CN210954743U - Swinging device and electric equipment - Google Patents
Swinging device and electric equipment Download PDFInfo
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- CN210954743U CN210954743U CN201922274542.9U CN201922274542U CN210954743U CN 210954743 U CN210954743 U CN 210954743U CN 201922274542 U CN201922274542 U CN 201922274542U CN 210954743 U CN210954743 U CN 210954743U
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Abstract
The embodiment of the utility model discloses pendulous device and electrical equipment. The swing device includes: the device comprises a swinging mechanism, a magnet, a first magnetic field induction mechanism and a controller; the swing mechanism is provided with an output shaft which can rotate and swing around a central shaft of the swing mechanism; the output shaft of the swing mechanism is connected with the first end of the magnet so as to drive the second end of the magnet to rotate and swing around the central shaft of the output shaft of the swing mechanism; the rotary swing motion of the magnet forms a fan-shaped magnetic field, and the detection end of the first magnetic field induction mechanism is positioned in the fan-shaped magnetic field to induce the magnetic field intensity; the controller is electrically connected with the first magnetic field induction mechanism and the swinging mechanism and is used for controlling the swinging mechanism to work according to the induction result of the first magnetic field induction mechanism. The utility model discloses can accurately detect out swing state data, improve the degree of accuracy of pendulous device work, promote user experience.
Description
Technical Field
The utility model relates to a pendulous device technical field especially relates to a pendulous device and electrical equipment.
Background
In the existing driving schemes of the swinging device, only the approximate swinging position of the swinging device can be detected, or the swinging speed and the relative swinging position of the swinging device, or the swinging direction of the swinging device, or the swinging state of the swinging device is not detected, so that the swinging state data of the swinging device cannot be accurately detected. In the electric equipment using the oscillating device as the power for the rotary oscillating motion, for example, an electric toothbrush, the oscillating state data of the oscillating device cannot be accurately detected, so that the electric equipment cannot be precisely controlled, the tooth brushing effect of the electric equipment is influenced, and the user experience of the electric equipment is influenced. Therefore, it is important to develop a wobble device capable of accurately detecting wobble state data.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide a swing device and an electric apparatus.
In a first aspect, the present invention provides a swing device, including: the device comprises a swinging mechanism, a magnet, a first magnetic field induction mechanism and a controller;
the swing mechanism is provided with an output shaft which can rotate and swing around a central shaft of the swing mechanism;
the output shaft of the swing mechanism is connected with the first end of the magnet so as to drive the second end of the magnet to rotate and swing around the central shaft of the output shaft of the swing mechanism;
the rotary swing motion of the magnet forms a fan-shaped magnetic field, and the detection end of the first magnetic field induction mechanism is positioned in the fan-shaped magnetic field to induce the magnetic field intensity;
the controller is electrically connected with the first magnetic field induction mechanism and the swinging mechanism and is used for controlling the swinging mechanism to work according to the induction result of the first magnetic field induction mechanism.
In a second aspect, the present invention further provides an electric device, including: the oscillating device of any one of the first aspect.
In summary, the swing device of the utility model connects the swing mechanism with the first end of the magnet, so as to drive the second end of the magnet to rotate and swing around the central shaft of the output shaft of the swing mechanism, the rotary swing motion of the magnet forms a sector magnetic field, the detection end of the first magnetic field induction mechanism is positioned in the sector magnetic field to induce the magnetic field intensity, when the controller generates a first induction result curve according to the induction time from the first induction result induced by the first magnetic field induction mechanism, because the second end of the magnet rotates and swings around the central shaft of the output shaft of the swing mechanism, the amplitude change of the first induction result curve is similar to the signal curve of a sine wave, the controller determines the swing state data of the swing device according to the first induction result curve similar to the sine wave, so that the accuracy of the detected swing state data is improved; and the controller controls the swing mechanism to work according to the induction result of the first magnetic field induction mechanism, so that the working accuracy of the swing device is improved, and the user experience is improved. Therefore, the utility model discloses can accurately detect out swing state data, improve the degree of accuracy of pendulous device work, promote user experience.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Wherein:
FIG. 1 is a block diagram of a swing apparatus according to an embodiment;
FIG. 2 is a block diagram showing the construction of a swing device in another embodiment;
FIG. 3 is a schematic structural diagram of the swing device of FIG. 2;
FIG. 4 is a flow chart of a control method of a swing apparatus in one embodiment;
FIG. 5 is a flow chart of resistance anomaly handling in the pendulum control method of FIG. 4;
FIG. 6 is a flowchart of a control method of a swing device in another embodiment;
FIG. 7 is a graph illustrating a first sensing result according to an embodiment;
FIG. 8 is a graph illustrating a first sensing result curve and a second sensing result curve according to an embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1 to 3, in one embodiment, there is provided a swing apparatus including: the swinging mechanism 10, the magnet 20, the first magnetic field induction mechanism 31 and the controller;
the swing mechanism 10 is provided with an output shaft 111 capable of rotating and swinging around a central shaft of the swing mechanism;
the output shaft 111 of the swing mechanism is connected with the first end of the magnet 20, so as to drive the second end of the magnet 20 to rotate and swing around the central shaft of the output shaft 111 of the swing mechanism;
the rotary swing motion of the magnet 20 forms a fan-shaped magnetic field, and the detection end of the first magnetic field induction mechanism 31 is positioned in the fan-shaped magnetic field for inducing the magnetic field intensity;
the controller is electrically connected to the first magnetic field induction mechanism 31 and the swing mechanism 10, and is configured to control the swing mechanism 10 to operate according to an induction result of the first magnetic field induction mechanism 31.
