CN108577286B - So that circular arc is shaken pin class and shakes the method that apparatus shakes automatically - Google Patents
So that circular arc is shaken pin class and shakes the method that apparatus shakes automatically Download PDFInfo
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- CN108577286B CN108577286B CN201810364077.5A CN201810364077A CN108577286B CN 108577286 B CN108577286 B CN 108577286B CN 201810364077 A CN201810364077 A CN 201810364077A CN 108577286 B CN108577286 B CN 108577286B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C7/00—Parts, details, or accessories of chairs or stools
- A47C7/002—Chair or stool bases
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C1/00—Chairs adapted for special purposes
- A47C1/02—Reclining or easy chairs
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C3/00—Chairs characterised by structural features; Chairs or stools with rotatable or vertically-adjustable seats
- A47C3/02—Rocking chairs
- A47C3/029—Rocking chairs with curved rocking members resting on the floor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B2220/00—General furniture construction, e.g. fittings
- A47B2220/0091—Electronic or electric devices
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Dentistry (AREA)
- General Health & Medical Sciences (AREA)
- Chairs Characterized By Structure (AREA)
Abstract
So that circular arc is shaken the method that pin class shake furniture shakes automatically the present invention provides a kind of, solves the problems, such as that circular arc shakes pin class and shakes the technology something lost hardly possible that furniture cannot shake always automatically.The application is by taking rocking chair as an example as narration object.This method is on the basis of research discovery circular arc shakes pin class furniture and a kind of special " line-focus " and " planar track " characteristics of motion is presented when shaking, from how to comply with and using this particular law thinking, installation intellectual technology automated drive on foot is shaken using in circular arc, Dynamic and Multi dimensional data (swept frequency when such apparatus is shaken, shake width, instantaneous focus etc.) real time sample, after inside PLC controller operation, it is converted into instruction, real-time control driving motor is in the suitable time, suitable position, apply a suitable driving force to apparatus is shaken, make it that can simulate artificial holding intelligent natural under various shake amplitudes and frequency persistently to shake.
Description
Technical field
The present invention relates to furniture technical field of intelligence, so that circular arc is shaken pin class shake apparatus more particularly, to one kind and shake automatically
Method.
Background technique
Rocking chair is a kind of graceful household implements for enjoying grade that common people miss potter, and civil to be called " angle's chair " " carefree
Chair " " easy chair ".Its attribute not only belongs to furniture, but also significantly larger than furniture.But instantly, rocking chair on the market is all that a group is " stiff
Corpse rocking chair "！It says it is rocking chair, but cannot shake automatically at all.And " shake " is only the deep soul liked by common people of rocking chair and is worth！Only
Have to shake and can just bring the graceful happy happy satisfied enjoyment enjoyment of common people.
The shake of object has a several form, dynamic law be all it is different, for example, common " playing on a swing " form
Shake, translate the shake and the shake of rocking chair form etc. of form.The shake of swing form and the shake for translating form are moved
State rule comparison rule applies Mechanical Driven to it to make the shake of both forms keep automatic shake state, simpler
It is single, it is easily controllable.But " playing on a swing " although the shake of formula has relatively good happy happy Value Factors, due to acting width
It spends bigger, compares the occasion being suitble to more than lively excited people；And " parallel to shake " is not suitable for the mankind because of its characteristics of motion shaken
Amusement sexuality, so being seldom used as the health and happiness ludic activity of common people.And the shake of " rocking chair " has graceful happy town
The feature of Jingle interest is particularly suitable for the mankind in the quiet comfortable enjoyment of tastefully quiet indoor leisure, so deep liked by the mankind.But because
Its characteristics of motion when shaking is more special (physics is described with " moving focus " and " motion profile "), in " linear
Focus " and " planar track ", this special characteristics of motion are difficult to make it keep nature not by directly applying mechanical drive
It shakes with stopping.Test proves that the shake rule for directly applying mechanical driving force and rocking chair to this shake mode can generate phase
Mutual severe jamming is unworkable！Technology before the invention is blank.
