A motor and its application

Abstract

The present application provides a motor and application, the motor comprising: a first housing, provided with a main control circuit board; a second housing, located inside the first housing, provided with a driving circuit board and a motor body; wherein the driving circuit board is electrically connected to the main control circuit board and the motor body respectively, the main control circuit board is used to output a control signal to the driving circuit board, and the driving circuit board is used to output a driving signal to the motor body based on the received control signal; wherein the driving circuit board is located at the end of the motor body, the driving circuit board has two opposite surfaces, one of which is provided with a driving circuit and the other is provided with a sensing element, the driving circuit is electrically connected to the main control circuit of the main control circuit board and the motor body respectively, and the sensing element is used to detect the position of the motor body and output a detection signal to the driving circuit. The present application improves the stability and reliability of the motor.

Description

Technical Field

[0001] The present application relates to the technical field of electronic equipment, and in particular to a motor and its application. Background Art

[0002] The control circuit of an electronic device is used to accurately control the start, stop and state transition of the device, and the drive circuit of an electronic device is used to amplify the signal of the control circuit so that it can drive electronic devices such as power transistors.

[0003] The integration of components in the drive circuit and control circuit of existing electronic devices is getting higher and higher, which makes it easy for the drive circuit and the control circuit to have mutual interference between signals, which in turn leads to malfunction of the drive circuit and / or the control circuit; and the heat generated by the drive circuit when working will be transferred to the control circuit, causing temperature abnormalities; all of the above factors affect the stability and reliability of the electronic equipment. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present application provides a motor and its application.

[0005] The specific technical solutions are as follows:

[0006] A motor, comprising:

[0007] A first housing, wherein a main control circuit board is disposed on the first housing;

[0008] a second shell, the second shell being located inside the first shell, and the second shell being provided with a driving circuit board and a motor body;

[0009] The driving circuit board is electrically connected to the main control circuit board and the motor body respectively, the main control circuit board is used to output a control signal to the driving circuit board, and the driving circuit board is used to output a driving signal to the motor body based on the received control signal;

[0010] Among them, the driving circuit board is located at the end of the motor body, and the driving circuit board has two opposite surfaces, one of which is provided with a driving circuit and the other is provided with a sensing element. The driving circuit is electrically connected to the main control circuit of the main control circuit board and the motor body respectively, and the sensing element is used to detect the state of the motor body and output a detection signal to the driving circuit.

[0011] In one embodiment, the motor body includes a stator, a rotor and a motor shaft, the rotor is located in the stator, and the rotor is arranged on the motor shaft; the drive circuit includes a drive chip, the drive chip has a self-calibration unit, and the self-calibration unit is used to output a drive signal to the stator at an initial moment, so that the rotor drives the motor shaft to rotate N circles, N≥1;

[0012] Wherein, both ends of the motor shaft extend out of the stator, and a trigger element is provided at one end close to the driving circuit board, and the trigger element is provided corresponding to the sensing element. The sensing element is used to output a detection signal based on the real-time position of the trigger element when the motor shaft drives the trigger element to rotate, and the self-calibration unit is used to receive the detection signal and calibrate the zero position of the motor shaft based on one or more of the amplitude, frequency, and phase changes of the detection signal.

[0013] In one embodiment, the self-calibration unit is used to input the detection signal into a trained machine learning model, and output the zero position of the motor shaft through the machine learning model;

[0014] The machine learning model is constructed in the following way:

[0015] Collecting output signal data of the sensing element when the motor shaft is in different states and zero position information data of the motor shaft, and filtering and denoising the collected data;

[0016] Extracting features of the output signal data, wherein the features include one or more of amplitude, frequency and phase;

[0017] Training a machine learning model based on the output signal data, the features and the zero position information data of the motor shaft;

[0018] The parameters of the machine learning model are fixed to complete the construction of the machine learning model.

[0019] In one embodiment, the main control circuit board is provided with at least a Vcc pin, a GND pin, a TX pin and a RX pin;

[0020] The Vcc pin is electrically connected to the main control circuit, and the main control circuit is electrically connected to the positive pole of the power supply through the Vcc pin;

[0021] The GND pin is electrically connected to the main control circuit, and the main control circuit is electrically connected to the negative pole of the power supply through the GND pin;

[0022] The TX pin is electrically connected to the main control circuit, and the main control circuit is connected to the drive circuit and / or other electronic devices through the TX pin, and is used to output a drive signal to the drive circuit and / or other electronic devices;

[0023] The RX pin is electrically connected to the main control circuit, and the main control circuit is electrically connected to the drive circuit and / or other electronic devices through the GND pin to receive feedback signals sent by the drive circuit and / or other electronic devices.

