predetermined rotation angle, the rotational force applied to the other rotation member by the power source is controlled according to the output of the magnetic detection unit.
- a control unit Is provided.
- the electric assist wheelchair includes the torque control device of (12).
- An electrically assisted riding vehicle includes a torque control device (12).
- a power steering device includes a torque control device of (12).
- the present invention it is possible to accurately detect the relative rotational angular displacement while having a simple structure for manufacturing and assembling the detection device.
- FIG. 3A shows schematic structure of the relative rotation angle displacement detection apparatus which concerns on embodiment of this invention. It is the expanded sectional view which expanded and showed the A section enclosed with the chain line in FIG. It is a schematic block diagram in the state whose relative rotation angle displacement is 0 degree
- the relative rotational angular displacement detection device according to the present invention is not limited to the case where it is used in a power assist system in an electric assist bicycle.
- the relative rotational angular displacement detection device according to the present invention detects the relative rotational angular displacement of a pair of rotational members whose rotational axes are arranged coaxially.
- the relative rotation angle displacement detection device according to the present invention can be employed in various devices or mechanisms that detect the relative rotation angle displacement of a pair of rotation members that rotate relative to each other.
- the present invention can also be suitably employed in power assist systems such as an electric assist wheelchair (see FIG. 8) and an automobile power steering device (see FIG. 9).
- a pedal P is attached to one end of the shaft portion 1.
- a lever member 10 serving as a first rotating member and a sprocket 20 serving as a second rotating member are disposed coaxially with respect to the shaft portion 1, in other words, coaxially with the rotation axis R, on one end side of the shaft portion 1. ing. That is, the shaft portion 1 has a rotation axis R.
- the rotation axis R is also the rotation axis of the pair of rotation members (the lever member 10 and the sprocket 20). As shown in FIG.
- the lever member 10 and the sprocket 20 are arranged in close proximity to each other and can be relatively rotated in the circumferential direction of the rotation axis R.
- the rotation direction of the rotation axis R may mean the rotation direction of the lever member 10 and the sprocket 20.
- the rotation direction of the rotation axis R may be the same as the rotation direction of the lever member 10 and the sprocket 20.
- the lever member 10 as the first rotating member is integrally provided with a plurality (three) of locking portions 11 extending outward in the radial direction of the shaft portion 1.
- the lever member 10 is configured to rotate integrally with the shaft portion 1 as the pedal P rotates.
- the sprocket 20 as the second rotating member is provided so as to be rotatable relative to the lever member 10 as the first rotating member via the bearing 2 coaxially with the shaft portion 1 as shown in FIG. Yes.
- each locking portion 11 of the lever member 10 is provided with a protruding portion 12 protruding in the axially outer side, that is, toward the sprocket 20 side.
- Each protrusion 12 is fitted in a slit 21 formed in the sprocket 20 in a manner extending in an arc shape in the circumferential direction.
- the protrusion 12 is slidable within a length range extending in the circumferential direction of the slit 21 as the lever member 10 rotates.
- the protrusion 12 and the slit 21 constitute a relative rotation restricting portion 25.
- the relative rotation restricting portion 25 restricts relative rotation between the lever member 10 as the first rotating member and the sprocket 20 as the second rotating member.
- the lever member 10 and the sprocket 20 can relatively rotate in an angle range of less than one rotation (360 °).
- the sprocket 20 is formed with spring mounting holes 22 for mounting coil springs as elastic members at a plurality of locations (three locations) in the circumferential direction.
- a coil spring S is mounted in each spring mounting hole 22.
- One end of the coil spring S is locked to one end of the spring mounting hole 22 in the circumferential direction.
- the other end of the coil spring S is locked to the locking portion 11 of the lever member 10.
- the locking portion 11 of the lever member 10 is urged by the coil spring S in the circumferential direction (clockwise direction in the drawing, that is, clockwise direction).
- the sprocket 20 rotates counterclockwise together with the lever member 10 as the lever member 10 rotates. Note that the sprocket 20 rotates counterclockwise by releasing the urging force applied to the spring S until the protrusion 12 reaches the end of the slit 21.
- the lever member 10 as the first rotating member and the sprocket 20 as the second rotating member are a predetermined range in the circumferential direction of the shaft portion 1, that is, a slit formed in the sprocket 20.
- the relative rotation In the circumferential length range of 21, the relative rotation.
- the circumferential length range is, for example, a range of less than one rotation.
- the relative rotation angle displacement detection device X detects the relative rotation angle displacement of both rotating members in the limited circumferential relative rotation range, and thus the relative rotation torque.
- the electric motor (not shown) fuses the rotational force applied to the pedal P and the electric motor force output in accordance with the rotational force, via a chain C hung on the sprocket 20 ( Control is performed so as to control the rotational force of FIG.
- the displacement detection device X includes a permanent magnet 30, a guide ring 40, and a magnetic detection unit 100.
- the permanent magnet 30 is formed in an annular shape or a ring shape. As shown in FIG. 3A, the permanent magnet 30 is arranged such that its axis is coaxial with the rotation axis R. That is, the permanent magnet 30 is arranged coaxially with the shaft portion 1.
