CN115120879B - Electric shock massager control device - Google Patents
Electric shock massager control device Download PDFInfo
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- CN115120879B CN115120879B CN202211068204.XA CN202211068204A CN115120879B CN 115120879 B CN115120879 B CN 115120879B CN 202211068204 A CN202211068204 A CN 202211068204A CN 115120879 B CN115120879 B CN 115120879B
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- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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- F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
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- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20009—Modifications to facilitate cooling, ventilating, or heating using a gaseous coolant in electronic enclosures
- H05K7/20136—Forced ventilation, e.g. by fans
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Abstract
The invention discloses an electric shock massager control device, which belongs to the technical field of massagers and particularly comprises a device box, wherein a stabilizing component and a control component are arranged in the device box, the stabilizing component comprises a sliding plate which is in up-down sliding connection with the inner side wall of the device box, the bottom of the sliding plate is fixedly provided with a connecting rod, and the bottom of the connecting rod is provided with a sucker; and the control component is used for powering on or powering off the device box. According to the invention, after a user upwards dials the control switch, the sucker can be separated from the table board and retracted into the device box, so that the whole device box can be picked up, and meanwhile, when the sliding plate moves to the highest position, the whole device box is electrified; and after the user toggles control switch downwards, the sucking disc can stretch out from the inside of the device box again, and then make the sucking disc contact with the mesa and adsorb on the mesa, and the device box wholly cuts off the power supply this moment, has realized the effect that two functions just can be controlled with a control switch.
Description
Technical Field
The invention relates to the technical field of massagers, in particular to a control device of an electric shock massager.
Background
The electric shock massagers are also called pulse massagers and low-frequency therapeutic devices. This is an electrotherapy device, often used in physical rehabilitation or pain relief. When the low frequency wave is used for treatment, weak current starts to act on a human body in a low frequency mode, the electrode plate is used for directly stimulating muscles and nerve ending sensory receptors in the muscles, the muscles can perform involuntary contraction activities, muscles and nerves which are sore and painful due to fatigue or injury are relaxed, local blood circulation is promoted, and the pain is relieved or relieved. The low-frequency therapeutic apparatus is currently commonly used in the rehabilitation treatment of hospitals, bone-knitting hospitals and acupuncture hospitals, and is one of the widely used electric therapies. The electric shock massager is formed by attaching two to a plurality of rubber pads on the skin, then holding the control device by hand, and enabling the click massager to generate micro-current and stimulate muscle nerves through the control device.
However, the existing electric shock massager control device needs to be held by a hand of a user, and more important electrical elements are often arranged in the control device, so that the control device is expensive, and if the control device cannot be stably arranged on a table top when the electric shock massager control device is not used by the user, the control device is easy to drop, and further is damaged, and unnecessary loss is caused.
Disclosure of Invention
The present invention is directed to a control device of an electric massage device, which solves the problems of the prior art that if the control device of the electric massage device cannot be stably located on a table top, the control device is easy to fall down, and further damaged, causing unnecessary loss.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a control device of an electric shock massager, which comprises a device box, wherein heat dissipation holes are formed in the side edge of the device box, a dust screen is arranged on the heat dissipation holes, and the device box is internally provided with:
the stabilizing assembly is arranged at the inner bottom end of the device box and is used for enabling the device box to be stably fixed on the table-board; the stabilizing assembly comprises a sliding plate which is vertically and slidably connected with the inner side wall of the device box, a connecting rod is fixed at the bottom of the sliding plate, and a sucker is arranged at the bottom of the connecting rod;
the control assembly is used for powering on or off the device box and driving the sucker to move into the device box when the device box is powered on; when the device box is powered off, the sucker is driven to move to the outside of the device box; the control component specifically comprises a control switch fixedly connected with the side edge of the sliding plate, and the control switch can synchronously move along with the movement track of the sliding plate;
the dust removing assembly is used for removing dust on the dust screen; the dust removing assembly comprises a fixing box which is arranged on the inner side wall of the device box and is close to the radiating hole, a groove is formed in one side edge, facing the radiating hole, of the fixing box, a rotating shaft penetrating through the other side of the fixing box is arranged inside the groove, and a radiating fan is arranged inside the groove in the rotating shaft.
Preferably, the inside of device box still is provided with the auxiliary assembly, is used for right the stabilizing component assists stably, the auxiliary assembly specifically is including the mounting box that is located device box inner bottom, and the inside of mounting box is provided with the piston, the top of piston is provided with the dead lever that runs through to the mounting box top, just be connected with the spring between piston top and the mounting box inner top.