[0024] In one embodiment, the driving circuit board and the motor body are coaxially arranged, and the projection area of ​​the driving circuit board in the axial direction of the motor body is between 25πmm 2 -100πmm 2 between;

[0025] The two opposite surfaces of the driving circuit board are respectively a distant surface away from the motor body and a close surface close to the motor body. The driving circuit is located on the distant surface, and the sensing element is located on the close surface.

[0026] In one embodiment, the driving circuit board is located at the bottom end of the second shell, a receiving space is formed between the driving circuit board and the inner wall of the second shell, and the motor body is located in the receiving space;

[0027] The driving circuit board has a first conductive portion and a second conductive portion, the first conductive portion and the second conductive portion are respectively arranged on both sides of the driving circuit board, and the first conductive portion and the second conductive portion are both used to connect the accommodating space with the outside;

[0028] An electronic component is arranged on the near surface, and the electronic component is adjacent to the first conductive part; the driving circuit includes an input-output module, the input-output module is adjacent to the second conductive part, and the wire of the input-output module passes through the second conductive part and is electrically connected to the motor body.

[0029] In one embodiment, the trigger element comprises a magnetic ring, on which n magnetic poles are arranged evenly distributed along the axis of the motor body, wherein n≥2, and n is an even number;

[0030] And / or, the sensing element includes one or more combinations of a magnetoresistive sensor, a magnetoelectric induction sensor, a thin film magnetoresistive sensor, a magnetoresistive sensor and a Hall sensor.

[0031] In one embodiment, the number of the sensing elements is more than two;

[0032] When the number of the sensing elements is two, the two sensing elements are symmetrically arranged along one radius of the surface of the driving circuit board where they are located;

[0033] When the number of the sensing elements is more than three, the more than three sensing elements are arranged along the circumference of the surface of the driving circuit board, and the distance between two adjacent sensing elements is the same.

[0034] In one embodiment, the main control circuit board is arranged on the side wall of the first housing, and the main control circuit board is arranged parallel to the axis direction of the motor body;

[0035] The driving circuit board is arranged at the bottom end of the second housing, and the driving circuit board is arranged perpendicularly to the axis direction of the motor body;

[0036] The distance between the main control circuit board and the driving circuit board is between 0.5 cm and 10 cm.

[0037] An electric toothbrush comprises the motor and brush head described in any one of the above embodiments, wherein the motor shaft of the motor body extends out of the first shell, and the brush head is detachably arranged on the motor shaft.

[0038] This application has at least the following beneficial effects:

[0039] The present application provides a motor, comprising: a first shell, on which a main control circuit board is arranged; a second shell, the second shell is located inside the first shell, on which a driving circuit board and a motor body are arranged; wherein the driving circuit board is electrically connected to the main control circuit board and the motor body, respectively, the main control circuit board is used to output a control signal to the driving circuit board, and the driving circuit board is used to output a driving signal to the motor body based on the received control signal; wherein the driving circuit board is located at the end of the motor body, the driving circuit board has two opposite surfaces, one of which is provided with a driving circuit and the other is provided with a sensing element, the driving circuit is electrically connected to the main control circuit of the main control circuit board and the motor body, respectively, and the sensing element is used to detect the state of the motor body and output the detection signal to the driving circuit.

[0040] The present application provides an electric toothbrush, comprising the motor and brush head described above, wherein the motor shaft of the motor body extends out of the first shell, and the brush head is detachably arranged on the motor shaft.

[0041] The present application separates the drive circuit from the main control circuit, and sets the drive circuit on the drive circuit board, so that the main control circuit is responsible for the control and command execution of the entire motor, and the drive circuit is responsible for converting the control signal output by the main control circuit into a current, voltage or power suitable for the operation of the motor body. The high-frequency noise and interference signals generated in the drive circuit can be more effectively isolated and suppressed, avoiding the interference of the high-frequency signals in the drive circuit to the main control circuit and other sensitive circuits, optimizing the electromagnetic compatibility of the motor, and ensuring that the main control circuit and other sensitive circuits can stably perform control tasks. At the same time, the large current and high voltage changes in the drive circuit will not directly affect the main control circuit, further improving the overall stability of the motor.