- the permanent magnet 30 is made of, for example, a bonded magnet.
- the permanent magnet 30 has N-pole and S-pole magnetic poles arranged alternately along the circumferential direction of the shaft portion 1.
- Each magnetic pole is magnetized in the axial direction of the shaft portion 1.
- each magnetic pole is magnetized in parallel with the axial direction of the rotation axis R.
- the magnetization direction of the permanent magnet 30 is not necessarily completely parallel to the axial direction of the rotation axis R.
- the magnetization direction of the permanent magnet may be inclined within a range of 45 degrees or less with respect to the axial direction
- the permanent magnet 30 is not limited to a magnet formed in an annular shape or a ring shape as described above.
- the permanent magnet 30 may be a plurality of magnets arranged at equal intervals in the circumferential direction.
- the permanent magnet 30 may be either a sintered magnet or a bonded magnet, may be isotropic or anisotropic, and may be a polar anisotropic magnet.
- the guide ring 40 is arranged coaxially with the sprocket 20 as shown in FIGS.
- the guide ring 40 includes an annular ring body 41 and a plurality of protrusions 42.
- the annular ring body 41 does not overlap with the permanent magnet 30 in the radial direction of the shaft portion 1. That is, the annular ring body 41 does not overlap the permanent magnet 30 when viewed from the axial direction of the shaft portion 1.
- the plurality of protrusions 42 are formed so as to protrude from the outer peripheral edge of the ring body 41 to the radially outer side of the shaft portion 1 and overlap the permanent magnet 30 in the radial direction. That is, the plurality of protrusions 42 overlap with the permanent magnet 30 when viewed from the axial direction of the shaft portion 1.
- the number of the protrusions 42 is the same as the number of magnetic pole pairs (9 pairs in this embodiment).
- each of the plurality of protrusions 42 has a circumferential width that is narrower than the circumferential width of each magnetic pole.
- the ring body 41 of the induction ring 40 includes an annular flat surface portion 41 a that extends in a direction transverse to the magnetization direction of the permanent magnet 30.
- each projecting portion 42 of the guide ring 40 is formed in a substantially triangular shape or a trapezoidal shape having a taper that becomes narrower toward the outside in the radial direction.
- the circumferential width dimension W1 of the portion that overlaps with the inner peripheral edge of the permanent magnet 30 when viewed from the axial direction of the shaft part 1 is narrower than the circumferential width dimension W2 of the inner peripheral edge of each magnetic pole ( (See FIG. 4B).
- the guide ring 40 is integrally attached to the sprocket 20 via an attachment member 23 in a state of being separated from the sprocket 20 in the axial direction. That is, the guide ring 40 is configured to rotate integrally with the sprocket 20.
- each protrusion 42 extends outward in the radial direction.
- the direction in which the protrusion extends is not necessarily limited to this example.
- the protrusion 42 may have a shape extending from the inner peripheral edge of the ring body 41 toward the radially inner side. That is, the ring main body 41 may be arranged outside the permanent magnet 30 arranged in an annular shape, and each protrusion 42 may have a shape extending inward from the ring main body 41.
- the guide ring 40 is manufactured by punching and forming a steel plate or the like.
- the method for manufacturing the guide ring is not limited to this example.
- the guide ring 40 may be configured by combining a plurality of members.
- the ring body 41 and the protrusions 42 included in the guide ring 40 are formed on the same plane, but the present invention is not necessarily limited to this example.
- the guide ring 40 may have a shape in which the protrusion 42 is bent at a predetermined angle with respect to the ring body 41.
- FIG. 3A shows an initial state.
- the initial state no external force is applied to the shaft portion 1 from the outside.
- each protrusion 42 of the guide ring 40 is positioned approximately in the middle between the S pole and the N pole of the permanent magnet 30.
- the lever member 10 rotates.
- the lever member 10 is displaced relative to the sprocket 20.
- the protrusion 12 provided in the locking portion 11 of the lever member 10 moves along the slit 21 formed in the sprocket 20.
- the protrusion 12 of the lever member 10 moves along the slit 21 until it is locked to the other end in the circumferential direction of the slit 21 and further relative displacement is limited.
- all the protrusion parts 42 in the guide ring 40 are each permanent. It is located at a position where the area ratio overlapping with one (S pole) of the N pole and S pole of the magnet 30 increases. For example, after the protrusion 12 of the lever member 10 is locked to the other end of the slit 21, both the lever member 10 and the sprocket 20 are rotated 360 °.
- the magnetic detection unit 100 detects the magnetic flux of the ring body 41 of the induction ring 40 magnetized according to the relative positions of the protrusions 42 of the induction ring 40 and the south and north poles of the permanent magnet 30.
- the magnetic detection unit 100 includes an intermediate yoke 50, a magnetic sensor 60, and a back yoke 70.
- the intermediate yoke 50 has a first flat portion 51 as shown in FIGS.
- the first plane portion 51 is disposed so that a part of the first plane portion 51 (radially outer portion) overlaps the ring main body 41 of the guide ring 40 in the radial direction of the rotation axis R.
