WO2022217780A1 - 具有编码器及稳定装置的桶盖、垃圾桶和桶盖控制方法 - Google Patents

具有编码器及稳定装置的桶盖、垃圾桶和桶盖控制方法 Download PDF

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Publication number
WO2022217780A1
WO2022217780A1 PCT/CN2021/108518 CN2021108518W WO2022217780A1 WO 2022217780 A1 WO2022217780 A1 WO 2022217780A1 CN 2021108518 W CN2021108518 W CN 2021108518W WO 2022217780 A1 WO2022217780 A1 WO 2022217780A1
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WO
WIPO (PCT)
Prior art keywords
motor
encoder
cover
drive shaft
drive circuit
Prior art date
Application number
PCT/CN2021/108518
Other languages
English (en)
French (fr)
Inventor
廖劲生
卢伟堂
Original Assignee
江门市锦隆高科实业有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 江门市锦隆高科实业有限公司 filed Critical 江门市锦隆高科实业有限公司
Publication of WO2022217780A1 publication Critical patent/WO2022217780A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F1/00—Refuse receptacles; Accessories therefor
    • B65F1/14—Other constructional features; Accessories
    • B65F1/16—Lids or covers
    • B65F1/1623—Lids or covers with means for assisting the opening or closing thereof, e.g. springs
    • B65F1/1638—Electromechanically operated lids
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/168—Sensing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2613—Household appliance in general

Definitions

  • the present disclosure relates to the technical field of daily necessities, and in particular, to a bucket cover with an encoder and a stabilizing device, a trash can, a bucket cover control method, a motor driver and a non-transitory computer-readable storage medium.
  • Trash cans are widely used in households, factories or public places as containers for domestic or industrial waste. Trash cans can not only isolate industrial wastes that are harmful to the human body, prevent dust, poisonous gas, waste water and other industrial wastes from polluting the working environment, but also It can prevent bacteria and viruses attached to domestic garbage from spreading into the air. Collecting garbage through trash cans can make living and working environments clean, tidy and hygienic, and protect people's health.
  • the trash can with a bucket lid can better separate the garbage from the environment.
  • the opening methods of the bucket lid generally include manual, foot-operated and induction type, and manual trash cans with lids. It is necessary to open the bucket lid by hand, which poses a hygienic hidden danger.
  • the bucket lid is generally connected to the bucket body through a simple mechanical structure.
  • the opening or closing speed of the lid is unstable.
  • the lid When the lid is opened, if the lid is opened too fast, the barrel will shake, which will cause the garbage in the barrel to turn out and cause secondary pollution to the environment;
  • closing if the lid is closed too fast, under the fanning of the lid, It will accelerate the diffusion of the gas in the barrel to the surrounding environment and be inhaled by people near the trash can, which not only poses a hygienic hidden danger but also has a poor user experience;
  • the body is separated, and the garbage in the barrel leaks out from the gap between the lid and the barrel, causing pollution to the environment.
  • the present disclosure aims to solve at least one of the technical problems existing in the prior art.
  • the present disclosure proposes a bucket cover, a trash can, a bucket cover control method, a motor driver, and a non-transitory computer-readable storage medium with an encoder and a stabilizing device, which can avoid the garbage in the bucket from polluting the environment, and can improve the user's experience.
  • a casing provided with a cover, a first connecting seat and a second connecting seat;
  • a motor provided with an encoder, the motor is connected with the housing;
  • the first connecting seat is rotatably connected with the first end of the buffer, and the rotating shaft of the motor is connected with the first end of the buffer;
  • a drive shaft one end of the drive shaft is rotatably connected with the second connection seat, and the other end of the drive shaft is connected with the second end of the buffer;
  • a cover plate connected with the drive shaft, for covering the cover opening
  • a drive circuit is electrically connected to the motor and the encoder.
  • the bucket cover with an encoder and a stabilizing device of the present disclosure includes a casing, a motor, a buffer, a drive shaft, a cover plate and a drive circuit, and the casing is provided with a cover for throwing garbage, a first connection seat and a second connecting seat;
  • the motor is connected with the housing and fixed on the housing, and the motor is provided with an encoder for detecting the rotation speed and rotation angle of the motor;
  • the first end of the buffer is rotatably connected with the first connecting seat, and the first connecting seat makes
  • the buffer is fixed on the casing, the rotating shaft of the motor is connected with the first end of the buffer, and the buffer rotates under the driving of the motor; one end of the driving shaft is rotatably connected with the second connecting seat, and the other end of the driving shaft is connected with the buffer
  • the second end is connected, the second connecting seat and the buffer make the drive shaft fixed on the housing, and the drive shaft rotates around its own axis under the action of the buffer;
  • the cover plate is
  • the cover plate rotates and rotate, when the cover plate moves towards the direction of the cover opening and fits with the shell, the cover plate covers the cover opening, when the cover plate moves away from the cover opening, the cover opening is opened, and objects can pass through the cover opening from the casing.
  • One side is transferred to the other side of the casing; the driving circuit is electrically connected with the motor and the encoder, the driving circuit obtains the rotation speed and rotation angle of the motor according to the signal output by the encoder, and the driving circuit controls the rotation of the motor shaft.
  • the barrel cover with the encoder and the stabilizing device of the present disclosure detects the rotation speed and rotation angle of the rotating shaft of the motor through the encoder, and the drive circuit controls the movement speed of the cover plate according to the position of the cover plate, so as to achieve the purpose of opening and closing the cover smoothly ;
  • the rotating shaft of the motor drives the cover to rotate through the buffer
  • the buffer can increase the torque of the rotating shaft of the motor, and prevent the cover from slipping from the control of the motor under the action of its own gravity or inertia, and the buffer enables the motor to be controlled stably The cover plate moves.
  • the bucket cover with the encoder and the stabilizing device of the present disclosure can not only prevent the trash can from shaking violently due to the cover opening speed being too fast or unstable, and prevent the trash in the trash can from being turned out of the trash can;
  • the gas in the trash can is fanned to the external environment outside the trash can due to the fast or unstable closing speed of the cover plate; at the same time, under the combined action of the motor, encoder, drive circuit and buffer, the cover plate It can closely fit with the housing, and even when the trash can is placed obliquely, it can still ensure that the cover plate is fit with the housing to prevent garbage from falling out of the cover opening.
  • the bucket cover with the encoder and the stabilizing device of the present disclosure can effectively prevent the garbage in the trash can from polluting the environment, prevent the gas in the trash can from rushing to the user, improve the user experience, and protect the user's health.
  • the case includes a face case and a bottom case, the face case is provided with the cover, the first connection seat and the second connection seat, the face case is connected to the The bottom case is connected to form an accommodating cavity, and the first connecting seat, the second connecting seat, the motor, the buffer, the driving shaft and the driving circuit are arranged in the accommodating cavity.
  • a side of the bottom case away from the top case is provided with a battery compartment and a battery cover, the battery cover is connected to the bottom case, and the drive circuit is electrically connected to the battery compartment,
  • the face case is provided with a power switch, and the power switch is electrically connected with the battery compartment and the drive circuit.
  • a bearing seat is provided on one side of the cover plate, a first through hole is formed on the bearing seat, the drive shaft is penetrated through the first through hole, and the cover
  • the side of the plate close to the bearing seat is provided with a first inner stud
  • the bearing seat is provided with a first screw hole
  • the cover plate and the bearing seat pass through the first inner stud and the The first screw hole connection.
  • a second inner stud is disposed on a surface of the face shell close to the first connecting seat, a second screw hole is disposed on the first connecting seat, and the first connecting seat is connected to the first connecting seat.
  • the face shell is connected by the second inner stud and the second screw hole, the face shell close to the second connection seat is provided with a third inner stud, and the second connection seat is provided with a third inner stud
  • There is a third screw hole, the second connection seat and the face shell are connected through the third inner stud and the third screw hole to form a second through hole, and the drive shaft passes through the first hole.
  • the buffer includes a connection head, a first connection arm and a second connection arm
  • the connection head is provided with a third through hole
  • a side wall of the connection head is provided with a connection plate
  • the drive shaft passes through the third through hole
  • the connecting plate is drive-connected with one end of the first connecting arm
  • the other end of the first connecting arm is drive-connected with one end of the second connecting arm
  • the other end of the second connecting arm is provided with a connecting column
  • the first connecting seat is provided with a connecting hole
  • the connecting column is rotatably connected with the connecting hole
  • the rotating shaft of the motor is coaxial with the connecting column set up.
  • an end of the drive shaft close to the first connection seat is provided with a first torsion spring, the first torsion spring is arranged around the circumference of the drive shaft, the first torsion spring One end of the first torsion spring is in contact with the face shell, the other end of the first torsion spring is connected to the connecting head, and one end of the drive shaft close to the second connecting seat is provided with a second torsion spring and a drive plate, so The drive plate is connected to the side wall of the drive shaft, the second torsion spring is arranged around the circumference of the drive shaft, one end of the second torsion spring is in contact with the face shell, and the second torsion spring The other end of the spring is connected with the driving board.
  • a third torsion spring is disposed on the connecting column, the third torsion spring is disposed around the circumference of the connecting column, and a plurality of clamping grooves are disposed on the first connecting seat, One end of the third torsion spring is in contact with the slot, and the other end of the third torsion spring is connected to the second connecting arm.
  • the encoder is a magnetic ring encoder or a grating encoder.
  • a current detection module is further included, and the current detection module is electrically connected with the motor and the driving circuit.
  • a trash can includes a cylindrical body, a connecting frame, and a tub cover with an encoder and a stabilizing device according to the first aspect embodiment, the connecting frame is disposed along the circumferential direction of the casing and In connection with the casing, the casing and the connecting frame form a receiving groove, and one end of the cylinder body close to the cylinder opening is embedded in the receiving groove, and the cylinder opening communicates with the cover opening.
  • the trash can of the present disclosure includes a barrel body, a connecting frame and a barrel cover with an encoder and a stabilizing device according to the first aspect of the invention. It can play the role of covering the cylinder opening of the cylinder.
  • the motor drives the cover to move away from the cover, and the garbage enters the cylinder from the cover and the cylinder; when the cover moves toward the cover and fits with the casing, the cover It can prevent the garbage and smell in the cylinder from leaking to the outside of the cylinder, effectively block the pollution of garbage to the environment, and protect people's health.
  • the trash can of the present disclosure uses the bucket cover with the encoder and the stabilizing device according to the first aspect, which can not only prevent the cover plate from shaking violently due to the fast or unstable opening speed of the cover, but also avoid the garbage in the bucket. Being turned out of the cylinder, it can also prevent the gas in the cylinder from being fanned to the external environment outside the cylinder, which is caused by the fast or unstable closing speed of the cover; In addition, in the case that the trash can of the present disclosure is placed obliquely or thrown down, the garbage in the barrel will not be poured out of the barrel.
  • the trash can of the present disclosure can prevent the garbage in the barrel from polluting the environment again, prevent the gas in the barrel from rushing to the user and cause discomfort to the user, improve the user experience, and ensure the health of the user.
  • the barrel lid control method is applied to a barrel lid with an encoder and a stabilizing device
  • the barrel lid with an encoder and a stabilizing device includes a housing, a motor, a buffer, a drive shaft, and a cover board and drive circuit
  • the casing is provided with a cover, a first connection seat and a second connection seat
  • the motor is provided with an encoder
  • the motor is connected with the casing
  • the first connection seat is connected with the The first end of the buffer is rotatably connected, the rotating shaft of the motor is connected with the first end of the buffer, one end of the drive shaft is rotatably connected with the second connection seat, and the other end of the drive shaft is connected with the first end of the buffer.
  • the second end of the buffer is connected, the cover is connected to the drive shaft, and the drive circuit is electrically connected to the motor and the encoder;
  • the barrel cover control method includes:
  • the drive circuit obtains the encoded signal output by the encoder, and calculates the operating parameters of the motor
  • the drive circuit outputs a drive electrical signal to the motor according to the operating parameter
  • the motor drives the cover plate to rotate through the buffer and the drive shaft in response to the driving electrical signal.
  • a barrel lid with an encoder and a stabilizing device to which the barrel lid control method of the present disclosure is applied the drive circuit of which can obtain the rotation speed and rotation angle of the motor through the encoder, and control the running state of the motor according to the rotation speed and rotation angle of the motor,
  • the motor can drive the cover plate to rotate smoothly.
  • the bucket lid control method of the present disclosure can not only prevent the trash can from shaking violently due to the lid opening speed is too fast or unstable, but also can prevent the trash can from the trash can caused by the cover closing speed too fast or unstable.
  • the gas is fanned to the external environment other than the trash can, and in addition, the cover plate and the shell can be closely attached, and the garbage can be prevented from leaking from the gap between the cover plate and the shell when the trash can is placed at an angle, effectively Improve user experience and protect user health.