[0042] Moreover, the present application sets the drive circuit and the main control circuit separately. When the drive circuit fails, it will not affect the main control circuit. That is to say, even when the drive circuit fails, the control logic and instruction execution of the motor can still remain normal, thereby improving the fault tolerance of the motor and making the motor stable and reliable.

[0043] In addition, the present invention sets the main control circuit and the driving circuit separately on the main control circuit board and the driving circuit board, so that when one of the two fails, it is easier to determine the problem and replace or repair the failed circuit board without disassembling and repairing the entire motor. This greatly reduces maintenance costs and maintenance difficulties and improves the maintainability of the equipment.

[0044] In addition, the present application separately arranges the main control circuit and the drive circuit on the main control circuit board and the drive circuit board, which can avoid the drive circuit generating a large amount of heat when working (especially when running at high load and high speed) and affecting the main control circuit, and even causing the components in the main control circuit to be damaged due to overheating, thereby ensuring the stability and reliability of the main control circuit.

[0045] In addition, the present application realizes closed-loop control by using sensing elements to provide real-time feedback on the state of the motor body (such as position information, speed information, etc.), so that the motor has high-precision control capabilities and can accurately control the rotation angle, speed, acceleration, etc. of the motor body to meet the needs of high-precision control. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 A schematic diagram of the structure of a motor provided in this embodiment Figure 1 ;

[0048] Figure 2 A schematic diagram of the structure of a motor provided in this embodiment Figure 2 ;

[0049] Figure 3 for Figure 2 A partial enlarged view of the middle A area;

[0050] Figure 4 A schematic diagram of the structure of the driving circuit board provided in this embodiment;

[0051] Figure 5 A schematic diagram of the structure of a motor provided in this embodiment Figure 3 ;

[0052] Figure 6 This is a schematic diagram of the structure of the magnetic ring provided in this embodiment.

[0053] Reference numerals:

[0054] 1-first shell; 2-second shell; 3-main control circuit board; 4-driving circuit board; 5-motor body; 21-accommodating space; 41-far away from the surface; 42-close to the surface; 43-first conducting part; 44-second conducting part; 51-stator; 52-rotor; 53-motor shaft; 54-trigger element; 411-driving circuit; 421-sensing element; 422-electronic element; 541-magnetic ring; 4111-driving chip; 4112-input and output module; 5411-magnetic pole. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0056] In the description of the present application, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0057] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] like Figures 1 to 6 As shown, this embodiment provides a motor, including:

[0059] A first housing 1 , on which a main control circuit board 3 is disposed;

[0060] A second housing 2, the second housing 2 is located inside the first housing 1, and a driving circuit board 4 and a motor body 5 are disposed on the second housing 2;

[0061] The driving circuit board 4 is electrically connected to the main control circuit board 3 and the motor body 5 respectively. The main control circuit board 3 is used to output a control signal to the driving circuit board 4, and the driving circuit board 4 is used to output a driving signal to the motor body 5 based on the received control signal.

[0062] Among them, the driving circuit board 4 is located at the end of the motor body 5, and the driving circuit board 4 has two opposite surfaces, one of which is provided with a driving circuit 411, and the other surface is provided with a sensing element 421. The driving circuit 411 is electrically connected to the main control circuit board 3 and the motor body 5 respectively, and the sensing element 421 is used to detect the state of the motor body 5 and output a detection signal to the driving circuit 411.

[0063] In this embodiment, the drive circuit 411 is separated from the main control circuit (not shown in the figure) of the main control circuit board 3, and the drive circuit 411 is set on the drive circuit board 4, so that the main control circuit is responsible for the control and instruction execution of the entire motor, and the drive circuit 411 is responsible for converting the control signal output by the main control circuit into a current, voltage or power suitable for the operation of the motor body 5. The high-frequency noise and interference signals generated in the drive circuit 411 can be more effectively isolated and suppressed, avoiding the high-frequency signal in the drive circuit 411 from interfering with the main control circuit and other sensitive circuits, optimizing the electromagnetic compatibility of the motor, and ensuring that the main control circuit and other sensitive circuits can stably perform control tasks. At the same time, the large current and high voltage changes in the drive circuit 411 will not directly affect the main control circuit, further improving the overall stability of the motor.

[0064] Moreover, in this embodiment, the drive circuit 411 is separately arranged from the main control circuit. When a fault occurs in the drive circuit 411, it will not affect the main control circuit. That is to say, even when the drive circuit 411 fails, the control logic and instruction execution of the motor can still remain normal, thereby improving the fault tolerance of the motor and making the motor stable and reliable.