Preferably, the PID controller control equation is:
alternatively, the first and second liquid crystal display panels may be,
in the formulas (1) and (2),u(t) Represents the output value input to the electric shock massager at the time t,
the deviation value of the input value and the output value input to the electric shock massager at the time t is shown;K P 、K I 、K D expressing proportional, integral and differential regulating coefficients;T I 、T D represents an integration constant and a differentiation constant;
the massager controller can only process digital quantity information, so need carry out the discretization to the above formula to improve data information control ability, assume signal sampling period is T, carry out the discretization to calculus and handle:
in the case of the formula (6),kthe serial number of discrete sampling points; t is the sampling time;
denotes the first
Deviation value of sub-sampling time;
is shown as
Deviation value of sub-sampling time;Tin sampling period, the position type PID control rule of the discrete robot is as follows:
in the formula (7), the first and second groups,
representkDeviation values of PWM wave input values and output values which are output to the robot controller at all times;
represent
Deviation values of PWM wave output values and input values which are output to the robot controller at all times;
to representk-1 deviation value of PWM wave input value and output value output to robot controller at time instant;
the incremental PID control rule is as follows:
wherein the content of the first and second substances,u k 、u k-1 is composed ofkTime of day andk-a PWM wave output value output to the robot controller at time 1; deltauIs composed ofkTime of day andk-PWM wave increment output at time 1, i.e.:
compare position formula PID, incremental PID only needs the fast error of record massager first 1 moment wheel and the fast deviation quantity of state of robot wheel at first 2 moments, saves the advantage in a large amount of register spaces. The output is the sum of the previous time PWM comparator output value and the current time PWM comparator output increment.
Preferably, the auxiliary assembly further comprises an air bag arranged on the sucker along the circumferential direction of the sucker, and the mounting box and the air bag are communicated through an oil way through a connecting pipe.
Preferably, the inside of device box still is provided with the locking subassembly, is used for the sliding plate keeps the position unchangeable after moving to the assigned position, the locking subassembly specifically includes the locking box that is located device box inner bottom intermediate position department, just the inside of locking box has set gradually first reed and second reed from top to bottom along its direction of height, the top of locking box still is provided with and runs through to the inside bracing piece of locking box, and the bottom of bracing piece is provided with the rubber piece.
Preferably, the joint of the support rod and the locking box is in tight sliding connection.
Preferably, the first spring plate and the second spring plate are respectively provided with a section of concave part for clamping two ends of the rubber block, and arc-shaped guide parts are arranged at the upper end and the lower end of the concave part.
Preferably, the ash removing component further comprises a gear sleeved on the rotating shaft and a rack fixed at the top end of the sliding plate, and the rack is meshed with the gear.
Preferably, the ash removing assembly further comprises a brush connected with the tail end of the rotating shaft, and the brush is abutted to the dust screen.
Preferably, the dust removing assembly further comprises a hole arranged on the side edge of the device box and located right below the heat dissipation hole, a drawer is arranged inside the hole, and a bearing plate used for bearing the drawer is arranged on the inner side wall of the device box.
Preferably, the top of the sliding plate is provided with a contact point, and the inner side wall of the device box is provided with a contact switch matched with the contact point.
Compared with the prior art, the above one or more technical schemes have the following beneficial effects:
1. when a user dials up the control switch, the sucker at the bottom end of the device box can be separated from the table top and retracted into the device box, so that the whole device box can be picked up, and meanwhile, when the sliding plate moves to the highest position, the whole device box is electrified; when a user downwards dials the control switch, the sucker at the bottom end of the device box can extend out of the device box, so that the sucker can be in contact with the table top and is adsorbed on the table top, the device box is powered off integrally, the effect that two functions can be controlled by only one control switch is achieved, and the operation is simple and rapid;
2. when the sliding plate moves downwards, the rack can descend along with the sliding plate, at the moment, the gear rotates under the action of the rack, the gear drives the rotating shaft and the radiating fan to rotate, and the radiating fan just corresponds to the radiating hole, so that the rotating of the radiating fan can blow air from the inside of the device box to the outside of the device box, dust in a dust screen on the radiating hole can be blown off by the rotating air flow of the radiating fan, and the blowing direction is that the dust is blown off from the inside of the device box to the outside of the device box, so that the dust is difficult to enter the inside of the device box, the service life of the dust screen is prolonged, and the time for periodically cleaning the dust screen is prolonged;
3. when the user dials control switch down, the sliding plate descends therewith, after the sliding plate descends to the middle position, the bottom of the sliding plate can contact with the top end of the fixing rod, then the sliding plate continues descending, the fixing rod can be descended by the driving of the sliding plate at the moment, the descending of the fixing rod can extend the spring and drive the piston to move downwards, because the oil circuit intercommunication is realized through the connecting pipe between the space below the piston and the inside of the air bag, therefore, after the piston descends, the oil in the space below the piston can be pressed to the inside of the air bag through the connecting pipe, the air bag starts to expand and extrudes the edge of the sucking disc, so that the sucking disc can better contact with the table top, and the stability of the component is further assisted and stabilized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.