- the first flat surface portion 51 is disposed such that a part of the first flat surface portion 51 (radially outer portion) overlaps the ring main body 41 of the guide ring 40 when viewed from the axial direction of the rotation axis R.
- the first plane portion 51 is disposed with a space from the ring body 41 of the guide ring 40. More specifically, the first plane portion 51 is opposed to the ring body 41 of the guide ring 40 with an interval in the axial direction of the rotation axis R.
- the intermediate yoke 50 is made of a ferromagnetic material such as iron.
- the intermediate yoke 50 collects the magnetic flux of the induction ring 40 magnetized by the permanent magnet 30 and averages the amplitude of the magnetic flux received by the ring body 41 directly from the permanent magnet 30 regardless of the phase of the protrusion 42. Is provided.
- the surface area of the first flat part 51 of the intermediate yoke part 50 is smaller than the surface area of the annular flat part 41 a of the ring body 41. As the surface area of the first plane portion 51 and the surface area of the annular plane portion 41a, the areas of the surfaces facing each other are used.
- the surface area of the 1st plane part 51 is smaller than the surface area of the cyclic
- the surface area of the first plane part 51 may be the same as the surface area of the annular plane part 41a.
- the surface area of the 1st plane part 51 may be larger than the surface area of the cyclic
- the magnetic sensor 60 overlaps the intermediate yoke 50 in the radial direction of the rotation axis R as shown in FIGS. That is, the magnetic sensor 60 overlaps the intermediate yoke 50 when viewed from the axial direction of the rotation axis R.
- the magnetic sensor 60 is an element for detecting a magnetic flux passing through the intermediate yoke 50.
- a Hall element (Hall IC) is preferably used as the magnetic sensor 60.
- the magnetic sensor 60 is attached to a resinous substrate 61 and fixed to a non-rotating member 80 on the vehicle body side via a substrate holder 62.
- the non-rotating member 80 does not rotate with the first rotating member 10 and the second rotating member 20.
- the back yoke 70 is made of a ferromagnetic material such as iron.
- the back yoke 70 is provided integrally with the substrate holder 62 while being embedded in the substrate holder 62.
- the back yoke 70 overlaps the magnetic sensor 60 in the radial direction. That is, the back yoke 70 overlaps the magnetic sensor 60 when viewed from the axial direction of the rotation axis R.
- the back yoke 70 is provided so as to be close to the magnetic sensor 60.
- the intermediate yoke 50, the magnetic sensor 60, and the back yoke 70 are arranged as an integral structure so as to overlap each other when viewed from the axial direction of the rotation axis R. At least a part of the intermediate yoke 50, at least a part of the magnetic sensor 60, and at least a part of the back yoke 70 overlap each other when viewed from the axial direction of the rotation axis R.
- the intermediate yoke 50, the magnetic sensor 60, and the back yoke 70 constitute a magnetic collecting circuit as a part of the magnetic circuit of the magnetic flux of the induction ring 40 magnetized by the permanent magnet 30.
- the magnetic flux collecting circuit is formed by the induction ring 40, the intermediate yoke 50, and the back yoke 70, but the magnetic flux path of the permanent magnet 30 is positively magnetoresistive in all paths from one magnetic pole to the other magnetic pole. It is not configured to form a small magnetic closed loop. In other words, a configuration in which the magnetic circuit is terminated at the back yoke 70 is adopted.
- the relative rotational angular displacement detection device X uses the magnetic sensor 60 to detect a change in the magnetic flux passing between the intermediate yoke 50 and the back yoke 70 while greatly simplifying the structure of the entire device. can do.
- a magnetic closed loop circuit may be configured by components other than the intermediate yoke 50 and the back yoke 70, for example, vehicle-side components such as the shaft portion 1.
- the intermediate yoke 50, the magnetic sensor 60, and the back yoke 70 are independent of the lever member 10 and the sprocket 20 that are detection target members of relative rotational movement, and the lever member. 10 and the sprocket 20 are fixed to a non-rotating member 80 on the vehicle body side. Therefore, the mounting structure is simpler. Moreover, since the magnetic sensor 60 side does not rotate, there is an advantage that there is little possibility of failure.
- FIG. 4A shows an initial state (state shown in FIG. 3A) in which the lever member 10 as the first rotating member and the sprocket 20 as the second rotating member are not relatively rotated.
- each protrusion 42 of the guide ring 40 is located at an intermediate position between the magnetic poles of the permanent magnet 30, that is, between the N pole and the S pole.
- each protrusion 42 constitutes a magnetic circuit with adjacent N and S poles.
- each protrusion 42 is positioned between the N pole and the S pole when viewed from the axial direction of the shaft portion 1.
- the area where the S pole and the protrusion 42 overlap is the same as the area where the N pole and the protrusion 42 overlap. Therefore, the ring body 41 maintains a weakly magnetized state alternately in the north and south poles along the circumferential direction corresponding to the north and south poles of the magnet.
- the ring body 41 maintains a substantially magnetic neutral state (see FIG. 5A).
