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WO2002076813A1 - Capteur de vitesse de rotation et bicyclette servo-assistee equipee d'un capteur de vitesse de rotation - Google Patents

Capteur de vitesse de rotation et bicyclette servo-assistee equipee d'un capteur de vitesse de rotation Download PDF

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Publication number
WO2002076813A1
WO2002076813A1 PCT/JP2001/002471 JP0102471W WO02076813A1 WO 2002076813 A1 WO2002076813 A1 WO 2002076813A1 JP 0102471 W JP0102471 W JP 0102471W WO 02076813 A1 WO02076813 A1 WO 02076813A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed sensor
rotation speed
power
drive shaft
ratchet
Prior art date
Application number
PCT/JP2001/002471
Other languages
English (en)
Japanese (ja)
Inventor
Akihito Yoshiie
Kyosuke Kokatsu
Original Assignee
Sunstar Giken Kabushiki Kaisha
Uni-Sunstar B.V.
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 Sunstar Giken Kabushiki Kaisha, Uni-Sunstar B.V. filed Critical Sunstar Giken Kabushiki Kaisha
Priority to PCT/JP2001/002471 priority Critical patent/WO2002076813A1/fr
Priority to JP2002575290A priority patent/JPWO2002076813A1/ja
Publication of WO2002076813A1 publication Critical patent/WO2002076813A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
    • B62J45/40—Sensor arrangements; Mounting thereof
    • B62J45/41—Sensor arrangements; Mounting thereof characterised by the type of sensor
    • B62J45/412—Speed sensors

Definitions

  • the present invention relates to a rotational speed sensor and a power assisted bicycle equipped with the sensor.
  • the present invention relates to a rotation speed sensor for detecting a rotation speed of a rotating body for detecting a vehicle speed of a bicycle or the like, a normal bicycle and a power-assisted bicycle provided with the sensor for adding auxiliary power to pedaling force. .
  • Some ordinary bicycles have a driving speed display that improves driving safety.
  • an electric assist bicycle that assists human power by adding assist torque by an electric motor to the pedaling force according to the detected pedaling force, it is essential to detect the vehicle speed to perform safe assisting.
  • a rotation speed sensor for detecting a vehicle speed of a bicycle or the like is mounted so as to detect a rotation speed of a rotating body such as a rotating disk and a gear that rotates as the bicycle runs or the pedal rotates, as a detection target.
  • a metal rotor having a plurality of irregularities formed at equal intervals on an outer peripheral surface is used as the rotating body, and a sensor for generating a high-frequency magnetic field toward the irregular surface is mounted close to the rotor.
  • An eddy current is generated on one concave or convex surface facing the sensor due to a high-frequency magnetic field from the sensor. Therefore, this sensor 1 detects a magnetic field generated by the eddy current or a change in inductance of the detection coil. Since the distance between the rotor outer surface and the sensor changes together with the rotation of the rotating body due to the uneven surface, the strength of the magnetic field generated by the eddy current or the inductance of the detection coil also changes. Since this fluctuation period is inversely proportional to the rotation speed of the rotating body, the rotation speed of the rotating body and thus the bicycle speed can be detected by extracting the fluctuation period of the intensity signal detected by the sensor.
  • a rotating body in which convex magnets are attached at equal intervals to a band surface of an annular body is used, and a hole is provided adjacent to the annular body. Arrange the elements. As with the prior art above, it is detected by a Hall element By detecting the fluctuation period of the applied magnetic field strength signal, the rotational speed of the torus can be obtained.
  • the present invention has been made in view of the above-described circumstances, and provides a rotational speed sensor that achieves ease of manufacture, simplification of assembly to a vehicle body, space saving and weight reduction, and the provision of the rotational speed sensor.
  • Another object of the present invention is to provide a bicycle with a simple mechanism that minimizes changes from a conventional body frame, particularly a power-assisted bicycle.
  • the present invention relates to a rotation speed sensor for detecting a rotation speed of a detected portion, a ring magnet having a substantially flat surface attachable to rotate substantially concentrically with the detected portion, and a ring magnet having a substantially flat surface.
  • Magnetic field detecting means for detecting a magnetic field at an adjacent fixed position
  • signal processing means for detecting a rotation speed of a detected portion or a physical quantity related thereto based on a magnetic field signal detected by the magnetic field detecting means.
  • the ring magnet is characterized in that a plurality of magnet sections are formed on a substantially flat surface of the ring magnet so as to generate a magnetic field spatially varying at a constant angular period along the circumferential direction on the surface. .
  • a plurality of magnet sections are formed on the substantially flat surface of the ring magnet to generate a magnetic field which varies spatially at a constant angular period along the circumferential direction on the surface.
  • the magnetic field detected at the fixed position fluctuates at the above-mentioned fixed angle cycle and a cycle corresponding to the rotation speed of the ring magnet. Therefore, the signal processing means calculates the rotation speed of the ring magnet small, and therefore, the part to be inspected, based on the period of the detected magnetic field signal. Can be detected.
  • a plurality of magnet sections are provided on a substantially flat surface having no unevenness, and the magnetic field detecting means is arranged adjacent to the surface, so that space can be saved in both the radial and axial directions of the ring magnet. Can be achieved.
  • any one can be adopted as long as a magnetic field that changes spatially at a constant angular period along the circumferential direction is generated.
  • the angle changes between two adjacent magnet sections in a sinusoidal waveform with a constant angle cycle.
  • a plurality of magnet sections may take the form in which the magnetic poles alternately inverted along the circumferential direction are respectively directed to the substantially flat surface of the ring magnet. That is, it is preferable that any two adjacent magnet sections among the plurality of magnet sections arranged in a ring shape in the circumferential direction always include the N pole and the S pole having the same magnetic field magnitude.
  • the angles formed by the plurality of magnet sections are set to be substantially equal, one spatial period can be made equal to each other.
  • a spatially varying magnetic field can be generated with the period occupied by the angle occupied by the two magnet sections.
  • the strength of the magnetic pole changes from the N pole to the S pole within one spatial period, so that the magnetic field waveform becomes sharp, and the rotation speed can be detected with high accuracy by the signal processing means.
  • the N and S poles are adjacent to each other, it is preferable from the viewpoint of maintaining magnetism in the magnet section. Adjacent magnet sections are in contact with each other, that is, by eliminating the non-magnetized area at the boundary, the area efficiency of the ring magnet can be increased.
  • each of the plurality of magnet sections has one magnetic pole facing the surface and the other magnetic pole on the surface opposite to the surface. More preferably, the direction connecting both magnetic poles of each magnet section is preferably aligned substantially parallel to the axial direction of the ring magnet. As a result, the magnetic field on the ring magnet can be increased to improve the detection accuracy, and the magnetism can be maintained satisfactorily.