FIG. 1 is a schematic diagram of the main structure of a control device of an electric shock massager in accordance with the present invention;
FIG. 2 is a schematic view of a portion of the control device of the electric shock massager of the present invention;
FIG. 3 is a schematic view of the internal structure of a control device of an electric shock massager in accordance with the present invention;
FIG. 4 is a schematic view of the structure of the electric shock massager control device with the gear and the rack matched with each other;
FIG. 5 is a schematic view of the structure of the suction cup of the control device of the electric shock massager of the present invention;
FIG. 6 is an enlarged view at A in FIG. 2;
FIG. 7 is a schematic view showing the construction of an ash removing unit in the control apparatus of the electric shock massager in accordance with the present invention;
FIG. 8 is a schematic view of the lock assembly of the electric shock massager control device of the present invention;
FIG. 9 is a schematic view showing the structure of a supporting plate in the control device of the electric massager in accordance with the present invention;
in the figure:
1. a device cartridge; 2. a stabilizing assembly; 201. a sliding plate; 202. a connecting rod; 203. a suction cup; 3. a control component; 301. a control switch; 4. a dust removal assembly; 401. a fixing box; 402. a groove; 403. a rotating shaft; 404. a heat radiation fan; 405. a gear; 406. a rack; 407. a brush; 408. a hole; 409. a carrier plate; 410. a drawer; 5. heat dissipation holes; 6. a dust screen; 7. an auxiliary component; 701. mounting a box; 702. a piston; 703. a spring; 704. fixing the rod; 705. an air bag; 706. a connecting pipe; 8. a locking assembly; 801. a locking box; 802. a first reed; 803. a second reed; 804. a rubber block; 805. a support bar; 9. a contact point; 10. a contact switch.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Referring to fig. 1 to 9, a control device of an electric shock massager comprises a device box 1, wherein a display screen and a function button are arranged on the front surface of the device box 1, after a user places the electric shock massager on a part of a body to be massaged, the frequency or other functions of the electric shock massager can be controlled through the function button and the display screen, and the display screen is convenient for better observing the working state and the function state of the electric shock massager at the moment and is further convenient for the user to use; in addition, the side of the device box 1 is provided with the heat dissipation hole 5, and the heat dissipation hole 5 is provided with the dust screen 6, because the number of electrical components in the device box 1 is large, especially for some users who need the electric shock massager for a long time to assist rehabilitation, when the electric shock massager is used for a long time, the load of the electrical components in the electric shock massager can dissipate more heat, at the moment, the heat in the device box 1 can be conveniently dissipated out of the device box 1 through the heat dissipation hole 5, the heat dissipation of the electrical components is convenient, and the dust screen 6 can be convenient for dust not to easily enter the device box 1 to influence the service life of the electrical components in the device box 1; the electrical components inside the device box 1 are not shown in the figure, and a wireless antenna or a transmission line can be externally arranged on the device box 1, so that the device box is wirelessly or electrically connected with the electric shock massager;
in addition, it should be noted that the dust screen 6 and the heat dissipation holes 5 are detachably connected, and the dust screen 6 and the heat dissipation holes 5 may be detachably connected in a snap-in manner or a magnetic-type manner, so that the dust screen 6 can be replaced;
the inside of the device case 1 is provided with:
the stabilizing component 2 is arranged at the inner bottom end of the device box 1 and can also be arranged at the side edge position of the device box 1 and is used for enabling the device box 1 to be stably fixed on a table board, and when the click massager is not needed, the device box can be integrally stabilized on the table board by utilizing the stabilizing component 2, so that the device box 1 is not easy to fall off, and the service life of internal electrical components is prevented from being influenced; the stabilizing assembly 2 specifically comprises a sliding plate 201 which is connected with the inner side wall of the apparatus box 1 in an up-and-down sliding manner, the specific connection mode between the sliding plate 201 and the apparatus box 1 is not shown in the figures, specifically, a vertical sliding groove may be formed on the inner side wall of the apparatus box 1, and then a sliding block is connected to the side edge of the sliding plate 201, and the sliding block can be connected with the inside of the vertical sliding groove in a sliding manner, so that the sliding plate 201 can slide vertically; further, if the sliding grooves cannot be formed in