Torsion assembly, control method and terminal equipment

Abstract

The embodiment of the invention provides a torsion assembly. The torsion assembly comprises a swing arm assembly, a piston rod and a piston cylinder. One end of the piston rod is in transmission connection with the swing arm assembly, and the other end of the piston rod is connected to a piston in the piston cylinder, so that the swing arm assembly is linked with the piston of the piston cylinder through the piston rod; a first magnetic device is arranged in the piston cylinder to generate a magnetic field in the piston cylinder; the piston is provided with a second magnetic device so that the movement of the piston in the piston cylinder can be controlled by the first magnetic device through the magnetic field, at least one of the first magnetic device and the second magnetic device is an electromagnetic coil, and the current in the electromagnetic coil can be adjusted. Therefore, the magnetic field force borne by the piston is changed, adjustable damping force is provided when the swing arm assembly drives the piston, and adjustable driving force is provided when the piston drives the swing arm assembly.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent devices, and in particular to a torque component, a control method and a terminal device. Background Art

[0002] This section is intended to provide background information relevant to understanding the various technologies described herein. As implied by the title of this section, this is a discussion of related technologies that should not in any way imply that they are necessarily prior art. Therefore, it should be understood that any statement in this section should be read from this perspective, rather than any admission of prior art.

[0003] With the continuous development of display technology, foldable display terminals are gradually becoming a development trend of future mobile electronic products. When unfolded, foldable display terminals can obtain a larger display area to improve the viewing effect. When folded, foldable display terminals can obtain a smaller volume, which is convenient for users to carry.

[0004] The torsion assembly of the existing folding screen hinge is provided with multiple compressed springs to provide elastic force when the folding screen is folded and unfolded, so as to increase the friction between the swing arm and the transmission assembly in the hinge, so as to achieve the function of hovering at any folding angle during the opening and closing of the device. The disadvantage is that in order to achieve the function of the hinge hovering at any folding angle, the user needs to apply a relatively large force to rotate the hinge, which is not a good user experience and will make the hands tired after opening and closing it many times. Summary of the invention

[0005] According to a first aspect of the present disclosure, there is provided a torsion assembly, comprising a swing arm assembly, a piston rod and a piston cylinder;

[0006] One end of the piston rod is transmission-connected to the swing arm assembly and the other end is connected to the piston in the piston cylinder, so that the swing arm assembly and the piston of the piston cylinder are linked through the piston rod;

[0007] A first magnetic device is provided in the piston cylinder to generate a magnetic field in the piston cylinder;

[0008] A second magnetic device is provided on the piston so that the movement of the piston in the piston cylinder can be controlled by the first magnetic device through the magnetic field. At least one of the first magnetic device and the second magnetic device is an electromagnetic coil, and the current in the electromagnetic coil is adjustable, so as to change the magnetic field force exerted on the piston, thereby providing an adjustable damping force when the swing arm assembly drives the piston, and providing an adjustable driving force when the piston drives the swing arm assembly.

[0009] According to an embodiment of the present disclosure, the torsion assembly is further provided with a control module for providing power to the electromagnetic coil, and when the current in the electromagnetic coil changes, the magnetic parameters of the magnetic field change.

[0010] According to an embodiment of the present disclosure, the control module includes a control unit, a driver and a magnetic field sensor, and the control unit is electrically connected to the driver and the magnetic field sensor:

[0011] The driver is used to supply power to the electromagnetic coil according to the control instruction, and drive the swing arm assembly to rotate or drive the piston to move so as to realize the linkage between the swing arm assembly and the piston through the piston rod;

[0012] The magnetic field sensor is used to detect and send parameters of the magnetic field to the driver;

[0013] The driver is also used to adjust the current of the electromagnetic coil according to the magnetic force parameters of the magnetic field, so as to change the magnetic field force exerted on the piston and provide an adjustable damping force when the swing arm assembly drives the piston or provide an adjustable driving force when the piston drives the swing arm assembly.

[0014] According to an embodiment of the present disclosure, the control module includes a control unit, a driver and a speed sensor, and the control unit is electrically connected to the driver and the speed sensor:

[0015] The driver is used to supply power to the electromagnetic coil according to the control instruction, and drive the swing arm assembly to rotate or drive the piston to move so as to realize the linkage between the swing arm assembly and the piston through the piston rod;

[0016] The speed sensor is used to detect and send the real-time motion parameters of the piston to the driver;

[0017] The driver is also used to adjust the current of the electromagnetic coil according to the real-time motion parameters, so as to change the magnetic field force exerted on the piston, thereby providing an adjustable damping force when the swing arm assembly drives the piston or providing an adjustable driving force when the piston drives the swing arm assembly.

[0018] According to an embodiment of the present disclosure, wherein the first magnetic device is at least one permanent magnet attached to the inner wall of the piston cylinder;

[0019] The second magnetic device is the electromagnetic coil.

[0020] According to an embodiment of the present disclosure, the swing arm assembly includes two synchronous swing arms, and the two synchronous swing arms are transmission-connected via a transmission assembly;

[0021] The transmission assembly is provided with a gear at the end close to the piston rod;

[0022] One end of the piston rod close to the swing arm assembly is provided with a thread and meshes with the gear.

[0023] According to an embodiment of the present disclosure, the piston cylinder further contains a damping fluid, and the damping fluid is used to hinder the movement of the piston.

[0024] According to an embodiment of the present disclosure, the damping fluid is silicone oil.

[0025] According to a second aspect of the present disclosure, a control method is provided, which is applied to the torque assembly according to any one of the first aspects, comprising: obtaining a target angle instruction, and obtaining a target motion parameter of the piston motion based on a comparison between the target angle instruction and a preset parameter;

[0026] According to the target motion parameter, supplying power to the electromagnetic coil to control the piston to move to the target position to drive the swing arm assembly to rotate;

[0027] Real-time detection of magnetic field parameters to which the piston is subjected when in motion;

[0028] According to the magnetic field parameters, the current of the electromagnetic coil is adjusted to make the piston stop moving due to force balance so as to achieve the expansion of the torsion assembly to the target angle.

[0029] According to an embodiment of the present disclosure, wherein the torque assembly includes a driver and a magnetic field sensor, the method further includes:

[0030] According to the target motion parameters, configuring the actuator target driving parameters;

[0031] The driver drives the swing arm assembly to rotate or drives the piston to move to a target position according to the target driving parameter, and supplies power to the electromagnetic coil;

[0032] The magnetic field sensor detects and sends the parameters of the magnetic field to the driver in real time; the driver adjusts the current based on the parameters of the magnetic field to make the piston stop moving due to force balance so as to achieve the expansion of the torsion assembly to the target angle.

