A torque calibration method, device, host, and storage medium

Abstract

The present application provides a torque calibration method, device, host and storage medium for calibrating the torque of the motor of dental equipment. The method obtains an initial current value; uses the initial current value as the input current of the motor, adjusts the input current of the motor according to a preset current regulation method, and obtains the real-time time, the real-time input current value and the real-time output torque of the motor; when the output torque of the motor is within a preset torque range, the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range are set as the current calibration time and the current calibration current value respectively; uses the current calibration current value as the working current value of the motor, thereby realizing the calibration of the torque output by the motor of the equipment, thereby solving the problem that the equipment cannot work normally due to the change of the output torque of the equipment.

Description

Technical Field

[0001] The present application relates to the technical field of dental equipment and instruments. Specifically, it relates to a torque calibration method, device, host, and storage medium. Background Art

[0002] When a dental implant machine is working, the motor obtains electrical energy through the electric machine and transmits power through transmission components such as gears in the flexible handpiece via the output shaft, so that the movement mechanism at the head of the flexible handpiece rotates. When using a dental implant, the torque output by the movement mechanism at the head of the flexible handpiece needs to reach a fixed value in order for the dental implant machine to work properly.

[0003] However, during the long-term use of the equipment, due to reasons such as the aging of the electric machine and the circuit or the wear of the gears, the torque output by the equipment will deviate, resulting in the equipment being unable to work properly, thus affecting the normal use and performance of the equipment. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a torque calibration method, device, host, and storage medium to solve the problem that the equipment cannot work properly due to the change of the torque output by the equipment.

[0005] In a first aspect, an embodiment of the present application provides a torque calibration method for calibrating the torque of the motor of a dental device. The method includes:

[0006] Obtain an initial current value; wherein, the initial current value is determined according to the working current value corresponding to the motor when it was last calibrated and the output torque was within a preset torque range.

[0007] Take the initial current value as the input current of the motor, adjust the input current of the motor according to a preset current adjustment method, and obtain the real-time time, real-time input current value, and real-time output torque of the motor.

[0008] When the output torque of the motor is within the preset torque range, set the real-time time and real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and current calibration current value for this calibration, respectively.

[0009] Take the current calibration current value as the working current value of the motor.

[0010] In the above torque calibration method, the host has a calibration mode. After the host enters the calibration mode, in the above torque calibration method, the initial current is determined by the working current value corresponding to the motor when it was last calibrated and the output torque was within the preset torque range. Then, the initial current value is used as the input current value of the motor, and the input current value of the motor is adjusted according to the preset current adjustment method. The current time, the real-time input current value of the current motor, and the output torque of the current motor are obtained in real time until the output torque of the motor is within the preset torque range. The real-time input current value and the real-time time of the motor when the output torque of the motor is within the preset torque range are used as the current calibration current value and the current calibration time for this calibration, and the current calibration current value is used as the working current value of the motor to complete the torque calibration of the motor. Since the initial current is dynamically adjusted, the output torque of the motor of the device changes. When the output torque of the motor of the device is within the preset torque range, the initial current at this time is used as the working current of the motor to complete the torque calibration of the motor, thereby solving the problem that the device cannot work properly due to the change of the output torque of the device.

[0011] Optionally, the relationship between the initial current value and the working current value corresponding to the motor when it was last calibrated and the output torque was within the preset torque range is determined by the following method:

[0012] Obtain the working current value corresponding to the motor when it was last calibrated and the output torque was within the preset torque range;

[0013] Using Formula 1, calculate the working current value corresponding to the motor when it was last calibrated and the output torque was within the preset torque range to obtain the initial current value; where Formula 1 is: I 2 =I 1 / n 1 ; I 1 is the working current value corresponding to the motor when it was last calibrated and the output torque was within the preset torque range; n 1 is the first proportionality coefficient; I 2 is the initial current value; n 1 >1.

[0014] In the above torque calibration method, the initial current value is determined by calculating the working current value corresponding to the motor when it was last calibrated and the output torque was within the preset torque range using Formula 1. Since there is a preset current adjustment method, when the host detects that the real-time input current value is adjusted according to the preset current adjustment method, the host can determine that this operation belongs to torque calibration.

[0015] Optionally, adjusting the input current of the motor according to the preset current adjustment method includes:

[0016] At every preset interval, increase or decrease the real-time input current value by the compensation current value.

[0017] In the above torque calibration method, by adjusting the real-time output current value dynamically at every preset interval. Since the initial current value is dynamically adjusted, the torque output by the motor gradually approaches the preset torque, thus realizing the calibration of the torque output by the motor.

[0018] Optionally, among them, the preset current adjustment method includes Formula 2; the compensation current value is determined by the following method:

[0019] Using Formula 2, calculate the input current value of the motor to obtain the compensation current value; where, Formula 2 is: I 3 = I 2 / n 2 ; I 2 is the input current value of the motor, n 2 is the second proportionality coefficient, I 3 is the compensation current value; n 2 ≥ 10.

[0020] In the above torque calibration method, by calculating the compensation current value using Formula 2 for the input current value of the motor, the current value output by the motor can be dynamically adjusted according to the compensation current value to achieve the output torque calibration work of the motor.

[0021] Optionally, at every preset interval, increasing or decreasing the real-time input current value by the compensation current value includes:

[0022] Judge whether the real-time output torque of the motor is less than the preset torque range;

[0023] If the real-time output torque of the motor is less than the preset torque range, then at every preset interval, increase the real-time input current value by the compensation current value;

[0024] If the real-time output torque of the motor is greater than the preset torque range, then at every preset interval, decrease the real-time input current value by the compensation current value.