- the distance between the outer peripheral edge of the ring body 41 and the inner peripheral edge of the permanent magnet 30 is narrow. Therefore, as described above, the ring main body 41 is weakly magnetized alternately to the north and south poles in the circumferential direction along the circumferential direction, corresponding to the north and south poles of the magnet. Yes. However, if the interval between the outer peripheral edge of the ring body 41 and the inner peripheral edge of the permanent magnet 30 is increased, the magnetization state is further weakened. As a result, the detection accuracy can be further improved.
- the flow of magnetic flux from the induction ring 40 (ring main body 41) to the intermediate yoke 50 is very weak or almost no magnetic flux flows (see FIGS. 5B and 5C).
- the magnetic flux of the induction ring body 41 weakly magnetized in the circumferential direction is collected by the intermediate yoke 50 and the back yoke 70 disposed adjacent thereto, and is disposed between the intermediate yoke 50 and the back yoke 70. It passes through the magnetic sensor 60 in a concentrated manner (see FIGS. 5B and 5C). Therefore, the magnetic sensor 60 can reliably detect the magnetic flux of the induction ring body 41.
- each protrusion of the guide ring 40 is viewed from the axial direction of the rotation axis R as shown in FIG. 4B.
- the part 42 overlaps one of the magnetic poles (S pole in the embodiment) of the permanent magnet 30.
- the protrusions 42 are strongly magnetized by the magnetic poles (S poles in the embodiment) of the permanent magnet 30 on which the protrusions 42 overlap (see FIG. 6A). Therefore, the ring main body 41 is magnetized to the magnetic pole (S pole in the embodiment) of the permanent magnet 30 where the protrusions 42 are overlapped over the entire circumference.
- the magnetic flux of the induction ring 40 magnetized in this way is collected by the intermediate yoke 50 and the back yoke 70 disposed adjacent thereto, and passes through the magnetic sensor 60 disposed between these yokes in a concentrated manner ( 6B and 6C). Therefore, the magnetic flux of the ring body 41 magnetized by one magnetic pole (in the embodiment, S pole) along the circumferential direction can be reliably detected.
- the relative rotational angular displacement detection device X of the present embodiment constitutes a magnetic circuit including only the magnetic collecting circuit including the induction ring 40, the intermediate yoke 50, and the back yoke 70 in this way.
- the relative rotational angular displacement detection device X can detect the displacement of the magnetic flux passing through the magnetic flux collecting circuit by the magnetic sensor 60 without actively forming a magnetic closed loop circuit.
- the permanent magnet 30 forms a magnetic closed loop circuit via the induction ring 40, the intermediate yoke 50, and the back yoke 70.
- the magnetic closed loop circuit may not be positively configured using the above members.
- not actively constructing a magnetic closed loop circuit means that it is sufficient to actively provide at least a magnetic collecting circuit composed of at least the induction ring 40, the intermediate yoke 50, and the back yoke 70.
- other components such as the vehicle body side, such as the shaft portion 1 and its peripheral members, together with the induction ring 40, the intermediate yoke 50, and the back yoke 70, constitute a magnetic closed loop circuit. Also good. That is, in the present invention, it is not always necessary to actively construct a magnetic closed loop circuit.
- the lever member 10 as the first rotating member and the sprocket 20 as the second rotating member are in the state shown in FIGS. 3A and 4A (first state) and the state shown in FIGS. 3B and 4B.
- the relative rotation angle is displaced between the second state and the second state.
- the rotational force applied to the pedal P is between the state shown in FIG. 3A, that is, the state where the rotational force is not applied, and the state shown in FIG. 3B, that is, the state where the rotational force is applied beyond the biasing force of the spring S. It changes with. Thereby, the relative rotation angle of the lever member 10 as the first rotating member and the sprocket 20 as the second rotating member changes. Along with this change, from the so-called magnetically neutral or near neutral state where the state of magnetization of the ring body 41 of the induction ring 40 is weakly magnetized over the entire circumference, the entire circumference is the S pole or the N pole. In the state of being magnetized in the magnetic field (in the embodiment, it is magnetized in the south pole).
- the magnetic sensor 60 detects a change in magnetic flux according to the relative rotational angular displacement between the permanent magnet 30 and the induction ring 40 corresponding to the rotational force applied to the pedal P in this way.
- the relative rotational angular displacement is continuously detected according to the detected change state of the magnetic flux.
- the relative rotation angle displacement detection device X can assist the rotational force of the pedal P by controlling the electric drive means (not shown) by the control means (not shown) based on this displacement.
- the position and size of the magnetic sensor 60 are set so that the magnetic sensor 60 detects the magnetic flux of the annular flat surface portion 41a in the magnetization direction of the permanent magnet 30 out of the magnetic flux of the annular flat surface portion 41a. .
- the relative rotational angular displacement detection device X of the present invention may be configured to be rotationally displaced in both the counterclockwise direction and the clockwise direction.
- the direction of the magnetic flux passing through the magnetic sensor 60 changes according to the relative rotational angle displacement direction of both rotating members.
