CN1178750A - Speed regulator of bicycle and its method - Google Patents
Speed regulator of bicycle and its method Download PDFInfo
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- CN1178750A CN1178750A CN 97119232 CN97119232A CN1178750A CN 1178750 A CN1178750 A CN 1178750A CN 97119232 CN97119232 CN 97119232 CN 97119232 A CN97119232 A CN 97119232A CN 1178750 A CN1178750 A CN 1178750A
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Abstract
The invention provides a kind of bycicle variable-speed control device and it method, which aims to reasonable automatic speed changing. It comprises: receiving a pressing force signal from the detector which used to detect pressing force, and permitting to perform a speed changing operation when a load is small, thereby avoiding unreasonable speed changing, processing automatic variable-speed control thoroughly.
Description
The present invention relates to the speed-change control device of bicycle.In more detail, relate to a kind of speed-change control device and method thereof that is provided with the bicycle of automatic shift device, automatic shift device carries out gear change according to Automatic Program.
In recent years, the further practicality of bicycle obtains increasing cognition.The motionization of bicycle has promoted this bicycle shift automation of operation.The derailleur of automation is owing to cheap day by day its practicality that improved of microcomputer.
We are from US Patent the 5th, 213, have understood the shift device of automatic operation transmission system No. 548, and this transmission system can change the ratio of revolution of bent axle and trailing wheel.This US Patent put down in writing according to the ratio of crankshaft speed and bicycle speed detect current gear than and under situations such as the slow and bicycle of crank is fast, carry out the automated installation of gear shifting operation according to program.
In addition, we have also understood with fluid pressure device and have carried out the mode of gear shifting operation as actuating device by EP 0 529664A2 for example, wherein by utilizing machine calculation machine to judge that the speed change condition realizes the automation of speed change.
On the mechanics of driven speed-changing mechanism, be subjected to the effect of excessive loads at the high tension of revolting chain.When the bindiny mechanism that the fluid pressure device that connects this resistance high tension and move and mechanics are provided during, can not ignore the problem of cost as the reinforcement means.And there is the shortcoming that attrition strengthens, the life-span descends in the mechanics that moves under this loading condiction.
Therefore, wish to develop the automatic shift device that the mechanics that makes speed-changing mechanism moves under little load.Desirable like this automatic shift device can carry out gear shifting operation owing to shortened the delay time of action in the short time that little loading condiction continues.
The present invention is based on above-mentioned technical background and carries out, and reaches following purpose.
The object of the present invention is to provide a kind of bicycle shift control device that under little load, moves and method thereof.
Another object of the present invention is to provide a kind of mechanics of speed-changing mechanism can not be subjected to the bicycle shift control device and the method thereof of excessive loads effect.
A further object of the present invention is to provide a kind of gear-shift command signal to send the time and gear shifting operation is carried out bicycle shift control device and the method thereof that lack delay time between the time.
A further object of the present invention is to provide a kind of life-span long bicycle shift control device and method thereof.
In addition, a further object of the invention, the manually operated pattern of the at the convenient time changeable one-tenth of car variable speed control promptly of the present invention.
The present invention adopts following mode to achieve the above object.
The present invention 1 bicycle shift control device comprises: the power of pedaling on the pedal axle of will acting on passes to the power drive of trailing wheel; Be used for the converting means that conversion is subjected to the ratio of revolution of the pedal axle of the above-mentioned power of pedaling effect and trailing wheel, above-mentioned converting means is by the rotating element that is subjected to the above-mentioned power of pedaling effect and drive the actuating device that above-mentioned rotating element carries out the ratio of revolution conversion and constitute; Be used to detect the detecting device of the above-mentioned power of pedaling; And the above-mentioned controller of pedaling force signal and hour allowing above-mentioned actuating device action in the above-mentioned power of pedaling that receives that above-mentioned detection device measures.
The present invention 2 bicycle shift control device comprises: the power of pedaling on the pedal axle of will acting on passes to the power drive of trailing wheel; Be used for the converting means that conversion is subjected to the ratio of revolution of the pedal axle of the above-mentioned power of pedaling effect and trailing wheel, above-mentioned converting means is by the rotating element that is subjected to the above-mentioned power of pedaling effect and drive the actuating device that above-mentioned rotating element carries out the ratio of revolution conversion and constitute; Be used to detect the detecting device of the above-mentioned power of pedaling; And receive the above-mentioned controller of pedaling force signal and allowing above-mentioned actuating device action that above-mentioned detection device is measured; Above-mentioned controller is made of the cognitive part of periodic coefficient, Minimum Area calculating section and output; Wherein, to obtain the above-mentioned masterpiece of pedaling be periodic coefficient to the force signal of pedaling that the cognitive part of periodic coefficient is measured according to above-mentioned detection device, the Minimum Area calculating section is obtained the time period of periodic system numerical value when the Minimum Area by calculating, and periodic system numerical value utilizes the cognitive part of above-mentioned periodic coefficient to know, and output allows the actuating signal of above-mentioned actuating device action in above-mentioned time period output.
