WO2019230056A1

WO2019230056A1 - Body hair trimmer

Info

Publication number: WO2019230056A1
Application number: PCT/JP2019/004329
Authority: WO
Inventors: 竜平坂本; 保至浅井; 俊治橋本; 隆文大羽
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2018-06-01
Filing date: 2019-02-07
Publication date: 2019-12-05
Also published as: JP2019208726A; JP6909981B2

Abstract

A body hair trimmer (100) includes a linear actuator (10) comprising a stator (11), and a rotor (12) that coordinates blades for cutting body hair. One of the stator (11) and the rotor (12) is constituted by an electromagnet, and the other is constituted by a permanent magnet (12a) or an electromagnet. The trimmer also includes a control unit (40) that causes the rotor (12) to reciprocally move by controlling a control value constituted by a voltage value or current value applied to the linear actuator (10), and a load detection unit (70) that, for every cycle of reciprocal motion of the rotor (12), detects the load placed upon the rotor (12) when the blades cut body hair. The control unit (40) alters the control value on the basis of a first feedback control value based on the load calculated by the load detection unit (70). As a result, a body hair trimmer (100) of improved stability of operation is provided.

Description

Hair cutting device

The present invention relates to a hair cutting device.

Conventionally, there are hair cutting devices such as electric razors and hair trimmers equipped with a linear actuator having a stator and a mover. The mover of the linear actuator is controlled by a voltage or current applied to the stator or an electromagnet included in the mover, and performs a linear reciprocating motion with respect to the stator. A blade for cutting body hair is attached to the mover. And it is comprised so that body hair may be cut | disconnected by the movable blade (for example, refer patent document 1).

The linear actuator disclosed in Patent Document 1 controls the movement of the mover using the current supply time. Therefore, if an excess or deficiency occurs in the amount of current supplied to the mover, the operation stability of the mover decreases. Specifically, the amplitude of the mover decreases. Thereby, there exists a possibility that the shaving taste of a linear actuator may be impaired.

JP 2014-155421 A

The present invention provides a hair cutting device that improves the stability of operation.

The hair cutting apparatus according to one aspect of the present invention includes a first magnetic block and a second magnetic block that interlocks a blade that cuts hair, and the first magnetic block and the second magnetic block are among the first magnetic block and the second magnetic block. These include linear actuators in which one is an electromagnet and the other is a permanent magnet or an electromagnet. Further, the hair cutting device controls a control value that is a voltage value or a current value for energizing the linear actuator to reciprocate the second magnetic block, and a second when the blade cuts the hair. A load detection unit that detects the load applied to the magnetic block for each period in the reciprocating motion of the second magnetic block is included. The control unit changes the control amount based on the first feedback control amount based on the load amount detected by the load detection unit.

This configuration can provide a hair cutting device that can improve the stability of operation.

FIG. 1 is an external view of a hair cutting device according to an embodiment. FIG. 2 is a cross-sectional view showing the outer blade and the inner blade according to the embodiment together with the skin. FIG. 3 is a block diagram showing a functional configuration of the same hair cutting device. FIG. 4 is a circuit diagram of the same hair cutting device. FIG. 5 is a diagram illustrating the timing at which the drive amount detection unit included in the hair cutting apparatus detects the drive amount. FIG. 6 is a flowchart for explaining the processing procedure of the hair cutting apparatus. FIG. 7 is a timing chart showing a first example of the operation of the same hair cutting device. FIG. 8 is a diagram showing a specific example of the movement of the mover in the first example. FIG. 9 is a timing chart showing a second example of the operation of the same hair cutting device. FIG. 10 is a timing chart showing a third example of the operation of the same hair cutting device.

Hereinafter, the hair cutting device according to the embodiment of the present invention will be described in detail with reference to the drawings. Each of the embodiments described below shows a specific example of the present invention. Accordingly, numerical values, shapes, materials, components, arrangement and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims showing the highest concept of the present invention are described as optional constituent elements.

Each figure is a schematic diagram and is not necessarily illustrated strictly. Moreover, in each figure, the same code | symbol is attached | subjected about the same structural member.

(Embodiment)
[Overview]
First, with reference to FIG.1 and FIG.2, the outline | summary of the hair cutting device which concerns on embodiment is demonstrated.

FIG. 1 is an external view showing a hair cutting device 100 according to an embodiment. FIG. 2 is a cross-sectional view showing the outer blade 160 and the inner blade 170 according to the embodiment together with the skin.

In addition, the hair cutting device 100 of embodiment is a device which cuts hairs 200, such as a heel, for example, such as an electric razor. Accordingly, FIG. 1 illustrates an example of a hair cutting device 100 that grips the body 110 and slides the outer blade 160 while pressing the outer blade 160 against the skin surface 210 such as the face to cut (shave) wrinkles that are the body hair 200. Show.

Specifically, the hair cutting device 100 includes an inner blade 170 that slides along the inner surface of each outer blade 160.

The main body 110 of the hair cutting device 100 accommodates therein a drive device that drives the inner blade 170, a power supply device that supplies power to the drive device, a control device that controls these devices, and the like. An example of the drive device is a linear actuator 10 (see FIG. 3).