Summary of the invention
Circular arc can be made to shake pin class the purpose of the present invention is to provide one kind and shake the method that apparatus automated intelligent shakes, with
It solves existing circular arc and shakes pin class to shake apparatus there is technical issues that can not automatically, this method can be applied to rocking chair, lie
Chair, shaking table or other circular arcs shake pin class and shake on apparatus.
To achieve the above object, the present invention provides following technical schemes, include the following steps:
It is provided by the invention a kind of to make circular arc shake pin class to shake the method shaken automatically of apparatus:
A: it is shaken in circular arc and intelligent driver is installed on pin class shake apparatus；
B: the scope of application of intelligent driver: all circular arcs shake pin class and shake apparatus；
C: the installation site of intelligent driver: including: at rocking chair static state touchdown point and drive rod is directed toward rocking chair front end, rocking chair
At static touchdown point and on front side of drive rod direction rocking chair rear end, rocking chair static state touchdown point at 30cm and drive rod direction rocking chair rear end
Or at 25cm and drive rod direction rocking chair front end on rear side of rocking chair static state touchdown point；
D: the structure and composition of intelligent driver: including driving motor, drive rod, sensing device, PLC control module；Institute
Stating PLC control module includes energy supply control module；The driving motor and the drive rod are sequentially connected, and the PLC controls mould
Block is electrically connected with the driving motor and sensing device, and the driving motor is positive and negative rotation stepper motor；
E: the specific works method and step that intelligent driver driving rocking chair shakes automatically:
(1), start intelligent driver, then carry out the selection for shaking intensity；
(2), the drive rod in intelligent driver is rotated under the drive of driving motor and is supported on positioned at rocking chair static state
On the ground of place left or right side, rocking chair is propped up by ground reaction force and is tilted to one end, makes the touchdown point of rocking chair to remote
Direction rotation from the ground；
(3), when the peak-peak driving that rocking chair is driven motor offer is supported to far from the shake of ground direction, rocking chair
It can continue to shake to the right under the action of inertia force, and PLC control module can terminate driving force in due course；When rocking chair shakes to the right
Inertia force disappear after, rocking chair falling naturally again under imbalance state and is shaken due to the effect of inertia to the other end；Work as inertia
Power disappear after, rocking chair can be fallen after rise again to opposite direction, at this point, the sensing device built in driver can be by the location of rocking chair, angle
Degree passes to built-in PLC control module, and the intensive parameter set by built-in PLC control module combined use person, real
When calculate and judge that epicycle shakes the decaying of circulation tilting force after, the driving force that need to be supplemented, and in real time by the drive of required supplement
The amount of power passes to energy supply control module, and energy supply control module will apply a suitable electricity to driving motor, to mend
The previous kinetic energy for shaking loop attenuation is filled, is looped back and forth like this, rocking chair is made to keep intelligence is lasting to shake；
(4), the suspension of driving force and drive rod are packed up: when rocking chair is driven the peak-peak driving force of motor offer
It supports to when being shaken far from ground direction, driver can terminate driving force, driving motor under the work of PLC control module in due course
Stop rotation, the PLC control module in intelligent driver can instruct and electric current to one reverses rotation of driving motor at this time, allow drive
Dynamic motor reversely rotates certain angle, and drive rod is recovered to the position of stationary state, i.e., drive rod, which is reset to, initially lifts shape
State；
(5), when the inertia force decaying that rocking chair shakes to one end becomes smaller, the shake intensity of rocking chair is not achieved set by user strong
When spending, the parameter that intelligent driver will be obtained according to sensing device gives rocking chair supplement in next shake circulation and applies one
A suitable driving force, allows intelligent driver to control drive rod support ground again and providing driving force makes rocking chair again with setting
Intensity is shaken, so on circulate.
Further include step F as technical key point of the present invention: intelligent driver is before batch production factory, in reality
It tests under the conditions of room environmental multidimensional dynamic parameter when shaking rocking chair and is sampled by laboratory and is formed, grouping is stored in different type
It shakes in the memory module of the PLC control module of furniture drive, every group of parameter corresponds to a shake intensity in PLC control module
Mode, and instruction and current strength by being converted into driving motor after the operation of PLC control module.Shake intensity include it is strong, in,
Weak multi gear mode.