The present invention 3 bicycle shift control device comprises: the power of pedaling on the pedal axle of will acting on passes to the power drive of trailing wheel; Be used for the converting means that conversion is subjected to the ratio of revolution of the pedal axle of the above-mentioned power of pedaling effect and trailing wheel, above-mentioned converting means is by the rotating element that is subjected to the above-mentioned power of pedaling effect and drive the actuating device that above-mentioned rotating element carries out the ratio of revolution conversion and constitute; Be used to detect the detecting device of the above-mentioned power of pedaling; And receive the above-mentioned controller of pedaling force signal and allowing above-mentioned actuating device action that above-mentioned detection device is measured; Above-mentioned controller is made of differential calculation part, negative differential value calculating section and output; Wherein, differential calculation part is pedaled the differential coefficient that force signal calculates the above-mentioned power of pedaling according to what above-mentioned detection device was measured, negative differential value calculating section is obtained above-mentioned differential coefficient by calculating and is negative and its absolute value time period bigger than a reference value, and output is exported the actuating signal that allows above-mentioned actuating device action after above-mentioned time period or above-mentioned time period.
The present invention 4 bicycle shift control device, it is characterized in that: in each invention of foregoing invention 1～3, above-mentioned controller also is provided with additional output, this additional output when the value of above-mentioned torque is lower than setting value in addition output allow the actuating signal of above-mentioned actuating device action.
The present invention 5 bicycle shift control device is characterized in that: in each invention of foregoing invention 1～4, above-mentioned actuating device is provided with fluid pressure device.
The present invention 6 bicycle speed-change control method comprises: the step that detects crankshaft torque; Whether the value of confirming above-mentioned torque step below setting value; If the value of above-mentioned torque below setting value, then allows the step of speed-changing mechanism action.
The present invention 7 bicycle speed-change control method comprises: the step that detects the crankshaft torque differential value; Confirm that whether above-mentioned differential value is the whether step below setting value of negative value and its absolute value; If the absolute value of above-mentioned differential value below setting value, then allows the step of speed-changing mechanism action.
The present invention 8 bicycle speed-change control method comprises: confirm that crankshaft torque is in the step of the lowermost extent time of lowermost extent in its 1 cycle; Confirm the step of the time span in above-mentioned 1 cycle of torque; Add same-phase time of the integral multiple value of above-mentioned time span in the above-mentioned lowermost extent time, allow the step of speed-changing mechanism action.
The present invention 9 bicycle speed-change control method comprises: detect pedal and whether be positioned near the step of lower dead point; Near pedal is positioned at lower dead point time period, the step that allows speed-changing mechanism to move.
The present invention 10 bicycle speed-change control method is characterized in that: foregoing invention 6～9 each the invention in, said process is carried out with automatic mode, and above-mentioned automatic mode changeable be manual mode.
The effect and the effect of invention are described as follows:
Bicycle shift control device of the present invention allows the speed-changing mechanism action in the power of pedaling of pin or the little time period of torque of bent axle.That is, when only overlapping with little time period of torque in the time period of sending gear-shift command, speed-changing mechanism just moves.The time period that crankshaft torque is little, 3 kinds of situations are arranged as described as follows.
The revolution of a, bent axle is compared with the revolution of trailing wheel, when the specific ratio of its odds ratio is little, that is, and the tension force of chain be zero and bent axle on do not have torque that the relative trailing wheel of bent axle is dallied time period; At this moment, the torque of bent axle definitely is zero.
B, torque is non-vanishing and bicycle when quickening, and periodically variable torque value is in the time period of Minimum Area; At this moment, bicycle quickens to positive dirction.
C, torque is non-vanishing and bicycle when not having to quicken, and periodically variable torque value is in the time period of Minimum Area; This situation comprises the time period that bicycle slows down.This time period comprises that pedal is positioned at the time period in first dead center zone or lower dead point zone.