the side walls of the apparatus box 1 in order to save materials, vertical guide sliding rails may be disposed inside the apparatus box 1 and penetrate through the sliding plate, so as to achieve vertical sliding of the sliding plate 201; the bottom of the sliding plate 201 is fixed with a connecting rod 202, the bottom of the connecting rod 202 is provided with a sucker 203, the top of the connecting rod 202 is fixedly connected with the bottom of the sliding plate 201, the sucker 203 is a common sucker in the market, the bottom end of the connecting rod 202 is fixed at the middle position of the top of the sucker 203, when the sliding plate 201 descends, the connecting rod 202 and the sucker 203 can descend along with the sucker 203, after the sucker 203 contacts with the table top, the continuous descending of the sliding plate 201 can enable the connecting rod 202 to start to abut against the center of the top end of the sucker 203, so that air in the sucker 203 can be discharged, and the sucker 203 and the table top are mutually adsorbed, so that the stability of the whole device box 1 is ensured;
the control component 3 is used for powering on or powering off the device box 1 and driving the sucker 203 to move into the device box 1 when the device box 1 is powered on; when the device box 1 is powered off, the sucker 203 is driven to move to the outside of the device box 1; the control assembly 3 specifically includes a control switch 301 fixedly connected to a side edge of the sliding plate 201, and the control switch 301 can move synchronously along with a movement track of the sliding plate 201, that is, the control switch 301 moves along with the up-and-down movement of the sliding plate 201, so as to be illustrated in fig. 1, the device box 1 is further provided with a abdicating slot for the up-and-down movement of the control switch 301, so that the control switch 301 can slide; specifically, please refer to fig. 3 again, the top of the sliding plate 201 is provided with a contact point 9, and the inner side wall of the device box 1 is provided with a contact switch 10 matched with the contact point 9, when the sliding plate 201 ascends to the highest limit, the contact point 9 contacts with the contact switch 10, at this time, the electrical components inside the device box 1 are powered on, and when the sliding plate 201 descends, the contact point 9 is not contacted with the contact switch 10, at this time, the electrical components inside the device box 1 are powered off; therefore, as can be seen from the above, when the user dials up the control switch 301, the suction cup 203 at the bottom end of the device case 1 can be separated from the table top and retracted into the device case 1, so that the device case 1 as a whole can be picked up, and at the same time, when the sliding plate 201 moves to the highest position, the device case 1 as a whole is powered on; when a user downwards dials the control switch 301, the suction cup 203 at the bottom end of the device box 1 can extend out of the device box 1, so that the suction cup 203 can be in contact with and adsorbed on the table top, and the device box 1 is powered off integrally at the moment, so that the effect that two functions can be controlled by only one control switch 301 is achieved, and the operation is simple and rapid;
the control module 3 realizes data information control through the STM32F103, wherein an internal 8-time oversampling filter of the STM32F103 needs to be set through a TIMx _ CCMR1 register, which is 16 bits. When the register is set to input capture mode, bits 4-7 are IC1F [ 3. The ICF1[ 3. To increase the sampling frequency, setting ICF1[3 ] = 0011, and the sampling frequency is the system initialization clock frequency, and only one effective sampling is considered when the internal sampling filter continuously samples to 8 high levels. The frequency signal corresponding to the output speed of the driver generates a TI1 capture signal through an external pin PA0, the TI1 capture signal is filtered by an input filter to obtain a filter output signal, the filter output signal is subjected to frequency division through an input capture prescaler (frequency division is not performed in the design), a capture interrupt is generated by a final value CCR1 register, and the corresponding interrupt program is executed after the interrupt.
Threshold tracking filtering compares the absolute value of the difference between the current sampled signal frequency measurement and the last historical signal frequency measurement to a given filter threshold. When the difference between the two frequencies is greater than the filtering threshold, the historical frequency measurement is taken.
In a particular embodiment, a PID controller may be used. The application of the PID algorithm in the control system is by setting a value for the speedr(t) And velocity feedback valuey(t) Difference between the twoe(t) A control algorithm for accurately correcting wheel speed by using proportion (P), integral (I) and differential (D) is disclosed. The method has the advantages of no need of establishing a mathematical model, simple application, strong robustness and the like.