As technical key point of the present invention, multidimensional dynamic parameter includes the instantaneous focal position shaken in width, swept frequency and shake.
It is provided by the invention that circular arc is made to shake the intelligent driver that pin class shake apparatus shakes automatically, including driving motor, drive
Lever, PLC control module and sensing device, the driving motor and the drive rod are sequentially connected, the PLC control module with
The driving motor and the sensing device are electrically connected, and the driving motor is positive and negative rotation stepper motor.The present invention intelligently drives
The title of dynamic device can also change rocking chair automated intelligent driver, rocking chair automated intelligent shaking machine, rocking chair automated intelligent into and shake dress
Set, rocking chair automated intelligent driving device, automated intelligent shaking machine, automated intelligent driver, automated intelligent agitating device, intelligence from
Dynamic driver, intelligent automatic shaker, intelligent automatic rocking device, from shaking machine, from agitating device, shake apparatus, driver,
Intelligence automatic, shaking machine, driving device etc..
As technical key point of the present invention, the drive rod end is provided with Ground roller.It can also be not provided with Ground roller,
It is directly landed with one end of drive rod, when one end of drive rod directly lands, as technical detail, drive rod ground terminal and ground
Face contact position is smooth surface, and the drive rod support provides driving force to rocking chair on ground.
As technical key point of the present invention, the PLC control module includes input unit, acquisition module, memory module, fortune
It calculates module, message output module and energy supply control module, the input unit and passes through the computing module and the memory module
Electrical connection, the sensing device are electrically connected with the acquisition module, the acquisition module and the computing module and the storage
Module is electrically connected, and the computing module is connect by the message output module with the energy supply control module, the power supply
Control module is electrically connected with the driving motor.
As technical key point of the present invention, be stored in the memory module corresponding to multiple groups multidimensional dynamic parameter data with
And the different driving instruction for shaking intensity corresponding to multi-group data, the input unit include manual control panel and acoustic control identification mould
Block, the manual control panel and the acoustic control identification module are electrically connected with the computing module respectively.
Shake method of the invention is suitable for circular arc and shakes pin class shake apparatus, including rocking chair, chaise longue, shaking table etc..
Technological core of the invention are as follows: intelligent automated drive uses intelligent-induction technology, multidimensional when rocking chair is shaken
For dynamic data (shaking width, swept frequency, instantaneous focus in shake etc.) in production definition, just spot sampling is true under laboratory condition
Determine parameter, and is stored in the memory module of intelligent control mechanism.In use, intelligent mechanism and the dynamic to rocking chair in shake
Real time sample is carried out, and is compared, operation, after judgement, converted with the parameter being pre-stored by PLC programmable logic controller (PLC)
For instruction, be communicated to energy supply control module and driving motor in real time, allow driving motor the suitable time, suitable position, to
Rocking chair applies a suitable driving force, and rocking chair is made all to keep intelligent natural persistently to shake under various shake amplitudes and frequency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the first installation site figure of intelligent driver in the method for the invention for shaking rocking chair automatically；
Fig. 2 is second of installation site figure of intelligent driver in the method for the invention for shaking rocking chair automatically；
Fig. 3 is the third installation site figure of intelligent driver in the method for the invention for shaking rocking chair automatically；
Fig. 4 is the 4th kind of installation site figure of intelligent driver in the method for the invention for shaking rocking chair automatically；
Fig. 5 is schematic diagram when rocking chair is in static in the method for the invention for shaking rocking chair automatically；
Fig. 6 is that the method for shaking rocking chair automatically intelligent driver by taking the first installation site as an example of the invention has just started
Schematic diagram；
Fig. 7 be the present invention shake rocking chair automatically method by taking the first installation site as an example rocking chair for the first time by shake
Inclined schematic diagram to the right；
Fig. 8 is signal of the method for the invention for shaking rocking chair automatically by taking the first installation site as an example when drive rod reset
Figure；
Fig. 9 be the present invention shake rocking chair automatically method by taking the first installation site as an example inertia force effect under to the left
The schematic diagram that side is shaken；
Figure 10 is " line-focus " and " planar track " figure that the characteristics of motion of the rocking chair when shaking is presented；
Figure 11 is that swept frequency shakes width force relational graph；
Figure 12 is the control principle drawing of intelligent driver of the present invention.