Further, as shown in FIG. 1, the main body 110 is provided with a power switch 130, a display unit 140 for displaying the state of the hair cutting device 100, and the like on the outer surface. Furthermore, the main body 110 includes a grip portion 120 that is a portion that the user holds, and a head portion 150 to which the outer blade 160 is detachably attached. The head unit 150 is configured to be able to freely change the angle with respect to the grip unit 120. As a result, the head unit 150 can swing.

The linear actuator 10 which is an example of a drive device is accommodated inside the head unit 150, and is connected so as to interlock with an inner blade 170 which is a movable blade. The connected inner blade 170 reciprocates (specifically, linear reciprocating motion) with respect to the outer blade 160 by driving the driving device. That is, the hair cutting device 100 displaces the inner blade 170 that is in sliding contact with the inner surface of the outer blade 160 relative to the outer blade 160. Accordingly, the hair 200 inserted into the blade hole 161 formed in the outer blade 160 is configured to be cut by the reciprocating motion of the inner blade 170.

[Constitution]
Next, a specific configuration example for driving the linear actuator 10 of the hair cutting device 100 will be described with reference to FIGS. 3 and 4.

FIG. 3 is a block diagram showing a functional configuration of the hair cutting device 100 according to the embodiment. FIG. 4 is a circuit diagram of the hair cutting device 100.

As shown in FIG. 3, the hair cutting device 100 includes a linear actuator 10 including a stator 11 that constitutes a first magnetic block and a mover 12 that constitutes a second magnetic block, in a head unit 150. .

The stator 11 is composed of, for example, an electromagnet or a permanent magnet, and is fixed to the frame 13.

The mover 12 is configured to be movable with respect to the stator 11, for example, an electromagnet or a permanent magnet. The mover 12 is connected to the frame 13 via a spring 14 and is configured to be able to reciprocate.

At least one of the stator 11 and the mover 12 is composed of an electromagnet. In the present embodiment, a configuration in which the stator 11 has an electromagnet and the mover 12 has a permanent magnet 12a will be described as an example.

The electromagnet is configured, for example, by winding a winding 11a around a sintered body of a magnetic material or a structure in which an iron plate of a magnetic material is laminated.

The electromagnet of the stator 11 and the permanent magnet 12a of the mover 12 are arranged so as to be spaced apart from each other. Further, the electromagnet of the stator 11 and the permanent magnet 12a of the mover 12 are magnetized in a direction parallel to the reciprocating motion direction shown in FIG.

In the present embodiment, the following description will be made assuming that the first magnetic block is a fixed stator 11 and the second magnetic block is a movable element 12 reciprocally movable with respect to the first magnetic block. There is no particular need to use the first magnetic block as the stator 11 and the second magnetic block as the mover 12. For example, at least one of the first magnetic block and the second magnetic block may be a mover. Further, both the first magnetic block and the second magnetic block may be movers.

Further, the outer blade 160 shown in FIG. 2 is disposed on the frame 13, and the inner blade 170 shown in FIG. 2 is attached to the mover 12. At this time, when outer blade 160 contacts skin surface 210, body hair 200 on skin surface 210 is introduced into blade hole 161 formed in outer blade 160, as shown in FIG. 2. The introduced body hair 200 is sandwiched and cut between the fixed outer blade 160 and the inner blade 170 that reciprocates.

The drive circuit 30 constitutes a circuit that causes the mover 12 to reciprocate. The drive circuit 30 is electrically connected to the winding 11 a of the stator 11. The drive circuit 30 operates based on the power supply voltage Vcc from the power supply 20 and supplies a drive current Id to the winding 11a. The drive circuit 30 is configured by a full bridge circuit including a plurality of switching elements such as MOSFETs (Metal Oxide SemiConductor Field Effect Transistor).

Specifically, the winding 11 a of the stator 11 is electrically connected between a plurality of switching elements of the drive circuit 30. The drive circuit 30 selectively turns on the plurality of switching elements alternately based on a PWM (Pulse Width Modulation) signal from the control output unit 42. Thereby, the drive circuit 30 switches the direction of the drive current Id flowing through the winding 11a. As a result, the mover 12 reciprocates by switching the direction in which the drive current Id flows.

The microcomputer 50 is a microcomputer that operates the drive circuit 30. When functionally classified, the microcomputer 50 includes a control unit 40, a drive amount detection unit 60, a load detection unit 70, and the like, as shown in FIG.

The control unit 40 controls the voltage value or current value to be applied to the linear actuator 10 as a control amount, and causes the mover 12 to reciprocate. Specifically, first, the control unit 40 determines a control amount that is a voltage value or a current value for energizing the winding 11 a of the stator 11. And the control part 40 supplies with electricity to the coil | winding 11a via the drive circuit 30 based on the determined control amount. Thereby, the needle | mover 12 reciprocates.

Further, when functionally classified, the control unit 40 includes an amplitude control unit 41, a control output unit 42, an addition unit 43, a memory 44, a filter unit 80, and the like.

The amplitude control unit 41 of the control unit 40 controls a control amount that is a voltage value or a current value for energizing the linear actuator 10. In this case, the amplitude control unit 41 first acquires the output value of the control amount from the linear actuator 10 from the detection circuit 90. Further, the amplitude control unit 41 calculates a second feedback control amount from the acquired output value and a preset target value. Then, the control amount is changed based on the calculated second feedback control amount. The amplitude control unit 41 may control the linear actuator 10 by executing known PID (Proportional-Integral-Differential) control. Here, the target value may be set to an arbitrary value in advance. The set target value may be stored in advance in the memory 44 of the control unit 40, for example.