- a control circuit (not shown) may control an electric motor (not shown) as an auxiliary power source.
- an electric motor (not shown) as an auxiliary power source.
- the relative rotational angular displacement detection device includes the permanent magnet 30, the induction ring 40, the intermediate yoke 50, the magnetic sensor 60, and the back yoke 70.
- the permanent magnet 30 is fixed to one rotating member 10 of the pair of rotating members, and the magnetic poles magnetized in the axial direction of the shaft portion 1 are arranged in such a manner that the polarities are alternately different in the circumferential direction of the shaft portion 1. Yes.
- the guide ring 40 is fixed to the other rotary member 20 of the pair of rotary members, and an annular ring body 41 arranged in a manner that does not overlap the permanent magnet 30 when viewed from the axial direction of the shaft portion 1.
- a plurality of protrusions 42 that protrude from the ring body 41 in the radial direction of the shaft portion 1 and are arranged so as to overlap with the permanent magnet 30 when viewed from the axial direction of the shaft portion 1.
- the number of protrusions is the same as the number of pairs of magnetic poles, and each has a circumferential width that is narrower than the circumferential width of each magnetic pole.
- the intermediate yoke 50 is disposed close to the ring main body 41 of the guide ring 40, and the magnetic flux of the guide ring 40 magnetized according to the relative positions of the protrusions 42 of the guide ring 40 and the magnetic poles of the permanent magnet 30. Collect magnets.
- the intermediate yoke 50 constitutes a magnetic flux collecting circuit together with the back yoke 70.
- the magnetic sensor 60 is disposed between the intermediate yoke 50 and the back yoke 70 and detects a magnetic flux passing through a magnetic flux collecting circuit constituted by the intermediate yoke 50 and the back yoke 70.
- the relative rotation angle displacement detection device X can reliably detect the displacement of the relative rotation angle with a simple structure. Further, the magnetic sensor 60 detects the magnetic flux passing through the magnetic flux collecting circuit constituted by the intermediate yoke 50 and the back yoke 70 without actively forming a magnetic closed loop circuit of the permanent magnet 30. As a result, the structure can be further simplified, manufacturing and assembly can be simplified, and cost can be reduced.
- the first state (FIGS. 3A and 4A) is compared with the second state (FIGS. 3B and 4B). Note that the magnetization intensity of the induction ring 40 in the second state is greater than the magnetization intensity of the induction ring 40 in the first state.
- each ratio is not particularly limited.
- the ratio in this embodiment is an example of the present invention.
- the induction ring 40 is magnetized into an N-pole group and an S-pole group. That is, the protrusion 42 is positioned with respect to the magnetic pole so that the difference between the magnetization intensity of the induction ring 40 due to the N pole group and the magnetization intensity of the induction ring 40 due to the S pole group becomes small.
- the induction ring 40 is magnetized in the south pole group. That is, the protrusion 42 is positioned with respect to the magnetic pole so that the difference between the magnetization intensity of the induction ring 40 due to the N pole group and the magnetization intensity of the induction ring 40 due to the S pole group becomes large.
- the pair of rotating members are configured to relatively rotate in the circumferential direction of the rotation axis within an angular range of less than one rotation (360 °).
- One rotating member of the pair of rotating members is biased to rotate toward one of the circumferential directions of the rotation axis relative to the other rotating member. That is, one rotating member of the pair of rotating members is applied with a rotational force from one end (downstream end in the biasing direction) to the other end (upstream end in the biasing direction) of the angle range.
- One rotating member of the pair of rotating members is located, for example, at one end and the other end of the angle range in the first state, and on the other end of the angle range in the second state. To position.
- the magnetic detection unit includes an intermediate yoke.
- the magnetic detection unit does not necessarily include the intermediate yoke.
- the magnetic sensor in the axial direction of the rotation axis, is arranged at a distance from the permanent magnet.
- the magnetic sensor is disposed at a position different from the permanent magnet in the radial direction of the rotation axis, and does not overlap the permanent magnet.
- the magnetic sensor detects a magnetic flux emitted from a permanent magnet and incident on the magnetic sensor in the axial direction.
- the ring main body 41, the intermediate yoke 50, and the magnetic sensor 60 are all provided at positions different from the protrusions 42 in the radial direction of the rotation axis R.
- the present invention is not limited to this example. It is not limited.
- the position different from the protrusion 42 in the radial direction of the rotation axis R is, for example, a position that does not overlap with the protrusion 42 in the radial direction of the rotation axis R.
- all of the ring main body 41, the intermediate yoke 50, and the magnetic sensor 60 may be provided at the same position as the protrusion 42 in the radial direction of the rotation axis R.
- the same position as the protrusion 42 in the radial direction of the rotation axis R is, for example, a position overlapping the protrusion 42 in the radial direction of the rotation axis R.
- the circumferential width of the protrusion is smaller than the circumferential width of the magnetic pole.
- the present invention is not limited to this example. In the present invention, it is sufficient that the circumferential width of at least one protrusion is smaller than the circumferential width of at least one magnetic pole.