The dust removing assembly 4 is used for removing dust on the dust screen 6; the ash removing component 4 comprises a fixed box 401 which is arranged on the inner side wall of the device box 1 and close to the heat dissipation holes 5, a groove 402 is formed in one side edge of the fixed box 401 facing the heat dissipation holes 5, a rotating shaft 403 which penetrates through the other side of the fixed box 401 is arranged inside the groove 402, a heat dissipation fan 404 is arranged inside the groove 402 on the rotating shaft 403, the ash removing component 4 further comprises a gear 405 which is sleeved on the rotating shaft 403 and a rack 406 which is fixed at the top end of the sliding plate 201, and the rack 406 is meshed with the gear 405; when the sliding plate 201 moves downwards, the rack 406 descends along with the sliding plate 201, at the moment, the gear 405 rotates under the action of the rack 406, the gear 405 drives the rotating shaft 403 and the heat dissipation fan 404 to rotate, and the heat dissipation fan 404 is over against the heat dissipation hole 5, so that the rotation of the heat dissipation fan 404 can blow from the inside of the device box 1 to the outside of the device box 1, dust in the dust screen 6 on the heat dissipation hole 5 can be blown off by the wind flow generated by the rotation of the heat dissipation fan 404, and the blowing direction is that the dust is blown off from the inside of the device box 1 to the outside of the device box 1, so that the dust is not easy to enter the inside of the device box 1, the service life of the dust screen 6 is prolonged, and the time for regularly cleaning the dust screen 6 is prolonged;
further, if the rotation speed of the heat dissipation fan 404 needs to be increased, a gear ratio can be increased between the gear 405 and the rotating shaft 403, so as to increase the rotation speed of the heat dissipation fan 404; after the rotation rate of the heat dissipation fan 404 is increased, when a user dials up the control switch 301, the sliding plate 201 moves upward, the rack 406 moves upward to drive the gear 405 to change from the original rotation direction to the reverse rotation direction, and the reverse rotation speed of the heat dissipation fan 404 is also increased, which may cause dust on the dust screen 6 to be sucked into the device box 1 in a reverse direction, so as to prevent the occurrence of the above phenomenon, a one-way bearing may be added between the rotating shaft 403 and the gear 405, so that only when the rack 406 descends, the gear 405 rotates to blow the dust outward, and when the rack 406 rises, the gear 405 does not rotate under the action of the one-way bearing, and further, the dust is not sucked into the device box 1; of course, if the transmission ratio is not increased, the reverse rotation of the cooling fan 404 has little influence on the dust screen 6, and the dust is not sucked into the apparatus box 1, and of course, a one-way bearing may be added to reduce the possibility of the dust entering the apparatus box 1;
further, because the heat dissipation fan 404 rotates when the control switch 301 is shifted downward, and at this time, after the device box 1 is powered off, before the electrical components inside the device box 1 are used, heat remains inside the device box 1, the heat remaining inside the device box 1 can be removed by the rotation of the heat dissipation fan 404, so that the heat inside the device box 1 can be dissipated in time, the service life of the electrical components inside the device box 1 is prolonged, and the use effect is better;
further, please refer to fig. 3, fig. 7 and fig. 9, the dust removing assembly 4 further includes a brush 407 connected to the end of the rotating shaft 403, and the brush 407 and the dust screen 6 are abutted to each other; the ash removing component 4 further comprises a hole 408 which is arranged on the side edge of the device box 1 and is located right below the heat dissipation hole 5, a drawer 410 is arranged inside the hole 408, a bearing plate 409 for bearing the drawer 410 is arranged on the inner side wall of the device box 1, and when the drawer 410 moves into the device box 1, the bearing plate 409 supports the drawer 410, and accordingly, in order to ensure the stability of the drawer 410, a clamping structure or a magnetic absorption structure can be arranged between the bearing plate 409 and the drawer 410, so that the stability of the drawer 410 after moving to an internal designated position of the device box 1 is ensured; the brush 407 is composed of fine fluff, which is dense and soft, and the fluff is abutted against the dust screen 6, on one hand, the fine fluff can further play a role in dust prevention, and on the other hand, when the rotating shaft 403 rotates, the brush 407 can also rotate, so that the brush 407 can brush off dust remaining on the dust screen 6, and along with the rotation of the heat dissipation fan 404, the dust brushed off by the brush 407 can be blown out, and part of the dust can exist near the brush 407, and after the heat dissipation fan 404 completely does not rotate any more, the dust can fall and be accumulated inside the drawer 410, and then the drawer 410 is used for collecting the dust remaining inside the device box 1, and after a while, the drawer 410 can be taken out and cleaned; in addition, it should be noted that, if the dust screen 6 needs to be cleaned by the brush 407, the rotation speed of the heat dissipation fan 404 should not be too fast, so as to avoid the dust from flying too much and affecting the service life of the electrical components inside the device case 1.