The control output unit 42 of the control unit 40 performs PWM (Pulse Width Modulation) control on the drive current Id to the winding 11a based on the control amount acquired from the amplitude control unit 41. That is, the control output unit 42 outputs a PWM signal to the drive circuit 30. Specifically, the control output unit 42 generates the PWM signal so that the drive current Id having a frequency synchronized with the mechanical resonance frequency of the linear actuator 10 is supplied to the winding 11a. Here, the mechanical resonance frequency of the linear actuator 10 is determined by the weight of the mover 12, the spring constant of the spring 14, and the like. At this time, as shown in FIG. 3, a constant voltage generated by the constant voltage power supply 21 is supplied to the control output unit 42 as an operating voltage based on the power supply voltage Vcc from the power supply 20.

When the drive current Id flows through the winding 11a based on the PWM signal, the permanent magnet 12a disposed on the mover 12 reciprocates while bending the spring 14 in accordance with the direction in which the drive current Id flows. It is driven in the direction (left-right direction in FIG. 3). That is, the control output unit 42 switches the direction in which the drive current Id flows by control at an appropriate timing. Thereby, the needle | mover 12 is reciprocated.

The addition unit 43 of the control unit 40 changes the control amount based on the drive amount of the mover 12 detected by the drive amount detection unit 60 and the load amount of the mover 12 determined by the load detection unit 70 and the filter unit 80. The first feedback control amount is output to the amplitude control unit 41.

The memory 44 of the control unit 40 stores information such as the speed and amplitude of the mover 12 detected by the detection circuit 90. The memory 44 is composed of, for example, a RAM (Random Access Memory).

Further, the drive amount detection unit 60 of the microcomputer 50 detects at least one of the displacement, speed, and acceleration of the mover 12 as the drive amount of the mover 12. Specifically, the drive amount detection unit 60 is electrically connected to the winding 11 a of the stator 11 through the detection circuit 90. As a result, the drive amount detector 60 acquires the amplitude, speed, and displacement of the mover 12 from the detection circuit 90 that acquires the induced electromotive force (specifically, the induced electromotive voltage) generated in the winding 11a. . More specifically, the drive amount detector 60 detects an induced electromotive voltage generated in the winding 11 a of the stator 11 as a drive amount of the mover 12 due to the reciprocating motion of the mover 12. At this time, the drive amount detector 60 detects the drive amount of the mover 12 for each cycle of the reciprocating motion of the mover 12, for example.

The filter unit 80 of the control unit 40 multiplies the load value (load amount) applied to the mover 12 by a predetermined gain and outputs the result to the amplitude control unit 41. Specifically, for example, when the load amount detected by the load detection unit 70 exceeds a preset first threshold value, the filter unit 80 increases the speed at the reciprocal center of the reciprocating motion of the mover 12. Change the control amount. Further, the filter unit 80 changes the control amount so that the speed at the center of reciprocation of the mover 12 becomes small when the load amount detected by the load detection unit 70 falls below a preset second threshold value, for example. .

As described above, a circuit for driving the linear actuator 10 of the hair cutting device 100 is configured.

Next, the timing at which the drive amount detection unit 60 described above detects an induced electromotive force (specifically, an induced electromotive voltage) as a drive amount will be described with reference to FIG.

FIG. 5 is a diagram illustrating the timing at which the drive amount detection unit 60 of the hair cutting device 100 detects the drive amount.

Specifically, FIG. 5A shows the displacement (amplitude) of the mover 12 with respect to time (driving time). FIG. 5B shows a change in the induced electromotive voltage detected by the drive amount detector 60 with respect to time. Further, (c) of FIG. 5 shows the change of the drive current Id with respect to time.

First, the drive amount detection unit 60 (see FIG. 3) is an amplified signal of the induced electromotive voltage generated in the winding 11a of the stator 11 based on the output value of the control amount from the linear actuator 10 acquired from the detection circuit 90. The time when an amplification voltage becomes the same as a reference voltage (for example, 0 V) is detected. Then, the drive amount detection unit 60 determines the detected time as a turning point where the amplitude of the movable element 12 that reciprocates is reversed.

At this time, the induced electromotive voltage is output in the form of a sine wave according to the change in magnetic flux generated by the reciprocating motion of the mover 12. Therefore, the induced electromotive voltage changes according to the amplitude of the mover 12, the speed of vibration, the direction of vibration, and the like. Specifically, when the vibration direction changes at the turning point of the reciprocating motion of the mover 12, the amplitude of the mover 12 is maximum, that is, the speed is zero. When the speed of the mover 12 becomes zero, the change in magnetic flux disappears, so the induced electromotive voltage becomes zero. Therefore, the driving amount detection unit 60 compares the zero point of the induced electromotive voltage with the reference voltage, and identifies the turning point of the reciprocating motion of the mover 12. Then, the drive amount detection unit 60 calculates at least one of the amplitude, speed, and displacement of the mover 12 from the time interval between zero points of the induced electromotive voltage that is repeatedly detected. In addition, as shown in FIG. 5C, the drive amount detection unit 60, for example, any arbitrary timing (time interval) at which the drive current Id becomes zero during one cycle of the reciprocating motion of the mover 12. Thus, the induced electromotive voltage may be acquired selectively.

