WO2016107423A1 - 一种电动助力自行车力矩传感系统及电动助力自行车 - Google Patents

一种电动助力自行车力矩传感系统及电动助力自行车 Download PDF

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Publication number
WO2016107423A1
WO2016107423A1 PCT/CN2015/097752 CN2015097752W WO2016107423A1 WO 2016107423 A1 WO2016107423 A1 WO 2016107423A1 CN 2015097752 W CN2015097752 W CN 2015097752W WO 2016107423 A1 WO2016107423 A1 WO 2016107423A1
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WIPO (PCT)
Prior art keywords
rocker
force
sensing system
torque sensing
ring gear
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PCT/CN2015/097752
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English (en)
French (fr)
Inventor
黄洪岳
徐建
舒伟方
卓达
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新安乃达驱动技术（上海）股份有限公司
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Application filed by 新安乃达驱动技术（上海）股份有限公司 filed Critical 新安乃达驱动技术（上海）股份有限公司
Priority to US15/540,488 priority Critical patent/US10363991B2/en
Priority to EP15875101.6A priority patent/EP3351470A4/en
Publication of WO2016107423A1 publication Critical patent/WO2016107423A1/zh

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    • 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
    • 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
    • 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
    • B62M11/00—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels
    • B62M11/04—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio
    • B62M11/14—Transmissions characterised by the use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with planetary gears
    • 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
    • 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