The oscillating device of this embodiment is configured to connect the oscillating mechanism 10 to the first end of the magnet 20, so as to drive the second end of the magnet 20 to perform a rotary oscillating motion around the central axis of the output shaft 111 of the oscillating mechanism, the rotary swing motion of the magnet 20 forms a fan-shaped magnetic field, the detecting end of the first magnetic field induction mechanism 31 is located in the fan-shaped magnetic field for inducing the magnetic field strength, when the controller generates a first induction result curve according to the induction time from the first induction result induced by the first magnetic field induction mechanism 31, since the second end of the magnet 20 performs a rotary oscillating motion around the central axis of the output shaft 111 of the oscillating mechanism so that the amplitude variation of the first induction result curve is similar to the signal curve of a sine wave, the controller determines the swing state data of the swing device according to the first induction result curve similar to the sine wave, so that the accuracy of the detected swing state data is improved; and the controller controls the swing mechanism 10 to work according to the induction result of the first magnetic field induction mechanism 31, so that the working accuracy of the swing device is improved, and the user experience is improved.
The controller may be an industrial personal computer and/or a PLC (Programmable logic controller) and/or an FPGA (Field Programmable Gate Array) and/or a PC (personal computer), which are not limited in this embodiment.
The sector magnetic field is a sector with a cross section perpendicular to the central axis of the output shaft 111 of the swing mechanism.
The positioning of the detecting end of the first magnetic field inducing mechanism 31 in the fan-shaped magnetic field for inducing the magnetic field strength comprises: the first magnetic field induction mechanism 31 converts the magnetic field intensity detected by the detection end into a voltage, which is not limited in this embodiment.
The detecting end of the first magnetic field induction mechanism 31 is installed at the stator of the swing mechanism 10 or at a position which is static relative to the stator of the swing mechanism 10.
As shown in fig. 1, in one embodiment, the detecting end of the first magnetic field sensing mechanism 31 is installed on a side of the magnet 20 away from the swing mechanism 10, and is installed on a stator of the swing mechanism 10 or a stationary position relative to the stator of the swing mechanism 10.
In another embodiment, as shown in fig. 2 and 3, the detecting end of the first magnetic field sensing mechanism 31 and the magnet 20 are sequentially spaced along the output shaft 111 of the oscillating mechanism, and are mounted on the stator of the oscillating mechanism 10 or at a position stationary with respect to the stator of the oscillating mechanism 10.
The connection between the output shaft 111 of the swing mechanism and the first end of the magnet 20 specifically includes: the first end of the magnet 20 is directly mounted on the output shaft 111 of the swing mechanism, or the first end of the magnet 20 is mounted on a collar, and the collar is sleeved on the output shaft 111 of the swing mechanism, which is not limited in this example.
As shown in fig. 1, where a is a starting position of the magnet 20 in the rotational swing motion, B is an ending position of the magnet 20 in the rotational swing motion, and the magnet 20 performs the reciprocating swing motion between the starting position (a) and the ending position (B), so that the second end of the magnet 20 performs the rotational swing motion around the central axis of the output shaft 111 of the swing mechanism.
In one embodiment, the detecting end of the first magnetic field inducing means 31 is located on the symmetry plane of the magnetic sector.
It is understood that the central axis of the output shaft 111 of the oscillating mechanism is in the same plane as the plane of symmetry of the magnetic sector.
In one embodiment, the first magnetic field sensing mechanism 31 comprises a linear hall sensor. It is understood that the first magnetic field sensing mechanism 31 may also select other components capable of sensing the voltage of the magnetic field strength of the magnet 20, such as a three-axis magnetometer, and the like, which is not limited by the examples herein.
