WO2017072422A1 - Motorised assistance device, in particular for pedalling, and associated cycle - Google Patents

Motorised assistance device, in particular for pedalling, and associated cycle Download PDF

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Publication number
WO2017072422A1
WO2017072422A1 PCT/FR2016/050230 FR2016050230W WO2017072422A1 WO 2017072422 A1 WO2017072422 A1 WO 2017072422A1 FR 2016050230 W FR2016050230 W FR 2016050230W WO 2017072422 A1 WO2017072422 A1 WO 2017072422A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotor
motor
hollow shaft
stator
cycle
Prior art date
Application number
PCT/FR2016/050230
Other languages
French (fr)
Inventor
Frédéric Barbet
Original Assignee
Ewics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ewics filed Critical Ewics
Publication of WO2017072422A1 publication Critical patent/WO2017072422A1/en

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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
    • 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
    • B62M6/55—Rider propelled cycles with auxiliary electric motor power-driven at crank shafts parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K19/00—Cycle frames
    • B62K19/30—Frame parts shaped to receive other cycle parts or accessories
    • B62K19/34—Bottom brackets
    • 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
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K25/00—Axle suspensions
    • B62K25/04—Axle suspensions for mounting axles resiliently on cycle frame or fork
    • B62K25/28—Axle suspensions for mounting axles resiliently on cycle frame or fork with pivoted chain-stay
    • B62K25/30—Axle suspensions for mounting axles resiliently on cycle frame or fork with pivoted chain-stay pivoted on pedal crank shelf

Definitions

  • the present invention relates to the field of electric motors in the context of assistance devices for driving a shaft, and in particular pedal assistance devices.
  • the devices at the level of the pedal are reported and fixed on the frame, in particular between the tubes defining the structure of the frame. This has the disadvantage, in addition to disfiguring the aesthetic appearance of the cycle, to impair the aerodynamics of the cycle and thus reduce the possible performance.
  • the invention is in this context of electric motors for pedaling assistance devices, by proposing an alternative to existing devices that offers a compact device, low power consumption, efficient and responsive to provide a comfort of assistance to the cyclist .
  • the invention proposes a motorized assistance device, in particular for pedaling a cycle, characterized in that it comprises a stator, a rotor and an assembly formed of a hollow shaft and a solid shaft arranged at the inside the hollow shaft and configured to be secured to each end of the actuating means by the user, the hollow shaft being integral in rotation on the one hand with the rotor and on the other hand with a drive plate .
  • the hollow shaft, the solid shaft, the rotor and the stator are arranged coaxially with each other;
  • the motor is external rotor, the solid and hollow shafts being housed inside the stator protruding axially from one side to the other of said stator;
  • the hollow shaft has a tube shape, comprising two parts connected by strips extending regularly around the tube along the lengthwise direction of the tube;
  • the hollow shaft has a first fixing portion integral with the rotor and the drive plate, and a second guide portion integral in rotation with the solid shaft;
  • the second guide portion is integral in rotation with the solid shaft via a freewheel;
  • the hollow shaft comprises, at one axial end, a flange for attachment to the drive plate and, on its periphery a fixing spacer to the rotor;
  • the engine comprises a force torque measurement device provided at the level of the actuating means by the user;
  • the measuring device comprises a magnet disposed on the external face of the hollow shaft, said hollow shaft being arranged inside an internal bore of the stator so that said magnet faces a measuring means. a magnetic field carried by a wall defining said internal bore of the stator.
  • Such a motorized assistance device may in particular be applied to assistance with pedaling, in which the actuating means integral with the ends of the solid shaft consist of pedals actuated by a cyclist and in which the drive plate consists of one or more pedals of the cycle crank.
  • the invention also relates to a cycle comprising a frame, a pedal and a motorized assistance pedaling device comprising an electric motor configured to drive in rotation at least one plate associated with the pedal, characterized in that the motor comprises a rotor / stator arranged so that the axis of rotation of the rotor is substantially coincident with the axis of rotation of the pedal.
  • the motorized assistance device may in particular be in accordance with what has just been described above and present one and / or the other listed characteristics.
  • the engine is associated with a battery and a control module, all of these components being housed within the cycle.
  • the motor, the battery and the control module can be housed inside at least one tube defining the structure of the frame, said motor being centered on the axis of the pedals.
  • control module may comprise linear motor control means as a function of the torque of the user's forces as measured by the magnetic measurement means.
  • FIG. 1 is a side view of a cycle frame on which diagrammatic representation of the implantation zones of various components of a motorized assistance device according to the invention has been schematically represented;
  • FIG. 2 is a diagrammatic perspective view of the motor forming part of the assistance device, said motor being arranged centered on the axis of the pedals and the pedals capable of equipping the cycle of FIG. 1;
  • FIG. 3 is a diagrammatic perspective view of the various elements constituting the motor of FIG. 2, in a partially exploded view;
  • FIG. 4 is a view similar to that of FIG. 3 with a different angle of view, from an axial end of the disc while in FIG. 3 the elements are seen from a proximal axial end;
  • FIG. 5 is a sectional view of the elements illustrated in Figures 3 and 4 and assembled to form the motor of Figure 2;
  • FIG. 6 is a schematic representation of a hollow shaft shown in Figures 3 to 5 and its arrangement around a solid shaft also shown in Figures 3 to 5, said solid shaft being secured at its ends of the cycle pedals .
  • the motorized assistance device is implemented as part of a pedal assistance device for a cycle. It will be understood that other applications could be provided as soon as the engine is in accordance with what will be described.
  • a pedaling assistance device 1 is arranged in the frame 2 of a cycle.
  • FIG l there is illustrated an embodiment of a frame structure of a cycle adapted to receive a power pedal assistance device according to the invention.
  • the frame 2 of the cycle has substantially the shape of a triangle with a diagonal tube 4, a vertical tube 6 and a horizontal tube 8, the junction between the down tube and the horizontal tube carrying a front suspension fork 10, the junction between the vertical tube and the horizontal tube being able to carry a saddle not shown here, and the junction between the vertical tube 6 and the diagonal tube 4 forming a node 12 through which extends a pedal axis 14, the associated pedal being visible in Figure 2.
  • the assistance device I according to the invention is disposed within a tube of the frame 2, in particular at the diagonal tube 4 of the frame.
  • the assistance device 1 comprises a motor 16, centered on the pedal axis 14 and the pedal axle, an electronic control module 18 and a battery 20. As shown schematically, these three components are arranged in three zones ZI, Z2, Z3 in series in the down tube, with the zone Z2 housing the control module disposed between the zone Z3 housing the battery and the zone ZI housing the motor.
  • FIG. 1 the type of frame structure illustrated in FIG. 1 is chosen arbitrarily and may differ without departing from the context of the invention, since the motor 16 is centered on the axis of the pedals and in the axis crankset, inside the tubes forming the frame.
  • at least one tube 4 is cut from a determined portion to give access to the interior volume that it defines and can accommodate the components of the assistance device 1 as they have just been listed , and that at least one tube is then, when the components of the device are in place and secured to the frame, the object of a welding operation to close the tube with said determined portion previously cut.
  • a component of the assistance device is not housed inside a tube forming the frame, and in particular the or one of the batteries, which can be attached to the frame, substantially in the same region as the motor and the electronic control module housed inside the cycle, it being understood that according to the invention, as will be detailed hereinafter, the motor should be centered on the pedal axis 14 and on the axis of the pedal plate, so as to have a direct action on the plate without reducing stage.
  • a man-machine interface 22 which allows the control of the assistance device via the control module 18.
  • An example will now be described, with reference to FIGS. 2 to 6.
  • embodiment of a motorized pedal assistance device 1 according to the invention which, as shown in Figure 2, is arranged on the common axis of the pedals and the at least one pedal plate.
  • the plate 24 is toothed to receive a transmission chain movements to the gears, not shown, integral with the rear wheel.
  • the pedals 26 each comprise an arm 28, one attachment end 30 is mounted on the common pedal axis 14 passing through the frame 2 and the free end 32 of actuation, is adapted to receive a footrest.
  • the rotation of the pedals by the action of the cyclist, generates a rotational movement of the solid shaft 34 (visible in particular in Figure 6 in its attachment with the pedals) which connects them through the cycle frame and participates rotation of the pedal and the rear wheel.
  • the engine 16 of the pedal assisting device comprises a housing 36 inside which are housed at least one rotor 38, a stator 40, and an assembly formed of at least one hollow shaft 42 and the solid shaft 34
  • the axis of the motor as the axis on which are substantially centered each of these components and which substantially corresponds to the pedal axis 14.
  • an end axial proximal 44 of the engine as the end opposite a first pedal and the plate or plates 24 of the pedal and a distal axial end 46 of the motor as the opposite axial end, facing the second pedal.
  • the housing 36 has a shape of revolution, centered on the common axis of the pedals crossing the frame.
  • This box is fixed inside the frame, for example by welding at one or more points at its cylindrical side wall 48.
  • This side wall has a hole 50 for the passage of cables from the control module 18 and the battery 20 in particular for controlling and feeding the engine.