Moreover, the load detection part 70 (refer FIG. 3) of the microcomputer 50 detects the load amount added to the needle | mover 12 when the inner hair 170 cuts the body hair 200 for every period in the reciprocating motion of the needle | mover 12. FIG. . Specifically, the load detection unit 70 detects and calculates the load amount for each cycle of the reciprocating motion of the mover 12 from the drive amount and the control amount detected by the drive amount detection unit 60 of the control unit 40. To do.

That is, for example, the control amount input to the winding 11a of the stator 11 from the control output unit 42 via the drive circuit 30 and the drive amount detected by the drive amount detection unit 60 are input to the load detection unit 70. . And the load detection part 70 is a needle | mover produced when cutting the hair 200 introduced into the cutting part (blade hole 161 of FIG. 2) of the hair cutting device 100 based on the input control amount and drive amount. 12 loads (load amounts) are detected for each period of the reciprocating mover 12.

Specifically, the amount of load applied during one cycle of the mover 12 is determined by the following three forces. The first force is a force such as an external force applied to the mover 12 in order to drive the mover 12 during one cycle of the mover 12. The second force is a force stored in the spring 14 that connects the mover 12 to the frame 13 or a force released from the spring 14. The third force is a viscous force depending on a loss of the spring 14, a force that attenuates the reciprocating motion of the mover 12 due to air resistance, and the like. At this time, the external force applied to the mover 12 as the first force is calculated from the load amount detected by the load detection unit 70. Further, the second force, that is, the force stored in the spring 14 or the force released from the spring 14 is determined by the spring constant of the spring 14, the amplitude of the current cycle of the mover 12, and the previous cycle. It is calculated from the difference between the amplitude. Further, the viscous force that attenuates the reciprocating motion of the mover 12 as the third force is calculated from the viscosity coefficient of the spring 14 and the amplitude of the mover 12.

That is, the changed control amount for controlling the linear actuator 10 is calculated from the second feedback control amount by the known PID control and the first feedback control amount calculated from the load amount. At this time, the amplitude control unit 41 calculates the second feedback control amount from the output value of the control amount from the linear actuator 10 acquired via the detection circuit 90 and the target value preset for the acquired output value. Is calculated. Specifically, the first feedback control amount includes the above-described three forces, for example, the load applied to the mover 12, the force accumulated in or released from the spring 14, and the viscous force of the spring 14. It is calculated from the sum of

Further, the load detection unit 70 of the microcomputer 50 calculates the load amount of the mover 12 for each cycle in the reciprocating motion of the mover 12 from the induced electromotive voltage acquired via the drive amount detection unit 60. Further, the drive amount detection unit 60 calculates the force stored in the spring 14 or the force released from the spring 14 and the viscous force of the spring 14 from the induced electromotive voltage acquired via the detection circuit 90. .

The addition unit 43 of the control unit 40 includes the load amount acquired via the load detection unit 70 and the drive amount detection unit 60, the force stored in the spring 14 or the force released from the spring 14, and the spring 14 Add the value with the viscous force. Then, the adding unit 43 outputs the added value as a first feedback control amount to the amplitude control unit 41 for each cycle in the reciprocating motion of the mover 12.

The amplitude control unit 41 of the control unit 40 outputs the sum of the first feedback control amount calculated by the addition unit 43 and the above-described second feedback control amount to the control output unit 42. Thereby, the control amount of the needle | mover 12 output in the following period is changed. That is, the amplitude control unit 41 compares and determines whether or not the value of the reciprocating motion of the movable element 12 is a target value for each cycle in the reciprocating motion of the movable element 12. And the amplitude control part 41 changes the control amount output to the control output part 42 so that it may become a target value, when it is not a target value. Note that the value of the reciprocating motion is specifically at least one of displacement, speed, and acceleration.

The detection circuit 90 constitutes a circuit that detects an output value (at least one of a current value and a voltage value) of a control amount from the linear actuator 10 and an induced electromotive force generated by the reciprocating motion of the mover 12. . The detection circuit 90 is connected to the drive circuit 30 and the winding 11a via a power line connecting the drive circuit 30 and the winding 11a of the stator 11, and detects an induced electromotive force (induced electromotive voltage). The detection circuit 90 includes, for example, an amplifier circuit 91, a comparison circuit 92, a comparison circuit 93, and the like. Note that the detection circuit 90 may be configured by, for example, an optical sensor that can detect at least one of the displacement, speed, and acceleration of the mover 12.

The amplifying circuit 91 of the detecting circuit 90 amplifies the voltage across the winding 11a of the stator 11, that is, the induced electromotive voltage generated in the winding 11a, and generates an amplified voltage. Then, the amplifier circuit 91 outputs the generated amplified voltage to the comparison circuit 92 and the comparison circuit 93.

The comparison circuit 92 of the detection circuit 90 compares, for example, a set reference voltage with the amplified voltage. Then, the comparison circuit 92 outputs the comparison result (for example, voltage difference) to the amplitude control unit 41. Thereby, the amplitude control unit 41 acquires the timing of one reciprocation in the reciprocating motion of the mover 12 via the comparison circuit 92.

Further, the comparison circuit 93 of the detection circuit 90 compares the amplified voltage with a reference voltage that is lower than the set reference voltage by a predetermined voltage. Then, the comparison circuit 93 outputs a comparison result (for example, a voltage difference) to the drive amount detection unit 60. Accordingly, the drive amount detection unit 60 calculates the drive amount of the mover 12 from the comparison result output from the comparison circuit 93 and detects the drive amount of the mover 12. The reference voltage and the predetermined voltage may be set to arbitrary values in advance.

