JP6909981B2 - Hair cutting device - Google Patents

Description

The present invention relates to a hair cutting device.

Conventionally, there are hair cutting devices such as electric razors and hair trimmers equipped with linear actuators having a stator and a mover. The mover is controlled by a voltage or current that energizes the stator or the electromagnet of the mover, and makes a linear reciprocating motion with respect to the stator. A blade that cuts body hair is attached to this mover, and the blade cuts body hair (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2014-155421

The linear actuator disclosed in Patent Document 1 controls the movement of the mover by using the current supply time. Therefore, if there is an excess or deficiency in the amount of current supplied to the mover, there is a problem that the stability of the operation of the mover is lowered. As described above, when the stability of the mover is lowered due to the excess or deficiency of the amount of current supplied to the mover, there is a problem that the amplitude of the mover is lowered and the shaving taste is impaired.

An object of the present invention is to provide a hair cutting device that improves the stability of operation.

In order to achieve the above object, the body hair cutting device according to one aspect of the present invention has a first magnetic block and a second magnetic block in which a blade for cutting the body hair is interlocked, and the first magnetic block. By controlling a linear actuator in which one of the second magnetic blocks is an electromagnet and the other is a permanent magnet or an electromagnet, and a control amount which is a voltage value or a current value to energize the linear actuator. The control unit that reciprocates the second magnetic block and the amount of load applied to the second magnetic block when the blade cuts the hair are detected for each cycle in the reciprocating motion of the second magnetic block. The control unit is provided with a load detection unit for changing the control amount based on the first feedback control amount based on the load amount detected by the load detection unit.

According to the present invention, it is possible to provide a hair cutting device that improves the stability of operation.

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

Hereinafter, the hair cutting device according to the embodiment of the present invention will be described in detail with reference to the drawings. It should be noted that all of the embodiments described below show a specific example of the present invention. Therefore, the numerical values, shapes, materials, components, arrangement and connection forms of the components, steps and the order of steps shown in the following embodiments are examples, and are not intended to limit the present invention. Therefore, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept of the present invention will be described as arbitrary components.

Further, each figure is a schematic view and is not necessarily exactly illustrated. Further, in each figure, the same components are designated by the same reference numerals.

(Embodiment)
[overview]
First, the outline of the hair cutting device according to the embodiment will be described with reference to FIGS. 1 and 2.

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

The body hair cutting device 100 according to the embodiment is a device for cutting body hair 200 such as a beard, such as a so-called electric razor. FIG. 1 illustrates a body hair cutting device 100 in which a user grips the main body 110 with one hand and slides the outer blade 160 against a skin surface 210 such as a face to cut (shave) the beard which is the body hair 200. ing. The hair cutting device 100 includes an inner blade 170 that slides along the inner surface of each of the outer blades 160.

The main body 110 houses a drive device for driving the inner blade 170, a power supply device for supplying power to the drive device, a control device for controlling these, and the like. In FIG. 1, the main body 110 is provided with a power switch 130, a display unit 140 and the like for displaying the state of the hair cutting device 100, and the main body 110 further includes a grip portion 120 which is a portion held by the user. It is provided with a head portion 150 to which the outer blade 160 can be detachably attached. The head portion 150 has a configuration in which the angle of the head portion 150 can be freely changed (swinged) with respect to the grip portion 120.

The drive mechanism housed inside the head portion 150 is connected so as to interlock with the inner blade 170, which is a movable blade, and can reciprocate (specifically, linear reciprocating motion) with respect to the outer blade 160. can. In this way, the body hair cutting device 100 displaces the inner blade 170 slidably in contact with the inner surface of the outer blade 160 with respect to the outer blade 160, thereby causing the inside of the blade hole 161 provided in the outer blade 160. It is configured to cut the hair 200 inserted in the hair.

[Constitution]
Subsequently, a specific configuration example for driving the linear actuator 10 will be described with reference to FIGS. 3 and 4.

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

As shown in FIG. 3, the hair cutting device 100 includes a linear actuator 10 having a stator (first magnetic block) 11 and a mover (second magnetic block) 12.

