Swing device with magnetic drive and controller

Abstract

A rocking device includes an arm assembly having a seat and a frame assembly coupled to the arm assembly. The frame assembly defines a pivot axis about which the arm assembly rotates during operation of the wobble device. The wobble device also includes an electromagnet disposed on the frame assembly and a plurality of permanent magnets disposed on the arm assembly, the permanent magnets positioned to define an arc centered on the pivot axis. The electromagnet has an angular offset with respect to the pivot axis with respect to a plurality of permanent magnets positioned along an arc when the wobble device is in an intermediate position.

Description

[0001] This application is a divisional application of the invention patent application of Mingmen (China) Children's Products Co., Ltd. (application date: March 29, 2021, application number: 2021800387775, invention title: "Swinging device with magnetic actuator and controller").

[0002] Cross-references to related applications

[0003] This application claims priority to U.S. Provisional Application No. 63 / 000743, filed March 27, 2020; U.S. Provisional Application No. 63 / 012999, filed April 21, 2020; U.S. Provisional Application No. 63 / 041172, filed June 19, 2020; and U.S. Provisional Application No. 63 / 127575, filed December 18, 2020, the entire contents of which are incorporated herein by reference. Background Technology

[0004] Children's rocking devices are designed to provide children with a safe, elevated seating area and the soothing effect of natural pendulum motion. However, traditional rocking devices have various drawbacks. For example, traditional rocking devices are typically powered by DC power and a gearbox. Due to the mechanical operation, gearbox-based rocking devices tend to be noisy, and over time, they tend to become even noisier due to mechanical wear. Gearbox-based rocking devices are also often inefficient in terms of power consumption, and given the variety of different parts (e.g., multiple gears, pins, grease, bearings, and / or similar components), the likelihood of component failure is greater. As a result, gearbox-based rocking devices tend to fail earlier than normal wear and tear is allowed under other conditions.

[0005] As another example, gearbox-based rocking devices also have bulky drive mechanisms due to the mechanical size of the gearbox components, which in turn makes the rocking device heavy and / or interferes with its operation, such as by allowing caregivers to access the rocking device controller, hindering the placement and removal of children from the rocking device, and / or similar situations.

[0006] As yet another example, some traditional rocking devices require caregivers to manually push the device to initiate the movement. This can be problematic when the rocking device requires a significant amount of force from the caregiver to initiate the movement, when the caregiver is unable (e.g., disabled or elderly) to apply the required force, and (conversely) when the caregiver may be obviously aggressive, potentially causing harm to the child / user in the rocking device.

[0007] As yet another example, some conventional rocking devices control their rocking motion by estimating when the device passes through the center of the rocking motion and assuming that this is the same position the device is in when it is at rest. However, rocking devices are often placed on uneven surfaces (such as carpets), which can lead to incorrect estimation of the center of the rocking motion (affected by gravity), resulting in unbalanced rocking and / or other performance problems.

[0008] Designing rocking devices to overcome these issues can often be challenging, as they must meet stringent safety and stability (regulatory) standards while providing a satisfactory range and speed of rocking motion. One way to achieve this stability in traditional rocking devices is to "anchor" the device with a fairly large base so it doesn't tip over while rocking. However, this large base leads to problems with packaging and assembly, making it unsuitable for small homes such as apartments and condominiums.

[0009] Some traditional rocking devices employ magnetic actuators to overcome some of these problems, particularly those related to the fragility of gearbox designs. However, these traditional magnetic rockers also tend to have bulky actuators, often due to at least some magnetic components (e.g., permanent magnets and / or electromagnets) being positioned away from the axis of rotation, for example, on or adjacent to the seat of the rocker itself. This distance from the axis of rotation places high demands on the size, strength, and / or power consumption (for electromagnets). Furthermore, some traditional magnetic rockers still require manual pushing by the user to initiate the motion. Summary of the Invention

[0010] The embodiments of the invention disclosed herein pertain to a rocking device with a magnetic actuator that utilizes an array of permanent magnets and electromagnets oriented between the permanent magnets. In various aspects, the magnetic actuator of the rocking device according to this disclosure is advantageously located near the pivot axis of the rocking arm of the rocking device, thereby providing a compact, lightweight, powerful, and significantly energy-efficient actuator that can self-start from a neutral position. The magnetic actuator disclosed herein has relatively fewer parts than conventional mechanical drive mechanisms of rocking devices (e.g., employing DC motors and gearboxes or having magnetic components close to or directly coupled to the rocking device seat), and generally offers less noise, higher energy efficiency, and more reliable operation.