Under above-mentioned situation b, c, the absolute value of torque sometimes is big.But, when the pedal that connects bipod is in upper limit position and lower position, be in the extremely low lower dead point of the power of pedaling simultaneously.The power of the pedaling when power of pedaling that is in the pin of such lower dead point is positioned at horizontal direction with bipod is compared usually minimum.
Locate in the ramp etc., even pedal is pressed to horizontal direction brokenly or during near the direction of horizontal direction, also can not change this extreme magnitude relationship.Even torque is when setting value is following, and differential value is negative value, its absolute value is perhaps variable-ratio action when setting value is above.Because there is not the life-span minimizing of speed-changing mechanism in fact in this permission.
When external force is big, other road conditions, when environment is unsettled, automatic mode is switched to manual mode, be expected to use always such M/C.
The mechanics of the speed-changing mechanism that moves under this condition for example, on preceding rear derailleur and chain, does not have big load effect.Therefore, the wearing and tearing of mechanics are few, and the delay time of action is short.
The accompanying drawing drawing is simply described as follows:
Fig. 1 is the front elevation that is suitable for the bicycle form of implementation of bicycle shift control device of the present invention.
Fig. 2 is the plan sketch of control panel.
Fig. 3 is the diagram of block of variable speed control hardware.
Fig. 4 is the diagram of curves that shows cogging.
Fig. 5 is the diagram of curves that shows synthetic torque.
Fig. 6 is the diagram of circuit of variable speed control software.
Fig. 7 is the positive view that torque master is suitable for example.
Fig. 8 is the cutaway view of the line VIII-VIII among Fig. 9.
Fig. 9 is the left side view of Fig. 8.
Figure 10 is the positive view of another suitable example of torque master.
Below, the form of implementation of bicycle shift control device of the present invention and method thereof is described.Fig. 1 is the front elevation of the form of implementation 1 of bicycle shift control device of the present invention, is the scheme drawing of bicycle part.As the hind axle 3 of trailing wheel 1 turning cylinder, the many load-carrying elements 6 by cross one another wire are supported on the trailing wheel 1.
Preceding top ends in triangular supports 7 is installed nipper wheels 17 free to rotately.Nipper wheels 17 are made of a plurality of gears or sprocket wheel 17n (n is more than 2).Sprocket wheel 17n is supported on the same axle.
Back top ends in triangular supports 7 is installed backgear group 19 free to rotately.Backgear group 19 is made of a plurality of gears or sprocket wheel 19n (n is more than 2).Sprocket wheel 19n is supported on the same axle.
Rear derailleur 23 is driven by rear drive equipment 27.Rear drive equipment 27 be fixed on other supports, for example fluid pressure device.Also available electromagnetism linear drive apparatus replaces fluid pressure device.
Fig. 2 is the front schematic view of control panel 15.On control panel 15, there are power switch button 31, automatic mode to select button 33, manual mode to select button 35.In the front of control panel 15, be provided with the waveform indicator gauge 39 that the gear that shows the gear figure place is counted indicator gauge 37 and shown the described torque waveform in back.
As shown in Figure 1, torque sensor 40 and the nipper wheels 17 coaxial following top ends that are fixedly installed on triangular supports 7.The usual means that can adopt various principles is as torque sensor 40.Precision height, speed of response soon, do not lose foot to be pedaled the torque sensor of power and can be willing to flat 8-40425 number referring to patent application is special.
This torque sensor should be delivered the time disclosed by the invention, so detailed explanation sees also the record of the disclosure communique, but, will its main points carry out simple explanation at this.That is, torque sensor is made of the 2nd rotor, and the 2nd rotor transmits the torque be supported on the 1st rotor on the bent axle by spring free to rotately, and spring is strong and addendum modification is little; And torque sensor has such function, that is, be transformed to variation of axial position and revolution 1 circle by the displacement machinery with above-mentioned spring and just measured the addendum modification of the displacement after such conversion by approaching sensor, thereby measure the function of torque absolute value.But, such as hereinafter described, done a bit and improved, making what measure is not the torque of discrete time specific in 1 circle, but the parameter of continuous in fact time.
In the control panel 15 on being supported in triangular supports 7, microcontroller 41 is housed.Fig. 3 is the block hardware diagram of microcontroller 41.Microcontroller 41 is equipped with CPU43.Microcontroller 41 is made up of CPU43, RAM45 and ROM47.Be connected by circuit between torque sensor 40 and the microcontroller 41 and the centre is provided with A/D changer 49 and register circuit 51.
