JPH09249186A - Gear pulse counting method and gear position detecting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simply improve the detection resolution of a gear position by the gear pulse counting method and gear position setting method used when the pulses generated in response to the rotation of a gear are counted to detect the rotation position of the gear. SOLUTION: The rotating direction of a motor 3 is determined by a rotating direction detecting means 8e. When the motor 3 is rotated in the positive rotating direction, '+1' is added to the count value at the leading edge and trailing edge of the pulse signal generated by a rotation detection section 6. When the motor 3 is rotated in the reverse rotating direction, '-1' is added to the count value at the leading edge and trailing edge of the pulse signal generated by the rotation detection section 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gear pulse counting method and a gear position detecting method, and more particularly to a gear used when the rotational position of a gear is detected by counting pulses generated according to the rotation of the gear. The present invention relates to a pulse counting method and a gear position detecting method.

[0002]

2. Description of the Related Art In recent years, actuators for automating transmissions mounted on bicycles have been developed. This actuator automates the gear shifting operation by controlling the pulling position of the wire that performs the gear shifting operation in the gearbox mounted on the bicycle in accordance with the wheel torque, rotation speed, and the like.

In this type of actuator, the number of gears of the transmission is controlled by operating the wire by the motor.
The driving force of the motor is transmitted to the wire via a reduction gear group and a transmission mechanism. At this time, the operation amount of the wire is controlled by detecting the rotation amount of the output gear of the reduction gear group and controlling the rotation of the motor.

To detect the amount of rotation of the output gear, a gear for rotation detection is provided on the output shaft, and a micro switch that is switched by the unevenness of the gear is provided on this gear, and a high / low level is set according to ON / OFF of the micro switch. Therefore, the rotation amount of the output gear is detected by counting the rising edge of this pulse, and the movement amount of the wire is detected.

FIG. 11 shows a block diagram of an example of a conventional actuator. A conventional actuator 51 includes a motor 52 that generates a driving force, a reduction gear group 53 that reduces the rotational driving force of the motor 52, a transmission mechanism 54 that transmits the rotation reduced by the reduction gear group 53 to a transmission 55, a reduction gear. The group 53 includes a rotation detector 56 that detects the rotation of the group 53, and a controller 57 that controls the rotation of the motor 52 according to the rotation amount detected by the rotation detector 56.

The control unit 57 is an up / down counter 57 for counting the pulse signals detected by the rotation detection unit 56.
a, a torque detector 57 for detecting the torque of the rear wheel of the bicycle
b, the number of shift stages is set according to the torque detected by the torque detector 57b, and the drive amount of the transmission mechanism 54 is at a position corresponding to the set number of stages according to the count value counted by the up / down counter 57a. Rotation control means 57c for generating a drive control signal for driving the motor 52,
The rotation direction of the motor 52 for setting the number of steps is detected,
From the power supply unit 57e according to the drive control signal generated by the rotation direction detecting means 57d for supplying the power supply to the motor 52, the rotation direction detecting means 57d for supplying the terminal for setting the counting direction of the up / down counter 57a, and the rotation control means 57c. The motor drive circuit 57f is configured to control the drive power supply to the motor 52.

FIG. 12 shows an operation explanatory diagram of a conventional shift position detecting method. 12A is a waveform of a pulse generated by the rotation detection unit 56, FIG. 12B is a rotation direction of the motor 52 detected by the rotation direction detection unit 57d, and FIG.
2 (C) shows the output count value of the up / down counter 57a.

When the pulse signal generated by the rotation detector 56 shown in FIG. 12 (A) rises at time t1, the rotation direction of the motor 52 at this time is the forward rotation direction as shown in FIG. 12 (B). Therefore, "1" is added to the count value C0, and the count value becomes C1.

Next, at time t2, when the pulse signal generated by the rotation detector 56 shown in FIG. 12 (A) rises, the rotation direction of the motor 52 at this time is the forward rotation direction as shown in FIG. 12 (B). Therefore, "1" is added to the count value C1 and the count value becomes C2. Similarly, when the pulse signal generated by the rotation detection unit 56 shown in FIG. 12A rises at time t2, the rotation direction of the motor 52 at this time is the forward rotation direction as shown in FIG. 12B. , "1" is added to the count value C2, and the count value becomes C3.