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

The mover 12 is a magnet that is movable with respect to the stator 11. The mover 12 is fixed to the frame 13 via a spring 14 and has a configuration capable of reciprocating motion. The mover 12 is, for example, an electromagnet or a permanent magnet.

Further, at least one of the stator 11 and the mover 12 is an electromagnet. In this embodiment, the case where the stator 11 has an electromagnet and the mover 12 has a permanent magnet 12a is illustrated. The electromagnet is composed of, for example, a sintered body made of a magnetic material or an electromagnet in which a winding 11a is wound around a laminated iron plate made of a magnetic material.

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

In the present embodiment, the first magnetic block will be described as a stator 11 having a fixed position, and the second magnetic block will be described as a mover 12 that can reciprocate with respect to the first magnetic block. However, it is not necessary for the first magnetic block to be the stator 11 and the second magnetic block to be the mover 12 for the first magnetic block. At least one of the first magnetic block and the second magnetic block may be a mover. For example, the first magnetic block and the second magnetic block may both be movers.

The outer blade 160 is provided on the frame 13, and the inner blade 170 is attached to the mover 12. The body hair 200 is introduced into the blade hole 161 formed in the outer blade 160, and is cut by being sandwiched between the fixed outer blade 160 and the reciprocating inner blade 170.

The drive circuit 30 is a circuit for reciprocating the mover 12. The drive circuit 30 is electrically connected to the winding 11a, operates based on the power supply voltage Vcc from the power supply 20, and supplies the drive current Id to the winding 11a. The drive circuit 30 is a full-bridge circuit including a plurality of switching elements such as a MOSFET (Metal Oxide Semiconductor Field Effect Transistor) and the like.

The winding 11a is electrically connected between the plurality of switching elements. The drive circuit 30 switches the direction of the drive current Id flowing through the winding 11a by selectively turning on the plurality of switching elements alternately based on the PWM (Pulse Width Modulation) signal from the control output unit 42. By doing so, the drive circuit 30 reciprocates the mover 12.

The microcomputer 50 is a microcomputer that operates the drive circuit 30. Functionally, as shown in FIG. 4, the microcomputer 50 includes a control unit 40, a drive amount detection unit 60, a load detection unit 70, and a filter unit 80.

The control unit 40 reciprocates the mover 12 by controlling a voltage value or a current value that energizes the linear actuator 10 as a control amount. Specifically, the control unit 40 determines a control amount which is a voltage value or a current value for energizing the winding 11a, and reciprocates the mover 12 in the drive circuit 30 with the determined control amount.

The control unit 40 reciprocates the mover 12 by controlling a control amount that is a voltage value or a current value that energizes the linear actuator 10. The control unit 40 functionally includes an amplitude control unit 41, a control output unit 42, an addition unit 43, a memory 44, and a filter unit 80.

The amplitude control unit 41 controls a control amount that is a voltage value or a current value that energizes the linear actuator 10. The amplitude control unit 41 further acquires an output value of the control amount from the linear actuator 10 from the detection circuit 90, and is based on a second feedback control amount calculated from a predetermined target value for the acquired output value. The control amount may be changed. That is, the amplitude control unit 41 may further execute known PID (Proportional-Integral-Differential) control. The target value may be arbitrarily determined in advance, and may be stored in the memory 44, for example.

The control output unit 42 controls the drive current Id to the winding 11a by PWM (Pulse Width Modulation) based on the control amount acquired from the amplitude control unit 41, that is, outputs a PWM signal to the drive circuit 30. The control output unit 42 PWM so that the drive current Id is supplied to the winding 11a at a frequency synchronized with the mechanical resonance frequency of the linear actuator 10 determined by the weight of the mover 12, the spring constant of the spring 14, and the like. Generate a signal. A constant voltage generated by the constant voltage power supply 21 based on the power supply voltage Vcc from the power supply 20 is supplied to the control output unit 42 as an operating voltage.

When the drive current Id flows in the winding 11a, the permanent magnet 12a provided in the mover 12 drives the spring 14 in the reciprocating direction (left-right direction in FIG. 3) while bending the spring 14 according to the direction in which the drive current Id flows. Will be done. Then, the direction in which the drive current Id flows is switched at an appropriate timing by the control of the control output unit 42, so that the mover 12 reciprocates.