By A/D changer 49 and register circuit 51, the output wave shape of torque sensor 40 is digitized as the parameter of time, and input microcontroller 41.The size of torque sensor 40 output wave shapes also is digitized, and input microcontroller 41.Like this, the absolute value of crankshaft torque can be imported microcontroller 41 in the actual.
Equally, the speed signal 55 of the speed signal 53 of bent axle and trailing wheel also is transfused to microcontroller 41.Because being used to carry out the part of this input is not theme of the present invention, so, do not explain in this manual.Can calculate the correct gear figure place of speed-changing mechanism (list of references: No. the 5th, 213,548, above-mentioned US Patent) according to the speed of bent axle and the speed of trailing wheel.The program that is used for the speed change gear switch can be used for other aspect, but is not described in this manual.
Preceding servomechanism 57 and microcontroller 41 are two-way being electrically connected.Before the driving of servomechanism 57 control front driving devices 25, can correctly calculate the miles of relative movement of front chain shifter 21 and front chain shifter 21 is fixed on its calculating location.
Back servomechanism 59 and microcontroller 41 are two-way being electrically connected.The driving of back servomechanism 59 control rear drive equipments 27 can correctly be calculated the miles of relative movement of rear derailleur 23 and rear derailleur 23 is fixed on its calculating location.
The torque of bent axle, be the power of pedaling of the radius of gyration one timer-operated pin of pedal, feature shown in Figure 4 is arranged.Transverse axis is that phase place P, the longitudinal axis are torque T.Torque curve shown in the long and short dash line is that torque curve is a left foot shown in right crus of diaphragm, the solid line.When the pedal that rotates is positioned at upper limit position or lower position, be not easy the power of pedaling of pin is passed to pedal downwards, downward strength does not act on the pedal, and, know that the jockey of this point notices that making the power of pedaling of these positions is zero.
That is, upper limit position and lower position correspond respectively to the first dead center and the lower dead point of application force or torque (because radius is certain, so application force and torque have same meaning for the propulsive force of bicycle, that is, having proportionate relationship).When the jockey is positioned at horizontal direction at pedal, scrunches a side wherein, promptly be positioned at the pedal in the place ahead, make it be subjected to pedaling the power effect in moment.
On a side pedal, the phase place of pedaling the power effect is positioned at the scope of pi/2 to 3/2 π in 1 cycle, the phase place of pedaling the power maximum is (be marked on the same moving coordinate system that moves with bicycle, the rotation direction that this system of axes is established pedal is that positive dirction, upper limit position are pi/2 and establish initial point on the line of centers of bent axle) near the π.
Phase phasic difference 180 degree of left and right sides pedal.Shown in Figure 5 is the synthetic situation of left and right sides pedal torque.The turned position of the bent axle when torque is maxim has 2 in 1 circle of bent axle rotates.The turned position of the bent axle when torque is minimum value also has 2 in 1 circle of bent axle rotates.The phase difference of the turned position of peaked turned position and minimum value is a pi/2.
Below, describe with reference to diagram of circuit shown in Figure 6 operating principle microcontroller 41.Push the power switch button 31 (step S1) of control panel 15, push then automatic mode select button 33 and manual mode select in the button 35 either party (step S2).If select automatic mode (step S3), then program and set-point data are imported CPU43 (step S4) by RAM45, ROM47.
Set-point data is the Δ T etc. delay time of torque, the time meter of the described minimum in back.Torque sensor 40 is measured the absolute value of torque with short time gap.The absolute value of torque, is imported in the CPU43 of microcontroller 41 as the parameter of deciding pitch time on the time coordinate directly or indirectly by the digitalisation of A/D changer.CPU43 calculates the differential value of torque parameter at any time.
When the differential coefficient of torque parameter is also littler than setpoint torque TQ than setting value little (step S5) and torque value at this moment (step S6), send gear shifting operation enabling signal (step S7) in the CPU43.In the subprogram of this signal as the quantitative data input "AND" circuit, this "AND" circuit is equivalent to this and transmits and following signal.
Other programs in the CPU43 confirm whether satisfy the gear shifting operation condition at any time.The gear shifting operation condition is to calculate according to the speed of current bicycle, current speed change gear, the velocity of rotation of crank etc.Because this condition is not a theme of the present invention, so do not describe.If possess the gear shifting operation condition, then send the gear shifting operation conditioned signal.