At time t4, the rotation direction of the motor 52 is reversed, and at the next time t5, the rotation detector 5 shown in FIG.
When the pulse signal generated in 6 rises,
Since the rotation direction of the motor 3 is the reverse rotation direction as shown in FIG. 12B, "1" is subtracted from the count value C3, and the count value becomes C2.

At the next time t6, when the pulse signal generated by the rotation detector 56 shown in FIG. 12 (A) rises, the rotation direction of the motor 52 at this time is the reverse rotation direction as shown in FIG. 12 (B). Therefore, "1" is subtracted from the count value C2, and the count value becomes C1. Similarly, time t7
When the pulse signal generated by the rotation detector 56 shown in FIG. 12A rises, the rotation direction of the motor 52 at this time is the reverse rotation direction as shown in FIG. "1" is subtracted and the count value is C0
become.

[0012]

However, in the conventional actuator, when detecting the output amount of the output shaft of the reduction mechanism when detecting the output position, the rise of the pulse generated according to the rotation of the output shaft is detected. Since the position is detected by counting only the number, there is a problem that the count value cannot be large and the resolution is not good.

The present invention has been made in view of the above points, and it is an object of the present invention to provide a gear pulse counting method and a gear position detecting method which can easily improve the resolution of gear position detection.

[0014]

According to a first aspect of the present invention, in a pulse counting method for counting pulses generated in a cycle according to rotation of a gear, a first rising edge and a falling edge of the pulse are detected. It is characterized by including a procedure and a second procedure of counting both the rising and falling edges of the pulse detected in the first procedure.

According to the first aspect of the present invention, as compared with the case where either the rising edge or the falling edge is detected by counting both the rising edge and the falling edge of the pulse generated in the cycle corresponding to the rotation of the gear, Gear rotation can be detected with double the resolution. Claim 2 has a third procedure for detecting the rotation direction of the gear, and the second procedure comprises:
The count direction is set according to the rotation direction of the gear detected in the third procedure.

According to the second aspect, since the count value is increased or decreased according to the rotation direction of the gear, the gear position can be freely set with high resolution. Claim 3
It is characterized by having a fourth procedure for setting the position of the gear according to the count value counted in the second procedure.

According to the third aspect, by performing the rotational positioning of the gear according to the count value, it is possible to detect with high resolution.

[0018]

Next, embodiments of the present invention will be described.
An automatic transmission for a bicycle will be described as an example.
FIG. 1 shows a block diagram of an embodiment of the present invention.

The automatic transmission 1 according to the present embodiment is connected via a wire W1 and a wire W2 between a transmission 2a for performing a gear shift and a change lever 2b for performing a gear shift operation. A motor 3 for generating force, a reduction gear group 4 for reducing the rotational driving force of the motor 3, a transmission mechanism 5 for transmitting the rotation reduced by the reduction gear group 4 to the transmission 2, and a transmission mechanism from the reduction gear group 4 The rotation detection unit 6 that detects the amount of rotation transmitted to the motor 5, the torque detection unit 7 that detects the rotation torque and the rotation speed of the wheel, the rotation detection unit 6, and the rotation of the motor 3 according to the detection results of the torque detection unit 7. The control unit 8 for controlling and a power supply unit 9 for supplying driving power are included.

The transmission 2a is a so-called internal type four-speed transmission which is provided internally in the rear wheel bearing portion of the bicycle and has a structure capable of four-speed shifting by pulling the wire W1. is there. The transmission 2a has one step without pulling the wire W1, two steps with a predetermined amount of pulling, and three steps with a predetermined amount of pulling with a predetermined amount. There are 4 stages with a certain amount of tension.

The motor 3 is composed of a direct current (DC) motor, is connected to the control unit 8, and rotates in a forward rotation direction or a reverse rotation direction according to a drive signal supplied from the control unit 8. Motor 3
The output shaft of is connected to the reduction gear group 4. The reduction gear group 4 reduces the rotational driving force supplied from the output shaft of the motor 3,
Supply to the transmission mechanism 5.

