JPH04100790A - Manual driving device - Google Patents

Abstract

PURPOSE:To reduce human power without spoiling driving feeling in a bicycle provided with an electric motor by detecting load due to human power in a driving system, and controlling output of a driving motor through a prescribed converting characteristic corresponding to the detected load. CONSTITUTION:The manual driving force detected signal (a) detected by a load detecting means 30 is compared with set voltage Vo of a setting device 60 in a comparator 58, and when it is over the set voltage Vo, a switch 64 is closed through an amplifier 62 to connect a clutch 46. Meanwhile, the signal (a) is passed through an amplifier 66 and a subtructor 68, difference against a main circuit voltage signal (b) detected at a shunt 70 is obtained, and it is amplified and sent to a gate circuit 76. The gate circuit 76 changes duty ratio according to the quantity of difference, and sends a gate signal to a switching element 54 to be come on and off. Consequently, the motor driving force according to magnitude of human power is output.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a human-powered drive device with an electric motor in which a human-powered drive system and an electric motor-based drive system are provided in parallel.

(Background of the Invention) Some devices driven by human power, such as bicycles, use a transmission to reduce the pedaling force by changing the gear ratio when the load increases, such as when climbing a bicycle. Problems arise, such as the operation being cumbersome and the vehicle speed decreasing during pitching.

Also known is a so-called engine-equipped bicycle in which a human-powered drive system and an engine-assisted drive system are provided in parallel, and the engine output is controlled by a manual throttle lever. However, in this case, the engine driving force is constantly applied regardless of the pedals, so the feeling of riding on the pedals is lost, making it a boring experience for people who want to enjoy cycling.

Furthermore, when using a bicycle to improve physical strength, there are times when it is desirable to increase the load on the bicycle.

(Purpose of the Invention) The present invention was made in view of the above circumstances, and there is no need to operate a transmission or a throttle lever, and when human power is applied, it automatically responds to the force. A human-powered drive system with an assist drive system using an electric motor that can reduce the amount of human effort required without impairing the feeling of riding a bicycle by providing assist force to the bicycle, and can also increase the load as needed to increase physical strength. The purpose is to provide a device.

(Structure of the Invention) According to the present invention, the object is to detect a load of the human-powered drive system in a human-powered drive device with an electric motor in which a human-powered drive system and an electric motor drive system are provided in parallel. This is achieved by a human-powered drive device with an electric motor, which is characterized by comprising a detection means and a controller that controls the output of the electric motor with a predetermined conversion characteristic for the detected load.

(Example) Fig. 1 is a block diagram showing the concept of the present invention, Fig. 2 is a diagram showing control characteristics of motor driving force F, n with respect to human power Fh,
Figures 3A and 3B are diagrams showing the time change of the resultant force F (=Fh + Fi), Figure 4 is a motor control circuit diagram, Figure 5 is a diagram showing an example of application to a bicycle, and Figure 6 is its drive system. 7A and 7B are diagrams showing an example of the load detection means.

In FIG. 5, reference numeral 10 is a rear wheel that is a driving wheel, 12 is a steering front wheel, 14 is a steering handle, 16 is a seat, and 18 is a foot pedal. A human power drive system 20 (FIG. 1) extending from the pedal 18 to the rear wheel 10 is formed by a pedal shaft 22 that holds the pedal 18, a bevel gear 24, a drive shaft 26, and a bevel gear 28. A load detection means 30 is interposed in the middle of the drive shaft 26 to detect this human-powered driving force Fh. This load detection means 30 is, for example, the seventh
As shown in the figure, a torsion rod spring 32 is connected to a shaft half 26a on the pedal shaft 22 side and a shaft half 26b on the rear wheel 10 side;
It is composed of a potentiometer (for example, a rotary sliding resistance) 34 that determines the relative angle change between the two shafts 26a and 26b. Alternatively, as shown in FIG. 7B, the drive shaft 26 may have a small diameter in the middle, and the torsion of the small diameter portion 26c may be detected by a strain gauge 36. These potentiometers 34
The signals from the strain gauges 36 and 36 are taken out via slip rings (not shown), for example.

A motor drive means 40 is provided on the drive shaft 26 between the load detection means 30 and the rear wheel 10 . This motor drive means 40 is, for example, a DC series or shunt motor 42.
, a worm gear mechanism 44 that decelerates the rotation of the motor 42 and transmits it to the drive shaft 26 , and an electromagnetic clutch 46 interposed between the motor 42 and the worm gear mechanism 44 .

Human powered drive system 2 detected by load detection means 30
The magnitude of the load Fh applied to the motor 0 is sent to the controller 50 by a signal a, and the controller 50 adjusts the motor output F in a predetermined relationship to the magnitude of the load Fh. It controls the For example, as shown by A in Figure 2,
A linear relationship, or a gradual decrease in the rate of increase like B and C.
It is possible to have a gradual increase characteristic. When providing the linear characteristic of A, the circuit shown in FIG. 4 can be used.

