Synchronization calculation method and device of foldable mechanism and readable storage medium

Abstract

The embodiment of the invention provides a synchronization calculation method and device of a foldable mechanism and a readable storage medium. According to the synchronism calculation method of the foldable mechanism, the included angle between the second synchronous swing arm and the reference surface of the base can be calculated according to the included angle between the first synchronous swing arm and the reference surface of the base, so that the angle consistency of the foldable mechanism can be judged according to the angle difference between the first synchronous swing arm and the second synchronous swing arm; the synchronization calculation method of the foldable mechanism is simple, the synchronization calculation efficiency of the foldable mechanism is improved, and the design cost of the foldable mechanism can be reduced.

Description

Technical Field

[0001] The present application relates to the field of foldable technology, and in particular to a synchronization calculation method, device and readable storage medium for a foldable mechanism. Background Art

[0002] With the advancement of science and technology, the era of large-screen smart terminals has arrived, and foldable electronic devices are favored by users due to their large screens and easy portability. At present, foldable electronic devices often use foldable mechanisms to achieve folding and unfolding, and use synchronization components in the foldable mechanism to achieve synchronous rotation. In order to improve the symmetry of flexible display screens during folding and unfolding and improve the user experience of consumers, the synchronization problem of the foldable mechanism is particularly important. However, the existing method usually performs batch proofing of foldable mechanisms and then conducts batch data verification for synchronization. The method is complicated and inefficient, which increases the design cost of the foldable mechanism. Summary of the invention

[0003] The embodiments of the present application provide a method, device and readable storage medium for calculating the synchronization of a foldable mechanism, which simplify the method for calculating the synchronization of a foldable mechanism, improve the efficiency of calculating the synchronization of a foldable mechanism, and help reduce the design cost of the foldable mechanism.

[0004] In a first aspect, the present application provides a synchronization calculation method for a foldable mechanism, which is used to calculate the synchronization of the foldable mechanism. The foldable mechanism includes a base and a synchronization component, the base has a reference surface, the synchronization component includes N gears, a first synchronization swing arm and a second synchronization swing arm, the N gears are all installed on the base, along the width direction of the foldable mechanism, the N gears are arranged in sequence, and two adjacent gears are meshed with each other, N is a positive integer greater than or equal to 2, along the width direction of the foldable mechanism, the first synchronization swing arm is fixedly connected to the leftmost gear, and the second synchronization swing arm is fixedly connected to the rightmost gear;

[0005] The synchronization calculation method of the foldable mechanism includes:

[0006] The angle between the first synchronous swing arm and the reference plane is set to β k ;

[0007] Among the N gears, N-1 pairs of adjacent gears are meshed and calculated to obtain the three smallest distances between the m first sampling points on the meshing surface of one gear and the m second sampling points on the meshing surface of the other gear among each two adjacent gears, and the three distances are all within a preset distance range, where m is a positive integer greater than or equal to 3;

[0008] The angle between the second synchronous swing arm and the reference plane is calculated to be γ k ;

[0009] Determine β k and γ k Whether the angle difference between them is within the preset angle difference range to obtain the synchronization result.

[0010] The synchronization calculation method of the foldable mechanism shown in the present application can obtain the angle between the second synchronization swing arm and the reference plane of the base based on the angle between the first synchronization swing arm and the reference plane of the base, so that the angle consistency of the foldable mechanism can be determined based on the angle difference between the first synchronization swing arm and the second synchronization swing arm to realize the synchronization calculation of the foldable mechanism. The synchronization calculation method of the foldable mechanism of the present application is simple, improves the synchronization calculation efficiency of the foldable mechanism, and helps to reduce the design cost of the foldable mechanism.

[0011] In one embodiment, in the step of performing meshing judgment calculation on N-1 pairs of adjacent gears among N gears, performing meshing judgment calculation on each pair of adjacent gears includes:

[0012] Randomly select m first sampling points on the meshing surface of one gear, and randomly select m second sampling points on the meshing surface of another gear;

[0013] Calculate the distances between the m first sampling points and the m second sampling points to obtain m*m distances;

[0014] Compare m*m distances and find the three smallest distances;

[0015] Determine whether the three smallest distances are within the preset distance range. If not, re-calculate the meshing judgment. If yes, calculate the angle between the second synchronous swing arm and the reference plane to be γ k steps.

[0016] In the synchronization calculation method of the foldable mechanism shown in the present application, the calculation scheme based on the meshing surfaces of two adjacent gears can be used to effectively perform the angle consistency calculation of the foldable mechanism in the product design stage, accurately predict the angle consistency distribution range and influencing contribution factors, greatly improve the rationality of product structure design, tolerance design, and assembly process design, and realize the synchronous iteration of multiple schemes without physical proofing, which greatly improves the design quality, reduces design costs, and shortens the development cycle.

[0017] In one embodiment, the steps of randomly selecting m first sampling points on the meshing surface of one gear and randomly selecting m second sampling points on the meshing surface of another gear include: the m first sampling points form a first sampling point matrix (a1, a2, ... a m ), m second sampling points form a second sampling point matrix (b1, b2, ... b m );

[0018] The step of calculating the distances between the m first sampling points and the m second sampling points includes: m*m distances forming a distance matrix

[0019] The step of comparing the m*m distances and finding the three smallest distances includes: comparing the distances in the distance matrix and finding the three smallest distances.

[0020] In one implementation, the step of calculating the distance between each first sampling point and m second sampling points includes:

[0021] Set the coordinate origin and three-dimensional coordinate axes;

[0022] Determine the three-dimensional coordinates of m first sampling points and m second sampling points, the coordinates of each first sampling point are (xa i , ya i ,za i ), the coordinates of each second sampling point are (xb j , yb j , zb j ), i and j are positive integers greater than or equal to 1 and less than or equal to m;

[0023] Calculate m ij =[(xa i -xb j ) 2 +(ya i -yb j ) 2 +(za i -zb j ) 2 ] 1 / 2 , and get m*m distances.