The transmission mechanism 5 is connected by wires W1 and W2 between the transmission 2a and the change lever 2b, and drives the wire W1 connected to the transmission 2 by the driving force transmitted from the reduction gear group 4. With change lever 2
The wire W1 connected to the transmission 2 is driven according to the operation of b, and the transmission 2a can be automatically and manually operated for shifting.

The rotation detector 6 is provided on the output shaft of the reduction gear group 4 and outputs a pulse signal having a cycle corresponding to the rotation of the output shaft of the reduction gear group 4. FIG. 2 is a diagram showing the configuration and operation of the rotation detector of one embodiment of the present invention. The rotation detection unit 6 is composed of a rotation detection gear 6a having gears formed around it, and a microswitch 6b having movable contacts fixed around the rotation detection gear 6a.

2A shows the state when the macro switch 6b is off, and FIG. 2B shows the state when the micro switch 6b is on. Around the rotation detection gear 6a, the tooth portions 6 are arranged at a pitch (angle) corresponding to the detected movement amount of the transmission mechanism 5.
c is formed. The micro switch 6b has a structure in which a convex portion 6d for driving the switch is projected from the case 6e. The micro switch 6b is arranged close to the rotation detecting gear 6a so that the convex portion 6d is brought into contact with the tooth portion 6c forming surface of the rotation detecting gear 6a.

The convex portion 6d is biased by a spring or the like in a direction projecting from the case 6e (direction of arrow A ₁ ) and is pressed against the surface of the rotation detecting gear 6a where the tooth portion 6c is formed with a predetermined pressure. . As shown in FIG. 2A, when the convex portion 6d is between the tooth portions 6c, the convex portion 6d is extended from the case 6e in the direction of the arrow A ₁ , and the micro switch 6
Turn off b.

When the motor 3 rotates from the state of FIG. 2A and the rotation detecting gear 6a is rotated in the direction of arrow B by an angle θ, the rotation detecting gear 6a is rotated as shown in FIG. 2B. protrusion 6d of the micro switch 6b to the position of the teeth portion 6c of the gear 6a is located, the microswitch 6b protrusion 6d of the micro switch 6b is pushed in the arrow a ₂ direction is turned on.

In this way, when the rotation detecting gear 6a is rotated by the rotation of the motor 3, the micro switch 6b is repeatedly turned on / off by the tooth portion 6c of the rotation detecting gear 6a. A constant power is supplied to the micro switch 6b, and a pulse signal that is low level when the micro switch 6b is turned on and is high level when the micro switch 6b is turned off is generated. The pulse signal generated by the micro switch 6b is supplied to the control unit 8.

The torque detector 7 is attached to the rear wheel of the bicycle and detects the torque and the rotational speed generated in the rear wheel.
The torque and the rotation speed detected by the torque detection unit 7 are supplied to the control unit 8. The control unit 8 controls the drive amount of the motor 3 according to the pulse detected by the rotation detection unit 6, and
The number of shift stages of the transmission 2 is determined based on the torque and the rotation speed detected by the torque detector 7, and the motor 3 is driven.

FIG. 3 shows a block diagram of a control unit according to an embodiment of the present invention. The control unit 8 samples the pulse generated by the rotation detection unit 6 every 4 ms, and counts the gear pulse counting unit 8a and the gear pulse counting unit 8a.
Of the memory 8b storing the position of the gear number corresponding to the count value of the gear 8 and the count value counted by the gear pulse counting means 8a is compared with the value of the memory 8b to detect a difference from the count value of the predetermined gear number. The gear shift stage number is determined according to the torque and the rotational speed detected by the means 8c and the torque detection unit 7, and the gear shift stage number of the transmission 2 is determined according to the difference between the count values up to the predetermined gear shift stage determined by the comparison means 8c. The motor rotation control means 8d for supplying the drive control signal to the motor 3 so that the number of gears is determined, and the rotation direction of the motor 3 is detected from the motor drive control signal generated by the motor rotation control means 8d, and the gear pulse is detected. In accordance with the motor drive control signal from the rotation direction detection means 8e and the motor rotation control means 8d, which supply the information about the rotation direction of the motor 3 to the counting means 8a. Composed of the motor driving circuit 8f which controls the supply of power to 3.