[0033] According to a third aspect of the present disclosure, a control method is provided, which is applied to the torque assembly according to any one of the first aspects, comprising: obtaining a target angle instruction, and obtaining a target motion parameter of the piston motion based on a comparison between the target angle instruction and a preset parameter;

[0034] According to the target motion parameters, power is supplied to the electromagnetic coil to control the piston to move to the target position to drive the swing arm assembly to rotate;

[0035] Detect real-time motion parameters of the piston during motion;

[0036] The compensation value between the real-time motion parameter of the piston and the target motion parameter of the piston is calculated, and the current of the electromagnetic coil is adjusted according to the compensation value to make the piston move according to the target motion parameter, so as to realize the expansion of the torque component to the target angle.

[0037] According to a fourth aspect of the present disclosure, a terminal device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method described in any one of the second and third aspects provided above when executing the computer program, wherein two shells of the terminal device are rotationally connected via the torsion assembly, a folding display screen of the terminal device is mounted on the shells, and the rotation of the torsion assembly drives the two shells to move so as to realize the folding or unfolding of the folding display screen. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and other features of the present disclosure will become apparent with reference to the accompanying drawings, in which:

[0039] Figure 1 A schematic diagram of a torsion assembly according to an embodiment of the present disclosure is shown;

[0040] Figure 2 A schematic diagram of a torsion assembly according to another embodiment of the present disclosure is shown;

[0041] Figure 3 A schematic diagram of a piston rod and a piston cylinder combination according to an embodiment of the present disclosure is shown;

[0042] Figure 4 A schematic diagram showing a partial internal structure of a piston cylinder according to another embodiment of the present disclosure;

[0043] Figure 5 A schematic diagram showing the connection of a control unit, a driver and a magnetic field sensor according to an embodiment of the present disclosure is shown;

[0044] Figure 6 A schematic diagram showing the connection of a control unit, a driver and a speed sensor according to an embodiment of the present disclosure is shown;

[0045] Figure 7 A flow chart of a control method according to an embodiment of the present disclosure is shown;

[0046] Figure 8 A flow chart of a control method according to an embodiment of the present disclosure is shown;

[0047] Fig. 9 A schematic diagram showing a terminal device folded to an angle θ according to an embodiment of the present disclosure is shown;

[0048] Fig.10 A schematic diagram showing the force decomposition of a piston according to an embodiment of the present disclosure is shown;

[0049] Fig.11 A schematic diagram of a terminal device according to an embodiment of the present disclosure is shown;

[0050] Fig.12 A schematic diagram of a terminal device according to another embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0051] It is easy to understand that according to the technical solution of the present disclosure, without changing the essential spirit of the present disclosure, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific implementation modes and drawings are only exemplary descriptions of the technical solution of the present disclosure, and should not be regarded as the entirety of the present disclosure or as a limitation or restriction to the technical solution of the present disclosure.

[0052] The directional terms such as up, down, left, right, front, back, front, back, top, bottom, etc. mentioned or may be mentioned in this specification are defined relative to the structures shown in the drawings. They are relative concepts and may change accordingly according to their different positions and different usage states. Therefore, these or other directional terms should not be interpreted as restrictive terms. In addition, the terms "first", "second", "third", etc. or similar expressions are only used for description and distinction purposes, and cannot be understood as indicating or implying the relative importance of the corresponding components.

[0053] The technical solutions disclosed in various embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings.

[0054] refer to Figure 1 and Figure 3 The present embodiment discloses a torsion assembly 100, comprising a swing arm assembly 110, a piston rod 120 and a piston cylinder 130; one end of the piston rod 120 is transmission-connected to the swing arm assembly 110 and the other end is connected to the piston 131 in the piston cylinder 130, so that the swing arm assembly 110 and the piston 131 of the piston cylinder 130 are linked through the piston rod 120; a first magnetic device is provided in the piston cylinder 130 to generate a magnetic field in the piston cylinder; a second magnetic device is provided on the piston so that the movement of the piston in the piston cylinder can be controlled by the first magnetic device through the magnetic field, at least one of the first magnetic device and the second magnetic device is an electromagnetic coil 132, and the current in the electromagnetic coil 132 is adjustable, so as to change the magnetic field force on the piston, thereby providing an adjustable damping force when the swing arm assembly 110 drives the piston 131, and providing an adjustable driving force when the piston 131 drives the swing arm assembly 110.

[0055] According to the above technical solution, it can be known that during the opening and closing or opening and closing movement of the torsion assembly, the swing arms in the swing arm assembly will move closer to each other or away from each other to perform rotational movement, and the torsion assembly can achieve different folding angles. It can be understood that, taking the folding screen terminal device as an example, the swing arm assembly can be designed so that when the swing arms move closer to each other, the folding screen terminal device switches from a flattened state to a folded state or from a folded state to a flattened state; or it can also be designed so that when the swing arms move away from each other, the folding screen terminal device switches from a flattened state to a folded state or from a folded state to a flattened state. Specifically, during the switching process between the flattened state and the folded state of the torsion assembly, the swing arm in the swing arm assembly will rotate relatively, and the piston in the piston cylinder will be pushed by the piston rod, and the electromagnetic coil in the piston cylinder will be provided with current to generate a magnetic field. The electromagnetic coil and another magnetic device will generate a magnetic force of mutual attraction or repulsion due to the action of the magnetic field. By adjusting the magnitude and direction of the magnetic force, the resistance of the piston to the swing arm assembly is reduced or a magnetic force is generated to push the piston to move the piston. When the swing arm assembly rotates to the target angle, the input current is adjusted according to the force of the piston, so that the piston stops moving after the force is balanced, thereby achieving the hovering effect of the swing arm assembly. It can be understood that when the swing arm assembly opens and closes to different folding angles, the piston is subjected to different forces. It is necessary to adjust the magnitude and direction of the current according to the movement trajectory of the swing arm assembly and the force of the piston to generate the corresponding magnetic field force, thereby adjusting different damping forces or driving forces, and easily realizing the opening and closing movement of the swing arm assembly and hovering to any target angle position, thereby improving the user experience.