[0024] In the synchronization calculation method of the foldable mechanism shown in the present application, the distance formula between two points in three-dimensional space can be used to calculate the distance between m first sampling points and m second sampling points. The method is simple and convenient, which helps to simplify the synchronization calculation method of the foldable mechanism.

[0025] In one embodiment, when determining the calculated angle β between the first synchronous swing arm and the reference plane k Before the steps, also include:

[0026] Set n calculated angles β1, β2, ..., βn between the first synchronous swing arm and the reference plane, where n is a positive integer;

[0027] Set k = 1;

[0028] The angle γ between the second synchronous swing arm and the reference plane is calculated. kAfter the step of, the synchronization calculation method of the foldable mechanism further comprises:

[0029] Determine whether k is equal to n. If so, end the calculation. If not, set k=k+1 and re-execute to set the angle between the first synchronous swing arm and the reference plane to β k and subsequent steps.

[0030] In the embodiment of the present application, the synchronization calculation method of the foldable mechanism can obtain different angles of the angle between the second synchronization swing arm and the reference plane O of the base according to the angle between the first synchronization swing arm and the reference plane O of the base at different angles, so that the position with the largest angle difference can be determined as the maximum risk point of the synchronization problem of the foldable mechanism according to the different angle differences between the first synchronization swing arm and the second synchronization swing arm. The synchronization calculation method of the foldable mechanism is simple, improves the synchronization calculation efficiency of the foldable mechanism, and helps to reduce the design cost of the foldable mechanism.

[0031] In one embodiment, the base includes two support parts, which are spaced apart and arranged opposite to each other along the length direction of the foldable mechanism, each support part is provided with a plurality of gear holes, and the plurality of gear holes are arranged in sequence along the width direction of the foldable mechanism, and along the length direction of the foldable mechanism, a gear hole of each support part is spaced apart and arranged opposite to a mounting hole of the other support part;

[0032] Each gear includes two gear shafts, and along the length direction of the foldable mechanism, the two gear shafts are respectively located at opposite ends of the gear, and in each gear, the two gear shafts are respectively installed in a gear hole of the two supporting parts;

[0033] When the angle between the first synchronous swing arm and the reference plane is set to β k Before the steps, also include:

[0034] Determine the design clearance between the gear shaft and the gear hole, the machining error of the gear hole, the machining error of the gear shaft, the angle tolerance of the machining surface angle of the leftmost gear relative to the first synchronous swing arm, the angle tolerance of the machining surface angle of the rightmost gear relative to the second synchronous swing arm, and the profile tolerance of the meshing surface of the gears;

[0035] The angle between the second synchronous swing arm and the reference plane is calculated to be γ k In the step, according to the design clearance between the gear shaft and the gear hole, the machining error of the gear hole, the machining error of the gear shaft, the angle tolerance of the machining surface angle of the leftmost gear relative to the first synchronous swing arm, the angle tolerance of the machining surface angle of the rightmost gear relative to the second synchronous swing arm, the profile tolerance of the meshing surface of the gear, the calculated angle β between the first synchronous swing arm and the reference surface k, and (N-1) the minimum three distances calculated for two adjacent gears, and the angle γ between the second synchronous swing arm and the reference plane is calculated k .

[0036] In one implementation, determining β k and γ k After the step of determining whether the angle difference between the two is within the preset angle difference range, the method further includes: outputting β k , γ k and Δθ k , Δθ k =γ k -β k , so as to intuitively obtain the angle difference between the first synchronous swing arm and the second synchronous swing arm and the reference plane.

[0037] In one embodiment, the angle β is calculated k Greater than or equal to 0 degrees and less than or equal to 90 degrees.

[0038] In one implementation, the normal direction of the first sampling point is The spatial floating range of the first sampling point is

[0039]

[0040] In a second aspect, the present application provides a computer device, including a memory, a processor, and a computer program. The computer program is stored in the memory and can be run on the processor. When the computer program is executed by the processor, it implements the synchronization calculation method of any of the above-mentioned foldable mechanisms.

[0041] In a third aspect, the present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a computer, the computer executes any of the above-mentioned synchronization calculation methods for a foldable mechanism.

[0042] In a fourth aspect, the present application provides an electronic device, comprising a first shell, a second shell and a foldable mechanism, the foldable mechanism is connected between the first shell and the second shell, the foldable mechanism comprises a base and a synchronization component, the base has a reference plane, the synchronization component comprises N gears, a first synchronization swing arm and a second synchronization swing arm, the N gears are all installed on the base, along the width direction of the foldable mechanism, the N gears are arranged in sequence, two adjacent gears are meshed with each other, N is a positive integer greater than or equal to 2, along the width direction of the foldable mechanism, the first synchronization swing arm is fixedly connected to the leftmost gear, and the second synchronization swing arm is fixedly connected to the rightmost gear; the angle between the first synchronization swing arm and the reference plane is β k When the angle between the second synchronous swing arm and the reference plane is γ k , β k and γ kThe included angle between them is within the preset angle difference range. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be described below.

[0044] Figure 1 It is a schematic diagram of the structure of an electronic device in one state;

[0045] Figure 2 yes Figure 1 A schematic diagram of the structure of the electronic device shown in another state;

[0046] Figure 3 yes Figure 2 A schematic diagram of a partial structure of a foldable mechanism in the electronic device shown;

[0047] Figure 4 yes Figure 3 A simplified schematic diagram of the foldable mechanism shown;

[0048] Figure 5 It is a flow chart of a synchronization calculation method of a foldable mechanism provided in an embodiment of the present application;

[0049] Figure 6 yes Figure 5 A flowchart of step S5 in the synchronization calculation method of the foldable mechanism shown;

[0050] Figure 7 yes Figure 3 A schematic diagram of the structure of two adjacent gears meshing in the foldable mechanism shown;

[0051] Figure 8 yes Figure 7 Schematic diagram of the structure of sampling points on the meshing surfaces of two gears shown. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0053] See also Figure 1 and Figure 2 , Figure 1 is a schematic diagram of the structure of the electronic device 1000 in one state, Figure 2 yes Figure 1 The structure diagram of the electronic device 1000 is shown in the second state.