In one embodiment, the central axis of the magnet 20 is perpendicular to and intersects the central axis of the output shaft 111 of the oscillating mechanism. Therefore, the magnetic field generated by the magnet 20 is uniformly distributed by taking the intersection point of the central axis of the magnet 20 and the central axis of the output shaft 111 of the swing mechanism as the center, and the uniform distribution reduces the difficulty of determining the swing state data of the swing device by the controller according to the first induction result curve of the first magnetic field induction mechanism 31, and further improves the accuracy of the detected swing state data.
It is understood that the central axis of the magnet 20 and the central axis of the output shaft 111 of the swing mechanism may have other mounting manners, which are not limited in this example.
In one embodiment, the magnet 20 is shaped as a cylinder. For example, a cylinder, a cuboid, and a cube, which are not limited in this embodiment. Therefore, the magnetic field intensity generated at different positions of the magnet 20 is changed in a gradient manner, and the difficulty of determining the swing state data of the swing device by the controller according to the first induction result curve of the first magnetic field induction mechanism 31 is reduced.
In one embodiment, the cross section of the magnet 20 is rectangular or square, and the cross section is a section parallel to the central axis of the magnet 20, so that the magnetic field intensity is changed in a uniform gradient manner, and the accuracy of the detected swing state data is further improved.
The magnet 20 includes a permanent magnet 20, which is not specifically limited by way of example.
As shown in fig. 1 and 3, in one embodiment, the oscillating device further comprises at least one second magnetic field induction mechanism 32;
the detecting end of the second magnetic field induction mechanism 32 is positioned in the fan-shaped magnetic field for inducing the magnetic field strength;
the projection plane of the swing plane of the magnet 20 formed by the rotation and swing motion of the detection end of the first magnetic field induction mechanism 31 on the central axis of the magnet 20 is not overlapped with the projection plane of the swing plane of the magnet 20 formed by the rotation and swing motion of the detection end of the second magnetic field induction mechanism 32 on the central axis of the magnet 20;
the controller is electrically connected to the second magnetic field induction mechanism 32. Because the slope change of the sensing result curve is smaller and the sensitivity to the position of the swing mechanism 10 is reduced when the sensing result curve is near PI/4(PI refers to a circumference ratio, PI/4 refers to a sine wave phase value and shows at 1/4 cycle positions, namely peak positions) and 3PI/4(PI refers to a circumference ratio, 3PI/4 refers to a sine wave phase value and shows at 3/4 cycle positions, namely valley positions), the accuracy of the swing state data is reduced, for example, the accuracy of the angular displacement of the swing state data is reduced; when the first induction result induced by the first magnetic field induction mechanism 31 is generated into a first induction result curve according to the induction time through the controller, and the second induction result induced by the second magnetic field induction mechanism 32 is generated into a second induction result curve according to the induction time, the first induction result curve and the second induction result curve have different initial phases because the positions of the detection end of the first magnetic field induction mechanism 31 and the detection end of the second magnetic field induction mechanism 32 are different, thereby ensuring that each induction time has the induction result curve with the highest slope, and further improving the accuracy of the detected swing state data.
The positioning of the detecting end of the second magnetic field induction mechanism 32 in the magnetic sector for inducing magnetic field strength comprises: the second magnetic field induction mechanism 32 converts the magnetic field intensity detected by the detection end into a voltage, which is not limited in this embodiment.
In one embodiment, the second magnetic field sensing mechanism 32 comprises a linear hall sensor. It is understood that the second magnetic field sensing mechanism 32 can also select other voltage components capable of sensing the magnetic field strength of the magnet 20, such as a three-axis magnetometer, and the like, which is not specifically limited by this example.
The second magnetic field sensing mechanism 32 is mounted to the stator of the oscillating mechanism 10 or to a stationary position relative to the stator of the oscillating mechanism 10.
In one embodiment, as shown in fig. 1, the detecting end of the second magnetic field sensing mechanism 32 is installed on the side of the magnet 20 away from the swing mechanism 10, and is installed on the stator of the swing mechanism 10 or a stationary position relative to the stator of the swing mechanism 10.
In another embodiment, the detecting end of the second magnetic field sensing mechanism 32 and the magnet 20 are sequentially spaced along the output shaft 111 of the oscillating mechanism, and are mounted on the stator of the oscillating mechanism 10 or at a position stationary with respect to the stator of the oscillating mechanism 10.
In one embodiment, the second magnetic field sensing mechanism 32 and the first magnetic field sensing mechanism 31 have the same specification, so that the calculation step for determining the swing state data of the swing device is simplified, and the linear hall sensors with the same specification reduce the difficulty in determining the swing state data of the swing device.