[Processing procedure]
Next, a processing procedure (control operation) when the hair cutting device 100 according to the embodiment cuts the hair 200 will be described using FIG. 6 with reference to FIGS. 3 and 4.

FIG. 6 is a flowchart for explaining the processing procedure of the hair cutting device 100.

First, as shown in FIG. 6, the control unit 40 drives the mover 12 with an arbitrary control amount (step S101). Specifically, the amplitude control unit 41 outputs an arbitrary control amount to the control output unit 42. The control output unit 42 drives the movable element 12 by outputting a drive current Id from the drive circuit 30 based on the output arbitrary control amount. Thereby, the needle | mover 12 starts reciprocation according to the output drive current Id.

Next, the drive amount detector 60 detects the drive amount of the mover 12 that has started reciprocating motion (step S102). Specifically, the drive amount detection unit 60 detects an induced electromotive force (induced electromotive voltage) generated by driving the mover 12 as a drive amount of the mover 12 via the detection circuit 90.

Next, the load detection unit 70 detects the amount of load applied to the mover 12 when the inner blade 170 cuts the body hair 200 (step S103). Specifically, the load detection unit 70 detects the load applied to the mover 12 based on the detected drive amount of the mover 12.

Next, the control unit 40 changes the control amount so that the target value is arbitrarily determined in advance based on the load amount detected by the load detection unit 70 and the control amount acquired from the control output unit 42. (Step S104). Specifically, the control unit 40 determines that the control amount output by the control output unit 42 in the next cycle of the mover 12 from the first feedback control amount and the second feedback control amount becomes the target value. Change the control amount. Here, the first feedback control amount is a control amount based on the load amount on the mover 12 detected by the load detection unit 70. The second feedback control amount is a control amount based on the control amount acquired from the control output unit 42 and the output value of the control amount acquired from the linear actuator 10 acquired from the detection circuit 90.

As described above, when the hair 200 is cut, the processing of the hair cutting device 100 is executed.

[Concrete example]
Next, the specific operation of the hair cutting device 100 will be described with reference to FIGS. 7 to 10 by taking the first to third examples as examples.

(First example)
First, a first example of a specific operation of the hair cutting device 100 will be described with reference to FIGS. 7 and 8.

FIG. 7 is a timing chart showing a first example of the operation of the hair cutting device 100.

Specifically, FIG. 7A is a graph showing a change in the speed (speed) of the mover 12 when the control amount is not changed. FIG. 7B is a graph showing changes in the magnitude (load amount) of the load applied to the mover 12 when the mover 12 is reciprocated as shown in FIG. Furthermore, (c) of FIG. 7 compares the change in the amplitude of the mover 12 in the comparative example in which the control amount is not changed and in the first embodiment in which the control amount is changed based on the load amount. It is a graph shown. In addition, the comparative example shown in (c) of FIG. 7 and Example 1 are both graphs when PID control is executed.

7 Each plot on the horizontal axis of each graph in FIG. 7 indicates the period of one reciprocation of the mover 12. That is, FIG. 7 illustrates an example in which the mover 12 has reciprocated 26 times (26 cycles). Specifically, in section A in FIG. 7, the state in which the mover 12 is caught by the hair and the amplitude is reduced is continued for a plurality of periods. On the other hand, in section B, the state in which the mover 12 cuts the hair a plurality of times in the state shown in the upper diagram is repeated a plurality of times.

In the case of the hair cutting device 100 of the embodiment, the time required for one reciprocation of the mover 12 (time of one cycle) is, for example, 4 milliseconds. In addition, the time of 1 period is not specifically limited, You may set arbitrarily.

First, as shown in FIG. 7A, the speed of the mover 12 in the initial period at the start of driving is set to a target value. The speed is, for example, the speed at the reciprocal center of the reciprocating motion of the mover 12.

In the graphs of FIGS. 7A and 7C, the speed will be described as an example, but the same applies to acceleration or amplitude. The same applies to FIGS. 9 and 10 described later. Further, the target value may be stored in advance in the memory 44 or the like of the control unit 40 according to the displacement (for example, amplitude), speed (speed), or acceleration detected by the drive amount detection unit 60. .

Next, as shown in FIG. 7B, in the section A, a load due to cutting of the body hair 200 is applied to the inner blade 170 connected to the mover 12. Therefore, as shown in FIG. 7A, in the section A, the speed of the mover 12 is attenuated (decelerated) from the target value due to the load of the body hair 200.

Next, in the section B shown in FIG. 7B, the load applied to the inner blade 170 connected to the mover 12 disappears when the cutting of the body hair 200 is completed. Therefore, in the section B shown in FIG. 7A, the speed of the mover 12 returns to the target value.

When the controlled amount is not changed in the hair cutting device 100, the change in the speed of the mover 12 as in the sections A and B is repeated after the sections C and D. That is, when the inner blade 170 cuts the body hair 200, the load by the body hair 200 is applied to the mover 12 through the inner blade 170. Therefore, the speed of the mover 12 is lower than the target value. Thereby, the sharpness of the body hair 200 by the inner blade 170 (and outer blade 160) is also lowered.

