477762 經滴部中央榡準局員工消费合作社印製 kl B7五、發明説明（） 本發明涉及一種借助於設在車輪軸心部的馬達的驅動 給車輪施加電動4區動力的電動車。 以往，比如特開昭50-52737號公報（B62M23/02)中所 述的帶輔助動力的車所示，這類電動車設有驅動輪軸心部， 5 分為旋轉外套部和固定外套部，人力驅動力是通過設在旋 轉外套部上的鏈輪傳遞的，來自馬達的電動驅動力通過減 速機構對由内設在固定外套部上的馬達產生的驅動力進行 減速後再傳遞到旋轉外套部，這樣，通過人力驅動力和電 動驅動力使驅動輪旋轉而行駛。 10 可是，如果是這樣的車，會構成為在固定外套部的馬 達的侧面上配設有減速機構，有可能使驅動部的車軸方向 上的外形變大，在市面上賣的自行車等上只安裝帶有驅動 部的車輪的情況下，如用市面上賣的自行車的框架的話有 可能超過預先定好的自行車框架的寬度，這樣，必須改變 15 自行車的支撐架等。 還有，在這種車中，為了對馬達的旋轉速度進行減速 要使用多個減速機，因該減速機設計成夾在固定外套部和 旋轉外套部之間，在把旋轉外套部裝到固定外套部之前， 必須在固定外套部的外側裝上很多的齒輪，這使操作變得 20 繁雜，組裝起來非常困難。 還有，如果是這樣的車，因旋轉外套部只在單侧受到 支撐，如果不對旋轉外套部的強度進行相當的提高，在耐 用性上會有問題，如果長期使用，有可能會因自行車的自 動和使用者的重量導致旋轉外套部變形。 -3- (請先閱讀背面之注意事項再填寫本頁)477762 Printed by the Consumers' Cooperative of the Central Bureau of Standards, Kiri B7. V. Description of the invention () The present invention relates to an electric vehicle that applies electric 4-zone power to the wheels by driving a motor provided at the center of the wheel axle. In the past, as shown in the vehicle with auxiliary power described in Japanese Patent Application Laid-Open No. 50-52737 (B62M23 / 02), this type of electric vehicle is provided with a driving wheel shaft center portion, and is divided into a rotating outer casing portion and a fixed outer casing portion. The human driving force is transmitted through a sprocket provided on the rotating outer casing. The electric driving force from the motor reduces the driving force generated by the motor built in the fixed outer casing through a reduction mechanism and then transmits the driving force to the rotating outer casing. In this way, the driving wheels are rotated and driven by human driving force and electric driving force. 10 However, in such a vehicle, a reduction mechanism is provided on the side of the motor that fixes the outer casing portion, which may increase the outer shape of the driving portion in the direction of the axle. When a wheel with a driving portion is installed, if a commercially available bicycle frame is used, the width of the bicycle frame may exceed a predetermined width of the bicycle frame. In this case, the support frame of the bicycle must be changed. In addition, in this type of car, a plurality of speed reducers are used to reduce the rotation speed of the motor. The speed reducer is designed to be sandwiched between the fixed outer sleeve portion and the rotary outer sleeve portion. Before the outer casing part, a lot of gears must be installed on the outer side of the fixed outer casing part, which makes the operation complicated and the assembly is very difficult. Also, if this type of car is used, the rotating outer part is supported only on one side. If the strength of the rotating outer part is not improved considerably, there will be problems in durability. If it is used for a long time, it may be caused by the bicycle. Automatic and user weight cause deformation of the rotating outer shell. -3- (Please read the notes on the back before filling this page)
本紙張尺度適用中國國家標準（CNS ) Λ4規格（21〇X 297公釐） 477762 經滴部中央標準局員工消費合作社印$1 A7 B7五、發明説明（） 本發明就是參照上述缺點以提供具有緊湊構成、易於 組裝、防水和防塵性能好且可以穩定行駛的電動車為目 的。 本發明一種電動車，其特徵在於具備有以車輪的車軸 5 為中心且與車輪一起旋轉的旋轉外套部，設在與旋轉外套 部相向的位置上且與旋轉外套部一起構成上述車輪抽心部 的固定外套部、設在上述軸心部内的上述車軸周圍可以轉 換齒輪傳動比的變速機和旋轉驅動上述旋轉外套部的馬達， 上述馬達設成與上述變速機同軸並包圍上述變速機的外 10 周。 本發明另外的特徵在於具備有借助於人力使上述旋轉 外套部旋轉驅動的人力驅動部，測出該人力驅動部的人力 驅動力大小的扭矩傳感器和根據該扭矩傳感器測出的值驅 動上述馬達的控制部，上述扭矩傳感器設在上述車軸的縱 15 向上並與馬達同轴。 另外的特徵在於上述扭矩傳感器以圓弧狀設在上述變 速機周圍。 另外的特徵在於上述旋轉外套部覆蓋上述固定外套部 的外周。 20 另外的特徵在於上述旋轉外套部在上述軸心部的車軸 方向的約兩端處受到支撐。 另外的特徵在於上述固定外套部包圍上述馬達。 另外的特徵在於設有對上述馬達的輸出減速後傳遞到 旋轉外套部的減速機構，上述減速機構與上述馬達同軸配 -4- (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） 477762 A7 B7 經濟部中央標準局員工消费合作社印製 五、發明説明（） 設。 另外的特徵在於上述減速機構被配設成夾在上述馬達 和上述扭矩傳感器之間。 還有另外的特徵在於上述減速機構在上述扭矩傳感器 5 —側與上述旋轉外套部聯接而接受動力傳遞。 根據以上的構成，本發明由旋轉外套部和固定外套部 構成車輪的軸心部，在軸心部内的車軸周圍所設的變速機 的周圍以馬達圍住構成，可以把軸心部的徑向大小做得緊 湊，可以把重量做得輕。 10 於是，因為把馬達和扭矩傳感器並設在車軸上，具有 緊湊的效果。 還有，因扭矩傳感器設在變速機的外圍，在上述車軸 的縱向上不會變長，可以減小車軸方向的尺寸。 於是，因旋轉外套部覆蓋固定外套部的外周，來自外 15 部的水滴、灰塵等不會落到内設在固定外套部中的馬達等 上面，故障變少。而且，由於是在把馬達等裝入固定外套 部中之後再覆蓋上旋轉外套部的，組裝性得到改善。 還有，旋轉外套部包圍固定外套部，在車軸方向上的 軸心部的兩端受到支撐，因此，使用者和電動車的重量不 20 會只加在單側上，而是均勻平衡地加在車軸上，這樣，即 便長期使用，旋轉外套部也不會變形，可望改善產品質 量。 還有，由於馬達等内設在固定外套部中，其外周受到 包圍，來自外部的水滴和灰塵等不會摻入，不容易引起故 -5- -------1·來II (請先閱讀背面之注意事項再填寫本頁) •Ί訂 4 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） 477762 A7 B7 經滴部中央標準局員工消費合作社印？衣 五、發明説明（） 障。 還有，因上述減速機構與上述馬達同軸配設，可以用 車軸作為共同的軸構成，組裝變得非常簡單。 這樣，因上述減速機構被配設在夾在上述馬達和上述 5 扭矩傳感器之間，減速機構部分的噪音可以被馬達和扭矩 傳感器屏蔽。 還有，由人力驅動部通過扭矩傳感器使旋轉外套部旋 轉，因在這個扭矩傳感器一側的近旁設有減速機構，減速 馬達輸出的減速機構的輸出可以在旋轉外套部的與扭矩傳 10 感器聯接的部分附近進行聯接，除了構成變得簡單之外還 可以使結構緊湊。 另外，本發明另一種電動車，其特徵在於具備有構成 車輪軸心部並與車輪一起旋轉的旋轉外套部和在該旋轉外 套部内設在車體上的固定外套部，在上述固定外套部内設 15 有馬達以及減速機構。 於是，其特徵在於上述固定外套部形成為一側開口的 碗狀，内設上述馬達，在上述開口内配設有上述減速機 構。 另外的特徵在於減速機構採用行星減速機構。 20 另外的特徵在於設有為使旋轉外套部旋轉的人力驅動 部，該人力驅動部和上述旋轉外套部被配設成相互獨立旋 轉，在上述人力驅動力和旋轉外套部之間設有由人力驅動 力把動力傳遞到旋轉外套部的扭矩傳感器，上述固定外套 部的開口與在上述人力驅動部和上述旋轉外套部之間所形 -6- (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) Λ4規格（210X 297公釐） 477762 經濟部中央標隼局員工消費合作社印製 A7 B7 五、發明説明（） 成的開口相向配設。 還有，另外的特徵在於在上述人力驅動部和上述旋轉 外套部之間形成的開口的旋轉外套部的内側面上設有堵住 該開口的軸環部，在上述固定外套部的碗狀的底面外側壁 5 上設有控制電路板。 還有，另外的特徵在於設有為使旋轉外套部旋轉的人 力驅動部，在該人力驅動部和上述旋轉外套部之間且在作 為上述車輪的旋轉中心的車軸上設有内裝變速機。 還有，另外的特徵在於上述變速機設在位於上述車軸 10 的縱向上到中部為止的位置上，上述旋轉外套部設成受上 述變速機和設在未設上述變速機部分的上述車軸上的軸承 所支撐。 還有，另外的特徵在於在上述旋轉外套部的一側輸入 借助於人力的人力驅動力，在與該人力驅動力被輸入的一 15 側相對的一側輸入由上述馬達產生的電動驅動力。 根據以上的構成，本發明借助於減速機構對内設在固 定外套部中的馬達的電動驅動力減速後使車輪旋轉。而且， 在組裝該驅動部時，通過把内設有馬達和減速機構的固定 外套部裝入旋轉外套部，可以對驅動部分進行組裝。 20 還有，在上述固定外套部的開口部分配設有減速機構 即使減速後的電動驅動力的輸出朝著易於與旋轉外套部聯 接的方向，因此在裝入旋轉外套部時，可以使之簡單地 與旋轉外套部聯接。 這樣，由於減速機構採用行星減速機構，被構成為堵 本紙張尺度適關家標準（CNS )7^見格（21Gx^^y --------- (請先閲讀背面之注意事項再填寫本頁) 、11 •έ---Ί · 477762 A7 B7 五、發明説明（） 住固定外套部的開口，當被裝入旋轉外套部時驅動部的輸 出位於旋轉外套部的内表面。 (請先閱讀背面之注意事項再填寫本頁) 還有，固定外套部的開口與在人力驅動部和上述旋轉 外套部之間所形成的開口相向配設，萬一在雨水等從人力 5 驅動部和旋轉外套部之間的開口進入，水也不會進入到固 定外套部中的馬達内。 還有，因設有軸環部可以堵住人力驅動部和旋轉外套 部之間的開口，雨水等不容易進入控制電路板。 還有，在車軸上設有内裝變速機，來自人力驅動部的 10 輸入通過變速機變速後使車輪旋轉。也就是說，可以用與 使用者的人力相配合的變速比率使車輪旋轉，而且，因使 用内裝變速機，結構變得緊湊。 還有，變速機設在位於車軸的縱向上到中部為止的位 置上，旋轉外套部設成受變速機和設在未設變速機部分的 15 車軸上的軸承所支撐，可以配設成把固定外套部裝在不旋 轉的車軸上，而且，可以把旋轉外套部跨過車軸的縱向配 設，可以使之穩定地旋轉。 經滴部中央標準局員Η消費合作社印製 這樣，在旋轉外套部的一側輸入人力驅動力，在車軸 方向的與該人力驅動力被輸入的一側相對的一側輸入電動 20 驅動力，因此，加在旋轉外套部上的平衡性良好，可以使 車輪旋轉。 下面，以帶輔助動力的電動輔助自行車為例對本發明 的電動車的實施例進行說明。 與本發明相關的電動車並不只限於電動輔助自行車， -8- 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ 297公釐） 477762 經濟部中央標準局員工消費合作社印製 Μ Β7五、發明説明（） 不用說，以馬達為驅動源的電動摩托車、電動汽車等只要 是受馬達驅動的電動車都包括在内。 下面對附圖進行簡單說明。 第一圖為本發明實施例一的驅動部的側視剖面圖。 5 第二圖為從侧面看該驅動部的扭矩傳感器附近的俯視 第三圖為該控制電路的方框圖。 第四圖為該動力系統圖。 第五圖為表示該整體構成的側視圖。 10 第六圖為本發明實施例二的驅動部的側視剖面圖。 第七圖為從側面看該驅動部的扭矩傳感器附近的俯視 圖。 第八圖為該動力系統圖。 第九圖為該控制電路的方框圖。 15 第十圖為本發明實施例三的驅動部的側視剖面圖。 第十一圖為從側面看該驅動部的扭矩傳感器附近的俯 視圖。 第十二圖為本發明實施例四的驅動部的側視剖面圖。 第十三圖為該動力系統圖。 20 第十四圖為該控制電路的方框圖。 第十五圖為本發明實施例四的驅動部的側視剖面圖。 圖中，11車輪(後輪)，18車軸，29旋轉外套部，36固定 外套部，28變速機，39馬達，52扭矩傳感器，40控制部（控 制電路板)，44行星齒輪，45固定齒輪，46輸出盤，50軸環 -9- (請先閲讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） 經濟部中央標準局員工消費合作社印製 477762 A7 B7 五、發明説明（） 部，31轴承。 首先，對實施例一進行說明。 參照第五圖對電動輔助自行車的整體的構成進行說 明。 5 1為連接設在前部的頂頭管2和設在車座3下方的座 位支撐管4的主框架，在該主框架1和上述座位支撐管4 連接部分裝有可以借助於人力轉動的腳踏板5。 6為與把手7的動作連動且依照把手7的操作決定行 駛方向的前輪，該前輪6是由輻條8、輪環9、輪胎10所 10 構成。 11為作為驅動輪的後輪，該後輪11也是由輪胎12、 輪環13、輻條14以及用於驅動後輪11的驅動部15所構 成。在上述驅動部15中内設有後述的扭矩傳感器52，測 出通過鏈條16傳遞的人力扭矩，而且，還内設有微型計算 15 機58，輸入該扭矩傳感器52的值後把驅動信號輸出到後 述的馬達39。 17為隨上述腳踏板5的輔動而轉動的前鏈輪，在該前 鏈輪17上掛有鏈條16，用於把前鏈輪17的轉動動力傳遞 到設在上述驅動部15的車軸18上的後鏈輪19上。如上 20 所述，上述後輪11可以受2個驅動部所驅動而行駛，這2 個驅動部是由内設馬達39的上述驅動部15組成的電動驅 動部20和由上述腳踏板5、上述鏈條16等組成的人力驅 動部21。 22是作為後述的馬達39的電源的電池，裝有24伏的 -10- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） --------ίφ---^-IU ^ : (請先閱讀背面之注意事項再填寫本頁) 4///62 經濟部中央標準局員工消費合作社印製 A7 B7 五、發明説明（） 鎳鎘電池。而且，電池22是可拆卸的，充電時可在屋内進 行充電。上述電池22安裝成圍在上述座位支撐管4上，並 在車座3的下方設有鎖定裝置23，用於鎖定上述電池22。 24為前車筐，25為停車時支撐自行車的支架。 5 26為夜間行駛時照亮前方的照明裝置。該照明裝置26 由發電機和燈所構成。 27為用於制動後輪11的剎車手柄。 其次，參照第一圖及第二圖對遠個電動輔助自行車的 驅動部15進行說明^ 10 28為設在上述車軸18的縱向一部分上的内裝式變速 機，該變速機28通過單方向的離合器（未圖示）與上述後鏈 輪19聯接，上述腳踏板5只有一個轉動方向可傳遞動力， 當使上述腳踏板5反向轉動時，與變速機28之間的動力 機遞被屏蔽。 15 29為構成以上述車轴18為中心的後輪11的軸心部 的旋轉外套部，該旋轉外套部29由二個部件組成，一個是 把用於安裝上述輻條14的xj字狀環30設在其外周的旋轉 外套部29A，另一個是通過軸承31裝在上述車軸18上且 堵住上述旋轉外套部29A的開口部並在多處用螺釘固定在 20上述環30上的旋轉外套部29B。 32為通過焊接固定在上述旋轉外套部29B上與車轴 18同心且朝著旋轉外套部29B的外側形成圓盤狀的賢壁 的旋轉片，在該旋轉片32的内周上設有制動裝置33，用 於根據上述剎車手柄27的操作在外側即與該旋轉片32的 -11- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） (請先閲讀背面之注意事項再填寫本頁) 訂 477762 經濟部中央標準局員工消f合作社印製 A7 B7五、發明説明（） 内周摩擦接觸制動旋轉外套部29的轉動。34為覆蓋該制 動裝置33外部的帝|動器外罩。 35為用於由上述電池22向後述控制電路板40供電 的電線，該電線35貫穿制動器外罩34，並穿過車軸18的 5 部分切削口，沿著後述固定外套部36的外側壁並有部分 沿著固定外套部36的内側壁與控制電路板40連線。 36為設在上述旋轉外套部29内且固定在上述車軸18 上的一面開口的碗狀固定外套部，該固定外套部36通過 與上述變速機28的外周之間的軸承37被固定安裝，使之 10 不防礙上述變速機28的外周的轉動，内設有後述的直流 無電刷馬達39和行星齒輪減速機構。於是，這個固定外 套部36被固定在上述車軸18的縱向上未設變速機28部 分的車軸上。 38為構成設在上述固定外套部36的内側面上的馬達 15 39的定子，該定子38通過設在上述固定外套部36的外側 面上的控制電路板40接受電力供給。而且，上述定子38 是通過把線圈纏在形成有18個槽的鐵芯上構成的，帶有12 極的磁鐵。 41為通過設在上述固定外套部36的内側面上的2個 20 軸承42可在上述定子38的内周旋轉的轉子，該轉子41 是裝在齒輪部43上的，該齒輪部形成有小徑部分，在該部 分上有一部分齒輪。該齒輪部43是後述行星齒輪減速機 構43、44、45的中心齒輪部分。而且，上述轉子41帶有 磁鐵41a。 -12- (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） 477762 A7 ___ _______ 五、發明説明（） — 上述轉子41和上述定子38 _起構成馬達39。在本 實施例中雖然使用了直流無電刷馬達，但使用其他種類的 馬達也沒關係，不用說，用步進馬達可以使結構變得更加 緊凑。 5 44為設在上述齒輪部43和上述固定外套部36之間 的四個行星齒輪，該行星菌輪44與固定在上述固定外套 部36内周上的固定齒輪45及上述齒輪部43咬合，通過 轉子喊轉繞著車轴18轉動。還有，為可自由轉動 地設在上述行星齒輪44的各自的中心上且通過設在車轴 10 18上的軸承47可自由旋轉的輸出盤，該輸出盤通過帶 有棘輪機構的單向離合器48設在上述旋轉外套部29的旋 轉外套部29B Ji 〇當後輪u的轉動速度比因人力導致的 旋轉外套部29的轉動更快時，這個單向離合器48可以屏 離人力驅動力和馬達39的動力。 15 49為固足在上述變速機28外周上的壓片，該壓片49 經濟部中央標準局員工消費合作社印製 被固足在上遠變速機28上，由設計成可堵住變速機28和 旋轉外套部29B之間所形成的開口大小的圓盤狀的轴環⑽ 和在與該軸環50相對的位置上形成的壓板51所構^上 述壓板Μ *上述旋轉外套_ μα之間壓迫似地夹著由磁 20致伸縮元件組成的扭拒傳感器52。也就是說，&人力驅動 部21所加的力從壓板51壓向扭矩傳感52從而使旋轉外 套部29A轉動。此時，在扭矩傳感器52上會根據人力驅 動力的大小產生相應的形變。 53為士裝在上述固定外套部36和旋轉外套部29之 -13- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） 經濟部中央標準局員工消f合作社印製 477762 A7 __ B7 _ 五、發明説明（） 間的旋轉變壓器，安裝在上述旋轉外套部29上的線圈作 為旋犇變壓器53A，安裝在固定外套部36上的線圈作為 旋轉變壓器53B。該旋轉變壓器53把上述扭矩傳感器52 的信號傳到控制電路板40上。 5 下面參照第三圖對上述扭矩傳感器52的構成和信號 傳遞電路進行說明。 本申請案的扭矩傳感器52是由磁致伸縮元件組成的 磁心54和繞在該磁心54外周上的線圈55所構成，施加 在上述軸環部50上的力通過壓迫磁心54使之產生形變， 10 由此測出產生的線圈55的電感的變化。然後，上述磁心54 被連接在旋轉變壓器53A上，磁心54的形變導致旋轉變 壓器53A —側的電感變化。 56為根據上述旋轉變壓器53A和扭矩傳感器52的電 感使振盪頻率變化的振盪電路。 15 57為與上述振盪電路56連接、測定發自振盪電路56 的信號的振盪頻率並輸出到微型計算機58的頻率測定電 路。 下面參照第三圖對本實施例的電動輔助自行車的控制 電路進行說明。 20 首先，對上述扭矩傳感器52的動作進行說明。 在自行車的啟動時、加速時、登坡時等和在對腳踏板 5加大力時，把由磁致伸縮元件組成的磁心54夾到軸環部 50和旋轉外套部29之間，動力受到傳遞，根據人力的大 小產生相應的形變。