If above-mentioned gear shifting operation enabling signal and gear shifting operation conditioned signal be at same time period (being set at the narrow time period) (step S8), then microcontroller 41 forwards, backwards servomechanism send actuating signal, front driving device 25 and rear drive equipment 27 and be driven.Front chain shifter 21 and rear derailleur 23 move simultaneously fixed gear positions, gear shifting operation finishes (step S9).Δ T after beginning from this gear shifting operation does not then carry out the gear shifting operation of back in second.If do not change pattern, then seek later speed change permissive condition again.
The present invention allows the permissive condition of speed change gear switch to be included in the form of implementation described below.That is, a side pedal is positioned near the first dead center, when the opposing party's pedal is positioned near the lower dead point, just possessed the permissive condition that allows the speed change gear switch.The detection of this condition is as long as detect the rotational angle position of crank.When torque is non-vanishing, the turned position of the trailing wheel by detecting corresponding crank turned position, the turned position that can measure crank gets final product.On a side crank, magnet is set, thereby can utilizes 4 magnetic pickup devices of 4 turned positions that are fixed on the support to measure this crank near near the situation the first dead center or the lower dead point.For example, can by with the coaxial circumference of bent axle on and for example 75 degree, 115 degree, 255 degree, 4 magnetic pickup devices of 295 degree, 4 turned positions configuration in above-mentioned system of axes detect.
The following describes the reference implementation form of torque master.
Fig. 7,8, the 9th, torque master or pedal the scheme drawing of force checking device.The detailed construction of torque master is willing in the flat 8-40425 specification sheets detailed explanation is arranged the spy.Be applicable to that torque master of the present invention has only changed its guide's device.The essence that changes is the continuous detecting of torque.Fig. 7,8,9 has been simplified to understandable necessary degree, that is, extract its principle out, illustrate its guide's device.Directly detect foot pedals the explanation of the method for power and helps to understand the present invention not utilizing this speed differential.At first, with following mathematic(al) representation its meaning is carried out specific description.
If the torque that establishing the acceleration/accel of bicycle and be A, bicycle is M with the total mass that rider's weight etc. adds up to, be added in external force on the bicycle is G, act on the bent axle (is for example promptly pedaled power divided by the value of radius, can think the power of pedaling when being limited to pedal is in the same height and position of bent axle) be F, then the available following differential equation of the motion of bicycle is represented.The rectilinear coordinates that bicycle travels thereon are R.
That is, MR ()=-2 points in the MG+kMF bracket () are 2 rank differential with time correlation.The 2nd on the right be between jockey and the bicycle relation, be internal force, so the power of pedaling would not make bicycle produce acceleration/accel, still, by the bicycle of wheel kiss the earth, the 2nd on this right then is an external force for sometimes.Therefore, following formula is set up.
Can find out that from following formula even the 2nd the represented power of just pedaling in the right is non-vanishing, if the 1st on the right is negative, then the left side might be zero.When becoming zero conversely speaking, like this, even pedal power on the occasion of, bicycle is also motionless.In this case, the values that torque master 51 also can be measured the 2nd on the right usually on the occasion of, to this, carry out the following description.
Shown in Fig. 7,8,9, like that, detect with arm (double as transmission of power arm) 153 with axle mounting the 1st crank with bent axle 121.The 1st crank detects and is fixedly mounted on the bent axle 121 with arm (double as transmission of power arm) 153.That is, the 1st crank detects with arm (double as transmission of power arm) 153 and bent axle and rotates for the 121 complete same periods.
Preceding sprocket shaft 155 coaxial outer being contained on the bent axle 121.Drive sprocket 127 coaxial being fixed on the preceding sprocket shaft 155.The one design forms the detection of the 2nd crank and uses arm (double as transmission of power arm) 157 (forming cylindric) on preceding sprocket shaft 155.
As shown in Figure 8, on the 2nd crank detects rotation direction a with arm (double as transmission of power arm) 157, the part outstanding outshot 159 of b vertically from behind, a part of and form as it on the 2nd crank detects with arm (double as transmission of power arm) 157.Detect on the rotation direction of using arm (double as transmission of power arm) 153 outer end 153a at the 1st crank, roughly carrying out face with the front end face 163 of outshot 159 contacts (described referring to the back) usually in the rear surface 161 at its rear.The front of outer end 153a (being the surface in the place ahead on rotation direction a) forms inclined-plane 165.