[0065] In addition, in this embodiment, the main control circuit and the driving circuit 411 are separately arranged on the main control circuit board 3 and the driving circuit board 4, so that when one of the two fails, it is easier to determine the problem and replace or repair the failed circuit board without disassembling and repairing the entire motor. This greatly reduces the maintenance cost and difficulty, and improves the maintainability of the equipment.

[0066] In addition, the present embodiment arranges the main control circuit and the driving circuit 411 separately on the main control circuit board 3 and the driving circuit board 4, which can prevent the driving circuit 411 from generating a large amount of heat when working (especially when running at high load and high speed) and affecting the main control circuit, and even causing the components in the main control circuit to be damaged due to overheating, thereby ensuring the stability and reliability of the main control circuit.

[0067] In addition, this embodiment uses the sensing element 421 to provide real-time feedback on the state of the motor body 5 (such as position information, speed information, etc.) to achieve closed-loop control, so that the motor has high-precision control capabilities and can accurately control the rotation angle, speed and acceleration of the motor body 5 to meet the needs of high-precision control.

[0068] Specifically, the motor body 5 includes a motor.

[0069] like Figures 1 to 6 As shown, in one embodiment, the main control circuit board 3 is arranged on the side wall of the first housing 1, and the main control circuit board 3 is arranged parallel to the axial direction of the motor body 5;

[0070] The driving circuit board 4 is arranged at the bottom end of the second housing 2, and the driving circuit board 4 is arranged perpendicularly relative to the axis direction of the motor body 5;

[0071] The distance between the main control circuit board 3 and the driving circuit board 4 is between 0.5 cm and 10 cm.

[0072] In this embodiment, the main control circuit board 3 and the driving circuit board 4 are spaced apart from each other to provide sufficient heat dissipation space for the two circuit boards, so that each circuit board can dissipate heat more independently, avoiding close stacking of the two circuit boards, reducing direct heat transfer between the two circuit boards, and thus reducing the risk of heat accumulation.

[0073] In this embodiment, the main control circuit board 3 is arranged parallel to the axis direction of the motor body 5, and the drive circuit board 4 is arranged perpendicular to the axis direction of the motor body 5, which helps to form a more effective heat dissipation path, so that the heat can be more smoothly conducted away from the circuit board. And the drive circuit board 4 is arranged at the bottom end of the second housing 2, so that the heat can be more easily dissipated from the bottom by gravity.

[0074] In one embodiment, the distance between the main control circuit board 3 and the driving circuit board 4 is between 0.5 cm and 5 cm.

[0075] like Figures 1 to 6 As shown, in one embodiment, the driving circuit board 4 and the motor body 5 are coaxially arranged, and the projection area of ​​the driving circuit board 4 in the axial direction of the motor body 5 is between 25πmm 2 -100πmm 2 between;

[0076] Two opposite surfaces of the driving circuit board 4 are a distant surface 41 away from the motor body 5 and a close surface 42 close to the motor body 5 . The driving circuit 411 is located on the distant surface 41 , and the sensing element 421 is located on the close surface 42 .

[0077] In this embodiment, the driving circuit 411 and the sensing element 421 are respectively arranged on two opposite surfaces of the driving circuit board 4, so as to avoid heat accumulation on the same surface of the driving circuit board 4, which helps to disperse the heat and improve the heat dissipation efficiency. In addition, the driving circuit 411 is located away from the surface 41 to increase the distance between the driving circuit 411 and the motor body 5, so as to avoid the heat of the motor body 5 being transferred to the driving circuit 411 and then affecting the driving circuit 411; the sensing element 421 is located close to the surface 42 to reduce the distance between the sensing element 421 and the motor body 5, reduce the sensing error, and improve the detection accuracy. In addition, this embodiment reduces the surface area required for the driving circuit board 4 by rationally planning the positions of the driving circuit 411 and the sensing element 421, so as to miniaturize the driving circuit board 4.

[0078] In a specific embodiment, the projection area of ​​the driving circuit board 4 in the axial direction of the motor body 5 is between 36πmm 2 -49πmm 2 between.

[0079] like Figures 1 to 6 As shown, in one embodiment, the driving circuit board 4 is located at the bottom end of the second housing 2, a receiving space is formed between the inner wall of the second housing 2 and the driving circuit board 4, and the motor body 5 is located in the first receiving space 21;

[0080] The driving circuit board 4 has a first conductive portion 43 and a second conductive portion 44 , which are respectively arranged on two sides of the driving circuit board 4 , and are both used to connect the accommodating space 21 with the outside.