此時，磁心54的變化導致線圈55的 -14- 本紙張尺度適用中國國家ππϋΤ----- (請先閱讀背面之注意事項再填寫本頁)This paper size applies Chinese National Standards (CNS) Λ4 specifications (21 × 297 mm) 477762 Printed by the Consumer Standards Cooperative of the Central Standards Bureau of the Ministry of Labor $ 1 A7 B7 V. Description of the invention () The invention refers to the above disadvantages to provide a compact The purpose is to construct an electric vehicle that is easy to assemble, has good waterproof and dustproof performance, and can run stably. An electric vehicle according to the present invention is characterized in that it includes a rotating outer sleeve portion that rotates with the wheel around the axle 5 of the wheel as a center, is provided at a position facing the rotating outer sleeve portion, and constitutes the wheel centering portion together with the rotating outer sleeve portion. A fixed outer cover part, a speed changer provided around the axle in the shaft center part and capable of changing the gear ratio, and a motor for rotationally driving the rotary outer cover part, the motor is provided coaxially with the speed changer and surrounds the outside of the speed changer 10 week. Another feature of the present invention is to provide a human power driving unit that rotates the rotary outer casing by human power, a torque sensor that detects the magnitude of the human driving force of the human power driving unit, and a motor that drives the motor based on a value measured by the torque sensor. In the control unit, the torque sensor is provided in a vertical direction of the axle and is coaxial with the motor. Another feature is that the torque sensor is provided in a circular arc shape around the gearbox. It is also characterized in that the rotary outer casing covers the outer periphery of the fixed outer casing. 20 It is also characterized in that the rotating outer sleeve portion is supported at about both ends in the axle direction of the shaft center portion. Another feature is that the fixed outer casing surrounds the motor. Another feature is that it has a reduction mechanism that reduces the output of the motor and transmits it to the rotating outer casing. The reduction mechanism is coaxial with the motor -4- (Please read the precautions on the back before filling this page) This paper is applicable China National Standard (CNS) A4 specification (210X 297 mm) 477762 A7 B7 Printed by the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs. Another feature is that the speed reduction mechanism is arranged to be sandwiched between the motor and the torque sensor. Still another feature is that the speed reduction mechanism is coupled to the rotation outer casing portion on the side of the torque sensor 5 to receive power transmission. According to the above configuration, in the present invention, the shaft center portion of the wheel is constituted by the rotating outer casing portion and the fixed outer casing portion, and the periphery of the transmission provided around the axle in the shaft center portion is surrounded by the motor. The size is made compact and the weight can be made light. 10 Therefore, because the motor and torque sensor are installed on the axle side, it has a compact effect. In addition, since the torque sensor is provided on the periphery of the transmission, it does not become longer in the longitudinal direction of the axle, and the dimension in the axle direction can be reduced. Therefore, since the rotating outer cover portion covers the outer periphery of the fixed outer cover portion, water droplets, dust, and the like from the outer 15 portions do not fall on the motor or the like built in the fixed outer cover portion, so that malfunctions are reduced. In addition, since the motor and the like are put into the fixed outer casing, the rotary outer casing is covered, and the assemblability is improved. In addition, the rotating outer casing part surrounds the fixed outer casing part, and both ends of the shaft center part in the axle direction are supported. Therefore, the weight of the user and the electric vehicle is not only 20 on one side, but is evenly and evenly added. On the axle, even if it is used for a long time, the rotating outer shell will not be deformed, and it is expected to improve the product quality. In addition, because the motor and the like are built in the fixed outer casing, the outer periphery is surrounded, and water droplets and dust from the outside will not be mixed in, which is not likely to cause -5- ------- 1 · 来 II ( (Please read the notes on the back before filling in this page) • Customize 4 paper sizes to apply Chinese National Standards (CNS) A4 specifications (210X 297 mm) 477762 A7 B7 Printed by the Consumers' Cooperatives of the Central Standards Bureau of Didi Ministry? Clothing 5. Description of invention () obstacles. In addition, since the speed reduction mechanism and the motor are arranged coaxially, the axle can be configured as a common shaft, and assembly is very simple. In this way, since the speed reduction mechanism is disposed between the motor and the 5 torque sensor, the noise of the speed reduction mechanism can be shielded by the motor and the torque sensor. In addition, the manpower drive unit rotates the rotary outer casing through a torque sensor. Since a reduction mechanism is provided near the torque sensor side, the output of the reduction mechanism output by the reduction motor can be transmitted to the torque sensor of the rotary outer casing. The connection is performed near the connected parts, and the structure can be made compact in addition to the simple structure. In addition, another electric vehicle according to the present invention is characterized by including a rotating outer casing portion constituting a wheel center portion and rotating with the wheel, and a fixed outer casing portion provided on the vehicle body in the rotating outer casing portion, and provided in the fixed outer casing portion. 15 With motor and reduction mechanism. Therefore, it is characterized in that the fixed outer casing portion is formed in a bowl shape with one side opened, the motor is built in, and the reduction gear mechanism is arranged in the opening. Another feature is that the reduction mechanism uses a planetary reduction mechanism. 20 Another feature is that a human power driving unit is provided for rotating the rotary outer casing. The human power driving unit and the rotary outer casing are arranged to rotate independently of each other. A human power is provided between the human driving force and the rotary outer casing. The driving force transmits the power to the torque sensor of the rotating outer casing. The opening of the fixed outer casing is formed between the manual driving unit and the rotating outer casing. -6- (Please read the precautions on the back before filling this page) This paper size applies the Chinese National Standard (CNS) Λ4 specification (210X 297 mm) 477762 Printed by the Consumer Cooperatives of the Central Bureau of Standards of the Ministry of Economic Affairs A7 B7 V. Description of the invention () The openings are opposite to each other. In addition, it is also characterized in that a collar portion for blocking the opening is provided on an inner side surface of the rotary jacket portion of the opening formed between the human power driving portion and the rotary jacket portion, and a bowl-shaped A control circuit board is provided on the bottom outer wall 5. A further feature is that a human power driving unit is provided for rotating the rotary outer casing, and a built-in transmission is provided between the human power driving unit and the rotary outer casing and on an axle serving as a rotation center of the wheel. In addition, it is also characterized in that the transmission is provided at a position from the longitudinal direction to the middle of the axle 10, and the rotary outer casing is provided to be received by the transmission and the axle provided without the transmission portion. Supported by bearings. In addition, another feature is that a human driving force by human power is input to one side of the rotating outer casing, and an electric driving force generated by the motor is input to a side opposite to a side where the human driving force is input. According to the above configuration, the present invention reduces the electric driving force of the motor built in the fixed outer casing portion by the reduction mechanism to rotate the wheels. Furthermore, when assembling the driving part, the driving part can be assembled by mounting the fixed outer part including the motor and the reduction mechanism into the rotating outer part. 20 Furthermore, a reduction mechanism is allocated to the opening of the fixed outer casing portion, and even if the output of the electric driving force after the deceleration is directed to a direction that is easily coupled to the rotary outer casing portion, it can be simplified when the rotary outer casing portion is installed. Ground is connected to the rotating outer shell. In this way, because the reduction mechanism uses a planetary reduction mechanism, it is constituted as a standard for blocking paper (CNS) 7 ^ see grid (21Gx ^^ y --------- (Please read the precautions on the back first) (Fill in this page again), 11 •---- Ί 477762 A7 B7 V. Description of the invention () Hold the opening of the fixed outer casing, and the output of the driving part is located on the inner surface of the outer casing when it is installed in the outer casing. (Please read the precautions on the back before filling in this page.) Also, the opening of the fixed outer casing is opposite to the opening formed between the human driving unit and the rotating outer casing. In case of rain, etc. The opening between the outer casing and the rotating outer casing enters, and water does not enter the motor in the fixed outer casing. In addition, since the collar portion is provided to block the opening between the human driving unit and the rotating outer casing, rainwater It is not easy to access the control circuit board. Also, there is a built-in speed changer on the axle, and 10 inputs from the human power drive unit make the wheels rotate after the speed change by the speed changer. That is, it can be matched with the human power of the user Gear ratio makes the car Rotating, and because the built-in transmission is used, the structure becomes compact. In addition, the transmission is provided at a position from the longitudinal direction to the middle of the axle, and the rotating outer portion is provided to receive the transmission and to be provided without the transmission. Supported by the bearings on some 15 axles, it can be configured to mount the fixed outer casing on the non-rotating axle, and the rotary outer casing can be arranged across the longitudinal direction of the axle to make it rotate stably. Printed by the Central Bureau of Standards of the Ministry of Consumers ’Cooperative, the human driving force is input on the side of the rotating outer casing, and the electric 20 driving force is input on the side of the axle opposite to the side where the human driving force is input. The balance on the rotating outer shell is good, and the wheels can be rotated. In the following, an embodiment of the electric vehicle of the present invention is described by taking an electric assisted bicycle with auxiliary power as an example. The electric vehicle related to the present invention is not limited to electric assistance. Bicycle, -8- This paper size applies to China National Standard (CNS) Α4 size (210 × 297 mm) 477762 Employees of Central Bureau of Standards, Ministry of Economic Affairs Printed by Consumer Cooperatives BM7. V. Description of Invention () Needless to say, electric motorbikes and electric vehicles that use motors as driving sources are included as long as they are electric vehicles driven by motors. The drawings are briefly explained below. The first figure is a side cross-sectional view of the driving part of the first embodiment of the present invention. 