Control method of transmission mechanism, electronic device and computer readable storage device

Abstract

The present application discloses a control method for a transmission mechanism. The transmission mechanism includes a driving wheel, a driven wheel and a synchronization mechanism. The synchronization mechanism connects the driving wheel and the driven wheel and is used to drive the driven wheel to rotate when the driving wheel rotates. The synchronization mechanism includes multiple synchronization units. The method includes determining the synchronization unit that is engaged with the driving wheel and / or the driven wheel after a rotation operation is completed; correcting the wear value of the engaged synchronization unit; and controlling the rotation of the driven wheel in response to the wear value of any synchronization unit among the multiple synchronization units not meeting the preset conditions. The present application also discloses an electronic device and a computer-readable storage device. In the above manner, the present application can reduce the probability of failure of the transmission mechanism due to excessive wear.

Description

Technical Field

[0001] The present application relates to the field of control, and in particular to a control method for a transmission mechanism, an electronic device, and a computer-readable storage device. Background Art

[0002] A pan / tilt head (PTZ) is a mechanical device that can flexibly adjust the pan and tilt angles, allowing a mounted camera to shoot from various angles. The pan / tilt movement of the PTZ is achieved through a motor and transmission mechanism, with the motor providing power for the transmission mechanism. However, over time, the transmission mechanism often wears out and fails. Minimizing the probability of transmission failure has become a pressing issue for technical personnel. Summary of the Invention

[0003] The main purpose of this application is to provide a control method for a transmission mechanism, an electronic device and a computer-readable storage device, which can reduce the probability of failure of the transmission structure.

[0004] To address the aforementioned technical issues, the first technical solution adopted in this application is to provide a method for controlling a transmission mechanism. The transmission mechanism includes a driving wheel, a driven wheel, and a synchronization mechanism. The synchronization mechanism connects the driving wheel and the driven wheel and is used to drive the driven wheel to rotate when the driving wheel rotates. The synchronization mechanism includes multiple synchronization units. The method includes determining the synchronization unit engaged with the driving wheel and / or the driven wheel after a rotation operation is completed; correcting the wear value of the engaged synchronization unit; and controlling the rotation of the driven wheel in response to the wear value of any of the multiple synchronization units not meeting a preset condition.

[0005] To solve the above technical problem, the second technical solution adopted in this application is to provide an electronic device. The electronic device includes a memory and a processor, wherein the memory is used to store program data, and the program data can be executed by the processor to implement the method described in the first technical solution.

[0006] To solve the above technical problems, the third technical solution adopted by this application is to provide a computer-readable storage device that stores program data and can be executed by a processor to implement the method described in the first technical solution.

[0007] The beneficial effects of the present application are as follows: the present application determines the synchronization units that are engaged with the driving wheel and / or the driven wheel during the rotation operation, and corrects the wear values of the synchronization units that are engaged during the rotation operation according to the number of synchronization units that are rotated and moved, thereby obtaining the wear values of all synchronization units on the synchronization structure. The synchronization units of the currently engaged portion are judged according to preset conditions. If the conditions are not met, it indicates that the wear values of the synchronization units of this portion do not meet the requirements, that is, the driven wheel is controlled to rotate, and the synchronization units that meet the requirements are rotated to replace the synchronization units that do not meet the requirements. By replacing the synchronization units whose wear values of the engaged portion do not meet the requirements with synchronization units that meet the requirements, the possible further wear of the synchronization units that do not meet the wear value requirements is reduced, thereby reducing the probability of failure of the entire transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0009] Figure 1 This is a flow chart of a first embodiment of a control method for a transmission mechanism of the present application;

[0010] Figure 2 It is a schematic diagram of an embodiment of the transmission mechanism of the present application;

[0011] Figure 3 This is a flow chart of a second embodiment of the control method for the transmission mechanism of the present application;

[0012] Figure 4 is a schematic diagram of another embodiment of the transmission mechanism of the present application;

[0013] Figure 5 This is a flow chart of a third embodiment of the control method for the transmission mechanism of the present application;

[0014] Figure 6 This is a flow chart of a fourth embodiment of the control method for the transmission mechanism of the present application;