1, intelligent driver in figure；11, drive rod；12, idler wheel.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described rocking chair example is only a part of example of the present invention, rather than whole examples.The present invention
It can operate with all circular arcs and shake pin class shake furniture, therefore, based on the embodiments of the present invention, those of ordinary skill in the art exist
Obtained all other similar embodiment under the premise of creative work is not made, the model that the present invention is protected is belonged to
It encloses.
So that circular arc is shaken the method that pin class shake apparatus shakes automatically the present invention provides a kind of, includes the following steps:
A: it is shaken in circular arc and intelligent driver is installed on pin class shake apparatus；
B: the scope of application of intelligent driver: all circular arcs shake pin class and shake apparatus；
C: the installation site of intelligent driver: including: at rocking chair static state touchdown point and drive rod is directed toward rocking chair front end, rocking chair
At static touchdown point and on front side of drive rod direction rocking chair rear end, rocking chair static state touchdown point at 30cm and drive rod direction rocking chair rear end
Or at 25cm and drive rod direction rocking chair front end on rear side of rocking chair static state touchdown point；
D: the structure and composition of intelligent driver: including driving motor, drive rod, sensing device, PLC control module；PLC
Control module includes energy supply control module；The driving motor and the drive rod are sequentially connected, the PLC control module and institute
It states driving motor and sensing device is electrically connected, the driving motor is positive and negative rotation stepper motor；
E: the specific works method and step that intelligent driver driving rocking chair shakes automatically:
(1), start intelligent driver, then carry out the selection for shaking intensity；
(2), the drive rod in intelligent driver is rotated under the drive of driving motor and is supported on positioned at rocking chair static state
On the ground of place left or right side, rocking chair is propped up by ground reaction force and is tilted to one end, makes the touchdown point of rocking chair to remote
Direction rotation from the ground；
(3), when the peak-peak driving that rocking chair is driven motor offer is supported to far from the shake of ground direction, rocking chair
It can continue to shake to the right under the action of inertia force, and PLC control module can terminate driving force in due course；When rocking chair shakes to the right
Inertia force disappear after, rocking chair falling naturally again under imbalance state and is shaken due to the effect of inertia to the other end；Work as inertia
Power disappear after, rocking chair can be fallen after rise again to opposite direction, at this point, the sensing device built in driver can be by the location of rocking chair, angle
Degree passes to built-in PLC control module, and the intensive parameter set by built-in PLC control module combined use person, real
When calculate and judge that epicycle shakes the decaying of circulation tilting force after, the driving force that need to be supplemented, and in real time by the drive of required supplement
The amount of power passes to energy supply control module, and energy supply control module will apply a suitable electricity to driving motor, to mend
The previous kinetic energy for shaking loop attenuation is filled, is looped back and forth like this, rocking chair is made to keep intelligence is lasting to shake；
(4), the suspension of driving force and drive rod are packed up: when rocking chair is driven the peak-peak driving force of motor offer
It supports to when being shaken far from ground direction, driver can terminate driving force, driving motor under the work of PLC control module in due course
Stop rotation, the PLC control module in intelligent driver can instruct and electric current to one reverses rotation of driving motor at this time, allow drive
Dynamic motor reversely rotates certain angle, and drive rod is recovered to the position of stationary state, i.e., drive rod, which is reset to, initially lifts shape
State；
(5), when the inertia force decaying that rocking chair shakes to one end becomes smaller, the shake intensity of rocking chair is not achieved set by user strong
When spending, the parameter that intelligent driver will be obtained according to sensing device gives rocking chair supplement in next shake circulation and applies one
A suitable driving force, allows intelligent driver to control drive rod support ground again and providing driving force makes rocking chair again with setting
Intensity is shaken, so on circulate.
