WO2018195725A1

WO2018195725A1 - Simulated organ and control method therefor

Info

Publication number: WO2018195725A1
Application number: PCT/CN2017/081716
Authority: WO
Inventors: 胡建坤; 罗登宏
Original assignee: 胡建坤
Priority date: 2017-04-24
Filing date: 2017-04-24
Publication date: 2018-11-01

Abstract

A simulated organ and a control method therefor, the simulated organ comprising a main body bracket, a drive assembly and a flexible sleeve. The drive assembly comprises a drive mechanism and a telescopic linkage rod mechanism; the drive mechanism is provided with a swinging arm which outputs a swinging motion, and the swinging arm is provided so as to swing about a fulcrum. The telescopic linkage rod mechanism is mounted on the swinging arm, and the swinging motion of the swinging arm drives the telescopic movement of the telescopic linkage rod mechanism. The telescopic linkage rod mechanism comprises at least one cross-linkage rod set, each cross-linkage rod set comprising two linkage rods, the two linkage rods being crossingly provided and hinged at an intersection. The drive mechanism outputs a swinging motion by means of the swinging arm, the swinging motion cooperating with the cross-linkage rod set to achieve a telescopic function well, while the swinging of the swinging arm further drives the telescopic linkage rod mechanism to swing in the radial direction of the flexible sleeve, thereby providing users with an enriched experience.

Description

Simulated organ and control method thereof

Technical field

The invention relates to a simulation article, in particular to a simulated organ and a control method thereof.

Background technique

Currently, existing artificial organs on the market are generally driven by a rotating electrical machine. Taking the male external genital organs as an example, the jitter is generally realized by an eccentric vibration motor, and the vibration of the hollow cup is much more, and only the rotation is controlled, and the vibration frequency is related to the rated speed of the motor, and the variation range is small. The direction of vibration is uncertain; and it can't be changed according to different users, nor can it change according to different states of users. This kind of rotating electric machine also has the disadvantages of large working current and short life, especially the abnormal working current at the time of starting and blocking, which also affects the safe use and life of the battery.

Summary of the invention

The invention mainly provides a simulated organ and a control method thereof.

According to a first aspect, an embodiment provides a simulated organ including a main body bracket, a driving assembly, and a flexible sleeve, the flexible sleeve being sleeved on the main body bracket and the driving assembly; the driving assembly being mounted on the main body bracket The drive component includes:

a driving mechanism, the driving mechanism has a swing arm for outputting a rocking motion, the swing arm is swinging around a swing arm shaft, and the swing arm shaft is a pivot point of the swing arm and is mounted on the main body bracket;

And a telescopic link mechanism, the telescopic link mechanism is mounted on the swing arm, the swing of the swing arm drives a telescopic movement of the telescopic link mechanism; the telescopic link mechanism comprises a drive link and at least two sets of cross link sets The cross-link set includes two links, the two links are arranged in an intersection and hinged at an intersection; the at least two sets of cross-link groups are hinged at the end of the link end, in the first position An articulated shaft of the intersection of two connecting rods in the cross-link group is mounted on the main body bracket; one end of the driving link is hinged on the swing arm, and the other end is hinged to a connecting rod end in the first cross-link group .

As a further alternative to the simulated organ, in the first cross-link set, a link that is not hinged to the drive link is fixed to the main body bracket.

As a further alternative to the simulated organ, in the first cross-link group, the hinge axes of the intersections of the two links are coaxial with the swing arm axis.

As a further alternative of the simulated organ, the telescopic link mechanism is two groups, which are juxtaposed on both sides of the swing arm, and between the two links of the two sets of telescopic link mechanisms Coaxial oscillation.

As a further alternative to the simulated organ, a collar is further included, the collar is sleeved on an outer circumference of the telescopic link mechanism, and the flexible sleeve is mounted on the collar.

As a further alternative to the simulated organ, the collar includes at least two half rings that snap onto the end hinge shaft of the link.

As a further alternative of the simulated organ, the half ring is provided with a receiving hole for accommodating the hinge shaft, and a limiting block for axially limiting the hinge shaft is disposed at the receiving hole.

As a further alternative of the simulated organ, the collar is provided with a convex structure and/or a concave structure, and the inner wall of the flexible sleeve is correspondingly provided with a concave structure and/or a convex structure to cooperate, thereby making a sleeve The ring drives the flexible sleeve to move.

As a further alternative to the simulated organ, the raised structure has a mushroom-shaped first projection, and the corresponding recessed structure has a corresponding first recess.

As a further alternative to the simulated organ, a connector is further included, the connector is mounted on an hinge shaft between two links of the last cross link group, and the connector is provided with a convex structure And/or the recessed structure, the inner wall of the flexible sleeve end portion is correspondingly provided with a recessed structure and/or a convex structure to form a detachable connection, so that the telescopic link mechanism can drive the flexible sleeve end portion to move when being extended and contracted.

As a further alternative to the simulated organ, the raised structure has a mushroom-shaped second projection, and the corresponding recessed structure has a mushroom-shaped second recess.

As a further alternative to the simulated organ, the connector has a guide slot that extends into a previous cross-link group adjacent to the last cross-link group to cause the guide slot to be stuck On the hinge axis between the two links in the previous cross link set.

As a further alternative of the simulated organ, the inner wall of the flexible sleeve is provided with a protrusion, and the protrusion is located on the rocking path of the swing arm, so that the swing arm hits the protrusion during the swinging process, causing the flexible sleeve to correspond. Vibration at the bulge.

As a further alternative to the simulated organ, the projection is a flexible tapered projection.

As a further alternative to the simulated organ, the flexible sleeve is provided with a raised structure in the circumferential direction for defining an effective use length together with the top end of the appliance.