In one embodiment, the detecting ends of all the second magnetic field sensing mechanisms 32 and the detecting end of the first magnetic field sensing mechanism 31 are located on the same detecting plane, and the detecting plane is perpendicular to the central axis of the output shaft 111 of the swing mechanism. The detection ends of the first magnetic field induction mechanism 31 and the second magnetic field induction mechanisms 32 are located on the same detection plane, so that the difficulty of determining the swing state data of the swing device is reduced; the detection plane is perpendicular to the central axis of the output shaft 111 of the swing mechanism, so that the change rule of the magnetic field intensity of the magnet 20 sensed by the first magnetic field sensing mechanism 31 and the second magnetic field sensing mechanism 32 is the same, the difficulty of determining the swing state data of the swing device is further reduced, and the accuracy of the detected swing state data is further improved.
In another embodiment, the detecting ends of all the second magnetic-field-sensing mechanisms 32 are located on a first detecting plane, and the detecting ends of the first magnetic-field-sensing mechanisms 31 are located on a second detecting plane, and the first detecting plane is parallel to the second detecting plane, so that the second magnetic-field-sensing mechanisms 32 and the first magnetic-field-sensing mechanisms 31 can be installed in a limited space.
In one embodiment, the first detection plane and the second detection plane are perpendicular to the central axis of the output shaft 111 of the swing mechanism, so that the second magnetic field sensing mechanism 32 and the first magnetic field sensing mechanism 31 can be installed in a limited space, and the difficulty of determining the swing state data of the swing device according to the sensing results of the second magnetic field sensing mechanism 32 and the first magnetic field sensing mechanism 31 is reduced.
In one embodiment, the second magnetic field induction mechanism 32 is plural in number;
when the center point of the detecting end of the first magnetic field induction mechanism 31 is located on the symmetry plane of the fan-shaped magnetic field, the center points of the detecting ends of the plurality of second magnetic field induction mechanisms 32 are symmetrically arranged around the symmetry plane of the fan-shaped magnetic field. In particular, the second magnetic field induction means 32 are arranged in pairs, each pair of the second magnetic field induction means 32 being arranged symmetrically around the symmetry plane of the magnetic sector. The plurality of second magnetic field induction mechanisms 32 are symmetrically arranged around the symmetry plane of the fan-shaped magnetic field, so that the consistency of the data of the reciprocating swing state is improved, and the working consistency of the swing device is further improved.
In one embodiment, the magnet 20 is plural in number;
all the magnets 20 have the same specification, and the first ends of the magnets are connected with the swing mechanism 10;
when the magnets 20 are stationary, all of the magnets 20 are symmetrically disposed about the plane of symmetry of the magnetic sector. The strength of the magnetic field is increased by a plurality of the magnets 20; all the magnets 20 are symmetrically arranged around the symmetry plane of the fan-shaped magnetic field, so that the amplitude variation of the first induction result curve and the second induction result curve is similar to the signal curve of a sine wave.
In one embodiment, the upper surfaces of all of the magnets 20 are the same area and are located in the same plane. Therefore, the uniform distribution of the magnetic field is further improved, and the accuracy of the detected swing state data is further improved.
In one embodiment, the swing mechanism 10 includes a rotary swing driving component, the rotary swing driving component is provided with an output shaft, and the output shaft of the rotary swing driving component can make rotary swing motion around a central shaft of the rotary swing driving component;
an output shaft of the rotary oscillating drive member is connected to a first end of the magnet 20, and the output shaft of the rotary oscillating drive member serves as an output shaft 111 of the oscillating mechanism.
The rotary oscillating driving member may be a rotary oscillating motor or an electric motor selected from the prior art, and is not limited in this embodiment.
In one embodiment, the swing mechanism 10 includes a rotation driving part, a rotation converting swing part;
the rotary driving part is provided with a rotary output shaft which can rotate around a central shaft of the rotary output shaft;
the input end of the rotary conversion swinging component is connected with the rotary output shaft and is used for converting the rotary motion of the rotary output shaft into rotary swinging motion;
the output end of the rotation conversion swinging member is connected with the first end of the magnet 20, and the output end of the rotation conversion swinging member is used as the output shaft 111 of the swinging mechanism.
The rotary drive member may be a motor or an electric motor selected from the prior art for rotary motion, and is not specifically limited by way of example.
The rotation converting swing component may be selected by a person skilled in the art from the prior art, and details of the component that can convert the rotation motion into the swing motion within the preset angle are not described herein.
In one embodiment, an electrically powered device is presented, comprising: the oscillating device of any one of the first aspect.
The electric device includes an electric toothbrush, an electric swing, and an oscillating machine, which are not limited in this embodiment.