As depicted in figs. 1 and 2, as optional embodiment, 1 installation site of intelligent driver includes: that rocking chair is static
At place and drive rod be directed toward rocking chair front-end A 1, at rocking chair static state touchdown point and drive rod to be directed toward rocking chair rear end A2, rocking chair static
At the 30cm of touchdown point front side and drive rod is directed toward on rear side of rocking chair rear end B or rocking chair static state touchdown point at 25cm and drive rod direction is shaken
Chair front end C.
As shown in figure 3, rocking chair static state touchdown point A point is the intermediate point on the circular arc foot of rocking chair；If from the side, may be used also
To be positioned at the B point of 30cm or so before A point, as shown in figure 4, the C point position with 25cm after A point or so, wherein A point position
Installation also have can forward or two kinds of installation methods backwards, such as Fig. 1 and Fig. 2.
The application by be mounted on A point towards front position (for drive rod is installed forward) i.e. A1 point be embodiment, driving method:
1) such as Fig. 5, when rocking chair is in not dynamic state, the touchdown point of rocking chair is positioned at the position of intermediate point；
2) as shown in fig. 6, when starting intelligent driver, driving motor outputting torsion to drive rod 11, drive rod 11
One end is supported in ground, and the reaction force on ground generates reaction by the intelligent driver 1 being fixed in the stull of rocking chair bottom and turns round
Rocking chair is propped up one end inclination to the right by power, at this point, the touchdown point of rocking chair is as shake far from ground and shifts to right side (such as
Fig. 7), at this moment, the different shake intensity that the intelligent control mechanism of intelligent driver 1 can be selected according to user, stop to drive in due course
Dynamic torsion, drive rod 11 can be packed up (such as Fig. 8) automatically, and rocking chair is after continuing one section of inertia, in the case where rocking chair is in imbalance state,
It can be fallen after rise automatically to left end, due to inertia rule, the center of gravity of rocking chair can be used to the left, and the right side of rocking chair can tilt (such as Fig. 9).When
After the inertia force of rocking chair disappears, rocking chair again can cephalad direction due to imbalance to the right return and shake, when rocking chair time shakes to about connecing
When near nearly intermediate touchdown point A point, intelligent driver 1 can drive drive rod 11 to land force again under the control of intelligence system
(repeating to enter the state such as Fig. 6), the force amount that drive rod 11 at this time can be provided according to intelligent control mechanism are taken advantage of a situation to rocking chair
Supplement a thrust appropriate.So circulation, can keeping rocking chair, back and forth constantly circulation is shaken.
The preparatory sampling and storage of intelligent driver: intelligent driver 1 is in production just to be directed in laboratory environments
Different model carries out pre-trial sampling, and (swept frequency shakes width and instantaneous focal position to multidimensional dynamic parameter when rocking chair is shaken
Deng) sample and be grouped in the memory module for being stored in PLC control module, every group of parameter correspond in PLC control module one and shakes
Intensity mode.Rocking chair is in use, and to the shake parameter of rocking chair, (swept frequency shakes width and instantaneous focus position to intelligent driver in real time again
Set) incuded in real time, and data are compared with the pre- sampled data of storage in the module by intelligent control mechanism
Control instruction is converted into after operation judgement and current strength passes to driving motor and works.
As shown in figure 11, the sampling method of intelligent driver is: being several shape by the shake circulation graduation of rocking chair
State, point several sample points (are divided into 13 sample points, static touchdown point is or intermediate equilibria point, left and right two at 0 point in the present embodiment
Hold each 6 sample points, respectively -6 to -1 ,+1 to+6), each sample point that lower inductor measures is adopted in laboratory conditions
Ground clearance and position data are stored in the memory module of PLC control module as initial parameter；
The compensation principle of driving force and amount: at work, the sensing device of intelligent driver dynamically captures in the above described manner
The dynamic data such as (swept frequency, shake width, instantaneous focal position), and this two groups of data are compared operation judgement, it can obtain and shake
Then chair present position state instructs according to " strong, in, weak " equal strength that occupant issues, calculates need to rocking chair in real time
Supplement the amount of the driving force applied；Force amount calculation formula: M=(occupant's intention location point-rocking chair is returned and shaken a little) X type shakes
The test parameters of chair.
In the application, shaking intensity includes strong, the weak third gear mode of neutralization, and more multi gear also can be set for meeting people's
Individual needs.