[0015] Figure 7 This is a flow chart of a fifth embodiment of the control method for the transmission mechanism of the present application;

[0016] Figure 8 This is a flow chart of a sixth embodiment of the control method for the transmission mechanism of the present application;

[0017] Figure 9This is a flow chart of a seventh embodiment of the control method for the transmission mechanism of the present application;

[0018] Figure 10 This is a flow chart of an eighth embodiment of the control method for the transmission mechanism of the present application;

[0019] Figure 11 is a flow chart of a ninth embodiment of the control method for a transmission mechanism of the present application;

[0020] Figure 12 This is a schematic diagram of the synchronization unit adjustment process of this application;

[0021] Figure 13 This is a structural diagram of an embodiment of an electronic device of the present application;

[0022] Figure 14 It is a structural diagram of an embodiment of a computer-readable storage device of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] The terms "first," "second," and the like in this application are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0025] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0026] To address wear issues in the gimbal transmission mechanism, improvements are often made to the transmission structure itself. For example, improvements can be made to the transmission material itself; additional mechanisms can be added to increase the stability of the transmission mechanism, further reducing wear; devices can be added to change the transmission mechanism's temperature; devices can be added to adjust the tightness of the transmission mechanism; coatings can be added to the transmission mechanism, and so on.

[0027] This application, based on the principle of motion of the transmission mechanism, adjusts the meshing portion of the transmission mechanism in principle, so that the wear of the synchronization unit on the transmission structure is as even as possible, thereby reducing the problem of transmission mechanism failure caused by excessive wear. The specific implementation process can be achieved through the method described in the following embodiment.

[0028] like Figure 1 As shown, Figure 1 This is a flow chart of the first embodiment of the control method for the transmission mechanism of the present application. It includes the following steps:

[0029] S11: After one rotation operation is completed, a synchronization unit meshing with the driving wheel and / or the driven wheel is determined.

[0030] After each rotation, the number of synchronous units transmitted by the rotation operation and the synchronous units meshed with the driving wheel or the driven wheel are determined.

[0031] S12: Correcting the wear value of the meshing synchronization unit.

[0032] A wear value is set for each synchronizer unit in the synchronizing mechanism, indicating the degree of wear of the synchronizer unit. The wear value is adjusted based on the number of synchronizer units rotating and the number of synchronizer units engaged. Each rotation of a synchronizer unit causes a certain degree of wear to the currently engaged synchronizer unit.

[0033] S13: In response to the wear value of any synchronization unit among the plurality of synchronization units not meeting a preset condition, controlling the driven wheel to rotate.

[0034] When it is detected that a synchronizer unit among the currently engaged ones has a wear value that does not meet preset requirements, the master and slave wheels are rotated to allow a synchronizer unit that meets the requirements to replace the unqualified synchronizer unit and engage with the master and slave wheels. This method can be further configured to rotate only when a synchronizer unit on the driven or driving wheel does not meet the requirements. Alternatively, the rotation can be determined primarily based on the wear value of the synchronizer unit on the driven wheel. Because the driving wheel generally has fewer engaged synchronizer units, the probability of problems with the synchronizer units on the driving wheel due to wear is relatively low.

[0035] like Figure 2As shown, the transmission mechanism in the present application includes a driving wheel 1, a driven wheel 2, and a synchronization mechanism 3. The synchronization mechanism 3 connects the driving wheel 1 and the driven wheel 2 and is used to drive the driven wheel 2 to rotate when the driving wheel 1 rotates. The synchronization mechanism includes a plurality of synchronization units that can correspond to the synchronization units on the driving wheel and the driven wheel, and cooperate with each other so that the synchronization structure drives the rotating wheel to rotate. For example, the synchronization mechanism can be a chain, and the synchronization unit is a plurality of teeth on the chain. The teeth on the chain engage with the teeth on the rotating wheel so that the rotating wheel and the chain rotate synchronously.

[0036] like Figure 3 As shown, Figure 3 This is a flow chart of the second embodiment of the control method for the transmission mechanism of the present application. This method is a further extension of step S11. It includes the following steps:

[0037] S21: Obtain the radius of the driving wheel and the driven wheel and the center distance between the driving wheel and the driven wheel.