[0056] On the other hand, when the piston moves, the piston movement can drive the swing arm assembly to rotate through the piston rod. By changing the magnitude and direction of the current in the electromagnetic coil, the electromagnetic coil and another magnetic device generate different magnetic forces under the action of the magnetic field to adjust the different driving forces that drive the swing arm assembly to rotate. Specifically, for example, when the swing arm assembly is folded from the flat state to 35°, it is necessary to provide current to the electromagnetic coil, and correspondingly, a magnetic field force will be generated to act on the piston to overcome the resistance so that the piston moves, and then the piston can generate a driving force to drive the swing arm assembly to rotate, and finally when the torsion assembly is rotated to the position of 35°, the input current is adjusted to make the piston stop moving due to force balance, so that the swing arm assembly self-locks and suspends; for another example, when the swing arm assembly is folded from 35° to the flat state, it is necessary to provide an opposite current to the electromagnetic coil, and correspondingly, an opposite magnetic field force will be generated to act on the piston to make the piston move, and then the piston will generate an opposite driving force to drive the swing arm assembly to rotate in the opposite direction, and finally the torsion assembly is rotated to the flat state, and the input current is adjusted to make the piston stop moving due to force balance, so that the swing arm assembly self-locks and suspends. Therefore, this embodiment can easily realize the opening and closing movement of the torsion assembly by adjusting the current size and direction of the electromagnetic coil and adjusting different driving forces to change the rotation direction of the swing arm assembly, thereby achieving a hovering effect at any angle and improving the user experience. It can be understood that when the swing arm assembly is opened and closed to different folding angles, the piston needs to provide different driving forces or resistances, and the size and direction of the current need to be adjusted according to the force applied to the piston to generate corresponding magnetic field forces, thereby generating different driving forces or resistances to achieve the opening and closing movement of the swing arm assembly. The torsion assembly disclosed in the embodiment of the present application adjusts the current size and direction of the electromagnetic coil so that the electromagnetic coil and another magnetic device generate different magnetic field forces to each other, thereby adjusting the piston to generate different damping forces and driving forces to achieve the rotation of the swing arm assembly at different angles, so that when the terminal device with folding function in the related art adopts the torsion assembly in the embodiment of the present application, the torsion assembly can meet the user's need to easily realize the opening and closing movement of the terminal device with folding function, thereby achieving the hovering effect of the terminal device at any angle and improving the user experience.

[0057] refer to Figure 3 and Figure 5 In some embodiments, the torque assembly is further provided with a control module, an electromagnetic coil 132 is wound around the piston, and the control module is used to provide power to the electromagnetic coil 132. When the current in the electromagnetic coil 132 changes, the magnetic parameters of the magnetic field generated by the electromagnetic coil 132 change.

[0058] In this embodiment, it can be understood that after the electromagnetic coil is energized, a magnetic field will be generated around it, and the magnetic field strength is proportional to the current and the number of turns of the electromagnetic coil, and is also related to the length of the electromagnetic coil. Therefore, the magnetic field strength can be calculated by the current, the length and number of turns of the electromagnetic coil, and the magnetic permeability, and the direction of the current can be adjusted to adjust the direction of the magnetic field. By setting up a control module, the magnitude and direction of the current can be accurately adjusted in real time according to the parameters of the magnetic field force on the piston when the swing arm assembly is folded at different angles, thereby providing different damping forces and driving forces to the swing arm assembly. Specifically, when it is recognized that the swing arm assembly is rotating, the control module can adjust the magnitude and direction of the current according to the state of the swing arm assembly movement, thereby adjusting the damping force provided by the piston or the driving force of the driving piston, so as to meet the swing arm assembly can smoothly realize the opening and closing movement and self-locking and hovering to the target angle position, and meet the needs of different damping forces when the swing arm assembly rotates at different angles and different driving forces when driving the piston. At the same time, on the other hand, the control module can adjust the current size and direction according to the requirement of folding the folding device to the target angle, so that the piston generates a driving force, thereby pushing the swing arm assembly to open and close and rotate to the target angle position, and finally adjusting the current to make the piston stop moving under balanced force, so that the swing arm assembly self-locks and suspends. Through this embodiment, it is also easy to switch the opening and closing of the swing arm assembly, and automatically adjust the current size and direction to allow the piston to drive the swing arm assembly to fold to the target angle, so that the user can let go of his hands and improve the experience.

[0059] Continue to refer Figure 5 In some embodiments, the control module also includes a control unit 141, a driver 142 and a magnetic field sensor 143, and the control unit 141 is electrically connected to the driver 142 and the magnetic field sensor 143; the driver 142 is used to supply power to the electromagnetic coil 132 according to the control instruction, and drive the swing arm assembly 110 to rotate or drive the piston 131 to move so as to realize the linkage between the swing arm assembly 110 and the piston 131 through the piston rod 120; the magnetic field sensor 143 is used to detect and send the parameters of the magnetic field to the driver 142; the driver 142 is also used to adjust the current of the electromagnetic coil 132 according to the magnetic force parameters of the magnetic field, so as to change the magnetic field force exerted on the piston, thereby providing an adjustable damping force when the swing arm assembly 110 drives the piston 131 or providing an adjustable driving force when the piston 131 drives the swing arm assembly 110.

[0060] Specifically, taking the application of this embodiment to a folding terminal device as an example, when a user inputs instructions to the folding terminal device, such as folding to 30°, fully opening, fully folding, etc., in one case, after the control unit receives the input instruction, it processes and outputs the control instruction to the driver. The driver drives the swing arm assembly to rotate according to the control instruction, and at the same time supplies power to the electromagnetic coil. The electromagnetic coil and another magnetic attraction device generate corresponding magnetic field force and act on the piston, and adjust the damping force provided by the piston or drive the piston by adjusting the current, so that the piston moves and the swing arm assembly can rotate smoothly. When the swing arm assembly rotates to the target angle position, the driver detects the magnetic field sensor received. The magnetic field parameters are used to adjust the size and direction of the power supply, and finally the piston is balanced and stops moving, so that the swing arm assembly can self-lock and hover at the target angle position; in another case, after the control unit receives the input command, it processes and outputs the control command to the driver, and the driver drives the piston to move according to the control command, and at the same time supplies power to the electromagnetic coil to generate a magnetic field force and act on the piston to form a driving force that pushes the swing arm assembly to rotate. When the swing arm assembly rotates to the target angle position, the driver adjusts the size and direction of the power supply according to the magnetic field parameters detected by the magnetic field sensor, and finally the piston is balanced and stops moving, so that the swing arm assembly can self-lock and hover at the target angle position.

[0061] It should be noted that in one case, the driver can drive a motor, an electric motor, etc. to drive the swing arm assembly to rotate, and at the same time the driver provides and adjusts the current of the electromagnetic coil, adjusts the damping force provided by the piston, or adjusts the driving force of the driving piston, so that the swing arm assembly can open and close smoothly; in another case, the driver can also be used directly to provide and adjust the current of the electromagnetic coil, so that the piston generates a driving force to drive the swing arm assembly to rotate.

