Electromagnetic repulsion mechanism internal characteristic inversion device

Abstract

The application relates to an electromagnetic repulsion mechanism internal characteristic inversion device, wherein a control cabinet provides a driving current for a coil of an electromagnetic repulsion mechanism, so that the coil drives a repulsion disc of the electromagnetic repulsion mechanism to move a middle connecting rod provided with a marker; a computer device carries out frame acquisition on a video including the middle connecting rod provided with the marker, which is shot by a camera, to obtain multiple images; then, according to the position of the marker in the images and the sampling time of the images, the actual displacement time of the electromagnetic repulsion mechanism can be determined; then, according to a preset displacement time-damping force relationship and the determined actual displacement time, the damping force borne by the electromagnetic repulsion mechanism under the driving current can be determined. The electromagnetic repulsion mechanism internal characteristic inversion device can simply and quickly determine the damping force borne by the electromagnetic repulsion mechanism, so that a staff member can carry out subsequent fault diagnosis and detection on the electromagnetic repulsion mechanism according to the damping force.

Description

Technical Field

[0001] This application relates to the field of electromagnetic repulsion mechanism detection technology, and in particular to a device for inverting the internal characteristics of an electromagnetic repulsion mechanism. Background Technology

[0002] Repulsion mechanisms provide power for the opening and closing of switching devices, such as circuit breakers. However, when a repulsion mechanism operates, the kinetic energy of its moving parts is relatively large, resulting in significant operational impact and bouncing. Therefore, it can easily damage the switching devices or even cause malfunctions.

[0003] Traditional techniques often involve collecting vibration signals from the repulsion mechanism and combining this with numerical analysis to determine external characteristic data such as opening time and opening speed, thereby enabling fault diagnosis and testing of the repulsion mechanism. However, this testing method is complex to operate, requires a high level of professional expertise from the testing personnel, and is not universally applicable. Summary of the Invention

[0004] Therefore, it is necessary to provide an electromagnetic repulsion mechanism internal characteristic inversion device that can simply and quickly determine the damping force experienced by the electromagnetic repulsion mechanism, in order to address the above-mentioned technical problems.

[0005] This application provides a device for inverting the characteristics of an electromagnetic repulsion mechanism, the device comprising:

[0006] A marker is placed on the middle connecting rod of the electromagnetic repulsion mechanism;

[0007] The camera's field of view covers the area where the intermediate connecting rod is located. The camera is used to capture video of the opening and closing process of the electromagnetic repulsion mechanism.

[0008] The control cabinet is used to connect the electromagnetic repulsion mechanism and to provide drive current to the coil of the electromagnetic repulsion mechanism so that the coil drives the repulsion disk of the electromagnetic repulsion mechanism to move the intermediate connecting rod.

[0009] Computer equipment, which is connected to both the camera and the control cabinet;

[0010] The computer equipment is used to sample video frames to obtain multiple frames of images, including the intermediate connecting rod. The computer equipment is also used to receive and determine the actual displacement time of the electromagnetic repulsion mechanism based on the position of the marker in the image and the sampling time of the image. The computer equipment is also used to determine the damping force on the electromagnetic repulsion mechanism based on the displacement time-damping force relationship and the actual displacement time. The displacement time-damping force relationship is used to characterize the correlation between the displacement time and the damping force of the electromagnetic repulsion mechanism.

[0011] In one embodiment, the computer device is further configured to determine the instantaneous velocity corresponding to two adjacent images based on the position of the markers in the two adjacent images and the sampling time of the images, and to determine the average velocity of the electromagnetic repulsion mechanism based on multiple instantaneous velocities.

[0012] The actual displacement time includes the time corresponding to the maximum speed among multiple instantaneous velocities and the time corresponding to the average speed of the electromagnetic repulsion mechanism.

[0013] In one embodiment, the velocities corresponding to the start and end points of the actual displacement time are both the average velocities of the electromagnetic repulsion mechanism.

[0014] In one embodiment, the above-mentioned apparatus further includes:

[0015] A locking force application mechanism is used to apply a locking force to an electromagnetic repulsion mechanism.