  • the ring magnet can be made, for example, by magnetizing each section of the ring-shaped ferromagnetic material. Also, the magnet may be made by connecting magnets corresponding to the magnet division. Therefore, manufacturing is very easy.
  • the ring magnet may have any shape as long as it is topologically ring-shaped. For example, if it has N magnet sections, it can be formed as a regular N-sided figure with a hole in the center. Further, it is preferable that the ring magnet has an annular shape with a hole formed in the center in view of the symmetry of the magnetic field and the ease of assembling to the part to be inspected.
  • the ring magnet is formed in a sheet shape having a constant thickness over substantially the entire region. This makes it possible to further facilitate the assembling of the part to be inspected and to reduce the weight. In this case, if the ring magnet is made flexible, it can be easily assembled to the portion to be inspected.
  • the ring magnet is housed in a groove formed in the detected part.
  • the space occupied by the rotation speed sensor can be reduced.
  • the surface of the ring magnet accommodated in the groove is flush with the surface of the detected part outside the groove, it is unnecessary to provide the conventional part to be inspected with irregularities.
  • the ring magnet can be fixed in the groove with an adhesive, the assembling becomes easier.
  • a Hall element is preferable in terms of the magnetic field detection accuracy and space saving.
  • the rotation speed sensor of the present invention can be used as a means for detecting the vehicle speed of a traveling bicycle by transmitting pedal depression force to wheels.
  • a portion that directly rotates due to the pedal depression force such as a drive shaft, a sprocket, a gear of a driving wheel, or the like, can be used as a portion to be inspected by the rotation speed sensor 1.
  • a portion that rotates as a result of the bicycle running by pedaling force for example, a spoke portion of a wheel may be used as the portion to be inspected.
  • a conversion means for converting the rotation speed detected by the rotation speed sensor into the traveling speed of the bicycle may be provided. By installing a meter that displays the running speed and the accumulated running distance, the running speed and the running distance can be displayed to the driver.
  • the rotation speed sensor of the present invention is used for a power assisted bicycle that travels by adding auxiliary power according to a pedaling force acting on a drive shaft in parallel with the pedaling force. It is preferred that
  • a power-assisted bicycle includes a portion to be inspected that rotates due to pedal depression force, and a rotational speed according to the present invention attached to the power-assisted bicycle for detecting a rotational speed of the inspected portion.
  • the depression torque is transmitted to the sprocket via the one-way clutch means.
  • a tensile force from a chain acts as a load on this sprocket, and the one-way clutch means is distorted and / or its components along the direction of deformation due to the stress caused by the antagonism of the load and the stepping torque. Is deformed so as to be displaced. This deformation depends on the pedaling force. That is, the degree of deformation increases as the pedaling force increases, and decreases as the pedaling force decreases.
  • an elastic force is applied to the one-way clutch means to restore the deformation.
  • an elastic body for exerting an elastic force against deformation of the one-way clutch means is arranged.
  • the component of the one-way clutch means may be made to bear at least a part of this elastic force.
  • the deformation of the one-way clutch means includes not only the case where the whole or part of the one-way clutch means is elastically deformed, but also the relative position between the rigid elements of the one-way clutch means ( Rotation (including rotation).
  • the one-way clutch means be deformed so as to expand and contract along the axial direction of the drive shaft to a length corresponding to the pedaling force.
  • the detecting means detects a physical quantity which changes due to such deformation of the one-way clutch means according to the pedaling force.
  • This physical quantity includes the components of the one-way clutch
  • physical quantities related to other members associated with the one-way clutch means are included.
  • the position or stress distortion of at least one part constituting the one-way clutch means with respect to the body frame the relative positional relationship between at least two parts constituting the one-way clutch means (clearance, Angle, etc.), a change in pressure against the deformation direction of the one-way clutch means, and a stress distortion of a member (for example, an elastic body) arranged against the deformation direction of the one-way clutch means. Since the change in the physical quantity is determined according to the pedal effort, the control means can estimate the pedal effort based on the detected physical quantity, and thus can control the auxiliary power.
  • the auxiliary power is controlled based on a physical quantity that is changed by deformation of the one-way clutch means, which is indispensable for the bicycle, according to the pedaling force, it is used in a normal bicycle as in the prior art.
  • the above object can be achieved by eliminating the necessity of adding a separate component such as a large coil spring and a disc for torque detection that is not performed.
  • the elastic body preferably arranged to oppose the deformation of the one-way clutch means is a large-sized elastic body because it does not directly receive the antagonistic stress but receives the force in the deformation direction via the one-way clutch means. No need.
  • a substantially flat elastic body whose height is smaller than the width is arranged in the same height direction as the deformation direction of the one-way clutch means. be able to. As a result, significant space savings can be achieved.
  • a substantially flat elastic body is, for example, a disc spring.
  • the one-way clutch means is a ratchet gear that deforms to extend and contract to a length corresponding to the pedaling force along the drive shaft.
  • a ratchet gear having a preferred configuration includes: a tooth portion having a plurality of ratchet teeth formed on a first engagement surface; and a piece portion having a plurality of ratchet pieces formed on a second engagement surface. The first and second engagement surfaces are arranged so as to face substantially perpendicularly in the axial direction, and when the drive shaft rotates in one direction, the ratchet piece rotates relative to the piece and the tooth.
  • the ratchet piece When the drive shaft rotates in a direction opposite to one direction, the ratchet piece releases the lock on the ratchet teeth so as to enable relative rotation when the drive shaft rotates in a direction opposite to one direction.
  • Either the tooth portion or the bridge portion is slidable along the axial direction and The drive shaft is attached to the drive shaft via rotation preventing means so as to prevent relative rotation with respect to the drive shaft, and the other is connected to a sprocket.
  • one of the tooth portion and the piece portion slidably mounted in the axial direction via the rotation preventing means has an elastic means on a back surface opposite to the engagement surface. It is supported so that it can abut.
  • the detecting means is preferably a strain detecting sensor for detecting stress strain of the elastic means. Further, it is most preferable to use a disc spring excellent in space saving as an elastic means, and to use a plurality of strain gauges installed on the surface of the dish panel as a strain detection sensor.
  • the torque detecting mechanism and the one-way clutch means as an essential component are used, but also the elasticity means and the portion for detecting the stepping torque are integrated with the receiving load unit and the load detecting sensor. Since the disc spring is used, the effect of the present invention can be further improved. Further, the rotation speed sensor 1 according to one embodiment of the present invention can be attached to a conventional vehicle body structure with little space. Thus, there is almost no need to change the frame structure of the bicycle, and an extremely excellent effect is obtained in that a light-weight and simplified electric-assisted bicycle with a light feeling can be realized.
  • FIG. 1 is a schematic diagram of a power assisted bicycle according to the present invention.
  • FIG. 2 is a top view and a side view of an NS polarized ring magnet constituting the rotation speed sensor according to the first embodiment of the present invention.