In the oscillating device of the electric apparatus of this embodiment, the oscillating mechanism 10 is connected to the first end of the magnet 20, so as to drive the second end of the magnet 20 to make a rotational oscillating motion around the central axis of the output shaft 111 of the oscillating mechanism, the rotational oscillating motion of the magnet 20 forms a fan-shaped magnetic field, the detecting end of the first magnetic field sensing mechanism 31 is located in the fan-shaped magnetic field for sensing the magnetic field intensity, when the controller generates a first sensing result curve according to the sensing time from the first sensing result sensed by the first magnetic field sensing mechanism 31, the amplitude change of the first sensing result curve is similar to the signal curve of the sine wave due to the rotational oscillating motion around the central axis of the output shaft 111 of the oscillating mechanism from the second end of the magnet 20, and the controller determines the oscillating state data of the oscillating device according to the first sensing result curve similar to the sine wave, the accuracy of the detected swing state data is improved; and the controller controls the swing mechanism 10 to work according to the induction result of the first magnetic field induction mechanism 31, so that the working accuracy of the swing device is improved, and the user experience is improved.
As shown in fig. 4, in one embodiment, a swing device control method is provided, which is applied to the swing device according to any one of the first aspect;
the swing device includes: the device comprises a swinging mechanism, a magnet, a first magnetic field induction mechanism and a controller; the swing mechanism is provided with an output shaft which can rotate and swing around a central shaft of the swing mechanism; the output shaft of the swing mechanism is connected with the first end of the magnet so as to drive the second end of the magnet to rotate and swing around the central shaft of the output shaft of the swing mechanism; the rotary swing motion of the magnet forms a fan-shaped magnetic field, and the detection end of the first magnetic field induction mechanism is positioned in the fan-shaped magnetic field to induce the magnetic field intensity; the controller is electrically connected with the first magnetic field induction mechanism and the swinging mechanism and is used for controlling the swinging mechanism to work according to the induction result of the first magnetic field induction mechanism;
the method comprises the following steps:
s402, acquiring a first induction result of the magnetic field intensity of the magnet induced by the first magnetic field induction mechanism;
specifically, the controller can acquire a first induction result of the magnetic field intensity of the magnet induced by the first magnetic field induction mechanism through the analog-to-digital converter; or may be acquired via a data bus through the first magnetic field induction mechanism.
S404, generating a first induction result curve according to the first induction result and induction time, wherein the first induction result curve is a signal curve similar to a sine wave;
specifically, the controller generates a first sensing result curve by using the first sensing result as a Y-axis and the sensing time as an X-axis.
S406, performing angular displacement calculation according to the first induction result curve and the position data of the first magnetic field induction mechanism to obtain the angular displacement of the swing mechanism;
when the swing device adopts a first magnetic field induction mechanism, the controller calculates the angular displacement according to the first induction result curve and the position data of the first magnetic field induction mechanism to obtain the angular displacement of the swing mechanism.
When the swing device adopts a first magnetic field induction mechanism and at least one second magnetic field induction mechanism, the maximum value is selected from the angular displacement of the swing mechanism calculated according to the induction result of the first magnetic field induction mechanism and the induction result of the second magnetic field induction mechanism to be used as the angular displacement of the swing mechanism.
It is understood that the calculation formula of the angular displacement of the swing mechanism can be determined according to the prior art, and is not described herein.
S408, acquiring a preset maximum angular displacement;
the preset maximum angular displacement refers to the maximum angular displacement of the rotary swing motion of the preset swing mechanism.
S410, when the angular displacement of the swing mechanism is all smaller than the preset maximum angular displacement within the preset time, calculating the torque of the swing mechanism to be increased according to the maximum angular displacement of the swing mechanism within the preset time and the preset maximum angular displacement, and controlling the swing mechanism to work according to the torque of the swing mechanism to be increased;
specifically, when the angular displacement of the swing mechanism is all smaller than the preset maximum angular displacement within the preset time, the torque of the swing mechanism to be increased is calculated according to the maximum angular displacement of the swing mechanism within the preset time and the preset maximum angular displacement, and the swing mechanism is controlled to work according to the torque of the swing mechanism to be increased, so that the same maximum angular displacement is always kept when the swing mechanism works, the working consistency of the swing device is improved, and the user experience is improved.
The preset time may be one period of the rotational swing motion or a plurality of periods of the rotational swing motion that is closest to the current time, and this example is not limited in particular.
S412, when the angular displacement part of the swing mechanism in the preset time is larger than the preset maximum angular displacement, calculating the torque of the swing mechanism to be reduced according to the maximum angular displacement of the swing mechanism in the preset time and the preset maximum angular displacement, and controlling the swing mechanism to work according to the torque of the swing mechanism to be reduced.
Specifically, when the angular displacement part of the swing mechanism is larger than the preset maximum angular displacement within the preset time, the torque of the swing mechanism to be reduced is calculated according to the maximum angular displacement of the swing mechanism within the preset time and the preset maximum angular displacement, the swing mechanism is controlled to work according to the torque of the swing mechanism to be reduced, equipment damage or human body damage caused by excessive rotary swing motion of the swing mechanism is avoided, the working consistency of the swing device is improved, the working safety of the swing device is improved, and the user experience is improved.