The gear pulse counting means 8a detects both the rising and falling edges of the pulse supplied from the rotation detecting section 6 and counts. FIG. 4 shows an operation flowchart of the gear pulse counting means of one embodiment of the present invention.

The gear pulse counting means 8a first determines whether or not the motor 3 is rotating in the forward rotation direction from the information for determining the rotation direction of the motor 3 from the rotation direction detecting means 8e (step S1-1). In step S1-1, when the rotation of the motor 3 is in the forward rotation direction, the rotation detection unit 6
The rising edge is detected from the pulse signal generated in (step S1-2).

In step S1-2, when the rising edge is detected from the pulse signal generated by the rotation detector 6, the count value is incremented by "+1" (step S1-3). If the rising edge is not detected from the pulse signal generated by the rotation detecting section 6 in step S1-2, then the falling edge is detected from the pulse signal generated by the rotation detecting section 6 (step S1). -4).

When the trailing edge is detected from the pulse signal generated by the rotation detector 6 in step S1-4, the count value is incremented by "+1" (step S1-3). When the rotation of the motor 3 is in the reverse rotation direction in step S1-1, the rising edge is detected from the pulse signal generated by the rotation detection unit 6 next (step S1-5).

In step S1-5, when the rising edge is detected from the pulse signal generated by the rotation detector 6, the count value is decremented by "-1" (step S1-6). If the rising edge is not detected from the pulse signal generated by the rotation detecting section 6 in step S1-5, then the falling edge is detected from the pulse signal generated by the rotation detecting section 6 (step S1). -7).

When the trailing edge is detected from the pulse signal generated by the rotation detector 6 in step S1-7, the count value is incremented by "-1" (step S1-6). The gear pulse counting means 8a determines the count value as described above. That is, when the motor 3 is rotating in the forward rotation direction, the count value is counted up at both the rising and falling edges of the pulse signal, and when the motor 3 is rotating in the reverse rotation direction, the rising and falling edges of the pulse signal are increased. The count value is subtracted at both the falling edges.

Therefore, the moving position can be monitored by monitoring the count value. That is, the transmission 2 sets the count value in the one-stage state to "0". This is always set to one stage when the power is turned on, the count value is reset to "0", and the automatic shift is executed.

FIG. 5 shows an explanatory view of the operation of the gear pulse counting means of one embodiment of the present invention. FIG. 5A shows the waveform of the pulse signal generated by the microswitch 6b, and FIG.
5B shows the rotation state supplied from the rotation direction detecting means 8e, and FIG. 5C shows the state of the count value.

At time t1, the rotation detector 6 shown in FIG. 5 (A).
When the pulse signal generated in step S3 rises, the rotation direction of the motor 3 is a positive rotation direction as shown in FIG. 5B, so that "1" is added to the count value C0 and the count value is C1. become. Next, at time t2, when the pulse signal generated by the rotation detection unit 6 shown in FIG. 5A falls, the rotation direction of the motor 3 at this time is the normal rotation direction as shown in FIG. 5B. , "1" is added to the count value C1, and the count value becomes C2. Similarly, "1" is added to the count value at times t3, t4, t5, and t6 when the pulse rises and falls, and the count value is set to C6 at time t6.

When the rotation direction of the motor 3 is reversed at time t7, at the next time t8, the rotation detector 6 shown in FIG. 5 (A).
When the pulse signal generated in step 1 rises, since the rotation direction of the motor 3 is the reverse rotation direction as shown in FIG. 5B at this time, “1” is subtracted from the count value C6 and the count value is It becomes C5.

At the next time t9, when the pulse signal generated by the rotation detector 6 shown in FIG. 5 (A) falls, the rotation direction of the motor 3 at this time is reverse rotation direction as shown in FIG. 5 (B). Therefore, "1" is subtracted from the count value C5,
The count value becomes C4. Similarly, "1" is subtracted from the count value at times t10, t11, t12, and t13 when the pulse rises and falls, and the count value is C at time t13.
It is set to 0.

As described above, counting is performed at the rising and falling edges of the pulse supplied from the rotation detecting unit 6 and the count value is increased or decreased, that is, the angle of the rotation detecting gear 6a rotates by θ in FIG. Each time, the count value increases or decreases, so that the angle of the rotation axis can be detected with the resolution of the rotation angle θ.