  • FIG. 3 is a front view and a side sectional view taken along a vertical line showing a state in which the NS polarization ring magnet of FIG. 2 is assembled on the gear surface to form a rotation speed sensor 1 according to the first embodiment.
  • FIG. 4 is a perspective view of the rotation speed sensor 1 according to the first embodiment.
  • FIG. 5 is a waveform showing a temporal change of a magnetic field signal detected by a Hall element arranged adjacent to the NS-polarized ring magnet.
  • FIG. 6 is a view showing a torque detection mechanism of a power-assisted bicycle according to a second embodiment in which the rotation speed sensor of the present invention is assembled.
  • FIG. 7 is a front view and a side view showing a state in which a sprocket and a ratchet gear used in a power-assisted bicycle according to a second embodiment of the present invention are fitted.
  • FIG. 8 is a schematic perspective view of a state where the sprocket and the ratchet teeth are disassembled.
  • FIG. 9 is a schematic perspective view showing a state in which a sprocket and a ratchet gear are fitted to explain the axial displacement of the ratchet teeth.
  • FIG. 10 is a front view of a sprocket and a sprocket drive gear of the power-assisted bicycle according to the second embodiment.
  • FIG. 11 is a front view and a side view of the sprocket drive gear.
  • FIGS. 12A and 12B are diagrams relating to a third embodiment of the present invention, in which (a) is a front view of a sprocket according to the third embodiment, and (b) is a side of a torque detection mechanism according to the third embodiment. It is a sectional view.
  • FIG. 13 is a side sectional view of a torque detection mechanism according to a fourth embodiment of the present invention.
  • FIG. 14 is an exploded perspective view of a ratchet gear included in the torque detection mechanism shown in FIG.
  • FIG. 15 is a diagram showing a fitted state of the teeth and the pieces of the ratchet gear.
  • FIG. 16 is a view showing an example of a rotation preventing means for preventing the relative rotation of the bridge portion with respect to the drive shaft.
  • (A) is a ball spline
  • (b) is a spline key
  • (c) is an outline of a key groove. It is a top view which shows a structure.
  • FIG. 17 is a perspective view of a conventional rotation speed sensor.
  • FIG. 2 shows an NS-polarized ring magnet 200 constituting the rotation speed sensor according to the first embodiment of the present invention.
  • the ring magnet 200 is formed as a substantially flat ring having an opening 205 in the center.
  • the ring magnet 200 is made up of a plurality of magnet sections that divide the ring at equal angles.
  • the N pole section 202 facing the N pole side and the S pole section 204 facing the S pole side are arranged alternately when viewed from the front.
  • the opposite side of the N pole section 202 becomes the S pole
  • the opposite side of the S pole section 204 becomes the N pole, so that the direction of the magnetic field lines is almost perpendicular to the ring surface.
  • the N-S pole of the magnet section is oriented.
  • 12 magnet sections are formed, but may be more or less than this, and can be arbitrarily and suitably changed according to the rotation speed of the detected part and the required detection accuracy. is there.
  • the orientation of the N-S pole of each magnet section can be arbitrarily and suitably changed.
  • adjacent north and south pole sections may be circumferentially arranged as both poles of one magnet.
  • the opposite side of the N pole section 202 also becomes the N pole
  • the opposite side of the S pole section 204 also becomes the S pole.
  • the example in Fig. 2 is considered preferable.
  • FIG. 3 shows a gear 210 as a portion to be detected of the rotational speed.
  • the gear 210 rotates by the torque transmitted by the shaft 214, and a ring groove 208 having a size and a shape capable of accommodating the Lindon magnet 200 is formed on one surface thereof.
  • the ring magnet 208 is housed in the ring groove 208 and is attached with an adhesive or the like.
  • it is preferable that the ring magnet 200 and the surface of the gear 210 are flush with each other. As a result, the ring magnet does not protrude from the gear surface, and space reduction due to the installation of the rotation speed sensor can be minimized.
  • a Hall element 2 12 for detecting a magnetic field is arranged adjacent to the ring magnet 2 0 8 installed on the gear 2 10.
  • This Hall element is an existing magnetic field detecting element that generates an electromotive force proportional to the current and the magnetic field in the direction perpendicular to the current and the magnetic field due to the Hall effect when there is a magnetic field perpendicular to the flowing direction of the current in the semiconductor. It is. Of course, if a magnetic field can be detected, a magnetic field detection sensor other than a Hall element, such as a coil, may be used.
  • the output terminal of the Hall element 2 12 is connected to the controller 14.
  • FIG. 4 is a perspective view of the rotational speed sensor 220 shown in FIG.
  • the controller 14 can use the magnetic field detection signal from the Hall element 2 12 in any suitable manner. And the rotational speed of the gear 210 is detected.
  • FIG. 1 An example of the waveform of the magnetic field signal output from the Hall element 2 12 to the controller 14 is shown in FIG.
  • the controller 14 has a function of detecting, for example, a zero-crossing point (time at a point where the magnetic field intensity is zero), an N-pole peak, or an S-pole peak of a magnetic field signal, and obtaining those times.
  • the N-pole peak 2 22 and the S-pole peak 2 2 4 shown in FIG. 5 indicate the points in time when the maximum magnetic poles of the N-pole section and the S-pole section have passed through the detection region of the Hall element 212.
  • the rotational speed (2 ⁇ T) of the gear 210 can be immediately obtained.
  • the rotation speed of the gear may be obtained at a predetermined angle.
  • the NS polarized ring magnet 200 since the NS polarized ring magnet 200 has a flat ring shape, it is possible to achieve space saving and weight reduction without bulk. In addition, the extremely simple structure facilitates production, and thus can reduce costs.
  • the magnet sections are combined into a single flat ring, it is very easy to assemble the equipment.
  • a ring-shaped groove is dug in the surface of the gear 210, a ring magnet is embedded therein, and fixed with an adhesive or the like.
  • the work efficiency can be improved at each stage as compared with the work of embedding the individual magnets corresponding to the polarization in the gear.
  • the depth of the groove is the same as the height of the ring magnet, it will not project at all, contributing to space saving.
  • the time resolution of the rotational speed can be improved by reducing the angle range occupied by each magnet section.
  • FIG. 1 schematically shows an electric assist bicycle 1 according to a second embodiment of the present invention. I have. The same components as those in the first embodiment are denoted by the same reference numerals.
  • the main skeleton portion of the electric assist bicycle 1 is composed of a body frame 3 made of a metal tube, and the body frame 3 has front wheels 20 for steering the front wheels.
  • a handle 16, a rear wheel 22, a saddle 18 and the like are attached in a known manner.
  • a drive shaft 4 is rotatably supported by the lower part of the center of the body frame 3 so as to be rotatable with respect to the body frame 3, and pedals are provided on both left and right ends of the drive shaft via crank rods 6L and 6R. 8 L and 8 R are installed respectively.