  • the housing has an annular wall 52 disposed within the housing between the cable port 50 and the distal axial end 46 of the housing. This housing is closed at one end and its other end by two closure walls 54 which each have a central bore 56 and a shoulder 58.
  • the rotor 38 and the stator 40 are arranged so as to form an electronically commutated motor ("brushless" motor) with an external rotor, with coils arranged in the stator 40 and a rotor 38 able to rotate around the stator as a function of the power supply of the coils and the generated magnetic field.
  • an electronically commutated motor (brushless) motor) with an external rotor, with coils arranged in the stator 40 and a rotor 38 able to rotate around the stator as a function of the power supply of the coils and the generated magnetic field.
  • the external rotor arrangement is necessary for fixing the rotor to the hollow shaft in the arrangement described, but that the motor structure could be adapted to link the rotor to the hollow shaft with an internal rotor.
  • the use of an external rotor motor makes it possible to provide more torque and to provide better engine performance.
  • the stator 40 is a cylindrical piece with an internal bore 60 extending in the center of the stator over the entire height thereof, and notches 62 arranged axially parallel to the elongation direction of this central bore.
  • the winding son are housed in each of these slots 62, here the number of 12. It will be understood that this number can vary without departing from the context of the invention.
  • the internal bore of the stator carries measuring means 64, illustrated in Figure 5, a magnetic field facing the center of the bore.
  • the outer diameter of the stator is smaller than the inside diameter of the housing so as to accommodate the rotor, arranged around the stator.
  • the rotor 38 has a ring shape surrounding the stator 40, with an internal race carrying at least one permanent magnet 66 facing the outer face 68 of the stator. This magnet interacts with the magnetic fields formed by the feed current in the stator coils.
  • the rotor 38 has a transverse wall 70 arranged at a end, said transverse wall being provided with a central orifice 72 and a plurality of holes 74 regularly distributed around this central orifice.
  • the rotor is arranged in the motor so that the transverse wall 70 is turned towards the proximal axial end 44 of the motor.
  • two bearings 76 are provided axially on either side of the rotor / stator assembly. Each of these bearings is housed in the central bore 56 formed in each of the closing walls 54 of the housing, resting against the shoulders 58.
  • a fixing spacer 78 (visible in FIG. 5) is arranged axially between a first bearing and the transverse wall 70 of the rotor 38.
  • This spacer comprises an axial sleeve 80 radially extended at one end by a base 82, the spacer being arranged so that the sheath 80 extends parallel to the axis of the rotor / stator assembly and that the base 82 abuts against the transverse wall 70 of the rotor.
  • the spacer 78 is fixed on the transverse wall of the rotor by means of fastening means cooperating with the fixing holes 74 regularly distributed on the transverse wall.
  • the assembly formed by at least the hollow shaft 42 and the solid shaft 34 is disposed inside the stator, the hollow shaft being arranged around the solid shaft so that the hollow shaft 42 extends between the stator 40 and the solid shaft 34.
  • the outer diameter of the tube defining mainly the hollow shaft 42 is substantially equal to the internal diameter of the stator, and the inside diameter of this tube is determined to accommodate at least the solid shaft .
  • the inside diameter of the tube forming the hollow shaft 42 is adapted to accommodate the solid shaft 34 and a free wheel 84 arranged radially between the two shafts.
  • the freewheel 84 makes it possible to dissociate momentarily the rotations of the solid shaft and the hollow shaft when the rotational torque generated at the hollow shaft and the associated drive plates is greater than the torque generated at the pedals and the associated solid shaft, that is to say when the user can not pedal at a sufficient speed, for example downhill.
  • the free wheel 84 is particular in that it is arranged between the solid shaft and only a portion of the hollow shaft, as will be described below.
  • the hollow shaft 42 is integral on the one hand with the rotor 38 and on the other hand with at least one tray 24, while the solid shaft 34, disposed inside the hollow shaft, is integral with the pedals 26.
  • the solid shaft extends axially in the center of the engine and it protrudes from each side of the housing to be connected at each of its axial ends to the pedals.
  • the hollow shaft 42 has the shape of a tube extended at one of its axial ends by a collar 86. In mounted position, the hollow shaft tube is housed inside the stator 40 and also passes through each bearings 76 arranged against the stator. The flange 86 overlaps one of the bearings and protrudes from the proximal axial end 44 of the housing to serve for securing the hollow shaft 42 to the plate 24 of the crank.
  • the hollow shaft is deformable on a longitudinal edge, being composed, as is visible in FIGS. 3 to 6, of a first fastening portion 88 integral with the rotor 38 of the engine and the plate or plates 24 of the crankset, and a second guide portion 90 which is secured, via the free wheel 84, of the solid shaft 34, connected to the pedals 26.
  • the (or) free wheel (s) (s) are fixed on the part of the hollow shaft which is turned towards the distal axial end, opposite the pedal plate, that is to say on the guide portion 90 but not on the other part of the hollow shaft, that is to say the fixing portion 88.
  • the role of this freewheel is to allow the pedals to drive the pedal plate in a direction of rotation. When the pedals are rotated, the associated solid shaft is rotated and a torque is retransmitted to the hollow shaft and thus to the pedal plate.
  • FIG. 5 schematically illustrates a mechanical connection making the sleeve 80 integral with the spacer 78 and the hollow shaft 42 and the base 82 is pressed and fixed to the transverse wall 70 of the rotor 38.
  • the rotation of the drive plate can, conversely, in a mode of energy recovery whose trigger conditions will be described below, cause the rotor to rotate around the stator.
  • the tube of the hollow shaft 42 which is formed of two distinct parts, among which the first fastening portion 88, which comprises the flange 86 and which is fixed to the rotor 38, is made particularly visible.
  • second guide portion 90 on which is disposed at least one magnet 91.
  • the first attachment portion 88 is facing the proximal axial end 44 of the motor and the or the trays 24 of the pedal drive while the guide portion 90 is turned towards the distal axial end 46.
  • the guide portion extends inside the stator, in particular opposite the measuring means 64 of a magnetic field carried by the wall delimiting the internal bore of the stator 40. Between these two parts of the tube, axial bars 92 are formed by removal of material on the outer wall and / or on the inner wall of the tube forming the hollow shaft 42.
  • a magnetic rotary encoder able to determine a variation of the angular position of the rotor 38, is arranged at the periphery of the transverse wall 70.
  • This encoder comprises firstly a magnetic component supported by an electronic control card 94 extending radially with respect to the axis of revolution of the rotor, from the internal face of the cylindrical side wall 48 of the housing 36, and secondly a magnet extending in a continuous ring around the entire periphery of the transverse wall 70 of the rotor 38 (or a plurality of magnets 96 arranged step by step in a ring as shown in Figure 3).
  • the magnetic component of the encoder has a detection accuracy of the order of 5000 points / revolution.
  • At least the magnetic encoder and the magnetic field measurement means carried by the stator are part of a device for controlling the motorized assistance device as a function of the torque supplied by the cyclist: the rotational speed information and angular position of the rotor detected by this rotary encoder 94, 96, as well as by the means for measuring a magnetic field, are sent to means for calculating the control 18, which calculate by difference of the two measured positions for each of the parts of the tube a driving torque provided by the cyclist, the relative deformation of the two parts of the hollow shaft being proportional to the driving torque.
  • the study of this drive torque also with respect to the engine speed parameters given by the magnetic encoder and the motor current may be indicative of a need for pedaling assistance, and the control module is configured to generate instructions for driving. supply of the stator coils for the proper operation of the motor.
  • the control module notably comprises an engine mapping which makes it possible to associate a current intensity in the stator coils with each of the differential values of the driving torques.
  • the motorized assistance device is particularly advantageous in that the motor is centered on the axis whose rotation one wishes to assist, without a reduction stage. This is possible in particular with a specific dimensioning of the motor, such as it has an optimal operating point at low speed.
  • the control module determines a power to be applied to the motor.
  • the control module can determine the power to be applied according to an algorithm defining that the power applied to the engine must such that the engine power / pedal power ratio remains constant.
  • linear motor control means as a function of the measured torque. It will be understood that such an algorithm is given as an example and that others may be used without departing from the context of the invention.
  • the sensor means make it possible to detect that no torque is exerted by the cyclist and the control module can give an instruction to stop the power supply of the motor.
  • the rotor 38 continues to be rotated due to its attachment to the first attachment portion 88 of the hollow shaft 42, integral with the pedal, and the motor can thus operate in energy recovery to supply the battery connected to the engine .
  • This energy recovery during braking or slowing down of the cycle is made possible by the on-line arrangement of the motor and the pedal drive plate, that is to say the arrangement according to which the motor has an axis of rotation. revolution coincides with the axis of rotation of the drive plate. It is understood that in the case of the prior arts where a reduction stage is provided between the motor and the pedal, this reduction stage prevents optimal energy recovery.
  • a speed sensor can be installed on the solid shaft associated with the pedals to give an additional input parameter to the engine control module: for example, if the cyclist drives the bike to more than 25Km / h, the motor power can be cut off.
  • a pedal assistance device In the context of the application to a pedal assistance device, it can thus have a motor housed in the frame structure, that is to say within the tubes defining this structure, so as to be protected from bad weather and do not form unsightly wart.