[0025] In the above torque calibration method, by judging the magnitude relationship between the real-time output torque of the motor and the preset torque range, and then according to the magnitude relationship, and at every preset interval, using the compensation current to increase or decrease the initial current accordingly. Since the relationship between the real-time output torque of the motor and the preset torque is determined, it is determined how to specifically adjust the real-time current value of the motor, thus effectively calibrating the output torque of the motor of the device.

[0026] Optionally, when the output torque of the motor is within the preset torque range, setting the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value respectively includes:

[0027] When the output torque of the motor is within the preset torque range, setting the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value respectively, and marking the current calibration current value according to the current calibration time.

[0028] The above torque calibration method realizes the binding of the current calibration time and the current calibration current value by marking the current calibration current value according to the current calibration time, provides a reliable basis for subsequent regular calibration and torque calibration of the motor again, and thus can effectively ensure the treatment work of the device.

[0029] Optionally, the method further includes:

[0030] Recording the cumulative operation duration of the motor since the current calibration time;

[0031] When the difference between the cumulative operation duration of the motor and the preset duration is less than or equal to the preset threshold, reminding the user to perform torque calibration on the motor. The above torque calibration method reminds the user to perform torque calibration on the motor when detecting that the difference between the cumulative operation duration of the motor and the preset duration is less than the preset threshold. Since torque calibration of the motor is performed in advance when the cumulative operation duration of the motor is about to exceed the preset duration, it is avoided that when the host is started for treatment work next time, the motor is immediately locked when it is detected that the cumulative operation duration of the motor exceeds the preset duration, so that the motor cannot be started within a certain period of time, thus ensuring that the device can perform treatment work safely and stably.

[0032] In a second aspect, an embodiment of the present application further provides a torque calibration device for calibrating the torque of a motor of a dental device. The output end of the motor is connected to a torque detection device, and the torque detection device is used to detect the output torque of the motor. The device includes:

[0033] An acquisition module for acquiring an initial current value; wherein, the initial current value is determined according to the working current value corresponding to the motor when it was last calibrated and the output torque was within the preset torque range;

[0034] An adjustment module, configured to use the initial current value as the input current of the motor, adjust the input current of the motor according to a preset current adjustment method, and obtain the real-time time, the real-time input current value, and the real-time output torque of the motor;

[0035] A setting module, configured to, when the output torque of the motor is within the preset torque range, set the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value for this calibration respectively;

[0036] A determination module, configured to use the current calibration current value as the working current value of the motor. The torque calibration device provided in the above embodiment has the same beneficial effects as the torque calibration method provided in the above first aspect or any optional implementation manner of the first aspect, and will not be elaborated here.

[0037] In a third aspect, an embodiment of the present application further provides a mainframe of a dental device, which includes: a processor and a memory, the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the method described above is executed.

[0038] The mainframe of the dental device provided in the above embodiment has the same effective effects as the torque calibration method provided in the above first aspect or any optional implementation manner of the first aspect, and will not be elaborated here.

[0039] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the method described above is executed.

[0040] The computer-readable storage medium provided in the above embodiment has the same beneficial effects as the torque calibration method provided in the above first aspect or any optional implementation manner of the first aspect, and will not be elaborated here.

[0041] In summary, the present application provides a torque calibration method, device, host, and storage medium for calibrating the torque of a motor of a dental device. The method includes obtaining an initial current value; obtaining the initial current value, where the initial current value is determined according to the working current value corresponding to the motor when it was last calibrated and the output torque was within a preset torque range; using the initial current value as the input current of the motor, adjusting the input current of the motor according to a preset current adjustment method, and obtaining the real-time time, real-time input current value, and real-time output torque of the motor; when the output torque of the motor is within the preset torque range, setting the real-time time and real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and current calibration value for this calibration respectively; using the current calibration value as the working current value of the motor, thereby realizing the calibration of the torque output by the motor of the device, and solving the problem that the device cannot work properly due to the change in the output torque of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 Schematic diagram of the architecture composition of the dental device provided by the embodiment of the present application;

[0044] Figure 2 Block diagram of the host of the dental device provided by the embodiment of the present application;

[0045] Figure 3 First flowchart of the torque calibration method provided by the embodiment of the present application;

[0046] Figure 4 Second flowchart of the torque calibration method provided by the embodiment of the present application;

[0047] Figure 5 Third flowchart of the torque calibration method provided by the embodiment of the present application;

[0048] Figure 6 Structural diagram of the torque calibration device provided by the embodiment of the present application;

[0049] Figure 7 Structural diagram of the host of the dental device provided by the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] The embodiments of the technical solution of the present application will be described in detail below in conjunction with the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0052] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, "a plurality" means more than two unless otherwise specifically defined.

[0053] For the sake of easy understanding, an application implementation environment provided by the embodiments of the present application will be introduced first below.

[0054] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the architecture composition of a dental implant machine provided by the embodiments of the present application. As Figure 1 shown, the dental implant machine may include a host 100, a multi-functional foot pedal 110, a peristaltic pump 120, and a contra-angle handpiece 130.

[0055] The host 100 is powered by 220V power supply. The motor inside the host 100 is electrically connected to the host through a connecting wire and is powered by the host inverter current circuit. Electrical energy can be obtained through the motor and power can be transmitted through the output shaft to transmission components such as gears inside the contra-angle handpiece. During actual use, corresponding functions can be achieved by operating multiple controls such as the rotation speed, hand rotation ratio, torque, forward / reverse, water flow rate, and program mode on the display screen of the host 100 and cooperating with the multi-functional foot pedal 120.