[0038] Use tools or refer to drawings to obtain the radius of the driving wheel and the driven wheel, as well as the center distance between the driving and driven wheels.

[0039] S22: Acquire a synchronization unit meshing with the driving wheel and / or the driven wheel according to the radius and the center distance of the circle.

[0040] After obtaining the radius of the master and slave wheels and the center distance between them, the central angle of the meshing portion of the master and slave wheels and the synchronizer mechanism relative to the entire circumference of the master and slave wheels can be calculated using the formula. Furthermore, based on the corresponding central angle and the radius of the master and slave wheels, the number of synchronizer units in the meshing portion can be calculated.

[0041] like Figure 4 As shown, Figure 4 For Figure 2 A transmission mechanism diagram is shown based on the diagram. The transmission mechanism includes a driving wheel 1, a driven wheel 2, and a synchronization mechanism 3. Synchronization mechanism 3 connects the driving wheel 1 and the driven wheel 2, driving the driven wheel 2 to rotate when the driving wheel 1 rotates. The center of the driving wheel is B, with a radius of r. The center of the driven wheel is A, with a radius of R. The distance between the center and AB is L.

[0042] According to the triangle law, we can get:

[0043] θ=arcsin((Rr) / L)

[0044] Furthermore, the central angle of the driven wheel corresponding to the meshing portion of the driven wheel is:

[0045] α=360°-2(90°-θ)=180°+2θ

[0046] Then the number of synchronous units of the driven wheel is:

[0047] X=[(2πR*α / 360°) / t]

[0048] Where t is the length of a single synchronization unit.

[0049] Similarly, the number of synchronous units of the driving wheel meshing part can be obtained according to the central angle corresponding to the driving wheel meshing part:

[0050] Y=[2πr*2*(90-θ) / 360° / t]

[0051] Once the number of synchronized units in all meshing parts is obtained, all synchronized units can be located. Assuming that the first meshing synchronized unit in the upper half of the driven wheel is numbered n, then in counterclockwise order, the numbers of the synchronized units in the meshing part of the driven wheel are n to n+X, and the numbers of the first meshing synchronized units in the lower half of the driving wheel are:

[0052] M=((NXY) / 2)+n+X=n+(N+X+Y) / 2

[0053] Wherein, N is the number of synchronization units on the synchronization mechanism.

[0054] The serial numbers of the synchronization units of the meshing part of the driving wheel are M to M+Y.

[0055] Each time the rotating structure moves one synchronization unit, the degree of wear of the meshing portion of the rotating driving wheel and the meshing portion of the driven wheel, n to n+X and M to M+Y, increases.

[0056] like Figure 5 As shown, Figure 5 This is a flow chart of the third embodiment of the control method for the transmission mechanism of the present application. This method is a further extension of step S12. It includes the following steps:

[0057] S31: Acquire the number of synchronization units that need to be moved to complete the rotation operation.

[0058] The rotation operation is obtained and divided into a plurality of unidirectional movements of the synchronization units, and the wear value of the meshing synchronization units is corrected according to the number of synchronization units in each unidirectional movement.

[0059] S32: Correcting the wear value of the meshed synchronizer units according to the quantity.

[0060] In one embodiment, Figure 4Based on the transmission mechanism, assuming that 5 synchronizer units rotate counterclockwise, the wear value of the synchronizer unit numbered n+X remains unchanged, the wear value of the synchronizer unit numbered n+X-1 increases by 1, the wear value of the synchronizer unit numbered n+X-2 increases by 2, and so on. The wear value of the synchronizer unit numbered n-1 increases by 5, the wear value of the synchronizer unit numbered n-2 increases by 4, and so on. The wear value of the synchronizer unit in the middle part that is still in meshing is increased by 5.

[0061] In one embodiment, the rotation operation can also be divided into multiple movements of a single synchronization unit. Each time a synchronization unit is moved, the wear value of the synchronization unit currently in the meshing portion is increased by 1.

[0062] like Figure 6 As shown, Figure 6 This is a flow chart of the fourth embodiment of the control method for the transmission mechanism of the present application. This method is a further extension of step S13. It includes the following steps:

[0063] S41: Determine whether the wear value of the engaged synchronization unit is greater than a wear value threshold.