5 The second figure is a plan view of the vicinity of the torque sensor of the driving part from the side. The third figure is a block diagram of the control circuit. The fourth figure is the block diagram of the control circuit. Power system diagram. The fifth diagram is a side view showing the overall structure. 10 The sixth diagram is a side cross-sectional view of the driving unit of the second embodiment of the present invention. The seventh diagram is a side view of the vicinity of the torque sensor of the driving unit. Top view. The eighth figure is the power system diagram. The ninth diagram is a block diagram of the control circuit. The tenth diagram is a side cross-sectional view of the drive unit according to the third embodiment of the present invention. The eleventh figure is a plan view of the vicinity of the torque sensor of the drive unit as viewed from the side. The twelfth figure is a side cross-sectional view of a driving unit according to a fourth embodiment of the present invention. The thirteenth figure is the power system diagram. 20 Figure 14 is a block diagram of the control circuit. Fifteenth figure is a side cross-sectional view of a driving unit according to a fourth embodiment of the present invention. In the picture, 11 wheels (rear wheels), 18 axles, 29 rotating outer casing, 36 fixed outer casing, 28 transmission, 39 motor, 52 torque sensor, 40 control unit (control circuit board), 44 planetary gear, 45 fixed gear , 46 output plate, 50 collar -9- (Please read the precautions on the back before filling this page) This paper size applies to China National Standard (CNS) A4 (210X 297 mm) Employees' Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs Printing 477762 A7 B7 V. Description of the invention () Department, 31 bearings. First, the first embodiment will be described. The overall configuration of the electric assist bicycle will be described with reference to the fifth figure. 5 1 is a main frame connecting a head pipe 2 provided at the front portion and a seat support pipe 4 provided below the seat 3, and a foot portion which can be rotated by human power is provided at a connecting portion of the main frame 1 and the seat support pipe 4 described above. Board 5. 6 is a front wheel that is linked to the action of the handle 7 and determines the driving direction according to the operation of the handle 7. The front wheel 6 is composed of a spoke 8, a wheel ring 9, and a tire 10. 11 is a rear wheel as a driving wheel, and the rear wheel 11 is also composed of a tire 12, a wheel ring 13, a spoke 14 and a driving portion 15 for driving the rear wheel 11. A torque sensor 52, which will be described later, is installed in the driving unit 15 to measure the human torque transmitted through the chain 16. A microcomputer 15 is also provided. The value of the torque sensor 52 is input and the driving signal is output to A motor 39 described later. Reference numeral 17 denotes a front sprocket that rotates in accordance with the auxiliary motion of the pedal 5. A chain 16 is hung on the front sprocket 17 for transmitting the rotational power of the front sprocket 17 to an axle provided in the driving portion 15. 18 on the rear sprocket 19. As described in 20 above, the rear wheel 11 can be driven and driven by two driving sections, which are the electric driving section 20 composed of the driving section 15 with a built-in motor 39 and the pedals 5, The human power driving unit 21 composed of the above-mentioned chain 16 and the like. 22 is a battery used as a power source for the motor 39 described later. A 24-volt -10- is installed on this paper. This paper size applies to the Chinese National Standard (CNS) A4 specification (210X 297 mm). -------- ίφ --- ^ -IU ^: (Please read the notes on the back before filling out this page) 4 /// 62 Printed by the Consumers Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A7 B7 V. Description of Invention () Nickel-cadmium battery. Moreover, the battery 22 is detachable and can be charged indoors while charging. The battery 22 is mounted around the seat support tube 4 and a locking device 23 is provided under the seat 3 for locking the battery 22. 24 is the front basket, and 25 is the bracket that supports the bicycle when parking. 5 26 is a lighting device that illuminates the front when driving at night. The lighting device 26 includes a generator and a lamp. 27 is a brake lever for braking the rear wheel 11. Next, referring to the first and second figures, the driving portion 15 of the remote electric assist bicycle is described. 10 28 is a built-in transmission provided on a longitudinal portion of the axle 18, and the transmission 28 is driven by a unidirectional A clutch (not shown) is connected to the rear sprocket 19, and the foot pedal 5 can transmit power in only one direction of rotation. When the foot pedal 5 is rotated in the reverse direction, the power machine between the pedal 28 and the transmission 28 is shielded. . 15 29 is a rotating outer sleeve portion constituting the shaft center portion of the rear wheel 11 centered on the axle 18. The rotating outer sleeve portion 29 is composed of two parts. One is an xj-shaped ring 30 for mounting the spoke 14. A rotary outer casing portion 29A provided on the outer periphery thereof, and the other is a rotary outer casing portion that is mounted on the axle 18 through a bearing 31 and blocks the opening portion of the rotary outer casing portion 29A and is fixed to the ring 30 by screws 20 at multiple locations. 29B. Reference numeral 32 denotes a rotating piece which is fixed to the above-mentioned rotating outer casing portion 29B concentrically with the axle 18 and is formed into a disc-shaped rotating wall toward the outside of the rotating outer casing portion 29B. A braking device is provided on the inner periphery of the rotating plate 32 33. It is used for the operation of the brake lever 27 on the outside, which is the same as the rotating piece 32-11. This paper size is applicable to China National Standard (CNS) A4 (210X 297 mm) (Please read the precautions on the back before (Fill in this page) Order 477762 Printed by the staff of the Central Standards Bureau of the Ministry of Economic Affairs, A7, B7, and F5. Description of the invention () The inner peripheral frictional contact brakes the rotation of the rotating outer jacket portion 29. Reference numeral 34 denotes an actuator cover which covers the outside of the braking device 33. Reference numeral 35 denotes a wire for supplying power to the control circuit board 40 described below from the battery 22. The wire 35 passes through the brake cover 34 and passes through five cuts of the axle 18. The control circuit board 40 is connected along the inner side wall of the fixed outer casing portion 36. 36 is a bowl-shaped fixed outer casing portion provided in the rotating outer casing portion 29 and fixed to the axle 18, and the fixed outer casing portion 36 is fixedly mounted through a bearing 37 between the outer periphery of the transmission 28 and No. 10 does not hinder the rotation of the outer periphery of the above-mentioned transmission 28, and a DC brushless motor 39 and a planetary gear reduction mechanism described later are provided therein. Then, the fixed outer sleeve portion 36 is fixed to the axle having no portion of the transmission 28 in the longitudinal direction of the axle 18 described above. 38 is a stator constituting the motor 15 39 provided on the inner surface of the fixed outer casing portion 36, and the stator 38 receives power supply through a control circuit board 40 provided on the outer surface of the fixed outer casing portion 36. In addition, the stator 38 described above is formed by winding a coil around an iron core having 18 slots, and has a 12-pole magnet. 41 is a rotor that can rotate on the inner periphery of the stator 38 through two 20 bearings 42 provided on the inner surface of the fixed outer casing portion 36. The rotor 41 is mounted on the gear portion 43, and the gear portion is formed with a small Diameter part, on which there is a part of the gear. The gear portion 43 is a sun gear portion of a planetary gear reduction mechanism 43, 44 and 45 described later. The rotor 41 is provided with a magnet 41a. -12- (Please read the precautions on the back before filling this page) This paper size is applicable to Chinese National Standard (CNS) A4 specification (210X 297 mm) 477762 A7 ___ _______ 5. Description of the invention () — The above-mentioned rotor 41 and above The stator 38 _ constitutes the motor 39. Although a DC brushless motor is used in this embodiment, it does not matter if other types of motors are used. Needless to say, the structure can be made more compact by using a stepping motor. 5 44 is four planetary gears provided between the gear portion 43 and the fixed outer casing portion 36. The planetary bacterial wheel 44 meshes with the fixed gear 45 and the gear portion 43 fixed on the inner periphery of the fixed outer casing portion 36. Rotating around the axle 18 through the rotor. The output disks are rotatably provided on the respective centers of the planetary gears 44 and are rotatable by bearings 47 provided on the axles 10 to 18. The output disks pass through a one-way clutch with a ratchet mechanism. 