  • the operating parameters include a rotational speed and a rotational angle of the motor
  • the driving circuit outputs a driving electrical signal to the motor according to the operating parameters, including at least one of the following:
  • the drive circuit If the rotation angle is not equal to the angle preset value, and the rotation angle increases or decreases, the drive circuit outputs a rotational speed adjustment electrical signal to the motor;
  • the drive circuit If the rotation angle is not equal to the angle preset value, and the rotation angle remains unchanged, the drive circuit outputs a stop electric signal to the motor;
  • the drive circuit If the rotation angle is equal to the angle preset value, the drive circuit outputs the stop electric signal to the motor.
  • the drive circuit if the rotation angle is not equal to a preset angle value, and the rotation angle increases or decreases, the drive circuit outputs a rotational speed adjustment electrical signal to the motor, including at least one of the following :
  • the drive circuit When the rotational speed is equal to the speed preset value, the drive circuit outputs a rotational speed maintenance electrical signal to the motor;
  • the drive circuit When the rotation speed is greater than the preset speed value, the drive circuit outputs a deceleration electrical signal to the motor;
  • the drive circuit When the rotation speed is less than the preset speed value, the drive circuit outputs an acceleration electrical signal to the motor.
  • the barrel cover applied to the encoder and the stabilizing device further includes a current detection module, the current detection module is electrically connected to the motor and the drive circuit;
  • the barrel cover control method further includes:
  • the drive circuit obtains the current signal output by the current detection module and calculates the working current of the motor, and if the working current is greater than the current threshold, the drive circuit outputs a stop electric signal to the motor;
  • the drive circuit obtains the current signal output by the current detection module and calculates the working current of the motor. If the working current is less than or equal to the current threshold, the drive circuit outputs to the motor according to the operating parameter drive electrical signal.
  • a motor driver includes at least one processor for communicative connection with an encoder and at least one memory for communicative connection with the processor, wherein the memory stores information capable of being processed by the processor
  • the instructions are executed by the processor, and the instructions are executed by the processor, so that the processor can execute the barrel lid control method of the embodiment of the third aspect.
  • a non-transitory computer-readable storage medium stores computer-executable instructions for causing a computer to execute the third aspect
  • the barrel lid control method of the embodiment stores computer-executable instructions for causing a computer to execute the third aspect The barrel lid control method of the embodiment.
  • FIG. 1 is an overall schematic diagram of a barrel cover provided with an encoder and a stabilizing device according to an embodiment of the present disclosure
  • FIG. 2 is an exploded schematic view of a barrel cover provided with an encoder and a stabilizing device according to another embodiment of the present disclosure
  • FIG. 3 is an exploded schematic diagram of a buffer with an encoder and a barrel cover of a stabilizing device provided by another embodiment of the present disclosure
  • FIG. 4 is a schematic block diagram of a magnetic ring encoder with an encoder and a barrel cover of a stabilizing device provided by another embodiment of the present disclosure
  • FIG. 5 is a schematic block diagram of a grating encoder with an encoder and a barrel cover of a stabilizing device provided by another embodiment of the present disclosure
  • FIG. 6 is a schematic block diagram of a current detection module of a barrel cover with an encoder and a stabilizing device provided by another embodiment of the present disclosure
  • FIG. 7 is a schematic exploded view of a trash can provided by an embodiment of the present disclosure.
  • FIG. 8 is a schematic exploded view of a trash can provided by another embodiment of the present disclosure.
  • FIG. 9 is a schematic diagram of a barrel lid control method provided by an embodiment of the present disclosure.
  • FIG. 10 is a schematic diagram of a barrel lid control method provided by another embodiment of the present disclosure.
  • FIG. 11 is a schematic diagram of a barrel lid control method provided by another embodiment of the present disclosure.
  • FIG. 12 is a schematic diagram of a barrel lid control method provided by another embodiment of the present disclosure.
  • an embodiment of the present disclosure provides a bucket cover with an encoder and a stabilizing device, including a housing, a motor 200 , a buffer 300 , a drive shaft 400 , a cover plate 500 and a drive circuit 600.
  • the case includes a face case 100 and a bottom case 700 .
  • a cover 110 for throwing garbage is arranged in the middle of the face case 100.
  • the bottom case 700 is connected to the face case 100 and forms a receiving cavity.
  • the motor 200, the buffer 300, the driving shaft 400 and the driving circuit 600 are arranged in the receiving cavity.
  • the casing 700 protects the motor 200 , the buffer 300 , the driving shaft 400 and the driving circuit 600 , preventing the motor 200 , the buffer 300 , the driving shaft 400 and the driving circuit 600 from being disturbed by foreign objects or corroded by liquid, which can prolong the present embodiment. service life.
  • the casing of the motor 200 is fixedly connected to the side of the face case 100 close to the bottom case 700 through the motor bracket 120 .
  • the motor 200 is provided with an encoder 210 for detecting the rotation speed and rotation angle of the motor 200 .
  • a first connection seat 130 and a second connection seat 140 are disposed on the surface of the surface case 100 close to the bottom case 700 .
  • the first end of the buffer 300 is rotatably connected with the first connection seat 130 , and the first connection seat 130 fixes the buffer 300 on the first connection seat 130 .
  • the rotating shaft of the motor 200 is connected to the first end of the buffer 300 , and the buffer 300 is rotated under the driving of the motor 200 .
  • One end of the drive shaft 400 is rotatably connected with the second connection seat 140 , and the other end of the drive shaft 400 is connected with the second end of the buffer 300 .
  • the second connection seat 140 and the buffer 300 fix the drive shaft 400 on the surface case 100 near the bottom
  • the drive shaft 400 rotates around its own axis under the action of the buffer 300 .
  • the cover plate 500 is connected with the drive shaft 400, and the cover plate 500 rotates with the rotation of the drive shaft 400.
  • the cover plate 500 moves in the direction of the cover opening 110 and is attached to the face case 100, the cover plate 500 covers the cover opening 110,
  • the cover plate 500 moves away from the cover 110, the cover 110 is opened, and the garbage can be transferred from one side of the face case 100 to the other side of the face case 100 through the cover 110;
  • the encoder 210 is electrically connected, and the drive circuit 600 obtains the rotation speed and rotation angle of the motor 200 according to the signal output by the encoder 210 .
  • the barrel cover with the encoder and the stabilizing device in this embodiment detects the rotation speed and rotation angle of the rotating shaft of the motor 200 through the encoder 210, and the drive circuit 600 obtains the position and movement speed of the cover plate 500 according to the output signal of the encoder 210,
  • the driving circuit 600 controls the movement speed of the cover plate 500, thereby realizing smooth opening and closing of the cover; the rotating shaft of the motor 200 drives the cover plate 500 to rotate through the buffer 300, and the buffer 300 can increase the torque of the rotating shaft of the motor 200 to avoid the cover plate
  • the 500 is separated from the control of the motor 200 and slides under the action of its own gravity or inertia, and the buffer 300 enables the motor 200 to smoothly control the movement of the cover plate 500 .
  • the bucket lid with the encoder and the stabilizing device in this embodiment can not only prevent the trash can from shaking violently due to the cover plate 500 being opened too fast or unstable, and prevent the trash in the trash can from being turned out of the trash can; It can prevent the gas in the trash can from being fanned to the external environment outside the trash can due to the fast or unstable closing speed of the cover plate 500;
  • the driving circuit 600 can precisely control the action of the cover plate 500 under the joint action of the tumbler, so that the cover plate 500 can be closely attached to the surface shell 100, and even when the trash can is placed obliquely, the cover plate 500 and the surface shell can still be guaranteed. 100 fit to prevent garbage from falling out of the cover 110. It can be seen that the bucket cover with the encoder and the stabilizing device in this embodiment can effectively prevent the garbage in the trash can from polluting the environment, prevent the gas in the trash can from rushing to the user, improve the user experience, and protect the user's health.
  • a support base 510 is provided on the side of the cover plate 500 close to the bottom case 700 , the support base 510 is provided with a first through hole 511 , and the drive shaft 400 passes through the first through hole 511 , and the cover plate 500 is close to the support
  • One side of the seat 510 is provided with a first inner stud 520, and the support seat 510 is provided with a first screw hole 512.
  • the cover plate 500 and the support seat 510 pass through the first inner stud 520, the first screw hole 512 and pass through.
  • the first screw connection between the first inner stud 520 and the first screw hole 512 .
  • the drive shaft 400 is provided with a first limit hole 440
  • the support base 510 is provided with a second limit hole 513 corresponding to the first limit hole 440
  • the drive shaft 400 and the support base 510 are provided with a second limit hole 513 corresponding to the first limit hole 440
  • the connection between the limit posts pierced through the first limit hole 440 and the second limit hole 513 can prevent the support base 510 from sliding relative to the drive shaft 400 when the cover plate 500 rotates, so that the cover plate 500 can be stabilized
  • the cover plate 500 is supported by the support base 510, the contact area between the cover plate 500 and the drive shaft 400 can be increased, the strength of the cover plate 500 can be strengthened, and the shaking of the cover plate 500 can be avoided during the movement process.
  • the stability of the cover plate 500 when moving is enhanced; the connection between the cover plate 500 and the support base 510 is simple, and it is convenient to disassemble the cover plate 500 and clean it.
  • a second inner stud 150 is provided on the surface of the surface shell 100 close to the first connecting seat 130 , a second screw hole 131 is provided on the first connecting seat 130 , and the first connecting seat 130 and the surface shell 100 pass through the second inner stud 150 , the second screw hole 131 and the second screw through the second inner stud 150 and the second screw hole 131 are connected, the surface shell 100 is provided with a third inner stud 160 on the side close to the second connecting seat 140, the second The connection seat 140 is provided with a third screw hole 141 , and the second connection seat 140 and the surface shell 100 pass through the third inner stud 160 , the third screw hole 141 and penetrate through the third inner stud 160 and the third screw hole 141 The third screw is connected to form a second through hole 170 , and one end of the drive shaft 400 is penetrated through the second through hole 170 .
  • the face shell 100 in this embodiment is connected to the first connecting seat 130 and the second connecting seat 140 in a simple manner, and is easy to disassemble, which facilitates disas
  • the buffer 300 includes a connecting head 310 , a first connecting arm 320 and a second connecting arm 330 .
  • the connecting head 310 is provided with a third through hole 311 , and the drive shaft 400 passes through the third through hole 311 . Both ends of the drive shaft 400 Through the second through hole 170 and the third through hole 311 respectively, the axial direction of the drive shaft 400 is parallel to the plane where the cover 110 is located, and the two ends of the drive shaft 400 are respectively connected by the second through hole 170 and the third through hole 311
  • the support enables the drive shaft 400 to rotate smoothly around its own axis.
  • the side wall of the connecting head 310 is provided with a connecting plate 312, the connecting plate 312 is hinged with one end of the first connecting arm 320, the other end of the first connecting arm 320 is hinged with one end of the second connecting arm 330, and the other end of the second connecting arm 330 is hinged.
  • One end is provided with a connection post 331
  • the first connection seat 130 is provided with a connection hole 132 corresponding to the connection post 331
  • the connection post 331 is arranged in the connection hole 132 and is rotatably connected with the connection hole 132
  • the rotating shaft of the motor 200 is connected with the connection post 331 is coaxially arranged and connected with the side of the second connecting arm 330 away from the connecting post 331 .
  • the rotating shaft of the motor 200 drives the drive shaft 400 to rotate through the second connecting arm 330 , the first connecting arm 320 and the connecting head 310 , and the second connecting arm 330 , the first connecting arm 320 and the connecting head 310 can increase the torque of the rotating shaft of the motor 200 , to prevent the cover plate 500 from rapidly sliding or shaking under the influence of its own gravity or inertia, free from the control of the motor 200 , and to ensure that the cover plate 500 can move smoothly according to the set speed.
  • the buffer 300 mentioned in the present disclosure may be composed of the connecting head 310 , the first connecting arm 320 and the second connecting arm 330 in the above-mentioned embodiments.
  • the connecting head 310 , the first connecting arm 320 and the The second connecting arm 330 is connected in a hinged manner, or the connecting head 310, the first connecting arm 320 and the second connecting arm 330 are provided with a gear, a screw, a worm, a screw, a thread or a tooth pattern and other transmission mechanisms.
  • the connecting head 310, the first connecting arm 320 and the second connecting arm 330 realize the transmission connection through the meshing of gears, screws, worms, screw rods, threads or tooth patterns, etc.; Components such as gears, gear shafts, screws, worms or screw rods between the motors 200 , and the drive shaft 400 and the motor 200 are connected in a transmission through these components.
  • the buffer 300 in this embodiment is only an example, rather than limiting the transmission mode of the motor 200 and the drive shaft 400. Within the scope of knowledge possessed by those of ordinary skill in the technical field, it can also be used without departing from the present disclosure. Various changes are made under the premise of the purpose.