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

The memory 44 stores the speed, amplitude, etc. of the mover 12 detected by the detection circuit 90. The memory 44 is realized by, for example, a RAM (Random Access Memory).

The drive amount detection unit 60 detects at least one of the displacement, velocity, and acceleration of the mover as the drive amount. Specifically, the amplitude of the mover 12 from the detection circuit 90, which is electrically connected to the winding 11a and for acquiring the induced electromotive force (specifically, the induced electromotive force) generated in the winding 11a. Get speed and displacement. More specifically, the drive amount detection unit 60 detects the induced electromotive force generated by the reciprocating motion of the mover 12 as the drive amount. For example, the drive amount detection unit 60 detects the drive amount for each cycle in the reciprocating motion of the mover 12.

The filter unit 80 multiplies the load value (load amount) by the gain and outputs the output to the amplitude control unit 41. For example, when the load amount detected by the load detection unit 70 exceeds a predetermined first threshold value, the filter unit 80 controls the amount of control so that the speed at the reciprocating center of the reciprocating motion of the mover 12 increases. change. Further, for example, the filter unit 80 changes the control amount so that the speed of the reciprocating center of the mover 12 becomes smaller when the load amount detected by the load detection unit 70 falls below a predetermined second threshold value. do.

FIG. 5 is a diagram for explaining the timing at which the drive amount detecting unit 60 included in the hair cutting device 100 according to the embodiment detects an induced electromotive force (specifically, an induced electromotive force) as a drive amount. Specifically, FIG. 5A shows the displacement of the mover 12 with respect to time, and FIG. 5B shows the change in the induced electromotive voltage detected by the drive amount detecting unit 60 with respect to time. (C) of 5 shows the change of the drive current Id with respect to time.

In the drive amount detection unit 60, the amplification voltage, which is the amplification signal of the induced electromotive voltage, becomes the same as the reference voltage (for example, 0V) based on the output value of the control amount from the linear actuator 10 acquired from the detection circuit 90. The time is detected, and the time is determined as a turning point of the amplitude of the actuator 12.

The induced electromotive force is a sinusoidal output corresponding to a change in magnetic flux generated during the reciprocating motion of the mover 12, and changes according to the amplitude of the mover 12, the speed of vibration, the direction of vibration, and the like. When the vibration direction changes at the turning point of the reciprocating motion of the mover 12, that is, when the amplitude (velocity) of the mover 12 becomes zero, the magnetic flux does not change and the induced electromotive force becomes zero. The drive amount detection unit 60 identifies the turning point by comparing this zero point with the reference voltage, and from the time interval of the zero point of the induced electromotive force that is repeatedly detected, at least the amplitude, velocity, and displacement of the mover 12 Calculate one. For example, even if the drive amount detection unit 60 selectively acquires the induced electromotive force at any arbitrary timing (time interval) when the drive current Id is zero in one cycle of the reciprocating motion of the mover 12. good.

The load detection unit 70 detects the amount of load applied to the mover 12 when the blade (inner blade 170) cuts the body hair 200 for each cycle in the reciprocating motion of the mover 12. Specifically, the load detection unit 70 detects (that is, calculates) the load amount for each cycle in the reciprocating motion of the mover 12 from the drive amount and the control amount detected by the drive amount detection unit 60.

For example, the load detection unit 70 cuts the hair cutting device 100 based on the control amount input from the control output unit 42 to the winding 11a via the drive circuit 30 and the drive amount detected by the drive amount detection unit 60. The load (load amount) generated when the body hair 200 is introduced into the portion (for example, the blade hole 161 shown in FIG. 2) is detected for each cycle of the reciprocating mover 12.