As a further alternative of the artificial organ, the end of the main body bracket away from the telescopic link mechanism is provided with a limiting portion protruding toward the flexible sleeve, and the corresponding portion of the flexible sleeve is also provided with a convex convex sleeve. The male sleeve is sleeved on the limiting portion.

As a further alternative to the simulated organ, the drive mechanism includes an output swing a moving oscillating motor comprising a control unit, a coil for forming a magnetic field, and a permanent magnet for oscillating under a magnetic field, the swing arm being integrally connected with the permanent magnet, the alternating magnetic field generated by the coil being drivable The permanent magnet and the swing arm realize the reciprocating rocking motion.

As a further alternative of the simulated organ, the driving mechanism further includes a signal receiving unit, a heartbeat detecting unit and a signal sending unit, the signal receiving unit is connected to the control unit, and the heartbeat detecting unit is configured to detect the remote control The heartbeat rule of the device user, the signal sending unit is capable of establishing a communication connection with the signal receiving unit, and transmitting the detected heartbeat rule to the signal receiving unit.

A further optional embodiment of the simulated organ further includes a remote control device, the remote control device further comprising an instruction input unit, the heartbeat detection unit, the signal transmission unit and the control key unit being integrated in the remote control device, The signal transmitting unit transmits an instruction input unit signal to the signal receiving unit.

As a further alternative of the simulated organ, after receiving the heartbeat rule of the user, the control unit controls the swing motor to swing according to the user's heartbeat rule, including multiplying the swing frequency of the swing motor and the user's heartbeat frequency. The relationship and/or the oscillation frequency of the oscillating motor is periodically or randomly varied.

According to a second aspect, an embodiment provides a control method for simulating an organ, comprising:

Setting and/or receiving pulse parameters;

The control unit outputs a composite alternating pulse composed of a fourth alternating pulse and a fifth alternating pulse according to the pulse parameter, so that the swing arm reciprocates in a compound swing mode;

Wherein, the pulse width of the fourth alternating pulse is greater than or equal to the full swing maximum pulse width Tb; the frequency of the fourth alternating pulse is greater than 0, and less than or equal to the alternating pulse duty cycle is 100% full The amplitude of the amplitude swing minimum pulse width Tb is Fb, Fb = 1 / (2 * Tb);

The pulse width of the fifth alternating pulse is less than the full swing minimum pulse width Tb and greater than or equal to the swing minimum pulse width Td; the frequency of the fifth alternating pulse is greater than 0, and less than or equal to the alternating pulse When the space ratio is 100%, the frequency Fd corresponding to the minimum pulse width Td of the pendulum is Fd, Fd=1/(2*Td);

The fourth alternating pulse and the fifth alternating pulse form the composite alternating pulse in a form in which the positive and negative levels do not overlap each other in time series.

As a further alternative to the control method, the composite pulse is the trailing edge of each positive or negative pulse of the fourth alternating pulse, followed by a fifth alternating pulse until the next fourth The leading edge of the reverse pulse of the alternating pulse ends.

As a further alternative to the control method, the pulse parameters are set in the following manner:

Detecting and/or receiving a heartbeat frequency signal of the user;

The pulse parameter is set according to the heartbeat frequency signal such that the frequency of the alternating pulse is in correspondence with the heartbeat frequency.

According to the simulated organ of the above embodiment, the telescopic link mechanism includes at least one set of cross-link sets, each set of cross-link sets includes two links, and the two links are arranged in an intersection and hinged at the intersection. The driving mechanism outputs a rocking motion by the swing arm, and the rocking motion cooperates with the cross link group to realize the expansion and contraction function, and the swinging of the swing arm also drives the telescopic link mechanism to swing in the radial direction of the flexible sleeve, thereby giving Users bring a richer experience.

In particular, a heartbeat detecting unit can also be provided for the user's heartbeat detection, and according to the heartbeat control, the swing of the simulated organ can be automatically adapted to the user according to different users and different stages of use.

The variation of the simulated organ combination control method can also generate jitter when extending to the longest position or to the shortest position, giving the user a different experience.

The artificial organ can simulate male reproductive organs, artificial fingers, or other organs with elongation and bending function.

DRAWINGS

1 is a cross-sectional view showing a schematic view of an embodiment of a simulated organ of the present application;

Figure 2 is a schematic view showing the retracted and rocking state of the embodiment shown in Figure 1;

3 is a cross-sectional view of a telescopic link mechanism in an embodiment of a simulated organ of the present application;

Figure 4 is a schematic view showing the retracted and rocking state of the embodiment shown in Figure 3;

5 is a schematic structural view of a telescopic link mechanism and a collar in an embodiment of a simulated organ of the present application;

Figure 6 is a partial exploded view showing the structure of the embodiment shown in Figure 5;

Figure 7 is a partial schematic view showing the mounting structure of the half ring and the telescopic link mechanism in the embodiment shown in Figure 5;

Figure 8 is a cross-sectional view of a flexible sleeve in an embodiment of the simulated organ of the present application;

9 is a schematic view of a connector in an embodiment of a simulated organ of the present application;

Figure 10 is a schematic view showing the extended and rocking state of the embodiment shown in Figure 9;

11 is a schematic structural view of a heartbeat detecting unit in an embodiment of a simulated organ of the present application.

12 is a schematic structural view of a remote control device in another embodiment of the simulated organ of the present application;

13 is a schematic structural view of a band limiting portion in another embodiment of the simulated organ of the present application;

14 is a flow chart of a control method of a swing motor in an embodiment of the present application;

15 is a schematic diagram of setting pulse parameters in an embodiment of the present application;

Figure 16 (a) is an electrocardiogram of an embodiment, 16 (b), (c), (d), (e) are respectively configurable according to the electrocardiogram shown in Figure 16 (a) for swinging An example of an alternating pulse of a motor, where 16(b) is a double heart rate wobble signal, 16(c) is a wobble and wobble signal, 16(d) is a double heart rate wobble signal, and 16(e) is another wobble And jitter signals.