[0062] In some embodiments, the magnetic field sensor may be a Hall effect sensor or the like.

[0063] By adopting a driver and a magnetic field sensor, it is possible to accurately identify the opening and closing movement of the folding terminal device, and by adjusting the size and direction of the current, automatically and accurately adjust the damping force and driving force required for the rotation of the swing arm assembly, thereby reducing the error in the folding angle caused by the mechanical structure in traditional folding terminal devices that require manual opening and closing. That is to say, in traditional folding terminal devices, the folding self-locking of the device is achieved by mechanical self-locking through elastic mechanisms and gears in the hinges, and there are errors in the process design of the dimensions of gears and elastic mechanisms. Therefore, even if the folding terminal device is folded to 30°, it may actually be folded to 29° or 31°, and there is a deviation. In comparison, this embodiment can achieve more accurate self-locking to any folding angle, and intelligently switch the opening and closing states of the folding terminal device, allowing users to let go of their hands, save more effort, and improve user experience.

[0064] refer to Figure 6 In some embodiments, the control module also includes a control unit 141, a driver 142 and a speed sensor 144, and the control unit 141 is electrically connected to the driver 142 and the speed sensor 144; the driver 142 is used to supply power to the electromagnetic coil 132 according to the control instruction, and drive the swing arm assembly 110 to rotate or drive the piston 131 to move so as to realize the linkage between the swing arm assembly 110 and the piston 131 through the piston rod 120; the speed sensor 144 is used to detect and send the real-time motion parameters of the piston to the driver 142; the driver 142 is also used to adjust the current of the electromagnetic coil 132 according to the real-time motion parameters, so as to change the magnetic field force exerted on the piston, thereby providing an adjustable damping force when the swing arm assembly 110 drives the piston 131 or providing an adjustable driving force when the piston 131 drives the swing arm assembly 110.

[0065] Specifically, taking the application of this embodiment to a folding terminal device as an example, when a user inputs instructions to the folding terminal device, such as folding to 30°, fully opening, fully folding, etc., in one case, after the control unit receives the input instruction, it processes and outputs the control instruction to the driver. The driver drives the swing arm assembly to rotate according to the control instruction, and at the same time supplies power to the electromagnetic coil. The electromagnetic coil and another magnetic attraction device generate corresponding magnetic field force and act on the piston, and adjust the damping force provided by the piston or drive the piston by adjusting the current, so that the piston moves and the swing arm assembly can rotate smoothly. At this time, the speed sensor detects the real-time motion parameters of the piston (such as the magnitude, direction, displacement, etc. of the speed), and the speed sensor sends the real-time motion parameters to the driver. The driver adjusts the magnitude and direction of the power supply according to the real-time motion parameters, so that the piston moves at a corresponding preset speed, thereby reducing the resistance to the rotation of the swing arm assembly or providing driving force to allow the swing arm assembly to rotate.

[0066] When the swing arm assembly rotates to the target angle position or the piston moves to the preset position, the driver stops supplying power to stop the piston from moving. In actual situations, the static friction between the mechanical structures of the torque assembly can be relied on to achieve force balance of the piston and make it stationary. In some cases, if the static friction between the mechanical structures of the torque assembly is not enough to achieve force balance of the piston, the driver is required to adjust the size and direction of the power supply, change the magnetic field of the electromagnetic coil, and finally balance the piston and stop moving so that the swing arm assembly can self-lock and hover at the target angle position. In another case, after receiving the input command, the control unit processes and outputs the control command to the driver. The driver drives the piston to move according to the control command, and at the same time supplies power to the electromagnetic coil to generate magnetic field force and act on the piston to form a driving force to push the swing arm assembly to rotate. The speed sensor detects the movement of the piston in real time and feeds back the detection result to the driver. The driver adjusts the current supplied to the electromagnetic coil in real time according to the feedback result, so that the piston can move, provide driving force, make the swing assembly rotate more smoothly, and realize the torque assembly hovering at the target angle position.

[0067] It should be noted that in one case, the driver can be a driving motor, an electric motor, etc. to drive the swing arm assembly to rotate, and at the same time the driver provides and adjusts the current of the electromagnetic coil, adjusts the damping force provided by the piston, or adjusts the driving force of the driving piston, so that the swing arm assembly can open and close smoothly; in another case, the driver can also be used directly to provide and adjust the current of the electromagnetic coil, so that the piston generates a driving force to drive the swing arm assembly to rotate.

[0068] In some embodiments, the speed sensor may be a photoelectric sensor, a magnetoelectric sensor, or the like.

[0069] In some embodiments, the control module includes a control unit, a driver, a speed sensor and a magnetic field sensor. The speed sensor can detect the movement of the piston in real time (such as speed, moving direction, displacement), and the magnetic field sensor can detect the magnetic field parameters to which the piston is subjected during movement in real time. Specifically, when the control unit receives a control instruction, the driver provides current to the electromagnetic coil, and there is an interactive magnetic field force between the driver and the first magnetic device. Under the action of the magnetic field force, the piston can be moved, and the speed sensor sends the real-time detection of the movement parameters of the piston to the driver, and the magnetic field sensor sends the real-time detection of the magnetic field parameters to which the piston is subjected to to the driver. The driver adjusts the magnitude and direction of the current in real time according to the movement parameters and magnetic field parameters of the piston to change the magnetic field force to which the piston is subjected, thereby providing an adjustable damping force when the swing arm assembly drives the piston, and providing an adjustable driving force when the piston drives the swing arm assembly. The use of the two sensors, the speed sensor and the magnetic field sensor, is combined to achieve a more accurate and intelligent solution to the problem that the folding device terminal can hover at any angle.

[0070] Further, the specific implementation method based on this embodiment includes: when receiving a target angle instruction, obtaining a target motion parameter of the piston motion based on the target angle instruction and a preset parameter; according to the target motion parameter, the driver supplies power to the electromagnetic coil to control the piston to move to the target position to drive the swing arm assembly to rotate;

[0071] The magnetic field sensor detects in real time the magnetic field parameters to which the piston is subjected when it moves, and the speed sensor detects in real time the motion parameters of the piston when it moves;

[0072] The driver receives the magnetic field parameters and motion parameters of the piston in real time, and adjusts the current of the electromagnetic coil according to the parameters to move according to the corresponding target motion parameters and make the piston stop moving due to force balance to achieve the expansion of the torque component to the target angle.

[0073] In this embodiment, the use of the speed sensor and the magnetic field sensor is combined to achieve a more accurate and intelligent solution to allow the foldable device terminal to hover at any angle.