[0011] In some aspects, the rocking device includes a magnetic actuator having an electromagnet and a plurality of permanent magnets. The rocking device also includes a controller coupled to the electromagnet, which activates the electromagnet by applying an activation current having a polarity selectable from a first polarity and a second polarity, thereby initiating movement of at least a portion of the rocking device. The controller is configured to: A1) apply an activation current having one of a first polarity and a second polarity; A2) determine whether at least a portion of the rocking device has moved by at least a predetermined amount; A3) if, after a predetermined time period, at least a portion of the rocking device has not moved by at least a predetermined amount, switch the polarity of the activation current to the other of the first and second polarities; and A4) repeat A2) and A3) until A2) determines that the rocking device has moved by at least a predetermined amount.

[0012] In some aspects, the rocking device includes an electromagnet and a plurality of permanent magnets positioned near the electromagnet, such that when the electromagnet is electrically activated, a magnetic force is generated between the electromagnet and each of the plurality of permanent magnets. The rocking device also includes a controller coupled to the electromagnet to electrically activate the electromagnet, thereby initiating the rocking motion of the rocking device without manual intervention by the user.

[0013] The swinging device includes a controller for controlling the motion of at least a portion of the swinging device, and a plurality of optical sensors coupled to the controller. The plurality of optical sensors include a first light source and a first detector, the first light source for emitting a first light beam propagating along a first optical path, and the first detector being spaced apart from the first light source and disposed within the first optical path to detect the first light beam. The plurality of optical sensors also include a second light source for emitting a second light beam along a second optical path, the second optical path being substantially parallel to the first optical path and offset relative to the first optical path by a separation distance. The plurality of optical sensors also include a second detector, which is spaced apart from the second light source and disposed within the second optical path to detect the second light beam. The swinging device also includes an optical encoder strip disposed in the first and second optical paths to facilitate the detection of motion of at least a portion of the swinging device.

[0014] In some aspects, the swinging device includes a controller for controlling the movement of at least a portion of the swinging device, and a plurality of optical sensors coupled to the controller. The plurality of optical sensors include a first light source and a first detector, the first light source for emitting a first light beam propagating along a first optical path, and the first detector being spaced apart from the first light source and disposed within the first optical path to detect the first light beam. The plurality of optical sensors also include a second light source for emitting a second light beam along a second optical path, the second optical path being substantially parallel to the first optical path and offset relative to the first optical path by a separation distance. The plurality of optical sensors also include a second detector, which is spaced apart from the second light source and disposed within the second optical path to detect the second light beam. The swinging device also includes slotted strips disposed in the first and second optical paths to detect the movement of at least a portion of the swinging device based on alternately blocking and unblocking the first and second light beams. The slotted strips include a plurality of optically transparent (transparent) slots and a plurality of light-blocking portions disposed between successive plurality of optically transparent slots.

[0015] In some aspects, the rocking device includes: an arm assembly having a seat; and a frame assembly coupled to the arm assembly and defining a pivot axis about which the arm assembly rotates during operation of the rocking device. The rocking device also includes an electromagnet disposed on the frame assembly and a plurality of permanent magnets disposed on the arm assembly, the plurality of permanent magnets being positioned to define an arc centered on the pivot axis. When the rocking device is in an intermediate position, the electromagnet has an angular offset relative to the plurality of permanent magnets positioned along the arc about the pivot axis.

[0016] In some aspects, the rocking device includes: an arm assembly having a seat; and a frame assembly coupled to the arm assembly and defining a pivot axis about which the arm assembly rotates during operation of the rocking device. The rocking device also includes an electromagnet disposed on the frame assembly and a plurality of permanent magnets disposed on the arm assembly, the plurality of permanent magnets being positioned to define an arc centered on the pivot axis. When the rocking device is in an intermediate position, the electromagnet and the plurality of permanent magnets are positioned on a first side of the pivot axis, and the seat is positioned on a second side of the pivot axis.