Specifically, the load applied during one cycle of the reciprocating mover 12 is a force given to move the mover 12 during one cycle of the reciprocating mover 12 (that is, the mover). (External force applied to 12), the force stored in the spring 14 or the force released from the spring 14, the loss of the spring 14, the viscous force depending on the force that attenuates the reciprocating motion of the mover 12 due to air resistance, etc. You can ask. More specifically, the force applied to move the mover 12 can be calculated from the load amount detected by the load detection unit 70. Further, the force stored in the spring 14 or the force released from the spring 14 can be calculated from the difference between the spring constant of the spring 14, the amplitude of the current cycle, and the amplitude of the previous cycle. Further, the viscous force depending on the viscosity loss of the spring 14 and the damping of the reciprocating motion of the mover 12 due to the air resistance can be calculated from the viscosity coefficient and the amplitude.

The changed control amount is calculated from the second feedback control amount by the known PID control and the first feedback control amount calculated from the load amount. The amplitude control unit 41 calculates the second feedback control amount from the output value of the control amount from the linear actuator 10 acquired via the detection circuit 90 and a predetermined target value for the acquired output value.

The first feedback control amount is, for example, an amount indicating an external force applied to the mover 12, that is, a load amount, a force stored in the spring 14, or a force released from the spring 14, a viscosity loss of the spring 14, and air resistance. It is calculated from the sum of the viscous force related to the above.

The load detection unit 70 calculates the load amount from the induced electromotive force acquired from the drive amount detection unit 60 for each cycle in the reciprocating motion of the mover 12. Further, the drive amount detection unit 60 determines the force stored in the spring 14 or the force released from the spring 14 from the induced electromotive force acquired from the detection circuit 90, and the viscous force related to the viscous loss of the spring 14, air resistance, and the like. calculate. Further, the adding unit 43 relates to the load amount acquired from the load detecting unit 70 and the driving amount detecting unit 60, the force stored in the spring 14 or the force released from the spring 14, the viscosity loss of the spring 14, the air resistance, and the like. The value with the viscous force is added, and the added value is output to the amplitude control unit 41 as the first feedback control amount for each cycle in the reciprocating motion of the mover 12. The amplitude control unit 41 changes the control amount to be output to the output control unit 42 in the next cycle of the mover 12 from the sum of the first feedback control amount calculated by the addition unit 43 and the second feedback control amount. .. As described above, the amplitude control unit 41 sets the target value of the reciprocating motion of the mover 12 (specifically, at least one of displacement, velocity, and acceleration) for each cycle in the reciprocating motion of the mover 12. The control amount is changed by comparing whether it is.

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

The amplifier circuit 91 amplifies the voltage across the winding 11a, that is, the induced electromotive force generated in the winding 11a, and outputs the amplified amplified voltage to the comparison circuit 92 and the comparison circuit 93.

The comparison circuit 92 compares, for example, the reference voltage and the amplification voltage, and outputs the comparison result (for example, the voltage difference) to the amplitude control unit 41. The amplitude control unit 41 acquires the timing of one reciprocating motion of the mover 12 via the comparison circuit 92.

The comparison circuit 93 compares the reference voltage, which is a predetermined voltage lower than the reference voltage, with the amplification voltage, and outputs the comparison result (for example, voltage difference) to the drive amount detection unit 60. The drive amount detection unit 60 detects the drive amount by calculating the drive amount of the mover 12 from the comparison result (for example, voltage difference) output from the comparison circuit 93. The reference voltage and the predetermined voltage may be arbitrarily set in advance.

[Processing procedure]
Subsequently, with reference to FIG. 6, a processing procedure for cutting the body hair 200 executed by the body hair cutting device 100 according to the embodiment will be described.

FIG. 6 is a flowchart illustrating a processing procedure of the hair cutting device 100 according to the embodiment.

First, the control unit 40 starts driving the mover 12 with an arbitrary control amount (step S101). Specifically, in step S101, the amplitude control unit 41 outputs an arbitrary control amount to the control output unit 42, and the control output unit 42 energizes the drive circuit 30 with the drive current Id to drive the mover 12. To start. Here, the mover 12 starts a reciprocating motion.

Next, the drive amount detection unit 60 detects the drive amount of the mover 12 (step S102). Specifically, in step S102, the drive amount detection unit 60 detects the induced electromotive force generated by the mover 12 as the drive amount via the detection circuit 90.