  • a sprocket 2 as a driven side is coaxially attached to a drive shaft 4 as a driving side via a ratchet gear described later.
  • the ratchet gear is used to move the bicycle 1 in one direction (R direction).
  • the configuration and arrangement are such that only the rotational torque of is transmitted from the driving side to the driven side.
  • a rear wheel power mechanism 10 is provided at a central portion of the rear wheel 22 to apply the transmitted tread force to the rear wheel, and a rear wheel power mechanism 10 is provided inside the rear wheel power mechanism.
  • An endlessly rotating chain 12 is stretched between the freewheel and the sprocket 2.
  • the forward pedal depression force applied to the pedal 8 rotates the drive shaft 4 via the crank rod 6, and this rotation force rotates the sprocket 2 as a stepping torque in the R direction in the figure.
  • the stepping torque is transmitted to the rear wheel power mechanism 10 via the chain 12, and as a result, the rear wheel 22 is rotated to make the bicycle 1 run forward.
  • the rotation speed sensor 220 can be attached to any detected portion that rotates so as to reflect the traveling speed.
  • Examples of the detected part include a gear (not shown) arranged in the rear wheel power transmission mechanism 10, a sprocket 2, a sprocket driving gear 11 described later, and a rotating part of the front wheel axle.
  • the controller 14 has a reference table for converting the rotation speed of the inspected portion into the running speed of the vehicle body.
  • FIG. 7 shows a front view of the sprocket 2 and the ratchet gear 39 connected to the sprocket 2, and a cutaway view of the sprocket 2 and the ratchet gear 39 taken along the line SS ′ of the front view.
  • a side view is shown.
  • the sprocket 2 has a plurality of teeth 24 for fitting with the chain 12 around the outer periphery of the rigid body portion 38 and a recess 25 between adjacent teeth.
  • a hole 41 through which the drive shaft 4 penetrates, and a cylindrical stopper 46 surrounding the hole 41 are formed in the center of the body 38.
  • the ratchet gear 39 has three ratchet pieces 40 fixedly arranged on the body part 38 of the sprocket 2 at equal distances from the center of the sprocket (corresponding to the drive axis 5 in the figure). And a ratchet tooth portion 43 disposed on one side of the sprocket 2 so as to be fitted to the ratchet piece. 7 shows a state in which the sprocket 2 and the ratchet gear 39 are attached to the drive shaft 4. According to the figure, a drive shaft 42 fixed around the drive shaft 4 so as not to move with respect to the drive shaft is provided concentrically with the drive shaft.
  • a pedestal 45 having a cylindrical shaft surface substantially parallel to the axis 5 is formed on the outer periphery of the drive shaft 42.
  • the sprocket 2 and the ratchet teeth 43 are arranged on the pedestal 45 in an engaged state.
  • the sprocket 2 can rotate independently of the drive shaft 42 in the pedestal 45 in the direction in which the clutch of the ratchet gear 39 does not act, and the ratchet teeth 43 are formed on the drive shaft as described later. 4 Fixed to 2.
  • FIG. 8 is a schematic perspective view showing a state where the sprocket 2 and the ratchet teeth 43 are disassembled.
  • the ratchet piece 40 is formed as a claw-shaped member obtained by bending an elongated metal plate having elasticity, and a tip portion 40 a of the claw-shaped member is attached to the body portion 38 of the sprocket 2.
  • the rear portion 40b is fixed to the pod portion 38 by welding or the like so as to form a certain inclination angle with respect to the pod portion 38.
  • the ratchet tooth portion 43 has a disk portion 60 having a flat surface, and A plurality of teeth 44 for engaging with the ratchet piece 40 are formed on the entire surface of the disk portion 60 on the side facing the cutting surface along the outer periphery thereof. Each tooth 44 has a gentler slope 44a and a steeper slope 44b, respectively. Further, a cylindrical center shaft 54 extending in the axial direction is provided at the center of the disc portion 60 so as to protrude outward from both sides of the plane of the disc portion. An opening 57 for receiving a drive shaft 42 provided around the drive shaft 4 penetrates.
  • a flat detent portion 52 so as to bridge the diameter of the opening portion 57 is provided inside the center shaft 54 on the side opposite to the side facing the sprocket surface of the disk portion 60. Is fixedly connected to the inner wall of the shaft. Further, a coil spring 50 is inserted into the center shaft 54. One end of the coil spring 50 abuts against the rotation preventing portion 52, and the other end thereof is connected to the drive shaft 4 (not shown). Fixed to 2.
  • the tip 40a of the ratchet piece 40 is adjacent (defined by the plane 44a and the slope 44b).
  • the recess enters the recess, and its leading edge comes into contact with the steeper slope 44 b while facing it, and the opening 57 of the center shaft 54 receives the drive shaft 42.
  • the detent portion 52 is inserted into a longer slot 58 formed so as to penetrate the drive shaft 42 along the axial direction of the shaft.
  • the ratchet teeth 43 do not rotate with respect to the drive shaft 42, but rotate together with the drive shaft 4 which is rotated by the stepping torque.
  • the detent part 52 is axially movable along the slot 58. At this time, the detent part 52 is urged by the coil spring 50 in the direction toward the sprocket 2. As a result, the leading end of the ratchet piece 40 is locked at the height at which it engages with the ratchet teeth 43. As shown in the lower diagram of Fig. 9, the drive shaft 42 is moved in the forward direction of the bicycle 1. When rotated in the corresponding R direction, the drive shaft 4 does not slide along the slope with the leading end of the ratchet piece 40 abutting on the steeper slope 44 b of the tooth 44. With 2, the ratchet teeth 43 and sprocket 2 rotate in the R direction.
  • the rotational force received from the steeper slope 44b becomes weaker, so that the ratchet piece 40 tries to return to the original height due to its strength, and at the same time, is urged downward by the coil panel 50.
  • the ratchet teeth 43 thus displaced in the axial direction so as to approach the sprocket 2.
  • the axial displacement A L (FIG. 7) of the ratchet teeth 43 reflects the magnitude of the stepping torque.
  • a position sensor 34 for detecting the axial distance from a predetermined position to the disc 60 of the ratchet teeth 43 is provided. Installed on the body frame.
  • the position sensor 134 includes, for example, a detection body made of a magnetic material such as ferrite mounted so as to move in the axial direction in accordance with the axial displacement of the disk portion 60, and And a detection circuit capable of electrically detecting a change in inductance of the coil as a change in impedance.
  • the detection object approaches or moves away from the coil according to the axial displacement of the ratchet teeth 43, but the inductance of the coil changes according to the distance between the detection object and the coil. Is detected by the detection circuit, the axial distance L1 to the ratchet teeth 43 can be calculated.