[0054] For the convenience of description, we define Figure 2The width direction of the electronic device 1000 is the X-axis direction, the length direction of the electronic device 1000 is the Y-axis direction, and the thickness direction of the electronic device 1000 is the Z-axis direction. The X-axis direction, the Y-axis direction, and the Z-axis direction are perpendicular to each other.

[0055] The electronic device 1000 may be a foldable electronic product such as a mobile phone, a tablet computer, a personal computer, a multimedia player, an e-book reader, a laptop computer, a vehicle-mounted device, or a wearable device. In this embodiment, the electronic device 1000 is a foldable mobile phone. That is, the electronic device 1000 is a mobile phone that can switch between a folded state and an unfolded state.

[0056] In this embodiment, the extension direction of the rotation axis of the electronic device 1000 is the Y-axis direction. That is, the electronic device 1000 can be relatively unfolded or relatively folded around the Y-axis direction. Figure 1 The electronic device 1000 is shown in a folded state. Figure 2 The electronic device 1000 is shown in an unfolded state. Figure 2 The unfolding angle of the electronic device 1000 is 180 degrees. Figure 2 The electronic device 1000 is shown in a flattened state. It should be noted that the angles described in the embodiments of the present application are allowed to have a slight deviation. For example, Figure 2 The unfolding angle of the electronic device 1000 shown is 180 degrees, which means that the unfolding angle may be 180 degrees, or approximately 180 degrees, such as 170 degrees, 175 degrees, 185 degrees, and 190 degrees, etc. The angles described below by way of example may be understood in the same way.

[0057] It should be understood that the electronic device 1000 shown in the embodiment of the present application is a terminal that can be folded once. In some other embodiments, the electronic device 1000 can also be a terminal that can be folded multiple times (more than twice). In this case, the electronic device 1000 may include multiple parts, two adjacent parts can be folded relatively close to each other until the electronic device 1000 is in a folded state, and two adjacent parts can be unfolded relatively far away until the electronic device 1000 is in an unfolded state.

[0058] In this embodiment, the electronic device 1000 includes a foldable device 100 and a display screen 200. The display screen 200 is installed on the foldable device 100 and is used to display information such as text, images or videos. The display screen 200 includes a first display portion 210, a second display portion 220 and a foldable portion 230. Along the X-axis direction, the foldable portion 230 is connected between the first display portion 210 and the second display portion 220. The foldable portion 230 can be bent around the Y-axis direction.

[0059] like Figure 1As shown, when the electronic device 1000 is in the folded state, the first display portion 210 and the second display portion 220 are arranged opposite to each other, and the foldable portion 230 is bent. At this time, the display screen 200 is in the folded state, and the exposed area of ​​the display screen 200 is relatively small, which can greatly reduce the probability of the display screen 200 being damaged, and effectively protect the display screen 200. Figure 2 As shown, when the electronic device 1000 is in the unfolded state, the first display portion 210 and the second display portion 220 are relatively unfolded, and the foldable portion 230 is not bent but flattened. At this time, the angles between the first display portion 210, the second display portion 220 and the foldable portion 230 are all 180 degrees, and the display screen 200 has a large display area, realizing a large-screen display of the electronic device 1000 and improving the user experience.

[0060] It should be understood that the electronic device 1000 shown in the embodiment of the present application is folded inwardly, and when the electronic device 1000 is in the folded state, the display screen 200 is located on the inner side of the foldable device 100. In some other embodiments, the electronic device 1000 can also be folded in an outwardly folded manner, and when the electronic device 1000 is in the folded state, the display screen 200 is located on the outer side of the foldable device 100.

[0061] The foldable device 100 includes a first housing 110, a second housing 120, and a foldable mechanism 130, wherein the foldable mechanism 130 is connected between the first housing 110 and the second housing 120 to realize a rotational connection between the first housing 110 and the second housing 120. Specifically, the first housing 110 carries a first display portion 210, and the second housing 120 carries a second display portion 220. In other words, the first display portion 210 is mounted on the first housing 110, and the second display portion 220 is mounted on the second housing 120. The foldable mechanism 130 is arranged opposite to the foldable portion 230.

[0062] It should be understood that the foldable mechanism 130 and the foldable part 230 are arranged relative to each other, which means that the projection of the foldable part 230 on the foldable device 100 at least partially covers the foldable mechanism 130, or the projection of the foldable mechanism 130 on the display screen 200 at least partially covers the foldable part 230.

[0063] The first shell 110 and the second shell 120 can rotate relative to each other through the foldable mechanism 130, so that the foldable device 100 can switch between the folded state and the unfolded state. Specifically, the first shell 110 and the second shell 120 can rotate relative to each other to be arranged opposite to each other, so that the foldable device 100 is in the folded state, such as Figure 1At this time, the foldable mechanism 130 is in a folded state. The first shell 110 and the second shell 120 can also rotate relative to each other to be relatively unfolded, so that the foldable device 100 is in an unfolded state, as shown in FIG. Figure 2 At this time, the foldable mechanism 130 is in an unfolded state. For example, Figure 2 The electronic device 1000 is shown in a flattened state, and the angle between the first housing 110 and the second housing 120 is 180 degrees. At this time, the foldable mechanism 130 is in a flattened state.

[0064] Please also read Figure 3 and Figure 4 , Figure 3 yes Figure 2 The schematic diagram of the partial structure of the foldable mechanism 130 of the foldable device 100 in the electronic device 1000 is shown. Figure 4 yes Figure 3 A simplified schematic diagram of the structure of the foldable mechanism 130 is shown.

[0065] The foldable mechanism 130 includes a base 10 and a synchronization component 20, wherein the synchronization component 20 is mounted on the base 10 and can be folded or unfolded relative to the base 10. In this embodiment, the extension direction of the base 10 is parallel to the Y-axis direction. The base 10 has a reference plane O. Exemplarily, the reference plane O is parallel to the XY plane and perpendicular to the Z-axis direction.