[0074] In some embodiments, the first magnetic device is at least one permanent magnet 133 attached to the inner wall of the piston cylinder 130; the second magnetic device is an electromagnetic coil 132. Specifically, when the electromagnetic coil is energized, a magnetic field is generated, and there is an interactive magnetic field force between the electromagnetic coil and the first magnetic device. Under the action of the magnetic field force, the piston can move. By adjusting the magnitude and direction of the current, different magnetic field forces are generated to change the direction and displacement of the piston movement.

[0075] It can be understood that in some embodiments, the first magnetic device can be an electromagnetic coil and the second magnetic device can be a permanent magnet; or in some embodiments, the first magnetic device and the second magnetic device are both electromagnetic coils, one of which is sleeved on the piston and the other is arranged in the piston cylinder, and the two electromagnetic coils can generate force on each other when energized.

[0076] Specifically, refer to Figure 3 The first magnetic device is a permanent magnet, which is arranged on the inner wall of the end of the piston cylinder. The second magnetic device is an electromagnetic coil, which is sleeved on the piston, that is, the electromagnetic coil is sleeved on the piston.

[0077] It is understandable that a plurality of first magnetic devices, that is, a plurality of permanent magnets, may also be provided on the inner wall of the piston cylinder. In one embodiment, specifically refer to Figure 4, a permanent magnet is set at each end of the piston cylinder. It should be noted that the specific number, magnetic field strength and specific position of the permanent magnets can be set according to actual needs, as long as the magnetic field force generated by the interaction between the permanent magnet and the electromagnetic coil can generate a force on the piston.

[0078] Take the example of setting a permanent magnet at each end of the piston cylinder for explanation. Figure 4 ,exist Figure 4 From the perspective of , the magnetism of the side of the permanent magnet on the left close to the piston is the S pole, while the magnetism of the side of the permanent magnet on the right close to the piston is the N pole, and the magnetic field strength of the permanent magnet on the left is greater than that of the permanent magnet on the right. Assuming that the piston needs to move to the right during the process of folding the swing arm assembly from the flat state to 30°, and in the initial state, the current direction of the electromagnetic coil is counterclockwise (from the left to right perspective), then the N pole of the magnetic field generated by the piston is on the left, that is, the piston is stationary due to the magnetic attraction F1 and F3 of the permanent magnets on the left and right sides. Then, in the process of folding the swing arm assembly from a flat state to 30°, the current can be adjusted according to the distance between the piston and the permanent magnet in the initial state and the strength of the magnetic field force. For example, in the initial position, the piston is closer to the permanent magnet on the right, and the input current can be reduced to make F3 greater than F1, so as to realize the movement of the piston and enable the swing arm assembly to rotate smoothly. Alternatively, the direction of the current can be changed, and a clockwise current can be input and increased to allow the permanent magnet on the left to generate a larger repulsive magnetic force to drive the piston to move. Finally, when the swing arm assembly is folded to 30°, the direction and magnitude of the current are adjusted to balance the force on the piston and stop moving, thereby achieving self-locking suspension of the torque assembly.

[0079] Continue to refer Figure 1 In some embodiments, the swing arm assembly 110 includes two synchronous swing arms 111, and the two synchronous swing arms 111 are connected by a transmission assembly 112; a gear is provided at the end of the transmission assembly 112 close to the piston rod 120; a thread is provided at one end of the piston rod 120 close to the swing arm assembly 110 and meshes with the gear.

[0080] Specifically, the transmission assembly 112 can be an assembly with multiple synchronous gears meshing and connected, for example, two synchronous gears, three synchronous gears, etc., and meshing and connected with two synchronous swing arms 111, wherein the specific structure, size, number and placement position of the synchronous gears can be adaptively adjusted and designed according to actual needs, as long as the two synchronous swing arms 111 can achieve the effect of synchronous movement through the transmission assembly 112.

[0081] In some specific embodiments, a toothed structure is provided on one side of the two synchronous swing arms close to the transmission assembly, and the transmission assembly is provided with two synchronous gears, which are respectively meshed and connected with the toothed structures of the two synchronous swing arms, wherein the side surface of one synchronous gear in the transmission assembly close to one end of the piston rod is meshed and connected with the thread on the piston rod. Based on this embodiment, when the two synchronous swing arms move synchronously towards or away from each other, the movement of the piston is driven by the rotation of a synchronous gear to drive the movement of the piston; and when the piston moves, the piston rod is driven to rotate to make the synchronous gear rotate to achieve synchronous rotation of the two synchronous swing arms, so that the structure of the entire torque assembly is more compact and the switching of the swing arm assembly between the folded state and the unfolded state is smoother.

[0082] In some embodiments, as shown in reference Figure 2 A protruding shaft end is provided at the end of a synchronous gear near the piston rod, a shaft sleeve is provided around the shaft end, a gear is provided at the end of the shaft sleeve near the piston rod, and the gear is meshed and connected with the piston rod. Through this embodiment, a larger movement space of the piston rod can be achieved, and the linkage between the transmission assembly and the piston rod is smoother, avoiding easy interference between various structures.

[0083] In some embodiments, the piston cylinder also contains a damping fluid, which is used to hinder the movement of the piston. It is understandable that the damping fluid slows down the movement through the viscosity and flow resistance of the liquid, such as slowing down the movement speed or vibration of the machine, thereby improving the stability and performance of the equipment operation.

[0084] In some embodiments, the damping fluid may be silicone oil, which has the characteristic of high temperature stability, and the damping effect will not change much even if the damping fluid is at different temperatures with a large difference.

[0085] The present application also discloses a control method, specifically referring to Figure 7 In this embodiment, the method can be applied to the torque assembly described in any of the above embodiments, and the control method includes:

[0086] Step S300: Obtain a target angle instruction, and obtain target motion parameters of the piston motion based on a comparison between the target angle instruction and preset parameters.

[0087] Specifically, the target angle instruction is an instruction input by the user, such as "open 30°", "fully open", "fully folded" and other instructions, and the target angle instruction is matched with the preset parameters stored in the device to obtain the target motion parameters of the piston movement. For example, the piston motion parameters corresponding to "open 30°" are S1, V1, D1; the piston motion parameters corresponding to "fully open" are S2, V2, D2; the piston motion parameters corresponding to "fully folded" are S3, V3, D3, etc., where S represents the piston motion displacement, V represents the piston motion speed, and D represents the piston motion direction. The specific mapping relationship between the specific target angle instruction and the preset parameters can be set according to actual conditions. The piston motion parameters can be the distance S that the piston needs to move, and / or the speed, and / or the direction of motion, and / or the number of revolutions of the piston rod, etc., and no limitation is made here.