Torque detects with moving body 167, can be located at the 2nd crank with being free to slide and detect with in the arm (double as transmission of power arm) 157.Torque detects and is provided with bead 169 with moving body 167.Bead 169 can be directed sliding along the inside face 173 that the 2nd crank detects with the cavity 171 that forms in the arm (double as transmission of power arm) 157.
Torque detects with 167 of moving bodys and is axially moving (displacement) on the b.Detect installing coil spring 175 between the internal face of using arm (double as transmission of power arm) 157 in bead 169 and the 2nd crank.The spring constant of coil spring 175 is very big.That is, torque detects with the addendum modification of moving body 167 little.
The outside end face that torque detects with moving body 167 forms opposed inclined-plane 177.Inclined-plane 165 utilizes the described elastic force in back to carry out face with opposed inclined-plane 177 usually and contacts.Detect on the position triangle support relative on the usefulness moving direction of moving body 167 in torque with the inner side end of torque detection usefulness moving body 167, as shown in Figure 7, fixed position detecting sensor 179.
Position-detection sensor 179 is can measure the torque relative with self to detect position with moving body 167, promptly, and self detects the noncontacting proximity sensor of the distance between the usefulness moving body 167 with torque.This noncontacting proximity sensor can constitute the planar one dimension sensor of wheel relative to the side face that rotates that torque detects with moving body 167.
If make crank to positive dirction and preceding sprocket shaft 155, promptly the 2nd crank detects with arm (double as transmission of power arm) 157 and rotates in opposite directions, then outer end 153a along the direction a among Fig. 8 to the positive dirction displacement.Be provided with torque detection moving body 167 with the opposed inclined-plane 177 of 165 bonded assemblys, inclined-plane, elastic force direction displacement to the inside on direction b of the coil spring 175 that resistance inclined-plane 165 is born detects with the distance between moving body 167 and the position-detection sensor 179 thereby shorten torque.
If establish this shortening length and be Δ L when being zero (establish the power of pedaling coil spring 175 extend to natural length), spring constant is j, then have
The addendum modification Δ L of the position-detection sensor 179 that F=j Δ L basis measures can obtain by calculating pedals power F.Even even this pedals power F when even bicycle stops to be subjected to the blast effect and travels on ramp up and down, all can be used as internal force between bicycle and the people and measured, and this internal force is relevant with any external condition anything but.
Above explanation is the essence of the principle of relevant above-mentioned guide's device.Be applicable to that torque master of the present invention can carry out following improvement.The torque detection that utilizes above-mentioned structure to move is located at the 2nd crank with 167 fens 3 intervals with 120 degree of moving body and detects with on the arm (double as transmission of power arm) 157, detects 3 torques and uses on the moving body 167 with axle mounting packing ring 181.And, the interval of position-detection sensor 179 with 120 degree can be installed on the conplane triangular supports, the value that 3 position-detection sensors 179 are measured averages.
If carry out such improvement, 3 position-detection sensors 179 move in same phase place pro rata vertically with torque, and the 2nd crank that moves continuously in the actual detects with the neighbor distance between the torque sensor of arm (double as transmission of power arm) 157 and employing noncontacting proximity sensor and measured continuously in the actual.The analog signal of this successive value is carried out digitalisation and is imported microcontroller in the actual by register circuit.
Figure 10 is a scheme drawing of the device identical with the torque master shown in Fig. 7,8,9 being surveyed another form of implementation that moves at right crus of diaphragm.That is, the 2nd crank detects with arm (double as transmission of power arm) 157 and moves on the right side.Drive sprocket 127 can coaxially directly be fixed on the 2nd crank and detect with arm (double as transmission of power arm) 157.
When ramp angle was big, under concavo-convex, the fierce situation about changing of a succession of road environment that rises and falls of road surface, automatic speed changing was an actv., and this is true.But preferably according to circumstances, for example, it is better to switch to manual mode according to jockey's skill level.
Claims (10)
1, a kind of speed-change control device of bicycle comprises:
The power of pedaling on the pedal axle of acting on is passed to the power drive of trailing wheel;
Be used for the converting means that conversion is subjected to the ratio of revolution of the pedal axle of the above-mentioned power of pedaling effect and trailing wheel, above-mentioned converting means is by the rotating element that is subjected to the above-mentioned power of pedaling effect and drive the actuating device that above-mentioned rotating element carries out the ratio of revolution conversion and constitute;
Be used to detect the detecting device of the above-mentioned power of pedaling; And
The above-mentioned controller of pedaling force signal and hour allowing above-mentioned actuating device action in the above-mentioned power of pedaling that receives that above-mentioned detection device measures.