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings. Similar elements in different embodiments employ associated similar component numbers. In the following embodiments, many of the details are described in order to provide a better understanding of the application. However, those skilled in the art can easily realize that some of the features may be omitted in different situations, or may be replaced by other components, materials, and methods. In some cases, some operations related to the present application have not been shown or described in the specification, in order to avoid that the core portion of the present application is overwhelmed by excessive description, and those skilled in the art will describe these in detail. Related operations are not necessary, they can fully understand the relevant operations according to the description in the manual and the general technical knowledge in the field.

In addition, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can also be sequentially changed or adjusted in a manner that can be apparent to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of describing a particular embodiment, and are not intended to

The serial numbers themselves for the components herein, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any order or technical meaning. As used herein, "connected" or "coupled", unless otherwise specified, includes both direct and indirect connections (joining).

This embodiment provides a simulated organ that can realistically mimic the activity of an organ, particularly a male reproductive organ, a simulated finger, or other organ having an elongated bending function.

Referring to FIGS. 1 and 2, the simulated organ includes a flexible sleeve 100, a main body bracket 230, and a driving assembly. The driving assembly is mounted on the main body bracket, and the flexible sleeve 100 is sleeved on the main body bracket 230 and the driving assembly. The flexible sleeve 100 can be made of a material such as rubber or silica gel.

The drive assembly is capable of changing shape, achieving telescoping, up and down swinging, perimeter variation, and even rocking jitter.

The drive assembly includes a drive mechanism 210 and a telescoping linkage 220.

The main body bracket 230 is supported. The driving mechanism 210 is mounted on the main body bracket 230, and has a swing arm 211 for outputting a swinging motion. The swing arm 211 swings about a swing arm axis, and the swing arm shaft is a pivot point of the swing arm. Mounted on the main body bracket. The swing arm 211 is capable of completing a rocking motion about a fulcrum. The drive mechanism 210 may employ a swing motor or other drive mechanism capable of outputting a rocking motion.

The main body bracket 230 is normally held stationary, mainly causing expansion and contraction movements on one side of the telescopic link mechanism 220.

Referring to FIGS. 3 and 4, the telescopic link mechanism 220 is mounted on the swing arm 211, and the swing of the swing arm 211 drives the telescopic link mechanism 220 to telescopically move. The telescopic linkage 220 includes at least one set of cross-link sets 221, each set of cross-link sets 221 including two links that are disposed in an intersecting manner and hinged at an intersection; and the intersection of the first set of links The hinged shaft is mounted on the main body bracket. To simplify the mechanical structure, the intersection hinge axes of the first set of links are coaxial with the swing arm axis. Of course, the two links of the cross link set 221 may be cross-shaped into an X shape, or may be cross-shaped into a shape, for example, two links generally located in the last cross-connected link set 221 for easy connection with the flexible sleeve 100. , usually can be set to > shape.

The first end of the embodiment refers to the first position near the swing arm 211, and the side far from the swing arm 211 is the last position.

The driving mechanism 210 outputs a rocking motion by the swing arm 211. The rocking motion cooperates with the cross link group 221 to achieve a good telescopic function, and the swing of the swing arm 211 also drives the diameter of the telescopic link mechanism 220 in the flexible sleeve 100. Swinging, giving the user a richer experience.

Referring to FIGS. 3 and 4, in one embodiment, the telescopic linkage 220 further includes a drive link 222. The cross link set 221 is at least two groups, and the at least two sets of cross link sets 221 are sequentially end to end. Hinged, the hinge shaft 223 between the two

links

2211, 2212 in the first cross link set 221 is the fulcrum of the swing arm 211, and one end of the drive link 222 is hinged on the swing arm 211, and the other end is intersected with the first position. One of the links 2212 of the link set 221 is hinged.

Wherein, in the first cross link set 221, the link 2211 not hinged to the drive link 222 can also be fixedly mounted on the main body bracket 230, that is, the link 2211 is always maintained at a fixed position. This causes the link to undergo a change in upturn and a reduction in circumference during elongation. This The fixing of the connecting rod 2211 may be fixed by one of the hinge ends of the connecting rod end, or the connecting rod may be fixed, or the joint of the connecting rod 2211 and the next set of intersecting connecting rods may be hinged. The shaft is fixed, thereby simplifying omitting the link 2211.

Such an arrangement can enable the swing arm 211 to better drive the telescopic link mechanism 220, so that it can generate multi-directional movement, thereby driving the flexible sleeve 100 to produce more varied changes, that is, achieving expansion and contraction, swinging up and down, and varying circumference. Even the function of rocking jitter.

In order to ensure the smoothness of the movement of the telescopic link mechanism 220, referring to FIGS. 5 and 6, the telescopic link mechanism 220 can be arranged in two groups, which are juxtaposed on both sides of the swing arm 211, and the swing arm 211 simultaneously drives the two groups. Telescopic linkage 220. At the same time, the corresponding rotating shafts of the two sets of telescopic link mechanisms 220 are all of the same rotating shaft, that is, the two parallel connecting rods are coaxially oscillated at the joint.

On the other hand, the flexible cover 100 can be directly mounted to the main body bracket and the telescopic link mechanism 220.

Alternatively, a collar may be included, the collar being sleeved on the outer circumference of the telescopic linkage 220, and the flexible sleeve 100 is mounted on the collar. The collar may be more than one. The provision of the collar facilitates the design of the assembly structure on the flexible sleeve 100 and the collar, while facilitating the retention of the flexible sleeve 100 in a relatively rigid cylindrical shape.

Referring to Figures 5 and 6, in one embodiment, the collar includes at least two

half rings

310, 320 that combine to form a collar.