  • the side of the bottom case 700 away from the top case 100 is provided with a battery compartment 710 and a battery cover 720 , the battery cover 720 is connected to the bottom case 700 , and the battery cover 720 can seal the battery in the battery compartment 710 to prevent the battery from being polluted by garbage and corrosion.
  • the battery compartment 710 is provided with a copper sheet that is electrically connected to the battery, and the copper sheet is electrically connected to the drive circuit 600 , and the drive circuit 600 is powered by the battery in the battery compartment.
  • a power switch 180 is provided on the side of the face case 100. The power switch 180 is connected in series between the battery compartment and the drive circuit 600. The power switch 180 can cut off the power of the drive circuit 600, and the user can manually control the opening and closing of the cover plate 500.
  • the barrel cover with the encoder and the stabilizing device in this embodiment can flexibly control the opening and closing of the cover plate 500, so that this embodiment can be flexibly applied to different occasions.
  • the motor 200 fails, the user can still use the application
  • the trash can of this embodiment stores garbage.
  • One end of the drive shaft 400 close to the first connection seat 130 is provided with a first torsion spring 410 , the first torsion spring 410 is arranged around the circumference of the drive shaft 400 , and one end of the first torsion spring 410 is in contact with the face shell 100 , and the connector 310 A bump 313 is arranged on the side wall of the 2 , a first fixing hole is arranged on the bump 313 , and the other end of the first torsion spring 410 is penetrated in the first fixing hole.
  • One end of the drive shaft 400 close to the second connection seat 140 is provided with a second torsion spring 420 and a drive plate 430.
  • One end of the drive plate 430 is arranged around the circumference of the drive shaft 400 and is connected to the side wall of the drive shaft 400.
  • 420 is arranged around the circumference of the drive shaft 400, one end of the second torsion spring 420 is in contact with the face case 100, one end of the drive plate 430 away from the drive shaft 400 is provided with a second fixing hole, and the other end of the second torsion spring 420 is penetrated in the second fixing hole.
  • the cover plate 500 moves away from the cover opening 110 , the first torsion spring 410 and the second torsion spring 420 are twisted and elastically deformed to generate a force on the cover plate 500 in the direction of the cover opening 110 , and the buffer motor 200 drives the The torsion force generated by the shaft 400 prevents the cover plate 500 from being quickly lifted up when the motor 200 is suddenly started, causing the trash can to shake, ensuring the smooth movement of the cover plate 500; when the power supply of the drive circuit 600 is disconnected, the cover plate 500 is manually Moving away from the cover 110 , the first torsion spring 410 and the second torsion spring 420 exert a force on the cover 500 to move the cover 500 toward the cover 110 , and the cover 500 can automatically move toward the cover 110 .
  • the torsion spring 410 and the second torsion spring 420 are respectively disposed at both ends of the drive shaft 400 , and the force generated by the first torsion spring 410 and the second torsion spring 420 on the drive shaft 400 through the connector 310 and the drive plate 430 is distributed to the drive shaft.
  • the two ends of the 400 make the force of the drive shaft 400 even, and ensure that the cover plate 500 can move smoothly.
  • the connecting column 331 is provided with a third torsion spring 332 , the third torsion spring 332 is arranged around the circumference of the connecting column 331 , the first connecting seat 130 is provided with three clamping slots 133 , and the second connecting arm 330 is provided with a third torsion spring 332 .
  • the third torsion spring 332 acts as an auxiliary buffer 300 to support the cover plate 500 .
  • the third torsion spring 332 When the cover plate 500 moves toward the face case 100 , the first connection seat 130 and the second connection arm 330 elastically deform the third torsion spring 332 , the third torsion spring 332 generates an auxiliary force for the cover plate 500 to move the cover plate 500 away from the face case 100 , preventing the cover plate 500 from being quickly controlled by the torsion force of the rotating shaft of the motor 200 under the influence of its own gravity or inertia
  • the ground moves in the direction of the surface shell 100 to improve the movement stability of the cover plate 500 .
  • the card slot 133 is arranged around the circumference of the connection hole 132 .
  • the magnitude of the auxiliary force generated by the third torsion spring 332 on the cover plate 500 can be adjusted.
  • the bucket cover of the encoder and the stabilizing device can be adapted to cover plates 500 of different weights, so that the cover plate 500 can be easily replaced.
  • a reinforcing seat 530 is also provided on the side of the support base 510 away from the cover plate 500.
  • the reinforcing seat 530 is connected to the side of the face shell 100 close to the drive shaft 400.
  • the reinforcing seat 530 is provided with a The support table 531 and the drive shaft 400 are rotatably connected to the support table 531 , and the reinforcing seat 530 plays the role of supporting the drive shaft 400 .
  • the encoder 210 is a magnetic ring encoder, and the encoder 210 includes a magnetic ring 211 , The first sampling circuit 213 and at least one Hall sensor 212, the magnetic ring 211 is drivingly connected with the rotating shaft of the motor 200, at least one magnetic pole 214 is arranged in the magnetic ring 211, the Hall sensor 212 is arranged along the circumferential direction of the magnetic ring 211, the Hall The sensor 212 is electrically connected to the first sampling circuit 213, and the first sampling circuit 213 is electrically connected to the driving circuit 600.
  • the number of the magnetic poles 214 is eight, and the number of the hall sensors 212 is two.
  • the magnetic ring 211 rotates as the rotating shaft of the motor 200 rotates, the relative position of the magnetic pole 214 in the magnetic ring 211 and the Hall sensor 212 changes, and the Hall sensor 212 outputs an electrical signal corresponding to the position of the magnetic pole 214 to the first sampling circuit 213 , the first sampling circuit 213 encodes the electrical signal output by the Hall sensor 212 and outputs it to the driving circuit 600 .
  • the encoder 210 is a grating encoder, and the encoder 210 includes a light-transmitting turntable 215, The infrared transmitter 216 , the infrared receiver 217 and the second sampling circuit 218 , the light-transmitting turntable 215 is drivingly connected with the shaft of the motor 200 .
  • the bar-shaped grating, the translucent turntable 215 is arranged between the infrared transmitter 216 and the infrared receiver 217, the infrared transmitter 216 and the infrared receiver 217 are electrically connected to the second sampling circuit 218, and the second sampling circuit 218 is electrically connected to the driving circuit 600. connect.
  • the light-transmitting turntable 215 rotates with the rotation of the rotating shaft of the motor 200 , and the bar-shaped grating on the light-transmitting turntable 215 intermittently cuts off the optical path between the infrared transmitter 216 and the infrared receiver 217 , and the infrared receiver 217 sends the signal to the second sampling circuit 218 .
  • the second sampling circuit 218 encodes the electrical signal output by the infrared receiver 217 and outputs it to the drive circuit 600 , and the drive circuit 600 obtains the motor 200 according to the encoded signal output by the second sampling circuit 218 The rotation speed and rotation angle of the shaft.
  • the barrel cover with an encoder and a stabilizing device further includes a current detection module 610 .
  • the current detection module 610 is connected in series between the motor 200 and the driving circuit 600 , so the value of the current flowing through the current detection module 610 is equal to the operating current of the motor 200 .
  • the current detection module 610 is signal-connected to the driving circuit 600 , and outputs a current signal including the operating current information of the motor 200 to the driving circuit 600 , and the driving circuit 600 calculates the operating current of the motor 200 through the current signal.
  • the drive circuit 600 stops the motor 200 from rotating to prevent the motor 200 from being burned; when the working current of the motor 200 is less than or equal to the preset current threshold and the cover plate 500 has not reached the preset current threshold When the angle value is set, the driving circuit 600 drives the rotating shaft of the motor 200 to rotate.
  • the current detection module 610 may be a resistor, and the driving circuit 600 detects the voltage across the resistor through the analog-to-digital conversion unit, thereby calculating the current passing through the resistor, that is, the operating current of the motor 200; it should be noted that the current detection module 610 It can also be an integrated circuit composed of modules such as resistors and analog-to-digital converters, or a circuit module composed of independent devices such as resistors and analog-to-digital converters; it can also be other chips that measure the current signal in the circuit by connecting in series , integrated circuits or circuit modules composed of discrete components; the current information output by these chips, integrated circuits or circuit modules composed of discrete components to the driving circuit 600 may be analog signals or converted digital signals.
  • the current detection module 610 may also be a chip, an integrated circuit or a circuit module composed of discrete components that detects the working current of the motor 200 in parallel with the motor 200 .
  • This embodiment is only used to illustrate the technical solution of the present invention, rather than limiting the specific implementation form of the current detection module 610 .
  • the trash can according to the embodiment of the second aspect of the present disclosure will be described in detail below with reference to the accompanying drawings.
  • an embodiment of the present disclosure provides a trash can, including a cylindrical body 800, a connecting frame 900, and a bucket lid with an encoder and a stabilizing device according to the first aspect, the connecting frame 900 is along the The surface shell 100 of the casing is arranged in the circumferential direction and is connected to the bottom shell 700 of the casing.
  • the side wall of the surface shell 100 and the connecting frame 900 form a receiving groove 910, and the end of the cylinder 800 close to the cylinder mouth 810 is embedded in the receiving groove 910,
  • the barrel port 810 communicates with the cover port 110 .
  • the motor 200 drives the cover plate 500 to move away from the cover opening 110 , and the garbage enters the cylinder body 800 from the cover opening 110 and the cylinder opening 810 ; when the cover plate 500 moves toward the cover opening 110
  • the cover plate 500 can prevent the garbage and smell in the cylinder 800 from leaking to the outside of the cylinder 800 , effectively preventing the garbage from polluting the environment and ensuring people's health.
  • the trash can of the present disclosure uses the bucket cover with the encoder and the stabilizing device according to the first aspect, which can prevent the cover plate 500 from shaking violently due to the excessively fast or unstable opening speed of the cover plate 500 , and prevent the bucket 800 from shaking.
  • the garbage inside is turned out of the cylinder body 800; it can prevent the gas in the cylinder body 800 from being fanned to the external environment outside the cylinder body 800 due to the fast or unstable closing speed of the cover plate 500, so as to avoid the inside of the cylinder body 800.
  • the gas causes discomfort to the user; in the case that the trash can of this embodiment is placed obliquely or thrown down, the garbage in the cylinder 800 will not leak out of the cylinder 800 from the cover 110 .
  • the trash can of the present disclosure can prevent the garbage in the cylinder body 800 from polluting the environment again, improve the user experience, and ensure the health of the user.
  • the trash can in the embodiment of the present disclosure includes the bucket lid with the encoder and the stabilizing device as in any of the above embodiments
  • the trash can in the embodiment of the present disclosure has the encoder and the stabilizing device as in any of the foregoing embodiments.
  • the technical effect brought by the bucket cover of the stabilization device therefore, the specific technical effect of the trash can in the embodiment of the present disclosure can refer to the technical effect of the bucket cover with the encoder and the stabilization device in any of the above-mentioned embodiments, here No longer.
  • an embodiment of the present disclosure provides a barrel lid control method, which is applied to a barrel lid with an encoder and a stabilizing device, a barrel with an encoder and a stabilizing device
  • the cover includes a housing, a motor 200 , a buffer 300 , a drive shaft 400 , a cover plate 500 and a drive circuit 600 .
  • the shell includes a top shell 100 and a bottom shell 700.
  • a cover 110 for throwing garbage is provided in the middle of the top shell 100.
  • a first connecting seat 130 and a second connecting seat 140 are provided on the surface of the top shell 100 close to the bottom shell 700.
  • the bottom case 700 is connected with the face case 100 and forms an accommodating cavity, and the motor 200 , the buffer 300 , the driving shaft 400 and the driving circuit 600 are arranged in the accommodating cavity.
  • the motor 200 is connected to the side of the face case 100 close to the bottom case 700 , and an encoder 210 is disposed on the motor 200 .
  • the first end of the buffer 300 is rotatably connected to the first connecting seat 130 , the rotating shaft of the motor 200 is connected to the first end of the buffer 300 , and the buffer 300 is rotated under the driving of the motor 200 .
  • the drive shaft 400 is rotatably connected with the second connection seat 140 , the other end of the drive shaft 400 is connected with the second end of the buffer 300 , and the drive shaft 400 rotates around its own axis under the action of the buffer 300 .
  • the cover plate 500 is connected with the drive shaft 400, and the cover plate 500 rotates with the rotation of the drive shaft 400.
  • the drive circuit 600 is electrically connected to the motor 200 and the encoder 210 on the motor 200 .
  • the barrel cover control method includes but is not limited to the following steps:
  • the drive circuit 600 obtains the encoded signal output by the encoder 210, and calculates the rotational speed and the rotational angle of the motor 200;
  • the drive circuit 600 outputs a drive electrical signal to the motor 200 according to the rotational speed and the rotational angle;
  • the motor 200 drives the cover plate 500 to rotate through the buffer 300 and the drive shaft 400 in response to the driving electrical signal.