Definitions

  • the invention relates to a torque sensing system, in particular to an electric assist bicycle torque sensing system and an electric assist bicycle.
  • the electric bicycle is an electromechanical integrated vehicle that uses a battery as an auxiliary energy to install a motor, a controller, a battery, a handle, a brake lever, and the like, and a display instrument system on the basis of an ordinary small car.
  • Speed-sensing bicycles have been widely used in mass-assisted bicycles. Because the speed signal is collected, the faster the pedals are stepped on, the greater the output of the motor. This characteristic determines the speed signal.
  • the sensor is not suitable for low-speed climbing. The riding effect is poor in the case of a slope.
  • the new generation of sensing system uses a torque sensor, but the existing torque sensing system uses a strain sleeve or strain gauge structure. It collects torque data by detecting the amount of deformation of the central shaft under the pedaling force, due to the processing of the strain sleeve. The process is more complicated, the consistency is difficult to guarantee, and the processing cost is high. Therefore, for existing torque sensing systems, it is necessary to reduce the reliability of their cost and torque signals.
  • an object of the present invention is to provide an electric assist bicycle torque sensing system and an electric assist bicycle.
  • An electric assist bicycle torque sensing system includes an internally meshing ring gear, a planetary gear train, a sun gear output shaft, a pressure conversion device and a signal processing component; the inner ring gear and the planetary gear train One component as a power input component and the other component as a power output component; the pressure conversion device is configured to receive a first force applied by the power output component and to convert the first force into a second lever The signal processing component is configured to measure the performance of the second force and convert the measurement result into an electrical signal output.
  • the pressure conversion device includes a rocker, a return spring and a positioning pin, wherein the rocker is The positioning pin is a fulcrum, one end is matched with the power output component, and the other end is matched with the return spring.
  • the pressure conversion device further includes a limiting structure, wherein the limiting structure is disposed in an orientation in which the return spring drives the rocker to deflect the displacement of the rocker.
  • one end of the rocker is engaged with the power output component, wherein the first force of the power output component acts on one end of the rocker by a torque, and the rocker transmits the torque with the positioning pin as a fulcrum To the other end of the rocker.
  • the rocker acts on the return spring after reducing the first force to a second force by a lever principle.
  • the signal processing component comprises any of the following:
  • a force-sensitive resistor in particular, the other end of the rocker applies a second force to the return spring and transmits the second force to the force-sensitive resistor through the return spring,
  • the force sensitive resistor converts the second force into an electrical signal
  • the Hall element in particular, the other end of the rocker applies a second force to the return spring to generate a displacement, the Hall element converts the displacement into a displacement signal, wherein the Hall element is mounted
  • the rocker is on the middle of the two magnets.
  • the ring gear is used as a power output component
  • the planetary gear train is used as a power input component, wherein the planetary gear train drives the inner ring gear to move.
  • ring gear and the planetary gear train are mounted on the fixing bracket
  • the signal processing component is mounted on the fixing bracket
  • one end of the rocker is The edges of the inner ring gear match.
  • the ring gear acts as a power input component
  • the planetary gear train acts as a power output component, wherein one end of the rocker cooperates with an edge of a planet carrier of the planetary gear train.
  • the present invention has the following beneficial effects:
  • the structure of the electric power sensing system is more compact, and the torque transmission signal between the planetary gear train and the inner ring gear is stable and reliable.
  • the pressure-sensitive resistor or the Hall element is used to change the pressure signal to replace the strain sleeve and the strain gauge by the rocker, which reduces the production cost and improves the signal consistency.
  • the electric power sensing system can be widely used in different mechanical transmission structures and has a wider range of applications.
  • the electric assist bicycle with this system has a more realistic riding experience and increases the comfort of riding.
  • Figure 1 is a front elevational view of a first embodiment of the present invention
  • Figure 2 is a cross-sectional view along line A-A of the first embodiment of the present invention.
  • Figure 3 is a partial enlarged view of the pressure conversion device in the first embodiment of the present invention.
  • Figure 4 is a schematic view of a pressure conversion device in a first embodiment of the present invention.
  • Figure 5 is a perspective structural view of a first embodiment of the present invention.
  • Figure 6 is a structural diagram of a signal processing element employing a Hall element according to a second embodiment of the present invention.
  • an electric power assist sensing system includes a center axle 1, a planetary gear train 5, a sun gear output shaft 2, an inner ring gear 6, and a pressure conversion.
  • the device 9 the signal processing element 8, and the fixed bracket 7.
  • the central shaft 1 serves as an input shaft, the central shaft 1 and the planet carrier 53 of the planetary gear train 5 are fixed together by a spline structure, the central shaft 1 driving the planetary gear train 5 to move, the planet The wheel train 5 is moved relative to the sun gear output shaft 2, and the ring gear 6 is combined with the pressure conversion device 9 to convert a torque signal acting on the center shaft 1 into a pressure signal, the signal processing Element 8 converts the pressure signal into an electrical signal and transmits it to the controller, ultimately achieving torque feedback.
  • the fixing bracket 7 is provided with a limiting structure for limiting the displacement of the pressure conversion device 9, so that the rocker 92 can accurately return to the original position under the action of the return spring 93.
  • the rocker 92 is rotatable between a reset position and a force-receiving position, and when in the reset position, the rocker 92 is resisted by the limit structure, and when in the force-receiving position, the rocker 92 is away from the
  • the limiting structure forms a gap between the rocker 92 and the limiting structure.
  • the stopper as the limit structure is located on the side of the power output arm of the rocker, and in a variant, the stopper may be located on the side of the power input arm of the rocker, or respectively located in the power Input arm and power output arm side.
  • the central shaft 1 is assembled with the planetary gear train 5, and the central shaft 1 and the sun gear output shaft 2 are coupled together by a first bearing 3 and a second bearing 4, the central shaft being used as a torque input axis.
  • the planetary gear train 5 is mainly composed of a planetary gear 51, a planet pin 52 and a planet carrier 53, which is connected to the center shaft 1 by a spline structure.
  • the planet gears 51 are coupled to the planet carrier 53 by the planet pin 52, the planet carrier 53 rotates with the center shaft 1, the planet gears 51 on the planet carrier 53 and the sun
  • the wheel output shaft 2 is relatively rotated.
  • the pressure conversion device 9 includes a positioning pin 91, a rocker 92 and a return spring 93.
  • the rocker 92 has a positioning pin 91 as a fulcrum, one end cooperates with the inner ring gear 6, and the other end cooperates with the return spring 93.
  • the force of the ring gear 6 is proportionally reduced by the principle of leverage and then acts on the signal processing element 8.
  • the pressure signal processing component 8 is a force sensitive resistor.
  • the principle of the force sensitive resistor is direct pressure detection, which converts the pressure signal into an electrical signal. Specifically, the other end of the rocker applies a second force to the return spring, and transmits the second force to the force sensitive resistor through the return spring, and the force sensitive resistor will be The two forces are converted into electrical signals.
  • FIG. 4 is a schematic diagram of a pressure conversion device of an electric assist system according to a first embodiment of the present invention.
  • One end of the rocker 92 is meshed with the ring gear 6 in the figure, and when the ring gear is subjected to a moment, the torque pushes the One end of the rocker 92 rotates with the positioning pin 91 as a fulcrum; after the force is reduced by the lever principle, the other end of the rocker 92 applies a second force to the return spring 93; the return spring transmits the pressure to the force sensitive resistor .
  • the ring gear 6 is provided with a notch, and one end of the rocker 92 projects into the notch to achieve engagement.
  • FIG. 6 shows a second embodiment of the present invention, and a person skilled in the art can understand the second embodiment as a variation of the above-described first embodiment, which is different from the first embodiment in that the second embodiment
  • the pressure signal processing component 8 is a Hall element.
  • the principle of the Hall element is displacement detection. In the case of structural determination, the torque and the displacement of the rocker 92 are linear, and the rocker 92 is moved by the Hall element.
  • the displacement signal is converted into an electrical signal to indirectly achieve torque detection. Specifically, the other end of the rocker applies a second force to the return spring to generate a displacement, and the Hall element converts the displacement into a displacement signal, wherein the Hall element is mounted on the rocker And located in the middle of two isotropic magnets.
  • the Hall element When the rocker moves, the Hall element is moved between the magnets, thereby generating an electromotive force, and the electromotive force is transmitted to the controller through the process to realize torque feedback.
  • the reset position can be used as the zero position of the electromotive force.
  • the utility model provides an electric assist bicycle torque sensing system with lower production cost and more stable signal, and an electric assist bicycle with more realistic and comfortable riding.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Retarders (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