[0081] In this embodiment, the first conductive portion 43 and the second conductive portion 44 are respectively arranged on both sides of the driving circuit board 4, which promotes air convection between the accommodating space 21 and the outside, helps to transfer and dissipate heat, and thus reduces the operating temperature of the driving circuit board 4; and the first conductive portion 43 and the second conductive portion 44 are respectively arranged on both sides of the driving circuit board 4, which helps to enhance convection, can take away heat through the disturbance of airflow, and avoid local heat accumulation.

[0082] like Figures 1 to 6 As shown, in one embodiment, an electronic component 422 is arranged near the surface 42, and the electronic component 422 is adjacent to the first conductive portion 43; the driving circuit 411 includes an input-output module 4112, the input-output module 4112 is adjacent to the second conductive portion 44, and the wires of the input-output module 4112 pass through the second conductive portion 44 and are electrically connected to the motor body 5.

[0083] In this embodiment, the electronic component 422 and the input-output module 4112 are respectively arranged near the first conductive part 43 and the second conductive part 44, so as to avoid the heat of the electronic component 422 and the input-output module 4112 from being accumulated near the first conductive part 43 or the second conductive part 44, thereby reducing the heat dissipation pressure of the first conductive part 43 or the second conductive part 44, thereby accelerating the heat dissipation speed and further improving the heat dissipation efficiency. In addition, the second conductive part 44 provides a fast channel for the wire to be electrically connected to the motor body 5, which helps to reduce the overall volume of the motor.

[0084] like Figures 1 to 6 As shown, in one embodiment, the motor body 5 includes a stator 51, a rotor 52 and a motor shaft 53, the rotor 52 is located in the stator 51, and the rotor 52 is arranged on the motor shaft 53; the driving circuit 411 includes a driving chip 4111, and the driving chip 4111 has a self-calibration unit (not shown in the figure), and the self-calibration unit is used to output a driving signal to the stator 51 at the initial moment, so that the rotor 52 drives the motor shaft 53 to rotate N circles, N ≥ 1;

[0085] Among them, both ends of the motor shaft 53 extend out of the stator 51, and a trigger element 54 is provided at one end close to the driving circuit board 4. The trigger element 54 is provided corresponding to the sensing element 421. The sensing element 421 is used to output a detection signal based on the real-time position of the trigger element 54 when the motor shaft 53 drives the trigger element 54 to rotate. The self-calibration unit is also used to receive the detection signal and calibrate the zero position of the motor shaft 53 based on one or more of the amplitude, frequency, and phase changes of the detection signal.

[0086] Specifically, "the self-calibration unit is used to output a driving signal to the stator 51 at the initial moment, so that the rotor 52 drives the motor shaft 53 to rotate N circles, N≥1", which means: after the motor is powered on successfully, the self-calibration unit outputs a driving signal to the stator 51, so that the rotor 52 drives the motor shaft 53 to rotate N circles, N≥1.

[0087] In this embodiment, after the motor is powered on successfully, the self-calibration unit automatically drives the motor body 5 to rotate one circle, thereby accurately determining the zero position of the motor body 5. The user does not need to manually perform zero position calibration, which reduces human intervention and improves the accuracy and consistency of zero position calibration. At the same time, in this embodiment, the calibration process can be automatically completed by simply starting the motor, which simplifies the operation process.

[0088] Moreover, the present embodiment can eliminate errors caused by installation, manufacturing or long-term use through automatic calibration, thereby ensuring the accuracy and reliability of the motor body 5 in subsequent operation. Furthermore, the self-calibration unit can adjust parameters according to the actual operation of the motor body 5, so that the motor body 5 can achieve optimal performance under different working conditions.

[0089] Furthermore, the present embodiment uses a self-calibration unit to enable the motor to have intelligent control capabilities and to be able to perform adaptive adjustments according to environmental changes or user needs. Furthermore, the user can customize the calibration process, parameter settings, etc. of the motor body 5 through programming to meet the needs of different application scenarios.