[0064] To reduce the probability of transmission mechanism failure due to excessive wear of the meshing portion, the wear value of the meshing synchronization unit is tested to determine whether it meets preset conditions. The preset conditions include a wear value threshold. A determination is made as to whether the wear value of the synchronization unit exceeds the wear value threshold. If so, step S42 is executed.

[0065] S42: Control the driven wheel to rotate so that the wear value of the synchronization unit is less than the wear value threshold.

[0066] The driven wheel is controlled to transfer the synchronization unit whose wear value does not meet the requirements out of the meshing part, and a new synchronization unit whose wear value is less than the wear value threshold is allowed to enter the meshing part to replace the position of the synchronization unit that does not meet the requirements.

[0067] In one embodiment, in order to more effectively adjust the synchronization mechanism, the number of synchronization units in the synchronization mechanism and the number of synchronization units in the driven wheel are set to be prime numbers, and the number of synchronization units in the synchronization mechanism is greater than three times the number of synchronization units in the driven wheel. That is, the number of synchronization units in the synchronization mechanism is N, and the number of synchronization units in the driven wheel is K, N and K are prime numbers, and N>3K. The least common multiple of N and K is S. The prime numbers mean that the meshing synchronization units in the synchronization mechanism and the meshing synchronization units in the driven wheel will only re-align after the driven wheel rotates S / K circles. N>3K means that after the driven wheel rotates one circle, the synchronization mechanism can always replace the meshing synchronization unit part with the non-meshing synchronization unit part to re-engage.

[0068] like Figure 7 As shown, Figure 7 This is a flow chart of the fifth embodiment of the control method for the transmission mechanism of the present application. This method is a further extension of step S42. It includes the following steps:

[0069] S51: Determine whether the number of synchronization units in the synchronization mechanism having a wear value less than a wear value threshold is less than the number of currently engaged synchronization units.

[0070] When it is determined that the wear value of the synchronizer unit in the meshing part is greater than the wear value threshold, the driven wheel needs to be controlled to rotate to replace the synchronizer unit in the meshing part with the wear value greater than the wear value threshold. However, if the number of synchronizer units with wear values less than the wear value threshold in the synchronizer unit of the current synchronization structure is less than the number of synchronizer units in the meshing part, there must be a synchronizer unit in the meshing part with a wear value exceeding the wear value threshold. For example, Figure 4 Based on the above, if the meshing portion of the driving wheel and the driven wheel is being judged, it is determined whether the number of synchronization units having a wear value less than the wear value threshold is less than X+Y. If the meshing portion of the driven wheel is being judged, it is determined whether the number of synchronization units having a wear value less than the wear value threshold is less than X. If so, step S52 is executed.

[0071] S52: Control the driven wheel to rotate so that the synchronizer unit having a wear value less than a wear value threshold value rotates to the meshing portion.

[0072] If the meshing portion is certain to retain synchronizer units with wear values exceeding the wear threshold, all synchronizer units with wear values less than the wear threshold are rotated into the meshing portion. If there is a certain gap between synchronizer units with wear values less than the wear threshold and not all of them can be rotated into the meshing portion, as many synchronizer units with wear values less than the wear threshold as possible are rotated into the meshing portion. Alternatively, a portion of synchronizer units with the smallest average wear value, including synchronizer units with wear values less than the wear threshold, is rotated into the meshing portion.

[0073] In another embodiment, the judgment condition of the above embodiment is to judge whether the number of the synchronization units in the synchronization mechanism that have a wear value less than the wear value threshold is less than the number of the currently engaged synchronization units. Figure 4On this basis, if the meshing portion of the driving wheel and the driven wheel is being judged, it is determined whether the number of consecutive synchronizer units having wear values less than the wear value threshold is less than X or Y. If the meshing portion of the driven wheel is being judged, it is determined whether the number of consecutive synchronizer units having wear values less than the wear value threshold is less than X. If so, it indicates that there must be a synchronizer unit in the meshing portion whose wear value exceeds the wear value threshold.