[0016] In one embodiment, when the clamping force applying mechanism applies different clamping forces to the electromagnetic repulsion mechanism, the computer device is used to provide a driving current matching the clamping force to the coil of the electromagnetic repulsion mechanism, and determine the corresponding actual displacement time, and determine the displacement time-damping force relationship based on the actual displacement time and damping force corresponding to different clamping forces.

[0017] In one embodiment, the locking force applying mechanism is used to apply a gradually increasing locking force to the electromagnetic repulsion mechanism.

[0018] In one embodiment, the clamping force application mechanism includes:

[0019] A spring, one end of which is fixed to the support rod of the electromagnetic repulsion mechanism;

[0020] The compression adjustment mechanism is mechanically connected to the spring. The compression adjustment mechanism is used to adjust the spring to different compression states so as to apply different locking forces to the electromagnetic repulsion mechanism.

[0021] In one embodiment, there are two springs, and the two springs are symmetrically arranged on the two support links of the electromagnetic repulsion mechanism.

[0022] In one embodiment, the above-mentioned apparatus further includes:

[0023] A supplemental lighting device is used to provide additional light to the camera.

[0024] In one embodiment, the above-mentioned apparatus further includes:

[0025] The tension sensor is mechanically connected to the electromagnetic repulsion mechanism. It is used to determine the frictional force when the electromagnetic repulsion mechanism is subjected to different damping forces. The tension sensor is electrically connected to the computer equipment.

[0026] Computer equipment is also used to adjust the drive current based on friction.

[0027] In the aforementioned electromagnetic repulsion mechanism characteristic inversion device, the control cabinet provides a driving current to the coil of the electromagnetic repulsion mechanism, causing the coil to drive the repulsion disk of the electromagnetic repulsion mechanism to move the intermediate connecting rod with the marker. The computer equipment captures frames of video including the intermediate connecting rod with the marker captured by the camera to obtain multiple frames of images. Then, based on the position of the marker in the image and the image sampling time, the actual displacement time of the electromagnetic repulsion mechanism can be determined. Then, based on the preset displacement time-damping force relationship and the determined actual displacement time, the damping force on the electromagnetic repulsion mechanism under the aforementioned driving current can be determined. The aforementioned electromagnetic repulsion mechanism characteristic inversion device, through the coordinated work between the marker, camera, control cabinet, and computer equipment, can easily and quickly determine the damping force on the electromagnetic repulsion mechanism, allowing personnel to perform subsequent fault diagnosis and testing of the electromagnetic repulsion mechanism based on this damping force, thereby improving the safety and reliability of the switching device equipped with the electromagnetic repulsion mechanism. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a structural block diagram of a characteristic inversion device within an electromagnetic repulsion mechanism according to one embodiment;

[0030] Figure 2 One of the images captured by a computer device in one embodiment;

[0031] Figure 3 A second image acquired by a computer device according to one embodiment;

[0032] Figure 4 Image three acquired by a computer device according to one embodiment;

[0033] Figure 5 A table showing the correspondence between the compression and damping forces of a dual spring in one embodiment;

[0034] Figure 6 This is a schematic diagram showing the connection between a tension sensor and an electromagnetic repulsion mechanism in one embodiment. Detailed Implementation

[0035] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0037] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0038] It is understandable that "at least one" refers to one or more, and "multiple" refers to two or more. "At least a part of an element" refers to part or all of an element.

[0039] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0040] In one embodiment, such as Figure 1 As shown, an electromagnetic repulsion mechanism characteristic inversion device 100 is provided. The device 100 includes: a marker 102, a camera 104, and a control cabinet. Figure 1 (not shown in the image) and computer equipment ( Figure 1 (Not shown in the image).

[0041] The marker 102 is disposed on the intermediate connecting rod 202 of the electromagnetic repulsion mechanism 200. The marker 102 can be an identifiable black and white stripe or black and white dot, or other easily identifiable and detectable shapes and patterns, or it can be a marker 102 carrying identifiable marking information.

[0042] The camera 104 covers the area where the intermediate connecting rod 202 is located, and the camera 104 is used to capture video of the opening and closing process of the electromagnetic repulsion mechanism 200.

[0043] The control cabinet is used to connect the electromagnetic repulsion mechanism 200 and to provide driving current to the coil 206 of the electromagnetic repulsion mechanism 200 so that the coil 206 drives the repulsion disk of the electromagnetic repulsion mechanism 200 to move the intermediate connecting rod 202.