[0088] In some implementations, the target angle instruction may be input by voice input, or a virtual control may be set on the folding terminal device interface, and the parameters of the virtual control may be adjusted to set the parameter value of the target angle instruction.

[0089] In some implementations, the target angle instruction can be input by setting a physical button on the terminal device, such as a knob, and there is a mapping relationship between the rotation speed and rotation direction of the knob and the folding angle of the terminal device. For example, rotating the knob clockwise will unfold the terminal device, and rotating the knob counterclockwise will fold the terminal device. For example, the rotation displacement and time from the starting point to the end point of the knob are obtained to obtain the rotation speed of the knob, and multiple gears are determined according to the rotation speed of the knob, such as gear 1, gear 2, and gear 3. Gear 1 corresponds to an opening or folding angle of 10°, gear 2 corresponds to an opening or folding angle of 30°, gear 3 corresponds to an opening or folding angle of 50°, etc. It can be understood that the setting of specific parameters such as the number of gears and the mapped target angle can be set according to actual needs.

[0090] Step S310: supplying power to the electromagnetic coil according to the target motion parameter to control the piston to move to the target position to drive the swing arm assembly to rotate.

[0091] Specifically, according to the displacement, speed, movement direction and other parameters of the piston's target motion parameters, the size and direction of the current are determined and power is supplied to the electromagnetic coil. When the electromagnetic coil is energized, a magnetic field is generated, and the piston is moved to the target position under the action of the magnetic field force. At the same time, the piston drives the swing arm assembly to rotate through the piston rod.

[0092] Step S320: Real-time detection of magnetic field parameters to which the piston is subjected when it moves.

[0093] It is understandable that the movement of the piston is achieved under the action of the magnetic field force. The magnitude and direction of the magnetic field force will directly affect the movement of the piston. Therefore, it is necessary to simultaneously detect the magnetic field parameters to which the piston is subjected during movement in real time in order to adjust the piston movement parameters. The magnetic field parameters can be the magnitude, direction, magnetic flux, magnetic permeability, etc. of the magnetic field force.

[0094] Step S330: According to the magnetic field parameters, the current of the electromagnetic coil is adjusted to make the piston stop moving due to balanced force, so as to achieve the expansion of the torque assembly to the target angle.

[0095] It can be understood that the force conditions of the piston can be known based on the magnetic field parameters. Based on the force conditions of the piston, when the piston moves to the target position, the current size and direction of the electromagnetic coil can be adjusted to balance the force on the piston and then stop moving. The piston rod and the swing arm assembly are linked to allow the swing arm assembly to self-lock to the target angle.

[0096] In the control method disclosed in the present invention, the target parameters of the piston movement are obtained according to the correlation between the target angle instruction and the preset parameters, and based on the target parameters of the piston movement, the corresponding current magnitude and direction are provided to the electromagnetic coil, and the corresponding damping force or driving force is provided to the swing arm assembly. At the same time, according to the parameters of the detected magnetic field force, the current magnitude and direction in the electromagnetic coil are adjusted, and finally the piston and the swing arm assembly can be linked by the piston rod to realize the self-locking of the torsion assembly and hover to the target angle. Through the scheme disclosed in the present invention, the folding terminal device can be intelligently switched between the folding state and the unfolding state, and can be unfolded to any folding angle, reducing the manual opening and closing of the folding terminal device by the user, and making it more convenient to use. At the same time, the intelligent control makes the degree of the folding angle more accurate and more controllable, which can reduce the angle error caused by the folding device that can only be opened and closed manually and increase the controllability of the folding angle range, meeting the user's usage needs.

[0097] The control method based on the above-mentioned present disclosure also includes step S340, wherein the torsion assembly is also provided with a driver and a magnetic field sensor. In step S340, the driver target driving parameters are configured according to the target motion parameters of the piston; the driver drives the swing arm assembly to rotate or drives the piston to move to the target position according to the target driving parameters, and supplies power to the electromagnetic coil; the magnetic field sensor detects and sends the parameters of the magnetic field to the driver in real time; the driver adjusts the current based on the parameters of the magnetic field so that the piston stops moving due to force balance to achieve the expansion of the torsion assembly to the target angle.

[0098] Specifically, the driver can determine specific working parameters, i.e., target drive parameters, according to the target motion parameters. When driving the swing arm assembly to rotate, the swing arm assembly is driven to rotate in the corresponding direction (such as folding or unfolding) according to the target drive parameters, and at the same time, the corresponding current magnitude and direction are provided to the electromagnetic coil, so that the piston provides the corresponding damping force to rotate the swing arm assembly to the target angle; or on the other hand, when driving the piston to move according to the target drive parameters, the corresponding current magnitude and direction are provided to the electromagnetic coil, so that the piston can provide the corresponding driving force to the swing arm assembly to rotate the swing arm assembly to the target angle. Finally, the driver adjusts the current based on the parameters of the magnetic field of the magnetic field sensor to balance the force of the piston and stop the movement to achieve the self-locking of the torsion assembly and hover to the target angle.

[0099] The technical principle of the present application will be further described in detail below through another specific embodiment:

[0100] Take foldable devices as an example, refer to Figure 3 , Fig. 9 and Fig.10 A permanent magnet is set on the inner wall of one end of the piston cylinder and the side close to the piston is the N pole. In the initial state, because there is damping fluid in the piston cylinder, under normal circumstances, the electromagnetic coil does not need to be energized and the piston can be stationary. However, since the screen will have a tension, if the resistance of the damping fluid is not enough to overcome the tension of the screen, a certain current needs to be provided to the electromagnetic coil at this time, so that the piston can be subjected to magnetic force to overcome the tension of the screen and make the piston force balanced and stationary.

[0101] Combination Figure 2 From a theoretical perspective, as the screen of the stacked terminal device opens or closes, the two synchronous pendulums drive the synchronous gears to move, the shaft end and the gears rotate at the same time, and the shaft end drives the shaft sleeve to rotate. Since the shaft sleeve and the gear are fixedly connected (such as integrally made, welded, clamped, etc.), the gears on the shaft sleeve rotate synchronously, thereby driving the piston rod to rotate. When the piston rod rotates one circle, it moves one pitch d (that is, the distance between corresponding points on the two spiral lines in the thread of the piston rod). Fig. 9 In the viewing angle, it is set that when the screen is turned on, the piston rod moves to the right, and when the screen is turned off, the piston rod moves to the left. Specifically, the process of the screen being turned on to θ is used as an example for explanation.

[0102] When the control unit of the folding device detects the input of the target angle command, for example, when receiving the command of "open to angle θ", the control unit obtains the distance S that the piston rod moves to the right according to the angle θ based on the preset parameters stored in the device.