In FIG. 4, 52 is a battery, and 54 is a main switching element such as a transistor, which together with the motor 42 form a closed main circuit. The battery 52 is mounted under the seat 16 as shown in FIG. 5, and the main switching element 54 and controller 50 are housed in a control box 56.

In FIG. 4, a signal a indicating the load Fh of the human power drive system 20
is the set voltage υ of the setter 60 by the comparator 58. compared to the set voltage υ. In the following cases, the clutch 46 is disengaged and υ0
When this happens, the clutch 46 is connected. That is, the connection is made via an amplifier 62 and a switch 64 that turns on and off the excitation current of the clutch 46 . This signal a also passes through an amplifier 66 and enters a subtracter 68. A signal indicating the main circuit current detected by a shunt 70 provided in the main circuit is negatively fed back to the subtracter 68 through an amplifier 72, and the difference between the two signals a and b is determined. A signal indicating this difference (a-b) is sent to the amplifier 7.
4 and enters the gate circuit 76. The gate circuit 76 has a difference (
A gate signal whose duty ratio changes depending on the magnitude of ab) is sent to the switching element 54, and is turned on and off.

As a result, the motor 42 receives a signal a, that is, a human power F.

A current corresponding to the magnitude of flows, and a motor driving force F□ having the characteristics shown in FIG. 2A is obtained.

In order to obtain the characteristics shown in FIGS. 2B and 2C, the controller 50 can be formed of a CPU 80 and a ROM 82, as shown in FIG. 5, for example. In this case, the characteristics B and C are stored in the ROM 82, the motor driving force F to be generated when the human power driving force Fh is read out from the ROM 82, and the motor current that generates this driving force Fm is supplied. output the gate signal.

If the motor driving forces F and n are generated at the same time as the human driving force Fh, the resultant force F will be as shown in Figure 3A, and if the motor driving force Fffi is delayed by △t, the resultant force F will be The result will be as shown in Figure 3B. Furthermore, the resultant force F
may be limited to a maximum of F as shown in FIG. 3A.

FIG. 8 is a diagram showing another example of application to a bicycle, and FIG. 9 is a developed view of the drive system.

In this embodiment, batteries 52A and 52B are distributed at two locations, and a coaxial motor 42A is used in the motor drive system 40A. That is, the motor 4 is coaxially connected to the drive shaft 26.
2A, and a movable disk 46a of the clutch 46A.
is provided on the drive shaft 26 with a spline so that it can slide in the axial direction. FIG. 10 is a diagram showing still another example of application to a bicycle. In this embodiment, the human power drive system 20A is chain driven,
The pedal force on the pedal 18 is detected by a strain gauge 90 provided at the rank. Further, the motor 42B of the motor drive system is provided inside the crank or inside the hub of the rear wheel 1o.

In each of the above embodiments, the load on the human power drive system is determined by the drive force Fh. However, in the present invention, instead of or in addition to this, the load may be determined from a torque sensor, a vehicle speed sensor, or the driver's heart rate, breathing rate, or the like. For example, as shown in FIG. 5, an instrument box 92 is provided on the steering wheel 14, and a sensor 94 for detecting the pulse by holding the driver's earlobe or the like, a mask-shaped breathing sensor 96, etc. can be provided there.

Further, the motors 42, 42A, 42B may not only reduce the manual driving force but also generate braking force to increase the manual driving force. In this case, the load on human power increases, so it is suitable for increasing physical strength, and it can also provide a kind of engine braking effect when dismounting the train. A brake sensor may detect that the brake has been applied and cause the motor to generate braking force.

This invention is applicable not only to bicycles, but also to human-powered 3 and 4-wheel vehicles.
It can also be applied to and includes vehicles for the disabled, rehabilitation equipment, play equipment, fitness equipment, robots, etc.

(Effects of the Invention) As described above, the present invention detects the load of the human power drive system and controls the motor driving force of the electric motor with predetermined conversion characteristics for this load, so The assist force of the motor can be automatically controlled without the need for any other operations, making it possible to ride smoothly while reducing human effort without compromising the feeling of cycling.

Furthermore, if the braking force is generated by a motor, it will be suitable for increasing physical strength.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the concept of the present invention, FIG. 2 is a diagram showing the control characteristics of motor driving force F with respect to human power Fh, FIGS. 3A and 3B are diagrams showing changes in resultant force F over time, and FIG. 5 is a diagram showing an example of application to a bicycle, FIG. 6 is an exploded view of its drive system, and FIGS. 7A and 7B are diagrams showing an example of its load detection means. FIG. 8 is a diagram showing another example of application to a bicycle, and FIG. 9 is a developed view of the drive system. FIG. 10 is a diagram showing still another example of application to a bicycle. 10... Drive wheel, 20.2OA... Human power drive system, 3
0...Load detection means, 40.40A...Motor drive system, 42.42A...Motor, 50...Controller. Patent applicant Yamaha Motor Co., Ltd.

Claims (1)

[Scope of Claims] A human-powered drive device with an electric motor in which a human-powered drive system and an electric motor-based drive system are provided in parallel, comprising: load detection means for detecting a load on the human-powered drive system; and the detected load. and a controller that controls the output of the electric motor with predetermined conversion characteristics.