Therefore, the rotation angle of the rotation detecting gear 6a can be detected with a resolution twice as high as that obtained by counting only at the rising edge of the pulse. FIG. 6 shows an external view of a bicycle equipped with an automatic transmission according to an embodiment of the present invention. Bicycle 2
1 includes an internal transmission 2a, an automatic transmission unit 1a that automatically shifts the transmission 2a, an automatic transmission 1 that forms an automatic transmission 1 together with the automatic transmission unit 1a, and a power supply unit 9 that supplies power.

Automatic transmission unit 1a and power supply unit 9
Are fixed to the frame 22 and connected by a conductive cable 23. The transmission 2a is, for example, the rear wheel 2 of the bicycle 21.
It is built in the bearing portion 25 of No. 4 and is connected to the automatic transmission unit 1a by the wire W1.

The automatic transmission unit 1a is connected to the change lever 2b fixed to the handle 26 by a wire w2. FIG. 7 shows a block diagram of the automatic transmission unit. The automatic transmission unit 1a has a configuration in which the motor 3, the reduction gear group 4, the transmission mechanism 5, the rotation detection unit 6, and the control unit 8 described above are housed in the case 27. Transmission mechanism 5
Is built in the half body of the case 27 in the direction of arrow D1, and the circuit board forming the control unit 8 is built in the half body of the case 27 in the direction of arrow D2.

The transmission mechanism 5 is arranged so that the first rotating body 28, the second rotating body 29, and the third rotating body 30 are stacked in this order from the direction of the arrow D2 on the half body of the case 27 in the direction of the arrow D1. .
The wire W2 is held by the half body of the case 27 in the direction of the arrow D1 at a position corresponding to the end surface of the third rotating body 30.
1 is the second rotating body 2 in the half body of the case 27 in the direction of arrow D1.
The wire W1, W2 is fixed at a position corresponding to the end face of the wire 9.
And the second and third rotating bodies 29 and 30 are easily connected.

The reduction gear group 4 is composed of the output shaft 3 of the motor 3.
It is composed of a worm gear 31, which is fixed to a, an input gear 32, a reduction gear 33, and an output gear 34. Output gear 34
The rotation detecting gear 6a for detecting the rotation of the is fixed to the rotating shaft 35 which is also used as the reduction gear 33, and is rotated together with the reduction gear 33 and the output gear 34. The rotation shaft 36 of the input gear 32 is planted on the same axis as the rotation shaft 37 of the transmission mechanism 5.

The motor 3 is arranged in the case 27 so that the rotating shaft 3a extends in the direction of arrow E. Worm gear 3
1 meshes with the input gear 32, and the input gear 32 is the reduction gear 3
3, the output gear 34 is an arrow D1 of the case 27 half body.
And is meshed with the first rotating body 28 of the transmission mechanism 5 which is housed in the direction of the arrow D1 of the case 27 half body.

FIG. 8 shows an exploded perspective view of the transmission mechanism. The transmission mechanism 5 of the present embodiment engages with the first rotating body 28 that rotates by the driving force supplied from the output gear 34, the first rotating body 28, and the transmission 2a, and the first rotating body A second rotary body 29 for transmitting the rotational driving force of the second rotary transmission 28 to the transmission;
From the third rotating body 30 that engages with the rotating body 29 and the change lever, rotates by the driving force supplied from the change lever, and transmits the rotational driving force from the change lever to the second rotating body 29. Composed.

The first rotating body 28 has a disk shape, and a bearing portion 28a is formed at the center thereof. The bearing portion 28 a engages with the rotating shaft 37 and holds the first rotating body 28 rotatably around the rotating shaft 37. A gear 28b is formed at the outer peripheral end. The gear 28b meshes with the automatic transmission, and the driving force is transmitted from the automatic transmission.

A first groove 28c is formed at a radius R from the rotation center P0 of the first rotating body 28 and extends at a predetermined angle .theta.0 about the rotation center P0. The first groove 28c engages with the second rotating body 29, and the first rotating body 2
The rotary driving force transmitted from the automatic transmission 8 is transmitted to the second rotating body 29.