[0066] It should be noted that the qualifiers such as parallel and other relative positional relationships mentioned in the embodiments of the present application are all based on the current technological level, rather than being absolutely strict definitions in the mathematical sense, and a small amount of deviation is allowed, and being approximately parallel is also acceptable. For example, A and B are parallel, which means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 degrees and 10 degrees.

[0067] The base 10 includes two support parts 11, and the two support parts 11 are spaced and arranged opposite to each other along the Y-axis direction. Each support part 11 is provided with a plurality of gear holes 101, and the plurality of gear holes 101 are arranged in sequence and spaced apart along the X-axis direction. Exemplarily, the gear hole 101 penetrates the support part 11 along the thickness direction (Y-axis direction) of the support part 11. Among them, the gear hole 101 is a circular hole. Specifically, along the Y-axis direction, a gear hole 101 of each support part 11 is spaced and arranged opposite to a gear hole 101 of another support part 11, and the central axes coincide. Exemplarily, each support part 11 is provided with four gear holes 101.

[0068] In addition, each support portion 11 may include a plurality of sub-support portions (not shown), and the plurality of sub-support portions are arranged in sequence along the X-axis direction, and each sub-support portion is provided with a gear hole 101. In some other embodiments, each sub-support portion may also be provided with more than two gear holes 101, and the present application does not impose any specific limitation on this.

[0069] The synchronization assembly 20 is installed in the installation groove. The synchronization assembly 20 includes N gears 30, a first synchronization swing arm 40 and a second synchronization swing arm 50. Each gear 30 includes two gear shafts 31. Along the length direction of the gear 30 (the Y-axis direction in the figure), the two gear shafts 31 are respectively located on opposite sides of the gear 30. Among them, the two gear shafts 31 are both circular shafts, and the central axes coincide. In each gear 30, one gear shaft 31 is installed in the gear hole 101 of one support part 11, and the other gear shaft 31 is installed in the gear hole 101 of the other support part 11. The gear 30 can rotate around the Y-axis relative to the base 10 in the two gear holes 101.

[0070] Along the X-axis direction, N gears 30 are arranged in sequence. Two adjacent gears 30 mesh with each other to form N-1 pairs of adjacent two gears 30. Wherein, N is a natural number greater than or equal to 2. Along the X-axis direction, the N gears 30 are respectively the first gear 30, the second gear 30, ..., the N-1th gear 30 and the Nth gear 30. Wherein, the gear 30 is an involute gear. Exemplarily, N=4, that is, the synchronization component 20 includes four gears 30.

[0071] The first synchronous swing arm 40 is fixedly connected to the leftmost gear 30, and the second synchronous swing arm 50 is fixedly connected to the rightmost gear 30. Exemplarily, the first synchronous swing arm 40 can be integrally formed with the leftmost gear 30, and the second synchronous swing arm 50 can be integrally formed with the rightmost gear 30. Specifically, one end of the first synchronous swing arm 40 is fixedly connected to the first gear 30, and the other end can be connected to the first housing 110, and one end of the second synchronous swing arm 50 is fixedly connected to the Nth gear 30, and the other end can be connected to the second housing 120.

[0072] It should be noted that the directional terms such as "left" and "right" used in the embodiment of the present application to describe the electronic device 1000 are mainly based on the electronic device 1000 in the attached Figure 2 The display orientation is explained in detail, with the positive direction of the X-axis being “right” and the negative direction of the X-axis being “left”, which does not constitute a limitation on the orientation of the electronic device 1000 in actual application scenarios.

[0073] When the first synchronous swing arm 40 rotates relative to the base 10, the first synchronous swing arm 40 drives the first gear 30 to rotate relative to the base 10, and the first gear 30 drives the second gear 30 to rotate relative to the base 10, and the N-1th gear 30 drives the Nth gear 30 to rotate relative to the base 10, and the Nth gear 30 drives the second synchronous swing arm 50 to rotate relative to the base 10, so as to realize the synchronous rotation of the first synchronous swing arm 40 and the second synchronous swing arm 50 relative to the base 10.

[0074] When the second synchronous swing arm 50 rotates relative to the base 10, the second synchronous swing arm 50 drives the Nth gear 30 to rotate relative to the base 10, and the Nth gear 30 drives the N-1th gear 30 to rotate relative to the base 10, and the second gear 30 drives the first gear 30 to rotate relative to the base 10, and the first gear 30 drives the first synchronous swing arm 40 to rotate relative to the base 10, so as to realize the synchronous rotation of the first synchronous swing arm 40 and the second synchronous swing arm 50 relative to the base 10.

[0075] When the electronic device 1000 switches between a folded state and an unfolded state, the foldable mechanism 130 switches between a folded state and an unfolded state, the synchronization component 20 switches between a folded state and an unfolded state, the rotation direction of the first synchronization swing arm 40 relative to the base 10 is a first direction, and the rotation direction of the second synchronization swing arm 50 relative to the base 10 is a second direction, and the second direction is opposite to the first direction.

[0076] Exemplarily, when the electronic device 1000 switches from the folded state to the unfolded state, the foldable mechanism 130 switches from the folded state to the unfolded state, the synchronization component 20 switches from the folded state to the unfolded state, the first synchronization swing arm 40 rotates counterclockwise relative to the base 10, and the second synchronization swing arm 50 rotates clockwise relative to the base 10. When the electronic device 1000 switches from the unfolded state to the folded state, the foldable mechanism 130 switches from the unfolded state to the folded state, the synchronization component 20 switches from the unfolded state to the folded state, the first synchronization swing arm 40 rotates clockwise relative to the base 10, and the second synchronization swing arm 50 rotates counterclockwise relative to the base 10.