Further, the PID controller control equation is:
alternatively, the first and second electrodes may be,
in the formulas (1) and (2),u(t) Represents the output value input to the electric shock massager at the time t,
the deviation value of the input value and the output value input to the electric shock massager at the time t is shown;K P 、K I 、K D expressing the proportional, integral and differential regulating coefficients;T I 、T D represents an integration constant and a differentiation constant;
the massager controller can only process digital quantity information, so need carry out the discretization to the above formula to improve data information control ability, assume signal sampling period is T, carry out the discretization to calculus and handle:
in the formula (6), the first and second groups,kthe serial number of a discrete sampling point; t is the sampling time;
denotes the first
Deviation value of sub-sampling time;
is shown as
Deviation value of sub-sampling time;Tin sampling period, the position type PID control rule of the discrete robot is as follows:
in the formula (7), the first and second groups,
to representkA deviation value between a PWM wave input value and an output value which are constantly output to the robot controller;
to represent
Deviation values of PWM wave output values and input values which are output to the robot controller at all times;
to representk-1 deviation value of PWM wave input value and output value output to robot controller at time instant;
the incremental PID control rule is as follows:
wherein the content of the first and second substances,u k 、u k-1 is composed ofkTime of day andk-a PWM wave output value output to the robot controller at time 1; deltauIs composed ofkTime of day andk-PWM wave increment output at time 1, i.e.:
compare position formula PID, incremental PID only needs the fast error of record massager first 1 moment wheel and the fast deviation quantity of state of robot wheel at first 2 moments, saves the advantage in a large amount of register spaces. The output is the sum of the previous time PWM comparator output value and the current time PWM comparator output increment.
Further, please refer to fig. 2, 3, 5 and 6, an auxiliary assembly 7 is further disposed inside the device box 1 for assisting and stabilizing the stabilizing assembly 2, the auxiliary assembly 7 specifically includes a mounting box 701 located at the bottom end in the device box 1, a piston 702 is disposed inside the mounting box 701, a fixing rod 704 penetrating to the top of the mounting box 701 is disposed on the top of the piston 702, a spring 703 is connected between the top of the piston 702 and the top end in the mounting box 701, the auxiliary assembly 7 further includes an air bag 705 disposed on the suction cup 203 along the circumferential direction of the suction cup 203, the mounting box 701 and the air bag 705 are in oil-way communication through a connecting pipe 706, specifically, the space below the piston 702 inside the mounting box 701, the inside of the connecting pipe 706 and the inside of the air bag are in communication, and the three parts are filled with oil (for saving cost, air can be filled, and no matter what medium is filled, the connecting part of the two ends of the connecting pipe 706 needs to ensure a certain sealing performance, in addition, the connecting pipe 706 is a hose, and the length of the connecting pipe 706 is long, and the connecting pipe 706 is enough for the air bag 706 to move up and down along with the suction cup 203 in the up-and down process of the up-down movement of the suction cup 203; in addition, in an initial state, that is, when the piston 702 is located at the highest limit, the oil in the air bag 705 is less, the air bag 705 is in a flat state at this time, after the piston 702 gradually descends, the oil in the air bag 705 gradually increases, the air bag 705 gradually starts to be saturated at this time, and after the piston 702 gradually ascends, the oil in the air bag 705 gradually decreases, and the air bag 705 returns to the flat state at this time; when a user dials the control switch 301 downwards, the sliding plate 201 descends, after the sliding plate 201 descends to the middle position, the bottom of the sliding plate 201 is in contact with the top end of the fixed rod 704, then the sliding plate 201 descends continuously, at the moment, the fixed rod 704 descends under the action of the sliding plate 201, the descending of the fixed rod 704 stretches the spring 703 and drives the piston 702 to move downwards, and as the space below the piston 702 is communicated with the inside of the air bag 705 through the oil way through the connecting pipe 706, oil in the space below the piston 702 is pressed into the air bag 705 through the connecting pipe 706 after the piston 702 descends, the air bag 705 starts to expand and presses the edge of the suction cup 203, so that the suction cup 203 can be in contact with the table top better, and the stability of the stabilizing assembly 2 is further assisted; when the sliding plate 201 moves upward, the spring 703 gradually returns to its original position, the fixing rod 704 is driven by the spring to ascend to gradually return to its original position, and the airbag 705 is again in a flat state for the next use.