The second rotating body 29 has a disk shape, and a bearing portion 29a is formed at the center thereof. Bearing part 2
9a engages with the rotating shaft 37 and holds the second rotating body 29 rotatably around the rotating shaft 37. In addition, a wire W connected to the transmission 2a is attached to the outer peripheral end of the second rotating body 29.
An engaging portion 29b for connecting 1 and a guide groove 29c for guiding the wire W1 are formed. The connecting portion 38 formed at the tip of the wire W1 is engaged with the engaging portion 29b, and the wire W1 and the second rotating body 29 are fixed.

The guide groove 29c is formed over the entire circumference of the outer peripheral end portion of the second rotating body 29. The wire W1 fixed to the engaging portion 29b engages with the guide groove 29c and guides the path of the wire W1 to a predetermined path. A second groove 29d is formed at a position of radius R from the rotation center P1 of the second rotating body 29, centering on the rotation center P1 and extending over a predetermined angle .theta.0. Second groove 29d
Is formed on the surface facing the third rotating body 30, engages with the third rotating body 30, and the rotational driving force transmitted from the change lever 2b to the third rotating body 30 is the second rotation. Body 29
Is transmitted to The second groove 29d may be formed so as to penetrate the second rotating body 29.

Further, on the surface of the second rotary body 29 facing the first rotary body 28, the rotation center P of the second rotary body 29 is formed.
A first convex portion 29e that engages with a first groove portion 28c formed in the first rotating body 28 is formed at a position having a radius R from 1. The first convex portion 29e engages with the first groove portion 28c formed in the first rotating body 28, contacts the end portion of the first groove portion 28c by the rotation of the first rotating body 28, and The rotational driving force is transmitted to the second rotating body 29.

The third rotating body 30 has a disk shape, and a bearing portion 30a is formed at the center thereof. Bearing part 3
0a engages with the rotating shaft 37 and holds the third rotating body 30 rotatably around the rotating shaft 37. An engaging portion 30b for connecting the wire W2 connected to the change lever 2b and a guide groove 30c for guiding the wire W2 are formed on the outer peripheral end of the third rotating body 30. Engaging part 30b
A connection screw 39 fixed to the tip of the wire W2 is engaged with the wire W2 to fix the wire W2 and the third rotating body 30.

The guide groove 30c is formed over the entire circumference of the outer peripheral end of the third rotating body 30. The wire W2 fixed to the connection screw 39 is engaged with the guide groove 30c and guides the path of the wire W2 to a predetermined path. The third rotating body 30 is connected to the change lever 2 via the wire W2.
It is rotated by the driving force transmitted from b. When the third rotating body 30 is rotationally driven, the second convex portion 30d formed on the third rotating body 30 causes the second groove portion 2 of the second rotating body 29 to move.
The second rotating body 29 is rotated by contacting the end of 9d,
The wire W1 connected to the transmission is driven.

Next, the operation of the transmission mechanism 5 will be described. The transmission 2a biases the wire W1 toward the transmission 2a with a spring. The wire W1 is pulled by the transmission mechanism 5, and the speed change device 2a changes the gear shift position according to the amount of pulling of the wire W1. The speed change device 2a has four speed change states, and when the wire W1 is pulled out from the transmission mechanism 5 most, it is changed from the first speed and the first speed to the length D from the second speed and the second speed. When the length D is further retracted, the third speed and the third speed are further retracted by the length D, and when the transmission mechanism 1 is most retracted, the fourth speed is achieved.

The change lever 2b is the third member of the transmission mechanism 5.
Is connected to the other end of the wire W2 connected to the rotating body 30 and controls the amount of pulling out the wire W2 in four steps. When the change lever 2b is set to the first stage, the wire W2 is most pulled out from the change lever 2b, the third rotating body 30 of the transmission mechanism 5 is rotated in the arrow B1 direction,
As a result, the second rotating body 29 is rotated in the arrow B1 direction, the wire W1 is pulled out in the arrow B1 direction, and the transmission 2
The shift position of a is set to the first speed. Further, when the change lever 2b is set in two stages, the wire W2 is pulled in the direction of the arrow B2 by the length D, and the third rotating body 30 is moved to the arrow B.
It is rotated in two directions, the second rotating body 29 is rotated in the direction of arrow B2, the wire W1 is pulled in the direction of arrow B2 by the length D, and the gear shift position of the transmission 2a is set to the second speed.