[0077] In this embodiment, when the electronic device 1000 switches between the folded state and the unfolded state, the angle θ1 between the first synchronous swing arm 40 and the reference plane O of the base 10 is between 0° and 90°, and the angle θ2 between the second synchronous swing arm 50 and the reference plane O of the base 10 is between 0° and 90°. When θ1=β1, θ2=γ1, Δθ1=θ2-θ1=γ1-β1; ...; θ1=β k When θ2=γ k , Δθ k =θ2-θ1=γ k -β k ; ...; θ1 = βn When θ2=γ n , Δθn=θ2-θ1=γ n -β n , n is a positive integer greater than or equal to 1. In addition, Δθ k In the preset angle difference range, k is a positive integer greater than or equal to 1 and less than or equal to n. Exemplarily, the preset angle difference range is greater than or equal to -0.5 degrees and less than or equal to 0.5 degrees, that is, Δθ k Greater than or equal to -0.5 degrees and less than or equal to 0.5 degrees.

[0078] In some other embodiments, the preset angle difference range may be greater than or equal to -3 degrees and less than or equal to 3 degrees, that is, Δθ k It can also be greater than or equal to -3 degrees and less than or equal to 3 degrees. It should be noted that the preset angle difference range is designed based on the actual application requirements of the foldable mechanism 130, and the embodiment of the present application does not impose any specific limitation on this.

[0079] When the electronic device 1000 switches between the folded state and the unfolded state, the difference Δθ between the angle θ1 between the first synchronous swing arm 40 and the reference plane O of the base 10 and the angle θ2 between the second synchronous swing arm 50 and the reference plane O of the base 10 is k Always within the preset angle difference range, the first synchronous swing arm 40 and the second synchronous swing arm 50 have good synchronization with the base 10, that is, the angle deviation of the first synchronous swing arm 40 and the second synchronous swing arm 50 is small and the consistency is good, which helps to improve the symmetry of the flexible display screen 200 during the folding and unfolding process and improve the consumer's user experience.

[0080] It should be noted that, in the synchronization assembly 20 of the foldable mechanism 130, each gear 30 needs to be processed separately before assembly, and it is very easy to cause side clearance between two adjacent gears 30 due to processing errors. The transmission of the dimension chain will cause a large range of rotation angle differences between the first synchronization swing arm 40 and the second synchronization swing arm 50. In addition, since there is also a designed gap between the gear shaft 31 and the gear hole 101, the gear 30 is in a random floating state in the gear hole 101. When the gear shaft 31 and the gear hole 101 are tangentially distributed, the side clearance between the two adjacent gears 30 is the largest, and the rotation angle difference between the first synchronization swing arm 40 and the second synchronization swing arm 50 is even greater, thereby causing synchronization problems.

[0081] The synchronization problem is an important indicator of whether the foldable mechanism is poorly assembled. Due to the limitations of the current meshing calculation ability between two adjacent gears, the verification method usually used is to verify the synchronization batch data through physical batch proofing, that is, the consistency of the rotation angle of the two synchronous swing arms. This verification method leads to delayed analysis of the root cause, incomplete root cause analysis, and no means of quantifying important contribution indicators. Not only is the verification method complex and inefficient, but it also increases the cost of the foldable mechanism. Next, the synchronization calculation method of the foldable mechanism shown in the embodiment of the present application will be described.

[0082] Please also read Figures 3 to 5 , Figure 5 It is a flow chart of a synchronization calculation method of a foldable mechanism provided in an embodiment of the present application.

[0083] The synchronization calculation method of the foldable mechanism can be used to calculate the synchronization of the above foldable mechanism 130. The synchronization calculation method of the foldable mechanism includes the following steps S1 to S11.

[0084] Step S1, determine the design gap a between the gear shaft 31 and the gear hole 101, the machining tolerance Δra of the gear hole 101, the machining tolerance Δrb of the gear shaft 32, the profile tolerance m of the meshing surface of the gear 31 (i.e., the machining tolerance of the common normal length), the angle tolerance θ of the machining surface of the first gear 30 relative to the first synchronous swing arm 40 T1 , and the angle tolerance θ of the machined surface angle of the Nth gear 30 relative to the second synchronous swing arm 50 T2 .

[0085] Step S2, setting n calculated angles β1, β2, ..., βn, n between the first synchronous swing arm 40 and the reference plane O of the base 10 to be positive integers. Among them, β1, β2, ..., βn are all greater than or equal to 0° and less than or equal to 90°, and are different from each other. It should be noted that β1, β2, ..., βn can increase or decrease gradually in a regular manner, for example, β1, β2, ..., βn can increase or decrease gradually in a regular manner according to the gradient, or β1, β2, ..., βn can also be arranged irregularly, and the embodiment of the present application does not impose specific restrictions on this.

[0086] It should be noted that, in some other embodiments, step S2 may be executed first and then step S1, or step S1 and step S2 may be executed simultaneously, and the embodiments of the present application do not impose specific limitations on this.

[0087] Step S3, set k=1.

[0088] Step S4, setting the angle θ1 between the first synchronous swing arm 40 and the reference plane O of the base 10 to β k .

[0089] Step S5, among the N gears 30, N-1 pairs of adjacent gears 30 are meshed and calculated, and m*m distances between m first sampling points a on the meshing surface of one gear 30 and m second sampling points b on the meshing surface of another gear 30 are obtained, and the smallest three distances m among the m*m distances are obtained. min , three m min Wherein, N is a positive integer greater than or equal to 2, and m is a positive integer greater than or equal to 3.

[0090] In this embodiment, step S5 can be implemented through steps S51 to S54. It should be noted that among the N gears 30, there are N-1 pairs of adjacent gears 30, and the meshing judgment calculation method of each pair of adjacent gears 30 is the same, and the meshing judgment calculation of the N-1 pairs of adjacent gears 30 is the same. Moreover, the meshing judgment calculation of the N-1 pairs of adjacent gears 30 can be performed simultaneously or sequentially, and the embodiment of the present application does not make specific restrictions.

[0091] The meshing judgment calculation for each pair of two adjacent gears 30 includes steps S51 to S54.