48 The rotating outer casing portion 29B Ji provided on the rotating outer casing portion 29 〇 When the rotation speed of the rear wheel u is faster than the rotation of the rotating outer casing portion 29 caused by human power, this one-way clutch 48 can separate the human driving force and the motor 39's power. 15 49 is a tablet that is fixed on the outer periphery of the above-mentioned transmission 28. The tablet 49 is printed and fixed on the Shangyuan transmission 28 by the Consumer Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs. It is designed to block the transmission 28. A disc-shaped collar ⑽ formed between the opening and the outer sleeve portion 29B and a pressing plate 51 formed at a position opposite to the collar 50 ^ The pressing plate M * The pressing between the rotating sleeve _ μα A twist rejection sensor 52 composed of a magnetostrictive element is similarly clamped. That is, the force applied by the & human power driving portion 21 is pressed from the pressure plate 51 to the torque sensor 52 to rotate the rotary sheath portion 29A. At this time, the torque sensor 52 will be deformed according to the magnitude of the human driving force. 53 is attached to the fixed outer part 36 and the rotating outer part 29-13.-This paper size is applicable to China National Standard (CNS) A4 (210X 297 mm). Printed by the staff of the Central Standards Bureau of the Ministry of Economic Affairs. Cooperative 477762 A7. __ B7 _ 5. In the rotary transformer of the invention (1), the coil mounted on the rotary outer casing part 29 is used as the rotary transformer 53A, and the coil mounted on the fixed outer casing part 36 is used as the rotary transformer 53B. The resolver 53 transmits a signal from the torque sensor 52 to the control circuit board 40. 5 The structure of the torque sensor 52 and the signal transmission circuit will be described below with reference to the third figure. The torque sensor 52 of the present application is composed of a magnetic core 54 composed of a magnetostrictive element and a coil 55 wound around the outer periphery of the magnetic core 54. The force applied on the collar portion 50 causes the magnetic core 54 to deform, 10 From this, the change in the inductance of the generated coil 55 is measured. Then, the magnetic core 54 is connected to the resolver 53A, and the deformation of the magnetic core 54 causes the inductance on the side of the resolver 53A to change. Reference numeral 56 denotes an oscillation circuit that changes the oscillation frequency based on the inductance of the resolver 53A and the torque sensor 52. Reference numeral 15 57 denotes a frequency measurement circuit connected to the oscillation circuit 56 and measuring an oscillation frequency of a signal sent from the oscillation circuit 56 and outputting the signal to the microcomputer 58. The control circuit of the electric assist bicycle of this embodiment will be described with reference to the third figure. 20 First, the operation of the torque sensor 52 will be described. At the time of starting, accelerating, climbing, etc. of the bicycle and increasing the force on the pedal 5, the magnetic core 54 composed of a magnetostrictive element is sandwiched between the collar portion 50 and the rotating outer sleeve portion 29, and the power is Passing, the corresponding deformation occurs according to the size of manpower. At this time, the change of the magnetic core 54 results in -14 of the coil 55. This paper size is applicable to the Chinese country ππϋΤ ----- (Please read the precautions on the back before filling this page)
、1T A7 --------- B7 五、發明説明（） 〜 ~ 電感的變化。 因此，從連接在振盪電路56上的〖走轉變壓器53b上 看到的电感也發生變化，然而，振*電路56的振i頻 生變化。 、貧 5 於是由振盪電路56產生的振盪電壓波形被輸入到頻 率測疋電路57,此值被輸入到微型計算機58中，然後，根 據這個信號輸出驅動馬達39的驅動信號。 ， 其次，對控制電路中除扭矩傳感器52之外的部八 行說明。 刀礙 1〇 58為微型計算機，輸入來自扭矩傳感器52的信鞔，根 據人力驅動力的信號大小輸出驅動信號至反相電路59’’讀 微型計算機58與降低上述電池22的電壓的怪壓電路^ 相連，並以此為電源進行工作。然後，由微型計算機Μ輪 出的驅動信號切換反相電路59内的多個FET，把u、v則 15 W信號輪出到馬達39的定子38上使轉子41旋轉。而且 測出轉子41的位置，用於測出轉子41的位置的綠為 連接到微型計算機58的輸入口。 …破 經濟部中央標準局員工消費合作社印¾ 如果對這個控制電路進行說明，就是把由扭矩傳感如 52測出的人力驅動力信輸入到微型計算機58中，輪詻 2〇動信號使得馬達39能夠以大小與人力驅動力的大小相= 的電動驅動力驅動。也就是說，以人力驅動力比電動驅= 力1:1的比例輸出。上述扭矩傳感器52的信號被預先存 儲在微型計算機58内的列表數據中，根據扭矩傳感器52 的信號輸出相應的驅動信號。 〜 -15- 本紙張尺度適财_家標準（CNS ) A4規格（21()χ 297公釐） 477762 A7 B7 經滴部中央標準局員工消費合作社印製 五、發明説明（ 下面參照第四圖對動力系統圖進行說明。 首先，對人力驅動力的動力傳遞進行說明。 田輸入來自腳踏板5的人力驅動力時，固定在腳踏板 5上的前鏈輪17旋轉，通過鏈條16使後鏈輪19旋轉。當 5後鏈輪19旋轉時，通過單向離合器（未圖示）使動力只被單 向傳遞。 當前進方向的動力被傳遞時，通過設定成使用者所指 定的齒輪傳動比的變速機28進行變速後，在使扭矩傳感 器52中由磁致伸縮元件組成的磁心54形變的同時使旋轉 10外套部29旋轉，這樣，可以使後輪u旋轉。 其次，對電動驅動力的動力傳遞進行說明。 由上述扭矩傳感器52測出的電感變化通過旋轉變壓 器53被輸入到控制電路板4〇上的微型計算機58中。然 後，根據該h號值把#號輸出到反相電路59，反相電路59 15内的FET的通斷致使定子38的極性變化，由設在轉子41 上的磁鐵導致轉子41旋轉，從而驅動馬達39。馬達的 驅動通過行星齒輪減速機構即齒輪部43、行星齒輪44和 固定齒輪45被減速，再通過連接在上述行星齒輪44上的 輸出盤46被輸出，借助於單向離合器48使旋轉外套部29 20 旋轉，從而使後輪11旋轉。 如上所述，人力驅動力和電動驅動力在旋轉外套部29 上產生合力驅動後輪11 ° 下面，對與本發明的電動車有關的電動辅助自行車的 實施例二進行說明。 -16- 本紙張尺度適用中關家標♦ ( CNS ) Αβί# ί 21()χ 297_ ) (請先閲讀背面之注意事項再填寫本頁) -訂 ΙΊ 477762 A7 B7 五、發明説明（ 對於本實施例中的整體構成，因與實施例一相同 去說明。 ’ 略 下面參照第六圖及第七圖對驅動部15進行說曰月 且，對於與實施例一相同的部件，附上相同的符號 而 明 與實施例一相比，本實施例在扭矩傳感器52 進行說 的部分 經濟部中央標準局員工消費合作社印製 上不同，因此，只對扭矩傳感器52部分進行說明。 49為固定在上述變速機28外周上的壓片，該厭 ^ 49 被固定在上述變速機28上，由設計成可堵住變速機之衫 10 旋轉外套部29之間所形成的開口大小的圓盤狀的輪壤 和在與該軸環50相對的二個位置上形成的壓板51所構成 在上述壓板51和上述旋轉外套部29之間設有作為彈性於 的彈簧61。然後，當由變速機28傳遞人力驅動力時，= 與人力扭矩大小相對應的收縮量使彈簧61收縮，從而使 15 旋轉外套部29旋轉。 62為一圓旅狀的環，其一端72可移動地裝在上述愿 板51 —側，形成有長孔71，另一端73裝在旋轉外套部29 上並可以轉動，以車軸18為中心對稱地設有兩個該環62, 設計成各自的一端72朝著設有上述彈簧61的部分附近， 而且，環62的材質使用導體材料或磁性材料，在本實施例 中使用鋁製品。 53為設在根據彈簧61的收縮而移位的上述環62的 内周上的線圈，該線圈53由控制電路板40供電，環62的 移位所導致的電感的變化作為人力扭矩大小的電信號輸入 20 17· 本纸張尺度適用中國國家標洚（CNS ) A4規格（21〇X297公釐）1T A7 --------- B7 V. Description of the invention () ~ ~ Change in inductance. Therefore, the inductance seen from the transformer 53b connected to the oscillating circuit 56 also changes, however, the vibration i of the vibrating circuit 56 changes frequently. Therefore, the oscillating voltage waveform generated by the oscillating circuit 56 is input to the frequency measuring circuit 57 and this value is input to the microcomputer 58. Then, a driving signal for driving the motor 39 is output based on this signal. Next, the eighth line of the control circuit other than the torque sensor 52 will be described. Knife block 105 is a microcomputer. It receives a signal from the torque sensor 52 and outputs a drive signal to the inverter circuit 59 according to the magnitude of the human driving force. The microcomputer 58 reads the strange voltage that reduces the voltage of the battery 22 Connect the circuit ^ and use it as a power source for work. Then, a plurality of FETs in the inverter circuit 59 are switched by the driving signal from the microcomputer M wheel, and the u and v 15 W signals are output to the stator 38 of the motor 39 to rotate the rotor 41. The position of the rotor 41 is detected, and the green color for detecting the position of the rotor 41 is connected to the input port of the microcomputer 58. … By the Consumers' Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs ¾ If this control circuit is explained, the human driving force letter measured by the torque sensor such as 52 is input into the microcomputer 58, and the wheel 2 motion signal makes the motor 39 can be driven with an electric driving force whose size is equal to that of human driving force. In other words, the ratio of human driving force to electric driving force = 1: 1 is output. The signals of the torque sensor 52 are stored in the list data in the microcomputer 58 in advance, and corresponding driving signals are output based on the signals of the torque sensor 52. ~ -15- This paper is suitable for financial use_Home Standard (CNS) A4 size (21 () x 297 mm) 477762 A7 B7 Printed by the Consumers' Cooperative of the Central Standards Bureau of Didi Ministry. 5. Description of the invention (refer to the fourth figure below) The power system diagram will be described. First, the power transmission of the human driving force will be described. When the human driving force from the foot pedal 5 is input, the front sprocket 17 fixed to the foot pedal 5 rotates, and the chain 16 causes the front sprocket 17 to rotate. The rear sprocket 19 rotates. When the 5 rear sprocket 19 rotates, the power is transmitted only in one direction by a one-way clutch (not shown). When the power in the forward direction is transmitted, it is set to the gear transmission specified by the user. After changing the ratio of the speed changer 28, the outer core 29 of the rotation 10 is rotated while the magnetic core 54 composed of the magnetostrictive element in the torque sensor 52 is deformed, so that the rear wheel u can be rotated. Second, the electric drive force The power transmission of the torque sensor 52 will be described. The change in inductance measured by the torque sensor 52 is input to the microcomputer 58 on the control circuit board 40 through the resolver 53. Then, the # The output to the inverting circuit 59, the on and off of the FETs in the inverting circuit 59 and 15 causes the polarity of the stator 38 to change. The magnet 41 provided on the rotor 41 causes the rotor 41 to rotate, thereby driving the motor 39. The motor is decelerated by the planetary gear The gear part 43, the planetary gear 44, and the fixed gear 45 are reduced in speed and output through an output plate 46 connected to the above-mentioned planetary gear 44. The rotary outer casing 29 20 is rotated by a one-way clutch 48, thereby causing the rear wheel 11 rotation. As described above, the human driving force and the electric driving force generate a combined force on the rotating outer jacket portion 29 to drive the rear wheel 11 °. Next, the second embodiment of the electric assist bicycle related to the electric vehicle of the present invention will be described. -16 -This paper size applies the Zhongguanjia standard ♦ (CNS) Αβί # ί 21 () χ 297_) (Please read the precautions on the back before filling this page)-Order IΊ 477762 A7 B7 V. Description of the invention (for the The overall structure will be described because it is the same as in the first embodiment. 