[0090] like Figures 1 to 6 As shown, in one embodiment, the main control circuit board 3 is provided with at least a Vcc pin, a GND pin, a TX pin and a RX pin;

[0091] The Vcc pin is electrically connected to the main control circuit, and the main control circuit is electrically connected to the positive pole of the power supply through the Vcc pin;

[0092] The GND pin is electrically connected to the main control circuit, and the main control circuit is electrically connected to the negative pole of the power supply through the GND pin;

[0093] The TX pin is electrically connected to the main control circuit, and the main control circuit is connected to the driving circuit 411 and / or other electronic devices through the TX pin, and is used to output a driving signal to the driving circuit 411 and / or other electronic devices;

[0094] The RX pin is electrically connected to the main control circuit, and the main control circuit is electrically connected to the driving circuit 411 and / or other electronic devices through the GND pin to receive feedback signals sent by the driving circuit 411 and / or other electronic devices.

[0095] The prior art integrates the driving circuit 411 on the main control circuit board 3. The present embodiment separates the driving circuit 411 from the main control circuit board 3 and sets it on the driving circuit board 4, so that the driving circuit board 4 has the function of driving the motor body 5. Therefore, the number of pins on the main control circuit board 3 for connecting the driving circuit 411 is reduced. At the same time, the sensing element 421 is also updated from the original solution of being integrated on the main control circuit board 3 to being separated from the main control circuit board 3 and set on the driving circuit board 4, so the number of pins on the main control circuit board 3 can be further reduced. In other words, the present embodiment only needs at least four pins to realize the control function. Compared with the prior art, the present embodiment greatly reduces the number of pins.

[0096] This embodiment simplifies the design of the main control circuit board 3, making the main control circuit board 3 more compact and efficient. In addition, the reduction in the number of pins can reduce the use of materials in the manufacturing process, reduce the pin cost, and thus reduce the manufacturing cost of the main control circuit board 3. In addition, the reduction in the number of pins can also reduce potential failure points, and can reduce the failure rate caused by poor pin connection or damage, thereby improving the reliability of the entire main control circuit board 3.

[0097] In one embodiment, the motor is a three-phase motor, so three pins for connecting three phase lines (U, V, W) can be reduced on the main control circuit board 3.

[0098] In one embodiment, the number of the sensing elements 421 is two, so two pins for connecting the sensing elements 421 can be reduced on the main control circuit board 3 .

[0099] like Figures 1 to 6 As shown, in one embodiment, the trigger element 54 includes a magnetic ring 541, and the magnetic ring 541 is provided with n magnetic poles 5411 evenly distributed along the axis of the motor body 5, wherein n≥2, and n is an even number. In one embodiment, n=8.

[0100] This embodiment uses a magnetic ring 541 as a trigger element 54 to cooperate with the induction element to detect the state of the motor body 5, thereby realizing non-contact detection and avoiding the failures and errors that may be caused by friction and wear in traditional contact detection. At the same time, the non-contact detection method reduces the interference and unstable factors caused by mechanical contact, thereby improving the stability and reliability of the entire electronic device.

[0101] In addition, the present application adopts a multi-pole 5411 layout, which can produce a more complex and controllable magnetic field distribution in space, can improve the perception accuracy of the sensing element 421 to magnetic field changes, and help the driving circuit 411 to more accurately obtain the position and speed information of the motor body 5, thereby improving the control accuracy and stability of the motor body 5.

[0102] In one embodiment, the sensing element 421 includes one or more combinations of a magnetoresistive sensor, a magneto-electric inductive sensor, a thin-film magnetoresistive sensor, a magnetoresistive sensor, and a Hall sensor.

[0103] like Figures 1 to 6 As shown, in one embodiment, when the number of the sensing elements 421 is two, the two sensing elements 421 are symmetrically arranged along one radius of the surface of the driving circuit board 4 .

[0104] This embodiment can more accurately determine the motion state and motion speed of the motor body 5 by increasing the number of sensing elements 421 and comparing the timing and phase relationship of the electrical signals generated by the two sensing elements 421, thereby realizing double verification of the motion state of the motor body 5 and improving the detection accuracy. Moreover, when one of the sensing elements 421 fails or has an error, the other sensing element 421 can still provide effective detection information. The fault tolerance of the system is improved, so that the electronic device can still maintain a certain operating capability and accuracy when a single sensing element 421 fails.

[0105] like Figures 1 to 6 As shown, in one embodiment, when the number of the sensing elements 421 is more than three, the more than three sensing elements 421 are arranged circumferentially along the surface of the driving circuit board 4 , and the distance between two adjacent sensing elements 421 is the same.