[0092] See also Figures 6 to 8 , Figure 6 yes Figure 5 A partial flow chart of step S5 in the synchronization calculation method of the foldable mechanism shown in FIG. Figure 7 yes Figure 3 The schematic diagram of the structure of two adjacent gears 30 in the foldable mechanism 130 is shown, Figure 8 yes Figure 7 A schematic structural diagram of sampling points on the meshing surfaces of two adjacent gears 30 is shown.

[0093] Step S51, randomly select m first sampling points a on the meshing surface 301 of one gear 30, and randomly select m second sampling points b on the meshing surface 302 of another gear 30. The m first sampling points a form a first sampling point matrix (a1, a2, ... a m ), m second sampling points b form a second sampling point matrix (b1, b2, ... b m ). For example, m=100.

[0094] It should be noted that the method of taking the first sampling point a on the meshing surface 301 of one gear 30 and the second sampling point b on the meshing surface 302 of the other gear 30 is not specifically limited. For example, m first sampling points a are evenly taken on the meshing surface 301 of one gear 30, and m second sampling points b are evenly taken on the meshing surface 302 of the other gear 30.

[0095] It can be understood that the profile tolerance m of the meshing surface of the gear 30 affects the spatial distribution of the sampling points on the meshing surface of the gear 30. It is known that the normal direction of the first sampling point a is Then the spatial floating range of the first sampling point a is Random sampling can be performed within the spatial floating range of the first sampling point a to perform meshing judgment calculation. Similarly, the normal direction of the second sampling point b can also be Then the spatial floating range of the second sampling point b is Random sampling can be performed within the spatial floating range of the second sampling point b to perform meshing judgment calculation.

[0096] Step S52: Calculate the distance m between the m first sampling points a and the m second sampling points b. ij , get m*m distance values ​​m ij Among them, m*m distances can form a distance matrix

[0097] Specifically, step S52 may include steps S521 to S523.

[0098] Step S521, setting the coordinate origin and three-dimensional coordinate axes.

[0099] Step S522, determine the three-dimensional coordinates of m first sampling points a and m second sampling points b, the coordinates of each first sampling point a are (xa i , ya i ,za i ), the coordinates of each second sampling point b are (xb j , yb j , zb j ), i and j are positive integers greater than or equal to 1 and less than or equal to m.

[0100] Step S523, calculate m ij =[(xa i -xb j ) 2 +(ya i -yb j ) 2 +(za i -zb j ) 2 ] 1 / 2 , get m*m distances m ij Specifically, the distances between m first sampling points a and m second sampling points b can be obtained according to the distance formula between two points in three-dimensional space, which is convenient, simple and quick, and helps to simplify the synchronization calculation method of the foldable mechanism.

[0101] It should be noted that there is no restriction when setting the coordinate origin and the three-dimensional coordinate axis, and the coordinate origin and the three-dimensional coordinate axis can be set arbitrarily, as long as the same coordinate origin and the three-dimensional coordinate axis are used when determining the coordinates of the first sampling point a and the second sampling point b, and calculating the distances between the m first sampling points and the m second sampling points b.

[0102] Step S53, for m*m distances m ij Compare and find the smallest three distances m min Specifically, for the m*m matrix elements m in the distance matrix ij Compare, that is, compare the m*m distances in the distance matrix and find the smallest three distances m min Among them, the smallest three distances m min Can be m min1 、m min2 and m min3 .

[0103] Step S54, determine the smallest three distances m min Are they all within the preset distance range. The preset distance range is greater than or equal to m l and less than or equal to m u It should be noted that the lower limit of the preset distance range is m l and the upper limit m u The design is based on the actual application requirements of the foldable mechanism 130. l and the upper limit m u No specific limitation is made.

[0104] If the smallest three distances m min If all of the three smallest distances m are within the preset distance range, then the subsequent step S6 is executed. min All are within the preset distance range, that is, the smallest three distances m min Are greater than or equal to m l and less than or equal to m u , indicating that the minimum distance m is calculated min The first sampling point a and the second sampling point b are approximately in contact, and the three first sampling points a and the three second sampling points b are approximately in contact one by one, satisfying the spatial stability relationship. At this time, the smallest three distances m min The corresponding three first sampling points a and three second sampling points b are the actual meshing positions under this tolerance sampling calculation, which are the positions in the meshing state under this sampling calculation. N-1 pairs of adjacent gears 30 have dimension chain transmission at the meshing position.

[0105] If the smallest three distances m minIf at least one of the three distances m is not within the preset distance range, the meshing judgment calculation is performed again. min At least one of them does not satisfy greater than or equal to m l and less than or equal to m u , then repeat steps S51 to S54 until the smallest three distances m are obtained. min All are within the preset distance range, and N-1 pairs of adjacent gears 30 can undergo dimension chain transmission at the meshing position.

[0106] It should be noted that since the contour of the meshing surface of the involute gear is a curvature-varying surface, it is impossible to predict in advance where meshing actually occurs when the two gears mesh with each other. Currently, there is no mature commercial software that can perform fitting calculations for this scenario. This application uses a method of taking sampling points on the meshing surfaces of two adjacent gears 30 to calculate the positions where meshing actually occurs on the meshing surfaces of two adjacent gears 30. It can be understood that as the number of sampling points increases, the accuracy of the calculation will increase, and the calculation time will increase accordingly. The selection of the sampling point positions and quantity that meet the calculation accuracy can be continuously optimized.

[0107] Step S6, calculating the angle θ2 between the second synchronous swing arm 50 and the reference plane O of the base 10 as γ k It is understood that the angle tolerance θ of the machining surface of the first gear 30 relative to the first synchronous swing arm 40 can be determined based on the design gap a between the gear shaft 31 and the gear hole 101, the machining tolerance Δra of the gear hole 101, the machining tolerance Δrb of the gear shaft 32, and the angular tolerance θ of the machining surface of the first gear 30 relative to the first synchronous swing arm 40. T1 , the angle tolerance θ of the machined surface angle of the Nth gear 30 relative to the second synchronous swing arm 50 T2 , the profile tolerance m of the meshing surface of the gear 31, the angle β between the first synchronous swing arm 40 and the reference plane O of the base 10 k , and the minimum three distances m calculated by N-1 for two adjacent gears 30 min The angle θ2 between the second synchronous swing arm 50 and the reference plane O of the base 10 is calculated as γ k .