一种电动助力自行车力矩传感系统，包括内齿圈（6）、行星轮系（5）、太阳轮输出轴（2）、压力转换装置（9）和信号处理元件（8）。所述内齿圈（6）、行星轮系（5）、太阳轮输出轴（2）依次啮合，其中，所述行星轮系（5）带动内齿圈（6）运动，并通过内齿圈（6）边缘的压力转换装置（9）将作用力信号传递给信号处理元件（8）。所述信号处理元件（8）将作用力信号转换成电信号传递给控制器，实现力矩反馈。因此，该电动助力自行车力矩传感系统解决了助力自行车爬坡时速度传感器所不适用的情形，此外这种系统结构简单紧凑，力矩数据稳定可靠，保证了骑行时的真实感和舒适性。还公开了一种包含该电动助力自行车力矩传感系统的电动助力自行车。

Description

一种电动助力自行车力矩传感系统及电动助力自行车 技术领域
本发明涉及力矩传感系统，尤其涉及一种电动助力自行车力矩传感系统及电动助力自行车。
背景技术
电动助力车，是指以蓄电池作为辅助能源在普通小型车的基础上，安装了电机、控制器、蓄电池、转把、闸把等操纵部件和显示仪表系统的机电一体化的交通工具。已经大批量普及的电动助力自行车普遍采用速度传感器，由于采集的是速度信号，脚踏板踩踏越快电机出力越大，这一特性决定速度信号的传感器不适合低速爬坡情况下使用，在爬坡情况下骑乘效果较差。
新一代传感系统采用力矩传感器，但是现有的力矩传感系统采用的是应变套或者应变片结构，是通过检测在踩踏力作用下中轴的变形量来采集力矩数据，由于应变套的加工工艺较复杂，一致性较难保证，且加工成本高昂。因此，针对现有的力矩传感系统，有必要降低其成本和力矩信号的可靠性。
发明内容
针对现有技术中的缺陷，本发明的目的是提供一种电动助力自行车力矩传感系统及电动助力自行车。
根据本发明提供的一种电动助力自行车力矩传感系统，包括依次啮合的内齿圈、行星轮系、太阳轮输出轴、压力转换装置和信号处理元件；所述内齿圈、行星轮系中的一个部件作为动力输入部件，另一个部件作为动力输出部件；所述压力转换装置，用于接受动力输出部件的施于的第一作用力，并以杠杆方式将第一作用力转化为第二作用力；所述信号处理元件，用于测量第二作用力的表现，并将测量结果转化为电信号输出。
优选地，所述压力转换装置包括摇杆、复位弹簧和定位销，其中，所述摇杆以所述 定位销为支点，一端与所述动力输出部件相配合，另一端与所述复位弹簧相配合。
优选地，所述压力转换装置还包括限位结构，其中，所述限位结构设置在所述复位弹簧驱使所述摇杆转向的方位上，用来限制所述摇杆的位移。
优选地，所述摇杆的一端与动力输出部件相啮合，其中,动力输出部件的第一作用力通过扭矩作用在所述摇杆的一端上，所述摇杆以定位销为支点将力矩传向摇杆的另一端。
优选地，所述摇杆通过杠杆原理将所述第一作用力减小为第二作用力之后作用在所述复位弹簧上。
优选地，所述信号处理元件包括如下任一种装置：
-力敏电阻，具体地，所述摇杆的另一端对所述复位弹簧施以第二作用力，并通过所述复位弹簧将所述第二作用力传递给所述力敏电阻，所述力敏电阻将第二作用力转换成电信号；
-霍尔元件，具体地，所述摇杆的另一端对所述复位弹簧施加第二作用力以产生位移，霍尔元件将所述位移转换成位移信号，其中，所述霍尔元件安装在所述摇杆上，并且位于两个同性磁铁的中间。
优选地，所述内齿圈作为动力输出部件，所述行星轮系作为动力输入部件，其中，所述行星轮系带动所述内齿圈运动。
优选地，还包括固定支架，其中，所述内齿圈和所述行星轮系装配于所述固定支架，所述信号处理元件安装在所述固定支架上，所述摇杆的一端与所述内齿圈的边缘相配合。
优选地，所述内齿圈作为动力输入部件，所述行星轮系作为动力输出部件，其中，所述摇杆的一端与所述行星轮系的行星支架的边缘相配合。
与现有技术相比，本发明具有如下的有益效果：
1、电动助力传感系统的结构更加紧凑，行星轮系与内齿圈之间的力矩传输信号稳定可靠。
2、通过摇杆控制力敏电阻或者霍尔元件转换压力信号来替代应变套和应变片，降低了生产成本，提高了信号的一致性。
3、有效解决了电动助力自行车在爬坡时，利用踩踏压力决定电机输出功率的难题。
4、电动助力传感系统能够广泛应用在不同的机械传动结构中，具有更广泛的使用范围。
5、应用这一系统的电动助力自行车具有更加真实的骑行体验，增加了骑行的舒适感。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：
图1是本发明第一实施例的主视图；