[0106] In this embodiment, the distances between adjacent sensing elements 421 are made the same, which can ensure the uniformity of the measurement data in space, further reduce errors, and help improve the stability and consistency of the measurement results.

[0107] like Figures 1 to 6 As shown, in one embodiment, the self-calibration unit is used to input the detection signal into a trained machine learning model, and output the zero position of the motor shaft 53 through the machine learning model;

[0108] Among them, the machine learning model is constructed in the following way:

[0109] Collect the output signal data of the sensing element 421 of different motor shafts 53 in different states and the zero position information data of different motor shafts 53, and filter and denoise the collected data (i.e., the output signal data and the zero position information data); wherein the output signal data includes the output signal data under boundary conditions and abnormal conditions;

[0110] Extracting features of the output signal data, the features including one or more of amplitude, frequency and phase;

[0111] Training a machine learning model based on the output signal data, features of the output signal data, and zero position information data of the motor shaft 53;

[0112] The parameters of the machine learning model are fixed to complete the construction of the machine learning model.

[0113] Specifically, the machine learning model is a convolutional neural network model.

[0114] This embodiment can automatically identify and learn the complex signal characteristics of the motor shaft 53 in different states by training the machine learning model, thereby improving the accuracy of zero position calibration. In addition, the machine learning model can process a large amount of data and extract useful information from it, which helps to reduce human errors and uncertainties and improve the reliability of calibration.

[0115] Furthermore, the machine learning model provided in this embodiment can be easily integrated into the driver chip 4111, so that the driver chip 4111 provides additional functions and analysis capabilities. Furthermore, the user can customize the model according to specific application requirements, such as optimizing performance by adjusting feature selection, model architecture or training parameters, and has a wide range of applications.

[0116] In one embodiment, if the collected output signal data is less than a preset value, the output signal data is increased through data enhancement technology (such as data amplification, data transformation, etc.) so that the collected output signal data is large in quantity and diverse, which helps to improve the training effect of the model.

[0117] like Figures 1 to 6 As shown, this embodiment also provides an electric toothbrush, including a brush head (not shown in the figure) and the motor described in any of the above embodiments, the motor shaft 53 of the motor body 5 extends out of the first shell 1, and the brush head is detachably arranged on the motor shaft 53.

[0118] The electric toothbrush provided in this embodiment separates the driving circuit 411 from the main control circuit of the main control circuit board 3, and sets the driving circuit 411 on the driving circuit board 4, which optimizes the electromagnetic compatibility of the motor, ensures that the main control circuit and other sensitive circuits can stably perform control tasks, and improves the overall stability of the motor.

[0119] Moreover, in this embodiment, the drive circuit 411 is separately arranged from the main control circuit, and when a fault occurs in the drive circuit 411, it will not affect the main control circuit, thereby improving the fault tolerance of the motor and making the motor stable and reliable.

[0120] Moreover, when one of the two fails, only the failed circuit board needs to be replaced or repaired, without disassembling and repairing the entire motor. This greatly reduces maintenance costs and maintenance difficulties, and improves the maintainability of the equipment.

[0121] In addition, the drive circuit 411 is prevented from generating a large amount of heat when working (especially when running at high load and high speed) to affect the main control circuit, or even cause the components in the main control circuit to be damaged due to overheating, thereby ensuring the stability and reliability of the main control circuit.

[0122] In addition, this embodiment realizes closed-loop control by real-time feedback of the state of the motor body 5 (such as position information, speed information, etc.) through the sensing element 421, so that the motor has the ability of high-precision control and can accurately control the rotation angle, speed and acceleration of the motor body 5 to meet the needs of high-precision control.