'The drive unit 15 will be described below with reference to the sixth and seventh figures, and the same components as in the first embodiment are attached. The same symbols indicate that compared with the first embodiment, the torque sensor 52 in this embodiment is different from the printed part of the Consumer Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs. Therefore, only the torque sensor 52 will be described. 49 is fixed The tablet on the outer periphery of the speed changer 28 is fixed to the speed changer 28, and is formed in a disc shape that is formed to block the opening between the speed change shirt 10 and the rotating outer cover 29. A spring 61 is provided between the pressure plate 51 and the rotating outer sleeve portion 29 between the pressure plate 51 and the pressure plate 51 formed at two positions opposite to the collar 50. Then, when the human driving force is transmitted by the transmission 28, the amount of contraction corresponding to the magnitude of the human torque causes the spring 61 to contract, thereby rotating the 15-rotation outer casing 29. 62 is a circle-shaped ring. One end 72 is movably mounted on the side of the above-mentioned wishing plate 51, and a long hole 71 is formed. The other end 73 is mounted on the rotating outer casing 29 and can be rotated, symmetrically with the axle 18 as the center. Two rings 62 are provided, and each end 72 is designed to be near the portion where the spring 61 is provided. The material of the ring 62 is a conductive material or a magnetic material. In this embodiment, an aluminum product is used. 53 is a coil provided on the inner periphery of the ring 62 that is displaced according to the contraction of the spring 61. The coil 53 is powered by the control circuit board 40. The change in inductance caused by the displacement of the ring 62 is used as the electric power of the human torque. Signal input 20 17 · This paper size is applicable to China National Standard (CNS) A4 specification (21 × 297 mm)
(請先閲讀背面之注意事項再填寫本頁J -訂 經滴部中央標準局員工消費合作社印^ 477762 A7 B7 五、發明説明（） 到控制電路板40上，根據此信號值控制馬達39。 68為一個位置檢測傳感器，用於檢測為驅動控制馬達 39所必需的轉子41的旋轉位置，該位置檢測傳感器68的 信號被輸入到微型計算機58，產生馬達控制信號。 5 下面參照第七圖對上述環62的動作進行具體說明。 當加上大的人力時，彈簧61會大收縮，由此環62在 壓板51 —侧的一端72移向内側。此時，環62在壓板51 附近的一端72因彈簧61的收縮而移動，因此雖然移向内 側，但另一端73因受軸支承安裝在旋轉外套部29上沒有 10 移動，最終，環62以該環另一端73為軸移向内側，也就 是說環62從實線位置移位到兩點劃線的狀態。而且，當 這個所加的大的人力消失時，因上述彈簧61的恢復力，使 壓板51回到原位，此動作導致環62在壓板51附近的一 端以環62的另一端73為軸回到原位，即當人力消失時，如 15 實線所示，環62朝著向外擴展的方向移動。 因使用了根據彈簧61的收縮即人力扭矩的大小使位 移量變化的環62，可以根據人力扭矩的大小使線圈53的 電感變化，可以用電信號輸出人力扭矩的大小。 下面參照第八圖的動力系統圖對動作進行說明。 20 本實施例與實施例——樣，當使用者蹬腳踏板5時， 使彈簧收縮，然後在彈簧61收縮的同時旋轉外套部29轉 動，這樣由人力驅動力導致車輪11旋轉。 此時因彈簧61的收縮使得環62的一端72被舉迫，環 62與線圈53之間的間隔發生變化，由此導致線圈53的電 -18- 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） (請先閱讀背面之注意事項再填寫本頁) T訂 477762 經濟部中央標準局員工消費合作社印製 A7 B7 五、發明説明（） — 感支化，這個變化作為電信號被輸入到控制電路板上。 然後馬達39根據這個電信號的大小即人力扭矩的大小驅 動，人力驅動力和馬達39的驅動力合成後傳遞到旋轉外 套部29上。 5 如果對馬達39的輸出傳遞路線進行詳細說明，則當 轉子41旋轉時，通過軸承設在與轉子41作為一個整體設 计的k速機28的外周上的齒輪部43旋轉。然後設在固定 在固定外套部36内部的固定齒輪45與上述齒輪部43之 間的行星齒輪44因齒輪部43的旋轉一邊自轉一邊繞齒輪 〇部43周圍公轉。還有，設計成在各個行星齒輪44的中心 上受轴支承並穿透變速機28的輸出盤46因行星齒輪44 的公轉而旋轉，設在輸出盤46上的棘輪65咬合著齒輪使 旋轉外套部29旋轉。 下面參照第九圖對控制電路的方框圖進行說明。 對於這個方框圖的說明，略去與實施例一相同的驅動 馬電路部分進行說明。 為由上述彈簧61、環62、線圈％等組成的扭矩 傳感器，該扭矩傳感器52連著微型計算機58，把與人力 扭矩的大小相對應的電信號輸入到微型計算機58中，此 、人力驅動力與電動驅動力的比例按I:〗被輸出。 39 68為一個位置檢測傳感器，用於檢測為驅動控制馬達 丄所必需的轉子41的旋轉位置，該位置檢測傳感器68的 信號被輪入到微型計算機58,產生馬達控制信號。 下面對與本發明的電動車有關的電動辅助自行車的實 -19- 本纸張尺度適用—；------ --- ‘準（〔阳）八4規格（210/297公釐） (請先閲讀背面之注意事項再填寫本頁) 訂 477762 A7 B7 五、發明説明（） 施例三進行說明。 對於本實施例的整體構成因與實施一相同而略去說 明。 下面參照第十圖及第十一圖對驅動部15進行說明，而 5 且對於實施例一相同的部件附上相同的符號進行說明。 39為設在内裝型變速機28的外周上的馬達，該馬達 39由通過軸承42設在變速機28外周上的轉子41和設在 轉子41外周上的定子38所組成。上述定子38被固定在 固定外套部36的内周上。 10 上述馬達39的輸出被連接到減速機構即行星齒輪減 速機構，該行星齒輪減速機構設計在車軸18的方向上夾 在扭矩傳感器52與馬達39之間的位置上。而且在行星齒 輪減速機構的各個中心齒輪44上裝有圓盤狀的輸出盤46, 使得中心齒輪44可自由旋轉。當中心齒輪44旋轉時，輸 15 出盤46減速旋轉。如上所述，因該行星齒輪減速機構設 計在車軸18的方向上夾在扭矩傳感器52與馬達39之間 的位置上，行星齒輪減速機構的齒輪咬合聲被馬達39與 扭矩傳感器52所屏蔽，不容易漏到外部。 經滴部中央標準局員工消费合作社印製 (請先閲讀背面之注意事項再填寫本頁) 63為被多個栓564分別裝在上述輸出盤46上的圓 20 盤。在該圓盤63上設有棘輪65，該棘輪65與和旋轉外套 部29形成一個整體的凸出部66的齒輪咬合，輸出盤46 的旋轉通過棘輪65使得旋轉外套部29只作單方向旋轉。 67為蓋住固定外套部36且在中心部有開口的外套蓋， 並在此開口上穿透變速機28和扭矩傳感器52，蓋住固定 -20- 本紙張尺度適用中國國家標率（CNS ) Λ4規格（210X297公釐） A7 Ί ----- B7 五、發明説明（)^ ----- 〜-- 外套部36的開口。 53為一線圈，與上述環62鄰近，被裝在上述外套蓋 的開口内圈上，把環62的移位變換成電信號。 在本實施例中，因扭矩傳感器52的環62的機構與實 5施例二相同，略去說明。 _ 還有，供電用的電線35與實施例一一樣，穿過制動 洛外套34沿著車軸18被配線在固定外套部36内並連接 J控制電路板40上，而且控制電路板40和線圈53各自 ι〇叹有用於饋電和傳送電信號的電線。還有，控制電路板40 和馬達39也有用於動控制馬達39的電線。然後，用於檢 /貝J馬達39的轉子41位置的位置檢測傳感68被設在固定 旋轉外套部36的内側壁上，這個位置檢測傳感器68和控 剔電路板40也是通過電線連接的。 下面參照圖第八圖的動力系統圖對動作進行說明。 15 本實施例與實施例二一樣，當使用者蹬腳踏板5時， 使彈餐61收縮，然後在彈簧收縮的同時旋轉外套部29轉 動，這樣由人力驅動力導致車輪η旋轉。 此時因彈簧61的收縮使得環62的一端72被壓迫，通 過設在這一端72上的長孔71使環62與線圈53之間的間 20 隔發生變化，由此導致線圈53的電感變化，這個變化作為 電信號被輸入到控制電路板40上。然後馬達39根據這個 電信號的大小即人力扭矩的大小驅動，人力驅動力和馬達 39的驅動力合成後傳遞到旋轉外套部29上。 如果對馬達39的輸出傳遞路線進行詳細說明，則當 •21- 本紙張尺度適用中國國家標率（CNS ) Α4規格（210Χ 297公釐） (請先閲讀背面之注意事項再填寫本頁) d. 、·ιτ 經濟部中央標準局員工消費合作社印t(Please read the precautions on the back before filling in this page. J-Booking Printed by the Central Standards Bureau Staff Consumer Cooperative Co., Ltd. ^ 477762 A7 B7 V. Description of the invention () On the control circuit board 40 and control the motor 39 based on this signal value. 68 is a position detection sensor for detecting the rotational position of the rotor 41 necessary for driving and controlling the motor 39, and a signal from the position detection sensor 68 is input to the microcomputer 58 to generate a motor control signal. The operation of the above-mentioned ring 62 will be described in detail. When a large manpower is added, the spring 61 will be greatly contracted, so that the end 72 of the ring 62 on the side of the pressure plate 51 is moved inward. At this time, the end of the ring 62 near the pressure plate 51 72 moves due to the contraction of the spring 61, so although it moves to the inside, the other end 73 does not move due to being supported by the shaft and is mounted on the rotating outer jacket part 29. Finally, the ring 62 moves to the inside with the other end 73 of the ring as an axis. That is to say, the ring 62 is shifted from the solid line position to the two-dot chain line state. Moreover, when the added large manpower disappears, the pressure plate 51 returns to the original position due to the restoring force of the spring 61 described above. The action causes one end of the ring 62 near the pressure plate 51 to return to the original position with the other end 73 of the ring 62 as the axis, that is, when the human force disappears, as shown by the solid line 15, the ring 62 moves in the direction of outward expansion. In order to change the amount of displacement of the ring 62 according to the contraction of the spring 61, that is, the magnitude of the human torque, the inductance of the coil 53 can be changed according to the magnitude of the human torque, and the magnitude of the human torque can be output by an electric signal. The figure illustrates the action. 20 This embodiment is similar to the embodiment-like, when the user pedals the pedal 5, the spring is contracted, and then the outer casing 29 is rotated while the spring 61 is contracted, which is caused by the human driving force The wheel 11 rotates. At this time, due to the contraction of the spring 61, one end 72 of the ring 62 is forced, and the interval between the ring 62 and the coil 53 changes, which results in the electrical of the coil 53. (CNS) A4 specification (210X 297 mm) (Please read the notes on the back before filling out this page) Order 477762 Printed by the Consumer Standards Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A7 B7 V. Description of the invention () Induced branching, this change is input to the control circuit board as an electric signal. Then the motor 39 is driven according to the magnitude of this electric signal, that is, the amount of human torque, and the human driving force and the driving force of the motor 39 are combined and transmitted to the rotating outer jacket 29 5 If the output transmission route of the motor 39 is described in detail, when the rotor 41 rotates, the gear portion 43 provided on the outer periphery of the k-speed machine 28 designed as a whole with the rotor 41 rotates through the bearing. Then set The planetary gear 44 between the fixed gear 45 fixed inside the fixed outer casing portion 36 and the gear portion 43 rotates around the gear portion 43 while rotating as the gear portion 43 rotates. In addition, the output plate 46 which is designed to be supported on the center of each planetary gear 44 and penetrates the transmission 28 is rotated by the revolution of the planetary gear 44. A ratchet 65 provided on the output plate 46 engages the gear to rotate the outer casing. The part 29 rotates. The block diagram of the control circuit will be described below with reference to the ninth figure. For the explanation of this block diagram, the description of the same driver circuit as in the first embodiment will be omitted. The torque sensor 52 is a torque sensor composed of the spring 61, the ring 62, and the coil%. The torque sensor 52 is connected to a microcomputer 58 and inputs an electric signal corresponding to the magnitude of the human torque into the microcomputer 58. The ratio to the electric driving force is output as I :. 39 68 is a position detection sensor for detecting the rotational position of the rotor 41 necessary for driving and controlling the motor 丄. The signal from the position detection sensor 68 is turned into the microcomputer 58 to generate a motor control signal. The following applies to the electric assist bicycle related to the electric vehicle of the present invention. This paper is applicable to the standard of this paper—; ------ --- 'Jun ([Yang] 8 4 specifications (210/297 mm) ) (Please read the notes on the back before filling out this page) Order 477762 A7 B7 V. Description of the invention () Example 3 will be explained. The overall configuration of this embodiment is omitted because it is the same as that of the first embodiment. The driving section 15 will be described below with reference to the tenth and eleventh drawings, and the same components will be described with the same reference numerals in the first embodiment. 