[0017] In some aspects, the rocking device includes: an arm assembly having a seat; and a frame assembly coupled to the arm assembly and defining a pivot axis about which the arm assembly rotates during operation of the rocking device. The rocking device also includes a plurality of permanent magnets disposed on the arm assembly, the plurality of permanent magnets being positioned to define an arc centered on the pivot axis, wherein the linear distance between each of the plurality of permanent magnets and the pivot axis is at most about 0.5 inches to about 5 inches. The rocking device also includes electromagnets disposed on the frame assembly.

[0018] In some aspects, the rocking device includes: an arm assembly having a seat; and a frame assembly coupled to the arm assembly and defining a pivot axis about which the arm assembly rotates during operation of the rocking device. The rocking device also includes a plurality of permanent magnets disposed on the arm assembly, the plurality of permanent magnets being positioned to define an arc centered on the pivot axis. The rocking device also includes electromagnets disposed on the frame assembly, wherein the linear distance between the electromagnets and the pivot axis is at most about 1 inch to about 6 inches.

[0019] In some aspects, the rocking device includes an electromagnet and a plurality of permanent magnets positioned near the electromagnet to generate a magnetic force when the electromagnet is electrically activated, thereby controlling the rocking motion of at least a portion of the rocking device. When magnetically aligned during operation of the rocking device, the separation gap between the electromagnet and the first of the plurality of permanent magnets is less than or equal to 0.15 inches.

[0020] In some aspects, the rocking device includes an arm assembly comprising a hub, a rocker arm coupled to the hub, and a seat coupled to the rocker arm. The rocking device also includes a frame assembly coupled to the hub, comprising a frame arm defining a pivot axis about which the hub rotates during operation of the rocking device. The rocking device also includes an electromagnet disposed on the frame assembly and a plurality of permanent magnets disposed on the hub, the plurality of permanent magnets being positioned to define an arc centered on the pivot axis. The rocking device also includes a housing enclosing the electromagnet and the plurality of permanent magnets.

[0021] In some aspects, the swinging device includes a controller for determining when at least a portion of the swinging device changes direction during the swinging motion, without detecting when that portion of the swinging device passes the middle position of the swinging motion.

[0022] In some aspects, the rocking device includes a panel having a surface and including a turntable to allow user input to specify the degree of rocking motion of at least a portion of the rocking device during use. The surface defines an aperture and a recess within the aperture, in which the turntable is disposed. The rocking device also includes a controller communicatively coupled to the turntable to control the rocking motion based on user input.

[0023] In some aspects, the kit includes components for assembling into a rocking device. The kit includes a first component, which in turn includes a frame assembly, a magnetic actuator coupled to the frame assembly, and power delivery circuitry for coupling an external power source to the magnetic actuator. The kit also includes a second component, which includes a rocking arm configured for coupling to the magnetic actuator. The kit further includes a third component, which includes a seat configured for coupling to the rocking arm. The power delivery circuitry is entirely contained within the first component.

[0024] In some aspects, the rocking device includes an arm assembly with a seat and a frame assembly for supporting the rocking device on the ground during operation. The frame assembly is coupled to the arm assembly and defines a pivot axis about which the arm assembly oscillates during operation. The pivot axis forms an angle of about 15 degrees to about 45 degrees relative to a horizontal plane parallel to the ground. The rocking device also includes an actuator arranged about the pivot axis to control the oscillating motion of the arm assembly about the pivot axis during operation.

[0025] In some aspects, the rocking device includes a base resting on a generally level ground during operation of the rocking device, the base defining a vertical coverage area of ​​a base member on the ground. The rocking device also includes a frame assembly including a frame arm coupled to a lower portion of the base, the lower portion of the frame arm extending upward from the base and inclined relative to the vertical direction such that the lower portion of the frame handle is away from and outside the vertical coverage area of ​​the base. The rocking device also includes a rocking arm assembly coupled to the frame assembly, the rocking arm assembly including a feature for holding a child during operation of the rocking device.

[0026] In some aspects, the rocking device includes a base resting on the ground during operation of the rocking device, the base having a curved outer periphery. The rocking device also includes an arm assembly comprising a rocking arm and a rotatable seat coupled to the rocking arm to hold a child during operation of the rocking device, the rotatable seat having a rotation axis perpendicular to the ground. The rocking device also includes a frame assembly coupled to the arm assembly and the base, the frame assembly defining a pivot axis about which the arm assembly swings during operation of the rocking device. The rotatable seat is positioned on the arm assembly such that the combined center of gravity of the rocking device and the anthropomorphic testing device (ATD) disposed in the seat is laterally offset by less than 1 inch from the rotation axis of the rotatable seat.