  • the invention may extend to all modes and / or equivalent configurations and any technically operating combination of such modes and / or configurations.
  • the hollow shaft and the solid shaft are arranged one inside the other without intermediate free wheel. It is then necessary to provide a very efficient electronic control so as to cut off the engine power as soon as the cyclist stops exercising a torque on the pedals, to prevent the solid shaft is still rotated by the rotor through the hollow shaft.
  • This reactive electronic control is made possible by the setting up of very precise magnetic sensors, the detection value of 5000 points per revolution being given as an indication to illustrate this great precision.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

A motorised assistance device (1) comprises a stator (40), a rotor (38) and an assembly formed from a solid shaft (34) arranged inside the hollow shaft and configured to be rigidly attached at each end to an actuating means of the user. The hollow shaft (42) is constrained to rotate with the rotor (40) and at least one drive plate. The invention also relates to a cycle comprising a frame, a pedal assembly and a pedalling assistance device (1) comprising an electric motor (16) configured to rotate at least one plate associated with the pedal assembly. The motor (16) comprises a rotor/stator assembly arranged such that the axis of rotation of the rotor (40) is substantially coincident with the shaft of the pedals (14) and/or the shaft of the pedal assembly.

Description

DISPOSITIF D'ASSISTANCE MOTORISE, NOTAMMENT AU  MOTORIZED ASSISTANCE DEVICE, IN PARTICULAR
PEDALAGE, ET CYCLE ASSOCIE  PEDALAGE, AND ASSOCIATED CYCLE
La présence invention se rapporte au domaine des moteurs électriques dans le cadre de dispositifs d'assistance à l'entraînement d'un arbre, et notamment les dispositifs d'assistance au pédalage. The present invention relates to the field of electric motors in the context of assistance devices for driving a shaft, and in particular pedal assistance devices.
Dans ce domaine de l'assistance au pédalage, on connaît un certain nombre de dispositifs disponibles sur le marché qui peuvent agir au voisinage de la roue arrière, pour entraîner la roue directement ou par l'intermédiaire d'un système de réduction, ou au niveau du pédalier du vélo en utilisant un groupe motoréducteur. In this area of pedaling assistance, there are a number of devices available on the market that can act in the vicinity of the rear wheel, to drive the wheel directly or via a reduction system, or to bike pedal level using a geared motor unit.
Les dispositifs au niveau du pédalier sont rapportés et fixés sur le cadre, notamment entre les tubes définissant la structure du cadre. Ceci présente l'inconvénient, outre celui de défigurer l'aspect esthétique du cycle, de nuire à l'aérodynamisme du cycle et donc de réduire les performances possibles. The devices at the level of the pedal are reported and fixed on the frame, in particular between the tubes defining the structure of the frame. This has the disadvantage, in addition to disfiguring the aesthetic appearance of the cycle, to impair the aerodynamics of the cycle and thus reduce the possible performance.
L'invention s'inscrit dans ce contexte des moteurs électriques pour dispositifs d'assistance au pédalage, en proposant une alternative aux dispositifs existants qui offre un dispositif compact, à faible consommation électrique, efficace et réactif pour offrir un confort d'assistance au cycliste. The invention is in this context of electric motors for pedaling assistance devices, by proposing an alternative to existing devices that offers a compact device, low power consumption, efficient and responsive to provide a comfort of assistance to the cyclist .
L'invention propose un dispositif d'assistance motorisé, notamment au pédalage d'un cycle, caractérisé en ce qu'il comporte un stator, un rotor et un ensemble formé d'un arbre creux et d'un arbre plein agencé à l'intérieur de l'arbre creux et configuré pour être solidaire à chaque extrémité de moyens d'actionnement par l'utilisateur, l'arbre creux étant solidaire en rotation d'une part du rotor et d'autre part d'un plateau d'entraînement. The invention proposes a motorized assistance device, in particular for pedaling a cycle, characterized in that it comprises a stator, a rotor and an assembly formed of a hollow shaft and a solid shaft arranged at the inside the hollow shaft and configured to be secured to each end of the actuating means by the user, the hollow shaft being integral in rotation on the one hand with the rotor and on the other hand with a drive plate .
Selon différentes caractéristiques de l'invention, prises seules ou en combinaison : According to various features of the invention, taken alone or in combination:
- l'arbre creux, l'arbre plein, le rotor et le stator sont agencés coaxialement les uns aux autres ; - le moteur est à rotor externe, les arbres plein et creux étant logés à l'Intérieur du stator en dépassant axialement de pan et d'autre dudit stator ; - The hollow shaft, the solid shaft, the rotor and the stator are arranged coaxially with each other; - The motor is external rotor, the solid and hollow shafts being housed inside the stator protruding axially from one side to the other of said stator;
- l'arbre creux présente une forme de tube, comprenant deux parties reliées par des barrettes s'étendant régulièrement sur le pourtour du tube le long de la direction d'allongement du tube ; - The hollow shaft has a tube shape, comprising two parts connected by strips extending regularly around the tube along the lengthwise direction of the tube;
- l'arbre creux présente une première partie de fixation, solidaire du rotor et du plateau d'entraînement, et une deuxième partie de guidage solidaire en rotation de l'arbre plein ; - The hollow shaft has a first fixing portion integral with the rotor and the drive plate, and a second guide portion integral in rotation with the solid shaft;
• la deuxième partie de guidage est solidaire en rotation de l'arbre plein par l'intermédiaire d'une roue libre ; - l'arbre creux comporte, à une extrémité axiale, une collerette de fixation au plateau d'entraînement et, sur son pourtour une entretoise de fixation au rotor ; The second guide portion is integral in rotation with the solid shaft via a freewheel; - The hollow shaft comprises, at one axial end, a flange for attachment to the drive plate and, on its periphery a fixing spacer to the rotor;
- le moteur comporte un dispositif de mesure de couple d'effort fourni au niveau des moyens d'actionnement par l'utilisateur ; the engine comprises a force torque measurement device provided at the level of the actuating means by the user;
- le dispositif de mesure comporte un aimant disposé sur la face externe de l'arbre creux, ledit arbre creux étant agencé l'intérieur d'un alésage interne du stator de manière à ce que ledit aimant soit en regard d'un moyen de mesure d'un champ magnétique porté par une paroi délimitant ledit alésage interne du stator. the measuring device comprises a magnet disposed on the external face of the hollow shaft, said hollow shaft being arranged inside an internal bore of the stator so that said magnet faces a measuring means. a magnetic field carried by a wall defining said internal bore of the stator.
Un tel dispositif d'assistance motorisé peut notamment être appliqué à de l'assistance au pédalage, dans lequel les moyens d'actionnement solidaires des extrémités de l'arbre plein consistent en des pédales actionnés par un cycliste et dans lequel le plateau d'entraînement consiste en un ou plusieurs plateaux du pédalier du cycle. Such a motorized assistance device may in particular be applied to assistance with pedaling, in which the actuating means integral with the ends of the solid shaft consist of pedals actuated by a cyclist and in which the drive plate consists of one or more pedals of the cycle crank.
L'invention concerne également un cycle comportant un cadre, un pédalier et un dispositif d'assistance motorisé au pédalage comprenant un moteur électrique configuré pour entraîner en rotation au moins un plateau associé au pédalier, caractérisé en ce que le moteur comporte un ensemble rotor/stator agencé de sorte que l'axe de rotation du rotor est sensiblement confondu avec l'axe de rotation du pédalier. Le dispositif d'assistance motorisé pourra notamment être conforme à ce qui vient d'être décrit précédemment et présenter l'une et/ou l'autre des caractéristiques listées. The invention also relates to a cycle comprising a frame, a pedal and a motorized assistance pedaling device comprising an electric motor configured to drive in rotation at least one plate associated with the pedal, characterized in that the motor comprises a rotor / stator arranged so that the axis of rotation of the rotor is substantially coincident with the axis of rotation of the pedal. The motorized assistance device may in particular be in accordance with what has just been described above and present one and / or the other listed characteristics.
On pourra prévoir que le moteur est associé à une batterie et un module de commande, l'ensemble de ces composants étant logés dans le cadre du cycle. Notamment, le moteur, la batterie et le module de commande peuvent être logés à l'intérieur d'au moins un tube définissant la structure du cadre, ledit moteur étant centré sur l'axe des pédales. It can be expected that the engine is associated with a battery and a control module, all of these components being housed within the cycle. In particular, the motor, the battery and the control module can be housed inside at least one tube defining the structure of the frame, said motor being centered on the axis of the pedals.
Avantageusement, le module de commande peut comporter des moyens de pilotage linéaire du moteur en fonction du couple d'efforts de l'utilisateur tel que mesuré par les moyens de mesure magnétique. Advantageously, the control module may comprise linear motor control means as a function of the torque of the user's forces as measured by the magnetic measurement means.