Multidimensional dynamic parameter includes the instantaneous focal position shaken in width, swept frequency and shake.
As shown in figure 12, the present invention also provides intelligent drivers 1, including driving motor, drive rod 11, PLC to control mould
Block and sensing device, driving motor and drive rod 11 are sequentially connected, and PLC control module is electrically connected with driving motor and sensing device
It connects, driving motor is positive and negative rotation stepper motor.It is sequentially connected between driving motor and drive rod 11 by mechanical reduction gear.Sense
Device is answered to be mounted on the bottom of driver 1, close rocking chair bottom stull front and rear sides are simultaneously perpendicular to the ground.
As optional embodiment, the end of drive rod 11 is provided with idler wheel 12.
As another optional embodiment, if 11 end of drive rod does not set idler wheel, shiny surface structure can be made as.
Touchdown point places stake pad, and drive rod end and stake pad contact site are smooth surface, and the support of 11 end of drive rod is in stake pad to give
Rocking chair provides driving force.
Idler wheel 12 is arranged in optimal embodiment, 11 end of drive rod.
PLC controller includes input unit, acquisition module, memory module, computing module, message output module and power supply
Control module, input unit are electrically connected by computing module with memory module, and sensing device is electrically connected with acquisition module, acquire mould
Block is electrically connected with computing module and memory module, and computing module is connect by message output module with energy supply control module, electricity
Source control module is electrically connected with driving motor.The artificial PLC control module of rocking chair driver: the intelligence sampling of responsible driving force,
Operation and dynamic apply the instruction of amount of power.
The different intensity of shaking corresponded on hand-control panel corresponding to multiple groups dynamic parameter are stored in memory module to instruct,
Input unit includes manual control panel and acoustic control identification module, and manual control panel and acoustic control identification module are electrically connected with computing module respectively.
The manual control panel of the intelligent driver is packed in rocking chair side, manpower facilitates the position of touch, can stepless control shake
The shake amplitude of chair.In view of the convenience of intelligence science and technology, we have also incorporated sound control technique, after taking rocking chair, as long as very brief
Bleat a word " shaking "！Rocking chair can shake rocking chair automatically into drive mode.Cry out again " strong " or " in " or " weak " " stopping ", rocking chair
Automatically into significantly shake, common shake, gentle agitation and shake mode can be stopped.
As shown in Figure 10, it is the intelligent control mechanism of driver in each shake circulation of rocking chair, is sentenced by induction
Disconnected the location of rocking chair point out, the arteries and veins appropriate after operation, after the position 0-+1 applies a calculating to rocking chair
Driving force is rushed, which continues a bit of time i.e. termination, and (here it is the intelligent remotes of complete manual imitation " just decontroling to power "
Dynamic model formula).Forward reference is to shake to the right, and negative coordinate is to shake to the left, and t1 is to shake amplitude curve, and t2 is driving motor pulse time
And torque curve.
As shown in figure 11, " line-focus " and " planar track " schematic diagram is presented in the characteristics of motion of the rocking chair when shaking.
The position of force and time point: the amplitude and frequency shaken regardless of rocking chair are how many, and driver exerts a force to rocking chair
Location point is all located at the position between 0 to+1 collection point.And this position be also compared by PLC control module real-time capture and and
When order-driven device force.
As shown in figure 12, the process that intelligent driver driving rocking chair shakes is one constantly by " sensing device induction
--- acquisition dynamic data --- comparing initial data --- judges that position returning for rocking chair shakes a little in present position
It sets and --- calculates force amount --- issuing instructions to energy supply control module --- power supply control mould referring again to user's order parameter
Block applies suitable electricity to motor --- and motor rotates drive rod by gear mechanism, to implement intelligent drives to rocking chair "
On The Cycle Working Process.