2, a kind of speed-change control device of bicycle comprises:
The power of pedaling on the pedal axle of acting on is passed to the power drive of trailing wheel;
Be used for the converting means that conversion is subjected to the ratio of revolution of the pedal axle of the above-mentioned power of pedaling effect and trailing wheel, above-mentioned converting means is by the rotating element that is subjected to the above-mentioned power of pedaling effect and drive the actuating device that above-mentioned rotating element carries out the ratio of revolution conversion and constitute;
Be used to detect the detecting device of the above-mentioned power of pedaling; And
Receive the above-mentioned controller of pedaling force signal and allowing above-mentioned actuating device action that above-mentioned detection device is measured;
Above-mentioned controller is made of the cognitive part of periodic coefficient, Minimum Area calculating section and output; Wherein, to obtain the above-mentioned masterpiece of pedaling be periodic coefficient to the force signal of pedaling that the cognitive part of periodic coefficient is measured according to above-mentioned detection device, the Minimum Area calculating section is obtained the time period of periodic system numerical value when the Minimum Area by calculating, and periodic system numerical value utilizes the cognitive part of above-mentioned periodic coefficient to know, and output allows the actuating signal of above-mentioned actuating device action in above-mentioned time period output.
3, a kind of speed-change control device of bicycle comprises:
The power of pedaling on the pedal axle of acting on is passed to the power drive of trailing wheel;
Be used for the converting means that conversion is subjected to the ratio of revolution of the pedal axle of the above-mentioned power of pedaling effect and trailing wheel, above-mentioned converting means is by the rotating element that is subjected to the above-mentioned power of pedaling effect and drive the actuating device that above-mentioned rotating element carries out the ratio of revolution conversion and constitute;
Be used to detect the detecting device of the above-mentioned power of pedaling; And
Receive the above-mentioned controller of pedaling force signal and allowing above-mentioned actuating device action that above-mentioned detection device is measured;
Above-mentioned controller is made of differential calculation part, negative differential value calculating section and output; Wherein, differential calculation part is pedaled the differential coefficient that force signal calculates the above-mentioned power of pedaling according to what above-mentioned detection device was measured, negative differential value calculating section is obtained above-mentioned differential coefficient by calculating and is negative and its absolute value time period bigger than a reference value, and output is exported the actuating signal that allows above-mentioned actuating device action after above-mentioned time period or above-mentioned time period.
4, as each described bicycle shift control device in the claim 1～3, it is characterized in that: above-mentioned controller also is provided with additional output, this additional output when the value of above-mentioned torque is lower than setting value in addition output allow the actuating signal of above-mentioned actuating device action.
5, as each described bicycle shift control device in the claim 1～4, it is characterized in that: above-mentioned actuating device is provided with fluid pressure device.
6, a kind of shifting control method of bicycle comprises:
Detect the step of crankshaft torque;
Whether the value of confirming above-mentioned torque step below setting value;
If the value of above-mentioned torque below setting value, then allows the step of speed-changing mechanism action.
7, a kind of shifting control method of bicycle comprises:
Detect the step of crankshaft torque differential value;
Confirm that whether above-mentioned differential value is the whether step below setting value of negative value and its absolute value;
If the absolute value of above-mentioned differential value below setting value, then allows the step of speed-changing mechanism action.
8, a kind of shifting control method of bicycle comprises:
Confirm that crankshaft torque is in the step of the lowermost extent time of lowermost extent in its 1 cycle;
Confirm the step of the time span in above-mentioned 1 cycle of torque;
Add same-phase time of the integral multiple value of above-mentioned time span in the above-mentioned lowermost extent time, allow the step of speed-changing mechanism action.
9, a kind of shifting control method of bicycle comprises:
Detect pedal and whether be positioned near the step of lower dead point;
Near pedal is positioned at lower dead point time period, the step that allows speed-changing mechanism to move.