[0056] The multi-functional foot pedal 110, after being connected to the host foot pedal interface through an external device interface, is used to control the water flow rate, forward / reverse, program mode, and motor start or pause of the dental device.

[0057] The peristaltic pump 120 is controlled by the host 100 and is used to provide the power for water cooling in the surgical area during dental implant surgery and also to control the size of the coolant water flow rate.

[0058] The contra-angle handpiece 130 is held by the doctor and is used to drive the surgical instruments of the dental implant machine to complete the dental implant surgery.

[0059] For ease of understanding this embodiment, the host for executing the torque calibration method disclosed in the embodiments of the present application will be introduced in detail first.

[0060] Figure 2 It is a block diagram of an embodiment of the host 100. The host 100 may include a memory 111, a memory 112, a processor 113, a peripheral interface 114, an input / output unit 115, and a display unit 116. Those of ordinary skill in the art can understand that Figure 1 The structure shown is only schematic and does not limit the structure of the host 100. For example, the host 100 may further include more or fewer components than Figure 1 shown, or have a different configuration from Figure 1 shown.

[0061] The above-mentioned elements of the memory 111, the memory 112, the processor 113, the peripheral interface 114, the input / output unit 115, and the display unit 116 are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. The above-mentioned processor 113 is used to execute the executable module stored in the memory.

[0062] Among them, the memory 111 can be, but is not limited to, a random access memory (Random Access Memory, abbreviated as RAM), a read-only memory (Read Only Memory, abbreviated as ROM), a programmable read-only memory (Programmable Read-Only Memory, abbreviated as PROM), an erasable programmable read-only memory (Erasable Programmable Read-Only Memory, abbreviated as EPROM), an electrically erasable programmable read-only memory (Electric Erasable Programmable Read-Only Memory, abbreviated as EEPROM), etc. Among them, the memory 111 is used to store programs. After receiving the execution instruction, the processor 113 executes the program. The method executed by the host 100 defined by the process disclosed in any embodiment of the embodiments of the present application can be applied to the processor 113 or implemented by the processor 113.

[0063] The above-mentioned processor 113 may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 113 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0064] The above-mentioned peripheral interface 114 couples various input / output devices to the processor 113 and the memory 111. In some embodiments, the peripheral interface 114, the processor 113, and the memory 112 may be implemented on a single chip. In other instances, they may be implemented by separate chips.

[0065] The above-mentioned input / output unit 115 is used to provide input data to the user. The input / output unit 115 may be, but is not limited to, a mouse, a keyboard, etc.

[0066] The above-mentioned display unit 116 provides an interaction interface (such as a user operation interface) between the host 100 and the user or is used to display image data for the user to refer to. In this embodiment, the display unit may be a liquid crystal display or a touch display. If it is a touch display, it may be a capacitive touch screen or a resistive touch screen that supports single-point and multi-point touch operations, etc. Supporting single-point and multi-point touch operations means that the touch display can sense touch operations generated simultaneously at one or more positions on the touch display and hand over the sensed touch operations to the processor for calculation and processing.

[0067] The host 100 in this embodiment can be used to execute each step in the various methods provided in the embodiments of the present application. The implementation process of the torque calibration method will be described in detail through several embodiments below.

[0068] Please refer to Figure 3 The first flowchart showing the torque calibration method provided by the embodiments of the present application. The following will be a detailed elaboration on Figure 3 the specific process shown.

[0069] As Figure 3 shown, the torque calibration method may include steps S100 - S300.

[0070] Step S100: Obtain an initial current value; wherein, the initial current value is determined according to the working current value corresponding to the motor when it was last calibrated and the output torque was within a preset torque range.

[0071] Exemplarily, the execution subject of the torque calibration method provided in the embodiments of the present application is the host 100.

[0072] The initial current refers to an initial value output by the control host during the current calibration, rather than the real-time current value of the host after it is powered on. The current value output by the control host is determined according to the working current value corresponding to the motor when it was last calibrated and the output torque was within a preset torque range.

[0073] In one embodiment, when calibrating the torque of the motor of the dental device for the first time, since there is no current value corresponding to the situation where the motor was last calibrated and the output torque was within the preset torque range at this time, the actual current value of the host when it is powered on is used as the initial current value.

[0074] Step S200: Take the initial current value as the input current of the motor, adjust the input current of the motor according to a preset current adjustment method, and obtain the real-time time, the real-time input current value, and the real-time output torque of the motor.

[0075] It should be noted that the output torque of the motor is proportional to the input current of the host. Therefore, by adjusting the input current, the accuracy of calibration can be verified. If during the dynamic adjustment of the current, the output torque of the motor shows abnormalities or changes (for example, the output torque of the motor is not proportional to the input current), it indicates that there is a fault in the torque detection device or the motor, and it will also be determined that the current calibration is invalid. Therefore, when the output torque of the motor is not within the torque range, the output current value of the motor needs to be dynamically adjusted until the output torque of the motor is within the preset torque range.

[0076] The input current value is the current value that starts the motor. In this embodiment, after determining the initial current value, it is used as the starting current value of the motor to make the motor start working.

[0077] Step S300: When the output torque of the motor is within the preset torque range, set the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value for this calibration, respectively.

[0078] The preset torque range refers to the torque range value that enables the torque output by the motor to enable the device to work properly. The reason for setting the torque range is that there will be errors in the torque calibration of the motor, and the error range is determined according to the accuracy requirements of the device for the output torque. For example, when the error requirement is 10% and the fixed torque is 4 N·cm, the fixed torque at this time can be 4 ± 0.4 N·cm. The specific error range and fixed torque are not specifically limited in the embodiments of the present application and are specifically set according to the requirements of the device in actual applications.