- the relative rotation angle displacement detection device detects, for example, a relative rotation angle displacement of a pair of rotating members that rotate relative to the circumferential direction of a rotating shaft, such as an electric assist wheelchair, an electric assist bicycle, an automobile power steering device, and the like.
- the present invention is suitably used as a relative rotational angular displacement detection device, a torque detection device and torque control device using the detection device, and a torque control device.
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Abstract
Description
(1) 相対回転角度変位検出装置であって、
前記相対回転角度変位検出装置は、
回転軸線の周方向に相対回転する一対の回転部材と、
前記一対の回転部材のうちの一方の回転部材に設けられ、前記回転軸線の軸線方向に磁化された磁極が前記回転軸線の周方向に交互に極性が異なる態様で配置され、前記磁極の各々は周方向の幅を有する、永久磁石と、
それぞれが周方向の幅を有し、少なくとも一つの周方向の幅が少なくとも一つの前記磁極の周方向の幅より小さい複数の突部と、前記一対の回転部材のうちの他方の回転部材に設けられ、軸線が前記回転軸線と同軸状に配置され、前記磁極の位置に対する前記突部の位置に応じて変化する磁化の強さを有する環状のリング本体と、を有する誘導リングと、
前記誘導リングの前記リング本体の磁束を検出する磁気検出部と
を備える。
(2) (1)の相対回転角度変位検出装置であって、
前記誘導リングのリング本体は、前記永久磁石の磁化方向に対して横断する方向に広がる環状の平面部を備えており、
前記磁気検出部は、前記リング本体の前記環状の平面部の磁束を検出するように構成されている。
前記磁気検出部は、磁束を検出する磁気センサを含んでおり、
前記磁気センサは、前記環状の平面部の磁束のうち前記永久磁石の磁化方向の磁束を検出するセンサである。
前記誘導リングの前記リング本体及び前記磁気センサのうちの少なくとも一つが、前記回転軸線の軸線方向において、前記誘導リングの前記突部と異なる位置に設けられている。
前記磁気検出部は、第1平面部を有する中間ヨークを含み、
前記第1平面部は、前記磁気センサと前記リング本体との間に配置され、前記永久磁石の磁化方向において前記リング本体の前記環状の平面部と間隔を空けて対向するように配置されている。
前記中間ヨークの前記第1平面部の表面積は、前記リング本体の前記環状の平面部の表面積より小さい。
前記リング本体、前記中間ヨーク及び前記磁気センサのうちの少なくともいずれか一つが、前記回転軸線の径方向において、前記突部と異なる位置に設けられている。
前記磁極は、N極のグループと、S極のグループとを有し、
前記誘導リングは、磁化の強さが相対的に小さい第1状態と、磁化の強さが相対的に大きい第2状態とを有し、
前記第1状態において、前記突部は、前記N極のグループによる前記誘導リングの磁化の強さと前記S極のグループによる前記誘導リングの磁化の強さとの差が小さくなるように、前記磁極に対して位置し、
前記第2状態において、前記突部は、前記N極のグループによる前記誘導リングの磁化の強さと前記S極のグループによる前記誘導リングの磁化の強さとの差が大きくなるように、前記磁極に対して位置する。
前記第1状態において、前記突部は、前記誘導リングが前記N極のグループと前記S極のグループとによって実質的に等しく磁化されるように、前記磁極に対して位置し、
前記第2状態において、前記突部は、前記誘導リングが前記N極のグループと前記S極のグループとの実質的に一方のみによって磁化されるように、前記磁極に対して位置する。
前記突部の各周方向の幅は、前記磁極の各周方向の幅よりも狭い。
前記トルク検出装置は、
(1)~(10)のいずれか1の相対回転検出変位装置と、
前記一対の回転部材の間に配置された弾性部材とを備え、
前記一対の回転部材には、前記弾性部材により相対回転方向に常時付勢力が付与され、
前記一対の回転部材は、前記一対の回転部材のいずれか一方の回転部材が前記弾性部材の付勢力に抗して他方の回転部材に対して所定の回転角度、相対回転したときに、両回転部材の相対回転を阻止する相対回転規制部を有する。
前記トルク制御装置は、
(1)~(10)のいずれか1の相対回転検出変位装置と、
前記一対の回転部材のいずれか一方の回転部材に接続され、ユーザにより回転力が付与される回転駆動部材と、
他方の回転部材に回転力を付与する動力源と、
前記一方の回転部材が前記他方の回転部材に対して所定の回転角度、相対回転したときに、前記動力源が前記他方の回転部材に付与する回転力を前記磁気検出部の出力に応じて制御する制御部と、
を備える。
前記電動アシスト車椅子は、(12)のトルク制御装置を備える。
前記電動アシスト騎乗車両は、(12)のトルク制御装置を備える。
前記パワーステアリング装置は、(12)のトルク制御装置を備える。
2 ベアリング
10 回転部材(レバー部材)
11 係止部
12 突起部
20 回転部材(スプロケット)
21 スリット
22 スプリング装着孔
23 取付部材
25 相対回転規制部
30 永久磁石
40 誘導リング
41 リング本体
41a 平面部
42 突部
50 中間ヨーク
51 第1平面部
60 磁気センサ
61 基板
62 基板ホルダ
70 バックヨーク
80 非回転部材
100 磁気検出部
C チェーン
P ペダル
R 回転軸線
S コイルスプリング
X 相対回転角度変位検出装置
Claims (15)
- 相対回転角度変位検出装置であって、
前記相対回転角度変位検出装置は、
回転軸線の周方向に相対回転する一対の回転部材と、