[0108] Step S7, determine β k and γ k Whether the angle difference between them is within the preset angle difference range to obtain the synchronization result. Specifically, calculate Δθ k =θ2-θ1=γ k -β k , and determine Δθ kIs it within the preset angle difference range? If yes, the synchronization result is good; if no, the synchronization result is bad. Exemplarily, the preset angle difference range is greater than or equal to -0.5 degrees and less than or equal to 0.5 degrees, that is, Δθ k Greater than or equal to -0.5 degrees and less than or equal to 0.5 degrees.

[0109] In some other embodiments, the preset angle difference range may be greater than or equal to -3 degrees and less than or equal to 3 degrees, that is, Δθ k It can also be greater than or equal to -3 degrees and less than or equal to 3 degrees. It should be noted that the preset angle difference range is designed based on the actual application requirements of the foldable mechanism 130, and the embodiment of the present application does not impose any specific limitation on this.

[0110] Step S8, output β k , γ k , Δθ k And synchronization results. It can be understood that if in step S7, Δθ k Within the preset angle difference range, step S8 outputs θ1=β k , θ2=γ k , Δθ k =θ2-θ1=γ k -β k , good synchronization. It can be obtained that the angle θ1 between the first synchronous swing arm 40 and the reference plane O of the base 10 is β k When the second synchronous swing arm 50 and the reference plane O of the base 10 are k , Δθ between θ1 and θ2 k =γ k With β k , so that it can be determined that the angle θ1 between the first synchronous swing arm 40 and the reference plane O of the base 10 is β k When the folding mechanism 130 is folded, the synchronicity problem between the first synchronizing swing arm 40 and the second synchronizing swing arm 50 occurs.

[0111] Step S9, determine whether k is equal to n. If yes, execute step S10 and end the calculation. If no, execute step S11, set k=k+1, and re-execute steps S4 to S8, so as to obtain the angle θ1 between the first synchronous swing arm 40 and the reference plane O of the base 10 at n different angles, the different angles of the angle θ2 between the second synchronous swing arm 50 and the reference plane O of the base 10, and the different angle differences Δθ between θ1 and θ2. k .

[0112] It should be noted that, in some other embodiments, step S9 may be executed first and then step S7, or step S7 and step S9 may be executed simultaneously, and this application does not impose any specific limitation on this.

[0113] In the embodiment of the present application, the synchronization calculation method of the foldable mechanism can obtain different angles of the angle θ2 between the second synchronous swing arm 50 and the reference plane O of the base 10 and different angle differences Δθ between θ1 and θ2 according to the angle θ1 between the first synchronous swing arm 40 and the reference plane O of the base 10 at different angles. k , so that the angle difference Δθ between θ1 and θ2 can be k The position with the largest angle difference is determined as the point with the greatest risk of synchronization problem of the foldable mechanism 130. The synchronization calculation method of the foldable mechanism is simple, which improves the synchronization calculation efficiency of the foldable mechanism and helps to reduce the design cost of the foldable mechanism 130.

[0114] In addition, in the embodiment of the present application, the synchronization calculation method of the foldable mechanism can be based on the calculation scheme of the meshing surfaces of two adjacent gears 30, and can effectively perform the angle consistency calculation of the foldable mechanism 130 in the product design stage, accurately predict the angle consistency distribution range and the influencing contribution factor, greatly improve the rationality of product structure design, tolerance design, and assembly process design, and realize the synchronous iteration of multiple schemes without physical proofing, which greatly improves the design quality, reduces the design cost, and shortens the development cycle.

[0115] The embodiment of the present application also provides a computer device, the computer device includes a memory, a processor and a computer program, the memory can store the computer program for executing the synchronization calculation method of the foldable mechanism, and the data involved in the synchronization calculation method of the foldable mechanism. Exemplarily, the memory includes but is not limited to random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM) or portable read-only memory (CD-ROM).

[0116] The processor can execute a computer program stored in the memory. When the processor executes the computer program stored in the memory, the computer program executes the synchronization calculation method of the foldable mechanism. Exemplarily, the processor can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like.

[0117] The embodiment of the present application also provides a computer storable medium, in which instructions are stored. When the instructions are executed on a computer, the computer executes the synchronization calculation method of the foldable mechanism.

[0118] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application; in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for calculating the synchronization of a foldable mechanism, characterized in that: The foldable mechanism comprises a base and a synchronization component, the base has a reference surface, the synchronization component comprises N gears, a first synchronization swing arm and a second synchronization swing arm, the N gears are all mounted on the base, along the width direction of the foldable mechanism, the N gears are arranged in sequence, two adjacent gears are meshed with each other, N is a positive integer greater than or equal to 2, along the width direction of the foldable mechanism, the first synchronization swing arm is fixedly connected to the leftmost gear, and the second synchronization swing arm is fixedly connected to the rightmost gear; The synchronization calculation method of the foldable mechanism includes: The angle between the first synchronous swing arm and the reference plane is set to β k ; For the N gears, N-1 pairs of adjacent gears are meshed and calculated to obtain m*m distances between m first sampling points on the meshing surface of one gear and m second sampling points on the meshing surface of another gear in each of the two adjacent gears, and the three smallest distances among the m*m distances are obtained, and the three smallest distances are all within a preset distance range, wherein m is a positive integer greater than or equal to 3; The angle between the second synchronous swing arm and the reference plane is calculated to be γ k ; Determine β k and γ k Whether the angle difference between them is within the preset angle difference range to obtain the synchronization result.