图2是本发明第一实施例的A-A剖视图；
图3是本发明第一实施例中压力转换装置的局部放大视图；
图4是本发明第一实施例中压力转换装置的原理图；
图5是本发明第一实施例的立体结构图；
图6是本发明第二实施例的信号处理元件采用霍尔元件的结构图；
图中：
1-中轴
2-太阳轮输出轴
3-第一轴承
4-第二轴承
5-行星轮系
51-行星轮
52-行星销
53-行星支架
6-内齿圈
7-固定支架
8-信号处理元件
9-压力转换装置
91-定位销
92-摇杆
93-复位弹簧。
具体实施方式
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进。这些都属于本发明的保护范围。
如图1至图4所示，为根据本发明第一实施例提供的电动助力传感系统，其中，包括中轴1、行星轮系5、太阳轮输出轴2、内齿圈6、压力转换装置9、信号处理元件8以及固定支架7。所述中轴1作为输入轴，所述中轴1与所述行星轮系5的行星支架53通过花键结构固定在一起，所述中轴1带动所述行星轮系5运动，所述行星轮系5与所述太阳轮输出轴2相对运动，所述内齿圈6与所述压力转换装置9相结合将作用在所述中轴1上的扭矩信号转换为压力信号，所述信号处理元件8将压力信号转换为电信号然后传输给控制器，最终实现力矩反馈。
所述固定支架7设有限位结构，用来限制压力转换装置9的位移，使摇杆92在复位弹簧93的作用下能准确地回到原位。摇杆92能够在复位位置与受力位置之间转动，当处于复位位置时，所述摇杆92被所述限位结构抵住，当处于受力位置时，所述摇杆92远离所述限位结构，在所述摇杆92与限位结构之间形成间隙。
在图3中，作为所述限位结构的挡块位于摇杆的动力输出臂一侧，而在一个变化例中，所述挡块可以位于摇杆的动力输入臂一侧，或者分别位于动力输入臂以及动力输出臂一侧。
所述中轴1与所述行星轮系5装配在一起，所述中轴1与所述太阳轮输出轴2通过第一轴承3和第二轴承4配合在一起，所述中轴作为力矩输入轴。
所述行星轮系5主要由行星齿轮51、行星销52和行星支架53组成，所述行星支架53通过花键结构与中轴1相连接。所述行星齿轮51通过所述行星销52与所述行星支架53连接在一起，所述行星支架53随着所述中轴1一起旋转，所述行星支架53上的行星齿轮51与所述太阳轮输出轴2相对旋转。
所述压力转换装置9包括定位销91、摇杆92和复位弹簧93，摇杆92以定位销91为支点，一端与所述内齿圈6相配合，另一端与所述复位弹簧93相配合，通过杠杆原理将所述内齿圈6的作用力按比例减小之后作用在所述信号处理元件8上。
如图3所示，所述压力信号处理元件8为力敏电阻，力敏电阻的原理是压力直接检测，将压力信号转换为电信号。具体地，所述摇杆的另一端对所述复位弹簧施以第二作用力，并通过所述复位弹簧将所述第二作用力传递给所述力敏电阻，所述力敏电阻将第 二作用力转换成电信号。
如图4所示是本发明第一实施例提供的电动助力系统的压力转换装置原理，图中摇杆92的一端与内齿圈6啮合，当内齿圈受到力矩作用时，扭矩推动所述摇杆92的一端以定位销91为支点转动；经过杠杆原理减小作用力后，摇杆92的另一端将第二作用力作用在复位弹簧93上；所述复位弹簧将压力传递给力敏电阻。优选地，内齿圈6设置有缺口，所述摇杆92的一端伸入于所述缺口内，从而实现啮合。
图6出示的是本发明的第二实施例，本领域技术人员可以将第二实施例理解为上述第一实施例的一个变化例，其与第一实施例的区别在于，在第二实施例中，所述压力信号处理元件8为霍尔元件，霍尔元件的原理是位移检测，在结构确定的情况下，扭矩和摇杆92位移是成线性关系的，通过霍尔元件将摇杆92位移信号转换为电信号，间接实现力矩检测。具体地，所述摇杆的另一端对所述复位弹簧施加第二作用力以产生位移，霍尔元件将所述位移转换成位移信号，其中，所述霍尔元件安装在所述摇杆上，并且位于两个同性磁铁的中间。当所述摇杆运动时，带动霍尔元件在磁铁间移动，因此产生电动势，电动势通过处理之后传输给控制器，实现力矩反馈。优选地，可以将所述复位位置作为电动势的零点位置。
综上所述，本实用新型提供了一种生产成本更低，信号更稳定的电动助力自行车力矩传感系统以及骑行更真实舒适的电动助力自行车。
以上对本实用新型的具体实施例进行了描述。需要理解的是，本实用新型并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变形或修改，这并不影响本实用新型的实质内容。