  • the axial distance of the ratchet Any other type of sensor may be used as long as it can detect the amount of displacement, and depending on the sensor, it may be arranged in the ratchet gear 39.
  • An output terminal of the position sensor 34 is connected to a controller 14 that receives a detection signal from the sensor.
  • the controller 14 can be realized by a so-called microcomputer or the like, and has a calculation function for calculating the value of the stepping torque based on the received detection signal regarding the axial distance.
  • the electric assist means of the present embodiment will be described.
  • the electric assist means is driven by a sprocket drive gear 11 directly fitted to the sprocket 2 and a battery (not shown), and the auxiliary torque is transmitted via a rotating shaft 37a.
  • the controller 14 that controls the electric motor 37 based on the value.
  • the speed reduction mechanism 35 is configured by, for example, combining a plurality of gears and the like.
  • a one-way clutch (not shown) is provided in the middle of the auxiliary torque transmission path formed by these gears.
  • This one-way clutch is configured and connected so that the auxiliary torque from the electric motor 37 is transmitted to the sprocket drive gear 11, but the reverse direction, that is, the torque is not transmitted from the sprocket drive gear to the reduction mechanism 35. You. As a result, the load of the electric motor 37 during non-driving is not transmitted to the sprocket 2, and light driving is always possible.
  • FIG. 10 A front view of the sprocket drive gear 11 and the sprocket 2 in a fitted state is shown in FIG. 10 (crank rod not shown).
  • the chain 1 2 stretched over the sprocket 2 is a pin link that press-fits two pins into two cocoon-shaped link plates, and two bushings are pressed into two ring plates.
  • the roller is alternately combined with a roller link in which a roller is rotatably fitted around the outer periphery of the bush.
  • the pitch and diameter of the rollers constituting the pin link and the roller link of the chain 12 are determined so as to fit with the teeth of the sprocket 2.
  • the sprocket drive gear 11 is configured to fit to the sprocket 2 in the same manner as the fitting of the chain 12, for example, as shown in FIG. 11.
  • the sprocket drive gear 11 is composed of two roller plates 17a and 17b, which are opposed to each other in parallel, and the rollers of the chain 12 along the peripheral area of the plates so as to connect these plates.
  • a plurality (six in the example in the figure) of cylindrical bushings (roller shafts) 15 press-fitted substantially perpendicularly to the plate at the same pitch, and rotatably cover the outer periphery of these bushings.
  • the roller plates 17a and 17b have a mounting hole 19 formed at the center thereof for mounting to the driving means 13 and a recess recessed inward in an outer peripheral portion between the adjacent rollers 21. 3 3 are formed.
  • the two adjacent rollers 21 of the sprocket drive gear 11 engage with the concave portions 25 of the sprocket 2, and one tooth 24 of the sprocket 2 enters each gap between these rollers (FIG. 10). reference).
  • the above-mentioned recess 33 of the sprocket drive gear 11 is preferably formed so that the teeth of the chain 12 can easily fit between the rollers 21. It is preferable that it is formed in substantially the same shape as the central constricted portion.
  • the ratchet teeth 43 fixed non-rotatably to the drive shaft 4 by the detent portions 52 are formed. It rotates together with the drive shaft 4 and applies a stepping torque to the sprocket 2 on which the pulling force from the chain 12 acts as a load via the ratchet piece 40 engaged with the tooth 44.
  • the ratchet piece 40 having elasticity rises against the rotational force received from the steeper slope 44 b of the ratchet teeth, and therefore, the ratchet teeth 43 are in the normal axial position ( From position 4 8 a) in Fig.
  • the position sensor 34 in FIG. 6 moves from the fixed position to the circle of the ratchet teeth 43. It always detects the axial distance to the plate 60, and transmits the detection signal (corresponding to the position 48b) to the controller 14.
  • the controller 14 calculates the difference between the position 48a of the ratchet teeth 43 when the stepping torque previously stored in the internal memory is not applied and the position 48b indicated by the received detection signal. Is calculated to determine the axial displacement AL. Since the axial displacement AL increases as the stepping torque increases, the controller 14 can calculate the value of the stepping torque from the correspondence between the two. This can be realized, for example, by experimentally determining the relationship between the axial displacement AL and the stepping torque in advance, and storing a reference table representing this relationship in the internal memory of the controller 14.
  • the controller 14 calculates an assist assist torque Te to be applied based on at least the calculated stepping torque T, and instructs the electric motor 37 to rotate by the assist torque. Computes and outputs signals.
  • the controller 14 converts the rotation speed detected by the rotation speed sensor 220 into a vehicle speed, and calculates the auxiliary torque Te based on both the depression torque T and the rotation speed sensor vehicle speed. Good to do.
  • the electric motor 37 when the calculated stepping torque becomes a predetermined value or more, the electric motor 37 is turned on and an auxiliary torque is commanded to maintain a predetermined ratio to the stepping torque.
  • a motor control signal to turn off the electric motor is output.
  • the electric motor 37 may be turned on only when the value becomes a certain value or more by directly using the axial displacement itself.
  • the pedaling force can be assisted without bending the sprocket 2 and without shifting the rotation center. Under such a condition that the depressing torque is considered to be equal to or more than a certain value, the assisting assist torque is applied, so that the pedal operation can be performed easily.
  • the elastic member having high rigidity and large volume and weight is not separately added to the existing electric assist bicycle, and the ratchet gear which is necessary even for a general bicycle is used. Since the torque is calculated based on the internal axial displacement, the space and weight of the torque detection mechanism can be significantly reduced and the mechanism can be simplified.
  • auxiliary torque from the electric motor 37 is transmitted to the outer peripheral portion of the sprocket 2 having a large diameter via the sprocket drive gear 11, the auxiliary torque is transmitted from the drive shaft 4.
  • the electric assist means is constituted by simply including the sprocket drive gear 11 and the drive means 13 while the elastic displacement portion of the torque detection mechanism is integrally included in the ratchet gear.
  • FIGS. 12 (a) and 12 (b) show a torque detecting mechanism according to a third embodiment of the present invention.
  • the components other than the torque detection mechanism are the same as those in the second embodiment, and therefore detailed description is omitted, and the same components are denoted by the same reference numerals.
  • the torque detection mechanism includes a sprocket 70 having a cylindrical housing portion 82 at the center thereof.
  • the cylindrical housing portion 82 projects cylindrically on one plate surface side of the sprocket 70 and is concave on the other plate surface side.
  • the sprocket 70 is arranged so that the concave portion of the cylindrical housing portion 82 faces the pedal side, and the concave portion receives only rotation in one direction from its drive side portion.
  • a one-way clutch 72 for transmitting to the drive side is housed.
  • the one-way clutch 72 has its driven side fixedly connected to the concave portion of the cylindrical housing portion 82 so as to transmit the rotation only in the R direction to the sprocket 70, and The drive side is fixedly connected to the drive shaft 4.