[0079] Specifically, the input current value of the motor is obtained in real time, the output torque of the motor and the current time are obtained in real time, and then the real-time input current of the motor is dynamically adjusted according to the preset current adjustment method until the output torque of the motor is within the preset torque range, and the input current value of the motor and the current time at this time are set as the current value and the calibration time for this calibration when the calibration is completed.

[0080] Step S400: Use the current value of this calibration as the working current value of the motor.

[0081] The working current value of the motor refers to the current value that meets the normal working requirements of the device.

[0082] Specifically, use the current of this calibration as the working current value of the motor, and the motor can work properly according to this current value, thereby completing the calibration of the output torque of the motor.

[0083] In this embodiment, the host has a calibration mode. After the host enters the calibration mode, in the above torque calibration method, the initial current is determined by the working current value corresponding to the motor when it was last calibrated and the output torque was within the preset torque range. Then, the initial current value is used as the input current value of the motor, and the input current value of the motor is adjusted according to the preset current adjustment method. The current time, the real-time input current value of the current motor, and the output torque of the current motor are obtained in real time until the output torque of the motor is within the preset torque range. The real-time input current value and the real-time time of the motor when the output torque of the motor is within the preset torque range are used as the current value and the calibration time for this calibration, and the current value of this calibration is used as the working current value of the motor to enable the motor to complete torque calibration. Since the initial current is dynamically adjusted, the output torque of the motor of the device changes, and when the output torque of the motor of the device is within the preset torque range, the initial current at this time is used as the working current of the motor to enable the motor to complete torque calibration, thus solving the problem that the device cannot work properly due to the change of the output torque of the device.

[0084] Optionally, step S100 may specifically include: steps S110 - S120. Among them, the relationship between the initial current value and the working current value corresponding to the motor when it was calibrated most recently and the output torque was within the preset torque range is determined by the following method:

[0085] Step S110: Obtain the working current value corresponding to the motor when it was calibrated most recently and the output torque was within the preset torque range;

[0086] Step S120: Use Formula 1 to calculate the working current value corresponding to the motor when it was calibrated most recently and the output torque was within the preset torque range, to obtain the initial current value; where Formula 1 is: I 2 = I 1 / n 1 ; I 1 is the working current value corresponding to the motor when it was calibrated most recently and the output torque was within the preset torque range; n 1 is the first proportionality coefficient; I 2 is the initial current value; n 1 > 1.

[0087] It should be noted that if the working current value corresponding to the motor when it was calibrated most recently and the output torque was within the preset torque range is used as the initial current value for the current calibration, the following problems will occur: After calibrating the torque output by the motor, if the user calibrates again within a short period of time, the output torque of the motor obtained with the previous calibration current value as the initial current value may still meet the preset torque range, and this will make the host unable to determine whether this calibration is an incorrect operation.

[0088] Exemplarily, the first proportionality coefficient is a selectable numerical range, but this numerical range must satisfy that there is a difference between the current value at the time of the previous calibration divided by this value to obtain the initial current value and the current value at the time of the previous calibration, and this difference can be recognized by the host. For example: The host's recognition accuracy for dynamic current adjustment is 1A. If the current value at the time of the previous calibration is 5A, then the initial current value should be less than or equal to 4A, that is, the first proportionality coefficient should be greater than or equal to 5 / 4 (1.25).

[0089] Specifically, the host actively obtains the working current value corresponding to the motor when it was calibrated most recently and the output torque was within the preset torque range, and then calculates the initial current value before the current calibration according to Formula 1 for the working current value corresponding to the motor when it was calibrated most recently and the output torque was within the preset torque range.

[0090] In this embodiment, the working current value corresponding to the motor when it was last calibrated and the output torque was within the preset torque range is calculated through Formula 1 to determine the initial current value. Since a preset current adjustment method is set, when the host detects that the real-time input current value is adjusted according to the preset current adjustment method, the host can determine that this operation belongs to torque calibration.

[0091] Optionally, step S200 may specifically include: step S210:

[0092] At every preset interval, increase or decrease the real-time input current value by the compensation current value.

[0093] It should be noted that since the output torque of the motor is a dynamically adjusted process and does not reach the target value in one step, it is necessary to dynamically adjust the real-time input current value of the motor at every preset interval. If the output torque of the motor has not reached the preset torque range, it is still necessary to continue to increase or decrease the output current value of the motor by the compensation current value; among them, the preset interval can be 0.2s, 1s, 5s, etc. The specific time is not limited in this embodiment of the present application and can be set according to actual needs.

[0094] In this embodiment, by dynamically adjusting the real-time output current value at every preset interval. Since the initial current value is dynamically adjusted, the torque output by the motor gradually approaches the preset torque, thereby realizing the calibration of the torque output by the motor.

[0095] Optionally, among them, the preset current adjustment method includes Formula 2; the compensation current value is determined by the following method:

[0096] Using Formula 2, calculate the input current value of the motor to obtain the compensation current value; where Formula 2 is: I 3 = I 2 / n 2 ; I 2 is the input current value of the motor, n 2 is the second proportionality coefficient, I 3 is the compensation current value; n 2 ≥10.