In addition, please refer to fig. 2 and 8 again, a locking assembly 8 is further disposed inside the device case 1 for maintaining a fixed position after the sliding plate 201 moves to a designated position, the locking assembly 8 specifically includes a locking case 801 located at a middle position of an inner bottom end of the device case 1, a first spring plate 802 and a second spring plate 803 are sequentially disposed inside the locking case 801 along a height direction thereof from top to bottom, a supporting rod 805 penetrating into the locking case 801 is further disposed above the locking case 801, and a rubber block 804 is disposed at a bottom end of the supporting rod 805; the sliding plate 201 can stay at the designated position through the locking component 8, and further the designated position of the control switch 301 is fixed; in addition, the joint of the support bar 805 and the locking box 801 is tightly and slidably connected, the support bar 805 can be lifted and lowered along with the lifting and lowering of the sliding plate 201, and the joint of the support bar 805 and the top end of the locking box 801 is tightly and slidably connected, so that the support bar 805 can move more stably in the process of moving up and down, and the support bar 805 and the rubber block 804 at the bottom end of the support bar 805 are prevented from being inclined in the process of moving to influence the locking effect; in addition, the first spring plate 802 and the second spring plate 803 are both provided with a section of recessed portion for the two ends of the rubber block 804 to be clamped, and the upper and lower ends of the recessed portion are both provided with arc-shaped guide portions, specifically please refer to fig. 8, the arc-shaped guide portions are used for the rubber block 804 to better enter the recessed portion through the arc-shaped guide portions, so as to complete the fixation of the rubber block 804 in the recessed portion, in addition, the rubber block 804 itself has certain elasticity, and can be properly compressed and deformed, thereby facilitating the rubber block 804 itself to be better clamped in the recessed portion; in addition, it should be noted that, after the rubber block 804 is clamped into the recess of the second spring 803, since the spring 703 is in a stretched state, the elastic force of the spring 703 restoring deformation does not cause the rubber block 804 to be separated from the recess, and at this time, the rubber block 804 can be separated from the recess only after the control switch 301 is manually operated upwards by a person.
Although specific embodiments of the present invention have been described above, it will be understood by those skilled in the art that these specific embodiments are merely illustrative and that various omissions, substitutions and changes in the form of the detail of the methods and systems described above may be made by those skilled in the art without departing from the spirit and scope of the invention. For example, it is within the scope of the present invention to combine the steps of the methods described above to perform substantially the same function in substantially the same way to achieve substantially the same result. Accordingly, the scope of the invention is to be limited only by the following claims.
Claims (10)
1. An electric shock massager control device, includes device box (1), its characterized in that: the side of device box (1) is provided with louvre (5), just be provided with dust screen (6) on louvre (5), the inside of device box (1) is provided with:
the stabilizing assembly (2) is arranged at the inner bottom end of the device box (1) and is used for enabling the device box (1) to be stably fixed on the table-board; the stabilizing component (2) comprises a sliding plate (201) which is connected with the inner side wall of the device box (1) in a vertical sliding manner, a connecting rod (202) is fixed at the bottom of the sliding plate (201), and a sucker (203) is arranged at the bottom of the connecting rod (202);
the control component (3) is used for powering on or powering off the device box (1) and driving the sucker (203) to move into the device box (1) when the device box (1) is powered on; when the device box (1) is powered off, the sucker (203) is driven to move to the outside of the device box (1); the control component (3) specifically comprises a control switch (301) fixedly connected with the side edge of the sliding plate (201), and the control switch (301) can synchronously move along with the movement track of the sliding plate (201);
the dust removing assembly (4) is used for removing dust on the dust screen (6); the ash removing component (4) comprises a fixed box (401) which is arranged on the inner side wall of the device box (1) and close to the heat dissipation hole (5), a groove (402) is formed in one side edge, facing the heat dissipation hole (5), of the fixed box (401), a rotating shaft (403) which penetrates through the other side of the fixed box (401) is arranged inside the groove (402), and a heat dissipation fan (404) is arranged inside the groove (402) on the rotating shaft (403); the control switch (301) is further connected with an STM32F103 control chip and a PID controller, and the control equation of the PID controller is as follows:
alternatively, the first and second electrodes may be,
in the formulas (1) and (2),u(t) Represents the output value input to the electric shock massager at the time t,