前記一対の回転部材のうちの一方の回転部材に設けられ、前記回転軸線の軸線方向に磁化された磁極が前記回転軸線の周方向に交互に極性が異なる態様で配置され、前記磁極の各々は周方向の幅を有する、永久磁石と、
それぞれが周方向の幅を有し、少なくとも一つの周方向の幅が少なくとも一つの前記磁極の周方向の幅より小さい複数の突部と、前記一対の回転部材のうちの他方の回転部材に設けられ、軸線が前記回転軸線と同軸状に配置され、前記磁極の位置に対する前記突部の位置に応じて変化する磁化の強さを有する環状のリング本体と、を有する誘導リングと、
前記誘導リングの前記リング本体の磁束を検出する磁気検出部と
を備える。 - 請求項1に記載の相対回転角度変位検出装置であって、
前記誘導リングのリング本体は、前記永久磁石の磁化方向に対して横断する方向に広がる環状の平面部を備えており、
前記磁気検出部は、前記リング本体の前記環状の平面部の磁束を検出するように構成されている。 - 請求項2に記載の相対回転角度変位検出装置であって、
前記磁気検出部は、磁束を検出する磁気センサを含んでおり、
前記磁気センサは、前記環状の平面部の磁束のうち前記永久磁石の磁化方向の磁束を検出するセンサである。 - 請求項3に記載の相対回転角度変位検出装置であって、
前記誘導リングの前記リング本体及び前記磁気センサのうちの少なくとも一つが、前記回転軸線の軸線方向において、前記誘導リングの前記突部と異なる位置に設けられている。 - 請求項4に記載の相対回転角度変位検出装置であって、
前記磁気検出部は、第1平面部を有する中間ヨークを含み、
前記第1平面部は、前記磁気センサと前記リング本体との間に配置され、前記永久磁石の磁化方向において前記リング本体の前記環状の平面部と間隔を空けて対向するように配置されている。 - 請求項5に記載の相対回転角度変位検出装置であって、
前記中間ヨークの前記第1平面部の表面積は、前記リング本体の前記環状の平面部の表面積より小さい。 - 請求項5又は6に記載の相対回転角度変位検出装置であって、
前記リング本体、前記中間ヨーク及び前記磁気センサのうちの少なくともいずれか一つが、前記回転軸線の径方向において、前記突部と異なる位置に設けられている。 - 請求項1~7のいずれか1に記載の相対回転角度変位検出装置であって、
前記磁極は、N極のグループと、S極のグループとを有し、
前記誘導リングは、磁化の強さが相対的に小さい第1状態と、磁化の強さが相対的に大きい第2状態とを有し、
前記第1状態において、前記突部は、前記N極のグループによる前記誘導リングの磁化の強さと前記S極のグループによる前記誘導リングの磁化の強さとの差が小さくなるように、前記磁極に対して位置し、
前記第2状態において、前記突部は、前記N極のグループによる前記誘導リングの磁化の強さと前記S極のグループによる前記誘導リングの磁化の強さとの差が大きくなるように、前記磁極に対して位置する。 - 請求項8に記載の相対回転角度変位検出装置であって、
前記第1状態において、前記突部は、前記誘導リングが前記N極のグループと前記S極のグループとによって実質的に等しく磁化されるように、前記磁極に対して位置し、
前記第2状態において、前記突部は、前記誘導リングが前記N極のグループと前記S極のグループとの実質的に一方のみによって磁化されるように、前記磁極に対して位置する。 - 請求項1~9のいずれか1に記載の相対回転角度変位検出装置であって、
前記突部の各周方向の幅は、前記磁極の各周方向の幅よりも狭い。 - トルク検出装置であって、
前記トルク検出装置は、
請求項1~10のいずれか1に記載の相対回転検出変位装置と、
前記一対の回転部材の間に配置された弾性部材とを備え、
前記一対の回転部材には、前記弾性部材により相対回転方向に常時付勢力が付与され、
前記一対の回転部材は、前記一対の回転部材のいずれか一方の回転部材が前記弾性部材の付勢力に抗して他方の回転部材に対して所定の回転角度、相対回転したときに、両回転部材の相対回転を阻止する相対回転規制部を有する。 - トルク制御装置であって、
前記トルク制御装置は、
請求項1~10のいずれか1に記載の相対回転検出変位装置と、
前記一対の回転部材のいずれか一方の回転部材に接続され、ユーザにより回転力が付与される回転駆動部材と、
他方の回転部材に回転力を付与する動力源と、
前記一方の回転部材が前記他方の回転部材に対して所定の回転角度、相対回転したときに、前記動力源が前記他方の回転部材に付与する回転力を前記磁気検出部の出力に応じて制御する制御部と、
を備える。 - 電動アシスト車椅子であって、
前記電動アシスト車椅子は、請求項12に記載のトルク制御装置を備える。 - 電動アシスト騎乗車両であって、
前記電動アシスト騎乗車両は、請求項12に記載のトルク制御装置を備える。 - パワーステアリング装置であって、
前記パワーステアリング装置は、請求項12に記載のトルク制御装置を備える。
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CN201380042598.4A CN104541140B (zh) | 2012-09-14 | 2013-09-17 | 相对旋转角度位移检测装置、使用了该检测装置的转矩检测装置及转矩控制装置、以及具备该控制装置的车辆 |
EP13837463.2A EP2848905B1 (en) | 2012-09-14 | 2013-09-17 | Relative-rotation-angle-displacement detector, torque controller and torque detector in which said detector is used, and vehicle provided with said controller |
JP2014535618A JP5890028B2 (ja) | 2012-09-14 | 2013-09-17 | 相対回転角度変位検出装置、同検出装置を用いたトルク検出装置およびトルク制御装置、並びに同制御装置を備えた車両 |
US14/601,222 US9771096B2 (en) | 2012-09-14 | 2015-01-20 | Relative rotational angular displacement detection device having a magnetic detection unit that detects a magnetic flux of an annular plane portion from a surface of a ring body |