10, as the shifting control method of each described bicycle in the claim 6～9, it is characterized in that: said process is carried out with automatic mode, and above-mentioned automatic mode changeable be manual mode.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP271433/96 | 1996-09-20 | ||
| JP27143396A JP3373371B2 (en) | 1996-09-20 | 1996-09-20 | Bicycle shift control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1178750A true CN1178750A (en) | 1998-04-15 |
| CN1078554C CN1078554C (en) | 2002-01-30 |
Family
ID=17499967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN97119232A Expired - Fee Related CN1078554C (en) | 1996-09-20 | 1997-09-20 | Speed regulator of bicycle and its method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP3373371B2 (en) |
| CN (1) | CN1078554C (en) |
| TW (1) | TW354291B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102836536A (en) * | 2011-06-20 | 2012-12-26 | 久鼎金属实业股份有限公司 | Bicycle automatic speed changing system with training mode |
| TWI474950B (en) * | 2011-08-29 | 2015-03-01 | Shimano Kk | Bicycle control device |
| CN108502089A (en) * | 2017-02-24 | 2018-09-07 | 彦豪金属工业股份有限公司 | Method for detecting gear shifting state of transmission assembly |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITTO20010678A1 (en) * | 2001-07-11 | 2003-01-11 | Campagnolo Srl | ELECTRONIC CONTROL GROUP USABLE ON BOARD A BICYCLE. |
| US8117923B2 (en) * | 2009-05-08 | 2012-02-21 | Shimano Inc. | Bicycle bottom bracket force sensor |
| TW201309539A (en) * | 2011-08-24 | 2013-03-01 | J D Components Co Ltd | Automatic transmission bicycle with best gearshift occasion |
| CN103786827B (en) * | 2012-11-01 | 2017-06-30 | 久鼎金属实业股份有限公司 | Gear shifting system for reducing motor rotating speed during gear shifting of power-assisted bicycle |
| US10370061B2 (en) | 2016-10-21 | 2019-08-06 | Sram, Llc | Bicycle control device and system |
| TWI794826B (en) * | 2016-10-21 | 2023-03-01 | 美商速聯有限責任公司 | Bicycle electrical control device and system, and related non-transitory computer readable medium and method of operation |
| CN106715979A (en) * | 2016-12-13 | 2017-05-24 | 深圳市七尚科技有限公司 | Error correction method used for automatic speed variation device and variable speed bicycle and device thereof |
| CN107235111B (en) * | 2017-06-23 | 2019-04-23 | 湖北文理学院 | A kind of intelligent variable speed bicycle and using method |
| JP6941511B2 (en) * | 2017-09-05 | 2021-09-29 | 株式会社シマノ | Bicycle control device |
| JP7251977B2 (en) | 2018-12-27 | 2023-04-04 | 株式会社シマノ | Controller and transmission system |
| US10875604B2 (en) | 2019-03-07 | 2020-12-29 | Shimano Inc. | Shifting system for human-powered vehicle |
| DE102022214173A1 (en) * | 2022-12-21 | 2024-06-27 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for predicting a time of a future extreme value in a torque curve of a vehicle |
| TWI848712B (en) * | 2023-05-18 | 2024-07-11 | 鄭仲瑞 | Bicycle automatic speed shifting method with smooth gear shifting |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4128866A1 (en) * | 1991-08-30 | 1993-03-04 | Fichtel & Sachs Ag | ELECTROMECHANICAL GEAR SHIFT FOR BICYCLES |
| US5213548A (en) * | 1992-03-02 | 1993-05-25 | Colbert Ralph G | Gear shifting system for derailleur equipped bicycle |
| JPH0957473A (en) * | 1995-08-25 | 1997-03-04 | Kesami Hasegawa | Method for marking identification bar code of needle |
-
1996
- 1996-09-20 JP JP27143396A patent/JP3373371B2/en not_active Expired - Fee Related
-
1997
- 1997-07-11 TW TW086109824A patent/TW354291B/en not_active IP Right Cessation
- 1997-09-20 CN CN97119232A patent/CN1078554C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102836536A (en) * | 2011-06-20 | 2012-12-26 | 久鼎金属实业股份有限公司 | Bicycle automatic speed changing system with training mode |
| TWI474950B (en) * | 2011-08-29 | 2015-03-01 | Shimano Kk | Bicycle control device |
| CN108502089A (en) * | 2017-02-24 | 2018-09-07 | 彦豪金属工业股份有限公司 | Method for detecting gear shifting state of transmission assembly |
| CN108502089B (en) * | 2017-02-24 | 2020-11-03 | 彦豪金属工业股份有限公司 | Method for detecting gear shifting state of transmission assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH1095383A (en) | 1998-04-14 |
| TW354291B (en) | 1999-03-11 |
| JP3373371B2 (en) | 2003-02-04 |
| CN1078554C (en) | 2002-01-30 |
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