Technological core of the invention are as follows: be the breakthrough of driving method, be to allow intelligent driver that ground is dexterously utilized
Reaction force driven, thus complied with circular arc shake pin class shake apparatus shake when special " line-focus " is presented
The characteristics of motion of " planar track ".And according to this peculair motion rule, takes to shake in circular arc and be installed on foot with intelligent skill
The driver of art, Dynamic and Multi dimensional data (swept frequency, shake width, instantaneous focus etc.) real time sample when such apparatus is shaken, passes through
After inside PLC controller operation, be converted into instruction, real-time control driving motor in suitable time, suitable position, to shaking
Apparatus applies a suitable driving force, makes it that can simulate artificial holding intelligent natural under various shake amplitudes and frequency and holds
It is continuous to shake.
The above, a example embodiment only of the invention, but scope of protection of the present invention is not limited thereto, and it is any
Those familiar with the art within the scope of the technical method that discloses of the present invention, with it is simply expecting, do not take the post as
The simple change or replacement of what creative work, should be covered by the protection scope of the present invention.Therefore, protection of the invention
Range should be based on the protection scope of the described claims.
Claims (6)
1. a kind of make circular arc shake the method that pin class shake apparatus shakes automatically, it is characterised in that:
A: it is shaken in circular arc and intelligent driver is installed on pin class shake furniture；
B: the scope of application of intelligent driver: all circular arcs shake pin class and shake apparatus；
C: the installation site of intelligent driver: including: at rocking chair static state touchdown point and drive rod is directed toward rocking chair front end, rocking chair static state
At touchdown point and drive rod direction rocking chair rear end, at rocking chair static state touchdown point front side 30cm and drive rod direction rocking chair rear end are shaken
At 25cm and drive rod direction rocking chair front end on rear side of chair static state touchdown point；
D: the structure and composition of intelligent driver: including driving motor, drive rod, sensing device, PLC control module；The PLC
Control module includes energy supply control module；The driving motor and the drive rod are sequentially connected, the PLC control module and institute
It states driving motor and sensing device is electrically connected, the driving motor is positive and negative rotation stepper motor；
E: the specific works method and step that intelligent driver driving rocking chair shakes automatically:
(1), start intelligent driver, then carry out the selection for shaking intensity；
(2), the drive rod in intelligent driver is rotated under the drive of driving motor and is supported on positioned at rocking chair static state touchdown point
On the ground of left or right side, rocking chair is propped up by ground reaction force and is tilted to one end, makes the touchdown point of rocking chair to remotely
The direction in face rotates；
(3), when the peak-peak driving that rocking chair is driven motor offer is supported to when shaking far from ground direction, rocking chair can be
Continue to shake to the right under the action of inertia force, and PLC control module can terminate driving force in due course；When rocking chair shakes to the right used
Property power disappear after, rocking chair falling naturally again under imbalance state and is shaken due to the effect of inertia to the other end；When inertia force disappears
After mistake, rocking chair can be fallen after rise again to opposite direction, at this point, the sensing device built in driver can by the location of rocking chair, angle pass
Built-in PLC control module, and the intensive parameter set by built-in PLC control module combined use person are passed, is counted in real time
After calculating and judging that epicycle shakes the decaying of circulation tilting force, the driving force that need to be supplemented, and in real time by the driving force of required supplement
Amount pass to energy supply control module, energy supply control module will give driving motor to apply a suitable electricity, before supplement
The kinetic energy of one shake loop attenuation, loops back and forth like this, and rocking chair is made to keep intelligence is lasting to shake；
(4), the suspension of driving force and drive rod are packed up: when peak-peak driving that rocking chair is driven motor offer support to
When shaking far from ground direction, driver can terminate driving force under the work of PLC control module in due course, and driving motor stops
Rotation, the PLC control module in intelligent driver can make driving electric to one reverse rotation instruction of driving motor and electric current at this time
Machine reversely rotates certain angle, drive rod is recovered to the position of stationary state, i.e. drive rod resets to initial lifting status；
(5), when the inertia force decaying that rocking chair shakes to one end becomes smaller, intensity set by user is not achieved in the shake intensity of rocking chair
When, the parameter that intelligent driver will be obtained according to sensing device gives rocking chair supplement in next shake circulation and applies one
Suitable driving force, allows intelligent driver to control drive rod support ground again and providing driving force keeps rocking chair strong to set again
Degree shakes, so on circulate.