[0103] The conversion of angle θ and S can be obtained through experiments. In the experiment, during the swing arm assembly test turning to angle θ, the distance S of the piston movement can be tested according to the gear ratio. It should be noted that the gear ratio refers to the speed ratio between two gears, usually represented by i, and its formula is i=n2 / n1=z1 / z2, n1 is the speed of the driving gear, n2 is the speed of the driven gear, z1 is the number of teeth of the driving gear, and z2 is the number of teeth of the driven gear. In this embodiment, since the swing arm assembly is linked to the piston through the piston rod, in one case, when the transmission assembly of the swing arm assembly is used as the active driving structure, the piston rod is the driven structure; in another case, when the piston is used as the active driving structure, the transmission assembly of the swing arm assembly is the driven structure, that is, the distance S of the piston movement can be calculated by the number of gears of the transmission assembly of the swing arm assembly and the number of threads of the piston rod. Alternatively, you can use the formula N=S / d (where d is the pitch) to calculate the number of turns N corresponding to the moving distance, and use the angle θ to find the number of turns of the corresponding movement of the piston rod. Next, according to the survey, the time it takes for users to open the folding screen to different angles varies. Based on the survey results, the time corresponding to the opening angle θ is T. Next, you can control the speed of the piston movement to V based on the distance S of the piston movement and the set time T; since the speed of the piston in motion will be affected by the magnetic field force and the damping fluid, the size and direction of the corresponding output current at different speeds V can be fitted based on multiple experiments. Specifically, the formula

[0104]

[0105] (where the radius of the electromagnetic coil is R, the length is L, the number of turns is N, the current is I, and μ0 is the magnetic permeability of vacuum) to calculate the magnetic field strength B generated by the electromagnetic coil, and then use the formula

[0106]

[0107] (where r(^) is the unit vector from the center of the electromagnetic coil to the position of the permanent magnet; r is the distance from the center of the electromagnetic coil to the permanent magnet; m is the magnetic moment) to calculate the force between the energized electromagnetic coil and the permanent magnet, and then the damping force on the piston during movement is calculated by the formula F=c·V (where c is the damping coefficient; V is the piston movement speed). Therefore, the above method can be used to test the torque component when it is rotated to different angles θ and time T, and measure the parameters of the piston movement corresponding to each angle θ and the drive parameters of the driver (such as the magnitude and direction of the current), and store the data obtained from the above experiment in the memory of the device to form preset parameters.

[0108] Then, the control unit sends the distance S and other information to the driver, and energizes the electromagnetic coil. Fig. 9In order to move the piston to the right by a distance of S, a counterclockwise current (from the perspective of looking from left to right) needs to be given to the electromagnetic coil. At this time, the piston is equivalent to a bar magnet, and according to the right-hand screw rule, the N pole of the magnetic field generated by the electromagnetic coil is on the left, repelling the permanent magnet, then the piston will obtain a force F1, so that the piston can move to the right. As the piston moves, it will gradually move away from the permanent magnet, causing F2 to become smaller. Therefore, in order to keep the piston moving at a uniform speed at the corresponding speed V, the current is adjusted according to the detection parameters of the magnetic field sensor to keep the piston moving at the speed V. At the same time, since the resistance F2 (F2 mainly comes from the resistance of the damping fluid) encountered by the piston during the movement is related to the speed V, maintaining uniform motion is also equivalent to controlling the resistance F2 encountered by the piston during the movement to be consistent. Finally, when the screen opens to angle θ, that is, when the torque assembly is in its final state, the power is disconnected and the device relies on the resistance of the damping fluid to self-lock and hover at angle θ. However, since the screen has a tension, if the resistance of the damping fluid is not enough to overcome the tension of the screen, it is necessary to adjust the current to the electromagnetic coil so that the piston is subjected to magnetic force to overcome the tension of the screen, so that the sum of the magnetic force on the piston and the resistance of the damping fluid is equal to the tension of the screen, and finally the piston is balanced and still.

[0109] On the other hand, if it is necessary to drive the swing arm assembly by means of a driver driving a motor, etc., the motor speed r corresponding to the angle θ can be configured. The speed r can be obtained by adjusting the frequency of the driver's appropriate driving pulses according to the corresponding piston movement speed V through multiple experiments (different motors have different speed adjustment methods) to obtain the corresponding speed r under different piston movement speeds. At the same time, power is supplied to the electromagnetic coil, and the current is adjusted according to the force applied to the piston, so as to change the damping force of the torque assembly to achieve self-locking and hovering of the folding screen device to the folding angle θ. The specific principle is similar to the above and will not be repeated here.

[0110] refer to Figure 8 The present application also discloses a control method. In this embodiment, the method can be applied to the torque assembly described in any of the above embodiments. The control method includes:

[0111] Step 400, obtaining a target angle instruction, and obtaining a target motion parameter of the piston motion based on a comparison between the target angle instruction and a preset parameter;

[0112] Step 410: According to the target motion parameter, the driver supplies power to the electromagnetic coil to control the piston to move to the target position to drive the swing arm assembly to rotate;

[0113] Step 420: Using a speed sensor to detect real-time motion parameters of the piston during motion;

[0114] Step 430, obtaining a compensation value between the real-time motion parameters of the piston and the target motion parameters of the piston, and adjusting the current of the electromagnetic coil by the driver according to the compensation value to make the piston move according to the target motion parameters, so as to achieve the expansion of the torque assembly to the target angle.

[0115] Specifically, when the target angle instruction is to open 30°, the corresponding target motion parameters of the piston motion are S1, D1, and V1, and the driver provides I1 and the current in the first direction. When the piston moves, the speed sensor detects that the parameter of the piston motion is V2 at a certain moment. If V1<V2, the driver reduces the current or changes the current direction according to the compensation value between V1 and V2 (such as providing current I2 or current in the second direction, I1>I2); if V1>V2, the driver increases the current or changes the current direction according to the compensation value between V1 and V2 (such as providing current I2 or current in the second direction, I1<I2), so that the piston can move according to the corresponding target motion parameters to realize the expansion of the torque assembly to the target angle. It should be noted that the first direction is opposite to the second direction, for example, when the first direction is counterclockwise, the second direction is clockwise.

[0116] In this embodiment, the speed sensor can be used to detect the movement of the piston in real time, so that the foldable terminal device can hover at the target angle more accurately.

[0117] It should be noted that the speed sensor can specifically detect the number of rotations of the swing arm assembly and / or the piston rod, and can obtain piston movement parameters such as speed, displacement, etc. according to the software program built into the hardware.