  • the driving circuit 600 of the barrel lid control method of the present disclosure can obtain the rotation speed and rotation angle of the motor 200 through the encoder 210, and control the motor according to the rotation speed and rotation angle of the motor 200.
  • the running state of the motor 200 enables the motor 200 to smoothly drive the cover plate 500 to rotate.
  • the bucket lid control method of the present disclosure can not only prevent the trash can from shaking violently due to the fast or unstable opening speed of the cover plate 500, but also prevent the trash can caused by the fast or unstable closing speed of the cover plate 500.
  • the gas inside is fanned to the external environment other than the trash can.
  • the cover plate 500 can be closely attached to the casing, and when the trash can is placed at an incline, the garbage can be prevented from passing through the space between the cover plate 500 and the casing.
  • the leakage of gaps can effectively improve the user experience and protect the health of users.
  • FIG. 10 is the specific flow of step S200 in FIG. 9 , The method includes but is not limited to the following steps:
  • the drive circuit 600 outputs a rotational speed adjustment electrical signal to the motor 200;
  • the driving circuit 600 outputs a stop electric signal to the motor 200 .
  • the drive circuit 600 sends a corresponding control electrical signal to the motor 200 according to the current rotation angle of the motor 200: when the lid 500 is in the process of opening or closing the lid, that is, the motor 200 has not reached the preset value.
  • the driving circuit 600 When the opening angle preset value or the preset closing angle preset value is set, if the rotation angle of the motor 200 is in the state of increasing or decreasing, the driving circuit 600 outputs a rotation speed adjustment electrical signal to the motor 200 to maintain the rotation speed of the motor 200, thereby The cover plate 500 can be rotated smoothly; if the rotation angle of the motor 200 does not change, that is, an external force acts on the cover plate 500, the buffer 300 or the drive shaft 400, or other factors cause the rotating shaft of the motor 200 to be unable to rotate, and the drive The circuit 600 outputs a stop electric signal to the motor 200 to lock the shaft of the motor 200 and stop rotating, thereby preventing the motor 200 , the buffer 300 , the drive shaft 400 and the cover 500 from being damaged by the torque of the motor 200 .
  • the driving circuit 600 When the cover plate 500 reaches the preset opening angle preset value or the preset closing angle preset value, that is, when the cover plate 500 has been fully opened or is tightly attached to the face case 100 , the driving circuit 600 outputs the output to the motor 200 .
  • the electric signal is stopped, so that the rotating shaft of the motor 200 is locked and stopped, so as to prevent the cover plate 500 from rotating in the direction of the face case 100 under the action of other external forces such as wind force when the user throws garbage into the trash can and clamp the user's
  • the cover plate 500 when the cover plate 500 is closed, the garbage caused by the tilting of the trash can leak out from the gap between the cover plate 500 and the surface shell 100, which effectively improves the user experience.
  • FIG. 11 another embodiment of the present disclosure provides a barrel lid control method.
  • the method shown in FIG. 11 is the specific flow of step S210 in FIG. 10 , The method includes but is not limited to the following steps:
  • the drive circuit 600 when the rotational speed is equal to the preset speed value, the drive circuit 600 outputs a rotational speed maintenance electrical signal to the motor 200;
  • the drive circuit 600 when the rotational speed is greater than the preset speed value, the drive circuit 600 outputs a deceleration electrical signal to the motor 200;
  • the drive circuit 600 when the rotational speed is less than the preset speed value, the drive circuit 600 outputs an acceleration electrical signal to the motor 200 .
  • the driving circuit 600 adjusts the rotational speed of the motor 200 according to the current rotational speed of the motor 200 .
  • the driving circuit 600 adjusts the rotational speed of the motor 200 Monitoring: if the rotation speed is equal to the preset speed value, the drive circuit 600 outputs a rotation speed maintenance electrical signal to the motor 200 to maintain the current rotation speed; if the rotation speed is greater than the preset speed value, the drive circuit 600 outputs a deceleration power to the motor 200 to reduce the rotation speed of the motor 200 .
  • the drive circuit 600 outputs an acceleration electrical signal to the motor 200 to increase the rotation speed of the motor 200, so that the cover plate 500 can rotate stably during the process of opening or closing the cover, which can prevent the cover plate 500
  • the trash can vibrates violently due to the fast or unstable opening speed, and it can prevent the gas in the trash can from being fanned to the external environment outside the trash can due to the fast or unstable closing speed of the cover plate 500 , to improve the user experience and protect the health of users.
  • the motor 200 may be a brushed motor or a brushless motor, and correspondingly, the driving electrical signal output by the driving circuit 600 to the motor 200 may be a direct current signal or an alternating current signal.
  • the driving electrical signal is a DC electrical signal
  • the rotational speed maintenance electrical signal, the deceleration electrical signal, and the acceleration electrical signal can be obtained by changing the voltage value of the driving electrical signal
  • the stop electrical signal can be a DC electrical signal with a voltage value of zero
  • the driving electrical signal When it is an alternating current signal, the rotational speed maintenance electrical signal, the deceleration electrical signal, and the acceleration electrical signal can be obtained by changing the frequency value of the driving electrical signal, and the stop electrical signal can be an alternating current signal with a frequency value of zero.
  • another embodiment of the present disclosure provides a barrel lid control method, which is applied to a barrel lid with an encoder and a stabilizing device, with an encoder and a stabilizing device
  • the barrel cover includes a casing, a motor 200 , a buffer 300 , a drive shaft 400 , a cover plate 500 , a drive circuit 600 and a current detection module 610 .
  • the shell includes a top shell 100 and a bottom shell 700.
  • a cover 110 for throwing garbage is provided in the middle of the top shell 100.
  • a first connecting seat 130 and a second connecting seat 140 are provided on the surface of the top shell 100 close to the bottom shell 700.
  • the bottom case 700 is connected with the face case 100 and forms an accommodating cavity.
  • the motor 200 , the buffer 300 , the driving shaft 400 , the driving circuit 600 and the current detection module 610 are arranged in the accommodating cavity.
  • the motor 200 is connected to the side of the face case 100 close to the bottom case 700 , and an encoder 210 is disposed on the motor 200 .
  • the first end of the buffer 300 is rotatably connected to the first connecting seat 130 , the rotating shaft of the motor 200 is connected to the first end of the buffer 300 , and the buffer 300 is rotated under the driving of the motor 200 .
  • One end of the drive shaft 400 is rotatably connected with the second connection seat 140 , the other end of the drive shaft 400 is connected with the second end of the buffer 300 , and the drive shaft 400 rotates around its own axis under the action of the buffer 300 .
  • the cover plate 500 is connected with the drive shaft 400, and the cover plate 500 rotates with the rotation of the drive shaft 400.
  • the cover plate 500 moves in the direction of the cover opening 110 and is attached to the face case 100, the cover plate 500 covers the cover opening 110,
  • the cover plate 500 moves away from the cover 110, the cover 110 is opened.
  • the driving circuit 600 is electrically connected to the motor 200 and the encoder 210 on the motor 200 , the current detection module 610 is connected in series between the motor 200 and the driving circuit 600 , and the current detection module 610 is signally connected to the driving circuit 600 .
  • the barrel cover control method includes but is not limited to the following steps:
  • the drive circuit 600 obtains the encoded signal output by the encoder 210, and calculates the rotational speed and the rotational angle of the motor 200;
  • the drive circuit 600 obtains the current signal output by the current detection module 610 and calculates the working current of the motor 200. If the working current is less than or equal to the current threshold, the drive circuit 600 outputs a drive electrical signal to the motor 200 according to the rotation speed and rotation angle.
  • the motor 200 drives the cover plate 500 to rotate through the buffer 300 and the drive shaft 400 in response to the driving electrical signal.
  • the drive circuit 600 obtains the current signal output by the current detection module 610 and calculates the working current of the motor 200 , if the working current is greater than the current threshold, the drive circuit 600 outputs a stop electric signal to the motor 200 .
  • the current detection module 610 is connected in series between the motor 200 and the drive circuit 600 , so the value of the current flowing through the current detection module 610 is equal to the operation of the motor 200 current.
  • the current detection module 610 is signal-connected to the driving circuit 600 , and outputs a current signal including the operating current information of the motor 200 to the driving circuit 600 , and the driving circuit 600 calculates the operating current of the motor 200 through the current signal.
  • the drive circuit 600 stops the motor 200 from rotating to prevent the motor 200 from being burned; when the working current of the motor 200 is less than or equal to the preset current threshold and the cover plate 500 has not reached the preset current threshold
  • the driving circuit 600 drives the rotating shaft of the motor 200 to rotate.
  • the driving circuit 600 can obtain the rotation speed and rotation angle of the motor 200 through the encoder 210, and control the running state of the motor 200 according to the rotation speed and rotation angle of the motor 200, so that the motor 200 can smoothly drive the cover plate 500 to rotate.
  • the bucket lid control method of the present disclosure can not only prevent the trash can from shaking violently due to the cover plate 500 being opened too fast or unstable, but also prevent the trash can caused by the cover plate 500 closing the cover too fast or unstable.
  • the gas inside is fanned to the external environment other than the trash can.
  • the cover plate 500 can be closely attached to the casing, and when the trash can is placed at an incline, the garbage can be prevented from passing through the space between the cover plate 500 and the casing.
  • the leakage of gaps can effectively improve the user experience and protect the health of users.
  • An embodiment of the present disclosure provides a motor driver, comprising at least one processor for communicating with the encoder 210 and the current detection module 610 and at least one memory for communicating with the processor, in this embodiment
  • the number of processors is one
  • the number of memories is one
  • the memory, the encoder 210 and the current detection module 610 are connected in communication with the processor.
  • the memory stores instructions, the instructions are executed by the processor, which can cause the processor to execute the bucket lid control method in the above-mentioned embodiment, for example, to execute the above-described method steps S100, S200 and S300 in FIG.
  • Method steps S210 , S220 and S230 perform method steps S211 , S212 and S213 in FIG. 11
  • perform method steps S410 , S420 , S430 and S440 in FIG. 12 are examples of the processors.
  • One embodiment of the present disclosure provides a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores computer-executable instructions for causing a computer to execute the
  • the bucket lid control method for example, performs the method steps S100, S200 and S300 in FIG. 9 described above, performs the method steps S210, S220 and S230 in FIG. 10, performs the method steps S211, S212 and S213 in FIG. 11, and The method steps S410, S420, S430 and S440 in FIG. 12 are performed.
  • Storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disc (DVD) or other optical disk storage, magnetic cartridges, magnetic tape, magnetic disk storage or other magnetic storage devices, or available with Any other medium that stores the desired information and can be accessed by a computer.
  • communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and can include any information delivery media, as is well known to those of ordinary skill in the art .