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

Next, the control unit 40 changes the control amount to a predetermined target value based on the load amount detected by the load detection unit 70 and the control amount acquired from the control output unit 42. (Step S104). Specifically, in step S104, the control unit 40 has a first feedback control amount based on the load amount detected by the load detection unit 70, a control amount acquired from the control output unit 42, and a linear acquisition from the detection circuit 90. The control amount output from the control output unit 42 in the next cycle is changed from the second feedback control amount based on the output value to the control amount from the actuator 10 so as to be an arbitrarily determined target value.

[Concrete example]
Subsequently, the specific operation of the hair cutting device 100 will be described with reference to FIGS. 7 to 10.

<First example>
FIG. 7 is a timing chart showing a first example of the operation of the hair cutting device 100 according to the embodiment. Specifically, FIG. 7 (a) is a graph showing a change in the speed (speed) of the mover 12 when the control amount is not changed, and FIG. 7 (b) is FIG. 7 (a). ) Is a graph showing the change in the magnitude of the load applied to the mover 12 (in other words, the load amount) when the mover 12 is reciprocated, and FIG. 7C is a graph showing the change in the control amount. It is a graph which shows the change of the amplitude of the mover 12 in Example 1 which shows the comparative example which shows the case of not doing, and the case where the control amount is changed based on the load amount. In both Comparative Example and Example 1, PID control is executed. The horizontal axis of each graph shown in FIG. 7 indicates the cycle of one round trip of the mover 12. The time required for one round trip of the mover 12 (that is, the time of one cycle) is, for example, 4 milliseconds, but is not particularly limited and may be set arbitrarily.

As shown in FIG. 7A, the velocity of the mover 12 in the initial cycle is a target value. The speed is, for example, the speed of the reciprocating center of the mover 12. In FIGS. 7, 9, and 10, the graphs of (a) and (c) will be described in terms of speed, but the same can be said for acceleration or amplitude. The target value may be stored in advance in the memory 44 or the like according to the displacement (that is, amplitude), speed (speed), or acceleration detected by the drive amount detection unit 60.

Next, as shown in FIG. 7B, in the section A, the inner blade 170 connected to the mover 12 is loaded by the body hair 200 in order to cut the body hair 200. Therefore, as shown in FIG. 7A, in the section A, the velocity of the mover 12 is attenuated from the target value due to the load by the hair 200.

Next, as shown in FIG. 7B, in the section B, the inner blade 170 connected to the mover 12 is not loaded with the body hair 200 because the body hair 200 has been cut. Therefore, as shown in FIG. 7A, the speed of the mover 12 returns to the target value in the section B because the load by the body hair 200 is eliminated.

As described above, when the hair cutting device 100 does not change the control amount, the change in the speed of the mover 12 such as the section A and the section B is repeated in the section C and the section D and thereafter. Therefore, when the inner blade 170 cuts the body hair 200, the load of the body hair 200 is applied to the inner blade 170, so that the speed of the mover 12 becomes lower than the target value, and the inner blade 170 (and the outer blade 160) The sharpness of the body hair 200 is also reduced.

Therefore, the load detection unit 70 detects the load amount applied to the inner blade 170 (that is, the mover 12), and the control unit 40 changes the control amount based on the load amount detected by the load detection unit 70.

By doing so, as shown in FIG. 7C, by changing the control amount based on the load amount, it is possible to suppress the deviation of the speed of the mover 12 from the target value.

FIG. 8 is a diagram showing a specific example of the movement of the mover 12 included in the hair cutting device 100 according to the embodiment. The horizontal axis of the graph shown in FIG. 8 is time, and the vertical axis is the amplitude of the mover 12. Further, the graph of FIG. 8 shows the change in the amplitude of the mover 12 with respect to the time when a load of 900 mN is applied to the mover 12 from one cycle before the reciprocating motion of the mover 12 from 0 seconds as a reference. ..

As shown in FIG. 8, after 0 seconds, the amplitudes of both Comparative Example and Example 1 have become small. This is because a load is applied to the mover 12. Here, in the comparative example, the amplitude greatly decreases from ± 1.0 mm to about ± 0.2 mm up to about 0.01 seconds, in other words, up to about 3 cycles, but in Example 1, the amplitude is ± 1.0 mm. It can be seen that it can only be lowered to about ± 0.5 mm. As a result, the control unit 40 can control the linear actuator 10 based on the load amount, so that the stability of the operation of the linear actuator 10 (specifically, the reciprocating motion of the mover 12) can be improved. Understand.