D'autres caractéristiques, détails et avantages de l'invention ressortiront plus clairement à la lecture de la description donnée ci-après à titre indicatif en relation avec les figures suivantes : Other characteristics, details and advantages of the invention will emerge more clearly on reading the description given below as an indication in relation to the following figures:
- la figure 1 est une vue de côté d'un cadre de cycle sur lequel a été représenté schématiquemem des zones d'implantation de différents composants d'un dispositif d'assistance motorisé selon l'invention ;  FIG. 1 is a side view of a cycle frame on which diagrammatic representation of the implantation zones of various components of a motorized assistance device according to the invention has been schematically represented;
- la figure 2 est une vue schématique en perspective du moteur formant partie du dispositif d'assistance, ledit moteur étant agencé centré sur l'axe des pédales et du pédalier aptes à équiper le cycle de la figure 1 ;  FIG. 2 is a diagrammatic perspective view of the motor forming part of the assistance device, said motor being arranged centered on the axis of the pedals and the pedals capable of equipping the cycle of FIG. 1;
- la figure 3 est une vue schématique en perspective des différents éléments constituant le moteur de la figure 2, dans une vue partiellement éclatée ;  FIG. 3 is a diagrammatic perspective view of the various elements constituting the motor of FIG. 2, in a partially exploded view;
- la figure 4 est une vue semblable à celle de la figure 3 avec un angle de vue différent, depuis une extrémité axiale discale tandis que sur la figure 3, les éléments sont vus depuis une extrémité axiale proximale ;  FIG. 4 is a view similar to that of FIG. 3 with a different angle of view, from an axial end of the disc while in FIG. 3 the elements are seen from a proximal axial end;
- la figure 5 est une vue en coupe des éléments illustrés sur les figures 3 et 4 et assemblés pour former le moteur de la figure 2 ; et  - Figure 5 is a sectional view of the elements illustrated in Figures 3 and 4 and assembled to form the motor of Figure 2; and
- la figure 6 est une représentation schématique d'un arbre creux représenté sur les figures 3 à 5 et son agencement autour d'un arbre plein également représenté sur les figures 3 à 5, ledit arbre plein étant solidaire à ses extrémités des pédales du cycle. Dans la description détaillée qui va suivre, le dispositif d'assistance motorisé est mis en œuvre dans le cadre d'un dispositif d'assistance au pédalage d'un cycle. On comprendra que d'autres applications pourraient être prévues dès lors que le moteur est conforme à ce qui va être décrit. - Figure 6 is a schematic representation of a hollow shaft shown in Figures 3 to 5 and its arrangement around a solid shaft also shown in Figures 3 to 5, said solid shaft being secured at its ends of the cycle pedals . In the following detailed description, the motorized assistance device is implemented as part of a pedal assistance device for a cycle. It will be understood that other applications could be provided as soon as the engine is in accordance with what will be described.
Selon l'invention, on agence un dispositif d'assistance motorisé au pédalage 1 dans le cadre 2 d'un cycle. Sur la figure l, on a illustré un exemple de réalisation d'une structure de cadre d'un cycle apte à recevoir un dispositif d'assistance au pédalage motorisé selon l'invention. Le cadre 2 du cycle présente sensiblement la forme d'un triangle avec un tube diagonal 4, un tube vertical 6 et un tube horizontal 8, la jonction entre le tube diagonal et le tube horizontal portant une fourche de suspension avant 10, la jonction entre le tube vertical et le tube horizontal étant apte à porter une selle ici non représentée, et la jonction entre le tube vertical 6 et le tube diagonal 4 formant un nœud 12 à travers lequel s'étend un axe de pédales 14, le pédalier associé étant visible sur la figure 2. Le dispositif d'assistance I selon l'invention est disposé à l'intérieur d'un tube du cadre 2, notamment au niveau du tube diagonal 4 du cadre. According to the invention, a pedaling assistance device 1 is arranged in the frame 2 of a cycle. In Figure l, there is illustrated an embodiment of a frame structure of a cycle adapted to receive a power pedal assistance device according to the invention. The frame 2 of the cycle has substantially the shape of a triangle with a diagonal tube 4, a vertical tube 6 and a horizontal tube 8, the junction between the down tube and the horizontal tube carrying a front suspension fork 10, the junction between the vertical tube and the horizontal tube being able to carry a saddle not shown here, and the junction between the vertical tube 6 and the diagonal tube 4 forming a node 12 through which extends a pedal axis 14, the associated pedal being visible in Figure 2. The assistance device I according to the invention is disposed within a tube of the frame 2, in particular at the diagonal tube 4 of the frame.
Le dispositif d'assistance 1 comporte un moteur 16, centré sur l'axe de pédales 14 et l'axe de pédalier, un module électronique de commande 18 et une batterie d'alimentation 20. Tel qu'illustré schématiquement, ces trois composants sont agencés en trois zones ZI ,Z2,Z3 en série dans le tube diagonal, avec la zone Z2 logeant le module de commande disposée entre la zone Z3 logeant la batterie et la zone ZI logeant le moteur. The assistance device 1 comprises a motor 16, centered on the pedal axis 14 and the pedal axle, an electronic control module 18 and a battery 20. As shown schematically, these three components are arranged in three zones ZI, Z2, Z3 in series in the down tube, with the zone Z2 housing the control module disposed between the zone Z3 housing the battery and the zone ZI housing the motor.
On comprendra que le type de structure de cadre illustré sur la figure 1 est choisi à titre arbitraire et pourra différer sans sortir du contexte de l'invention, dès lors que le moteur 16 est centré sur l'axe des pédales et dans l'axe du pédalier, à l'intérieur des tubes formant le cadre. A cet effet, on comprend qu'au moins un tube 4 est découpé d'une portion déterminée pour donner accès au volume intérieur qu'il définit et pouvoir loger les composants du dispositif d'assistance 1 tels qu'ils viennent d'être listés, et que ce au moins un tube fait ensuite, lorsque les composants du dispositif sont en place et rendus solidaire du cadre, l'objet d'une opération de soudage pour refermer le tube avec ladite portion déterminée préalablement découpée. On pourra prévoir dans un variante de réalisation qu'un composant du dispositif d'assistance n'est pas logé à l'intérieur d'un tube formant le cadre, et notamment la ou une des batteries, qui peut être rapportée sur le cadre, sensiblement dans la même région que le moteur et le module électronique de commande logés à l'intérieur du cycle, étant entendu que selon l'invention, tel que cela va être détaillé ci-après, il convient que le moteur soit centré sur l'axe de pédales 14 et sur l'axe du plateau du pédalier, afin d'avoir une action directe sur le plateau sans étage de réduction. It will be understood that the type of frame structure illustrated in FIG. 1 is chosen arbitrarily and may differ without departing from the context of the invention, since the motor 16 is centered on the axis of the pedals and in the axis crankset, inside the tubes forming the frame. For this purpose, it is understood that at least one tube 4 is cut from a determined portion to give access to the interior volume that it defines and can accommodate the components of the assistance device 1 as they have just been listed , and that at least one tube is then, when the components of the device are in place and secured to the frame, the object of a welding operation to close the tube with said determined portion previously cut. It may be provided in an alternative embodiment that a component of the assistance device is not housed inside a tube forming the frame, and in particular the or one of the batteries, which can be attached to the frame, substantially in the same region as the motor and the electronic control module housed inside the cycle, it being understood that according to the invention, as will be detailed hereinafter, the motor should be centered on the pedal axis 14 and on the axis of the pedal plate, so as to have a direct action on the plate without reducing stage.
Au niveau du guidon, ici non représenté, on prévoit une interface homme machine 22 qui permet le contrôle du dispositif d'assistance via le module de commande 18. On va maintenant décrire, en s'appuyant sur les figures 2 à 6, un exemple de réalisation d'un dispositif d'assistance au pédalage motorisé 1 selon l'invention qui, tel que visible sur la figure 2, est agencé sur l'axe commun des pédales et du au moins un plateau du pédalier. Le plateau 24 est denté pour recevoir une chaîne de transmission des mouvements aux pignons, non représentés, solidaires de la roue arrière. Les pédales 26 comportent chacun un bras 28 dont une extrémité de fixation 30 est montée sur l'axe de pédales 14 commun traversant le cadre 2 et dont l'extrémité libre 32, d'actionnement, est apte à recevoir un repose-pied. La mise en rotation des pédales, par l'action du cycliste, génère un mouvement de rotation de l'arbre plein 34 (visible notamment sur la figure 6 dans sa fixation avec les pédales) qui les relie en traversant le cadre du cycle et participe au mouvement de rotation du pédalier et de la roue arrière. Le moteur 16 du dispositif d'assistance au pédalage comporte un boîtier 36 à l'intérieur duquel sont logés au moins un rotor 38, un stator 40, et un ensemble formé d'au moins un arbre creux 42 et de l'arbre plein 34. Dans la description qui va suivre du moteur, on définira l'axe du moteur comme l'axe sur lequel sont sensiblement centrés chacun de ces composants et qui correspond sensiblement à l'axe de pédales 14. Et on définira à titre arbitraire une extrémité axiale proximale 44 du moteur comme l'extrémité en regard d'une première pédale et du ou des plateaux 24 du pédalier et une extrémité axiale distale 46 du moteur comme l'extrémité axiale opposée, en regard de la deuxième pédale. At the handlebar, not shown here, there is provided a man-machine interface 22 which allows the control of the assistance device via the control module 18. An example will now be described, with reference to FIGS. 2 to 6. embodiment of a motorized pedal assistance device 1 according to the invention which, as shown in Figure 2, is arranged on the common axis of the pedals and the at least one pedal plate. The plate 24 is toothed to receive a transmission chain movements to the gears, not shown, integral with the rear wheel. The pedals 26 each comprise an arm 28, one attachment end 30 is mounted on the common pedal axis 14 passing through the frame 2 and the free end 32 of actuation, is adapted to receive a footrest. The rotation of the pedals, by the action of the cyclist, generates a rotational movement of the solid shaft 34 (visible in particular in Figure 6 in its attachment with the pedals) which connects them through the cycle frame and participates rotation of the pedal and the rear wheel. The engine 16 of the pedal assisting device comprises a housing 36 inside which are housed at least one rotor 38, a stator 40, and an assembly formed of at least one hollow shaft 42 and the solid shaft 34 In the following description of the engine, define the axis of the motor as the axis on which are substantially centered each of these components and which substantially corresponds to the pedal axis 14. And we will arbitrarily define an end axial proximal 44 of the engine as the end opposite a first pedal and the plate or plates 24 of the pedal and a distal axial end 46 of the motor as the opposite axial end, facing the second pedal.