[0123] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

[0124] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A motor, characterized in that: include: A first housing, wherein a main control circuit board is disposed on the first housing; a second shell, the second shell being located inside the first shell, and the second shell being provided with a driving circuit board and a motor body; The driving circuit board is electrically connected to the main control circuit board and the motor body respectively, the main control circuit board is used to output a control signal to the driving circuit board, and the driving circuit board is used to output a driving signal to the motor body based on the received control signal; Wherein, the driving circuit board is located at the end of the motor body, and the driving circuit board has two opposite surfaces, one of which is provided with a driving circuit, and the other is provided with a sensing element, the driving circuit is electrically connected to the main control circuit of the main control circuit board and the motor body respectively, and the sensing element is used to detect the state of the motor body and output a detection signal to the driving circuit; The driving circuit board and the motor body are coaxially arranged, and the projection area of ​​the driving circuit board in the axial direction of the motor body is between 25πmm 2 -100πmm 2 The two opposite surfaces of the driving circuit board are respectively a distant surface away from the motor body and a close surface close to the motor body, the driving circuit is located on the distant surface, and the sensing element is located on the close surface; The driving circuit board is located at the bottom end of the second shell, and a storage space is formed between the driving circuit board and the inner wall of the second shell, and the motor body is located in the storage space; the driving circuit board has a first conductive part and a second conductive part, the first conductive part and the second conductive part are respectively arranged on both sides of the driving circuit board, and the first conductive part and the second conductive part are both used to connect the storage space with the outside world; electronic components are arranged on the near surface, and the electronic components are adjacent to the first conductive part; the driving circuit includes an input-output module, the input-output module is adjacent to the second conductive part, and the wires of the input-output module are electrically connected to the motor body after passing through the second conductive part.

2. The motor according to claim 1, characterized in that The motor body comprises a stator, a rotor and a motor shaft, wherein the rotor is located in the stator and is arranged on the motor shaft; the drive circuit comprises a drive chip, wherein the drive chip has a self-calibration unit, and the self-calibration unit is used to output a drive signal to the stator at an initial moment, so that the rotor drives the motor shaft to rotate N circles, where N≥1; Wherein, both ends of the motor shaft extend out of the stator, and a trigger element is provided at one end close to the driving circuit board, and the trigger element is provided corresponding to the sensing element. The sensing element is used to output a detection signal based on the real-time position of the trigger element when the motor shaft drives the trigger element to rotate, and the self-calibration unit is used to receive the detection signal and calibrate the zero position of the motor shaft based on one or more of the amplitude, frequency, and phase changes of the detection signal.

3. The motor according to claim 2, characterized in that The self-calibration unit is used to input the detection signal into a trained machine learning model, and output the zero position of the motor shaft through the machine learning model; The machine learning model is constructed in the following way: Collecting output signal data of the sensing element when the motor shaft is in different states and zero position information data of the motor shaft, and filtering and denoising the collected data; Extracting features of the output signal data, wherein the features include one or more of amplitude, frequency and phase; Training a machine learning model based on the output signal data, the features and the zero position information data of the motor shaft; The parameters of the machine learning model are fixed to complete the construction of the machine learning model.

4. The motor according to claim 1, characterized in that The main control circuit board is at least provided with a Vcc pin, a GND pin, a TX pin and a RX pin; The Vcc pin is electrically connected to the main control circuit, and the main control circuit is electrically connected to the positive pole of the power supply through the Vcc pin; The GND pin is electrically connected to the main control circuit, and the main control circuit is electrically connected to the negative pole of the power supply through the GND pin; The TX pin is electrically connected to the main control circuit, and the main control circuit is connected to the drive circuit and / or other electronic devices through the TX pin, and is used to output a drive signal to the drive circuit and / or other electronic devices; The RX pin is electrically connected to the main control circuit, and the main control circuit is electrically connected to the drive circuit and / or other electronic devices through the RX pin to receive feedback signals sent by the drive circuit and / or other electronic devices.

5. The motor according to claim 2, characterized in that: The trigger element comprises a magnetic ring, on which n magnetic poles are evenly distributed along the axis of the motor body, wherein n≥2 and n is an even number; And / or, the sensing element includes one or more combinations of a magnetoresistive sensor, a magnetoelectric induction sensor, a thin film magnetoresistive sensor, a magnetoresistive sensor and a Hall sensor.

6. The motor according to claim 1, characterized in that The number of the sensing elements is more than two; When the number of the sensing elements is two, the two sensing elements are symmetrically arranged along one radius of the surface of the driving circuit board where they are located; When the number of the sensing elements is more than three, the more than three sensing elements are arranged along the circumference of the surface of the driving circuit board, and the distance between two adjacent sensing elements is the same.

7. The motor according to claim 1, characterized in that The main control circuit board is arranged on the side wall of the first housing, and the main control circuit board is arranged parallel to the axis direction of the motor body; The driving circuit board is arranged perpendicularly to the axis direction of the motor body; The distance between the main control circuit board and the driving circuit board is between 0.5 cm and 10 cm.

8. An electric toothbrush, characterized in that: The invention comprises a brush head and the motor according to any one of claims 1 to 7, wherein the motor shaft of the motor body extends out of the first shell, and the brush head is detachably arranged on the motor shaft.

Images