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US14/601,222 Continuation-In-Part US9771096B2 (en) | 2012-09-14 | 2015-01-20 | Relative rotational angular displacement detection device having a magnetic detection unit that detects a magnetic flux of an annular plane portion from a surface of a ring body |
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US (1) | US20140076064A1 (ja) |
EP (1) | EP2848905B1 (ja) |
JP (1) | JP5890028B2 (ja) |
CN (2) | CN103673868A (ja) |
TW (1) | TWI499759B (ja) |
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US9771096B2 (en) | 2012-09-14 | 2017-09-26 | Yamaha Hatsudoki Kabushiki Kaisha | Relative rotational angular displacement detection device having a magnetic detection unit that detects a magnetic flux of an annular plane portion from a surface of a ring body |
TWI499759B (zh) * | 2012-09-14 | 2015-09-11 | Yamaha Motor Co Ltd | 相對旋轉角度位移檢測裝置、使用該檢測裝置之轉矩檢測裝置及轉矩控制裝置、以及具備該控制裝置之車輛等 |
JP2016109539A (ja) * | 2014-12-05 | 2016-06-20 | Kyb株式会社 | ストロークセンサ |
US9823146B2 (en) * | 2015-02-17 | 2017-11-21 | Steering Solutions Ip Holding Corporation | Axial flux focusing small diameter low cost torque sensor |
CN105318999B (zh) * | 2015-12-09 | 2018-02-13 | 江苏磁谷科技股份有限公司 | 一种扭矩测量方法以及扭矩测量装置 |
DE102016212925A1 (de) * | 2016-07-14 | 2018-01-18 | Schaeffler Technologies AG & Co. KG | Permanentmagnet für eine Sensoranordnung zur Bestimmung einer Winkelposition des Permanentmagneten |
JP6477933B2 (ja) * | 2017-04-25 | 2019-03-06 | 日本精工株式会社 | 回転角度検出装置及び回転角度検出方法 |
US10864127B1 (en) | 2017-05-09 | 2020-12-15 | Pride Mobility Products Corporation | System and method for correcting steering of a vehicle |
DE102017121706A1 (de) * | 2017-09-19 | 2019-03-21 | Iwis Antriebssysteme Gmbh & Co. Kg | Vorrichtung und Verfahren zur Ermittlung des Verschleißzustandes einer Kette |
US10948369B2 (en) * | 2017-09-20 | 2021-03-16 | Nsk Ltd. | Torque sensor and steering device |
JP2019070568A (ja) * | 2017-10-06 | 2019-05-09 | アイシン精機株式会社 | 自動車用ブレーキの回転角検出装置 |
US10551213B2 (en) * | 2017-12-15 | 2020-02-04 | Infineon Technologies Ag | Sickle-shaped magnet arrangement for angle detection |
CN108036889B (zh) * | 2017-12-29 | 2023-11-24 | 深圳市奥酷曼智能技术有限公司 | 端面接触力矩传感器及电动助力车 |
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Also Published As
Publication number | Publication date |
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EP2848905B1 (en) | 2017-04-26 |
EP2848905A1 (en) | 2015-03-18 |
JPWO2014042267A1 (ja) | 2016-08-18 |
US20140076064A1 (en) | 2014-03-20 |
CN103673868A (zh) | 2014-03-26 |
CN104541140A (zh) | 2015-04-22 |
CN104541140B (zh) | 2017-08-11 |
EP2848905A4 (en) | 2015-07-22 |
JP5890028B2 (ja) | 2016-03-22 |
TWI499759B (zh) | 2015-09-11 |
TW201411098A (zh) | 2014-03-16 |
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