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Abstract

一种具有编码器及稳定装置的桶盖，包括壳体、电机（200）、缓冲器（300）、驱动轴（400）、盖板（500）和驱动电路（600）；壳体设置有盖口（110）、第一连接座（130）和第二连接座（140）；电机（200）与壳体连接并且设置有编码器（210）；缓冲器（300）的第一端与第一连接座（130）转动连接，电机（200）的转轴与缓冲器（300）的第一端连接；驱动轴（400）的一端与第二连接座（140）转动连接，驱动轴（400）的另一端与缓冲器（300）的第二端连接；盖板（500）与驱动轴（400）连接；驱动电路（600）与电机（200）和编码器电连接（210）。该桶盖能够有效防止垃圾桶内的垃圾对环境产生污染，避免垃圾桶内的气体扑向用户，提升用户体验，保障用户健康。还公开了一种具有该桶盖的垃圾桶、桶盖控制方法、电机驱动器和非暂时性计算机可读存储介质。

Description

具有编码器及稳定装置的桶盖、垃圾桶和桶盖控制方法 技术领域
本公开涉及日常用品技术领域，特别涉及一种具有编码器及稳定装置的桶盖、垃圾桶、桶盖控制方法、电机驱动器和非暂时性计算机可读存储介质。
背景技术
垃圾桶作为装载生活垃圾或工业垃圾的容器被广泛地应用于家庭、工厂或公共场所中，垃圾桶既能够隔离对人体有害的工业废物，防止粉尘、毒气、废水等工业废物污染工作环境，又能够防止附着在生活垃圾中的细菌和病毒扩散至空气中，通过垃圾桶收集垃圾能够使生活和工作环境变得干净、整洁和卫生，保障人的身体健康。带有桶盖的垃圾桶能够更好地使垃圾与环境分离，在现有的带盖垃圾桶中，桶盖的打开方式一般包括手动式、脚踏式和感应式，手动式带盖垃圾桶需要用手打开桶盖，存在卫生隐患，而脚踏式带盖垃圾桶和感应式带盖垃圾桶虽然避免了用手接触的卫生风险，但桶盖一般通过简单的机械结构与桶体连接，桶盖的打开或关闭速度不稳定。在开盖时，桶盖打开过快容易造成桶体的抖动，使桶体内的垃圾翻出，对环境造成二次污染；在闭合时，若桶盖闭合过快，在桶盖的扇动下，会加快桶体内的气体向周围环境扩散，并且被位于垃圾桶附近的人吸入，不但存在卫生隐患而且用户体验差；另外，当垃圾桶被倾斜放置时，桶盖在自身重力的作用下与桶体分离，桶体内的垃圾从桶盖与桶体之间的缝隙漏出，对环境造成污染。
发明内容
本公开旨在至少解决现有技术中存在的技术问题之一。为此，本公开提出一种具有编码器及稳定装置的桶盖、垃圾桶、桶盖控制方法、电机驱动器和非暂时性计算机可读存储介质能够避免桶体内的垃圾污染环境，并且能够提升用户体验。
根据本公开第一方面实施例的具有编码器及稳定装置的桶盖，包括：
壳体，设置有盖口、第一连接座和第二连接座；
电机，设置有编码器，所述电机与所述壳体连接；
缓冲器，所述第一连接座与所述缓冲器的第一端转动连接，所述电机的转轴与所述缓冲器的第一端连接；
驱动轴，所述驱动轴的一端与所述第二连接座转动连接，所述驱动轴的另一端与所述缓冲器的第二端连接；
盖板，与所述驱动轴连接，用于遮盖所述盖口；
驱动电路，与所述电机和所述编码器电连接。
根据本公开第一方面实施例的具有编码器及稳定装置的桶盖，至少具有如下有益效果：
本公开的具有编码器及稳定装置的桶盖包括壳体、电机、缓冲器、驱动轴、盖板和驱动电路，在壳体上设置有用于投放垃圾的盖口、第一连接座和第二连接座；电机与壳体连接并固定在壳体上，电机上设置有用于检测电机转动速度和转动角度的编码器；缓冲器的第一端与第一连接座转动连接，第一连接座使缓冲器固定在壳体上，电机的转轴与缓冲器的第一端连接，缓冲器在电机的驱动下转动；驱动轴的一端与第二连接座转动连接，驱动轴的另一端与缓冲器的第二端连接，第二连接座和缓冲器 使驱动轴固定在壳体上，驱动轴在缓冲器的作用下绕自身的轴向转动；盖板与驱动轴连接，盖板随着驱动轴的转动而转动，当盖板朝盖口的方向移动并与壳体贴合时，盖板遮盖盖口，当盖板朝远离盖口的方向移动，盖口打开，物体能够通过盖口从壳体的一面转移至壳体的另一面；驱动电路与电机和编码器电连接，驱动电路根据编码器输出的信号得出电机的转动速度和转动角度，驱动电路控制电机的转轴转动。本公开的具有编码器及稳定装置的桶盖通过编码器检测电机的转轴的转动速度和转动角度，驱动电路根据盖板的位置控制盖板的运动速度，从而达到平稳地开盖和合盖的目的；电机的转轴通过缓冲器带动盖板转动，缓冲器能够增大电机的转轴的扭力，避免盖板在自身重力或惯性的作用下脱离电机的控制并发生滑行，缓冲器使电机能够平稳地控制盖板移动。本公开的具有编码器及稳定装置的桶盖既能够防止盖板由于开盖速度过快或不稳定而导致的垃圾桶剧烈抖动，避免垃圾桶内的垃圾被翻出垃圾桶外；又能够防止盖板合盖的速度过快或不稳定而导致的垃圾桶内的气体被扇动至垃圾桶以外的外部环境中；同时，在电机、编码器、驱动电路和缓冲器的共同作用下，盖板与壳体能够紧密贴合，即使在垃圾桶倾斜放置的情况下，仍然能够保证盖板与壳体贴合，防止垃圾从盖口掉出。由此可见，本公开的具有编码器及稳定装置的桶盖能够有效防止垃圾桶内的垃圾对环境产生污染，避免垃圾桶内的气体扑向用户，提升用户体验，保障用户的健康。
根据本公开的一些实施例，所述壳体包括面壳和底壳，所述面壳设置有所述盖口、所述第一连接座和所述第二连接座，所述面壳与所述底壳连接并形成容纳腔，所述第一连接座、所述第二连接座、所述电机、所述缓冲器、所述驱动轴和所述驱动电路设置于所述容纳腔内。
根据本公开的一些实施例，所述底壳远离所述面壳的一面设置有电池仓和电池盖，所述电池盖与所述底壳连接，所述驱动电路与所述电池仓电连接，所述面壳上设置有电源开关，所述电源开关与所述电池仓和所述驱动电路电连接。
根据本公开的一些实施例，所述盖板的一面设置有承托座，所述承托座上设置有第一通孔，所述驱动轴穿设于所述第一通孔，所述盖板靠近所述承托座的一面设置有第一内螺柱，所述承托座上设置有第一螺孔，所述盖板与所述承托座通过所述第一内螺柱和所述第一螺孔连接。
根据本公开的一些实施例，所述面壳靠近所述第一连接座的一面设置有第二内螺柱，所述第一连接座上设置有第二螺孔，所述第一连接座与所述面壳通过所述第二内螺柱和所述第二螺孔连接，所述面壳靠近所述第二连接座的一面设置有第三内螺柱，所述第二连接座上设置有第三螺孔，所述第二连接座与所述面壳通过所述第三内螺柱和所述第三螺孔连接并形成第二通孔，所述驱动轴穿设于所述第二通孔。
根据本公开的一些实施例，所述缓冲器包括连接头、第一连接臂和第二连接臂，所述连接头上设置有第三通孔，所述连接头的侧壁设置有连接板，所述驱动轴穿设于所述第三通孔，所述连接板与所述第一连接臂的一端传动连接，所述第一连接臂的另一端与所述第二连接臂的一端传动连接，所述第二连接臂的另一端设置有连接柱，所述第一连接座设置有连接孔，所述连接柱与所述连接孔转动连接，所述电机的转轴与所述连接柱同轴设置。
根据本公开的一些实施例，所述驱动轴靠近所述第一连接座的一端设置有第一扭转弹簧，所述第一扭转弹簧绕所述驱动轴的周向设置，所述第一扭转弹簧的一端与所述面壳抵接，所述第一扭转弹簧的另一端与所述连接头连接，所述驱动轴靠近所述第二连接座的一端设置有第二扭转弹簧和驱动板，所述驱动板与所述驱动轴的侧壁连接，所述第二扭转弹簧绕所述驱动轴的周向设置，所述第二扭转弹 簧的一端与所述面壳抵接，所述第二扭转弹簧的另一端与所述驱动板连接。
根据本公开的一些实施例，所述连接柱上设置有第三扭转弹簧，所述第三扭转弹簧绕所述连接柱的周向设置，所述第一连接座上设置有若干个卡槽，所述第三扭转弹簧的一端与所述卡槽抵接，所述第三扭转弹簧的另一端与所述第二连接臂连接。
根据本公开的一些实施例，所述编码器为磁环编码器或光栅编码器。
根据本公开的一些实施例，还包括电流检测模块，所述电流检测模块与所述电机和所述驱动电路电连接。
根据本公开第二方面实施例的垃圾桶，包括筒体、连接框和上述第一方面实施例的具有编码器及稳定装置的桶盖，所述连接框沿所述壳体的周向设置并且与所述壳体连接，所述壳体和所述连接框形成容纳槽，所述筒体靠近筒口的一端嵌入至所述容纳槽内，所述筒口与所述盖口连通。
根据本公开第二方面实施例的垃圾桶，至少具有如下有益效果：
本公开的垃圾桶包括筒体、连接框和上述第一方面实施例的具有编码器及稳定装置的桶盖，筒体的筒口与盖口连通，具有编码器及稳定装置的桶盖的盖板能够起到遮盖筒体的筒口的作用。向本实施例的垃圾桶扔垃圾时，电机驱动盖板朝远离盖口的方向移动，垃圾由盖口、筒口进入到筒体内；当盖板朝盖口移动并与壳体贴合时，盖板能够防止筒体内的垃圾和气味泄漏至筒体外部，有效阻隔垃圾对环境的污染，保障人的身体健康。本公开的垃圾桶使用了上述第一方面实施例的具有编码器及稳定装置的桶盖既能够防止盖板由于开盖速度过快或不稳定而导致的筒体剧烈抖动，避免筒体内的垃圾被翻出筒体以外，又能够防止盖板合盖速度过快或不稳定而导致的筒体内的气体被扇动至筒体以外的外部环境中；同时，还能够保证盖板与壳体紧密贴合，在本公开的垃圾桶被倾斜放置或被弄倒的情况下，筒体内的垃圾也不会被倒出筒体外。本公开的垃圾桶能够避免筒体内的垃圾再次对环境产生污染，防止筒体内的气体扑向用户并使用户产生不适，提升用户体验，保障用户的健康。
根据本公开第三方面实施例的桶盖控制方法，应用于具有编码器及稳定装置的桶盖，所述具有编码器及稳定装置的桶盖包括壳体、电机、缓冲器、驱动轴、盖板和驱动电路，所述壳体设置有盖口、第一连接座和第二连接座，所述电机设置有编码器，所述电机与所述壳体连接；所述第一连接座与所述缓冲器的第一端转动连接，所述电机的转轴与所述缓冲器的第一端连接，所述驱动轴的一端与所述第二连接座转动连接，所述驱动轴的另一端与所述缓冲器的第二端连接，所述盖板与所述驱动轴连接，驱动电路与所述电机和所述编码器电连接；
所述桶盖控制方法包括：
所述驱动电路获取所述编码器输出的编码信号，并计算出所述电机的运行参数；
所述驱动电路根据所述运行参数向所述电机输出驱动电信号；
所述电机响应于所述驱动电信号并通过所述缓冲器和所述驱动轴带动所述盖板转动。
根据本公开第三方面实施例的桶盖控制方法，至少具有如下有益效果：
应用了本公开桶盖控制方法的具有编码器及稳定装置的桶盖，其驱动电路能够通过编码器获取电机的转动速度和转动角度，并根据电机的转动速度和转动角度控制电机的运行状态，使电机能够平稳地驱动盖板转动。本公开的桶盖控制方法既能够防止盖板由于开盖速度过快或不稳定而导致的垃圾桶剧烈抖动，又能够防止盖板合盖的速度过快或不稳定而导致的垃圾桶内的气体被扇动至垃圾桶以外的外部环境中，另外，还能够使盖板与壳体紧密贴合，在垃圾桶倾斜放置的情况下，防止垃圾从盖板和 壳体之间的缝隙漏出，有效提升用户体验，保障用户的健康。
根据本公开的一些实施例，所述运行参数包括所述电机的转动速度和转动角度，所述驱动电路根据所述运行参数向所述电机输出驱动电信号，包括至少如下之一：
若所述转动角度不等于角度预设值，且所述转动角度递增或递减，所述驱动电路向所述电机输出转速调整电信号；
若所述转动角度不等于所述角度预设值，且所述转动角度维持不变，所述驱动电路向所述电机输出停转电信号；
若所述转动角度等于所述角度预设值，所述驱动电路向所述电机输出所述停转电信号。
根据本公开的一些实施例，所述若所述转动角度不等于角度预设值，且所述转动角度递增或递减，所述驱动电路向所述电机输出转速调整电信号，包括至少如下之一：
当所述转动速度等于速度预设值，所述驱动电路向所述电机输出转速维持电信号；
当所述转动速度大于所述速度预设值，所述驱动电路向所述电机输出减速电信号；
当所述转动速度小于所述速度预设值，所述驱动电路向所述电机输出加速电信号。
根据本公开的一些实施例，所述应用于具有编码器及稳定装置的桶盖还包括电流检测模块，所述电流检测模块与所述电机和所述驱动电路电连接；
所述桶盖控制方法还包括：
所述驱动电路获取所述电流检测模块输出的电流信号并计算所述电机的工作电流，若所述工作电流大于电流阈值，所述驱动电路向所述电机输出停转电信号；
所述驱动电路获取所述电流检测模块输出的电流信号并计算所述电机的工作电流，若所述工作电流小于或等于所述电流阈值，所述驱动电路根据所述运行参数向所述电机输出驱动电信号。
根据本公开第四方面实施例的电机驱动器，包括至少一个用于与编码器通信连接的处理器和至少一个用于与所述处理器通信连接的存储器，所述存储器存储有能够被所述处理器执行的指令，所述指令被所述处理器执行，以使所述处理器能够执行上述第三方面实施例的桶盖控制方法。
根据本公开第五方面实施例的非暂时性计算机可读存储介质，所述非暂时性计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行上述第三方面实施例的桶盖控制方法。