<Second example>
FIG. 9 is a timing chart showing a second example of the operation of the hair cutting device 100 according to the embodiment. Specifically, FIG. 9A is a graph showing a change in the speed of the mover 12 when the control amount is not changed, and FIG. 9B is a graph as shown in FIG. 9A. It is a graph which shows the change of the magnitude (in other words, the load amount) of the load applied to the mover 12 when the mover 12 is reciprocated, and (c) of FIG. 9 shows the case where the control amount is not changed. In a comparative example, Example 1 showing a case where the control amount is changed based on the load amount, and Example 2 showing a case where the control amount is further changed based on the first threshold value th1 in addition to the control of Example 1. It is a graph which shows the change of the amplitude of the mover 12. In addition, PID control is executed in all of Comparative Example, Example 1, and Example 2. The horizontal axis of each graph shown in FIG. 9 indicates the cycle of one round trip of the mover 12. Further, since the graphs (a) and (b) of FIG. 9 are the same graphs as those of FIGS. 7 (a) and 7 (b), the description thereof will be omitted.

In the second embodiment, the control unit 40 (specifically, the filter unit 80) reciprocates the mover 12 when the load amount detected by the load detection unit 70 exceeds a predetermined first threshold value th1. The control amount is changed so that the speed at the center of reciprocation increases. The speed of the mover 12 changed by the control unit 40 is not particularly limited, but for example, the control unit 40 increases the speed at the reciprocating center of the reciprocating motion of the mover 12 by 1.5 times. Change the control amount.

By doing so, as shown in, for example, section A and section C in FIG. 9C, it can be seen that in Example 2, the speed returns to the target value faster than in Example 1.

The first threshold value th1 may be arbitrarily determined in advance, and for example, the first threshold value th1 may be stored in the memory 44 in advance.

<Third example>
FIG. 10 is a timing chart showing a third example of the operation of the hair cutting device 100 according to the embodiment. Specifically, FIG. 10A is a graph showing a change in the speed of the mover 12 when the control amount is not changed, and FIG. 10B is a graph as shown in FIG. 10A. It is a graph which shows the change of the magnitude (in other words, the load amount) of the load applied to the mover 12 when the mover 12 is reciprocated, and (c) of FIG. 10 shows the case where the control amount is not changed. Comparative Examples, Example 2 showing a case where the control amount is changed based on the load amount, and Example 2 and Example 2 showing a case where the control amount is further changed based on the first threshold value th1. It is a graph which shows the change of the amplitude of the mover 12 in Example 3, which shows the case where the control amount is changed based on the 2nd threshold value th2 in addition to control. In addition, PID control is executed in all of Comparative Example, Example 2, and Example 3. The horizontal axis of each graph shown in FIG. 10 indicates the cycle of one round trip of the mover 12. Further, since the graphs (a) and (b) of FIG. 10 are the same graphs as those of FIGS. 7 (a) and 7 (b), the description thereof will be omitted.

In the third embodiment, the control unit 40 (specifically, the filter unit 80) reciprocates the mover 12 when the load amount detected by the load detection unit 70 exceeds a predetermined first threshold value th1. The control amount is changed so that the speed at the center of reciprocation increases. Further, in the control unit 40 (specifically, the filter unit 80), when the load amount detected by the load detection unit 70 is less than the predetermined second threshold value th2, the speed of the reciprocating center of the mover 12 is increased. Change the control amount so that it becomes smaller. The speed of the mover 12 changed by the control unit 40 is not particularly limited, but for example, the control unit 40 increases the speed at the reciprocating center of the reciprocating motion of the mover 12 by 0.5 times. Change the control amount.

By doing so, as shown in, for example, section B and section D in FIG. 9C, it can be seen that in Example 3, the speed returns to the target value faster than in Example 2.