the deviation value of the input value and the output value input to the electric shock massager at the time t is shown;K P 、K I 、K D expressing the proportional, integral and differential regulating coefficients;T I 、T D represents an integral constant and a differential constant;
the massager controller can only process digital quantity information, so need carry out the discretization to the above formula to improve data information control ability, assume that signal sampling period is T, carry out the discretization processing function to the calculus and be:
in the case of the formula (6),kthe serial number of discrete sampling points; t is the sampling time;
denotes the first
Deviation value of sub-sampling time;
is shown as
Deviation value of sub-sampling time;Tin sampling period, the position type PID control rule of the robot in discrete form is as follows:
in the case of the formula (7),
representkA deviation value between a PWM wave input value and an output value which are constantly output to the robot controller;
represent
A deviation value between a PWM wave output value and an input value which are constantly output to the robot controller;
representk-1 deviation value of PWM wave input value and output value output to robot controller at time instant;
the incremental PID control rule is as follows:
wherein, the first and the second end of the pipe are connected with each other,u k 、u k-1 is composed ofkTime of day andk-1 time output to the PWM wave output of the robot controllerOutputting a value; delta ofuIs composed ofkTime of day andk-PWM wave increment output at time 1, i.e.:
compared with the position type PID, the incremental type PID only needs to record the wheel speed error of the massager at the first 1 moment and the wheel speed deviation state quantity of the robot at the first 2 moments, and the output value is the sum of the output value of the PWM comparator at the previous moment and the output increment of the PWM comparator at the current moment.
2. The electric shock massager control device of claim 1, wherein: the device is characterized in that an auxiliary assembly (7) is further arranged inside the device box (1) and used for stabilizing the stabilizing assembly (2), the auxiliary assembly (7) specifically comprises an installation box (701) located at the inner bottom end of the device box (1), a piston (702) is arranged inside the installation box (701), a fixing rod (704) penetrating through the top of the installation box (701) is arranged at the top of the piston (702), and a spring (703) is connected between the top of the piston (702) and the inner top end of the installation box (701).
3. The electric shock massager control device of claim 2, wherein: the auxiliary assembly (7) further comprises an air bag (705) arranged on the sucker (203) along the circumferential direction of the sucker (203), and the mounting box (701) and the air bag (705) are communicated with each other through an oil way through a connecting pipe (706).
4. The electric shock massager control device of claim 1, wherein: the device comprises a device box (1), and is characterized in that a locking assembly (8) is further arranged in the device box (1) and used for keeping the position unchanged after the sliding plate (201) moves to a specified position, the locking assembly (8) specifically comprises a locking box (801) located at the middle position of the bottom end in the device box (1), a first reed (802) and a second reed (803) are sequentially arranged in the locking box (801) from top to bottom along the height direction of the locking box, a supporting rod (805) penetrating into the locking box (801) is further arranged above the locking box (801), and a rubber block (804) is arranged at the bottom end of the supporting rod (805).
5. The electric shock massager control device of claim 4, wherein: the joint of the support rod (805) and the locking box (801) is tightly connected in a sliding manner.
6. The electric shock massager control device of claim 5, wherein: the first reed (802) and the second reed (803) are respectively provided with a section of sunken part for clamping two ends of the rubber block (804), and arc-shaped guide parts are arranged at the upper end and the lower end of each sunken part.
7. The electric shock massager control device of claim 1, wherein: the ash removing component (4) further comprises a gear (405) sleeved on the rotating shaft (403) and a rack (406) fixed to the top end of the sliding plate (201), and the rack (406) is meshed with the gear (405).
8. The electric shock massager control device of claim 7, wherein: the ash removal component (4) further comprises a brush (407) connected with the tail end of the rotating shaft (403), and the brush (407) is abutted to the dust screen (6).
9. The electric shock massager control device of claim 7, wherein: the ash removal component (4) further comprises a hole (408) which is arranged on the side of the device box (1) and is located right below the heat dissipation hole (5), a drawer (410) is arranged inside the hole (408), and a bearing plate (409) used for bearing the drawer (410) is arranged on the inner side wall of the device box (1).
10. The electric shock massager control device of claim 1, wherein: the top of the sliding plate (201) is provided with a contact point (9), and the inner side wall of the device box (1) is provided with a contact switch (10) which is matched with the contact point (9).
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