本公开的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本公开的实践了解到。
附图说明
本公开的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1为本公开的一个实施例提供的具有编码器及稳定装置的桶盖的整体示意图；
图2为本公开的另一个实施例提供的具有编码器及稳定装置的桶盖的分解示意图；
图3为本公开的另一个实施例提供的具有编码器及稳定装置的桶盖的缓冲器的分解示意图；
图4为本公开的另一个实施例提供的具有编码器及稳定装置的桶盖的磁环编码器的原理框图；
图5为本公开的另一个实施例提供的具有编码器及稳定装置的桶盖的光栅编码器的原理框图；
图6为本公开的另一个实施例提供的具有编码器及稳定装置的桶盖的电流检测模块的原理框图；
图7为本公开的一个实施例提供的垃圾桶的分解示意图；
图8为本公开的另一个实施例提供的垃圾桶的分解示意图；
图9为本公开的一个实施例提供的桶盖控制方法的示意图；
图10为本公开的另一个实施例提供的桶盖控制方法的示意图；
图11为本公开的另一个实施例提供的桶盖控制方法的示意图；
图12为本公开的另一个实施例提供的桶盖控制方法的示意图。
具体实施方式
下面详细描述本公开的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本公开，而不能理解为对本公开的限制。
在本公开的描述中，如果有描述到第一、第二、第三只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。
本公开的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本公开中的具体含义。
下面结合附图详细描述本公开第一方面实施例的具有编码器及稳定装置的桶盖。
参照图1、图2和图3，本公开的一个实施例提供了一种具有编码器及稳定装置的桶盖，包括壳体、电机200、缓冲器300、驱动轴400、盖板500和驱动电路600。壳体包括面壳100和底壳700。在面壳100的中部设置有用于投放垃圾的盖口110，底壳700与面壳100连接并形成容纳腔，电机200、缓冲器300、驱动轴400和驱动电路600设置于容纳腔内，底壳700对电机200、缓冲器300、驱动轴400和驱动电路600起到保护作用，防止电机200、缓冲器300、驱动轴400和驱动电路600被异物干扰或被液体腐蚀，能够延长本实施例的使用寿命。电机200的外壳通过电机支架120固定地连接在面壳100靠近底壳700的一面，电机200上设置有用于检测电机200转动速度和转动角度的编码器210。面壳100靠近底壳700的一面设置有第一连接座130和第二连接座140，缓冲器300的第一端与第一连接座130转动连接，第一连接座130使缓冲器300固定在面壳100的一面，电机200的转轴与缓冲器300的第一端连接，缓冲器300在电机200的驱动下转动。驱动轴400的一端与第二连接座140转动连接，驱动轴400的另一端与缓冲器300的第二端连接，第二连接座140和缓冲器300使驱动轴400固定在面壳100靠近底壳700的一面，驱动轴400在缓冲器300的作用下绕自身的轴向转动。盖板500与驱动轴400连接，盖板500随着驱动轴400的转动而转动，当盖板500朝盖口110的方向移动并与面壳100贴合时，盖板500遮盖盖口110，当盖板500朝远离盖口110的方向移动，盖口110打开，垃圾能够通过盖口110从面壳100的一面转移至面壳100的另一面；驱动电路600与电机200和电机200上的编码器210电连接，驱动电路600根据编码器210输出的信号得出电机200的转动速度和转动角度，驱动电路600向电机200输出驱动电信号控制电机200的转轴转动。本实施例的具有编码器及稳定装置的桶盖通过编码器210检测电机200的转轴的转动速度和转动角度，驱动电路600根据编码器210的输出信号得出盖板500的位置和运动速度，驱动电路600控制盖板500的运动速度，从而实现平稳地开盖和合盖；电机200的转轴通过缓冲器300带动盖板500转动，缓冲器300能够增大电机200的转轴的扭力，避免盖板500在自身重力或惯性的作用下脱离电机200的控制并发 生滑行，缓冲器300使电机200能够平稳地控制盖板500移动。本实施例的具有编码器及稳定装置的桶盖既能够防止盖板500由于开盖速度过快或不稳定而导致的垃圾桶剧烈抖动，避免垃圾桶内的垃圾被翻出垃圾桶外；又能够防止盖板500合盖的速度过快或不稳定而导致的垃圾桶内的气体被扇动至垃圾桶以外的外部环境中；同时，在电机200、编码器210、驱动电路600和缓冲器300的共同作用下，驱动电路600能够精确地控制盖板500的动作，使盖板500能够与面壳100紧密贴合，即使在垃圾桶倾斜放置的情况下，仍然能够保证盖板500与面壳100贴合，防止垃圾从盖口110掉出。由此可见，本实施例的具有编码器及稳定装置的桶盖能够有效防止垃圾桶内的垃圾对环境产生污染，避免垃圾桶内的气体扑向用户，提升用户体验，保障用户的健康。
具体地，盖板500靠近底壳700的一面设置有承托座510，承托座510上设置有第一通孔511，驱动轴400穿设于第一通孔511，盖板500靠近承托座510的一面设置有第一内螺柱520，承托座510上设置有第一螺孔512，盖板500与承托座510通过第一内螺柱520、第一螺孔512和穿设于第一内螺柱520和第一螺孔512的第一螺钉连接。在本实施例中，驱动轴400上设置有第一限位孔440，承托座510内设置有与第一限位孔440对应的第二限位孔513，驱动轴400与承托座510通过穿设于第一限位孔440和第二限位孔513的限位柱连接，能够防止盖板500转动时，承托座510与驱动轴400发生相对滑动，使盖板500能够被稳定地打开和闭合；通过承托座510支撑盖板500，能够增加盖板500与驱动轴400的接触面积，在加强盖板500的强度的同时能够避免盖板500在移动的过程中发生晃动，加强了盖板500移动时的稳定性；盖板500与承托座510之间的连接方式简单，便于拆卸盖板500并对其进行清洗。
面壳100靠近第一连接座130的一面设置有第二内螺柱150，第一连接座130上设置有第二螺孔131，第一连接座130与面壳100通过第二内螺柱150、第二螺孔131以及穿设于第二内螺柱150和第二螺孔131的第二螺钉连接，面壳100靠近第二连接座140的一面设置有第三内螺柱160，第二连接座140上设置有第三螺孔141，第二连接座140与面壳100通过第三内螺柱160、第三螺孔141以及穿设于第三内螺柱160和第三螺孔141的第三螺钉连接并形成第二通孔170，驱动轴400的一端穿设于第二通孔170。本实施例的面壳100与第一连接座130和第二连接座140的连接方式简单，易于拆卸，便于对驱动轴400和承托座510进行拆卸和清洁维护。
缓冲器300包括连接头310、第一连接臂320和第二连接臂330，连接头310上设置有第三通孔311，驱动轴400穿设于第三通孔311，驱动轴400的两端分别穿设于第二通孔170和第三通孔311，驱动轴400的轴向与盖口110所在的平面平行，驱动轴400的两端分别由第二通孔170和第三通孔311支撑，使驱动轴400能够绕自身的轴向平稳的转动。连接头310的侧壁设置有连接板312，连接板312与第一连接臂320的一端铰接，第一连接臂320的另一端与第二连接臂330的一端铰接，第二连接臂330的另一端设置有连接柱331，第一连接座130上设置有与连接柱331对应的的连接孔132，连接柱331设置在连接孔132内并与连接孔132转动连接，电机200的转轴与连接柱331同轴设置并且与第二连接臂330远离连接柱331的一面连接。电机200的转轴通过第二连接臂330、第一连接臂320和连接头310带动驱动轴400转动，第二连接臂330、第一连接臂320和连接头310能够增大电机200的转轴的扭力，防止盖板500在自身重力或惯性的影响下摆脱电机200的控制而快速滑动或抖动，保证盖板500能够按照设定的速度平稳地移动。
还需要说明的是，本公开中提到的缓冲器300可以是由上述实施例中的连接头310、第一连接臂 320和第二连接臂330构成，连接头310、第一连接臂320和第二连接臂330通过铰接的方式传动连接，也可以是在连接头310、第一连接臂320和第二连接臂330上设置齿轮、螺杆、蜗杆、丝杆、螺纹或齿纹等传动机构，连接头310、第一连接臂320和第二连接臂330通过齿轮、螺杆、蜗杆、丝杆、螺纹或齿纹等传动机构的啮合实现传动连接；缓冲器300还可以包括设置于驱动轴400和电机200之间的齿轮、齿轮轴、螺杆、蜗杆或丝杆等部件，驱动轴400和电机200通过这些部件传动连接。本实施例中的缓冲器300只是示例性的，而非对电机200和驱动轴400的传动方式作限制，在所述技术领域普通技术人员所具备的知识范围内，还可以在不脱离本公开宗旨的前提下做出各种变化。
进一步地，底壳700远离面壳100的一面设置有电池仓710和电池盖720，电池盖720与底壳700连接，电池盖720能够使电池封闭在电池仓710内，防止电池受到垃圾的污染和腐蚀。电池仓710内设置有与电池电连接的铜片，铜片与驱动电路600电连接，驱动电路600由电池仓内的电池供电。面壳100的侧面设置有电源开关180，电源开关180串联在电池仓和驱动电路600之间，通过电源开关180能够切断驱动电路600的电源，用户可以通过手动的方式控制盖板500的开合。本实施例的具有编码器及稳定装置的桶盖能够灵活地控制盖板500的开合，使本实施例能够灵活地应用于不同的场合，当电机200发生故障时，用户仍然能够使用应用了本实施例的垃圾桶存放垃圾。
驱动轴400靠近第一连接座130的一端设置有第一扭转弹簧410，第一扭转弹簧410绕驱动轴400的周向设置，第一扭转弹簧410的一端与面壳100抵接，连接头310的侧壁设置有凸块313，在凸块313上设置有第一固定孔，第一扭转弹簧410的另一端穿设于第一固定孔内。驱动轴400靠近第二连接座140的一端设置有第二扭转弹簧420和驱动板430，驱动板430的一端绕驱动轴400的周向设置并与驱动轴400的侧壁连接，第二扭转弹簧420绕驱动轴400的周向设置，第二扭转弹簧420的一端与面壳100抵接，驱动板430远离驱动轴400的一端设置有第二固定孔，第二扭转弹簧420的另一端穿设于第二固定孔内。当盖板500朝远离盖口110的方向运动，第一扭转弹簧410和第二扭转弹簧420被扭转并发生弹性形变，对盖板500产生朝盖口110方向的作用力，缓冲电机200对驱动轴400产生的扭力，防止电机200突然启动时，盖板500被迅速掀起而导致垃圾桶抖动，保证盖板500的平稳移动；当驱动电路600的电源被断开，盖板500通过手动的方式朝远离盖口110的方向移动，第一扭转弹簧410和第二扭转弹簧420对盖板500产生使盖板500朝盖口110方向移动的作用力，盖板500能够自动地朝盖口110的方向移动并与面壳100贴合，防止垃圾桶内的垃圾对垃圾桶以外的环境造成污染，在用户打开盖板500后无需手动闭合盖板500，操作简易，能够有效提高用户体验；第一扭转弹簧410和第二扭转弹簧420分别设置于驱动轴400的两端，第一扭转弹簧410和第二扭转弹簧420通过连接头310和驱动板430对驱动轴400产生的作用力分布于驱动轴400的两端，使驱动轴400的受力均匀，确保盖板500能够平稳地移动。
连接柱331上设置有第三扭转弹簧332，第三扭转弹簧332绕连接柱331的周向设置，在第一连接座130上设置有三个卡槽133，在第二连接臂330上设置有第三固定孔，第三扭转弹簧332的一端与卡槽133抵接，第三扭转弹簧332的另一端穿设于第三固定孔。第三扭转弹簧332起到辅助缓冲器300支撑盖板500的作用，当盖板500朝面壳100的方向运动，第一连接座130和第二连接臂330使第三扭转弹簧332发生弹性形变，第三扭转弹簧332对盖板500产生使盖板500朝远离面壳100的方向运动的辅助力，防止盖板500在自身重力或惯性的影响下不受电机200的转轴的扭力控制而快速地朝面壳100的方向运动，提高盖板500移动的稳定性。卡槽133绕连接孔132的周向设置，通过将第 三扭转弹簧332连接于不同的卡槽133上能够调节第三扭转弹簧332对盖板500产生的辅助力的大小，本实施例的具有编码器及稳定装置的桶盖能够适用于不同重量的盖板500，便于对盖板500进行更换。