39 is a motor provided on the outer periphery of the built-in type transmission 28. The motor 39 is composed of a rotor 41 provided on the outer periphery of the transmission 28 through a bearing 42 and a stator 38 provided on the outer periphery of the rotor 41. The stator 38 is fixed to the inner periphery of the fixed outer casing portion 36. The output of the above-mentioned motor 39 is connected to a planetary gear reduction mechanism which is a reduction mechanism which is designed to be sandwiched between the torque sensor 52 and the motor 39 in the direction of the axle 18. Furthermore, a disk-shaped output plate 46 is provided on each sun gear 44 of the planetary gear reduction mechanism, so that the sun gear 44 can rotate freely. When the sun gear 44 rotates, the output disk 46 rotates at a reduced speed. As described above, because the planetary gear reduction mechanism is designed to be sandwiched between the torque sensor 52 and the motor 39 in the direction of the axle 18, the gear meshing sound of the planetary gear reduction mechanism is shielded by the motor 39 and the torque sensor 52. Easy to leak to the outside. Printed by the Consumer Standards Cooperative of the Central Bureau of Standards (please read the precautions on the back before filling this page) 63 is a round 20 plate that is mounted on the output plate 46 by a plurality of bolts 564. A ratchet wheel 65 is provided on the disc 63. The ratchet wheel 65 meshes with the gear of the protruding portion 66 forming an integral part with the rotating outer casing portion 29. The rotation of the output disk 46 through the ratchet 65 makes the rotating outer casing portion 29 only rotate in one direction. . 67 is an outer cover that covers the fixed outer portion 36 and has an opening in the center, and penetrates the transmission 28 and the torque sensor 52 through the opening, and covers and fixes the -20- This paper standard is applicable to China National Standards (CNS) Λ4 specification (210X297 mm) A7 Ί ----- B7 V. Description of the invention () ^ ----- ~-The opening of the outer casing 36. 53 is a coil, which is adjacent to the above-mentioned ring 62 and is mounted on the inner ring of the opening of the outer cover to convert the displacement of the ring 62 into an electric signal. In this embodiment, since the mechanism of the ring 62 of the torque sensor 52 is the same as that of the second embodiment, the description is omitted. _ In addition, as in the first embodiment, the electric wire 35 for power supply is routed through the brake casing 34 along the axle 18 in the fixed casing 36 and connected to the J control circuit board 40, and the control circuit board 40 and the coil are connected. Each has a wire for feeding and transmitting electrical signals. In addition, the control circuit board 40 and the motor 39 also have wires for controlling the motor 39. Then, a position detection sensor 68 for detecting the position of the rotor 41 of the / J motor 39 is provided on the inner side wall of the fixed rotary outer casing portion 36. This position detection sensor 68 and the control circuit board 40 are also connected by electric wires. The operation will be described below with reference to the power system diagram of FIG. 15 This embodiment is the same as the second embodiment. When the user pedals the foot pedal 5, the spring meal 61 is contracted, and then the outer sleeve portion 29 is rotated while the spring is contracted, so that the wheel η is rotated by the human driving force. At this time, one end 72 of the ring 62 is compressed due to the contraction of the spring 61, and the space 20 between the ring 62 and the coil 53 is changed through the long hole 71 provided on this end 72, thereby causing the inductance of the coil 53 to change. This change is input to the control circuit board 40 as an electrical signal. Then, the motor 39 is driven according to the magnitude of this electric signal, that is, the magnitude of the human torque, and the human driving force and the driving force of the motor 39 are combined and transmitted to the rotary outer casing 29. If the output transmission route of the motor 39 is described in detail, then • 21- This paper size applies the Chinese National Standard (CNS) A4 specification (210 × 297 mm) (Please read the precautions on the back before filling this page) d 、 · Ιτ Consumer Cooperatives of Central Standards Bureau, Ministry of Economic Affairs, India
五、發明説明（） 轉予41旋轉時，通過軸承設在與轉子41作為一個整體設 ”十的變速機28的外周上的齒輪部43旋轉。然後設在固定 在固定外套部36内部的固定齒輪45與上述齒輪部43之 間的行星齒輪44因齒輪部43的旋轉—邊自轉—邊繞齒輪 部43周圍公轉。還有，設計成在各個行星齒輪44的中心 上爻軸支承並穿透變速機28的輸出盤46因行星齒輪44 的公轉而旋轉，設在輸出盤46上的棘輪以咬合著齒輪使 旋轉外套部29旋轉。 下面參照第九圖對控制電路的方框圖進行說明。 10 冑於這個方㈣的說明，略去與實施例二相同的驅動 馬達電路的部分進行說明。 52為由上述彈簧61、環62、線圈53等組成的扭矩 傳感器，該扭矩傳感器52連著微型計算機58，把與人力 扭矩的大小相對應的電信號輸入到微型計算機58中，此 15時的人力驅動力與電動驅動力的比例按1:1被輸出。 Μ為-個位置檢測傳感器，用於檢測為驅動控制馬達 39所必需的轉子41的旋轉位置，該位置檢測傳感器讣的 信號被輸入到微型計算機58,產生馬達控制信號。 經漓部中央標準局員工消費合作社印製 (請先閲讀背面之注意事項再填寫本頁) 下面對與本發明的電動車有關的電動辅助自行車的實 20 施例四進行說明。 月對於本實施例的整體構成因與實施例一相同而略去說 下面參照第十一圖對驅動部15進行說明，而與實施 例一相同的部件附上相同的符號進行說明。 -22- ^^^^£51^國^^^"7。叫八4規格（210\297公釐)' --— 477762 五 經濟部中央標準局員工消費合作社印製 A7 B7 發明説明（） 在本實施例，由於馬達39與實施例一的構成相同，扭 矩傳感器52與實施例二和實施例三的構成相同，因此省 略對其說明。 46為通過仃星齒輪減速機構把馬達39的輸出減速後 5取出的輸出盤，該輸出盤46通過軸承47安裝在車軸a 上。然後在輸出盤46的内側形成齒輪，隨著輸出盤46的 旋轉一起旋轉。而且，在固定於變速機28的外周上的圓 筒齒輪69上$又有棘輪65，只有輸出盤46的某單方向旋轉 才能使圓筒齒輪69旋轉。 10 還有，與實施例 樣，饋電用的電線35穿過制動 器外套34被配線在固定外套部36内並連接到控制電路板 40上。而且控制電路板40和線圈53各自設有用於鑽電 和傳送電訊號的電線。還有，控制電路板40和馬達39也 設有用於驅動控制馬達39的電線。然後，用於檢測馬達％ 15的轉子41位置的位置檢測傳感器68被設在固定旋轉外套 部36的内側壁上，這個位置檢測傳感器68和控制電路板 40也是通過電線連接的。 還有，67為蓋住上述外套部36開，口的外套蓋，在該 外套蓋67的内側上設有位置檢測傳感器68，在外侧上設 2〇 有控制電路板40和線圈53。而且，該外套蓋67使由變速 機28和軸承37導致的動力傳遞被屏蔽。 下面參照第十三圖的動力系統圖對動作進行說明。 本實施例與實施例一一樣，當使用者燈腳踏板5時， 使彈簧61收縮，然後在彈簧61收縮的同時旋轉外套部29 -23- 本紙張尺度適用中國國家標準（CNS ) Λ4規格（210X297公釐） (請先閱讀背面之注意事項再填寫本頁) 、訂 經濟部中央標準局員X消費合作社印製 477762 A7 B7 五、發明説明（） 轉動，這樣由人力驅動力導致車輪11旋轉。 此時因彈簧61的收縮使得環62的一端72被壓迫，環 62與線圈53之間的間隔發生變化，由此導致線圈53的電 感變化，這個變化作為電信號被輸入到控制電路板40上。 5 另一方面，如果對馬達39的輸出傳遞路線進行詳細 說明，則當轉子41旋轉時，通過軸承設在與轉子41作為 一個整體設計的變速機28的外周上的齒輪部43旋轉。然 後設在固定在固定外套部36内部的齒輪45與上述齒輪部 43之間的行星齒輪44因齒輪部43的旋轉一邊自轉一邊 10 繞齒輪部43周圍公轉。還有，設計成在各個行星齒輪44 的中心上受軸並穿透變速機28的輸出盤46因行星齒輪44 的公轉而旋轉，通過設在輸出盤46上的棘輪65使圓筒齒 輪69旋轉，電動驅動力傳遞到變速機28的外周上。 這裏，如果對本實施例中的扭矩傳感器52進行說明， 15 則構成扭矩傳感器52的彈簧61被配設成在變速機28的 輸出後測出，與上述實施例不同，因電動驅動力被動力傳 遞到變速機28上，該彈簧61的收縮可測出人力驅動力和 電動驅動力這兩個力的合力。因此，本實施例中的控制電 路在要輸出與人力驅動力大小相同的電動驅動力的情況下， 20 由測出的扭矩減去電動驅動力算出人力驅動力，控制馬達 39使之能夠輸出與該人力扭矩的大小相應的電動驅動力。 此時，通過檢測、運算馬達電流可以算出減去的電動驅動 力。 下面參照第十四圖對控制電路的方框圖進行說明。 -24- 本纸張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） (請先閲讀背面之注意事項再填寫本頁) I 丁 477762 經濟部中央標準局員工消費合作社印製 A7 B7五、發明説明（） 這個方框圖對與實施例二、三相同的部分略去說明。 70為測出通過馬達39上電流的電流傳感器，該電流 傳感器70把測出的電流值的信號輸入到微型計算機58 中〇 5 然後，微型計算機58以來自上述扭矩傳感器52和上 述電流傳感器70的信號值為基礎進行運算輸出馬達39的 驅動信號。具體來說，如上所述，由扭矩傳感器52測出的 扭矩的大小為人力與馬達39的扭矩的合力，從該值減去 由來自上述電流傳感器70的信號所求得的馬達39的輸出 10 扭矩的值算出人力扭矩。然後，輸出驅動信號到馬達39 上，形成與該人力扭矩的大小相同的電動驅動力。 下面對與本發明的電動車有關的電動輔助自行車的實 施例五進行說明。 對於本實施例的整體構成因與實施例一相同而略去說 15 明。 下面參照第十五圖對驅動部15進行說明，而且對與 實施例一相同的部件附上相同的符號進行說明。 本實施例的馬達39及扭矩傳感器52因與實施例四的 構成相同，略去說明。 20 46為用於取出馬達39輸出的裝在行星齒輪44上的 輸出盤，該輸出盤46與變速機28聯接。在實施例四中設 有的棘輪在本實施例中沒有設。 67為用於蓋住固定外套部36的開口的外套蓋，該外 套蓋67貫穿車軸18被固定著。 ' * -25- (請先閱讀背面之注意事項再填寫本頁) .碌 —訂 本纸張尺度適用中國國家標準（CNS ) Α4規格（210Χ 297公釐） 經滴部中央標準局員工消費合作社印製 477762 A7 B7 五、發明説明（） 本實施例中配線用的電線穿過制動器外套34沿著外 套蓋67被配線在固定外套部36内並連接到控制電路板40 上，而且控制電路板40和線圈53各自設有用於饋電和傳 送電信號的電線，還有，控制電路板40和馬達39也設有 5 用於驅動控制馬達39的電線。然後，用於檢測馬達39的 轉子41位置的位置檢測傳感器68被設在固定旋轉外套部 36的内側壁上，這個位置檢測傳感器68和控制電路板40 也是通過電線連接的。 下面對於本實施例的動力傳遞路線以及控制電路的方 10 框圖，除了在沒設有棘輪65這一點上與實施例四不同之 外，因其他部分相同略去說明。 根據本發明第一種電動車的構成，因馬達設成與上述 變速機同軸並包圍上述變速機的外周，可以使軸心部的徑 向尺寸變小，除了驅動部分變得緊湊外，還具有使以往大 15 型和重量型的結構變得小型化和輕量化的效果。 然後，根據上述的構成，因馬達和扭矩傳感器共設成 與車軸同軸，可以在變速機的周圍設置必要的部件，具有 使整體結構變得緊湊的效果。 還有，根據上述的構成，因扭矩傳感器以圓弧狀設在 20 上述變速機外周上，可以在變速機的外周上配設扭矩傳感 器，具有使在車軸方向上的尺寸變小的效果。 還有，根據上述的構成，因旋轉外套部覆蓋固定外套 部的外周，來自外部的水滴、灰塵等不會落到裝有馬達等 電氣部件的固定外套部内，具有減少故障的效果。 -26- 本纸張尺度適用中國國家標準（CNS ) Λ4規格（210X 297公釐） -------ΙΦΙ, (請先閱讀背面之注意事項再填寫本頁) ··—訂 477762 經滴部中次楳準局g〈工消費合作社印繁 A7 B7 五、發明説明（） 還有，根據上述的構成，因旋轉外套部在軸心部的車 軸方向的約兩端處受到支撐，與以往的只在單側受到支撐 的情況相比，電動車和使用者的重量均句地加在車軸上， 可以進行穩定的行駛，具有可以防止因長期使用導致旋轉 5 外套部變形的效果。 還有，根據上述的構成，因固定外套部包圍上述馬達， 即便萬一水滴和灰塵摻入到旋轉外套部内，由於覆蓋著固 定外套部，可以防止水滴和灰塵粘在馬達上，具有減少故 障的效果。 10 還有，根據上述的構成，因減速機構與上述馬達同軸 配设，可以以車軸為共同軸構成，具有組裝非常簡單的效 果。 然後，根據上述的構成，因用於減速馬達輸出的減速 機構配設成夾在馬達與扭矩傳感器之間，由減速機產生的 15齒輪聲等噪音被馬達和扭矩傳感器所屏蔽，漏到外部的聲 音變小，具有不使使用者有不愉快的感受的效果。 還有，根據上述的構成，因減速機構在扭矩傳感器一 侧聯接到旋轉外套部上並接受動力傳遞，可以在與旋轉外 套部的扭矩傳感器聯接的部分附近聯接來自減速機構的輸 20出，除了構成簡單外還具有使結構變得緊湊的效果。 根據作為本發明另一個電動車，具備有由構成車輪軸 心部並與車軸一同旋轉的旋轉外套部和在旋轉外套部内設 在車體上的固定外套部，因在固定外套部内内藏馬達和減 速機構，在組裝時，通過把内藏有馬達和減速機構的固定 -27- ^^5^1^^^?(0奶7^4規格721〇/ 297公釐） --- -------Ί-^ιι^-- (請先閱讀背面之注意事項再填寫本頁) 訂 477762 經滴部中央標準局員工消費合作社印製 A7 B7 五、發明説明（） 外套部裳到旋轉外套部内可以把驅動部袭起來，具有組裝 非常簡單等效果。 還有，根據上述另一電動車的構成，因固定外套部形 成為一邊開口的碗狀、内藏馬達並在開口上配設減速機構， 5 使得驅動部分的輸出位於固定外套部的一個側面上，因此， 在把固定外套部裝到旋轉外套部内的時候，容易把來自馬 達的輸出聯接到旋轉外套部上，具有改善組裝性等效果。 還有，根據上述另一電動車的構成，因減速機構採用 行星減速機構，可以構成為堵住固定外套部的碗狀開口 10 具有可以使結構緊湊等效果。 然後，根據上述另一電動車的構成，設有用於轉動旋 轉外套部的人力驅動部，配設成使人力驅動不和旋轉外套 部產生錯位旋轉，在人力驅動力和旋轉外套部之間設有從 人力驅動力動力傳遞到旋轉外套部上的扭矩傳感器，固定 15外套部的開口與在人力驅動部和旋轉外套部之間所形成的 開口相向配設，因此，雨等水滴不會落入固定外套部内 即具有不用對馬達進行防水處理就可以防止水滴等效果。 還有，根據上述另一電動車的構成，S人力驅動部和 旋轉外套部之間所形成的開口的旋轉外套部内面上設有堵 2〇住開口的軸環部，因在固定外套部碗狀底面外壁上設有控 制電路板，即使從人力驅動部和旋轉外套部之間的開口有 水滴進入，因設有軸環部可堵住水滴，水滴也不容易碰到 控制電路板，具有可以保護電路板不受水分影響等效果。 還有，根據上述另一電動車的構成，設有為使旋轉外 -28- 適^CNS) _ (請先閲讀背面之注意事項再填寫本頁}V. Description of the invention () When the rotation is transferred to 41, the gear portion 43 provided on the outer periphery of the transmission 28 provided with the rotor 41 as a whole is rotated by the bearing. The planetary gear 44 between the gear 45 and the above-mentioned gear portion 43 revolves around the gear portion 43 due to the rotation of the gear portion 43. The planet gear 44 revolves around the gear portion 43. Further, it is designed to be yoke-supported and penetrate through the center of each planetary gear 44 The output plate 46 of the transmission 28 is rotated by the revolution of the planetary gear 44. A ratchet provided on the output plate 46 engages the gear to rotate the rotating outer portion 29. The block diagram of the control circuit will be described with reference to the ninth figure. 10 胄In this description, the same parts of the drive motor circuit as in the second embodiment will be omitted. 52 is a torque sensor composed of the spring 61, the ring 62, the coil 53, and the like. The torque sensor 52 is connected to a microcomputer 58. , The electric signal corresponding to the magnitude of the human torque is input into the microcomputer 58, and the ratio of the human driving force to the electric driving force at this time at 15 o'clock is output 1: 1. Μ is-one digit A detection sensor is provided for detecting the rotational position of the rotor 41 necessary for driving and controlling the motor 39. The signal from the position detection sensor 讣 is input to the microcomputer 58 to generate a motor control signal. (Please read the precautions on the back before filling out this page) The following describes the fourth embodiment 20 of the electric assist bicycle related to the electric vehicle of the present invention. The overall composition of this embodiment and the first embodiment The same is omitted and the drive unit 15 will be described below with reference to the eleventh figure, and the same components as in the first embodiment will be described with the same symbols. -22- ^^^^ £ 51 ^ 国 ^^^ " 7. Called 8 specifications (210 \ 297mm) '--- 477762 Five printed by the Central Consumers Bureau of the Ministry of Economic Affairs A7 B7 Description of Invention () In this embodiment, the motor 39 has the same structure as the first embodiment The structure of the torque sensor 52 is the same as that of the second embodiment and the third embodiment, so its explanation is omitted. 