[0097] The second proportionality coefficient, like the first proportionality coefficient mentioned above, is also a selectable range value, and the second proportionality coefficient can be determined according to the magnitude of the first proportionality coefficient. When the first proportionality coefficient is set to a relatively large value, it indicates that the initial current value is adjusted to a very small value. At this time, the second proportionality coefficient can be set to a relatively small value to obtain a relatively large compensation current value, thereby improving the adjustment efficiency when the initial current is small; when the first proportionality coefficient is set to a relatively small value, it indicates that the initial current value is adjusted to a relatively large value. At this time, the second proportionality coefficient should be set to a relatively large value to obtain a relatively small current value, and accordingly, the adjustment of the initial current will not fluctuate greatly. Because if the compensation current value is too large, when adjusting the initial current value, the output torque of the corresponding motor will immediately exceed the preset torque, resulting in difficulty in adjusting the initial current value to make the output torque of the motor equal to the preset torque, thus increasing the difficulty of adjustment and taking more time. Therefore, setting a larger proportionality coefficient helps to improve the adjustment efficiency when the initial current is large. Since the preset torque range is generally within ±10%, therefore, in the embodiment of the present application, the second proportionality coefficient n 2 ≥10. In other embodiments, the second proportionality coefficient can also be flexibly set according to actual application requirements.

[0098] For example: The current value recorded during the last calibration was 6A, and the host recognized the current adjustment accuracy as 1A. At this time, the first proportionality coefficient can be set to 6 / (6 - 1) = 1.2 > 1 (the first proportionality coefficient). Suppose we set the first proportionality coefficient to 5. At this time, the initial current value is 6A / 5 = 1.2A. Since we want to accelerate the adjustment speed of the initial current, the second proportionality coefficient is set to 5. At this time, the compensation current value is 5A / 5 = 1A, that is, the initial current is adjusted with an accuracy of 1A. Conversely, when the first proportionality coefficient is set to 3, the initial current at this time is 6A / 3 = 2A. In order to prevent the output torque of the corresponding motor from immediately exceeding the preset torque when adjusting the initial current, the second proportionality coefficient is set to 10. At this time, the compensation current value is 5 / 10 = 0.5A, that is, the initial current is adjusted with an accuracy of 0.5A.

[0099] In one embodiment, the compensation current value can be the power value calculated from the initial current value by Formula 2, or can be a manually set current value, or can be a current value obtained by other means. However, the specific magnitude of the compensation current value can be determined according to the situation of the initial current value. The present application embodiment does not specifically limit the acquisition method of the compensation current here.

[0100] In one embodiment, the compensation current value can also be according to Formula 3: I 3 =I 1 / n 2 ; where, I 3 is the compensation current value; I1 is the working current value corresponding to the most recent calibration of the motor when the output torque is within the preset torque range; n 2 The second proportionality coefficient, that is, the compensation current value is determined according to the working current value corresponding to the most recent calibration of the motor when the output torque is within the preset torque range. At this time, the second proportionality coefficient is also related to the initial current value. When the initial current value is large, the second proportionality coefficient is set small to prevent the output torque of the corresponding motor from immediately exceeding the preset torque when the initial current is adjusted. When the initial current value is small, the second proportionality coefficient is set large to accelerate the adjustment speed of the initial current.

[0101] In the above torque calibration method, the compensation current value is calculated by using Formula 2 for the input current value of the motor, so that the compensation current value can be increased or decreased to dynamically adjust the input current value of the motor, so as to realize the output torque calibration work of the motor.

[0102] Optionally, step S210 may specifically include: steps S211 - S213:

[0103] Step S211: Determine whether the real-time output torque of the motor is less than the preset torque range;

[0104] Step S212: If the real-time output torque of the motor is less than the preset torque range, then every time a preset interval time elapses, increase the real-time input current value by the compensation current value;

[0105] Step S213: If the real-time output torque of the motor is greater than the preset torque range, then every time a preset interval time elapses, decrease the real-time input current value by the compensation current value.

[0106] The preset interval time can be 0.2s, 1s, etc., and can be specifically set according to the doctor's experience. The embodiments of the present application do not make specific limitations here.

[0107] It can be understood that the real-time output torque of the motor is obtained by detecting the output torque of the motor, and the torque detection method includes but is not limited to a torque detection device, and can also be any other method that can detect the output torque of the motor. The embodiments of the present application do not make specific limitations here, and can be specifically set according to actual application requirements.

[0108] Exemplarily, please refer to Figure 4 the second process schematic diagram of the torque calibration method provided by the embodiments of the present application shown.

[0109] In Figure 4In the corresponding embodiment of the present application, a torque detection device includes a torque sensor for detecting the output torque of the motor. When the output torque of the motor is within a preset torque range, the torque calibration of the device is completed, which specifically includes the following steps:

[0110] Determine whether the output torque of the motor detected by the torque sensor is less than the preset torque range;

[0111] If the output torque of the motor detected by the torque sensor is less than the preset torque range, then every preset interval, increase the real-time input current value by a compensation current value;

[0112] If the output torque of the motor detected by the torque sensor is greater than the preset torque range, then every preset interval, decrease the real-time input current value by a compensation current value.

[0113] A torque sensor, also known as a moment sensor, torsion sensor, torque sensor, torque meter, is divided into two major categories: static and dynamic. A torque sensor is a detection of the torsion moment perception on various rotating or non-rotating mechanical components, which can convert the physical change of torsion force into an accurate electrical signal, and has the advantages of high precision, fast frequency response, good reliability, and long service life.

[0114] Torque is a special moment that causes an object to rotate, equal to the product of force and the arm of force, with the unit of N·m (Newton-meter). Among them, factors affecting the output torque of the motor include the aging of the device wire, the wear of the gear, etc., and these factors will cause the torque output by the device to change.