另外，为了加强驱动轴400的稳定性，在承托座510远离盖板500的一面还设置有加强座530，加强座530与面壳100靠近驱动轴400的一面连接，加强座530上设置有支撑台531，驱动轴400与支撑台531转动连接，加强座530起到支撑驱动轴400的作用。
参照图4，本公开的另一个实施例提供了一种具有编码器及稳定装置的桶盖，在上述实施例的基础上，编码器210为磁环编码器，编码器210包括磁环211、第一采样电路213和至少一个霍尔传感器212，磁环211与电机200的转轴传动连接，磁环211内设置有至少一个磁极214，霍尔传感器212沿磁环211的周向设置，霍尔传感器212与第一采样电路213电连接，第一采样电路213与驱动电路600电连接，在本实施例中，磁极214的数量为八个，霍尔传感器212的数量为两个。磁环211随电机200的转轴转动而转动，磁环211内的磁极214与霍尔传感器212的相对位置发生变化，霍尔传感器212向第一采样电路213输出与磁极214位置相对应的电信号，第一采样电路213对霍尔传感器212输出的电信号进行编码并输出至驱动电路600，驱动电路600根据第一采样电路213输出的编码信号得出电机200的转轴的转动速度和转动角度。
参照图5，本公开的另一个实施例提供了一种具有编码器及稳定装置的桶盖，在上述实施例的基础上，编码器210为光栅编码器，编码器210包括透光转盘215、红外发射器216、红外接收器217和第二采样电路218，透光转盘215与电机200的转轴传动连接，透光转盘215的周向上均匀地印刷有若干条沿透光转盘215径向设置的条形光栅，透光转盘215设置于红外发射器216和红外接收器217之间，红外发射器216和红外接收器217与第二采样电路218电连接，第二采样电路218与驱动电路600电连接。透光转盘215随电机200的转轴转动而转动，透光转盘215上的条形光栅间歇性地切断红外发射器216与红外接收器217之间的光路，红外接收器217向第二采样电路218输出反映光路通断情况的电信号，第二采样电路218对红外接收器217输出的电信号进行编码并输出至驱动电路600，驱动电路600根据第二采样电路218输出的编码信号得出电机200的转轴的转动速度和转动角度。
参照图6，本公开的另一个实施例提供了一种具有编码器及稳定装置的桶盖，在上述实施例的基础上，具有编码器及稳定装置的桶盖还包括电流检测模块610。在本实施例中，电流检测模块610串联于电机200和驱动电路600之间，因此流经电流检测模块610的电流值等于电机200的工作电流。电流检测模块610与驱动电路600信号连接，向驱动电路600输出包含电机200工作电流信息的电流信号，驱动电路600通过电流信号计算出电机200的工作电流。当电机200的工作电流大于预设的电流阈值时，驱动电路600使电机200停止转动，防止电机200被烧毁；当电机200的工作电流小于或等于预设的电流阈值且盖板500尚未达到预设的角度值时，驱动电路600驱动电机200的转轴转动。具体地，电流检测模块610可以为电阻，驱动电路600通过模数转换单元检测电阻两端的电压，从而计算出通过电阻的电流，即通过电机200的工作电流；需要说明的是，电流检测模块610还可以是由电阻、模数转换器等模块组成的集成电路，或者是由电阻、模数转换器等独立器件组成的电路模块；还可以是其他通过串联的方式测量电路中的电流信号的芯片、集成电路或由分立元器件组成的电路模块；这些芯片、集成电路或由分立元器件组成的电路模块向驱动电路600输出的电流信息可以是模拟信号，也可以是经过转换的数字信号。还需要说明的是，电流检测模块610还可以是通过与电机200 并联的方式检测电机200工作电流的芯片、集成电路或由分立元器件组成的电路模块。本实施例仅用于说明本发明的技术方案而非对电流检测模块610的具体实施形式的限制。下面结合附图详细描述本公开第二方面实施例的垃圾桶。
参照图7和图8，本公开的一个实施例提供了一种垃圾桶，包括筒体800、连接框900和上述第一方面实施例的具有编码器及稳定装置的桶盖，连接框900沿壳体的面壳100的周向设置并且与壳体的底壳700连接，面壳100的侧壁和连接框900形成容纳槽910，筒体800靠近筒口810的一端嵌入至容纳槽910内，筒口810与盖口110连通。向本实施例的垃圾桶扔垃圾时，电机200驱动盖板500朝远离盖口110的方向移动，垃圾由盖口110、筒口810进入到筒体800内；当盖板500朝盖口110移动并与壳体的面壳100贴合时，盖板500能够防止筒体800内的垃圾和气味泄漏至筒体800外部，有效阻隔垃圾对环境的污染，保障人的身体健康。本公开的垃圾桶使用了上述第一方面实施例的具有编码器及稳定装置的桶盖能够防止盖板500由于开盖速度过快或不稳定而导致的筒体800剧烈抖动，避免筒体800内的垃圾被翻出筒体800以外；能够防止盖板500合盖速度过快或不稳定而导致的筒体800内的气体被扇动至筒体800以外的外部环境中，避免筒体800内气体对用户造成不适；在本实施例的垃圾桶被倾斜放置或被弄倒的情况下，筒体800内的垃圾也不会从盖口110漏出至筒体800外。本公开的垃圾桶能够避免筒体800内的垃圾再次对环境产生污染，提升用户体验，保障用户的健康。
由于本公开实施例的垃圾桶包括了如上述任一项实施例的具有编码器及稳定装置的桶盖，因此，本公开实施例的垃圾桶具备如上述任一项实施例的具有编码器及稳定装置的桶盖所带来的技术效果，所以，本公开实施例的垃圾桶的具体技术效果，可参照上述任一项实施例的具有编码器及稳定装置的桶盖的技术效果，此处不再赘述。
下面结合附图详细描述本公开第三方面实施例的桶盖控制方法。
参照图1、图2、图3和图9，本公开的一个实施例提供了一种桶盖控制方法，该方法应用于具有编码器及稳定装置的桶盖，具有编码器及稳定装置的桶盖包括壳体、电机200、缓冲器300、驱动轴400、盖板500和驱动电路600。壳体包括面壳100和底壳700，在面壳100的中部设置有用于投放垃圾的盖口110，面壳100靠近底壳700的一面设置有第一连接座130和第二连接座140，底壳700与面壳100连接并形成容纳腔，电机200、缓冲器300、驱动轴400和驱动电路600设置于容纳腔内。电机200与面壳100靠近底壳700的一面连接，电机200上设置有编码器210。缓冲器300的第一端与第一连接座130转动连接，电机200的转轴与缓冲器300的第一端连接，缓冲器300在电机200的驱动下转动。驱动轴400的一端与第二连接座140转动连接，驱动轴400的另一端与缓冲器300的第二端连接，驱动轴400在缓冲器300的作用下绕自身的轴向转动。盖板500与驱动轴400连接，盖板500随着驱动轴400的转动而转动，当盖板500朝盖口110的方向移动并与面壳100贴合时，盖板500遮盖盖口110，当盖板500朝远离盖口110的方向移动，盖口110打开。驱动电路600与电机200和电机200上的编码器210电连接。桶盖控制方法包括但不限于以下步骤：
S100，驱动电路600获取编码器210输出的编码信号，并计算出电机200的转动速度和转动角度；
S200，驱动电路600根据转动速度和转动角度向电机200输出驱动电信号；
S300，电机200响应于驱动电信号并通过缓冲器300和驱动轴400带动盖板500转动。
执行了本公开桶盖控制方法的具有编码器及稳定装置的桶盖，其驱动电路600能够通过编码器210获取电机200的转动速度和转动角度，并根据电机200的转动速度和转动角度控制电机200的运 行状态，使电机200能够平稳地驱动盖板500转动。本公开的桶盖控制方法既能够防止盖板500由于开盖速度过快或不稳定而导致的垃圾桶剧烈抖动，又能够防止盖板500合盖的速度过快或不稳定而导致的垃圾桶内的气体被扇动至垃圾桶以外的外部环境中，另外，还能够使盖板500与壳体紧密贴合，在垃圾桶倾斜放置的情况下，防止垃圾从盖板500和壳体之间的缝隙漏出，有效提升用户体验，保障用户的健康。
参照图1、图2、图3和图10，本公开的另一个实施例提供的桶盖控制方法，在上述实施例的基础上，图10所示方法为图9中步骤S200的具体流程，该方法包括但不限于以下步骤：
S210，若转动角度不等于角度预设值，且转动角度递增或递减，驱动电路600向电机200输出转速调整电信号；
S220，若转动角度不等于角度预设值，且转动角度维持不变，驱动电路600向电机200输出停转电信号；
S230，若转动角度等于角度预设值，驱动电路600向电机200输出停转电信号。
通过本实施例的桶盖控制方法，驱动电路600根据当前电机200的转动角度向电机200发送对应的控制电信号：当盖板500处于开盖或闭合的过程中，即电机200尚未达到预设的开盖角度预设值或预设的闭合角度预设值时，若电机200的转动角度处于递增或递减的状态，则驱动电路600向电机200输出维持电机200转速的转速调整电信号，从而能够使盖板500能够平稳地转动；若电机200的转动角度不发生变化，即有外力作用在盖板500、缓冲器300或驱动轴400上，或者其他因素导致电机200的转轴无法转动，驱动电路600向电机200输出停转电信号，使电机200的转轴被锁定并停止转动，从而能够防止电机200、缓冲器300、驱动轴400以及盖板500被电机200的扭力损坏。当盖板500达到预设的开盖角度预设值或预设的闭合角度预设值时，即盖板500已经被完全打开或与面壳100紧密贴合时，驱动电路600向电机200输出停转电信号，使电机200的转轴被锁定并停止转动，从而能够防止用户向垃圾桶扔垃圾时，盖板500受到风力等其他外力的作用下朝面壳100的方向转动而夹到用户的手，同时还能够在盖板500闭合时，垃圾桶倾斜而导致的垃圾从盖板500和面壳100之间的缝隙漏出，有效提升用户体验。
参照图1、图2、图3和图11，本公开的另一个实施例提供的桶盖控制方法，在上述实施例的基础上，图11所示方法为图10中步骤S210的具体流程，该方法包括但不限于以下步骤：
S211，当转动速度等于速度预设值，驱动电路600向电机200输出转速维持电信号；
S212，当转动速度大于速度预设值，驱动电路600向电机200输出减速电信号；
S213，当转动速度小于速度预设值，驱动电路600向电机200输出加速电信号。
通过本实施例的桶盖控制方法，驱动电路600根据当前电机200的转动速度对电机200的转速进行调整，当盖板500处于开盖或闭合的过程中，驱动电路600对电机200的转速进行监测：若转动速度等于速度预设值，驱动电路600向电机200输出维持当前转速的转速维持电信号；若转动速度大于速度预设值，驱动电路600向电机200输出降低电机200转速的减速电信号；若转动速度小于速度预设值，驱动电路600向电机200输出提高电机200转速的加速电信号，从而使开盖或闭合的过程中，盖板500能够稳定地转动，既能防止盖板500由于开盖速度过快或不稳定而导致的垃圾桶剧烈抖动，又能够防止盖板500合盖的速度过快或不稳定而导致的垃圾桶内的气体被扇动至垃圾桶以外的外部环境中，提升用户体验，保障用户的身体健康。
还需要说明的是，电机200可以是有刷电机，也可以是无刷电机，对应地，驱动电路600向电机200输出的驱动电信号可以是直流电信号，也可以是交流电信号。当驱动电信号为直流电信号时，转速维持电信号、减速电信号、加速电信号可以通过改变驱动电信号的电压值获得，停转电信号可以是电压值为零的直流电信号；当驱动电信号为交流电信号时，转速维持电信号、减速电信号、加速电信号可以通过改变驱动电信号的频率值获得，停转电信号可以是频率值为零的交流电信号。
参照图1、图2、图3、图6和图12，本公开的另一个实施例提供的桶盖控制方法，该方法应用于具有编码器及稳定装置的桶盖，具有编码器及稳定装置的桶盖包括壳体、电机200、缓冲器300、驱动轴400、盖板500、驱动电路600和电流检测模块610。壳体包括面壳100和底壳700，在面壳100的中部设置有用于投放垃圾的盖口110，面壳100靠近底壳700的一面设置有第一连接座130和第二连接座140，底壳700与面壳100连接并形成容纳腔，电机200、缓冲器300、驱动轴400、驱动电路600和电流检测模块610设置于容纳腔内。电机200与面壳100靠近底壳700的一面连接，电机200上设置有编码器210。缓冲器300的第一端与第一连接座130转动连接，电机200的转轴与缓冲器300的第一端连接，缓冲器300在电机200的驱动下转动。驱动轴400的一端与第二连接座140转动连接，驱动轴400的另一端与缓冲器300的第二端连接，驱动轴400在缓冲器300的作用下绕自身的轴向转动。盖板500与驱动轴400连接，盖板500随着驱动轴400的转动而转动，当盖板500朝盖口110的方向移动并与面壳100贴合时，盖板500遮盖盖口110，当盖板500朝远离盖口110的方向移动，盖口110打开。驱动电路600与电机200和电机200上的编码器210电连接，电流检测模块610串联于电机200和驱动电路600之间，电流检测模块610与驱动电路600信号连接。桶盖控制方法包括但不限于以下步骤：