[0118] The present application also discloses a terminal device, referring to Fig.10 as well as Fig.11 , including a memory 210, a processor 220, and a computer program stored in the memory 210 and executable on the processor 220, wherein the processor 220 implements the control method of any of the above-mentioned embodiments when executing the computer program, wherein the two shells 230 of the terminal device are rotationally connected via a torsion assembly, and the folding display screen 240 of the mobile terminal is installed on the shell 230, and the rotation of the torsion assembly drives the two shells 230 to move to realize the folding or unfolding of the folding display screen 240.

[0119] An embodiment of the present application also provides a computer storage medium, in which computer instructions are stored. When the computer instructions are executed on a terminal device, the terminal device executes the above-mentioned related method steps to implement the control method in the above-mentioned embodiment.

[0120] In addition, an embodiment of the present application also provides a device, which may specifically be a chip, a component or a module, and the device may include a connected processor and a memory; wherein the memory is used to store a computer program, and when the device is running, the processor may execute the computer program stored in the memory so that the chip executes the control method in the above-mentioned method embodiments.

[0121] Among them, the folding screen device, terminal device, computer storage medium, computer program product or chip provided in the embodiments of the present application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0122] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0123] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0125] It should be understood that the present disclosure does not specifically limit the specific forms of foldable devices and terminal devices, and smart terminals such as foldable mobile phones and foldable tablets can all be applicable. There is no special limitation on the folding method of the foldable device. For example, it can be folded left and right along the central axis in the longitudinal direction of the device, and it can also support folding up and down along the central axis in the transverse direction of the device. It only needs to adaptively adjust the characteristics such as the size of the components of the hinge assembly. Similarly, the shell described in this article refers to the middle frame of a foldable device, such as the middle frame of a foldable smartphone. However, although it is not explained in detail in this article, the middle frames of other terminal devices, such as the middle frames of foldable tablets or other foldable laptop computers, etc., may also be applicable.

[0126] The above contents are only specific implementation methods 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. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A torsion assembly, characterized in that: It includes a swing arm assembly, a piston rod and a piston cylinder; One end of the piston rod is transmission-connected to the swing arm assembly and the other end is connected to the piston in the piston cylinder, so that the swing arm assembly and the piston of the piston cylinder are linked through the piston rod; A first magnetic device is provided in the piston cylinder to generate a magnetic field in the piston cylinder; A second magnetic device is provided on the piston so that the movement of the piston in the piston cylinder can be controlled by the first magnetic device through the magnetic field. At least one of the first magnetic device and the second magnetic device is an electromagnetic coil, and the current in the electromagnetic coil is adjustable, so as to change the magnetic field force exerted on the piston, thereby providing an adjustable damping force when the swing arm assembly drives the piston, and providing an adjustable driving force when the piston drives the swing arm assembly.

2. The torsion assembly according to claim 1, wherein: The torque assembly is also provided with a control module for providing power to the electromagnetic coil. When the current in the electromagnetic coil changes, the magnetic field force exerted on the piston also changes.

3. The torsion assembly according to claim 2, wherein: The control module includes a control unit, a driver and a magnetic field sensor, and the control unit is electrically connected to the driver and the magnetic field sensor: The driver is used to supply power to the electromagnetic coil according to the control instruction, and drive the swing arm assembly to rotate or drive the piston to move so as to realize the linkage between the swing arm assembly and the piston through the piston rod; The magnetic field sensor is used to detect and send parameters of the magnetic field to the driver; The driver is also used to adjust the current of the electromagnetic coil according to the magnetic force parameters of the magnetic field, so as to change the magnetic field force exerted on the piston and provide an adjustable damping force when the swing arm assembly drives the piston or provide an adjustable driving force when the piston drives the swing arm assembly.

4. The torsion assembly according to claim 2, wherein: The control module includes a control unit, a driver and a speed sensor, wherein the control unit is electrically connected to the driver and the speed sensor: The driver is used to supply power to the electromagnetic coil according to the control instruction, and drive the swing arm assembly to rotate or drive the piston to move so as to realize the linkage between the swing arm assembly and the piston through the piston rod; The speed sensor is used to detect and send the real-time motion parameters of the piston to the driver; The driver is also used to adjust the current of the electromagnetic coil according to the real-time motion parameters, so as to change the magnetic field force exerted on the piston, thereby providing an adjustable damping force when the swing arm assembly drives the piston or providing an adjustable driving force when the piston drives the swing arm assembly.

5. The torsion assembly according to claim 3 or 4, wherein: The first magnetic device is at least one permanent magnet attached to the inner wall of the piston cylinder; The second magnetic device is the electromagnetic coil.

6. The torsion assembly of claim 1, wherein: The swing arm assembly comprises two synchronous swing arms, and the two synchronous swing arms are connected by a transmission assembly; The transmission assembly is provided with a gear at the end close to the piston rod; One end of the piston rod close to the swing arm assembly is provided with a thread and meshes with the gear.

7. The torsion assembly of claim 1, wherein: The piston cylinder also contains damping fluid, which is used to hinder the movement of the piston.

8. A control method, characterized in that: The torque assembly as claimed in any one of claims 1 to 7 comprises: obtaining a target angle instruction, and obtaining a target motion parameter of the piston motion based on a comparison between the target angle instruction and a preset parameter; According to the target motion parameter, supplying power to the electromagnetic coil to control the piston to move to the target position to drive the swing arm assembly to rotate; Real-time detection of magnetic field parameters to which the piston is subjected when in motion; According to the magnetic field parameters, the current of the electromagnetic coil is adjusted to make the piston stop moving due to force balance so as to achieve the expansion of the torsion assembly to the target angle.

9. A control method, characterized in that: The torsion assembly according to any one of claims 1 to 7 comprises: Obtaining a target angle instruction, and obtaining a target motion parameter of the piston motion based on a comparison between the target angle instruction and a preset parameter; According to the target motion parameter, supplying power to the electromagnetic coil to control the piston to move to the target position to drive the swing arm assembly to rotate; Detect real-time motion parameters of the piston during motion; A compensation value between the real-time motion parameter of the piston and the target motion parameter of the piston is calculated, and the current of the electromagnetic coil is adjusted according to the compensation value to make the piston move according to the target motion parameter, so as to achieve the expansion of the torque component to the target angle.

10. A terminal device, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the control method described in any one of claims 8 to 9 when executing the computer program, wherein the two shells of the terminal device are rotationally connected via the torsion assembly, the folding display screen of the terminal device is mounted on the shells, and the rotation of the torsion assembly drives the two shells to move so as to realize the folding or unfolding of the folding display screen.

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