Le boîtier 36 présente une forme de révolution, centrée sur l'axe commun des pédales traversant le cadre. Ce bottier est fixé à l'intérieur du cadre, par exemple par soudage en un ou plusieurs points au niveau de sa paroi latérale cylindrique 48. Cette paroi latérale comporte un orifice 50 permettant le passage de câbles en provenance du module de commande 18 et de la batterie 20 notamment pour le pilotage et l'alimentation du moteur. Le boîtier comporte une paroi annulaire 52 agencée à l'intérieur du boîtier entre l'orifice de passage de câble 50 et l'extrémité axiale distale 46 du boîtier. Ce boîtier est fermé à Tune et l'autre de ses extrémités axiales par deux parois de fermeture 54 qui présentent chacune un alésage central 56 et un épaulement 58. The housing 36 has a shape of revolution, centered on the common axis of the pedals crossing the frame. This box is fixed inside the frame, for example by welding at one or more points at its cylindrical side wall 48. This side wall has a hole 50 for the passage of cables from the control module 18 and the battery 20 in particular for controlling and feeding the engine. The housing has an annular wall 52 disposed within the housing between the cable port 50 and the distal axial end 46 of the housing. This housing is closed at one end and its other end by two closure walls 54 which each have a central bore 56 and a shoulder 58.
Le rotor 38 et le stator 40 sont agencés de manière à former un moteur à commutation électronique (dit moteur « brushless ») à rotor externe, avec des bobines agencées dans le stator 40 et un rotor 38 apte à tourner autour du stator en fonction de l'alimentation électrique des bobines et du champ magnétique généré. On comprendra que la disposition à rotor externe est nécessaire à la fixation du rotor à l'arbre creux dans l'agencement décrit, mais que l'on pourrait adapter la structure du moteur pour lier le rotor à l'arbre creux avec un rotor interne. Toutefois, la mise en oeuvre d'un moteur à rotor externe permet de fournir plus de couple et de proposer un meilleur rendement du moteur. The rotor 38 and the stator 40 are arranged so as to form an electronically commutated motor ("brushless" motor) with an external rotor, with coils arranged in the stator 40 and a rotor 38 able to rotate around the stator as a function of the power supply of the coils and the generated magnetic field. It will be understood that the external rotor arrangement is necessary for fixing the rotor to the hollow shaft in the arrangement described, but that the motor structure could be adapted to link the rotor to the hollow shaft with an internal rotor. . However, the use of an external rotor motor makes it possible to provide more torque and to provide better engine performance.
Le stator 40 est une pièce cylindrique avec un alésage interne 60 s' étendant au centre du stator sur toute la hauteur de celui-ci, et des encoches 62 agencées axialement, parallèlement à la direction d'allongement de cet alésage central. Les fils formant bobinage sont logés dans chacune de ces encoches 62, ici au nombre de 12. On comprendra que ce nombre peur varier sans sortir du contexte de l'invention. L'alésage interne du stator porte des moyens de mesure 64, illustrés sur la figure 5, d'un champ magnétique tournés vers le centre de l'alésage. Le diamètre extérieur du stator est inférieur au diamètre interne du boîtier de manière à pouvoir loger le rotor, agencé autour du stator. The stator 40 is a cylindrical piece with an internal bore 60 extending in the center of the stator over the entire height thereof, and notches 62 arranged axially parallel to the elongation direction of this central bore. The winding son are housed in each of these slots 62, here the number of 12. It will be understood that this number can vary without departing from the context of the invention. The internal bore of the stator carries measuring means 64, illustrated in Figure 5, a magnetic field facing the center of the bore. The outer diameter of the stator is smaller than the inside diameter of the housing so as to accommodate the rotor, arranged around the stator.
Le rotor 38 présente une forme de bague entourant le stator 40, avec une race interne porteuse d'au moins un aimant permanent 66 se trouvant en regard de la face externe 68 du stator. Cet aimant interagit avec les champs magnétiques formés par le courant d'alimentation dans les bobines du stator. Le rotor 38 comporte une paroi transversale 70 disposée à une extrémité, ladite paroi transversale étant munie d'un orifice central 72 et d'une pluralité de trous 74 répartis régulièrement autour de cet orifice central. Le rotor est agencé dans le moteur de sorte que la paroi transversale 70 est tournée du côté de l'extrémité axiale proximale 44 du moteur. Par ailleurs, on prévoit deux roulements 76 disposés axialement de part et d'autre de l'ensemble rotor/stator. Chacun de ces roulements vient se loger dans l'alésage central 56 formé dans chacune des parois de fermeture 54 du boîtier, en appui contre les épaulements 58. The rotor 38 has a ring shape surrounding the stator 40, with an internal race carrying at least one permanent magnet 66 facing the outer face 68 of the stator. This magnet interacts with the magnetic fields formed by the feed current in the stator coils. The rotor 38 has a transverse wall 70 arranged at a end, said transverse wall being provided with a central orifice 72 and a plurality of holes 74 regularly distributed around this central orifice. The rotor is arranged in the motor so that the transverse wall 70 is turned towards the proximal axial end 44 of the motor. In addition, two bearings 76 are provided axially on either side of the rotor / stator assembly. Each of these bearings is housed in the central bore 56 formed in each of the closing walls 54 of the housing, resting against the shoulders 58.
Une entretoise de fixation 78 (visible sur la figure 5) est disposée axialement entre un premier roulement et la paroi transversale 70 du rotor 38. Cette entretoise comporte un fourreau axial 80 prolongé radialement à une extrémité par une embase 82, l'entretoise étant agencée de sorte que le fourreau 80 s'étend parallèlement à l'axe de l'ensemble rotor/stator et que l'embase 82 vient en appui contre la paroi transversale 70 du rotor. On fixe l'entretoise 78 sur la paroi transversale du rotor par l'intermédiaire de moyens de fixation coopérant avec les trous de fixation 74 répartis régulièrement sur la paroi transversale. L'ensemble formé par au moins l'arbre creux 42 et l'arbre plein 34 est disposé à l'intérieur du stator, l'arbre creux étant agencé autour de l'arbre plein de sorte que l'arbre creux 42 s'étend entre le stator 40 et l'arbre plein 34. Le diamètre extérieur du tube définissant principalement l'arbre creux 42 est sensiblement égal au diamètre intérieur du stator, et le diamètre intérieur de ce tube est lui déterminé pour loger au moins l'arbre plein. Dans le mode de réalisation illustré, le diamètre intérieur du tube formant l'arbre creux 42 est adapté pour loger l'arbre plein 34 et une roue libre 84 agencée radialement entre les deux arbres. De façon connue, la roue libre 84 permet de dissocier momentanément les rotations de l'arbre plein et de l'arbre creux lorsque le couple en rotation généré au niveau de l'arbre creux et des plateaux d'entraînement associés est plus imponant que le couple généré au niveau des pédales et de l'arbre plein associé, c'est-à-dire lorsque l'utilisateur ne peut pédaler à une vitesse suffisante, par exemple en descente. Selon l'invention, la roue libre 84 est particulière en ce qu'elle est agencée entre l'arbre plein et seulement une partie de l'arbre creux, tel que cela va être décrit ci-dessous. A fixing spacer 78 (visible in FIG. 5) is arranged axially between a first bearing and the transverse wall 70 of the rotor 38. This spacer comprises an axial sleeve 80 radially extended at one end by a base 82, the spacer being arranged so that the sheath 80 extends parallel to the axis of the rotor / stator assembly and that the base 82 abuts against the transverse wall 70 of the rotor. The spacer 78 is fixed on the transverse wall of the rotor by means of fastening means cooperating with the fixing holes 74 regularly distributed on the transverse wall. The assembly formed by at least the hollow shaft 42 and the solid shaft 34 is disposed inside the stator, the hollow shaft being arranged around the solid shaft so that the hollow shaft 42 extends between the stator 40 and the solid shaft 34. The outer diameter of the tube defining mainly the hollow shaft 42 is substantially equal to the internal diameter of the stator, and the inside diameter of this tube is determined to accommodate at least the solid shaft . In the illustrated embodiment, the inside diameter of the tube forming the hollow shaft 42 is adapted to accommodate the solid shaft 34 and a free wheel 84 arranged radially between the two shafts. In known manner, the freewheel 84 makes it possible to dissociate momentarily the rotations of the solid shaft and the hollow shaft when the rotational torque generated at the hollow shaft and the associated drive plates is greater than the torque generated at the pedals and the associated solid shaft, that is to say when the user can not pedal at a sufficient speed, for example downhill. According to the invention, the free wheel 84 is particular in that it is arranged between the solid shaft and only a portion of the hollow shaft, as will be described below.