The preset time may be one period of the rotational swing motion or a plurality of periods of the rotational swing motion that is closest to the current time, and this example is not limited in particular.
The method of this embodiment is performed by connecting the swing mechanism to the first end of the magnet for driving the second end of the magnet to make a rotational swing motion around the central axis of the output shaft of the swing mechanism, the rotary swing motion of the magnet forms a sector magnetic field, the detection end of the first magnetic field induction mechanism is positioned in the sector magnetic field to induce the magnetic field intensity, when the controller generates a first induction result curve according to the induction time from the first induction result induced by the first magnetic field induction mechanism, because the second end of the magnet rotates and swings around the central shaft of the output shaft of the swing mechanism, the amplitude change of the first induction result curve is similar to the signal curve of a sine wave, the controller determines the swing state data of the swing device according to the first induction result curve similar to the sine wave, so that the accuracy of the detected swing state data is improved; and the controller controls the swing mechanism to work according to the induction result of the first magnetic field induction mechanism, so that the working accuracy of the swing device is improved, and the user experience is improved.
As shown in fig. 5, in an embodiment, when the angular displacements of the swing mechanism in the preset time are all smaller than the preset maximum angular displacement, the torque of the swing mechanism to be increased is calculated according to the maximum angular displacement of the swing mechanism in the preset time and the preset maximum angular displacement, and the operation of the swing mechanism is controlled according to the torque of the swing mechanism to be increased, which specifically includes:
s502, when the angular displacement of the swing mechanism is smaller than the preset maximum angular displacement in the preset time, acquiring the maximum torque of the swing mechanism;
specifically, when the angular displacement of the swing mechanism is all smaller than the preset maximum angular displacement within the preset time, the controller obtains the maximum torque of the swing mechanism within the preset time.
The torque may be obtained from a frequency to torque look-up table corresponding to the drive component based on the frequency of the drive component.
The driving component is a motor or a motor which drives the swinging mechanism to do rotary swinging motion.
The formula for the frequency P of the drive member is:
wherein T refers to the time of one reciprocating rotary oscillating motion.
The preset time may be one period of the rotational swing motion or a plurality of periods of the rotational swing motion that is closest to the current time, and this example is not limited in particular.
S504, acquiring a preset maximum torque;
the preset maximum torque refers to the preset maximum torque of a motor or an electric motor of the swing mechanism.
S506, when the maximum torque of the swing mechanism is larger than the preset maximum torque within preset time, controlling the swing mechanism to reduce the frequency of rotary swing motion and/or send an alarm signal;
specifically, when the maximum torque of the swing mechanism is greater than the preset maximum torque within the preset time, the controller controls the swing mechanism to stop working and sends an alarm signal according to a preset rule. When the driving part of the swinging mechanism reaches the preset maximum torque and the angular displacement of the swinging mechanism is all smaller than the preset maximum angular displacement within the preset time, the situation that the resistance encountered by the rotating and swinging motion of the swinging mechanism is too large is shown, and the swinging mechanism is controlled to stop working so as to protect a user of the swinging device and avoid equipment damage or human body damage; and timely maintenance is reminded by sending an alarm signal.
The control swing mechanism reduces the frequency of the rotary swing motion so as to avoid damaging the swing device, prolong the service life of the swing device and reduce the use cost.
The alarm signal comprises at least one of a sound signal, a light signal, a pop-up window reminding signal and a vibration reminding signal.
An alarm can also be arranged, and the alarm gives out sound or light to remind the user according to the alarm signal.
The preset time may be one period of the rotational swing motion or a plurality of periods of the rotational swing motion that is closest to the current time, and this example is not limited in particular.
And S508, when the maximum torque of the swing mechanism in the preset time is smaller than or equal to the preset maximum torque, calculating the torque of the swing mechanism to be increased according to the maximum angular displacement of the swing mechanism in the preset time and the preset maximum angular displacement, and controlling the swing mechanism to work according to the torque of the swing mechanism to be increased.
Specifically, when the maximum torque of the swing mechanism within the preset time is less than or equal to the preset maximum torque, the torque of the swing mechanism to be increased is obtained according to the maximum angular displacement of the swing mechanism within the preset time and the preset maximum angular displacement, and the swing mechanism is controlled to work according to the torque of the swing mechanism to be increased.
The preset time may be one period of the rotational swing motion or a plurality of periods of the rotational swing motion that is closest to the current time, and this example is not limited in particular.