Therefore, in the hair cutting device 100 of the embodiment, first, the load detection unit 70 detects the load applied to the inner blade 170 (mover 12), and the control unit 40 is detected by the load detection unit 70. The control amount of the mover 12 is changed based on the load amount.

That is, as shown in FIG. 7C, the control amount of the mover 12 is changed based on the load amount. Thereby, as shown in Example 1, the shift | offset | difference from the target value of the speed of the needle | mover 12 can be suppressed.

Hereinafter, the movement of the mover 12 in the first embodiment in which the control amount of the mover 12 is changed based on the load amount shown in FIG. ,explain.

FIG. 8 is a diagram illustrating a specific example of the movement of the mover 12 of the hair cutting device 100. The horizontal axis of the graph shown in FIG. 8 is time, and the vertical axis is the amplitude of the mover 12. Further, the graph of FIG. 8 shows that the movable element 12 with respect to time when a load amount of, for example, 900 mN is applied to the movable element 12 from one cycle before the reciprocating motion of the movable element 12 from 0 seconds as the reference time. Changes in the amplitude of are shown.

As shown in FIG. 8, after 0 seconds, which is the reference time, in both the comparative example and the example 1, the amplitude decreases due to the load applied to the mover 12. At this time, the amplitude of the mover 12 of the comparative example is greatly reduced from about ± 1.0 mm to about ± 0.2 mm until about 0.01 seconds, in other words, about three cycles. On the other hand, the mover 12 of Example 1 has an amplitude that decreases only from about ± 1.0 mm to about ± 0.5 mm, indicating that the attenuation is small.

That is, the control unit 40 controls the linear actuator 10 by changing the control amount based on the load applied to the mover 12. Thereby, it turns out that the stability of the operation | movement (specifically the amplitude at the time of the reciprocating motion of the needle | mover 12) of the linear actuator 10 can be improved.

(Second example)
Next, a second example of the specific operation of the hair cutting device 100 will be described with reference to FIG.

FIG. 9 is a timing chart showing a second example of the operation of the hair cutting device 100.

Specifically, FIG. 9A is a graph showing a change in the speed of the mover 12 when the control amount is not changed. FIG. 9B is a graph showing a change in the magnitude (load amount) of the load applied to the mover 12 when the mover 12 is reciprocated as shown in FIG. 9A. Furthermore, (c) of FIG. 9 is a comparative example showing the case where the control amount is not changed, the first embodiment showing the case where the control amount is changed based on the load amount, and the mover 12 in the second embodiment. It is a graph which shows the change of an amplitude in comparison. Here, the second embodiment shows a change in the amplitude of the mover 12 when the control amount is changed based on the first threshold th1 in addition to the control of the first embodiment. In addition, all of the comparative example, Example 1, and Example 2 shown in (c) of FIG. 9 are graphs when the PID control is executed.

9 Each plot on the horizontal axis of each graph in FIG. 9 indicates the period of one reciprocation of the mover 12. That is, like FIG. 7 of the first example, FIG. 9 illustrates an example in which the mover 12 has reciprocated 26 times (26 cycles). Note that FIGS. 9A and 9B are the same graphs as FIGS. 7A and 7B and will not be described.

In Example 2 shown in FIG. 9C, first, the load applied to the mover 12 detected by the load detection unit 70 in the filter unit 80 of the control unit 40 is shown in advance in FIG. It is detected whether or not the set first threshold value th1 is exceeded. Then, when the load amount detected by the load detection unit 70 exceeds the first threshold th1, the control unit 40 changes the control amount so that the speed at the reciprocal center of the reciprocating motion of the mover 12 is increased. In addition, the speed of the needle | mover 12 which the control part 40 changes is not specifically limited. In the case of Example 2 of the second example, the control unit 40 changes the control amount so that the speed at the reciprocal center of the reciprocating motion of the mover 12 is, for example, 1.5 times.

Accordingly, as shown in, for example, the section A and the section C in FIG. 9C, the mover 12 of the second embodiment returns to the target value speed earlier than the mover 12 of the first embodiment ( It is understood that it converges.

The first threshold th1 may be set to an arbitrary value in advance. Further, the first threshold th1 may be stored in advance in the memory 44 of the control unit 40, for example.

(Third example)
Next, a third example of the specific operation of the hair cutting device 100 will be described with reference to FIG.

FIG. 10 is a timing chart showing a third example of the operation of the hair cutting device 100.

Specifically, FIG. 10A is a graph showing a change in the speed of the mover 12 when the control amount is not changed. FIG. 10B is a graph showing a change in the magnitude (load amount) of the load applied to the mover 12 when the mover 12 is reciprocated as shown in FIG. Furthermore, (c) of FIG. 10 shows the comparative example of the case where the control amount is not changed, the second embodiment showing the case where the control amount is changed based on the load amount, and the mover 12 in the third embodiment. It is a graph which shows the change of an amplitude in comparison. Here, the second embodiment shows a change in the amplitude of the movable element 12 when the control amount is changed based on the first threshold th1 in addition to the control of the first embodiment. Further, the third embodiment is a graph showing a change in the amplitude of the movable element 12 when the control amount is changed based on the second threshold th2 in addition to the control of the second embodiment. In addition, all of the comparative example, Example 2, and Example 3 shown in FIG. 10C are graphs when the PID control is executed.