In the second embodiment, the speed of the mover 12 is controlled only to be increased based on the load amount. Therefore, in some cases, for example, the speed is too low in the section B and the section D. .. Therefore, the control unit 40 suppresses a sudden change when approaching the target value, for example, by reducing the speed of the reciprocating center of the mover 12 when the second threshold value falls below the second threshold value th2. By doing so, speed undershoot and / or overshoot can be suppressed.

The second threshold value th2 may be arbitrarily determined in advance, and for example, the second threshold value th2 may be stored in the memory 44 in advance.

[Effects, etc.]
As described above, the body hair cutting device 100 according to the present embodiment is movable in which the stator (first magnetic block) 11 and the blade for cutting the body hair 200 (specifically, the inner blade 170) are interlocked with each other. A linear actuator 10 having a child (second magnetic block) 12, one of the stator 11 and the mover 12 being an electromagnet and the other being a permanent magnet or an electromagnet, and a voltage value for energizing the linear actuator 10. Alternatively, a control unit 40 that reciprocates the mover 12 by controlling a control amount that is a current value, and a load detection unit 70 that detects the load amount applied to the mover 12 when the inner blade 170 cuts the body hair 200. And. The control unit 40 changes the control amount based on the first feedback control amount based on the load amount detected by the load detection unit 70.

According to such a configuration, the load detection unit 70 detects the load amount of the body hair 200 introduced into the blade hole 161 of the body hair cutting device 100, so that the control unit 40 controls according to the detected load amount. It can be carried out. As a result, according to the body hair cutting device 100, the control amount can be changed based on the first feedback control amount according to the load amount, so that the responsiveness when the body hair 200 such as a beard is introduced into the blade hole 161 is improved. It is possible to suppress a decrease in amplitude (or velocity). Therefore, according to the hair cutting device 100, the stability of the operation of the linear actuator 10 (specifically, the reciprocating motion of the mover 12) is improved.

For example, the hair cutting device 100 further includes a drive amount detecting unit 60 that detects at least one of the displacement, speed, and acceleration of the mover 12 as a drive amount. The drive amount detection unit 60 detects the drive amount for each cycle in the reciprocating motion of the mover 12. Further, in this case, for example, the load detection unit 70 detects the load amount for each cycle in the reciprocating motion of the mover 12 from the drive amount and the control amount detected by the drive amount detection unit 60.

According to such a configuration, the load amount applied to the mover 12 can be easily detected while suppressing the number of times the drive amount is detected.

Further, for example, the drive amount detection unit 60 detects the induced electromotive force generated by the reciprocating motion of the mover 12 as the drive amount.

According to such a configuration, the drive amount detection unit 60 can detect the drive amount without the need to newly provide a sensor or the like for detecting the drive amount. Therefore, according to such a configuration, the hair cutting device 100 can be miniaturized.

Further, for example, when the load amount detected by the load detection unit 70 exceeds the predetermined first threshold value th1, the control unit 40 increases the speed at the reciprocating center of the reciprocating motion of the mover 12. Change the control amount.

According to such a configuration, when the mover 12 (specifically, the inner blade 170 linked to the mover 12) cuts the hair 200, the control unit 40 is decelerated by applying a load to the mover 12. Even in such a case, the mover 12 can be accelerated immediately. This improves the responsiveness to the intermittent load applied to the mover 12 when the hair cutting device 100 cuts the hair 200.

Further, for example, when the load amount detected by the load detection unit 70 falls below the predetermined second threshold value th2, the control unit 40 controls the control amount so that the speed of the reciprocating center of the mover 12 becomes small. change.

According to such a configuration, the control unit 40 abruptly attenuates the load applied when the mover 12 cuts the hair 200, and even when the mover 12 is abruptly accelerated, the mover 12 The speed can be attenuated gently. As a result, the responsiveness to the intermittent load applied to the mover 12 when the hair 200 is cut by the hair cutting device 100 is further improved.

Further, for example, the control unit 40 further acquires an output value of the control amount from the linear actuator 10, and based on a second feedback control amount calculated from a predetermined target value with respect to the acquired output value. Change the control amount.

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

(Other embodiments)
The body hair cutting device according to the present embodiment has been described above based on the above embodiment, but the present invention is not limited to the above embodiment.