[0044] The computer equipment is connected to camera 104 and the control cabinet respectively.

[0045] The computer device is used to sample the video frames to obtain multiple frames of images, including the intermediate connecting rod 202. The computer device is also used to receive and determine the actual displacement time of the electromagnetic repulsion mechanism 200 based on the position of the marker 102 in the image and the sampling time of the image. The computer device is also used to determine the damping force on the electromagnetic repulsion mechanism 200 based on the displacement time-damping force relationship and the actual displacement time. The displacement time-damping force relationship is used to characterize the correlation between the displacement time and the damping force of the electromagnetic repulsion mechanism 200.

[0046] The repulsion disk 204 of the electromagnetic repulsion mechanism 200 is rigidly connected to the intermediate connecting rod 202. Therefore, when the coil 206 drives the repulsion disk to move, it will also drive the intermediate connecting rod 202 to move together, thereby causing the joint 208 of the electromagnetic repulsion mechanism 200 to contact or separate, realizing the closing or opening action of the electromagnetic repulsion mechanism 200. A marker 102 is placed on the intermediate connecting rod 202 of the electromagnetic repulsion mechanism 200, and the camera 104's shooting range covers the area where the intermediate connecting rod 202 is located. This allows for capturing the movement of the intermediate connecting rod 202 during the opening and closing process of the electromagnetic repulsion mechanism 200, and the marker 102 provides a reference for the movement distance of the intermediate connecting rod 202.

[0047] Furthermore, the repulsion disk 204 of the electromagnetic repulsion mechanism 200 may include a main repulsion disk 2042 and a secondary repulsion disk 2044. The combined use of the main repulsion disk 2042 and the secondary repulsion disk 2044 can increase the interaction area of ​​the electromagnetic field generated by the coil 206, thereby improving the output repulsion force and obtaining a stronger driving capability.

[0048] To ensure that the camera 104 can correctly capture video of the opening and closing process of the electromagnetic repulsion mechanism 200, before the computer equipment provides drive current to the coil 206 of the electromagnetic repulsion mechanism 200, and after the switching device equipped with the electromagnetic repulsion mechanism 200 has been adjusted to normal working condition, the camera 104 can first capture video of the electromagnetic repulsion mechanism 200 to ensure that the image captured by the camera 104 can completely include the intermediate connecting rod 202 with the marker 102. For example, taking a circuit breaker equipped with the electromagnetic repulsion mechanism 200 as an example, a mechanical characteristic tester can collect characteristic data related to the opening and closing of the circuit breaker. By adjusting the circuit breaker's oil valve and opening / closing start voltage, the opening and closing speed and time of the circuit breaker can be adjusted to the range of normal working condition. Then, the camera 104 can capture video of the electromagnetic repulsion mechanism 200. The sampling frequency of the mechanical characteristic tester 106 can be greater than or equal to 100kHz to achieve high-frequency sampling.

[0049] like Figure 2 , Figure 3 and Figure 4 As shown, a red strip marker 102 is set on the intermediate connecting rod 202. The actual displacement time of the electromagnetic repulsion mechanism 200 can be determined by using multiple frames of images and the sampling time of the images.

[0050] Since the actual displacement time of the electromagnetic repulsion mechanism 200 is affected by the damping force, the computer equipment can determine the damping force corresponding to the actual displacement time based on the preset displacement time-damping force relationship and the actual displacement time. The damping force is an internal characteristic data of the electromagnetic repulsion structure. Therefore, the aforementioned electromagnetic repulsion mechanism internal characteristic inversion device 100 can determine the internal characteristic data of the electromagnetic repulsion structure through measurable external characteristic data, namely the actual displacement time of the electromagnetic repulsion mechanism 200. Compared with external characteristic data such as the actual displacement time and actual opening / closing speed of the electromagnetic repulsion mechanism 200, internal characteristic data such as damping force can reflect the operating state of the electromagnetic repulsion mechanism 200, thereby enabling more accurate fault diagnosis and detection of the electromagnetic repulsion mechanism 200.