L'arbre creux 42 est solidaire d'une part du rotor 38 et d'autre part d'au moins un plateau 24 d'entraînement du pédalier, tandis que l'arbre plein 34, disposé à l'intérieur de l'arbre creux, est solidaire des pédales 26. A cet effet, l'arbre plein s'étend axialement au centre du moteur et il dépasse de chaque côté du boîtier pour être relié à chacune de ses extrémités axiales aux pédales. The hollow shaft 42 is integral on the one hand with the rotor 38 and on the other hand with at least one tray 24, while the solid shaft 34, disposed inside the hollow shaft, is integral with the pedals 26. For this purpose, the solid shaft extends axially in the center of the engine and it protrudes from each side of the housing to be connected at each of its axial ends to the pedals.
L'arbre creux 42 présente la forme d'un tube prolongé à l'une de ses extrémités axiales par une collerette 86. En position montée, le tube de l'arbre creux est logé à l'intérieur du stator 40 et traverse également chacun des roulements 76 agencés contre le stator. La collerette 86 vient en recouvrement d'un des roulements et elle dépasse de l'extrémité axiale proximale 44 du boîtier pour servir à la fixation de l'arbre creux 42 sur le plateau 24 du pédalier. The hollow shaft 42 has the shape of a tube extended at one of its axial ends by a collar 86. In mounted position, the hollow shaft tube is housed inside the stator 40 and also passes through each bearings 76 arranged against the stator. The flange 86 overlaps one of the bearings and protrudes from the proximal axial end 44 of the housing to serve for securing the hollow shaft 42 to the plate 24 of the crank.
L'arbre creux est déformable sur une tranche longitudinale, en étant composé, tel quel visible sur les figures 3 à 6, d'une première partie de fixation 88, solidaire du rotor 38 du moteur et du ou des plateaux 24 du pédalier, et d'une deuxième partie de guidage 90 qui est solidaire, par l'intermédiaire de la roue libre 84, de l'arbre plein 34, relié aux pédales 26. On comprend que la (ou les) roue(s) libre(s) sont fixée(s) sur la partie de l'arbre creux qui est tournée vers l'extrémité axiale distale, à l'opposé du plateau du pédalier, c'est-à-dire sur la partie de guidage 90 mais pas sur l'autre partie de l'arbre creux, c'est-à-dire la partie de fixation 88. On comprend que le rôle de cette roue libre est de permettre aux pédales d'entraîner le plateau du pédalier dans un sens de rotation. Lorsque les pédales sont entraînées en rotation, l'arbre plein associé est en rotation et un couple est retransmis à l'arbre creux et donc au plateau du pédalier. The hollow shaft is deformable on a longitudinal edge, being composed, as is visible in FIGS. 3 to 6, of a first fastening portion 88 integral with the rotor 38 of the engine and the plate or plates 24 of the crankset, and a second guide portion 90 which is secured, via the free wheel 84, of the solid shaft 34, connected to the pedals 26. It is understood that the (or) free wheel (s) (s) are fixed on the part of the hollow shaft which is turned towards the distal axial end, opposite the pedal plate, that is to say on the guide portion 90 but not on the other part of the hollow shaft, that is to say the fixing portion 88. It is understood that the role of this freewheel is to allow the pedals to drive the pedal plate in a direction of rotation. When the pedals are rotated, the associated solid shaft is rotated and a torque is retransmitted to the hollow shaft and thus to the pedal plate.
L'arbre creux 42 est rendu solidaire du rotor 38 par l'intermédiaire de l'entretoise de fixation 78, au niveau de la première partie de fixation 88. On a illustré schématiquemem sur la figure 5 une liaison mécanique rendant solidaire le fourreau 80 de l'entretoise 78 et l'arbre creux 42 et l'embase 82 est plaquée et fixée à la paroi transversale 70 du rotor 38. On comprend ainsi que le plateau d'entraînement peut être entraîné en rotation par l'arbre creux, aussi bien lorsque . celui-ci est entraîné par l'intermédiaire de l'arbre plein et de la roue libre en prise, que lorsque celui-ci est entraîné en rotation par le rotor, ledit arbre creux pouvant avantageusement être dissocié de l'arbre plein. On comprend en outre que la rotation du plateau d'entraînement peut à l'inverse, dans un mode de récupération d'énergie dont les conditions de déclenchement seront décrites ci-après, entraîner la rotation du rotor autour du stator. Sur la figure 6, on a rendu particulièrement visible le tube de l'arbre creux 42, qui est formé de deux parties distinctes parmi lesquelles la première partie de fixation 88, qui comporte la collerette 86 et qui est fixée au rotor 38, et la deuxième partie de guidage 90, sur laquelle est disposé au moins un aimant 91. La première partie de fixation 88 est tournée vers l'extrémité axiale proximale 44 du moteur et le ou les plateaux 24 d'entraînement du pédalier tandis que la partie de guidage 90 est tournée vers l'extrémité axiale distale 46. La partie de guidage s'étend à l'intérieur du stator notamment en regard des moyens de mesure 64 d'un champ magnétique portés par la paroi délimitant l'alésage interne du stator 40. Entre ces deux parties du tube, des barrettes axiales 92 sont formées par retrait de matière sur la paroi externe et/ou sur la paroi interne du tube formant l'arbre creux 42. The hollow shaft 42 is secured to the rotor 38 by means of the fixing spacer 78, at the level of the first fastening portion 88. FIG. 5 schematically illustrates a mechanical connection making the sleeve 80 integral with the spacer 78 and the hollow shaft 42 and the base 82 is pressed and fixed to the transverse wall 70 of the rotor 38. It is thus understood that the drive plate can be rotated by the hollow shaft, as well as when . it is driven by means of the solid shaft and the free wheel in engagement, that when it is rotated by the rotor, said hollow shaft can advantageously be dissociated from the solid shaft. It is furthermore understood that the rotation of the drive plate can, conversely, in a mode of energy recovery whose trigger conditions will be described below, cause the rotor to rotate around the stator. In FIG. 6, the tube of the hollow shaft 42, which is formed of two distinct parts, among which the first fastening portion 88, which comprises the flange 86 and which is fixed to the rotor 38, is made particularly visible. second guide portion 90, on which is disposed at least one magnet 91. The first attachment portion 88 is facing the proximal axial end 44 of the motor and the or the trays 24 of the pedal drive while the guide portion 90 is turned towards the distal axial end 46. The guide portion extends inside the stator, in particular opposite the measuring means 64 of a magnetic field carried by the wall delimiting the internal bore of the stator 40. Between these two parts of the tube, axial bars 92 are formed by removal of material on the outer wall and / or on the inner wall of the tube forming the hollow shaft 42.
La présence de ces barrettes 92 permet, tel que cela sera décrit ci-après, une déformation relative de l'une des parties du tube par rapport à l'autre en rotation, autour de l'axe d'allongement de l'arbre creux. Alors que la roue libre 84 n'est fixée que sur l'une des parues de l'arbre creux, à savoir la partie de fixation 90, l'entraînement entre les deux parties de l'arbre creux se fait par l'intermédiaire du système déformable formé par les barrettes 92. The presence of these bars 92 allows, as will be described hereinafter, a relative deformation of one of the parts of the tube relative to the other in rotation, about the axis of elongation of the hollow shaft . While the freewheel 84 is fixed only on one of the parts of the hollow shaft, namely the fixing part 90, the drive between the two parts of the hollow shaft is done via the deformable system formed by the bars 92.
Un codeur rotatif magnétique, apte à déterminer une variation de la position angulaire du rotor 38, est agencé à la périphérie de la paroi transversale 70. Ce codeur comporte d'une part un composant magnétique supporté par une carte électronique de commande 94 s'étendant radialement par rapport à l'axe de révolution du rotor, depuis la face interne de la paroi latérale cylindrique 48 du boîtier 36, et d'autre part un aimant s'étendant en un anneau continu sur tout le pourtour de la paroi transversale 70 du rotor 38 (ou une pluralité d'aimants 96 disposés de proche en proche en un anneau tel qu'illustré sur la figure 3). Le composant magnétique du codeur est d'une précision de détection de l'ordre de 5000 points/ tour. A magnetic rotary encoder, able to determine a variation of the angular position of the rotor 38, is arranged at the periphery of the transverse wall 70. This encoder comprises firstly a magnetic component supported by an electronic control card 94 extending radially with respect to the axis of revolution of the rotor, from the internal face of the cylindrical side wall 48 of the housing 36, and secondly a magnet extending in a continuous ring around the entire periphery of the transverse wall 70 of the rotor 38 (or a plurality of magnets 96 arranged step by step in a ring as shown in Figure 3). The magnetic component of the encoder has a detection accuracy of the order of 5000 points / revolution.