10 Each plot on the horizontal axis of each graph in FIG. 10 indicates the period of one reciprocation of the mover 12. That is, like FIGS. 7 and 9 in the first example and the second example, FIG. 10 illustrates an example in which the mover 12 reciprocates 26 times (26 cycles). Note that FIGS. 10A and 10B are the same graphs as FIGS. 7A and 7B and will not be described.

In Example 3 shown in FIG. 10C, first, the load applied to the movable element 12 detected by the load detection unit 70 in the filter unit 80 of the control unit 40 is shown in FIG. It is detected whether or not a preset first threshold th1 is exceeded. Then, when the load amount detected by the load detection unit 70 exceeds the first threshold th1, the control unit 40 changes the control amount so that the speed at the reciprocal center of the reciprocating motion of the mover 12 is increased. At this time, similarly to the second example, the control unit 40 changes the control amount so that the speed at the reciprocal center of the reciprocating motion of the mover 12 is, for example, 1.5 times.

Further, whether or not the load applied to the mover 12 detected by the load detection unit 70 in the filter unit 80 of the control unit 40 is lower than a preset second threshold th2 shown in FIG. 10B. Is detected. Then, when the load amount detected by the load detection unit 70 falls below the second threshold th2, the control unit 40 changes the control amount so that the speed of the reciprocation center of the mover 12 becomes small. In addition, the speed of the needle | mover 12 which the control part 40 changes is not specifically limited. In the case of Example 3 of the third example, the control unit 40 changes the control amount so that the speed at the reciprocal center of the reciprocating motion of the mover 12 is, for example, 0.5 times.

Accordingly, as shown in, for example, the section B and the section D in FIG. 10C, the mover 12 of the third embodiment has a speed of the target value faster than the mover 12 of the second embodiment. It turns out that it returns (converges).

That is, in Example 2 of the second example, control is performed only so that the speed of the mover 12 is increased based on the load amount. Therefore, depending on the state of the load amount, as shown in FIG. 9C, for example, the speed may be excessively decreased in the section B and the section D.

Therefore, in Example 3 of the third example, the control unit 40 changes the control amount so that the speed of the reciprocation center of the mover 12 becomes small, for example, when it falls below the second threshold th2. This suppresses a rapid speed change of the mover 12 when the speed of the mover 12 approaches the target value. As a result, the undershoot and / or overshoot of the speed of the mover 12 can be more reliably suppressed.

The second threshold th2 may be set to an arbitrary value in advance. The second threshold th2 may be stored in advance in the memory 44 of the control unit 40, for example.

[Effects]
As described above, the hair cutting device 100 of the embodiment is a second magnetic block that interlocks the stator 11 that is the first magnetic block and the inner blade 170 that is the blade that cuts the hair 200. A linear actuator 10 having a mover 12, one of the stator 11 and the mover 12 being an electromagnet and the other being a permanent magnet or an electromagnet is included. Further, in the hair cutting device 100, the inner blade 170 cuts the body hair 200 and the control unit 40 that reciprocates the mover 12 by controlling a control value that is a voltage value or a current value for energizing the linear actuator 10. In this case, a load detecting unit 70 that detects the amount of load applied to the mover 12 is included. The control unit 40 is configured to change the control amount based on the first feedback control amount based on the load amount detected by the load detection unit 70.

According to this configuration, the load detection unit 70 detects the amount of load applied to the mover 12 by the body hair 200 introduced into the blade hole 161 of the body hair cutting device 100. Thereby, the control unit 40 can control, for example, the amplitude of the mover 12 according to the detected load amount. That is, the hair cutting device 100 changes the control amount of the mover 12 based on the first feedback control amount corresponding to the load amount. Thereby, body hairs 200, such as a heel, are introduced into the blade hole 161, and the responsiveness at the time of cut | disconnect improves. Furthermore, the fall of the amplitude (or speed) of the needle | mover 12 can be suppressed. As a result, the hair cutting device 100 can further improve the stability of the operation of the linear actuator 10 (specifically, the reciprocating motion of the mover 12).

The hair cutting device 100 further includes a drive amount detector 60 that detects at least one of the displacement, speed, and acceleration of the mover 12 as a drive amount. The drive amount detector 60 detects the drive amount for each cycle in the reciprocating motion of the mover 12. The load detection unit 70 may be configured to detect the load amount for each cycle in the reciprocating motion of the mover 12 from the drive amount and the control amount detected by the drive amount detection unit 60.

According to this configuration, the number of detections of the driving amount of the mover 12 can be suppressed. At the same time, the load applied to the mover 12 can be easily detected.

Further, the drive amount detector 60 may be configured to detect the induced electromotive force generated by the reciprocating motion of the mover 12 as the drive amount.

According to this configuration, the drive amount detection unit 60 can detect the drive amount of the mover 12 without providing another sensor or the like in order to detect the drive amount. Thereby, the hair cutting device 100 can be reduced in size.

In addition, when the load amount of the mover 12 detected by the load detection unit 70 exceeds the preset first threshold th1, the control unit 40 increases the speed at the reciprocation center of the reciprocation of the mover 12. Alternatively, the control amount may be changed.

According to this configuration, the control unit 40 is configured so that even when the mover 12 decelerates due to a load applied when the mover 12 (specifically, the inner blade 170 interlocked with the mover 12) cuts the body hair 200. The mover 12 can be quickly accelerated. Thereby, when cutting the hair 200 with the hair cutting device 100, the responsiveness to the intermittent load applied to the mover 12 can be improved.