The half rings 310, 320 are snapped onto the hinged shaft of the connecting rod. As shown in FIG. 7, a receiving hole 311 for accommodating the hinge shaft may be disposed on the half ring 310 (or 320), and a limiting block for axially limiting the hinge shaft is disposed at the receiving hole 311. 312.

In addition, a limiting slot 313 can be disposed on the half ring, and the rotating shaft of the connecting rod is received in the limiting slot 313 to prevent the half ring from shaking relative to each link.

The flexible sleeve 100 can be mounted on the collar by a detachable structure, which facilitates the cleaning or maintenance of the internal structure; it is also convenient to replace the flexible sleeve of the same or different thickness so that the outer circumference of the outer diameter does not change or become smaller. Of course, the flexible sleeve 100 can also be mounted on the collar in a non-detachable manner to form a permanent fixation.

For example, the collar may be provided with a convex structure and/or a concave structure, and the inner wall of the flexible sleeve 100 is correspondingly provided with a concave structure and/or a convex structure for mate, and the detachable connection is formed by the convex structure and the concave structure. So that the collar drives the flexible sleeve 100 to move.

Referring to Figures 5 and 8, in one embodiment, the raised structure has a mushroom-shaped first The protrusion 110 has a corresponding recessed structure having a corresponding second recess 330, and the second recess 330 may be an inverted tapered circular hole.

In FIGS. 5 and 8, the first boss 110 is disposed on the inner wall of the flexible sheath 100, and the second recess 330 is disposed on the outer wall of the collar.

Of course, in other embodiments, the positions of the first protrusions 110 and the second pits 330 may also be used in a coordinated or combined manner. The convex structure and the concave structure may have other shape selections, which will not be repeated here.

On the other hand, in order to provide better followability of the flexible sleeve 100, as shown in Figures 9 and 10, in one embodiment, a connector 224 may also be included, the connector 224 being mounted at the last intersection. The hinge shaft 225 between the two links of the rod set 221b can be telescopically moved with the telescopic link mechanism 220.

The connecting head 224 is provided with a convex structure and/or a concave structure, and the inner wall of the end portion of the flexible sleeve 100 is correspondingly provided with a concave structure and/or a convex structure to form a detachable connection, so that the telescopic link mechanism 220 can be driven when being extended and contracted. The end of the flexible sleeve 100 moves.

With continued reference to FIGS. 9 and 10, in one embodiment, the raised structure can have a mushroom-shaped second projection 2241 having a mushroom-shaped second recess 120. The second protrusion 2241 can extend into the mushroom-shaped second recess 120 to form a detachable tight fit. Of course, in other embodiments, the positions of the second protrusion 2241 and the second pit 120 may also be used interchangeably or in combination. The convex structure and the concave structure may have other shape selections, which will not be repeated here.

Further, with continued reference to FIGS. 9 and 10, in one embodiment, the connector 224 has a channel 2242 that extends to a previous cross-link adjacent the last-most cross-link set 221. In the group 221, the guide groove 2242 is caught on the hinge shaft 226 between the two links in the previous cross link group 221, thereby ensuring that the movement of the joint 224 can be maintained with the hinge shaft of the telescopic link mechanism 220. In the same direction, the connector 224 is prevented from shifting during motion.

Referring to FIGS. 8-10, in an embodiment, the inner wall of the flexible sleeve 100 is provided with a protrusion 130 which is located on a rocking path of at least one side of the swing arm 211, so that the swing arm 211 is rocking. The middle impact bump 130 causes the corresponding position of the flexible sleeve 100 to cause a jump.

The protrusion 130 can be provided as a flexible tapered protrusion 130 or other shape. The vibration generated by the swing arm 211 striking the protrusion 130 can form a rapid jump at a corresponding position outside the flexible sleeve 100, and cooperate with other movements of the upper implement to make the whole appliance produce rich changes during the movement. It gives users a variety of touches.

Further, the elastic sleeve is provided with a convex structure in the circumferential direction for defining an effective use length together with the top end of the appliance, that is, from the convex position of the convex structure to the top end of the appliance (the end of the telescopic link mechanism 220) Effective use of length.

Referring to FIG. 13 , in one embodiment, one end of the main body bracket 230 away from the telescopic link mechanism 220 is provided with a limiting portion 231 protruding toward the outer periphery of the flexible sleeve 100 . The corresponding portion of the flexible sleeve 100 is also provided with a convex portion. The boss 140 is sleeved on the limiting portion 231. The limiting portion 231 and the boss 140 define an effective use length in the axial direction of the flexible sleeve 100, that is, from the protruding position of the limiting portion 231 and the convex portion 140 to the top end of the device (ie, the right end of the structure shown in FIG. 13) For effective use of length.

The limiting portion 231 and the convex sleeve 140 may be one or more, and when the number thereof is plural, they may be uniformly or unevenly arranged in the circumferential direction of the flexible sheath 100.

In addition, the limiting portion 231 and the convex sleeve 140 may also be a complete circular shape, and a complete circular convex structure is formed on the circumference of the flexible sleeve 100.

In other embodiments, the main body bracket 230 may not be provided with the limiting portion 231, and the solid sleeve may be directly disposed on the flexible sleeve 100. The shape of the solid protrusion may be a block shape or a circular protrusion as described above. The number may be one or two or more.

On the other hand, referring to Fig. 11, in one embodiment, the drive mechanism 210 includes a swing motor that outputs an oscillating motion, the oscillating motor including a control unit 212, a coil 213 for forming a magnetic field, and for swinging under a magnetic field. The permanent magnet 214, the swing arm 211 is integrally connected with the permanent magnet 214, and the alternating magnetic field generated by the coil 213 can drive the permanent magnet 214 and the swing arm 211 to realize a reciprocating rocking motion.