In one embodiment, the controlling the operation of the swing mechanism according to the torque of the swing mechanism to be increased specifically includes: increasing the working torque of the swing mechanism according to the torque of the swing mechanism to be increased; wherein, increasing the operating torque of the swing mechanism specifically includes: increasing the working voltage of the swing mechanism, or increasing the duty ratio of a PWM pulse signal of the swing mechanism, or reducing the frequency of a control signal of the swing mechanism;
the step of controlling the swing mechanism to work according to the torque of the swing mechanism to be reduced specifically comprises the following steps: reducing the working torque of the swing mechanism according to the torque of the swing mechanism to be reduced; wherein, the reduction of the working torque of the swing mechanism specifically comprises: the working voltage of the swing mechanism is reduced, or the duty ratio of a PWM pulse signal of the swing mechanism is reduced, or the frequency of a control signal of the swing mechanism is increased.
The frequency of the control signal is the frequency of a signal for controlling a motor or a motor which drives the swing mechanism to do rotary swing motion to work.
The working voltage of the swing mechanism refers to the working voltage of a motor or a motor which drives the swing mechanism to do rotary swing motion.
The PWM pulse signal is a signal for controlling a motor or a motor which drives the swing mechanism to do rotary swing motion to work.
In one embodiment, as shown in fig. 6, the oscillating device employs a first magnetic field sensing mechanism that senses the magnetic field strength of one of the magnets, a second magnetic field sensing mechanism that senses the magnetic field strength of at least one of the magnets;
the calculating the angular displacement according to the first induction result curve and the position data of the first magnetic field induction mechanism to obtain the angular displacement of the swing mechanism specifically comprises:
s602, performing angular displacement calculation according to the first induction result curve and the position data of the first magnetic field induction mechanism to obtain a first angular displacement of the swing mechanism;
and acquiring position data of the first magnetic field induction mechanism, and performing angular displacement calculation according to the first induction result curve and the position data of the first magnetic field induction mechanism to obtain a first angular displacement of the swing mechanism.
S604, acquiring a second induction result of the magnetic field intensity of the magnet induced by the second magnetic field induction mechanism;
specifically, the controller can acquire a second induction result of the magnetic field intensity of the magnet induced by the second magnetic field induction mechanism through the analog-to-digital converter; or by data bus acquisition through a second magnetic field induction mechanism.
S606, generating a second induction result curve according to the second induction result and the induction time;
specifically, the controller generates a second sensing result curve by using the second sensing result as the Y-axis and the sensing time as the X-axis.
S608, performing angular displacement calculation according to the second induction result curve and the position data of the second magnetic field induction mechanism to obtain a second angular displacement of the swing mechanism;
specifically, the controller acquires position data of the second magnetic field induction mechanism, and performs angular displacement calculation according to the second induction result curve and the position data of the second magnetic field induction mechanism to obtain a second angular displacement of the swing mechanism.
S610, selecting the maximum value from the first angular displacement of the swing mechanism and the second angular displacements of all the swing mechanisms as the angular displacement of the swing mechanism.
Specifically, the controller selects the maximum value from the first angular displacement of the swing mechanism and the second angular displacements of all the swing mechanisms corresponding to the same sensing time as the angular displacement of the swing mechanism.
When the induction result curves (including the first induction result curve and the second induction result curve) are near 1PI/4(PI refers to a circumferential rate, PI/4 refers to a sine wave phase value and represents at 1/4 cycle positions, namely peak positions) and 3PI/4(PI refers to a circumferential rate, 3PI/4 refers to a sine wave phase value and represents at 3/4 cycle positions, namely valley positions), the slope change of the induction result curves is small, the sensitivity to the position of the swing mechanism is reduced, and therefore the accuracy of the swing state data is reduced, for example, the accuracy of the angular displacement of the swing state data is reduced; when a first induction result induced by the first magnetic field induction mechanism generates a first induction result curve according to induction time and a second induction result induced by the second magnetic field induction mechanism generates a second induction result curve according to induction time through the controller, the first induction result curve and the second induction result curve have different initial phases because the positions of the detection end of the first magnetic field induction mechanism and the detection end of the second magnetic field induction mechanism are different, so that the induction result curve with a higher slope is ensured at each induction time, and the accuracy of the detected swing state data is further improved. The maximum value is selected from the first angular displacement of the swing mechanism and the second angular displacements of all the swing mechanisms corresponding to the same sensing time as the angular displacement of the swing mechanism, so that the accuracy of the detected swing state data is improved, and the sensitivity of the swing device is improved.
Fig. 7 shows a first sensing result of sensing the magnetic field intensity of the magnet by the first magnetic field sensing mechanism when the swing device only employs the first magnetic field sensing mechanism, and a first sensing result curve is generated according to the first sensing result and the sensing time, wherein the first sensing result curve is a signal curve similar to a sine wave.