Further, the control unit 40 changes the control amount so that the speed of the reciprocation center of the mover 12 becomes small when the load amount detected by the load detection unit 70 is less than a preset second threshold th2. You may comprise.

According to this configuration, the control unit 40 gradually reduces the speed of the mover 12 even when the load applied when the mover 12 cuts the hair 200 is rapidly attenuated and the mover 12 is accelerated rapidly. Can be attenuated. Thereby, when cutting the hair 200 with the hair cutting device 100, the responsiveness to the intermittent load applied to the mover 12 can be further improved.

Further, the control unit 40 acquires the output value of the control amount from the linear actuator 10, and changes the control amount based on the second feedback control amount calculated from the preset target value for the acquired output value. You may comprise.

According to this configuration, the stability of the operation of the hair cutting device 100 is further improved.

(Other embodiments)
As mentioned above, although the hair cutting device 100 concerning this Embodiment was demonstrated based on the said embodiment, this invention is not limited to the said embodiment.

For example, in the above embodiment, all or some of the components such as the control unit 40 may be configured by dedicated hardware. Moreover, you may implement | achieve by running the software program suitable for each component of the control part 40. FIG. Each component is executed by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as an HDD (Hard Disk Drive) or a semiconductor memory. It may be realized.

Further, the constituent elements such as the control unit 40 may be composed of one or more electronic circuits. The one or more electronic circuits may be general-purpose circuits or dedicated circuits.

The one or more electronic circuits may include, for example, a semiconductor device, an IC (Integrated Circuit), or an LSI (Large Scale Integration). The IC or LSI may be integrated on one chip or may be integrated on a plurality of chips. Here, it is called IC or LSI, but the name changes depending on the degree of integration. That is, the system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration) may be called, but these are also included in the IC or LSI. An FPGA (Field Programmable Gate Array) programmed after the manufacture of the LSI can also be used for the same purpose as the IC or LSI.

The general or specific aspect of the present invention may be realized via a system, apparatus, method, integrated circuit, or computer program. Further, it may be realized by a computer-readable non-transitory recording medium such as an optical disk, an HDD, or a semiconductor memory in which a computer program is stored. Further, the system, apparatus, method, integrated circuit, computer program, recording medium, and the like may be implemented in any combination.

In addition, it is realized by arbitrarily combining the components and functions in each embodiment without departing from the spirit of the present invention, and forms obtained by subjecting each embodiment to various modifications conceived by those skilled in the art. This form is also included in the present invention.

The present invention can be used for a hair cutting device such as an electric hair clipper or an electric razor for cutting hair.

10 Linear actuator 11 Stator (first magnetic block)
11a Winding 12 Mover (second magnetic block)
12a Permanent magnet 13 Frame 14 Spring 20 Power supply 21 Constant voltage power supply 30 Drive circuit 40 Control unit 41 Amplitude control unit 42 Control output unit 43 Addition unit 44 Memory 50 Microcomputer 60 Drive amount detection unit 70 Load detection unit 80 Filter unit 90 Detection circuit 91

Amplifier circuit

92, 93 Comparison circuit 100 Hair cutting device 110 Main body 120 Gripping part 130 Power switch 140 Display part 150 Head part 160 Outer blade 161 Blade hole 170 Inner blade (blade)
200 Body Hair 210 Skin A, B, C, D Section Id Drive Current th1 First Threshold Th2 Second Threshold

Claims

A first magnetic block and a second magnetic block that interlocks a blade that cuts body hair, one of the first magnetic block and the second magnetic block being an electromagnet and the other being permanent A linear actuator composed of a magnet or an electromagnet;
A control unit that reciprocates the second magnetic block by controlling a control amount that is a voltage value or a current value to be passed through the linear actuator;
A load detection unit that detects a load applied to the second magnetic block when the blade cuts the body hair for each cycle in the reciprocating motion of the second magnetic block;
The control unit changes the control amount based on a first feedback control amount based on the load amount detected by the load detection unit,
Hair cutting device.
A drive amount detector that detects at least one of the displacement, speed, and acceleration of the second magnetic block as a drive amount;
The drive amount detection unit detects the drive amount for each cycle in the reciprocating motion of the second magnetic block,
The load detection unit detects the load amount for each cycle in the reciprocating motion of the second magnetic block from the drive amount and the control amount detected by the drive amount detection unit.
The hair cutting device according to claim 1.
The drive amount detector detects an induced electromotive force generated by a reciprocating motion of the second magnetic block as the drive amount;
The body hair cutting device according to claim 2.
When the load amount of the second magnetic block detected by the load detection unit exceeds a preset first threshold value, the control unit determines the speed at the reciprocal center of the reciprocating motion of the second magnetic block. Change the control amount so that the
The hair cutting device according to any one of claims 1 to 3.
When the load amount of the second magnetic block detected by the load detection unit falls below a preset second threshold, the control unit reduces the speed of the reciprocal center of the second magnetic block. So as to change the control amount,
The hair cutting device according to any one of claims 1 to 4.
The control unit acquires an output value of the control amount from the linear actuator, and calculates the control amount based on a second feedback control amount calculated from a preset target value for the acquired output value. change,
The hair cutting device according to any one of claims 1 to 5.