46 is an output disk that is taken out after the output of the motor 39 is decelerated by the planetary gear reduction mechanism. The disk 46 is mounted on the axle a through a bearing 47. Then, a gear is formed inside the output disk 46 and rotates with the rotation of the output disk 46. Further, a cylindrical gear 69 fixed to the outer periphery of the transmission 28 is again With a ratchet 65, the cylindrical gear 69 can be rotated only by a certain one-way rotation of the output plate 46. 10 Also, as in the embodiment, the power feeding wire 35 is routed through the brake casing 34 and fixed in the fixed casing portion 36 and The control circuit board 40 is connected to the control circuit board 40. The control circuit board 40 and the coil 53 are respectively provided with electric wires for drilling and transmitting electric signals. In addition, the control circuit board 40 and the motor 39 are also provided with electric wires for driving the control motor 39. Then, a position detection sensor 68 for detecting the position of the rotor 41 of the motor% 15 is provided on the inner side wall of the fixed rotation outer casing portion 36. This position detection sensor 68 and the control circuit board 40 are also connected by electric wires. 67 is an outer cover that covers the outer cover 36 and is opened. A position detection sensor 68 is provided on the inner side of the outer cover 67, and a control circuit board 40 and a coil 53 are provided on the outer side. In addition, the outer cover 67 shields power transmission by the transmission 28 and the bearing 37. The operation will be described below with reference to the power system diagram of the thirteenth figure. This embodiment is the same as the first embodiment. When the user lights the foot pedal 5, the spring 61 is contracted, and then the outer sleeve part is rotated while the spring 61 is contracted. 29 -23- This paper size applies to the Chinese National Standard (CNS) Λ4 Specifications (210X297mm) (Please read the precautions on the back before filling out this page), and order printed by the Central Standards Bureau of the Ministry of Economic Affairs X Consumer Cooperatives 477762 A7 B7 V. Description of the invention () Rotation, so that the human driving force causes the wheel 11 Spin. At this time, due to the contraction of the spring 61, one end 72 of the ring 62 is compressed, and the interval between the ring 62 and the coil 53 changes, thereby causing the inductance of the coil 53 to change. This change is input to the control circuit board 40 as an electrical signal. . 5 On the other hand, if the output transmission path of the motor 39 is described in detail, when the rotor 41 rotates, the gear portion 43 provided on the outer periphery of the transmission 28 designed as a whole with the rotor 41 rotates through the bearing. Then, the planetary gear 44 provided between the gear 45 fixed inside the fixed outer casing portion 36 and the above-mentioned gear portion 43 is rotated around the gear portion 43 while being rotated by the rotation of the gear portion 43. In addition, the output plate 46 which is designed to receive a shaft at the center of each planetary gear 44 and penetrate the transmission 28 is rotated by the revolution of the planetary gear 44, and the cylindrical gear 69 is rotated by a ratchet 65 provided on the output plate 46. The electric driving force is transmitted to the outer periphery of the transmission 28. Here, if the torque sensor 52 in this embodiment is described, 15 the spring 61 constituting the torque sensor 52 is arranged to be measured after the output of the transmission 28, which is different from the above embodiment in that the electric driving force is transmitted by the power On the transmission 28, the contraction of the spring 61 can measure the combined force of the two forces of human driving force and electric driving force. Therefore, when the control circuit in this embodiment is to output an electric driving force that is the same as the human driving force, 20 calculates the human driving force from the measured torque minus the electric driving force, and controls the motor 39 so that it can output the The magnitude of this human torque corresponds to the electric driving force. At this time, the electric driving force to be subtracted can be calculated by detecting and calculating the motor current. The block diagram of the control circuit will be described with reference to the fourteenth figure. -24- This paper size is in accordance with Chinese National Standard (CNS) A4 (210X 297mm) (Please read the notes on the back before filling out this page) I Ding477762 Printed by the Consumer Standards Cooperative of the Central Standards Bureau of the Ministry of Economic Affairs A7 B7 V. Description of the invention () This block diagram omits the description of the same parts as those in the second and third embodiments. 70 is a current sensor that measures the current passing through the motor 39. The current sensor 70 inputs a signal of the measured current value to the microcomputer 58. Then, the microcomputer 58 uses the signals from the torque sensor 52 and the current sensor 70. The signal value is calculated based on the driving signal of the output motor 39. Specifically, as described above, the magnitude of the torque measured by the torque sensor 52 is the combined force of the human force and the torque of the motor 39, and the output 10 of the motor 39 obtained from the signal from the current sensor 70 is subtracted from this value. The torque value is used to calculate the human torque. Then, a driving signal is output to the motor 39 to form an electric driving force having the same magnitude as the human torque. The fifth embodiment of the electric assist bicycle related to the electric vehicle of the present invention will be described below. Since the overall configuration of this embodiment is the same as that of the first embodiment, its explanation is omitted. Next, the drive unit 15 will be described with reference to the fifteenth figure, and the same reference numerals will be given to the same components as those in the first embodiment. Since the motor 39 and the torque sensor 52 of this embodiment have the same configuration as that of the fourth embodiment, the description is omitted. 20 46 is an output plate mounted on the planetary gear 44 for taking out the output of the motor 39, and the output plate 46 is coupled to the transmission 28. The ratchet provided in the fourth embodiment is not provided in this embodiment. Numeral 67 is an outer cover for covering the opening of the fixed outer portion 36, and the outer cover 67 is fixed through the axle 18. '* -25- (Please read the notes on the back before filling out this page). Lu—The paper size of the book applies to the Chinese National Standard (CNS) Α4 specification (210 × 297 mm). Printed 477762 A7 B7 V. Description of the invention () In this embodiment, the wires for wiring are passed through the brake cover 34 along the cover cover 67 and are wired in the fixed cover portion 36 and connected to the control circuit board 40, and the control circuit board 40 and the coil 53 are provided with wires for feeding and transmitting electric signals, and the control circuit board 40 and the motor 39 are also provided with 5 wires for driving the control motor 39. Then, a position detection sensor 68 for detecting the position of the rotor 41 of the motor 39 is provided on the inner side wall of the fixed rotation outer casing portion 36. This position detection sensor 68 and the control circuit board 40 are also connected by electric wires. The block diagram of the power transmission route and control circuit of this embodiment is different from that of the fourth embodiment except that the ratchet 65 is not provided, and the description is omitted because the other parts are the same. According to the structure of the first electric vehicle of the present invention, since the motor is provided coaxially with the transmission and surrounds the outer periphery of the transmission, the radial dimension of the shaft portion can be reduced, and in addition to the drive portion becoming compact, it also has The effect of reducing the size and weight of the conventionally large 15 and heavy structures. Then, according to the above-mentioned configuration, since the motor and the torque sensor are provided coaxially with the axle, necessary components can be provided around the transmission, which has the effect of making the overall structure compact. In addition, according to the above-mentioned configuration, since the torque sensor is provided in an arc shape on the outer periphery of the transmission, the torque sensor can be provided on the outer periphery of the transmission, which has the effect of reducing the size in the axial direction. In addition, according to the above-mentioned configuration, since the rotating outer cover portion covers the outer periphery of the fixed outer cover portion, water droplets, dust, and the like from the outside do not fall into the fixed outer cover portion equipped with electric components such as a motor, which has the effect of reducing malfunctions. -26- This paper size applies Chinese National Standard (CNS) Λ4 specification (210X 297 mm) ------- IΦΙ, (Please read the precautions on the back before filling this page) ·· —Order 477762 warp Dibei Intermediate Standards Bureau g <Industrial and Consumer Cooperatives Co., Ltd. A7 B7 V. Description of the Invention () Furthermore, according to the above-mentioned structure, the rotating outer sleeve portion is supported at about two ends in the axis direction of the shaft center portion, and Compared with the conventional case where the vehicle is supported only on one side, the weight of the electric vehicle and the user are added to the axle in a sentence, which enables stable driving, and has the effect of preventing the rotation of the outer casing from being deformed due to long-term use. In addition, according to the above-mentioned configuration, the fixed outer casing surrounds the motor. Even if water droplets and dust are mixed into the rotating outer casing, the fixed outer casing is covered to prevent water droplets and dust from sticking to the motor. effect. 