The coil 213 is mounted on a U-shaped yoke 215, the U-shaped magnetic yoke 215 is mounted on the main body bracket 230, and the control unit 212 controls the coil 213 to generate an alternating magnetic field. The four permanent magnets 214 are mounted on the second yoke 216, and the second yoke 216 is simultaneously coupled to the swing arm 211, and the fulcrum shaft of the swing arm 211 is mounted on the main body bracket 230. The four permanent magnets 214 realize a reciprocating rocking motion under the control of the magnetic field of the coil 213, thereby driving the swing arm 211 to swing around the fulcrum.

The advantage of using the above oscillating motor is that each leg of the U-shaped yoke corresponds to two permanent magnets, and the design of the permanent magnet redundancy is larger than that of the rotating electric machine of the same power, and the magnetic flux is large, and the driving power is correspondingly The decrease. The motor directly drives the telescopic link mechanism, does not need a cam mechanism or an eccentric link structure, has low noise, long service life, small and stable driving current, and does not have a large current like a rotating electric machine, and the current does not change much when the pendulum is blocked. The swing frequency does not change with resistance It can be powered by a rechargeable battery, which is convenient for portability design and makes the battery safer and more durable.

Moreover, the swing motor can directly control the swing and swing frequency of the swing arm through the input electrical signal, and can quickly change the vibration frequency of the appliance, so that the vibration frequency of the appliance can be richly changed, which gives the user a tactile enjoyment and Existing appliances have significant differences.

The control unit 212 is simultaneously connected with a control switch 2121 to control the operating state of the swing motor. In addition to this, a charging unit 2122, a rechargeable battery unit 2123, and a signal indicating unit 2124 are connected to realize various basic functions.

Further, the driving mechanism 210 may further include a signal receiving unit 2125, a heartbeat detecting unit 410, and a signal sending unit 420. The signal receiving unit 2125 is connected to the control unit 212, and the heartbeat detecting unit 410 is configured to detect a user's heartbeat rule, and the signal sending unit The 420 can establish a communication connection with the signal receiving unit 2125 to transmit the detected heartbeat rule to the signal receiving unit 2125.

The heartbeat detecting unit 410 can adopt various sensors capable of realizing heartbeat detection. The heartbeat rule detected by the heartbeat detecting unit 410 may be a heartbeat frequency or other object.

The heartbeat detecting unit 410 and the signal transmitting unit 420 may be integrated on one remote control device 400. In addition, the remote control device 400 further includes an instruction input unit 430 integrated with the heartbeat detection unit 410 and the signal transmission unit 420 at the remote control device 400, and the signal transmission unit signals the instruction input unit 430 to the signal. Receiving unit. The distal control device 400 can be provided in various forms such as a wristband, and can be worn on a human body to detect a heartbeat, such as a wrist, a chest, a neck, and the like.

The communication between the signal receiving unit 2125 and the signal transmitting unit 420 can be implemented in a wireless and/or wired manner. In order to improve convenience, it is preferable to adopt a wireless communication method.

When the control unit 212 receives the heartbeat rule of the user, the control swing motor is oscillated according to the user's heartbeat rule. Referring to FIG. 16, the adjustment of the swing motor by the control unit 212 includes multiplying the swing frequency of the swing motor with the user's heartbeat frequency and/or periodically or randomly changing the swing frequency of the swing motor; and adjusting the heartbeat as needed. The phase difference between the swing and the swing.

The heartbeat regular signal can also be directly processed into the drive signal required by the swing motor in the remote control device 400, and sent to the control unit 212 to drive the motor to swing.

The multiple relationship can be either an integer multiple or a non-integer multiple. The multiple relationship can be either greater than one or less than or equal to one. The multiple relationship can be maintained at the same multiple from beginning to end, or different times can be set in different time periods, for example, a heart can be used. A combination of a low-multiplier frequency and a high-frequency heartbeat to drive the motor to oscillate.

For example, as shown in FIG. 16(a), the oscillation frequency of the swing motor can be set to an alternating pulse of a double heart rate swing frequency as shown in FIG. 16(b) or 16(d). The alternating pulse of the double heart rate swing frequency, or the swing frequency of the swing motor can be set to the composite alternating pulse as shown in FIG. 16(c), wherein the composite alternating pulse of FIG. 16(c) is composed of one Double heart rate swing frequency and pulse width can make the motor make alternating pulse of full swing or sub-swing, and several alternating pulses that make the motor shake in situ. The full swing, the second swing and the in-situ shake will be explained in detail below.

Further, when the control unit 212 specifically controls the swing motor, it outputs an alternating pulse having a corresponding pulse width and frequency according to the set and/or received pulse parameters, so that the swing arm 211 swings corresponding to the pulse parameter. The mode is swung. The swing mode includes at least one of a full swing mode, a second swing mode, an in-situ dither mode, and a composite swing mode. The composite swing mode is composed of a full swing mode and an in situ jitter mode; or the composite swing mode is composed of a secondary swing mode and an in situ jitter mode.

Full swing: refers to the swing motor or swing arm 211 swinging back and forth with maximum swing; for example, swing arm 211 in FIG. 1 is swung in one direction to the maximum swing position, and swing arm 211 is oriented in FIG. Swing in the opposite direction to the position of the maximum swing.

Secondary swing: Refers to the swing motor or swing arm 211 swinging back and forth with an amplitude smaller than the maximum swing.

When the above two kinds of oscillations are constant under the conditions of load, voltage and control pulse frequency, the swing is center-symmetrical.

In-situ jitter: refers to the swing motor or swing arm 211 swinging back and forth with a small swing at a stable position. In the actual process, in order to distinguish between in-situ jitter and amplitude swing, the swing center is less than the full swing, and pushes to the maximum swing to swing back to the center symmetrically, defining it as the second swing; Pushing to the maximum swing position does not return to the center by itself, swinging slightly in situ, defining it as in-situ jitter.