[0115] Specifically, when the torque sensor detects that the output torque of the motor is less than the preset torque range, it indicates that the output torque of the motor at this time does not meet the requirements for the normal operation of the device. Since the rotational power of the motor is proportional to the current value input by the host, at this time, it is necessary to increase the real-time input current value of the motor by a compensation current value to increase the torque.

[0116] Specifically, when it is detected that the output torque of the motor detected by the torque sensor is greater than the preset torque, it indicates that the output torque of the motor at this time exceeds the preset torque. Since the device has high requirements for torque accuracy, when the output torque of the motor exceeds the preset torque value, it is necessary to reduce the torque to meet the normal operation of the device. Since the rotational power of the motor is proportional to the current value input by the host, at this time, it is necessary to decrease the real-time input current value of the motor by a compensation current value to reduce the torque.

[0117] In this embodiment, by determining the magnitude relationship between the output torque of the motor detected by the torque sensor and the preset torque, and then according to the magnitude relationship, every time a preset interval of time passes, the real-time input current value of the motor is increased or decreased by a compensation current. Since the relationship between the real-time output torque of the motor and the preset torque is determined, it is determined how to specifically adjust the real-time input current value of the motor, thereby effectively calibrating the output torque of the motor of the device.

[0118] Exemplarily, please refer to Figure 5 the third process schematic diagram of the torque calibration method provided by the embodiment of the present application shown.

[0119] In Figure 5 the corresponding embodiment of the present application, wherein the torque detection device includes a torque damper set to a preset torque, which is used to provide a resistance to prevent the movement of the movement. Since the torque damper provides a resistance to prevent its rotation, when the motor starts to rotate, it means that the output torque of the motor is already within the preset torque range, and at this time, the output torque of the motor is within the preset torque range. For example: if the preset torque is 5 ± 0.5 N·cm, then the resistance torque of the torque damper is 5 ± 0.5 N·cm, and the specific steps are as follows:

[0120] Determine whether the output torque of the motor connected to the torque damper set to the preset torque range is less than the preset torque range;

[0121] If the output torque of the motor connected to the torque damper set to the preset torque is less than the preset torque range, then every time a preset interval of time passes, increase the real-time input current value by a compensation current value;

[0122] If the output torque of the motor connected to the torque damper set to the preset torque is greater than zero, then every time a preset interval of time passes, decrease the real-time input current value by a compensation current value.

[0123] Specifically, when the output torque of the motor connected to the torque damper set to the preset torque is less than the preset torque range, it means that the output torque of the motor at this time still cannot overcome the resistance torque provided by the torque device and there is no relative rotation with respect to the torque damper, that is, the output torque of the motor has not reached the preset torque range. Since the rotational power of the motor is proportional to the real-time input current value of the motor, at this time, it is necessary to increase the real-time input current value of the motor by a compensation current value to increase the output torque of the motor.

[0124] Specifically, when the torque output by the motor connected to the torque damper set to a preset torque range is greater than the preset torque range, it indicates that the motor at this time has overcome the resistance torque provided by the torque damper and has rotated relative to the torque damper. That is, the torque output by the motor has reached the preset torque range and even exceeded the preset torque range. Since the rotational power of the motor is proportional to the real-time input current value of the motor, at this time, it is necessary to reduce the real-time input current value of the motor by a compensation current value to reduce the torque output by the motor.

[0125] In this embodiment, by judging the magnitude relationship between the torque output by the motor connected to the torque damper set to a preset torque range and the preset torque range, and then according to the magnitude relationship, and every preset interval time, the real-time input current value of the motor is increased or decreased accordingly by using the compensation current. Since the output end of the motor is connected to the torque damper, and the torque damper is used to provide a resistance to prevent the movement of the movement core, and this resistance torque corresponds to the preset torque range. That is, when the motor starts to rotate, it indicates that the torque output by the motor has reached the preset torque range. Therefore, by determining the relationship between the real-time output torque of the motor and the preset torque, it is determined how to specifically adjust the real-time current value of the motor, so that the torque output by the motor can be effectively calibrated.

[0126] Optionally, step S300 may specifically include: step S310:

[0127] Step S310: When the torque output by the motor is within the preset torque range, set the real-time time and the real-time input current value when the torque output by the motor is within the preset torque range as the current calibration time and the current calibration current value respectively, and mark the current calibration current value according to the current calibration time.

[0128] It can be understood that when performing the next torque calibration, it is necessary to analyze the cumulative operation duration of the motor, and the cumulative operation duration of the motor is timed from the calibration time recorded when the previous torque calibration was completed. In addition, the initial current value is determined according to the previous calibration current value. Therefore, after the previous torque calibration is completed, it is necessary to record the current value and time when the calibration is completed as the basis for the next torque calibration.

[0129] In this embodiment, by marking the current calibration current value according to the current calibration time, the binding of the current calibration time and the current calibration current value is realized, providing a reliable basis for subsequent regular calibration and torque calibration of the motor again, so as to effectively ensure the treatment work of the device.

[0130] Optionally, after the above step S400, the method may further include: S500-S600.

[0131] Step S500: Record the cumulative operation duration of the motor starting from the current calibration time.

[0132] Step S600: When the difference between the cumulative operation duration of the motor and the preset duration is less than or equal to the preset threshold, remind the user to perform torque calibration on the motor.

[0133] The cumulative operation duration of the motor starts from the time when the current calibration is completed as the starting time, and the operation duration of the motor is cumulatively recorded. In addition, the operation duration of the motor refers to the duration during which the motor is in operation, and when the motor is not running, it is not included in the operation duration of the motor.