  • the sprocket 70 has a plurality of holes 84 (FIG. 12 (a)) formed around the cylindrical housing portion 82 for weight reduction.
  • the driven side of the one-way clutch 72 corresponds to the magnitude of the stepping torque.
  • a clutch of a type that displaces toward the sprocket side along the axial direction by the displacement amount selected is selected.
  • An example is the ratchet gear type one-way clutch of the second embodiment.
  • a bearing 74 is arranged around the protruding portion of the cylindrical housing portion 82, and the cylindrical housing portion is held from around the side surface thereof. I have.
  • the bearing 74 preferably supports both axial and radial loads.
  • an elastic metal truncated conical disc spring 76 holds the bearing 74 so as to cover the outer periphery of the bearing 74, and the disc spring 76 is a rigid support 7. It is fixed to the vehicle body via 8. That is, the sprocket 70 is elastically held on the side opposite to the one-way clutch 72 so as to be rotatable with respect to the vehicle body.
  • Fig. 12 (b) when the axial width of the one-way clutch 72 and the axial width of the disc spring 76 are projected on the center axis of the drive shaft 4, they overlap each other at that axial position. It can be seen that it has a region.
  • a strain gauge 80 for detecting the strain of the dish panel due to the applied stress is attached to the disc spring 76, and the strain gauge 80 is connected to a controller 14 (see FIG. 6).
  • This strain gauge 80 can be formed, for example, from a thin-film metal resistor element. In the case of this thin-film metal resistor, a thin oxide insulating layer is provided on the surface of a mirror-polished dish panel 76, and a resistor consisting of multiple elements is formed on it in a bridge-like manner by sputtering or the like. I do.
  • the controller 14 responds by detecting a change in the resistance of the bridge element due to the stress and strain applied to the counter panel 76. The magnitude of the force can be detected. It is preferable to install the strain gauge 80 in a place where the coned disc spring 76 is most susceptible to stress deformation so that the change in resistance value due to the amount of stress deformation is as large as possible in order to improve detection accuracy. .
  • strain gauge 80 As an alternative to the strain gauge 80, a piezo-piezoresistive element that detects a change in resistance due to the pressure applied to the disc spring 76, or a position sensor that detects the amount of displacement on the surface of the dish panel 76, etc. There is.
  • the resistance value of the strain gauge 80 changes due to the stress strain of the disc spring 76. This changed resistance value is detected by the controller 14.
  • the controller 14 previously stores, in its internal memory, a reference table indicating the correspondence between the resistance value of the strain gauge 80 and the stepping torque, and stores the detected resistance value of the strain gauge in the reference table.
  • the stepping torque T is obtained by collating with.
  • the controller 14 controls the electric motor 37 so that the electric motor 37 is driven to rotate with the auxiliary torque Te calculated based on the stepping torque T, and this auxiliary torque is applied to the sprocket drive gear. Directly transmitted to sprocket 70 via 1 1.
  • an elastic member having a large rigidity and a large volume and weight, a transmission mechanism, and the like are not required to be separately added to an existing electric assist bicycle, but are required for a general bicycle. Since the torque is calculated based on the stress distortion of the disc spring 76 due to the pushing force of the directional clutch 72, the torque detection mechanism The size and weight can be greatly reduced and the mechanism can be simplified.
  • the one-way clutch 72 is housed inside the cylindrical housing portion 82 of the sprocket 70, and the dish panel 76 is held indirectly from the outer periphery of the housing portion.
  • the axial stroke can be shorter.
  • This advantage is further improved by employing a means for detecting an amount corresponding to the stepping torque by using a strain gauge 80 thinly formed on the surface of the dish panel 76.
  • the third embodiment has a more excellent effect than the second embodiment in saving space.
  • a torque detecting mechanism will be described with reference to FIGS.
  • the components other than the torque detecting mechanism are the same as those of the second and third embodiments, and therefore detailed description is omitted, and the same components are denoted by the same reference numerals.
  • the sprocket 2 is supported on the drive shaft 4 via a ratchet gear.
  • the ratchet gear includes a piece 100 and a tooth 112.
  • ratchet pieces 102 are arranged on the second engagement surface 110 at equal angles along the circumferential direction.
  • the ratchet piece 102 is made of a rigid body, and is rotatable about an axis close to the second engagement surface 110 and substantially along the radial direction of the engagement surface.
  • the length direction of ratchet piece 102 forms a predetermined angle with respect to second engagement surface 110 (the equilibrium direction in FIG. 15).
  • 10 6) as shown in FIG.
  • the piece rising spring 104 changes the deviation in the equilibrium direction 106.
  • a slight elastic force is exerted on the ratchet piece 102 so as to return to.
  • a piece pore 106 for receiving the drive shaft 4 is formed in the center of the piece 100.
  • the piece pore 106 is formed from the back face 101 of the piece 100.
  • the protruding cylindrical part 103 also penetrates.
  • a circular groove 15 5 (FIG. 13) is formed around the outer circumference of the cylindrical portion 103, and a large number of steel balls 15 2 Times It is rotatably fitted.
  • a bearing for an axial load receiving and sliding bearing is formed on the back surface 101.
  • the coned disc spring 124 is brought into contact with the back surface 101 of the piece 100 through the cylindrical hole 103 in the center hole 127 thereof. At this time, the disc spring 124 slidably contacts the back surface 101 via the steel ball 152, that is, the load receiving bearing, in a direction that elastically opposes the pressure from the bridge portion 100.
  • Strain gauges 126 are installed at two locations facing each other on the surface of the dish panel 124 with a positional relationship of 180 degrees. These strain gauges 1 2 6
  • strain gauges may be installed on the disc spring 124. At this time, it is preferable to install a plurality of strain gauges such that each of the strain gauges has a rotationally symmetric position on the surface of the disc spring 124.
  • the disc springs 1 2 4 are housed in the inner bottom 13 2 of the bowl-shaped support 130.
  • Support 1 is housed in the inner bottom 13 2 of the bowl-shaped support 130.
  • the support hole 13 is formed with a support pore 13 3 penetrating the central portion for receiving the drive shaft 4 and a support cylindrical portion 134 projecting from the rear surface.
  • a bearing 138 for both axial and radial loads is engaged with the inner wall of the support cylindrical portion 134 (see FIG. 13).
  • the bearing 138 is locked by a stopper slope 144 formed on the drive shaft 4.
  • First rotation preventing grooves 108 extending in the axial direction 5 are formed at four locations on the inner wall of the piece pore 106.
  • the second rotation preventing groove 1 extending in the axial direction 5 so as to face the first rotation preventing groove 108 also on the outer wall portion of the drive shaft 4 which is in sliding contact with the inner wall of the piece pore 106. 40 are formed in four places.