[0074] If the answer is yes, similarly, all synchronizer units with wear values less than the wear value threshold are rotated into the meshing portion. If there is a certain gap between the synchronizer units with wear values less than the wear value threshold and not all of them can be rotated into the meshing portion, as many synchronizer units with wear values less than the wear value threshold as possible are rotated into the meshing portion. Alternatively, the synchronizer units with the smallest average wear value, including synchronizer units with wear values less than the wear value threshold, are rotated into the meshing portion.

[0075] like Figure 8 As shown, Figure 8 This is a flow chart of the sixth embodiment of the control method for the transmission mechanism of the present application. This method is a further extension of step S13. It includes the following steps:

[0076] S61: Determine whether there is a synchronization unit in the synchronization mechanism whose wear value is less than a wear value threshold.

[0077] If it is determined that the wear value of the meshing synchronizer unit is greater than the wear value threshold, the driven wheel is controlled to rotate to replace the meshing synchronizer unit with the wear value greater than the wear value threshold. However, if there are no meshing synchronizer units with a wear value less than the wear value threshold at this time, there is no operation to replace the meshing synchronizer unit with a synchronizer unit with a wear value less than the wear value threshold. If the determination is negative, step S62 is executed.

[0078] S62: Control the rotation of the driven wheel to minimize the average value of the wear value of the synchronization unit.

[0079] If a synchronizer unit with a wear value below the wear threshold cannot be used as a basis for judgment, the meshing unit's average wear value is used to determine whether it needs replacement. To minimize the probability of transmission mechanism failure due to excessive wear, the wear value of the synchronizer unit in the meshing unit is set to the minimum average wear value among all synchronizer units. Setting the wear value of the meshing unit to the minimum standard ensures that the wear value of the entire transmission mechanism is relatively even, reducing the probability of failure due to excessive wear in a particular unit.

[0080] like Figure 9 As shown, Figure 9 This is a flow chart of the seventh embodiment of the control method for the transmission mechanism of the present application. This method is a further extension of step S13. It includes the following steps:

[0081] S71: Determine whether there is a synchronization unit in the synchronization mechanism whose wear value is less than a wear value threshold.

[0082] If it is determined that the wear value of the meshing synchronizer unit is greater than the wear threshold, the driven wheel is controlled to rotate to replace the meshing synchronizer unit with the wear value greater than the wear threshold. However, if there are no meshing synchronizer units with a wear value less than the wear threshold at this time, there is no need to replace the meshing synchronizer unit with a synchronizer unit with a wear value less than the wear threshold. If the determination is negative, step S72 is executed.

[0083] S72: Calculate the average value of the wear values of all current synchronization units to replace the wear value threshold.

[0084] If a synchronizer unit with a wear value less than the wear threshold cannot be used as a basis for determination, the meshing portion's need for replacement is determined based on the average wear value of the meshing portion. The average wear value of all synchronizer units is calculated and used to replace the currently used wear threshold. Due to the newly set wear threshold, synchronizer units with wear values less than the wear threshold reappear, allowing the transmission mechanism to continue operating according to similar steps to those in the above-described embodiment.

[0085] S73: Control the driven wheel to rotate so that the average wear value of the synchronization unit is less than the wear value threshold.

[0086] After determining that the wear values of all synchronizer units are currently greater than the previously set wear threshold, the wear threshold is replaced based on the average wear value. To minimize malfunctions in subsequent transmission mechanism operations, the standard for synchronizer units in the meshing portion is set such that the average wear value of the synchronizer units is less than the wear threshold.

[0087] Since a new wear value threshold is used, step S73 can also be replaced with similar feasible steps in the above embodiment. For example, the driven wheel is controlled to rotate so that the wear value of the synchronization unit is less than the wear value threshold, or the driven wheel is controlled to rotate so that the synchronization unit with a wear value less than the wear value threshold rotates to the meshing portion, etc.

[0088] In one embodiment, since the wear values of all synchronization units have exceeded the set initial wear value threshold, a prompt message or warning can be issued to the user to remind the user that the use of the transmission mechanism has reached a certain limit and needs to be repaired or replaced.

[0089] like Figure 10 As shown, Figure 10 This is a flow chart of the eighth embodiment of the control method for the transmission mechanism of the present application. This method is a further extension of step S13. It includes the following steps:

[0090] S81: Preset a timer and a time threshold.