On comprend qu'au moins le codeur magnétique et les moyens de mesure du champ magnétique portés par le stator font partie d'un dispositif de pilotage du dispositif d'assistance motorisé en fonction du couple fourni par le cycliste : les informations de vitesse de rotation et de position angulaire du rotor relevées par ce codeur rotatif 94,96, ainsi que les par les moyens de mesure d'un champ magnétique, sont envoyées vers des moyens de calcul du module de commande 18, qui calculent par différence des deux positions mesurées pour chacune des parties du tube un couple d'entraînement fourni par le cycliste, la déformation relative des deux parties de l'arbre creux étant proportionnelle au couple d'entraînement. It is understood that at least the magnetic encoder and the magnetic field measurement means carried by the stator are part of a device for controlling the motorized assistance device as a function of the torque supplied by the cyclist: the rotational speed information and angular position of the rotor detected by this rotary encoder 94, 96, as well as by the means for measuring a magnetic field, are sent to means for calculating the control 18, which calculate by difference of the two measured positions for each of the parts of the tube a driving torque provided by the cyclist, the relative deformation of the two parts of the hollow shaft being proportional to the driving torque.
L'étude de ce couple d'entraînement par rapport aussi aux paramètres vitesse moteur donné par le codeur magnétique et courant du moteur peut être révélatrice d'un besoin d'assistance au pédalage, et le module de commande est configuré pour générer des instructions d'alimentation des bobines du stator pour le fonctionnement adéquat du moteur. Le module de commande comporte notamment une cartographie moteur qui permet d'associer une intensité de courant dans les bobines du stator à chacune des valeurs différentielles des couples d'entraînement. The study of this drive torque also with respect to the engine speed parameters given by the magnetic encoder and the motor current may be indicative of a need for pedaling assistance, and the control module is configured to generate instructions for driving. supply of the stator coils for the proper operation of the motor. The control module notably comprises an engine mapping which makes it possible to associate a current intensity in the stator coils with each of the differential values of the driving torques.
A la lecture de ce qui précède, on comprend que le dispositif d'assistance motorisé selon l'invention est particulièrement avantageux en ce que le moteur est centré sur l'axe dont on souhaite assister la rotation, sans étage de réduction. Ceci est notamment possible avec un dimensionnement spécifique du moteur, tel qu'il présente un point de fonctionnement optimal à faible vitesse. On reading the foregoing, it will be understood that the motorized assistance device according to the invention is particularly advantageous in that the motor is centered on the axis whose rotation one wishes to assist, without a reduction stage. This is possible in particular with a specific dimensioning of the motor, such as it has an optimal operating point at low speed.
On va maintenant décrire un mode d'utilisation du dispositif d'assistance au pédalage selon l'invention. We will now describe a mode of use of the pedal assistance device according to the invention.
Au démarrage, le cycliste appuie sur une pédale 26, et le moteur 16 n'est pas alimenté donc ne fournit pas de couple. La roue étant entraînée sous l'effet du pédalage du cycliste, un couple apparaît et ce couple est mesuré lors du passage d'au moins un aimant 91 devant les moyens de mesure 64 de champ magnétique. At startup, the cyclist presses a pedal 26, and the motor 16 is not powered so does not provide torque. The wheel being driven under the effect of pedaling the cyclist, a torque appears and this torque is measured during the passage of at least one magnet 91 in front of the magnetic field measuring means 64.
A ce stade, le module de commande détermine une puissance à appliquer au moteur. A titre d'exemple, le module de commande pourra déterminer la puissance à appliquer en fonction d'un algorithme définissant que la puissance appliquée au moteur doit telle que le rapport puissance moteur / puissance pédaleur reste constant. En cela, on dispose de moyens de pilotage linéaire du moteur en fonction du couple mesuré. On comprendra qu'un tel algorithme est cité à titre d'exemple et que d'autres pourront être utilisés sans sortir du contexte de l'invention. Lorsque le cycliste arrête de pédaler, ou qu'il pédale à une vitesse de rotation inférieure à la vitesse de rotation du pédalier, la roue libre 84 agencée entre l'arbre creux 42 et l'arbre plein 34 permet de désolidariser les pédales 26 du moteur 16. At this point, the control module determines a power to be applied to the motor. For example, the control module can determine the power to be applied according to an algorithm defining that the power applied to the engine must such that the engine power / pedal power ratio remains constant. In this, one has linear motor control means as a function of the measured torque. It will be understood that such an algorithm is given as an example and that others may be used without departing from the context of the invention. When the cyclist stops pedaling or pedaling at a speed of rotation less than the speed of rotation of the pedal, the free wheel 84 arranged between the hollow shaft 42 and the solid shaft 34 allows the pedal 26 to be detached. engine 16.
Les moyens capteurs permettent de détecter qu'aucun couple n'est exercé par le cycliste et le module de commande peut donner une instruction d'arrêt d'alimentation du moteur. Le rotor 38 continue à être entraîné en rotation du fait de sa fixation sur la première partie de fixation 88 de l'arbre creux 42, solidaire du pédalier, et le moteur peut ainsi fonctionner en récupération d'énergie pour alimenter la batterie reliée au moteur. Cette récupération d'énergie lors du freinage ou ralentissement du cycle est rendu possible par l'agencement en ligne du moteur et du plateau d'entraînement du pédalier, c'est-à-dire l'agencement selon lequel le moteur présente un axe de révolution confondu avec l'axe de rotation du plateau d'entraînement. On comprend que dans le cas des arts antérieurs où un étage de réduction est prévu entre le moteur et le pédalier, cet étage de réduction empêche une récupération d'énergie optimale. The sensor means make it possible to detect that no torque is exerted by the cyclist and the control module can give an instruction to stop the power supply of the motor. The rotor 38 continues to be rotated due to its attachment to the first attachment portion 88 of the hollow shaft 42, integral with the pedal, and the motor can thus operate in energy recovery to supply the battery connected to the engine . This energy recovery during braking or slowing down of the cycle is made possible by the on-line arrangement of the motor and the pedal drive plate, that is to say the arrangement according to which the motor has an axis of rotation. revolution coincides with the axis of rotation of the drive plate. It is understood that in the case of the prior arts where a reduction stage is provided between the motor and the pedal, this reduction stage prevents optimal energy recovery.
Un capteur de vitesse peut être installé sur l'arbre plein associé aux pédales pour donner un paramètre d'entrée supplémentaire au module de commande du moteur : à titre d'exemple, si le cycliste entraine le vélo à plus de 25Km/h, l'alimentation du moteur peut être coupée. A speed sensor can be installed on the solid shaft associated with the pedals to give an additional input parameter to the engine control module: for example, if the cyclist drives the bike to more than 25Km / h, the motor power can be cut off.
La description qui précède explique comment l'invention permet d'atteindre les objectifs qu'elle s'est fixés et notamment de proposer un dispositif d'assistance à la rotation d'un arbre par la mise en place d'un moteur à rotor externe centré sur cet arbre. Le fait d'avoir un moteur centré sur l'axe rotatif permet un entraînement direct, sans étage de réduction, ce qui permet d'une part d'optimiser l'énergie à fournir par la batterie, et ce qui permet d'autre part de récupérer le cas échéant de l'énergie lorsque le moteur électrique à rotor externe n'est pas sollicité, étant entendu que ces deux caractéristiques permettent de jouer sur le dimensionnemenc de la batterie à associer au dispositif. Dans le cadre de l'application à un dispositif d'assistance au pédalage, on peut ainsi avoir un moteur logé dans la structure du cadre, c'est-à-dire à l'intérieur des tubes définissant cette structure, de manière à être protégé des intempéries et ne pas former de verrue disgracieuse. Dans ce double contexte d'agencement du moteur et du dispositif d'assistance associé, l'invention peut s'étendre à tous modes et/ou configurations équivalents et à toute combinaison techniquement opérante de tels modes et/ou configurations. En particulier, on prévoir une variante de réalisation selon laquelle l'arbre creux et l'arbre plein sont agencés l'un dans l'autre sans roue libre intermédiaire. Il convient alors de prévoir un pilotage électronique très performant de manière à couper l'alimentation du moteur dès que le cycliste arrête d'exercer un couple sur le pédales, afin d'éviter que l'arbre plein soit tout de même entraîné en rotation par le rotor par l'intermédiaire de l'arbre creux. Ce pilotage électronique réactif est rendu possible par la mise en place de capteurs magnétiques très précis, la valeur de détection de 5000 points par tour étant donné à titre indicatif pour illustrer cette grande précision. The foregoing description explains how the invention makes it possible to achieve the objectives it has set itself, and in particular to propose a device for assisting the rotation of a shaft by setting up an external rotor motor. centered on this tree. The fact of having a motor centered on the rotary axis allows a direct drive, without reduction stage, which on the one hand optimizes the energy to be supplied by the battery, and on the other hand allows to recover if necessary energy when the electric motor with external rotor is not requested, it being understood that these two characteristics allow to play on the dimensionnemenc of the battery to associate with the device. In the context of the application to a pedal assistance device, it can thus have a motor housed in the frame structure, that is to say within the tubes defining this structure, so as to be protected from bad weather and do not form unsightly wart. In this dual context of arrangement of the motor and the associated assistance device, the invention may extend to all modes and / or equivalent configurations and any technically operating combination of such modes and / or configurations. In particular, there is provided an alternative embodiment in which the hollow shaft and the solid shaft are arranged one inside the other without intermediate free wheel. It is then necessary to provide a very efficient electronic control so as to cut off the engine power as soon as the cyclist stops exercising a torque on the pedals, to prevent the solid shaft is still rotated by the rotor through the hollow shaft. This reactive electronic control is made possible by the setting up of very precise magnetic sensors, the detection value of 5000 points per revolution being given as an indication to illustrate this great precision.