10 In addition, according to the above-mentioned configuration, since the speed reduction mechanism is arranged coaxially with the above-mentioned motor, the axle can be configured as a common shaft, which has a very simple assembly effect. Then, according to the above-mentioned structure, because the reduction mechanism for the output of the reduction motor is arranged to be sandwiched between the motor and the torque sensor, noises such as 15 gear sounds generated by the reduction gear are shielded by the motor and the torque sensor and leaked to the outside The sound is reduced, which has the effect of not making the user feel unpleasant. In addition, according to the above-mentioned configuration, since the reduction mechanism is coupled to the rotation outer casing portion on the torque sensor side and receives power transmission, it is possible to connect 20 outputs from the reduction mechanism near the portion connected to the torque sensor of the rotation casing portion, except that The simple structure has the effect of making the structure compact. According to another electric vehicle according to the present invention, the rotary outer casing includes a rotary outer casing that constitutes a wheel center portion and rotates together with the axle, and a fixed outer casing provided on the vehicle body in the rotary outer casing. The reduction mechanism is fixed by the built-in motor and the reduction mechanism during assembly. -27- ^^ 5 ^ 1 ^^^ (0 milk 7 ^ 4 size 721〇 / 297mm) --- --- ---- Ί- ^ ιι ^-(Please read the notes on the back before filling out this page) Order 477762 Printed by the Consumer Standards Cooperative of the Central Bureau of Standards Department A7 B7 V. Description of the invention The driving part can be attacked in the outer shell part, which has the effects of simple assembly and the like. In addition, according to the configuration of the other electric vehicle described above, the fixed outer casing is formed in a bowl shape with one side opened, the motor is built in, and a reduction mechanism is provided in the opening, so that the output of the driving portion is located on one side of the fixed outer casing. Therefore, when the fixed outer casing is mounted in the rotary outer casing, it is easy to couple the output from the motor to the rotary outer casing, which has the effects of improving the assemblability and the like. In addition, according to the configuration of the other electric vehicle described above, since the planetary reduction mechanism is adopted as the reduction mechanism, the bowl-shaped opening 10 that fixes the outer casing portion can be configured to have the effect of making the structure compact. Then, according to the configuration of the other electric vehicle, a human power driving unit for rotating the rotary outer casing is provided, so that the human driving does not cause dislocation rotation with the rotary outer casing, and is provided between the human driving force and the rotary outer casing. The torque sensor that transmits power from the human driving force to the rotating outer casing. The opening of the fixed 15 outer casing is arranged opposite to the opening formed between the human driving portion and the rotating outer casing. Therefore, water droplets such as rain will not fall into the fixing. The outer casing has the effect of preventing water droplets and the like without waterproofing the motor. In addition, according to the configuration of the other electric vehicle described above, the inner surface of the rotating outer casing portion of the opening formed between the S human power driving portion and the rotating outer casing portion is provided with a collar portion that blocks the opening. A control circuit board is provided on the outer wall of the bottom surface. Even if water droplets enter through the opening between the human power driving part and the rotating outer jacket part, because the collar part is provided to block the water droplets, the water droplets do not easily touch the control circuit board. Protect circuit boards from moisture and other effects. Also, according to the configuration of another electric vehicle described above, there is a -28-CNS for rotating outside _ (Please read the precautions on the back before filling in this page}
、1T __ 477762 A7 B7 五、發明説明（） 套部旋轉的人力驅動部，在人力驅動部和旋轉外套部之間 設有内裝在作為車輪的旋轉中心的車軸上的變速機，因此， 除了加上因電動驅動力而生產的輔助外還可以通過變速機 使得使用者可以以所指定的最佳齒輪傳動比行駛，除了讓 5 使用者覺得行駛愉快外，還因變速機内藏在旋轉外套部内， 具有使結構變得緊湊的效果。 還有，根據上述另一電動車的構成，變速機設在位於 車軸的縱向上到中部為止的位置上，旋轉外套部設成受變 速機和設在未設上述變速機部分的上述車軸上的軸承所支 10 撐，因此，可以把固定外套部簡單地安裝在不旋轉的車軸 上，而且，因旋轉外套部受車軸和變速機所支撐，可以跨 過車軸的縱向安裝，可以以良好的平衡配設旋轉外套部， 具有可以獲得穩定旋轉等效果。 還有，根據上述另一電動車的構成，旋轉外套部的一 15 側輸入借助於人力的人力驅動力，在與該人力驅動力被輸 入的一側相對的一側輸入由馬達產生的電動驅動力，加在 車輪上的力比較平衡，驅動時不會搖擺，具有可以獲得穩 定旋轉等效果。 (請先閱讀背面之注意事項再填寫本頁) Ί訂 經濟部中央標準局員工消費合作社印製 -29- 本紙張尺度適用中國國家標隼（CNS ) A4規格（210X 297公釐） 477762 A7 B7 五、發明説明（） 圖式之簡單說明： --------- (請先閱讀背面之注意事項再填寫本頁) 第一 ίι為本發明實施例一的驅動部的側視剖面圖。 第二圖為從側面看該驅動部的扭矩傳感器附近的俯視 圖。 第三圖為該控制電路的方框圖。 5 第四圖為該動力系統圖。 第五圖為表示該整體構成的側視圖。 第六圖為本發明實施例二的驅動部的側視剖面圖。 第七圖為從側面看該驅動部的扭矩傳感器附近的俯視 圖。 10 第八圖為該動力系統圖。 訂 第九圖為該控制電路的方框圖。 第十圖為本發明實施例三的驅動部的侧視剖面圖。 第十一圖為從側面看該驅動部的扭矩傳感器附近的俯 視圖。 15 第十二圖為本發明實施例四的驅動部的側視剖面圖。 第十三圖為該動力系統圖。 第十四圖為該控制電路的方框圖。 第十五圖為本發明實施例四的驅動部的側視剖面圖。 經濟部中央標準局員工消費合作社印製 -30- 本紙張尺度適用中國國家標準（CNS ) Α4規格（210Χ 297公釐） 18車軸 28變速機 36固定外套部 40控制部（控制電路板) 45固定齒輪 5 0轴環部 477762 A7 B7 五、發明説明（） 圖號說明： 11車輪（後輪） 29旋轉外套部 31軸承 5 39馬達 44行星齒輪 46輸出盤 52扭矩傳感器 (請先閲讀背面之注意事項再填寫本頁) 經濟部中央標準局員工消費合作社印製 -31- 本纸張尺度適用中國國家標準（CNS ) A4規格（210X297公釐）、 1T __ 477762 A7 B7 V. Description of the invention () The manpower driving unit that rotates the sleeve is provided with a speed changer built in the axle that is the center of rotation of the wheel between the manpower driving unit and the rotating outer jacket. Therefore, in addition to In addition to the assistance produced by the electric drive force, the transmission can be used to allow the user to drive at the specified optimal gear ratio. In addition to making 5 users feel happy driving, the transmission is built into the rotating outer casing. , Has the effect of making the structure compact. In addition, according to the configuration of the other electric vehicle described above, the transmission is provided at a position from the longitudinal direction to the middle of the axle, and the rotary outer cover portion is provided to receive the transmission and is provided on the axle without the transmission portion. The bearing is supported by 10, so the fixed outer shell can be simply mounted on the non-rotating axle, and because the rotary outer shell is supported by the axle and the transmission, it can be installed across the longitudinal direction of the axle and can be well balanced Equipped with a rotating outer part, it has the effect of obtaining stable rotation. In addition, according to the configuration of the other electric vehicle described above, one side of the rotating outer casing is inputted with a human driving force, and an electric drive generated by a motor is input to a side opposite to the side where the human driving force is input. Force, the force applied to the wheel is relatively balanced, it will not sway when driven, and has the effect of obtaining stable rotation and other effects. (Please read the precautions on the back before filling out this page) ΊPrinted by the Consumers' Cooperatives of the Central Standards Bureau of the Ministry of Economic Affairs -29- This paper size applies to China National Standard (CNS) A4 (210X 297 mm) 477762 A7 B7 V. Description of the invention () Brief description of the drawings: --------- (Please read the precautions on the back before filling out this page) The first section is a side sectional view of the driving part of the first embodiment of the present invention Illustration. The second figure is a plan view of the vicinity of the torque sensor of the drive unit as viewed from the side. The third figure is a block diagram of the control circuit. 5 The fourth figure is the power system diagram. The fifth figure is a side view showing the overall configuration. The sixth figure is a side cross-sectional view of a driving unit according to a second embodiment of the present invention. The seventh figure is a plan view of the vicinity of the torque sensor of the drive unit as viewed from the side. 10 The eighth figure is the power system diagram. The ninth figure is a block diagram of the control circuit. The tenth figure is a side cross-sectional view of a driving unit according to a third embodiment of the present invention. The eleventh figure is a plan view of the vicinity of the torque sensor of the drive unit as viewed from the side. 15 The twelfth figure is a side cross-sectional view of a driving unit according to the fourth embodiment of the present invention. The thirteenth figure is the power system diagram. The fourteenth figure is a block diagram of the control circuit. Fifteenth figure is a side cross-sectional view of a driving unit according to a fourth embodiment of the present invention. Printed by the Consumer Standards Cooperative of the Central Bureau of Standards of the Ministry of Economics -30- This paper size applies to the Chinese National Standard (CNS) Α4 size (210 × 297 mm) 18 axles 28 transmission 36 fixed outer cover 40 control (control circuit board) 45 fixed Gear 5 0 Collar part 477762 A7 B7 V. Description of the invention () Description of drawing number: 11 wheels (rear wheel) 29 rotating outer casing 31 bearing 5 39 motor 44 planetary gear 46 output disc 52 torque sensor (please read the note on the back first) Please fill in this page again.) Printed by the Consumer Cooperatives of the Central Bureau of Standards of the Ministry of Economic Affairs-31- This paper size applies to China National Standard (CNS) A4 (210X297 mm)