[0134] The preset duration refers to the duration at which the motor of the device needs to be calibrated regularly, including but not limited to: 100h or 150h, etc., and can be specifically set according to actual application requirements.

[0135] The preset threshold is a threshold set to prevent the cumulative operation duration of the motor from exceeding the preset duration during the treatment process of the dental device. Its purpose is to enable the motor to work without exceeding the preset duration after each calibration, so as to ensure the stability and reliability of the use of the motor, and further ensure that the dental device can perform treatment work safely and stably.

[0136] The preset threshold is related to the duration required for a single operation of the dental device. Taking a dental implant machine as an example, usually each treatment of a dental implant machine generally needs to run for 0.5h - 1h. In the actual operation process, since the operation time required for each treatment of different dental devices is different, the preset threshold can be specifically set according to the equipment, the experience of the doctor and the actual situation, etc.

[0137] The ways of reminder include but not limited to alarm reminder, voice prompt, text display on the display interface, etc. Among them, the alarm reminder can be the flashing of the device indicator light, the warning of the red light; the content of the voice prompt can be "Please calibrate", "Please calibrate", etc.; the text display on the display interface can be that the device display interface has a display control, and the content of the display control is "Please select to calibrate the device and click to return to the normal working display interface", etc. The embodiments of the present application do not make specific limitations on the ways of reminder, and are specifically set according to the device configuration and actual application requirements.

[0138] The following is an example for illustration:

[0139] For example, the preset duration of the motor is set to 100h. After the motor is calibrated, it has accumulated 99.5h of operation. Taking the example that the motor needs to run for 1h during a single treatment, it can be deduced that when the next treatment is carried out, the cumulative operation duration of the motor will reach 100.5h, which has exceeded the preset duration of 100h. Therefore, in this example, when the cumulative operation duration of the motor is greater than or equal to 99h, the host reminds the user that the motor of the device needs to be torque-calibrated.

[0140] Specifically, when the difference between the cumulative operation duration of the device and the preset duration is less than the preset threshold, it indicates that the motor of the device needs to be torque-calibrated. At this time, the user is reminded to torque-calibrate the motor of the device to ensure the normal use of the device.

[0141] In one embodiment, it can also be to set a fixed time to calibrate the motor. At a certain moment after the motor completes torque calibration, the current time is obtained in real time, and it is judged whether the current time is equal to the fixed time. If they are equal, the user is reminded to torque-calibrate the motor.

[0142] In this embodiment, when it is detected that the difference between the cumulative operation duration of the motor and the preset duration is less than the time required for the next torque calibration of the motor, the user is reminded to torque-calibrate the motor. Since the torque calibration of the motor is carried out in advance when the cumulative operation duration of the motor is about to exceed the preset duration, it is avoided that when the host is started for treatment work next time, it is detected that the cumulative operation duration of the motor exceeds the preset duration. When the device is started next time, the motor will be locked and the motor cannot be started within a certain period of time, thus ensuring that the device can carry out treatment work safely and stably.

[0143] Please refer to Figure 6 the structural schematic diagram of the torque calibration device provided by the embodiment of the present application shown; The embodiment of the present application provides a torque calibration device 200, including:

[0144] An acquisition module 210, configured to acquire an initial current value; wherein, the initial current value is determined according to the working current value corresponding to the motor when it was calibrated most recently and the output torque was within the preset torque range;

[0145] An adjustment module 220, configured to use the initial current value as the input current of the motor, adjust the input current of the motor according to a preset current adjustment method, and acquire the real-time time, the real-time input current value, and the real-time output torque of the motor;

[0146] A setting module 230, configured to when the output torque of the motor is within the preset torque range, set the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value respectively;

[0147] A determination module 240, configured to use the current calibration current value as the operating current value of the motor.

[0148] Optionally, the acquisition module 220 is further configured to: acquire the operating current value corresponding to the motor when the motor was last calibrated and the output torque was within a preset torque range; use Formula 1 to calculate the operating current value corresponding to the motor when the motor was last calibrated and the output torque was within a preset torque range, to obtain an initial current value; wherein, Formula 1 is: I 2 = I 1 / n 1 ; I 1 is the operating current value corresponding to the motor when the motor was last calibrated and the output torque was within a preset torque range, n 1 is the first proportionality coefficient, I 2 is the initial current value; n 1 > 1;

[0149] Optionally, the adjustment module 220 is further configured to: increase or decrease the real-time input current value by a compensation current value every preset interval.

[0150] Optionally, the adjustment module 220 is further configured to: use Formula 2 to calculate the input current value of the motor to obtain a compensation current value; wherein, Formula 2 is: I 3 = I 2 / n 2 ; I 2 is the input current value of the motor, n 2 is the second proportionality coefficient, I 3 is the compensation current value; n 2 ≥ 10.

[0151] Optionally, the adjustment module 220 is further configured to: determine whether the real-time output torque of the motor is less than the preset torque range; if the real-time output torque of the motor is less than the preset torque range, then increase the real-time input current value by the compensation current value every preset interval; if the real-time output torque of the motor is greater than the preset torque range, then decrease the real-time input current value by the compensation current value every preset interval.

[0152] Optionally, the setting module 230 is further configured to: when the output torque of the motor is within the preset torque range, set the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value respectively, and mark the current calibration current value according to the current calibration time.

[0153] Optionally, the torque calibration device 200 further includes:

[0154] A recording module, configured to record the cumulative operating duration of the motor starting from the current calibration time;

[0155] The detection module is used to remind the user to perform torque calibration on the motor when the difference between the accumulated running time of the motor and the preset running time is less than or equal to a preset threshold.