For a swing motor, when it is applied in a specific occasion or is made into a specific electric appliance, there is a corresponding full swing swing minimum pulse width Tb and its corresponding frequency Fb, full swing swing maximum alternating pulse frequency Fa, the minimum pulse width Td and its corresponding frequency Fd, these parameters are explained below.

The alternating pulse is composed of a forward pulse and a corresponding reverse pulse, and the pulse width of the alternating pulse refers to the width of its forward pulse or reverse pulse. For example, an alternating pulse, first Is a positive level of 2ms, followed by a zero level of 3ms, followed by a negative level of 2ms, followed by a zero level of 3ms, thus forming a complete alternating pulse, the pulse width of the alternating pulse is The width of its forward or reverse pulse, ie 2ms.

When the control unit 212 gives the coil 213 a forward pulse or a reverse pulse so that the swing arm 211 can swing to the maximum swing position, there is a minimum pulse width, and only the forward pulse/reverse pulse pulse in the alternating pulse When the width is greater than or equal to the minimum pulse width, the swing arm 211 can be driven to the maximum swing position. Otherwise, the swing arm 211 cannot be driven to the maximum swing position, and the minimum pulse width is defined as The full swing swings the minimum pulse width Tb. The frequency Fb corresponding to the minimum swing pulse width Tb of the full swing swing refers to the full swing swing when the alternating pulse duty ratio is 100% and the pulse width of the forward pulse/reverse pulse is equal to the frequency of the full swing swing minimum pulse width Tb. Therefore, it can be calculated that the period of the alternating pulse at this time is 2*Tb, and therefore the frequency of the alternating pulse at this time is Fb=1/(2*Tb).

When the control unit 212 gives the coil 213 an alternating pulse having a pulse width greater than or equal to the full swing maximum pulse width Tb, except that the swing arm 211 swings to the maximum swing position each time the reciprocating swing occurs, When the alternating pulse frequency is increased, there may be another case where the swing arm 211 has not reached the maximum swing position during the swing to the maximum swing position, and the reverse pulse has already arrived. The swing arm 211 is caused to start the reverse swing again without reaching the maximum swing position. At this time, there is a maximum frequency of such an alternating pulse. When the frequency of the alternating pulse is less than or equal to the maximum frequency, the swing arm 211 can smoothly reciprocate to the maximum swing position, when the frequency of the alternating pulse is greater than the At the maximum frequency, the swing arm 211 cannot swing back and forth to the maximum swing position, that is, the swing arm has not yet swung to the maximum swing position, and the swing arm is reversely swung, that is, the motion of reciprocating swing is performed with an amplitude smaller than the maximum swing. Such a maximum frequency is defined as the above-mentioned full-width swing maximum alternating pulse frequency Fa.

In summary, when the pulse width of the alternating pulse is ≥ full swing amplitude minimum pulse width Tb, if the frequency of 0<alternating pulse ≤ full swing swing maximum alternating pulse frequency Fa, the swing arm 211 is in the form of full swing Reciprocating swing; if the full swing swing maximum alternating pulse frequency Fa < the frequency of the alternating pulse ≤ frequency Fb, the swing arm 211 swings back and forth in the form of a second swing. In both cases, since the pulse width of the alternating pulse is constant, the output torque is stable regardless of the frequency.

When the pulse width of the alternating pulse is less than the full swing maximum pulse width Tb, the electromagnetic force generated by the alternating pulse driving coil 213 is insufficient to drive the swing arm 211 to swing back to the maximum swing position. At the same time, there is a minimum pulse width for swinging the swing arm 211. Only when the pulse width of the alternating pulse is larger than the minimum pulse width that can be swung, the swing arm 211 can be driven to swing, otherwise the swing arm 211 is stopped in place. Because the electromagnetic force generated by the alternating pulse driving coil 213 is insufficient to drive the swing arm 211 to start swinging, the minimum pulse width that can be swung is defined as the above-mentioned minimum swing pulse width Td; correspondingly, it can be calculated and transformed. When the pulse duty ratio is 100%, the frequency Fd corresponding to the minimum pulse width Td of the pendulum is Fd, Fd=1/(2*Td).

When the pendulum minimum pulse width Td < the pulse width of the alternating pulse < the full swing maximum pulse width Tb, and 0 < the frequency of the alternating pulse ≤ the frequency Fd, the swing arm 211 is stopped with a very small swing. The position is reciprocally oscillated, which is referred to as a swing arm that reciprocates in the form of in-situ shaking.

Therefore, the law of the alternating pulse for the oscillating motor is as shown in Table (1):

Table 1)

Here, the present application proposes a control method for the swing motor of the artificial organ. Referring to FIG. 14, the control method may include steps S10-S30, which are specifically described below.

Step S10: Setting/receiving pulse parameters, for example, setting/receiving pulse parameters according to a specific application. The step of setting/receiving the pulse parameter can be preset when the swing motor application is determined, or can be set manually by the user or received a detection signal (wired or remotely set, or set according to the sensor signal), or It is automatically set by the swing motor according to the load, and so on. In an embodiment, referring to FIG. 15, step S10 includes step S12 and step S13. In an embodiment, step S11 may also be included.

Step S11: detecting a heartbeat frequency signal of the user. For example, the heartbeat frequency signal of the user is detected by the heartbeat detecting unit 410 or the like described above.

Step S12: Receive a heartbeat frequency signal of the user.

Step S13: setting a pulse parameter according to the heartbeat frequency signal, so that the frequency of the alternating pulse is in a corresponding relationship with the heartbeat frequency. For example, the correspondence may be an integer multiple relationship, that is, the frequency of the alternating pulse is an integer multiple of the heartbeat frequency.