[0027] In some aspects, the rocking device includes a base that rests on a horizontal surface during use, the base defining a vertical coverage area. The rocking device also includes a frame assembly comprising a frame arm defining an upper and a lower portion, the lower portion of the frame arm being coupled to the base via a handle and inclined at an angle relative to the vertical coverage area at an interconnection point, such that the lower portion of the frame arm lies outside the vertical coverage area. The rocking device also includes a rocking arm assembly coupled to the frame assembly, the rocking arm assembly including a seat for holding a child during use. The lower and upper portions together define a curvature such that the upper portion of the frame arm intrudes into the vertical coverage area.

[0028] In some aspects, the rocking device includes a base member that rests on a horizontal surface during use, the base member defining a vertical coverage area. The rocking device also includes a frame assembly comprising a frame arm defining an upper and a lower portion, the lower portion of the frame arm being coupled to the base via a handle and inclined at an angle relative to the vertical coverage area at an interconnection point such that the lower portion of the frame arm lies outside the vertical coverage area. The rocking device also includes a drive coupled to the upper portion, wherein at least a portion of the drive is located within the vertical coverage area. The rocking device also includes a rocker arm assembly coupled to the drive, the rocker arm assembly being included in a seat for holding a child during use.

[0029] In some aspects, the rocking device includes a frame assembly and a hub rotatably coupled to the frame assembly at a pivot axis. The rocking device also includes a seat and a rocking arm, a first end of which is attached to the seat. A second end of the rocking arm is attached to the hub, such that rotation of the hub relative to the frame assembly about the pivot axis causes rotation of the rocking arm and the seat. The rocking device also includes at least one permanent magnet disposed on one of the frame assembly and the hub, and at least one electromagnet disposed on the other of the frame assembly and the hub. The at least one electromagnet and the at least one permanent magnet are configured to exert a magnetic force on each other, causing the hub to rotate about the pivot axis relative to the frame assembly.

[0030] In some aspects, the rocking device includes: an arm assembly having a seat; and a frame assembly coupled to the arm assembly, the frame assembly defining a pivot axis about which the arm assembly rotates during operation of the rocking device. The rocking device also includes at least one permanent magnet disposed on one of the arm assembly and the frame assembly, positioned to define an arc centered on the pivot axis. The rocking device also includes an electromagnet disposed on the other of the arm assembly and the frame assembly. The at least one permanent magnet is arranged to have opposite polarities facing the electromagnet. The rocking device is configured such that when the arm assembly is in an intermediate position and the electromagnet is electrically activated, both attractive and repulsive magnetic forces are simultaneously generated between the electromagnet and the at least one permanent magnet.

[0031] In some aspects, the rocking device includes: an arm assembly having a seat; and a frame assembly coupled to the arm assembly, the frame assembly defining a pivot axis about which the arm assembly rotates during operation of the rocking device. The rocking device also includes an electromagnet disposed on the frame assembly and at least one permanent magnet disposed on the arm assembly, and is positioned such that the north pole and south pole of at least one permanent magnet are magnetically aligned with the electromagnet during operation of the rocking device. When the rocking device is in a neutral position, the electromagnet has an angular offset relative to the north and south poles of the at least one permanent magnet about the pivot axis.

[0032] All combinations of the concepts described above and the additional concepts discussed in more detail below (provided that these concepts do not contradict each other) constitute part of the inventive subject matter disclosed herein. In particular, all combinations of the claimed subject matter appearing at the end of this disclosure are part of the inventive subject matter disclosed herein. Terms used herein that may also appear in any disclosure incorporated by reference should be given the meaning most consistent with the specific concepts disclosed herein. Attached Figure Description

[0033] Those skilled in the art will understand that the accompanying drawings are primarily for illustrative purposes and are not intended to limit the scope of the inventive subject matter described herein. The drawings are not necessarily drawn to scale; in some cases, various aspects of the inventive subject matter disclosed herein may be exaggerated or enlarged in the drawings to facilitate understanding of different features. In the drawings, similar reference numerals generally refer to similar features (e.g., elements with similar functions and / or structures).