Claims

REVENDICATIONS
1. Dispositif d'assistance motorisé au pédalage (1) d'un cycle, caractérisé en ce qu'il comporte un stator (40), un rotor (38) et un ensemble formé d'un arbre creux (42) et d'un arbre plein (34) agencé à l'intérieur de l'arbre creux et configuré pour être solidaire, à chacune des ses extrémités, de moyens d'actionnement par l'utilisateur, l'arbre creux (42) étant solidaire en rotation d'une part du rotor (40) et d'autre pan d'au moins un plateau (24) d'entraînement. Motorized assistance device for the pedaling (1) of a cycle, characterized in that it comprises a stator (40), a rotor (38) and an assembly formed of a hollow shaft (42) and a solid shaft (34) arranged inside the hollow shaft and configured to be integral, at each of its ends, with means for actuation by the user, the hollow shaft (42) being integral in rotation with one part of the rotor (40) and another part of at least one drive plate (24).
2. Dispositif selon la revendication 1 , caractérisé en ce que l'arbre creux (42), l'arbre plein2. Device according to claim 1, characterized in that the hollow shaft (42), the solid shaft
(34), le rotor (38) et le stator (40) sont agencés coaxialement les uns aux autres. (34), the rotor (38) and the stator (40) are arranged coaxially with each other.
3. Dispositif selon l'une des revendications précédentes, caractérisé en ce qu'il comporte en un moteur à rotor (38) externe, les arbres plein (34) et creux (42) étant logés à l'intérieur du stator (40) en dépassant axialement de part et d'autre dudit stator. 3. Device according to one of the preceding claims, characterized in that it comprises an external rotor motor (38), the solid shafts (34) and recesses (42) being housed inside the stator (40). protruding axially on either side of said stator.
4. Dispositif selon l'une des revendications précédentes, caractérise en ce que l'arbre creux (42) présente une forme de tube, comprenant deux parties reliées par des barrettes (92) s'étendant régulièrement sur le pourtour du tube le long de la direction d'allongement de l'arbre creux. 4. Device according to one of the preceding claims, characterized in that the hollow shaft (42) has a tube-like shape, comprising two parts connected by strips (92) extending regularly around the periphery of the tube along the direction of elongation of the hollow shaft.
5. Dispositif selon la revendication précédente, caractérisé en ce que l'arbre creux (42) présente une première partie de fixation (88), solidaire du rotor (38) et du plateau (24) d'entraînement, et une deuxième partie de guidage (90) solidaire en rotation de l'arbre plein (34). 5. Device according to the preceding claim, characterized in that the hollow shaft (42) has a first fixing portion (88) integral with the rotor (38) and the plate (24) for driving, and a second part of guide (90) integral in rotation with the solid shaft (34).
6. Dispositif selon la revendication précédente, caractérisé en ce que la deuxième partie de guidage (90) est solidaire en rotation de l'arbre plein (34) par l'intermédiaire d'une roue libre (84). 6. Device according to the preceding claim, characterized in that the second guide portion (90) is integral in rotation with the solid shaft (34) via a free wheel (84).
7. Dispositif selon l'une des revendications 5 ou 6, caractérisé en ce que l'arbre creux (42) comporte, à une extrémité axiale, une collerette de fixation (86) au plateau d'entraînement et, sur son pourtour une entretoise de fixation (78) au rotor. 7. Device according to one of claims 5 or 6, characterized in that the hollow shaft (42) comprises, at one axial end, a fastening flange (86) to the drive plate and, on its periphery a spacer fastening (78) to the rotor.
8. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le moteur8. Device according to one of the preceding claims, characterized in that the engine
(16) comporte un dispositif de mesure de couple d'effort fourni au niveau des moyens d'actionnement par l'utilisateur. (16) has a force torque measuring device provided at the user actuating means.
9. Dispositif selon la revendication précédente, caractérisé en ce que le dispositif de mesure comporte un aimant (91) disposé sur la face externe de l'arbre creux (42), ledit arbre creux étant agencé l'intérieur d'un alésage interne du stator (40) de manière à ce que ledit aimant soit en regard d'un moyen de mesure d'un champ magnétique (64) porté par une paroi délimitant ledit alésage interne du stator. 9. Device according to the preceding claim, characterized in that the measuring device comprises a magnet (91) disposed on the outer face of the hollow shaft (42), said hollow shaft being arranged inside an internal bore of the stator (40) so that said magnet is facing a means for measuring a magnetic field (64) carried by a wall delimiting said internal bore of the stator.
10. Dispositif selon la revendication précédente, caractérisé en ce qu'il est appliqué à de l'assistance au pédalage, lesdits moyens d'actionnement solidaires des extrémités de l'arbre plein consistant en des pédales actionnés par un cycliste et le plateau d'entraînement consistant en un ou plusieurs plateaux du pédalier du cycle. 10. Device according to the preceding claim, characterized in that it is applied to assistance with pedaling, said actuating means integral with the ends of the solid shaft consisting of pedals actuated by a cyclist and the plateau of training consisting of one or more platens of the crankset of the cycle.
11. Cycle comportant un cadre (2), un pédalier (24, 26) et un dispositif d'assistance au pédalage (1) comprenant un moteur électrique (16) configuré pour entraîner en rotation au moins un plateau (24) associé au pédalier, caractérisé en ce que le moteur (16) comporte un ensemble rotor/stator agencé de sorte que l'axe de rotation du rotor (38) est sensiblement confondu avec l'axe de pédales (14) et/ou l'axe du pédalier. 11. Cycle comprising a frame (2), a pedal (24, 26) and a pedal assistance device (1) comprising an electric motor (16) configured to drive in rotation at least one plate (24) associated with the pedalboard , characterized in that the motor (16) comprises a rotor / stator assembly arranged so that the axis of rotation of the rotor (38) is substantially coincident with the pedal axis (14) and / or the crank axis .
12. Cycle selon la revendication précédente, caractérisé en ce que le moteur est à rotor (38) externe, agencé sans étage de réduction sur l'axe de rotation du plateau (24) associé au pédalier. 12. Cycle according to the preceding claim, characterized in that the motor is external rotor (38), arranged without reduction stage on the axis of rotation of the plate (24) associated with the pedal.
13. Cycle selon la revendication précédente, caractérisé en ce que le moteur (16) est conforme à l'une des revendications 1 à 10. 13. Cycle according to the preceding claim, characterized in that the motor (16) is according to one of claims 1 to 10.
14. Cycle selon la revendication 11 à 13, caractérisé en ce que le moteur (16) est associé à une batterie (20) et un module de commande (18), au moins le moteur et le module de commande étant logés dans le cadre (2) du cycle. 14. Cycle according to claim 11 to 13, characterized in that the motor (16) is associated with a battery (20) and a control module (18), at least the motor and the control module being housed in the frame (2) of the cycle.
15. Cycle selon la revendication précédente, caractérisé en ce que le moteur (16), le module de commande (18) et la batterie (20) sont logés à l'intérieur d'au moins un tube (4, 6, 8) définissant la structure du cadre (2), ledit moteur (16) étant centré sur l'axe de pédales (14). 15. Cycle according to the preceding claim, characterized in that the motor (16), the control module (18) and the battery (20) are housed inside at least one tube (4, 6, 8) defining the structure of the frame (2), said motor (16) being centered on the pedal axis (14).
16. Cycle selon l'une des revendications 11 à 15, caractérisé en ce que le module de commande (18) comporte des moyens de pilotage linéaire du moteur (16) en fonction d'une mesure de couple fourni par le cycliste. 16. Cycle according to one of claims 11 to 15, characterized in that the control module (18) comprises linear motor control means (16) according to a torque measurement provided by the cyclist.
PCT/FR2016/050230 2015-10-31 2016-02-03 Motorised assistance device, in particular for pedalling, and associated cycle WO2017072422A1 (en)

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FR1560455A FR3043054A1 (en) 2015-10-31 2015-10-31 MOTORIZED ASSISTANCE DEVICE, IN PARTICULAR WITH THE PEDAL, AND CYCLE
FR1560455 2015-10-31

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