In the above embodiment, all or a part of the components such as the control unit 40 may be configured by dedicated hardware, or may be realized by executing a software program suitable for each component. good. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as an HDD (Hard Disk Drive) or a semiconductor memory. good.

Further, the components such as the control unit 40 may be composed of one or a plurality of electronic circuits. The one or more electronic circuits may be general-purpose circuits or dedicated circuits, respectively.

The one or more electronic circuits may include, for example, a semiconductor device, an IC (Integrated Circuit), an LSI (Large Scale Integration), or the like. The IC or LSI may be integrated on one chip or may be integrated on a plurality of chips. Although it is called an IC or LSI here, the name changes depending on the degree of integration, and it may be called a system LSI, a VLSI (Very Large Scale Integration), or a ULSI (Ultra Large Scale Integration). Further, FPGA (Field Programmable Gate Array) programmed after manufacturing the LSI can also be used for the same purpose.

In addition, general or specific aspects of the present invention may be realized by a system, an apparatus, a method, an integrated circuit or a computer program. Alternatively, it may be realized by a computer-readable non-temporary recording medium such as an optical disk, an HDD, or a semiconductor memory in which the computer program is stored. Further, it may be realized by any combination of a system, an apparatus, a method, an integrated circuit, a computer program and a recording medium.

In addition, it is realized by arbitrarily combining the components and functions in each embodiment within the range obtained by applying various modifications to each embodiment and the gist of the present invention. Forms are also included in the present invention.

The present invention can be used for electric hair clippers, electric razors, etc. that cut hair.

10 Linear actuator 11 Stator (first magnetic block)
11a winding 12 mover (second magnetic block)
12a Permanent magnet 13 Frame 14 Spring 20 Power supply 21 Constant voltage power supply 30 Drive circuit 40 Control unit 41 Fluctuation control unit 42 Control output unit 43 Addition unit 44 Memory 50 Microcomputer 60 Drive amount detection unit 70 Load detection unit 80 Filter unit 90 Detection circuit 91 Amplifier circuit 92, 93 Comparison circuit 100 Body hair cutting device 110 Main body 120 Grip part 130 Power switch 140 Display part 150 Head part 160 Outer blade 161 Blade hole 170 Inner blade 200 Body hair 210 Skin surface A, B, C, D section Id drive current th1 first threshold th2 second threshold

Claims (5)

It has a first magnetic block and a second magnetic block in which a blade for cutting body hair is interlocked, and one of the first magnetic block and the second magnetic block is an electromagnet and the other is permanent. A linear actuator that is a magnet or an electromagnet,
A control unit that reciprocates the second magnetic block by controlling a control amount that is a voltage value or a current value that energizes the linear actuator.
It is provided with a load detecting unit that detects the amount of load applied to the second magnetic block when the blade cuts the body hair at each cycle in the reciprocating motion of the second magnetic block.
The control unit changes the control amount based on the first feedback control amount based on the load amount detected by the load detection unit .
Further, a drive amount detecting unit that detects at least one of the displacement, velocity, and acceleration of the second magnetic block as a drive amount is provided.
The drive amount detecting unit detects the drive amount for each cycle in the reciprocating motion of the second magnetic block.
The load detection unit is a hair cutting device that detects the load amount for each cycle in the reciprocating motion of the second magnetic block from the drive amount and the control amount detected by the drive amount detection unit. The hair cutting device according to claim 1 , wherein the drive amount detecting unit detects an induced electromotive force generated by the reciprocating motion of the second magnetic block as the drive amount. When the load amount detected by the load detection unit exceeds a predetermined first threshold value, the control unit increases the speed at the reciprocating center of the reciprocating motion of the second magnetic block. The hair cutting device according to claim 1 or 2 , wherein the control amount is changed. When the load amount detected by the load detection unit falls below a predetermined second threshold value, the control unit controls the control amount so that the speed of the reciprocating center of the second magnetic block becomes small. The hair cutting device according to any one of claims 1 to 3. The control unit further acquires an output value of the control amount from the linear actuator, and controls the control based on a second feedback control amount calculated from a predetermined target value with respect to the acquired output value. The hair cutting device according to any one of claims 1 to 4, wherein the amount is changed.

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