[0051] In the aforementioned electromagnetic repulsion mechanism characteristic inversion device 100, the control cabinet provides a driving current to the coil 206 of the electromagnetic repulsion mechanism 200, so that the coil 206 drives the repulsion disk of the electromagnetic repulsion mechanism 200 to move the intermediate connecting rod 202 on which the marker 102 is set; the computer equipment performs frame acquisition on the video captured by the camera 104, including the intermediate connecting rod 202 on which the marker 102 is set, to obtain multiple frames of images; then, based on the position of the marker 102 in the image and the sampling time of the image, the actual displacement time of the electromagnetic repulsion mechanism 200 can be determined; then, based on the preset displacement time-damping force relationship and the determined actual displacement time, the damping force of the electromagnetic repulsion mechanism 200 under the aforementioned driving current can be determined. The aforementioned electromagnetic repulsion mechanism internal characteristic inversion device 100, through the coordinated operation of marker 102, camera 104, control cabinet and computer equipment, can easily and quickly determine the damping force on the electromagnetic repulsion mechanism 200, so that the staff can perform subsequent fault diagnosis and testing on the electromagnetic repulsion mechanism 200 based on the damping force, thereby improving the safety and reliability of the switching device equipped with the electromagnetic repulsion mechanism 200.

[0052] In one embodiment, the computer device is further configured to determine the instantaneous velocity corresponding to two adjacent images based on the position of the marker 102 in the two adjacent images and the sampling time of the images, and to determine the average velocity of the electromagnetic repulsion mechanism 200 based on multiple instantaneous velocities.

[0053] The actual displacement time includes the time corresponding to the maximum speed among multiple instantaneous speeds and the time corresponding to the average speed of the electromagnetic repulsion mechanism 200.

[0054] The average velocity reflects the overall motion characteristics of the electromagnetic repulsion mechanism 200, while the maximum velocity reflects the peak characteristics of the electromagnetic repulsion mechanism 200 locally. Combining the two allows for a closer match to the actual motion characteristics of the electromagnetic repulsion mechanism 200, reducing errors. Therefore, based on the determined instantaneous velocities, the maximum velocity and average velocity among the multiple instantaneous velocities can be determined, ensuring that the intercepted actual displacement time includes the time corresponding to both the maximum velocity and the average velocity. By reducing the number of data points, the computational load is reduced, thereby increasing the operating speed of the characteristic inversion device 100 within the electromagnetic repulsion mechanism.

[0055] like Figure 2 , Figure 3 and Figure 4 As shown, the instantaneous velocity corresponding to the two adjacent images can be determined by the actual displacement distance of the red strip marker 102 on the two adjacent images and the sampling time of the images.

[0056] In one embodiment, the velocities corresponding to the start and end points of the actual displacement time are both the average velocities of the electromagnetic repulsion mechanism 200.

[0057] This method of selecting the actual displacement time eliminates data points during the start and end of the electromagnetic repulsion mechanism 200's motion, avoiding the influence of short-term, instantaneous fluctuations on the mechanism. Simultaneously, the starting and ending velocities of the actual displacement time correspond to the average velocity of the electromagnetic repulsion mechanism 200, ensuring that the collected data points include those from when the mechanism has entered a relatively stable motion state. This provides a comprehensive reflection of the mechanism's motion characteristics, thereby improving the accuracy of the characteristic inversion device 100 within the electromagnetic repulsion mechanism.

[0058] In one embodiment, the device 100 further includes a locking force application mechanism.

[0059] The clamping force application mechanism is used to apply a clamping force to the electromagnetic repulsion mechanism 200.

[0060] The locking force application mechanism can be a physical interference mechanism that applies mechanical or frictional resistance, or it can be a device including spring 210, hydraulic pressure, or pneumatic pressure. It can also be an electromagnetic control mechanism that changes the locking force by adjusting the electrical signal strength. Of course, the locking force application mechanism can also apply the locking force through other means, which can be determined according to the actual application scenario of the switching device equipped with the electromagnetic repulsion mechanism 200.

[0061] In one embodiment, when the clamping force applying mechanism applies different clamping forces to the electromagnetic repulsion mechanism 200, the computer device is used to provide a driving current matching the clamping force to the coil 206 of the electromagnetic repulsion mechanism 200, and determine the corresponding actual displacement time, and determine the displacement time-damping force relationship based on the actual displacement time and damping force corresponding to different clamping forces.