S410，驱动电路600获取编码器210输出的编码信号，并计算出电机200的转动速度和转动角度；
S420，驱动电路600获取电流检测模块610输出的电流信号并计算电机200的工作电流，若工作电流小于或等于电流阈值，驱动电路600根据转动速度和转动角度向电机200输出驱动电信号。
S430，电机200响应于驱动电信号并通过缓冲器300和驱动轴400带动盖板500转动。
S440，驱动电路600获取电流检测模块610输出的电流信号并计算电机200的工作电流，若工作电流大于电流阈值，驱动电路600向电机200输出停转电信号。
执行了本公开桶盖控制方法的具有编码器及稳定装置的桶盖，其电流检测模块610串联于电机200和驱动电路600之间，因此流经电流检测模块610的电流值等于电机200的工作电流。电流检测模块610与驱动电路600信号连接，向驱动电路600输出包含电机200工作电流信息的电流信号，驱动电路600通过电流信号计算出电机200的工作电流。当电机200的工作电流大于预设的电流阈值时，驱动电路600使电机200停止转动，防止电机200被烧毁；当电机200的工作电流小于或等于预设的电流阈值且盖板500尚未达到预设的角度值时，驱动电路600驱动电机200的转轴转动。驱动电路600能够通过编码器210获取电机200的转动速度和转动角度，并根据电机200的转动速度和转动角度控制电机200的运行状态，使电机200能够平稳地驱动盖板500转动。本公开的桶盖控制方法既能够防止盖板500由于开盖速度过快或不稳定而导致的垃圾桶剧烈抖动，又能够防止盖板500合盖的速度过快或不稳定而导致的垃圾桶内的气体被扇动至垃圾桶以外的外部环境中，另外，还能够使盖板500与壳体紧密贴合，在垃圾桶倾斜放置的情况下，防止垃圾从盖板500和壳体之间的缝隙漏出，有效提升用户体验，保障用户的健康。本公开的一个实施例提供了一种电机驱动器，包括至少一个用于 与编码器210和电流检测模块610通信连接的处理器和至少一个用于与所述处理器通信连接的存储器，在本实施例中，处理器的数量为一个，存储器的数量为一个，存储器、编码器210和电流检测模块610与处理器通信连接。存储器存储有指令，该指令被处理器执行，可使得处理器执行上述实施例中的桶盖控制方法，例如，执行以上描述的图9中的方法步骤S100、S200和S300，执行图10中的方法步骤S210、S220和S230，执行图11中的方法步骤S211、S212和S213，以及执行图12中的方法步骤S410、S420、S430和S440。
本公开的一个实施例提供了一种非暂时性计算机可读存储介质，该非暂时性计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令用于使计算机执行上述实施例中的桶盖控制方法，例如，执行以上描述的图9中的方法步骤S100、S200和S300，执行图10中的方法步骤S210、S220和S230，执行图11中的方法步骤S211、S212和S213，以及执行图12中的方法步骤S410、S420、S430和S440。
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、系统可以被实施为软件、固件、硬件及其适当的组合。某些物理组件或所有物理组件可以被实施为由处理器，如中央处理器、数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在存储介质上，存储介质可以包括计算机存储介质(或非暂时性介质)和通信介质(或暂时性介质)。如本领域普通技术人员公知的，术语存储介质包括在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实施的易失性和非易失性、可移除和不可移除介质。存储介质包括但不限于RAM、ROM、EEPROM、闪存或其他存储器技术、CD‐ROM、数字多功能盘(DVD)或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。
上面结合附图对本公开实施例作了详细说明，但是本公开不限于上述实施例，在所述技术领域普通技术人员所具备的知识范围内，还可以在不脱离本公开宗旨的前提下做出各种变化。

Claims (20)

  1. 一种具有编码器及稳定装置的桶盖，其特征在于，包括：
    壳体，设置有盖口、第一连接座和第二连接座；
    电机，设置有编码器，所述电机与所述壳体连接；
    缓冲器，所述第一连接座与所述缓冲器的第一端转动连接，所述电机的转轴与所述缓冲器的第一端连接；
    驱动轴，所述驱动轴的一端与所述第二连接座转动连接，所述驱动轴的另一端与所述缓冲器的第二端连接；
    盖板，与所述驱动轴连接，用于遮盖所述盖口；
    驱动电路，与所述电机和所述编码器电连接。
  2. 根据权利要求1所述的具有编码器及稳定装置的桶盖，其特征在于，所述壳体包括面壳和底壳，所述面壳设置有所述盖口、所述第一连接座和所述第二连接座，所述面壳与所述底壳连接并形成容纳腔，所述第一连接座、所述第二连接座、所述电机、所述缓冲器、所述驱动轴和所述驱动电路设置于所述容纳腔内。
  3. 根据权利要求2所述的具有编码器及稳定装置的桶盖，其特征在于，所述底壳远离所述面壳的一面设置有电池仓和电池盖，所述电池盖与所述底壳连接，所述驱动电路与所述电池仓电连接，所述面壳上设置有电源开关，所述电源开关与所述电池仓和所述驱动电路电连接。
  4. 根据权利要求2所述的具有编码器及稳定装置的桶盖，其特征在于，所述盖板的一面设置有承托座，所述承托座上设置有第一通孔，所述驱动轴穿设于所述第一通孔，所述盖板靠近所述承托座的一面设置有第一内螺柱，所述承托座上设置有第一螺孔，所述盖板与所述承托座通过所述第一内螺柱和所述第一螺孔连接。
  5. 根据权利要求2所述的具有编码器及稳定装置的桶盖，其特征在于，所述面壳靠近所述第一连接座的一面设置有第二内螺柱，所述第一连接座上设置有第二螺孔，所述第一连接座与所述面壳通过所述第二内螺柱和所述第二螺孔连接，所述面壳靠近所述第二连接座的一面设置有第三内螺柱，所述第二连接座上设置有第三螺孔，所述第二连接座与所述面壳通过所述第三内螺柱和所述第三螺孔连接并形成第二通孔，所述驱动轴穿设于所述第二通孔。
  6. 根据权利要求2所述的具有编码器及稳定装置的桶盖，其特征在于，所述缓冲器包括连接头、第一连接臂和第二连接臂，所述连接头上设置有第三通孔，所述连接头的侧壁设置有连接板，所述驱动轴穿设于所述第三通孔，所述连接板与所述第一连接臂的一端传动连接，所述第一连接臂的另一端与所述第二连接臂的一端传动连接，所述第二连接臂的另一端设置有连接柱，所述第一连接座设置有连接孔，所述连接柱与所述连接孔转动连接，所述电机的转轴与所述连接柱同轴设置。
  7. 根据权利要求6所述的具有编码器及稳定装置的桶盖，其特征在于，所述驱动轴靠近所述第一连接座的一端设置有第一扭转弹簧，所述第一扭转弹簧绕所述驱动轴的周向设置，所述第一扭转弹簧的一端与所述面壳抵接，所述第一扭转弹簧的另一端与所述连接头连接，所述驱动轴靠近所述第二连接座的一端设置有第二扭转弹簧和驱动板，所述驱动板与所述驱动轴的侧壁连接，所述第二扭转弹簧绕所述驱动轴的周向设置，所述第二扭转弹簧的一端与所述面壳抵接，所述第二扭转弹簧的另一端与所述驱动板连接。
  8. 根据权利要求6所述的具有编码器及稳定装置的桶盖，其特征在于，所述连接柱上设置有第三扭转弹簧，所述第三扭转弹簧绕所述连接柱的周向设置，所述第一连接座上设置有若干个卡槽，所述第三扭转弹簧的一端与所述卡槽抵接，所述第三扭转弹簧的另一端与所述第二连接臂连接。
  9. 根据权利要求8所述的具有编码器及稳定装置的桶盖，其特征在于，所述编码器为磁环编码器或光栅编码器。
  10. 根据权利要求1所述的具有编码器及稳定装置的桶盖，其特征在于，还包括电流检测模块，所述电流检测模块与所述电机和所述驱动电路电连接。
  11. 一种垃圾桶，其特征在于，包括筒体、连接框和如权利要求1所述的具有编码器及稳定装置的桶盖，所述连接框沿所述壳体的周向设置并且与所述壳体连接，所述壳体和所述连接框形成容纳槽，所述筒体靠近筒口的一端嵌入至所述容纳槽内，所述筒口与所述盖口连通。
  12. 一种垃圾桶，其特征在于，包括筒体、连接框和如权利要求2所述的具有编码器及稳定装置的桶盖，所述连接框沿所述壳体的周向设置并且与所述壳体连接，所述壳体和所述连接框形成容纳槽，所述筒体靠近筒口的一端嵌入至所述容纳槽内，所述筒口与所述盖口连通。
  13. 一种垃圾桶，其特征在于，包括筒体、连接框和如权利要求3所述的具有编码器及稳定装置的桶盖，所述连接框沿所述壳体的周向设置并且与所述壳体连接，所述壳体和所述连接框形成容纳槽，所述筒体靠近筒口的一端嵌入至所述容纳槽内，所述筒口与所述盖口连通。
  14. 一种垃圾桶，其特征在于，包括筒体、连接框和如权利要求4所述的具有编码器及稳定装置的桶盖，所述连接框沿所述壳体的周向设置并且与所述壳体连接，所述壳体和所述连接框形成容纳槽，所述筒体靠近筒口的一端嵌入至所述容纳槽内，所述筒口与所述盖口连通。
  15. 一种桶盖控制方法，其特征在于，应用于具有编码器及稳定装置的桶盖，所述具有编码器及稳定装置的桶盖包括壳体、电机、缓冲器、驱动轴、盖板和驱动电路，所述壳体设置有盖口、第一连接座和第二连接座，所述电机设置有编码器，所述电机与所述壳体连接；所述第一连接座与所述缓冲器的第一端转动连接，所述电机的转轴与所述缓冲器的第一端连接，所述驱动轴的一端与所述第二连接座转动连接，所述驱动轴的另一端与所述缓冲器的第二端连接，所述盖板与所述驱动轴连接，驱动电路与所述电机和所述编码器电连接；
    所述桶盖控制方法包括：
    所述驱动电路获取所述编码器输出的编码信号，并计算出所述电机的运行参数；
    所述驱动电路根据所述运行参数向所述电机输出驱动电信号；
    所述电机响应于所述驱动电信号并通过所述缓冲器和所述驱动轴带动所述盖板转动。
  16. 根据权利要求15所述的桶盖控制方法，其特征在于，所述运行参数包括所述电机的转动速度和转动角度，所述驱动电路根据所述运行参数向所述电机输出驱动电信号，包括至少如下之一：
    若所述转动角度不等于角度预设值，且所述转动角度递增或递减，所述驱动电路向所述电机输出转速调整电信号；
    若所述转动角度不等于所述角度预设值，且所述转动角度维持不变，所述驱动电路向所述电机输出所述停转电信号；
    若所述转动角度等于所述角度预设值，所述驱动电路向所述电机输出所述停转电信号。
  17. 根据权利要求16所述的桶盖控制方法，其特征在于，所述若所述转动角度不等于角度预设值， 且所述转动角度递增或递减，所述驱动电路向所述电机输出转速调整电信号，包括至少如下之一：
    当所述转动速度等于速度预设值，所述驱动电路向所述电机输出转速维持电信号；
    当所述转动速度大于所述速度预设值，所述驱动电路向所述电机输出减速电信号；
    当所述转动速度小于所述速度预设值，所述驱动电路向所述电机输出加速电信号。
  18. 根据权利要求15所述的桶盖控制方法，其特征在于，所述应用于具有编码器及稳定装置的桶盖还包括电流检测模块，所述电流检测模块与所述电机和所述驱动电路电连接；
    所述桶盖控制方法还包括：
    所述驱动电路获取所述电流检测模块输出的电流信号并计算所述电机的工作电流，若所述工作电流大于电流阈值，所述驱动电路向所述电机输出停转电信号；
    所述驱动电路获取所述电流检测模块输出的电流信号并计算所述电机的工作电流，若所述工作电流小于或等于所述电流阈值，所述驱动电路根据所述运行参数向所述电机输出驱动电信号。
  19. 一种电机驱动器，其特征在于，包括至少一个用于与编码器通信连接的处理器和至少一个用于与所述处理器通信连接的存储器，所述存储器存储有能够被所述处理器执行的指令，所述指令被所述处理器执行，以使所述处理器能够执行如权利要求15所述的桶盖控制方法。
  20. 一种非暂时性计算机可读存储介质，其特征在于，所述非暂时性计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如权利要求15所述的桶盖控制方法。
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