2. according to claim 1 make circular arc shake the method that pin class shake apparatus shakes automatically, it is characterised in that: further include
Step F: before carrying out installation intelligent driver, multidimensional dynamic parameter real time sample and grouping when rocking chair is shaken are stored in
In the memory module of PLC control module, every group of parameter corresponds to a shake intensity mode in PLC control module, and is controlled by PLC
Be converted into the instruction and current strength of driving motor after module arithmetic processed, shake intensity include it is strong, in, weak multi gear mode.
3. according to claim 2 make circular arc shake the method that pin class shake apparatus shakes automatically, it is characterised in that: intelligent remote
Chair driver can multidimensional dynamic parameter of dynamic acquisition operation rocking chair during shake include in real time shaking width, swept frequency and shake
In instantaneous focal position.
4. according to claim 1 make circular arc shake the method that pin class shake apparatus shakes automatically, it is characterised in that: the drive
Lever end is provided with idler wheel.
5. according to claim 1 make circular arc shake the method that pin class shake apparatus shakes automatically, it is characterised in that: described
PLC control module includes input unit, acquisition module, memory module, computing module, message output module and power supply control mould
Block, the input unit are electrically connected by the computing module with the memory module, the sensing device and the acquisition mould
Block electrical connection, the acquisition module are electrically connected with the computing module and the memory module, and the computing module passes through institute
It states message output module to connect with the energy supply control module, the energy supply control module is electrically connected with the driving motor.
6. according to claim 5 make circular arc shake the method that pin class shake apparatus shakes automatically, it is characterised in that: described defeated
Entering device includes manual control panel and acoustic control identification module, the manual control panel and the acoustic control identification module respectively with the computing module
Electrical connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810364077.5A CN108577286B (en) | 2018-04-20 | 2018-04-20 | So that circular arc is shaken pin class and shakes the method that apparatus shakes automatically |
| PCT/CN2018/000389 WO2019204953A1 (en) | 2018-04-20 | 2018-11-13 | Method for making arcuate rocker foot-type rocking apparatus rock automatically, and smart driver |
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| CN201810364077.5A CN108577286B (en) | 2018-04-20 | 2018-04-20 | So that circular arc is shaken pin class and shakes the method that apparatus shakes automatically |
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| CN108577286A CN108577286A (en) | 2018-09-28 |
| CN108577286B true CN108577286B (en) | 2019-09-10 |
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| WO2019204953A1 (en) * | 2018-04-20 | 2019-10-31 | Pan Yun | Method for making arcuate rocker foot-type rocking apparatus rock automatically, and smart driver |
| CN114504464B (en) * | 2022-01-25 | 2023-12-26 | 奥佳华智能健康科技集团股份有限公司 | Massage chair |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2704238A1 (en) * | 1977-02-02 | 1978-08-03 | Georg Weiss | Mobile rocking chair for children or infirm adults - has retractable hand-operated rollers to facilitate forward motion using trailing thrust stay |
| CN101704416B (en) * | 2009-11-20 | 2013-06-05 | 河南科技大学 | Lunar vehicle |
| CN103767375A (en) * | 2012-10-26 | 2014-05-07 | 戴永锋 | Reclining type multidirectional rotating rocking chair |
| CN103385618B (en) * | 2013-07-17 | 2015-08-19 | 孙佰学 | Intelligence Automatic rocking chair |
| CN203563929U (en) * | 2013-11-11 | 2014-04-30 | 姜献平 | Automatic rocking chair |
| CN203723713U (en) * | 2014-03-19 | 2014-07-23 | 吴三社 | Amplitude-adjustable rocking chair |
| CN204541424U (en) * | 2015-04-15 | 2015-08-12 | 武汉科技大学 | A kind ofly manually can help and lock the rocking chair shaken |
| CN107202222A (en) * | 2017-07-31 | 2017-09-26 | 马鞍山福来伊环保科技有限公司 | A kind of self-adapting type in-pipe robot and its caliber are adaptive, power-off protection and method of creeping |
| CN207230019U (en) * | 2017-09-15 | 2018-04-13 | 天津大力金刚科技有限公司 | Pipeline rehabilitation robot and system |
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