[0062] By applying a locking force mechanism, different magnitudes of locking forces are applied to the electromagnetic repulsion mechanism 200 to simulate the locking state of the electromagnetic repulsion mechanism 200 during operation. Specifically, the magnitude of the locking force applied to the electromagnetic repulsion mechanism 200 by the locking force application mechanism is known. When a preset magnitude of locking force is applied to the electromagnetic repulsion mechanism 200 by the locking force application mechanism, the computer device provides a driving current matching the locking force to the coil 206 of the electromagnetic repulsion mechanism 200 to realize the opening and closing of the electromagnetic repulsion mechanism 200. At the same time, the camera 104 records the opening and closing process. Then, the computer device performs frame acquisition on the obtained video to obtain multiple frames of images. Based on the position of the marker 102 in the image and the sampling time of the image, the displacement time of the electromagnetic repulsion mechanism 200 in the locking state is determined. Furthermore, the damping force applied to the electromagnetic repulsion mechanism 200 can be determined from the driving current. Thus, the correspondence between the displacement time and the damping force of the electromagnetic repulsion mechanism 200 in a locking state can be determined.

[0063] By applying different jamming forces to the electromagnetic repulsion mechanism 200 through the jamming force application mechanism, different jamming states of the electromagnetic repulsion mechanism 200 can be simulated. Under these jamming states, the corresponding displacement time and damping force of the electromagnetic repulsion mechanism 200 can be determined. Therefore, based on the correspondence between the displacement time and damping force of multiple electromagnetic repulsion mechanisms 200, the displacement time-damping force relationship can be determined.

[0064] Furthermore, the displacement time of the electromagnetic repulsion mechanism 200 can be used to characterize the opening time of the electromagnetic repulsion mechanism 200. Therefore, the correspondence between the displacement time and the damping force of the electromagnetic repulsion mechanism 200 can also be expressed as the correspondence between the opening time and the damping force of the electromagnetic repulsion mechanism 200. Correspondingly, the opening time-damping force relationship of the electromagnetic repulsion mechanism 200 can be determined.

[0065] Furthermore, in order to improve the reliability of the characteristic inversion device 100 within the electromagnetic repulsion mechanism, the computer equipment can provide the coil 206 of the electromagnetic repulsion mechanism 200 with a driving current matching the jamming force multiple times under the same jamming state, so as to realize the opening and closing of the electromagnetic repulsion mechanism 200 multiple times. Then, through data processing methods such as averaging, the error of random factors can be eliminated, and a more accurate displacement time-damping force relationship can be obtained.

[0066] Furthermore, the operating state of the electromagnetic repulsion mechanism 200 can be determined based on its opening time, thereby reflecting the operating state of the switching device equipped with the electromagnetic repulsion mechanism 200. Specifically, when the opening time of the electromagnetic repulsion mechanism 200 can be expressed as (A+B) ms, the opening time of the switching device equipped with the electromagnetic repulsion mechanism 200 is considered to be in a critical state when it is (A+B) ms. Since the damping force of the electromagnetic repulsion mechanism 200 also corresponds to a critical state when the switching device is in a critical state, the opening time of the electromagnetic repulsion mechanism 200 can be divided as follows to better protect the switching device: [A, A+1 / 4b) is the normal state; [A+1 / 4b, A+2 / 4b) is the warning state; [A+2 / 4b, A+3 / 4b) is the abnormal state; and [A+3 / 4b, A+b) is the critical state. Correspondingly, when the electromagnetic repulsion mechanism 200 is in a normal state, the switching device is assessed as being in a normal state; when the electromagnetic repulsion mechanism 200 is in a warning state, the switching device is assessed as being in a warning state, requiring increased inspection and monitoring of the switching device; when the electromagnetic repulsion mechanism 200 is in an abnormal state, the switching device is assessed as being in an abnormal state, requiring the identification of the type, content, and method of maintenance tests based on the identified problems, and timely repair and maintenance; when the electromagnetic repulsion mechanism 200 is in a critical state, the switching device is assessed as being in a critical state, requiring the identification of the type, content, and method of maintenance tests based on the identified problems, and prompt repair and maintenance, with increased inspection and monitoring of the switching device before implementation. Of course, the status of the switching device can also be comprehensively assessed in conjunction with the status of other components.