Similarly, when the change lever 2b is set to three steps, the wire W2 is further pulled in the direction of the arrow B2 by the length D, and the third rotating body 30 is rotated in the direction of the arrow B2, and the second rotating body 30 is rotated. The rotator 29 is rotated in the arrow B2 direction, the wire W1 is further drawn in the arrow B2 direction by the length D, and the shift position of the transmission 2a is set to the third speed. Further, when the change lever 2b is set to four steps, the wire W2 is further pulled in the direction of the arrow B2 by the length D, and the third rotating body 3
0 is rotated in the direction of the arrow B2, the second rotating body 29 is rotated in the direction of the arrow B2, and the wire W1 is further drawn in the direction of the arrow B2 by the length D to set the shift position of the transmission 2a to the fourth speed. To do.

The groove 28 of the first rotating body 28 during automatic shifting
The C end contacts the convex portion 29e of the second rotating body 29, and
When the rotating body 28 is restrained, the locked state of the motor 3 can be reliably detected by using the automatic transmission 1 or 21, so that the power consumption of the power supply unit 9 can be suppressed and the life of the battery can be extended. .

In the above embodiment, the pulse counting means 8a is realized by the processing of the microcomputer, but the present invention is not limited to this, and it may be processed by hardware. FIG. 9 shows a block diagram of a pulse counting means of a modified example of the embodiment of the present invention.

The pulse counting means 40 of the present modification example latches the flip-flop 40a that latches the pulse from the rotation detection unit 6, the inverter 40b that inverts the pulse from the rotation detection unit 6, and the pulse that is inverted by the inverter 40b. Flip-flop 40c, flip-flop 40
an exclusive-OR (EXOR) gate 40d that takes an exclusive-OR of the pulses latched by a and 40c, and an up-down counter 40e that counts the rising edge of the output pulse of the exclusive-OR (EXOR) gate 40d. .

FIG. 10 shows an operation waveform diagram of the pulse counting means of a modification of the embodiment of the present invention. FIG. 10 (A) shows the waveform of the pulse supplied from the rotation detector 6, FIG. 10 (B).
Is the waveform of the output pulse of the flip-flop 40a, FIG.
(C) is the waveform of the output pulse of the inverter 40b, FIG.
(D) is the waveform of the output pulse of the flip-flop 40c,
10E shows the waveform of the output pulse of the exclusive OR gate 40d, FIG. 10F shows the detection result of the rotation direction detection unit 8e, and FIG. 10G shows the output count value of the up / down counter 40e.

When the pulse supplied from the rotation detector 6 shown in FIG. 10 (A) rises at time t1, the flip-flop 40a detects this and outputs an output pulse as shown in FIG. 10 (B). increase. At this time, the inverter 4
Since the output of 0b falls as shown in FIG. 10C, the output of the flip-flop 40c holds the low level. Therefore, the output of the exclusive OR gate 40d rises.

When the output of the exclusive OR gate 40d rises, at this time, the rotation direction detector 8e causes the motor 3
Since the information for rotating the
Since the up / down counter 40e counts in the up direction, the output count value of the up / down counter 40e is C1 obtained by adding "1" to C0.

When the pulse supplied from the rotation detector 6 shown in FIG. 10 (A) falls at time t2, the flip-flop 40a does not invert and the low level is maintained as shown in FIG. 10 (B). To do. At this time, the output of the inverter 40b rises as shown in FIG. 10C, so the flip-flop 40c detects this and inverts the output to the high level. Therefore, the output of the exclusive OR gate 40d rises.

When the output of the exclusive OR gate 40d rises, at this time, the motor 3 is detected by the rotation direction detection unit 8e.
Since the information for rotating the
Since the up / down counter 40e counts in the up direction, the output count value of the up / down counter 40e is C2 which is obtained by adding "1" to C1.