  • the first anti-rotation groove 108 and the second anti-rotation groove 140 facing the same form a cylindrical groove extending along the axial direction, A large number of steel balls 150 are accommodated in each cylindrical groove to fill the groove.
  • the bridge portion 100 can move along the axial direction 5 with the minimum frictional resistance, and the relative rotation with respect to the drive shaft 4 is prevented.
  • This is a kind of pole spline, but other types of pole splines, such as endlessly rotating ball splines, can be applied as such slidable rotation preventing means. It is also possible to use means other than pole splines.
  • a protrusion 140 a extending in the axial direction is provided on the drive shaft 4, and a third rotation preventing groove 108 accommodating the protrusion 140 a is provided.
  • a so-called key spline type in which a is formed in the piece portion 100 is also applicable as the rotation preventing means.
  • the protrusion 140a may be provided on the piece 100 side, and the third rotation preventing groove 108a may be provided on the drive shaft 4 side. Furthermore, as shown in FIG. 16 (c), the fourth anti-rotation groove 108b extending in the axial direction and the fifth anti-rotation groove 140b facing the A so-called key groove type in which a key plate is accommodated in a rectangular parallelepiped groove formed in each of the drive shaft 4 and these grooves is also applicable as a rotation preventing means. Note that the detent part 52 shown in the second embodiment can also be adopted in the fourth embodiment.
  • a plurality of ratchet teeth 114 for engaging with the ratchet piece 102 are formed on the first engagement surface 122 of the tooth portion 112.
  • the ratchet teeth 1 14 are alternately and periodically formed along the circumferential direction of the teeth, and have a steeper slope 1 18 and a gentler slope 1 with respect to the first engagement surface 1 21. 1 and 6.
  • the tooth portion 112 is supported by the drive shaft 4 so that the first engagement surface 121 faces the second engagement surface 110 of the bridge portion 100. 2 and the ratchet teeth 1 1 2 are engaged (FIG. 15).
  • the drive shaft 4 passes through the tooth part pore 120 formed in the center of the tooth part 112 through the collar 111, and from the end part 142 through the washer 122. It is fixed (Fig. 13).
  • the tooth portions 112 are connected to a support 130 rotatable with respect to the sprocket 2 and the drive shaft 4.
  • a ratchet gear that connects the drive shaft 4 and the sprocket 2 so that only the rotation of the drive shaft 4 in the vehicle body forward direction is transmitted to the sprocket 2 is completed.
  • the offset spring 136 is interposed between the stopper inclined surface 144 of the drive shaft 4 and the back surface 101 of the bridge portion 100.
  • the pedaling force is equal to or less than a predetermined value (for example, when the pedaling force is substantially zero)
  • the offset spring 1336 is disposed between the steel ball 152 accommodated in the back surface 101 and the countersink panel 124.
  • the piece 100 is displaced in the axial direction so as to generate a clearance.
  • the ratchet piece 102 When the occupant applies pedaling force to the pedals 8R and 8L to rotate the drive shaft 4 in the forward direction of the vehicle body, the rotation force is applied to the piece 1000 which is non-rotatably supported with respect to the drive shaft 4. Is transmitted to At this time, as shown in FIG. 15, the ratchet piece 102 is given a force Fd corresponding to the pedal depressing force from the piece 100, so that the tip of the ratchet piece 102 has the ratchet teeth of the tooth portion 112. It abuts the steeper slope 1 1 8 and attempts to transmit this force to the ratchet teeth.
  • the tip of the ratchet piece 102 receives the force Fp due to the driving load from the steeper slope 118.
  • Ratchet pieces 102 to which opposing forces Fp and Fd are applied from both ends thereof rotate in the direction a and stand up.
  • the piece 100 moves inward in the axial direction by the rise of the ratchet piece 102, and pushes the disc spring 124 interposed between the piece 100 and the supporter 130.
  • the coned disc springs 124 act on the piece 100 by applying a neutral force Fr thereto. This force Fr is balanced in a short time with the force reflecting the pedaling force for moving the piece 100 in the axial direction.
  • the stress distortion of the countersink spring 124, the clearance between the bridge 100 and the teeth 112, the angle of the ratchet bridge 102 with respect to the second engagement surface 110, the bridge are physical quantities that reflect the pedaling force. Therefore, it is possible to estimate the stepping torque by detecting at least one of them.
  • the stress distortion of the disc spring 124 is detected.
  • the controller 14 performs at least addition operation (including averaging operation) on the signals from the two strain gauges 126 provided on the disc spring 124.
  • the offset panel 1336 causes a clearance between the back surface 101 of the bridge portion 100 and the disc spring 124. Therefore, the frequency of the steel balls 15 2 frequently colliding with the disc springs 1 2 4 is reduced. As a result, the noise component of the strain gauge signal is reduced, and the stability of torque detection and electric assist control can be improved.
  • the flow of the electric assist control of the present embodiment is the same as in the second and third embodiments.
  • the fourth embodiment has the following more excellent effects.
  • the pedal has no unnecessary movement (until the sensor detects it) compared to the conventional mechanism (using a coil spring), and the filling when the pedal is depressed is In contrast to the feeling of elasticity at the time of stepping on, the present embodiment has the same feeling as a normal bicycle.
  • the electric motor is used as an example of the means for providing the auxiliary torque.
  • the present invention is not limited to this, and any other power means such as a gasoline engine can be used. is there.
  • the bridge 100 is attached to the sprocket side, the teeth 112 are slidably and non-rotatably attached to the drive shaft 4, and the teeth 112 are attached.
  • the disc springs 1 2 4 may be pushed in by pressing.
  • ratchet pieces have been described as an example, but it is needless to say that two or more ratchet pieces may be provided.
  • the number of grooves and the number of protrusions of the rotation preventing means shown in FIGS. 16 (a), (b) and (c) may be other numbers than those described above.
  • the configuration requirements described in the above one or two embodiments, but not described in the other embodiments, can be applied to the other embodiments without departing from the spirit thereof.
  • the anti-rotation means shown in FIGS. 16 (a), (b) and (c) can be applied to both the second and third embodiments.
  • the ratchet gears of the second and fourth embodiments can be applied to the one-way clutch of the third embodiment.
  • a plurality of strain gauges of the third embodiment may be installed similarly to the fourth embodiment, and the output signals thereof may be averaged.
  • the type and shape of the elastic body disposed against the deformation of the ratchet gear can be arbitrarily and suitably changed.
  • a rubber elastic body may be used in addition to the dish panel and the coil panel.
  • the physical quantity detected in each embodiment can be arbitrarily and suitably selected as long as it is based on the deformation of the ratchet gear as in the example described in the fourth embodiment.
  • a piezoelectric sensor that detects a change in the pushing pressure due to the axial displacement of the ratchet teeth may be used. It is also possible to attach a strain gauge to the ratchet piece and calculate the stepping torque based on the amount of stress and strain of the ratchet piece.