The invention can make the swing frequency of the swing motor correspond to the heartbeat frequency according to the heartbeat sensing signal, and follow the change of the heartbeat, so that the swing can be better applied to the human body or the living The object, or the person or creature, feels better about the swing.

Step S30: The control unit 212 outputs an alternating pulse having a pulse width corresponding to the pulse width and the frequency according to the set pulse parameter, so that the swing arm 211 swings in the swing mode corresponding to the pulse parameter.

In an embodiment, the control unit 212 outputs a first alternating pulse in step S30, so that the swing arm 211 swings back and forth in a full swing mode; wherein the pulse width of the first alternating pulse is greater than or equal to the minimum swing. The pulse width Tb; the frequency of the first alternating pulse is greater than zero and less than or equal to the full swing maximum resonant pulse frequency Fa. In an embodiment, the control unit 212 increases the frequency of the output first alternating pulse to speed up the swinging of the swing arm 211 and stabilize the torque.

In an embodiment, the control unit 212 outputs a second alternating pulse in the step S30, so that the swing arm 211 swings back and forth in the second swing mode; wherein the pulse width of the second alternating pulse is greater than or equal to the minimum swing swing. Pulse width Tb; the frequency of the second alternating pulse is greater than the maximum alternating pulse frequency Fa of the full-width swing, and is less than or equal to the frequency Fb corresponding to the minimum pulse width Tb of the full-width swing when the alternating pulse duty ratio is 100%, Fb= 1/(2*Tb). In one embodiment, control unit 212 increases the frequency of the output second alternating pulse to reduce the amplitude of swinging arm 211, but the torque variation is small, i.e., substantially constant.

In an embodiment, when the control unit 212 outputs the first alternating pulse or the second alternating pulse in step S30, if the power supply voltage of the swing motor becomes smaller or the load of the swing motor becomes larger, the output of the control unit 212 is increased. The pulse width of the alternating pulse, which helps to maintain the stability of the torque or swing of the oscillating motor.

In an embodiment, the control unit 212 outputs a third alternating pulse in step S30 to swing the swing arm 211 in the in-situ dither mode; wherein the pulse width of the third alternating pulse is less than the full swing minimum pulse width Tb And greater than or equal to the swing minimum pulse width Td; the frequency of the third alternating pulse is greater than 0, and less than or equal to the frequency of the minimum pulse width Td of the swinging pulse when the alternating pulse duty ratio is 100%, Fd=1 /(2*Td). In an embodiment, the control unit 212 increases the pulse width of the output third alternating pulse to increase the amplitude of the swing arm 211 swing.

In an embodiment, the control unit 212 outputs a composite alternating pulse composed of a fourth alternating pulse and a fifth alternating pulse in step S30 to swing the swing arm in a compound swing mode; wherein the fourth alternating The pulse width of the pulse is greater than or equal to the full swing maximum pulse width Tb; the pulse width of the fifth alternating pulse is less than the full swing minimum pulse width Tb, and is greater than or Is equal to the minimum pulse width Td of the pendulum; the frequency of the fifth alternating pulse is greater than 0, and is less than or equal to the frequency Fd of the pendulum minimum pulse width Td when the duty ratio of the alternating pulse is 100%, Fd=1/(2* Td); the fourth alternating pulse and the fifth alternating pulse form a composite alternating pulse in a form in which the positive and negative levels do not overlap each other in time series, and refer to the forward and reverse pulses of the fourth alternating pulse. A fifth alternating pulse is added in the middle, and the fifth alternating pulse does not overlap with the forward and reverse pulses of the fourth alternating pulse in time series. The composite waveform shown in Fig. 16 (c) (e).

In an embodiment, the control unit 212 outputs a composite alternating pulse in step S30, such as the composite waveform shown in FIG. 16(c), wherein the trailing edge of each positive or negative pulse of the fourth alternating pulse follows a segment. The fifth alternating pulse is until the leading edge of the reverse pulse of the next fourth alternating pulse ends. In this way, the simulated organ can generate the telescopic swing of the low-frequency of the heartbeat, and at the same time, the jitter of the high-multiple frequency of the heartbeat can be generated when the telescopic swinging to the front-rear position, that is, the jitter can be generated simultaneously when extending to the longest position or to the shortest position. . These actions are all achieved by the oscillating motor.

When the vibration of the appliance can change according to the heartbeat of the user, it can give the user a more realistic feeling, and more effectively stimulate the user, bringing a completely different pleasure mood. Really adapt to the user according to different heartbeats according to different users and different stages of use.

The invention has been described above with reference to specific examples, which are merely intended to aid the understanding of the invention and are not intended to limit the invention. Variations to the above-described embodiments may be made in accordance with the teachings of the present invention.

Claims

A simulated organ, comprising: a main body bracket, a driving assembly and a flexible sleeve, the flexible sleeve being sleeved on the main body bracket and the driving assembly; the driving assembly being mounted on the main body bracket, the driving assembly comprising:

a driving mechanism, the driving mechanism has a swing arm for outputting a rocking motion, the swing arm is swinging around a swing arm shaft, and the swing arm shaft is a pivot point of the swing arm and is mounted on the main body bracket;