[0067] In one embodiment, the locking force applying mechanism is used to apply a gradually increasing locking force to the electromagnetic repulsion mechanism 200.

[0068] By applying a gradually increasing clamping force to the electromagnetic repulsion mechanism 200, a gradually increasing damping force can be obtained, thus preventing excessive damping force from damaging the electromagnetic repulsion mechanism 200.

[0069] In one embodiment, the jamming force application mechanism includes a spring 210 and a compression adjustment mechanism 212.

[0070] One end of the spring 210 is fixed to the support rod 214 of the electromagnetic repulsion mechanism 200.

[0071] The compression adjustment mechanism 212 is mechanically connected to the spring 210. The compression adjustment mechanism 212 is used to adjust the spring 210 to different compression states so as to apply different clamping forces to the electromagnetic repulsion mechanism 200.

[0072] The compression adjustment mechanism 212 can compress the spring 210, thereby applying pressure to the intermediate connecting rod 202, thus simulating the jamming state of the electromagnetic repulsion mechanism 200. Specifically, the compression amount of the spring 210 by the compression adjustment mechanism 212 can be accurately measured using vernier calipers.

[0073] For example, the compression adjustment mechanism 212 can be a bolt, and adjusting the bolt can adjust the compression of the spring 210.

[0074] In one embodiment, there are two springs 210, and the two springs 210 are respectively symmetrically arranged on the two support links 214 of the electromagnetic repulsion mechanism 200.

[0075] The symmetrical springs 210 can reduce the off-center loading phenomenon of the electromagnetic repulsion mechanism 200, making its force balanced. The corresponding normal force of the springs 210 can be determined based on the compression of the double springs 210. The normal force of the springs 210 changes linearly. Combined with the friction coefficient of the material used to manufacture the electromagnetic repulsion mechanism 200, the corresponding damping force can be determined.

[0076] For example, such as Figure 5 As shown, when the electromagnetic repulsion mechanism 200 is made of copper or steel, its coefficient of friction is 0.2. If the compression adjustment range of the double spring 210 is 0-7mm, and a single spring 210 can generate a positive pressure of 0-1900N, it can be determined that the double spring 210 can generate a positive pressure of 0-3800N and a damping force of 0-760N.

[0077] In one embodiment, the device 100 further includes a supplementary lighting device.

[0078] The supplementary lighting device is used to supplement the light source for camera 104.

[0079] During the shooting process of camera 104, the supplementary lighting device can provide a suitable light source for the shooting environment, prevent the image from being too dark or overexposed, and improve the recognizability of the position of marker 102 in the image.

[0080] In one embodiment, the device 100 further includes a tension sensor 110.

[0081] like Figure 6 As shown, the tension sensor 110 is mechanically connected to the electromagnetic repulsion mechanism 200. The tension sensor 110 is used to determine the frictional force when the electromagnetic repulsion mechanism 200 is subjected to different damping forces. The tension sensor 110 is electrically connected to the computer equipment.

[0082] Computer equipment is also used to adjust the drive current based on friction.

[0083] When the clamping force applying mechanism applies different clamping forces to the electromagnetic repulsion mechanism 200, the friction force of the electromagnetic repulsion mechanism 200 under each clamping state can be measured by the tension sensor 110 to achieve the calibration of the friction force, so as to ensure that the change of damping force is the same under the same clamping state.

[0084] The computer equipment can also adjust the driving current supplied to the coil 206 of the electromagnetic repulsion mechanism 200 according to the friction feedback, thereby improving the accuracy of the characteristic inversion device 100 in the electromagnetic repulsion mechanism.

[0085] In one embodiment, the computer device is also used to determine the corresponding predicted damping force based on the obtained actual displacement time and displacement-time-damping force relationship, and to compare the test damping force corresponding to the electromagnetic repulsion mechanism 200 completing the opening under the same jamming state by providing driving current to coil 206, thereby determining the accuracy of the characteristic inversion device 100 within the electromagnetic repulsion mechanism.