[0034] FIG. 1 This is a perspective view of the swing device of the present invention according to an exemplary embodiment.

[0035] FIG. 2 yes FIG. 1 Side view of the swing device.

[0036] FIG. 3A It is used for FIG. 1 Enlarged view of the housing and controller of the magnetic actuator of the swing device.

[0037] FIG. 3B It is used for FIG. 1 Enlarged cross-sectional view of the housing and controller of the magnetic actuator of the swing device.

[0038] FIG. 4 yes FIG. 1 An enlarged perspective view of the portion of the magnetic actuator of the rocking device coupled to the rocking arm.

[0039] FIG. 5 yes FIG. 4 A magnified front view of this part of the magnetic drive.

[0040] FIG. 6 yes FIG. 1 An enlarged side perspective perspective of this part of the magnetic actuator of the swing device, which is coupled to the frame arm and holds one or more electromagnets.

[0041] FIG. 7 yes FIG. 6 The image shows an enlarged top-view perspective view of this part of the magnetic actuator.

[0042] FIG. 8 The portion of the magnetic actuator coupled to the rocker arm is shown, along with the location of the optical sensor.

[0043] FIG. 9 yes FIG. 8 The enlarged view of the optical sensor shown also illustrates a slot encoder that can move between the light source and the detector of the optical sensor.

[0044] FIG. 10 yes FIG. 9 An enlarged view of the slot encoder shown.

[0045] FIG. 11 yes FIG. 9 An enlarged view of the optical sensor shown.

[0046] FIG. 12 This is an enlarged view of the magnetic actuator with its housing removed, which includes two permanent magnets and one electromagnet.

[0047] FIG. 13 yes FIG. 12 An enlarged front view of the magnetic actuator in the neutral / rest position is shown.

[0048] FIG. 14 yes FIG. 13 The enlarged front view of the magnetic actuator is shown, with the rocker arm rotated to the left to its maximum deflection / maximum swing angle.

[0049] FIG. 15 yes FIG. 13 The enlarged front view of the magnetic actuator is shown, with the rocker arm rotated to the right to its maximum deflection / maximum swing angle when viewed facing the rocking seat.

[0050] FIG. 16 Another magnetic actuator for a swinging device is shown, which includes three permanent magnets and two electromagnets.

[0051] FIG. 17 It shows FIG. 16 The magnetic actuator, in which the rocker arm rotates to the left to the maximum deflection / maximum swing angle.

[0052] FIG. 18 It shows FIG. 16 The magnetic actuator, in which the rocker arm rotates to the right to the maximum deflection / maximum swing angle.

[0053] FIG. 19 Another magnetic actuator for a swinging device is shown, which includes a permanent magnet and an electromagnet.

[0054] FIG. 20A It shows FIG. 19 The magnetic actuator, in which the polarity of the permanent magnet and the electromagnet causes the rocker arm to deflect to the left.

[0055] FIG. 20B It showsFIG. 19 The magnetic actuator, in which the rocker arm rotates to the left to the maximum deflection / maximum swing angle.

[0056] FIG. 20C It shows FIG. 19 The magnetic actuator, in which the polarity of the permanent magnet and the electromagnet causes the rocker arm to deflect to the right.

[0057] FIG. 20D It shows FIG. 19 The magnetic actuator, in which the rocker arm rotates to the right to the maximum deflection / maximum swing angle.

[0058] FIG. 21A A circuit block diagram is shown, including a controller for controlling the operation of a rocking device with a magnetic actuator.

[0059] FIG. 21B A method for operating a swinging device using a magnetic actuator is shown.

[0060] FIG. 21C It shows FIGS. 8-11 The example operation of the dual optical sensors shown includes the detection of changes in the swing direction.

[0061] FIG. 21D An example control loop of a proportional-integral-derivative (PID) controller is shown for controlling the operation of a magnetic actuator of a rocking device.

[0062] FIG. 22A A sliding rocking device including a magnetic actuator is shown.

[0063] FIG. 22B It shows FIG. 22A Side view of the sliding swing device.

[0064] FIG. 23A It shows FIG. 22A A perspective view of the gliding swing mechanism, including a partial dissection view of a portion containing a magnetic actuator to reveal internal details.