And a telescopic link mechanism, the telescopic link mechanism is mounted on the swing arm, the swing of the swing arm drives a telescopic movement of the telescopic link mechanism; the telescopic link mechanism comprises a drive link and at least two sets of cross link sets The cross-link set includes two links, the two links are arranged in an intersection and hinged at an intersection; the at least two sets of cross-link groups are hinged at the end of the link end, in the first position An articulated shaft of the intersection of two connecting rods in the cross-link group is mounted on the main body bracket; one end of the driving link is hinged on the swing arm, and the other end is hinged to a connecting rod end in the first cross-link group .
The simulated organ according to claim 1, wherein in the first cross-link group, the link that is not hinged to the drive link is fixed to the main body bracket.
The simulated organ according to claim 1, wherein in the first cross-link group, the hinge axes of the intersections of the two links are coaxial with the swing arm axis.
The simulated organ according to claim 1, wherein the telescopic link mechanism is two sets, which are juxtaposed on both sides of the swing arm, and between the two links of the two sets of telescopic link mechanisms Coaxial oscillation.
A simulated organ according to claim 1, further comprising a collar, said collar being sleeved on an outer circumference of the telescopic linkage, said flexible sleeve being mounted on the collar.
The simulated organ of claim 5 wherein said collar includes at least two half rings that snap onto the end hinge shaft of the link.
The simulated organ according to claim 6, wherein the half ring is provided with a receiving hole for accommodating the hinge shaft, and a limit for axially limiting the hinge shaft is disposed at the receiving hole. Piece.
The artificial organ according to claim 5, wherein the collar is provided with a convex structure and/or a concave structure, and the inner wall of the flexible sleeve is correspondingly provided with a concave structure and/or a convex structure for cooperation. Thereby, the collar drives the flexible sleeve to deform and move.
The simulated organ of claim 8 wherein said raised structure has a mushroom-shaped first projection and said corresponding recessed structure has a corresponding first recess.
A simulated organ according to claim 1, further comprising a connector mounted on an articulated shaft between the two links of the last cross-link group, said connector being provided with a convex structure and/or a recessed structure, the inner wall of the flexible sleeve end portion is correspondingly provided with a recessed structure and/or a convex structure to form a detachable connection, so that the telescopic link mechanism can drive the flexible sleeve end portion to move when being extended and contracted .
A simulated organ according to claim 10, wherein said convex structure has a mushroom-shaped second projection, and the corresponding concave structure has a mushroom-shaped second recess.
The simulated organ according to claim 10, wherein said connector has a guide groove extending into a preceding cross-link group adjacent to the last-most cross-link group, The slot is snapped onto the hinged shaft between the two links in the previous cross-link set.
The artificial organ according to claim 1, wherein the inner wall of the flexible sleeve is provided with a protrusion, and the protrusion is located on a rocking path of the swing arm, so that the swing arm hits the protrusion during the swinging process, causing The flexible sleeve corresponds to the vibration at the projection.
The simulated organ of claim 13 wherein said projection is a flexible tapered projection.
A simulated organ according to any one of claims 1 to 14, wherein the flexible sleeve is provided with a convex structure in the circumferential direction for defining an effective use length together with the top end of the appliance.
The simulated organ according to claim 19, wherein one end of the main body bracket away from the telescopic link mechanism is provided with a limiting portion that protrudes toward the flexible sleeve, and the corresponding portion of the flexible sleeve is also provided with a convex portion. a boss sleeve that is sleeved on the limiting portion.
A simulated organ according to any one of claims 1 to 14, wherein said drive mechanism includes a swing motor that outputs an oscillating motion, said oscillating motor including a control unit, a coil for forming a magnetic field, and a magnetic field The lower swinging permanent magnet is integrally connected with the permanent magnet, and the alternating magnetic field generated by the coil can drive the permanent magnet and the swing arm to realize the reciprocating rocking motion.
The simulated organ according to claim 17, wherein the driving mechanism further comprises a signal receiving unit, a heartbeat detecting unit and a signal transmitting unit, wherein the signal receiving unit is connected to the control unit, and the heartbeat detecting unit is configured to detect The heartbeat rule of the user, the signal sending unit is capable of establishing a communication connection with the signal receiving unit, and transmitting the detected heartbeat rule to the signal receiving unit.
A simulated organ according to claim 18, further comprising remote control The remote control device further includes an instruction input unit, the heartbeat detection unit, the signal transmission unit and the control key unit are integrated in the remote control device, and the signal transmission unit transmits the instruction input unit signal to the signal receiving unit .
The simulated organ according to claim 18, wherein the control unit controls the swing motor to swing according to the user's heartbeat law after receiving the user's heartbeat law, including the swing frequency of the swing motor and the user's heartbeat. The frequency is multiplied and/or the oscillation frequency of the oscillating motor is periodically or randomly varied.
A control method for a simulated organ according to any of claims 1-20, characterized in that the control method comprises:

Setting and/or receiving pulse parameters;

The control unit outputs a composite alternating pulse composed of a fourth alternating pulse and a fifth alternating pulse according to the pulse parameter, so that the swing arm reciprocates in a compound swing mode;

Wherein, the pulse width of the fourth alternating pulse is greater than or equal to the full swing maximum pulse width Tb; the frequency of the fourth alternating pulse is greater than 0, and less than or equal to the alternating pulse duty cycle is 100% full The amplitude of the amplitude swing minimum pulse width Tb is Fb, Fb = 1 / (2 * Tb);

The pulse width of the fifth alternating pulse is less than the full swing minimum pulse width Tb and greater than or equal to the swing minimum pulse width Td; the frequency of the fifth alternating pulse is greater than 0, and less than or equal to the alternating pulse When the space ratio is 100%, the frequency Fd corresponding to the minimum pulse width Td of the pendulum is Fd, Fd=1/(2*Td);

The fourth alternating pulse and the fifth alternating pulse form the composite alternating pulse in a form in which the positive and negative levels do not overlap each other in time series.
The control method according to claim 21, wherein said composite pulse is a trailing edge of each positive or negative pulse of the fourth alternating pulse, followed by a fifth alternating pulse until the next fourth alternating The leading edge of the reverse pulse of the pulse ends.
The control method according to claim 21, wherein said pulse parameter is set in the following manner:

Detecting and/or receiving a heartbeat frequency signal of the user;

The pulse parameter is set according to the heartbeat frequency signal such that the frequency of the alternating pulse is in correspondence with the heartbeat frequency.