As shown in fig. 8, when the swing device employs the first magnetic field induction mechanism and the second magnetic field induction mechanism, a first induction result curve is generated according to the first induction result and the induction time, and a second induction result curve is generated according to the second induction result and the induction time; when the sensing result curve is near PI/4(PI means circumferential ratio) and 3PI/4(PI means circumferential ratio), the change in the slope of the sensing result curve is small, and the sensitivity to the position of the swing mechanism is reduced.
It should be noted that the embodiments of a swing device, an electric device, and a swing device control method described above are applicable to each other, and belong to a general inventive concept.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (11)
1. An oscillating device, comprising: the device comprises a swinging mechanism, a magnet, a first magnetic field induction mechanism and a controller;
the swing mechanism is provided with an output shaft which can rotate and swing around a central shaft of the swing mechanism;
the output shaft of the swing mechanism is connected with the first end of the magnet so as to drive the second end of the magnet to rotate and swing around the central shaft of the output shaft of the swing mechanism;
the rotary swing motion of the magnet forms a fan-shaped magnetic field, and the detection end of the first magnetic field induction mechanism is positioned in the fan-shaped magnetic field to induce the magnetic field intensity;
the controller is electrically connected with the first magnetic field induction mechanism and the swinging mechanism and is used for controlling the swinging mechanism to work according to the induction result of the first magnetic field induction mechanism.
2. The oscillating device according to claim 1, wherein the sensing end of the first magnetic field sensing means is located on the symmetry plane of the magnetic sector.
3. The oscillating device of claim 1, wherein the first magnetic field sensing mechanism comprises a linear hall sensor.
4. The oscillating device of claim 1, wherein the central axis of the magnet is perpendicular to and intersects the central axis of the output shaft of the oscillating mechanism.
5. The oscillating device of claim 1, wherein said magnet is in the shape of a cylinder.
6. The oscillating device according to any one of claims 1 to 5, wherein the oscillating device further comprises at least one second magnetic field induction mechanism;
the detection end of the second magnetic field induction mechanism is positioned in the fan-shaped magnetic field to be used for inducing the magnetic field intensity;
the projection plane of the magnet swinging plane formed by the rotary swinging motion of the detection end of the first magnetic field induction mechanism on the central axis of the magnet is not overlapped with the projection plane of the magnet swinging plane formed by the rotary swinging motion of the detection end of the second magnetic field induction mechanism on the central axis of the magnet;
the controller is electrically connected with the second magnetic field induction mechanism.
7. The oscillating device according to claim 6, wherein the second magnetic field inducing means is of the same size as the first magnetic field inducing means.
8. The oscillating device of claim 6, wherein the detecting ends of all the second magnetic field sensing mechanisms and the detecting end of the first magnetic field sensing mechanism are located on the same detecting plane, and the detecting plane is perpendicular to the central axis of the output shaft of the oscillating mechanism.
9. The oscillating device according to claim 6, wherein the second magnetic field induction means is plural in number;
when the central point of the detection end of the first magnetic field induction mechanism is positioned on the symmetrical plane of the fan-shaped magnetic field, the central points of the detection ends of the plurality of second magnetic field induction mechanisms are symmetrically arranged around the symmetrical plane of the fan-shaped magnetic field.
10. The oscillating device according to any one of claims 1 to 5, wherein said magnet is in plurality;
all the magnets have the same specification, and the first ends of the magnets are connected with the swing mechanism;
when the magnets are stationary, all of the magnets are symmetrically disposed about the plane of symmetry of the magnetic sector.
11. An electrically powered device, comprising: the oscillating device of any one of claims 1 to 10.
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| CN201922274542.9U CN210954743U (en) | 2019-12-17 | 2019-12-17 | Swinging device and electric equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111789692A (en) * | 2020-09-10 | 2020-10-20 | 深圳市力博得科技有限公司 | Control method, device and medium for measuring swing angle and pressure through magnetic variables |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111789692A (en) * | 2020-09-10 | 2020-10-20 | 深圳市力博得科技有限公司 | Control method, device and medium for measuring swing angle and pressure through magnetic variables |
| CN112656531A (en) * | 2020-09-10 | 2021-04-16 | 深圳市力博得科技有限公司 | Quality control method, apparatus and medium for measuring swing angle by magnetic variation |
| CN112842596A (en) * | 2020-09-10 | 2021-05-28 | 深圳市力博得科技有限公司 | Control method and device for measuring pressure through magnetic variables and medium |
| CN112656531B (en) * | 2020-09-10 | 2021-10-08 | 深圳市力博得科技有限公司 | Quality control method, apparatus and medium for measuring swing angle by magnetic variation |
| CN112842596B (en) * | 2020-09-10 | 2022-03-15 | 深圳市力博得科技有限公司 | Control method and device for measuring pressure through magnetic variables and medium |
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