[0065] FIG. 23B It shows FIG. 22A Enlarged view of the magnetic actuator of the sliding swing device.

[0066] FIG. 24A It shows FIGS. 1-2 A side view of the swing device, further showing the orientation of the swing arm at 15° relative to the horizontal baseline / plane.

[0067] FIG. 24B It shows FIGS. 1-2 A side view of the swing device, further showing the orientation of the swing arm at 30° relative to the horizontal baseline / plane.

[0068] FIG. 24C It shows FIGS. 1-2 A side view of the swing device, further showing the orientation of the swing arm at 45° relative to the horizontal baseline / plane.

[0069] FIG. 25A A rocking device with a removable, separate seat is shown, wherein the seat is removed from the rest of the rocking device.

[0070] FIG. 25B It shows FIG. 25A A rocking device in which the seat is coupled to the rest of the rocking device.

[0071] FIG. 25C It shows FIG. 25A An exploded perspective view of the seat of the rocking device, with the soft material removed to show structural details.

[0072] FIG. 25D It shows FIG. 25C The seat, in which the toy rod, rocker arm, and seat base have been further removed to reveal structural details.

[0073] FIG. 26A It shows FIG. 25A The cross-section of the latching mechanism of the removable seat.

[0074] FIG. 26B yes FIG. 26A An enlarged view of the latching mechanism, in which the latch is engaged.

[0075] FIG. 26C yes FIG. 26A An enlarged view of the latching mechanism, in which the latch is disengaged.

[0076] FIG. 27A It shows the use of FIG. 1 An example air gap between the permanent magnet and the electromagnet of a swinging device.

[0077] FIG. 27B It shows the use of FIG. 1 Another example of an air gap between the permanent magnet and the electromagnet in a swinging device.

[0078] FIG. 28 A permanent magnet with a curved surface is shown when used with any of the swinging devices disclosed herein.

[0079] FIG. 29 It shows the relationship with FIG. 1 Permanent magnets with different surface designs are used together with the swinging device.

[0080] FIG. 30 It is an image of a permanent magnet with a removable metal cover formed as a curved surface.

[0081] FIG. 31A A side view of a typical rocking device with a magnetic actuator is shown.

[0082] FIG. 31B It shows FIG. 31A A three-dimensional diagram of the swinging device.

[0083] FIG. 32 It shows FIG. 31A The image shown is an enlarged view of the motor, with some parts of the housing removed to show details.

[0084] FIG. 33A It shows the use of FIG. 31A An example motor for a swinging device has twelve permanent magnets and twelve electromagnets.

[0085] FIG. 33B It shows the use of FIG. 31A An example motor for a swinging device has ten permanent magnets and ten electromagnets.

[0086] FIG. 33C It shows the use of FIG. 31A An example motor for a swinging device has eight permanent magnets and eight electromagnets.

[0087] FIG. 33D It shows the use of FIG. 31A An example motor for a swinging device has six permanent magnets and six electromagnets.

[0088] FIG. 33E It shows the use of FIG. 31A An example motor for a swinging device has four permanent magnets and four electromagnets.

[0089] FIG. 33F It shows the use of FIG. 31A An example motor for a swinging device has two permanent magnets and two electromagnets.

[0090] FIG. 34A It shows the use of FIG. 31A An example motor for a swinging device has two permanent magnets and one electromagnet.

[0091] FIG. 34B It shows a local stator FIG. 34A Example motor.

[0092] FIG. 34C It shows FIG. 34A An example motor, in which a portion of the stator is formed as a support.

[0093] FIG. 35A This is a front perspective view of the user interface panel of a swing device according to another embodiment of the invention.

[0094] FIG. 35B yes FIG. 35A A side-view perspective of the user interface panel.

[0095] FIG. 35C yes FIG. 35A A bottom-view perspective of the user interface panel.

[0096] FIG. 35D yes FIG. 35A A top-down perspective view of the user interface panel.

[0097] FIG. 35E yes FIG. 35A The front view of the user interface panel.

[0098] FIG. 35F yes FIG. 35A The side view of the user interface panel.

[0099] FIG. 35G yes FIG. 35A A top view of the user interface panel.

[0100] FIG. 36A The connection between the swing frame arm and the base component of the swing device disclosed herein is shown.

[0101] FIG. 36B It shows FIG. 36A The connector, in which the cover is removed.