[0091] Since the user's usage is uncertain, the transmission mechanism cannot judge the meshing part all the time, so a timer and a time threshold are set to help judge the wear value.

[0092] S82: Determine whether the timer reaches a time threshold.

[0093] If so, execute step S83.

[0094] S83: Execute the judgment of the wear value of the meshed synchronizer unit.

[0095] Whenever the timer reaches a time threshold, the wear value of the synchronization unit of the meshing part of the transmission mechanism is judged.

[0096] like Figure 11 As shown, Figure 11 This is a flow chart of the ninth embodiment of the control method for the transmission mechanism of the present application. This method is a further extension of step S13. It includes the following steps:

[0097] S91: Determine whether the transmission mechanism is in an idle state.

[0098] After determining the wear value, if the wear value of the synchronizer unit in the currently engaged portion does not meet the preset conditions, the user's usage status is determined. The idle state of the transmission mechanism is determined. For example, the transmission mechanism has not been operated for a period of time, or no related tasks have been running in the system for a period of time. If the transmission mechanism is in the idle state, step S92 is executed.

[0099] S92: Execute control of the driven wheels.

[0100] When it is determined that the transmission mechanism is not in use, the adjustment of the synchronization unit of the meshing part is started to meet the requirements of the wear value threshold.

[0101] like Figure 12 As shown, Figure 12It is a schematic diagram for judging whether to adjust the synchronization unit of the meshing part.

[0102] S101: The meshing part synchronization unit adjustment task is started.

[0103] S102: Determine whether the timer has reached the detection period.

[0104] If so, execute step S102.

[0105] S103: Determine whether the wear value of any synchronization unit in the meshing part synchronization unit meets the preset conditions.

[0106] The preset condition is whether the wear value is less than the wear value threshold. If not, step S103 is executed.

[0107] S104: Determine whether the transmission mechanism is in an idle state.

[0108] If so, execute step S104.

[0109] S105: Control the driven wheel to rotate so that the wear value of the synchronization unit of the meshing part meets the preset conditions.

[0110] In one embodiment, before performing each wear value judgment task, the average wear value of all current synchronization units is calculated and used as the new wear value threshold, so that after each adjustment, the meshing part is always the synchronization unit with the smaller wear value, so as to avoid the synchronization unit wear value being too uneven and causing a fault.

[0111] like Figure 13 As shown, Figure 13 This is a structural diagram of an embodiment of an electronic device of the present application.

[0112] The electronic device includes a processor 110 and a memory 120 .

[0113] The processor 110 controls the operation of the electronic device and may also be referred to as a CPU (Central Processing Unit). The processor 110 may be an integrated circuit chip with the ability to process signal sequences. The processor 110 may also be a general-purpose processor, a digital signal sequence processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The general-purpose processor may be a microprocessor or any conventional processor.

[0114] The memory 120 stores instructions and program data required for the processor 110 to operate.

[0115] The processor 110 is configured to execute instructions to implement the method provided by any embodiment and possible combination of the control method of the transmission mechanism described above in the present application.

[0116] like Figure 14 As shown, Figure 14 This is a structural diagram of an embodiment of a computer-readable storage device of the present application.

[0117] An embodiment of the readable storage device of the present application includes a memory 210, and the memory 210 stores program data. When the program data is executed, the method provided by any embodiment and possible combination of the control method of the transmission mechanism of the present application is implemented.

[0118] The memory 210 may include a medium that can store program instructions, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or it may be a server that stores the program instructions. The server may send the stored program instructions to other devices for execution, or it may execute the stored program instructions itself.

[0119] In summary, the present application determines the synchronization units that are engaged with the driving wheel and / or the driven wheel during the rotation operation of the synchronization mechanism, and corrects the wear values of the synchronization units that are engaged during the rotation operation according to the number of synchronization units that are rotated and moved, so as to obtain the wear values of all synchronization units on the synchronization structure. The synchronization units of the currently engaged part are judged according to the preset conditions. If the conditions are not met, it indicates that the wear values of the synchronization units in this part do not meet the requirements, that is, the driven wheel is controlled to rotate, and the synchronization units that meet the requirements are rotated to replace the synchronization units that do not meet the requirements. By replacing the synchronization units whose wear values of the meshing part do not meet the requirements with synchronization units that meet the requirements, the possible further wear of the synchronization units that do not meet the wear value requirements is reduced, thereby reducing the probability of failure of the entire transmission mechanism.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical functional division. In actual implementation, other division methods may be used, such as combining or integrating multiple units or components into another system, or ignoring or not implementing certain features.