At times t3 and t when the motor 3 is in the forward rotation direction.
Similarly, in 4, the output count value of the up / down counter 40e is up-counted, and the count value is set to C4 at time t4. Next, at time t5, the rotation direction of the motor 3 is reversed to the reverse rotation direction, and then at time t6, as shown in FIG.
When the pulse supplied from the rotation detection unit 6 shown in (A) rises, the flip-flop 40a detects this and raises the output pulse as shown in FIG. 10 (B). At this time, the output of the inverter 40b is as shown in FIG.
Flip-flop 40c
The output of keeps low level. Therefore, the output of the exclusive OR gate 40d rises.

When the output of the exclusive OR gate 40d rises, at this time, the rotation direction detector 8e causes the motor 3 to move.
Since the information to rotate the reverse direction is supplied,
Since the up / down counter 40e counts in the down direction, the output count value of the up / down counter 40e is C3 obtained by subtracting "1" from C4.

When the pulse supplied from the rotation detector 6 shown in FIG. 10 (A) falls at time t7, the flip-flop 40a does not invert and the low level is maintained as shown in FIG. 10 (B). To do. At this time, the output of the inverter 40b rises as shown in FIG. 10C, so the flip-flop 40c detects this and inverts the output to the high level. Therefore, the output of the exclusive OR gate 40d rises.

When the output of the exclusive OR gate 40d rises, at this time, the rotation direction detector 8e causes the motor 3
Since the information to rotate the reverse direction is supplied,
Since the up / down counter 40e counts in the down direction, the output count value of the up / down counter 40e is C2 obtained by subtracting "1" from C3.

Times t8 and t when the motor 3 is in the reverse rotation direction
Similarly, in 9, the output count value of the up / down counter 40e is down-counted, and the count value is set to C0 at time t9. In this way, the same count value as in FIG. 4 is obtained, and the rotation angle of the rotation detection gear 6a can be detected with a resolution twice as high as that obtained by counting at the rising edge of the pulse.

[0072]

As described above, according to the first aspect of the present invention, by counting both the rising edge and the falling edge of the pulse generated in the cycle corresponding to the rotation of the gear, either the rising edge or the falling edge is counted. It has the feature that the rotation of the gear can be detected with twice the resolution as compared with the case of detecting one.

According to the second aspect, since the count value is increased or decreased according to the rotation direction of the gear, the gear position can be freely set with high resolution. According to the third aspect, the rotational positioning of the gear is performed according to the count value, so that the gear can be detected with high resolution.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment of the present invention.

FIG. 2 is a diagram illustrating the configuration and operation of a rotation detection unit according to an embodiment of the present invention.

FIG. 3 is a block configuration diagram of a control unit according to an embodiment of the present invention.

FIG. 4 is a flowchart of a rotation pulse counting operation of the control unit according to the embodiment of the present invention.

FIG. 5 is an operation explanatory diagram of a pulse counting operation of the control unit according to the embodiment of the present invention.

FIG. 6 is a schematic configuration diagram of a bicycle equipped with an automatic transmission according to an embodiment of the present invention.

FIG. 7 is a configuration diagram of an automatic transmission unit according to an embodiment of the present invention.

FIG. 8 is a perspective view of a transmission mechanism according to an embodiment of the present invention.

FIG. 9 is a block configuration diagram of a modified example of the pulse counting means of the embodiment of the present invention.

FIG. 10 is an operation waveform diagram of a modified example of the pulse counting means of the embodiment of the present invention.

FIG. 11 is a block diagram illustrating an example of a related art.

FIG. 12 is an operation waveform diagram of a conventional example.

[Explanation of symbols]

 1 Automatic Transmission 2a Transmission 2b Change Lever 3 Motor 4 Reduction Gear Group 5 Transmission Mechanism 6 Rotation Detecting Section 7 Torque Detecting Section 8 Control Section 9 Power Supply Unit

Claims (3)

[Claims] 1. A pulse counting method for counting pulses generated in a cycle according to rotation of a gear, wherein a first rising edge and a falling edge of the pulse are detected.
And a second procedure for counting both rising and falling edges of the pulse detected in the first procedure. 2. A third step of detecting the rotation direction of the gear, wherein the second step sets a count direction according to the rotation direction of the gear detected in the third step. The gear pulse counting method according to claim 1, wherein: 3. The gear pulse counting method according to claim 1, further comprising a fourth step of setting the position of the gear according to the count value counted in the second step. The gear position detection method used.