[0156] It should be understood that the device corresponds to the above-mentioned torque calibration method embodiment and can perform the various steps involved in the above-mentioned method embodiment. The specific functions of the device can be found in the above description. To avoid repetition, the detailed description is appropriately omitted here. The device includes at least one software function module that can be stored in a memory in the form of software or firmware or solidified in the operating system (OS) of the device.

[0157] See also Figure 7 The present invention also provides a host 300 of a dental device, which includes a processor 310 and a memory 320, wherein the memory 320 stores machine-readable instructions executable by the processor 310, and when the machine-readable instructions are executed by the processor 310, the above method is executed.

[0158] An embodiment of the present application further provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above method is executed.

[0159] Among them, the storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, disk or optical disk.

[0160] In several embodiments provided by the embodiments of the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of devices, methods, and computer program products according to multiple embodiments of the embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and a module, a program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0161] In addition, in each embodiment of the embodiments of the present application, the various functional modules can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0162] The above description is only an optional implementation manner of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the embodiments of the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the embodiments of the present application.

Claims

1. A torque calibration method, characterized in that, for calibrating the torque of a motor of a dental device, the method includes: Obtaining an initial current value; wherein, the initial current value is determined according to the working current value corresponding to the motor when it was last calibrated and the output torque was within a preset torque range; Taking the initial current value as the input current of the motor, adjusting the input current of the motor according to a preset current adjustment method, and obtaining the real-time time, the real-time input current value and the real-time output torque of the motor; When the output torque of the motor is within the preset torque range, setting the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value respectively; Taking the current calibration current value as the working current value of the motor; Wherein, the relationship between the initial current value and the working current value corresponding to the motor when it was last calibrated and the output torque was within a preset torque range is determined by the following method: Obtaining the working current value corresponding to the motor when it was last calibrated and the output torque was within a preset torque range; Using Formula 1, calculate the working current value corresponding to the most recent calibration of the motor with the output torque within the preset torque range to obtain the initial current value; wherein, Formula 1 is: I 2 =I 1 / n 1 ; I 1 is the working current value corresponding to the most recent calibration of the motor with the output torque within the preset torque range; n 1 is the first proportionality coefficient; I 2 is the initial current value; n 1 > 1.

2. The torque calibration method according to claim 1, characterized in that, The adjusting the input current of the motor according to a preset current adjustment method includes: Every time a preset interval time elapses, increasing or decreasing the real-time input current value by a compensation current value.

3. The torque calibration method according to claim 2, characterized in that, Wherein, The preset current adjustment method includes formula two; the compensation current value is determined by the following method: Using Equation 2, calculate the input current value of the motor to obtain the compensation current value; wherein, Equation 2 is: I 3 =I 2 / n 2 ; I 2 is the input current value of the motor, n 2 is the second proportionality coefficient, I 3 is the compensation current value; n 2 ≥10.

4. The torque calibration method according to claim 2, characterized in that, The increasing or decreasing the real-time input current value by a compensation current value every time a preset interval time elapses includes: Judging whether the real-time output torque of the motor is less than the preset torque range; If the real-time output torque of the motor is less than the preset torque range, then every time a preset interval time elapses, increasing the real-time input current value by the compensation current value; If the real-time output torque of the motor is greater than the preset torque range, then every time a preset interval time elapses, decreasing the real-time input current value by the compensation current value.

5. The torque calibration method according to any one of claims 1 to 4, characterized in that, The setting the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value respectively includes: When the output torque of the motor is within the preset torque range, setting the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value respectively, and marking the current calibration current value according to the current calibration time.

6. The torque calibration method according to claim 1, characterized in that, The method further includes: Recording the cumulative operation duration of the motor starting from the current calibration time; When the difference between the cumulative operation duration of the motor and a preset duration is less than or equal to a preset threshold, the user is reminded to perform torque calibration on the motor.

7. A torque calibration device characterized in that it is used to perform torque calibration on the motor of a dental device, the output end of the motor is connected to a torque detection device, and the device includes: an acquisition module, configured to acquire an initial current value; wherein, the initial current value is determined according to the working current value corresponding to the motor when it was last calibrated and the output torque was within a preset torque range; an adjustment module, configured to use the initial current value as the input current of the motor, adjust the input current of the motor according to a preset current adjustment method, and acquire the real-time time, the real-time input current value, and the real-time output torque of the motor; a setting module, configured to, when the output torque of the motor is within the preset torque range, set the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value respectively; a determination module, configured to use the current calibration current value as the working current value of the motor; Among them, the relationship between the initial current value and the operating current value corresponding to the last calibration of the motor with the output torque within the preset torque range is determined by the obtaining module in the following manner: obtaining the operating current value corresponding to the last calibration of the motor with the output torque within the preset torque range; using Formula 1 to calculate the operating current value corresponding to the last calibration of the motor with the output torque within the preset torque range to obtain the initial current value; where the Formula 1 is: I 2 =I 1 / n 1 ; I 1 is the operating current value corresponding to the last calibration of the motor with the output torque within the preset torque range; n 1 is the first proportionality coefficient; I 2 is the initial current value; n 1 > 1.

8. A main unit of a dental device characterized in that it includes: a processor and a memory, the memory stores machine-readable instructions executable by the processor, and when the machine-readable instructions are executed by the processor, the method according to any one of claims 1 to 6 is executed.

9. A computer-readable storage medium characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the method according to any one of claims 1 to 6 is executed.

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