Claims (10)

  1. 一种电动助力自行车力矩传感系统，包括依次啮合的内齿圈、行星轮系、太阳轮输出轴，其特征在于：
    还包括压力转换装置、信号处理元件；
    所述内齿圈、行星轮系中的一个部件作为动力输入部件，另一个部件作为动力输出部件；
    所述压力转换装置，用于接受动力输出部件的施于的第一作用力，并以杠杆方式将第一作用力转化为第二作用力；
    所述信号处理元件，用于测量第二作用力的表现，并将测量结果转化为电信号输出。
  2. 根据权利要求1所述的电动助力自行车力矩传感系统，其特征在于：所述压力转换装置包括摇杆、复位弹簧和定位销，其中，所述摇杆以所述定位销为支点，一端与所述动力输出部件相配合，另一端与所述复位弹簧相配合。
  3. 根据权利要求2所述的电动助力自行车力矩传感系统，其特征在于：所述压力转换装置还包括限位结构，其中，所述限位结构设置在所述复位弹簧驱使所述摇杆转向的方位上，用来限制所述摇杆的位移。
  4. 根据权利要求2所述的电动助力自行车力矩传感系统，其特征在于：所述摇杆的一端与动力输出部件相啮合，其中,动力输出部件的第一作用力通过扭矩作用在所述摇杆的一端上，所述摇杆以定位销为支点将力矩传向摇杆的另一端。
  5. 根据权利要求2所述的电动助力自行车力矩传感系统，其特征在于：所述摇杆通过杠杆原理将所述第一作用力减小为第二作用力之后作用在所述复位弹簧上。
  6. 根据权利要求2所述的电动助力自行车力矩传感系统，其特征在于：所述信号处理元件包括如下任一种装置：
    -力敏电阻，具体地，所述摇杆的另一端对所述复位弹簧施以第二作用力，并通过所述复位弹簧将所述第二作用力传递给所述力敏电阻，所述力敏电阻将第二作用力转换成电信号；
    -霍尔元件，具体地，所述摇杆的另一端对所述复位弹簧施加第二作用力以产生位移，霍尔元件将所述位移转换成位移信号，其中，所述霍尔元件安装在所述摇杆上，并且位于两个同性磁铁的中间。
  7. 根据权利要求6所述的电动助力自行车力矩传感系统，其特征在于：所述内齿圈作为动力输出部件，所述行星轮系作为动力输入部件，其中，所述行星轮系带动所述内齿圈运动。
  8. 根据权利要求6所述的电动助力自行车力矩传感系统，其特征在于：还包括固定支架，其中，所述内齿圈和所述行星轮系装配于所述固定支架，所述信号处理元件安装在所述固定支架上，所述摇杆的一端与所述内齿圈的边缘相配合。
  9. 根据权利要求6所述的电动助力自行车力矩传感系统，其特征在于：所述内齿圈作为动力输入部件，所述行星轮系作为动力输出部件，其中，所述摇杆的一端与所述行星轮系的行星支架的边缘相配合。
  10. 一种电动助力自行车，其特征在于，包括权利要求1至9中任一项所述的电动助力自行车力矩传感系统。
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