2. The synchronization calculation method of the foldable mechanism according to claim 1, characterized in that: In the step of performing meshing judgment calculation on N-1 pairs of adjacent gears among the N gears, performing meshing judgment calculation on each pair of adjacent gears includes: Randomly select m first sampling points on the meshing surface of one of the gears, and randomly select m second sampling points on the meshing surface of another gear; Calculate the distances between m first sampling points and m second sampling points to obtain m*m distances; Compare the m*m distances and find the three smallest distances; Determine whether the three smallest distances are within the preset distance range. If not, re-perform the meshing judgment calculation. If yes, perform the calculation to obtain the angle γ between the second synchronous swing arm and the reference plane. k steps.

3. The synchronization calculation method of the foldable mechanism according to claim 2, characterized in that: The step of randomly selecting m first sampling points on the meshing surface of one gear and randomly selecting m second sampling points on the meshing surface of another gear comprises: the m first sampling points form a first sampling point matrix (a1, a2, ... a m ), the m second sampling points form a second sampling point matrix (b1, b2, ... b m ); The step of calculating the distances between the m first sampling points and the m second sampling points includes: forming a distance matrix with m*m distances The step of comparing the m*m distances to find the three smallest distances includes: comparing the distances in the distance matrix to find the three smallest distances.

4. The synchronization calculation method of the foldable mechanism according to claim 2 or 3, characterized in that: The step of calculating the distances between the m first sampling points and the m second sampling points includes: Set the coordinate origin and three-dimensional coordinate axes; Determine the three-dimensional coordinates of m first sampling points and m second sampling points, the coordinates of each first sampling point are (xa i , ya i ,za i ), the coordinates of each of the second sampling points are (xb j , yb j , zb j ), i and j are positive integers greater than or equal to 1 and less than or equal to m; Calculate m ij =[(xa i -xb j ) 2 +(ya i -yb j ) 2 +(za i -zb j ) 2 ] 1 / 2 , and obtain m*m distances.

5. The synchronization calculation method of a foldable mechanism according to any one of claims 1 to 4, characterized in that: In setting the angle between the first synchronous swing arm and the reference plane to β k Before the steps, also include: Set n calculated angles β1, β2, ..., βn between the first synchronous swing arm and the reference plane, where n is a positive integer; Set k = 1; The angle between the second synchronous swing arm and the reference plane is γ k After the step of, the synchronization calculation method of the foldable mechanism further comprises: Determine whether k is equal to n. If so, end the calculation. If not, set k=k+1 and re-execute the step of setting the angle between the first synchronous swing arm and the reference plane to β k and subsequent steps.

6. The synchronization calculation method of a foldable mechanism according to any one of claims 1 to 5, characterized in that: The base includes two support parts, which are spaced apart and arranged opposite to each other along the length direction of the foldable mechanism, each support part is provided with a plurality of gear holes, which are arranged in sequence along the width direction of the foldable mechanism, and one gear hole of each support part is spaced apart and arranged opposite to one mounting hole of another support part along the length direction of the foldable mechanism; Each of the gears comprises two gear shafts, and along the length direction of the foldable mechanism, the two gear shafts are respectively located at opposite ends of the gear, and in each of the gears, the two gear shafts are respectively installed in one of the gear holes of the two supporting parts; In setting the angle between the first synchronous swing arm and the reference plane to β k Before the steps, also include: Determine the design clearance between the gear shaft and the gear hole, the machining error of the gear hole, the machining error of the gear shaft, the angle tolerance of the machining surface angle of the leftmost gear relative to the first synchronous swing arm, the angle tolerance of the machining surface angle of the rightmost gear relative to the second synchronous swing arm, and the profile tolerance of the meshing surface of the gear; The angle between the second synchronous swing arm and the reference plane is γ k In the step, according to the design clearance between the gear shaft and the gear hole, the machining error of the gear hole, the machining error of the gear shaft, the angle tolerance of the machining surface angle of the leftmost gear relative to the first synchronous swing arm, the angle tolerance of the machining surface angle of the rightmost gear relative to the second synchronous swing arm, the profile tolerance of the meshing surface of the gear, the calculated angle β between the first synchronous swing arm and the reference plane k , and (N-1) the minimum three distances calculated for two adjacent gears, and the angle between the second synchronous swing arm and the reference plane is calculated to be γ k .

7. The synchronization calculation method of a foldable mechanism according to any one of claims 1 to 6, characterized in that: The judgment β k and γ k After the step of determining whether the angle difference between the two is within the preset angle difference range, the method further includes: outputting β k , γ k and Δθ k , Δθ k =γ k -β k .

8. The synchronization calculation method of a foldable mechanism according to any one of claims 1 to 7, characterized in that: The β k Greater than or equal to 0 degrees and less than or equal to 90 degrees.

9. The synchronization calculation method of a foldable mechanism according to any one of claims 1 to 8, characterized in that: The normal direction of the first sampling point is The spatial floating range of the first sampling point is 10. A computer device, characterized in that: The invention comprises a memory, a processor and a computer program, wherein the computer program is stored in the memory and can be run on the processor, and when the computer program is executed by the processor, the synchronization calculation method of the foldable mechanism according to any one of claims 1 to 9 is implemented.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions. When the instructions are executed on a computer, the computer executes the synchronization calculation method for the foldable mechanism according to any one of claims 1 to 10.

12. An electronic device, characterized in that: The foldable mechanism comprises a first shell, a second shell and a foldable mechanism, wherein the foldable mechanism is connected between the first shell and the second shell, the foldable mechanism comprises a base and a synchronization assembly, the base has a reference surface, the synchronization assembly comprises N gears, a first synchronization swing arm and a second synchronization swing arm, the N gears are all mounted on the base, along the width direction of the foldable mechanism, the N gears are arranged in sequence, two adjacent gears are meshed with each other, N is a positive integer greater than or equal to 2, along the width direction of the foldable mechanism, the first synchronization swing arm is fixedly connected to the leftmost gear, and the second synchronization swing arm is fixedly connected to the rightmost gear; The angle between the first synchronous swing arm and the reference plane is β k When the angle between the second synchronous swing arm and the reference plane is γ k , β k and γ k The included angle between them is within the preset angle difference range.

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