  • the piezoelectric sensor 1 may be arranged on the inner bottom of the support. Further, the rotation angle of the ratchet piece may be detected by an encoder or the like provided on the rotation axis.
  • a position sensor for detecting the position of the bridge portion with respect to the tooth portion may be provided.
  • a strain gauge is taken as an example of a means for detecting stress strain, the present invention is not limited to this as long as a physical quantity related to stress strain can be detected.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

L'invention porte sur un capteur de vitesse de rotation (220), léger, peu encombrant, facile à fabriquer et à monter sur un objet. Ce capteur (220) permettant de détecter la vitesse de rotation d'un objet (engrenage 210) comprend un aimant annulaire de type plaque (200) à surface pratiquement plate et pouvant tourner coaxialement avec l'engrenage. ; un élément à effet Hall (212) destiné à détecter le champ magnétique dans une position fixe adjacente à la surface de l'aimant annulaire ; et un contrôleur (14) destiné à détecter la vitesse de rotation de l'engrenage sur la base d'un signal du champ magnétique. La surface pratiquement plate de l'aimant annulaire (200) comprend une pluralité de segments (202, 204) alternés à polarité inversée (pôles N et S) le long de la périphérie.
PCT/JP2001/002471 2001-03-27 2001-03-27 Capteur de vitesse de rotation et bicyclette servo-assistee equipee d'un capteur de vitesse de rotation WO2002076813A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2001/002471 WO2002076813A1 (fr) 2001-03-27 2001-03-27 Capteur de vitesse de rotation et bicyclette servo-assistee equipee d'un capteur de vitesse de rotation
JP2002575290A JPWO2002076813A1 (ja) 2001-03-27 2001-03-27 回転速度センサー及び該センサーを備えた動力アシスト自転車

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PCT/JP2001/002471 WO2002076813A1 (fr) 2001-03-27 2001-03-27 Capteur de vitesse de rotation et bicyclette servo-assistee equipee d'un capteur de vitesse de rotation

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004169857A (ja) * 2002-11-21 2004-06-17 Chiyoda Kucho Kiki Kk 電動弁
WO2007139021A1 (fr) * 2006-05-31 2007-12-06 Sunstar Giken Kabushiki Kaisha Détecteur de couple et bicyclette assistée électriquement
JP2013152235A (ja) * 2013-03-21 2013-08-08 Yamaha Motor Co Ltd 回転速度検出センサおよびそれを備えた電動補助自転車
WO2013132583A1 (fr) * 2012-03-05 2013-09-12 パイオニア株式会社 Unité et procédé de détection d'angle de rotation
US9027691B2 (en) 2012-12-17 2015-05-12 Yamaha Hatsudoki Kabushiki Kaisha Driving unit and electric assist bicycle
CN109866865A (zh) * 2017-12-01 2019-06-11 纳恩博（北京）科技有限公司 非机动车脚踏及具有其的非机动车
US11162967B2 (en) * 2017-09-29 2021-11-02 Hyundai Mobis Co., Ltd. Apparatus for measuring speed of vehicle having in-wheel motor
WO2023047469A1 (fr) * 2021-09-21 2023-03-30 株式会社ハーモニック・ドライブ・システムズ Dispositif d'engrenage à ondes et actionneur

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6928443B2 (ja) 2016-12-16 2021-09-01 株式会社シマノ 自転車用ハブ

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JPS61202118A (ja) * 1985-03-06 1986-09-06 Nippon Kogaku Kk <Nikon> 磁気式回転検出装置
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JPH09159684A (ja) * 1995-12-06 1997-06-20 Toyota Motor Corp 磁気式回転検出装置
JPH11189193A (ja) * 1997-12-25 1999-07-13 Toshiba Tec Corp 電動補助動力装置付自転車
JP2000177673A (ja) * 1998-12-18 2000-06-27 Shimano Inc 自転車のスプロケット組立体用のセンサ保持器及びセンサ組立体並びにスプロケット組立体
JP2000203484A (ja) * 1999-01-19 2000-07-25 Sunstar Eng Inc 電動アシスト自転車
WO2000075006A1 (fr) * 1999-06-04 2000-12-14 Sunstar Giken Kabushiki Kaisha Bicyclette a commande assistee

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Publication number Priority date Publication date Assignee Title
JPS6169162U (fr) * 1984-10-12 1986-05-12
JPS61202118A (ja) * 1985-03-06 1986-09-06 Nippon Kogaku Kk <Nikon> 磁気式回転検出装置
JPH0361514U (fr) * 1989-10-19 1991-06-17
JPH09159684A (ja) * 1995-12-06 1997-06-20 Toyota Motor Corp 磁気式回転検出装置
JPH11189193A (ja) * 1997-12-25 1999-07-13 Toshiba Tec Corp 電動補助動力装置付自転車
JP2000177673A (ja) * 1998-12-18 2000-06-27 Shimano Inc 自転車のスプロケット組立体用のセンサ保持器及びセンサ組立体並びにスプロケット組立体
JP2000203484A (ja) * 1999-01-19 2000-07-25 Sunstar Eng Inc 電動アシスト自転車
WO2000075006A1 (fr) * 1999-06-04 2000-12-14 Sunstar Giken Kabushiki Kaisha Bicyclette a commande assistee

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004169857A (ja) * 2002-11-21 2004-06-17 Chiyoda Kucho Kiki Kk 電動弁
WO2007139021A1 (fr) * 2006-05-31 2007-12-06 Sunstar Giken Kabushiki Kaisha Détecteur de couple et bicyclette assistée électriquement
WO2013132583A1 (fr) * 2012-03-05 2013-09-12 パイオニア株式会社 Unité et procédé de détection d'angle de rotation
JPWO2013132583A1 (ja) * 2012-03-05 2015-07-30 パイオニア株式会社 回転角度検出装置及び回転角度検出方法
US9027691B2 (en) 2012-12-17 2015-05-12 Yamaha Hatsudoki Kabushiki Kaisha Driving unit and electric assist bicycle
JP2013152235A (ja) * 2013-03-21 2013-08-08 Yamaha Motor Co Ltd 回転速度検出センサおよびそれを備えた電動補助自転車
US11162967B2 (en) * 2017-09-29 2021-11-02 Hyundai Mobis Co., Ltd. Apparatus for measuring speed of vehicle having in-wheel motor
CN109866865A (zh) * 2017-12-01 2019-06-11 纳恩博（北京）科技有限公司 非机动车脚踏及具有其的非机动车
CN109866865B (zh) * 2017-12-01 2024-04-09 纳恩博（北京）科技有限公司 非机动车脚踏及具有其的非机动车
WO2023047469A1 (fr) * 2021-09-21 2023-03-30 株式会社ハーモニック・ドライブ・システムズ Dispositif d'engrenage à ondes et actionneur

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