[0121] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of this embodiment.

[0122] In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The above-mentioned integrated units may be implemented in the form of hardware or software functional units.

[0123] If the integrated units in the above other embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0124] The above description is merely an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control method for a transmission mechanism, characterized in that: The transmission mechanism includes a driving wheel, a driven wheel, and a synchronization mechanism. The synchronization mechanism connects the driving wheel and the driven wheel and is used to drive the driven wheel to rotate when the driving wheel rotates. The synchronization mechanism includes a plurality of synchronization units. The method includes: After one rotation operation is completed, determining a synchronization unit that is engaged with the driving wheel and / or the driven wheel; Correcting the wear value of the meshed synchronization unit; In response to the wear value of any one of the currently engaged synchronized units being greater than a wear value threshold, the driven wheel is controlled to rotate to shift the synchronized unit having the wear value greater than the wear value threshold out of the engaged portion.

2. The method according to claim 1, characterized in that The synchronization unit that determines engagement with the driving wheel and / or the driven wheel after one rotation operation is completed includes: Obtaining the radius of the driving wheel and the driven wheel and the center distance between the driving wheel and the driven wheel; A synchronization unit meshing with the driving wheel and / or the driven wheel is obtained according to the radius and the center distance.

3. The method according to claim 1, characterized in that The correcting of the wear value of the meshed synchronization unit includes: Obtaining the number of the synchronization units that need to be moved to complete the rotation operation; The wear value of the meshing synchronizer unit is corrected according to the quantity.

4. The method according to claim 1, wherein The controlling the driven wheel to rotate to shift the synchronization unit having a wear value greater than the wear value threshold out of the meshing portion further comprises: determining whether the number of the synchronization units in the synchronization mechanism having the wear value less than the wear value threshold is less than the number of the synchronization units currently engaged; If so, the driven wheel is controlled to rotate so that the synchronization unit having the wear value less than the wear value threshold rotates to the meshing portion.

5. The method according to claim 1, wherein The method further comprises: Determining whether there is a synchronization unit in the synchronization mechanism whose wear value is less than the wear value threshold; If not, the driven wheel is controlled to rotate so as to minimize the average value of the wear value of the synchronization unit of the meshing part.

6. The method according to claim 1, characterized in that The method further comprises: Determining whether there is a synchronization unit in the synchronization mechanism whose wear value is less than the wear value threshold; If not, calculate the average of the wear values of all current synchronization units to replace the wear value threshold; The driven wheel is controlled to rotate so that the average value of the wear values of the synchronization unit of the meshing part is less than the wear value threshold.

7. The method according to claim 1, characterized in that Before the step of controlling the driven wheel to rotate in response to the wear value of any one of the plurality of synchronization units not meeting a preset condition, the step further includes: Preset a timer and time threshold; Determining whether the timer reaches a time threshold; If so, the wear value of the meshed synchronization unit is judged.

8. The method according to claim 1, characterized in that Before the step of controlling the driven wheel to rotate in response to the wear value of any one of the plurality of synchronization units not meeting a preset condition, the step further includes: determining whether the transmission mechanism is in an idle state; If so, control of the driven wheel is performed.

9. The method according to claim 1, characterized in that The number of the synchronization units in the synchronization mechanism and the number of the synchronization units in the driven wheel are prime numbers to each other, and the number of the synchronization units in the synchronization mechanism is greater than three times the number of the synchronization units in the driven wheel.

10. An electronic device, characterized in that: The system comprises a memory and a processor, wherein the memory is used to store program data, and the program data can be executed by the processor to implement the method according to any one of claims 1 to 9.

11. A computer-readable storage device, characterized in that: Program data is stored and can be executed by a processor to implement the method according to any one of claims 1 to 9.

Images