[0086] Furthermore, an algorithmic model for determining the tripping time and damping force can be established based on the aforementioned experimental damping force. Specifically, a machine learning model can be built based on the experimental damping force, and a corresponding activation function can be created. Then, according to the performance requirements in the actual application environment, the weight parameters and bias values ​​in the activation function are initialized. At the same time, the loss function is used to judge the quality of the above algorithmic model during the training process. Based on the judgment result, the above weight parameters and bias values ​​can be further optimized using the stochastic gradient optimization algorithm. When the loss function is less than the preset value, the prediction result of the algorithmic model can be considered reliable.

[0087] The above algorithm model can obtain the corresponding damping force when there is only the opening time of the electromagnetic repulsion mechanism 200.

[0088] In the description of this specification, references to terms such as "some embodiments," "other embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0089] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A characteristic inversion device for an electromagnetic repulsion mechanism, characterized in that, The device includes: A marker is placed on the middle connecting rod of the electromagnetic repulsion mechanism; A camera, the camera's shooting range covering the area where the intermediate connecting rod is located, the camera being used to capture video of the opening and closing process of the electromagnetic repulsion mechanism; A control cabinet is used to connect the electromagnetic repulsion mechanism and to provide a driving current to the coil of the electromagnetic repulsion mechanism so that the coil drives the repulsion disk of the electromagnetic repulsion mechanism to move the intermediate connecting rod, thereby realizing the closing or opening action of the electromagnetic repulsion mechanism. A computer device, which is connected to the camera and the control cabinet respectively; The computer device is used to sample the video frame by frame to obtain multiple frames of images, the images including the intermediate connecting rod; the computer device is also used to receive and determine the actual displacement time of the electromagnetic repulsion mechanism based on the position of the marker in the image and the sampling time of the image; the computer device is also used to determine the damping force of the electromagnetic repulsion mechanism under the driving current based on the displacement time-damping force relationship and the actual displacement time, wherein the displacement time-damping force relationship is used to characterize the correlation between the displacement time of the electromagnetic repulsion mechanism and the damping force it receives; The electromagnetic repulsion mechanism includes a main repulsion disk and a secondary repulsion disk used in conjunction.

2. The apparatus according to claim 1, characterized in that, The computer device is also used to determine the instantaneous velocity corresponding to two adjacent images based on the position of the markers in the two adjacent images and the sampling time of the images, and to determine the average velocity of the electromagnetic repulsion mechanism based on multiple instantaneous velocities. The actual displacement time includes the time corresponding to the maximum speed among multiple instantaneous speeds and the time corresponding to the average speed of the electromagnetic repulsion mechanism.

3. The apparatus according to claim 2, characterized in that, The velocities corresponding to the start and end points of the actual displacement time are both the average velocities of the electromagnetic repulsion mechanism.

4. The apparatus according to claim 1, characterized in that, The device further includes: A locking force applying mechanism is used to apply a locking force to the electromagnetic repulsion mechanism.

5. The apparatus according to claim 4, characterized in that, When the clamping force applying mechanism applies different clamping forces to the electromagnetic repulsion mechanism, the computer device is used to provide a driving current matching the clamping force to the coil of the electromagnetic repulsion mechanism, and determine the corresponding actual displacement time. The displacement time-damping force relationship is determined based on the actual displacement time and damping force corresponding to different clamping forces.

6. The apparatus according to claim 4, characterized in that, The clamping force applying mechanism is used to apply a gradually increasing clamping force to the electromagnetic repulsion mechanism.

7. The apparatus according to claim 4, characterized in that, The jamming force application mechanism includes: A spring, one end of which is fixed to the support link of the electromagnetic repulsion mechanism; A compression adjustment mechanism is mechanically connected to the spring. The compression adjustment mechanism is used to adjust the spring to different compression states so as to apply different locking forces to the electromagnetic repulsion mechanism.

8. The apparatus according to claim 7, characterized in that, There are two springs, and the two springs are symmetrically arranged on the two support links of the electromagnetic repulsion mechanism.

9. The apparatus according to claim 1, characterized in that, The device further includes: A supplementary lighting device is used to supplement the light source for the camera.

10. The apparatus according to claim 4, characterized in that, The device further includes: A tension sensor is mechanically connected to the electromagnetic repulsion mechanism. The tension sensor is used to determine the frictional force when the electromagnetic repulsion mechanism is subjected to different damping forces. The tension sensor is electrically connected to the computer equipment. The computer device is also used to adjust the drive current according to the frictional force.

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