[0102] FIG. 36C yes FIG. 36A Another view of the connector, where the cover has been removed.

[0103] FIG. 36D It shows the method for forming FIGS. 36A-36C Details of the connecting rod and base components shown.

[0104] FIG. 36E Another view of the base component is shown, along with the cutout for the receiving handle.

[0105] FIG. 36F The welding area for securing the handle to the base component is shown.

[0106] FIG. 36G The bolts used to secure the frame arm to the handle are shown before insertion.

[0107] FIG. 36H It shows FIGS. 36A-36C The diagram shows a cross-sectional view of the connector and details of the connector formed between the frame arm, handle, and base member.

[0108] FIG. 37 It shows FIG. 2The side view, and references other aspects of the swing device. Detailed Implementation

[0109] The following is a more detailed description of various concepts and implementations related to a rocking device with a magnetic actuator and a controller. It should be understood that the various concepts described above and discussed in more detail below can be implemented in many ways. Examples of specific implementations and applications are provided primarily for illustrative purposes to enable those skilled in the art to practice implementations and alternatives that are obvious to those skilled in the art.

[0110] The accompanying drawings and exemplary embodiments described below are not intended to limit the scope of this embodiment to a single example. Other embodiments can be implemented by changing some or all of the described or illustrated elements. Furthermore, if certain elements of the disclosed exemplary embodiments can be implemented partially or completely using known components, in some cases only those portions of these known components necessary for understanding this embodiment are described, and detailed descriptions of other portions of these known components are omitted to avoid obscuring this embodiment.

[0111] The aspects of the swing device disclosed herein include a compact magnetic actuator and controller that allow the swing device to self-start without user intervention. The magnetic components of the actuator are positioned near the swing axis (also known as the pivot axis), thus providing a compact, quiet / noise-free actuator design with a minimal number of components suitable for long-term use. Due to the proximity to the axis, the magnetic components can be relatively closer to each other and closer to the axis compared to conventional methods. This allows for flexible actuator designs, i.e., using smaller / weaker magnets to achieve the same swing operation as conventional methods, or using the same / larger magnets to achieve a greater range of swing motion.

[0112] The aspects of the swing device disclosed herein also provide the use of dual optical sensors to control the swing motion, which can detect changes in the swing direction without needing to detect the center of the swing motion. In this way, swing control is independent of the strict requirement that the swing device be placed on a horizontal plane.

[0113] The rocking device disclosed herein also provides an improved user interface panel with a recessed dial for controlling rocking parameters. This panel allows for one-handed operation while protecting the dial and the underlying control circuitry from accidental damage caused by the caregiver bumping the rocking device while moving it, or by the rocking device tipping over.

[0114] The various aspects of the swing device disclosed herein also provide a reduced base coverage area with a single frame arm rising from the base coverage area, thus providing a smaller, material-saving design that remains structurally sound. The single frame arm is rigidly connected to the base via a handle to prevent rotational losses during swinging motion and is bent to maintain stable operation of the swing device.

[0115] The various aspects of the rocking device disclosed herein also offer a modular design, enabling ordinary caregivers / users to easily assemble the components. These components are designed / configured so that no electrical assembly (e.g., connecting a power source to the magnetic actuator) is required from the caregiver, thereby preventing accidental damage to the magnetic actuator due to caregiver misoperation / error.

[0116] These and several other advantages of the swing device and its corresponding components disclosed herein will now be described in further detail.

[0117] Swing device

[0118] FIG. 1 Figure 3 illustrates a rocking device 10 (sometimes also referred to as a "rocker"), which includes a rocking frame assembly 12, a rocking arm assembly 15, and a magnetic actuator 20. The rocking frame assembly 12 includes a base / base member 13 placed on a surface (e.g., the ground) to provide stability for the movement of the rocking arm assembly 15 during use. The base member 13 can have any suitable shape (e.g., elliptical, oval, square with rounded corners, etc.) and cross-sectional area. The shape and / or cross-sectional area can be selected based on factors including, but not limited to: coverage area, stability, the material of the base member 13 and / or other parts of the device 10, the orientation relative to the portion of the device 10, the orientation relative to the direction of the rocking motion, etc.

[0119] The swaying frame assembly 12 also includes a frame arm 14 (sometimes also referred to as a "swaying frame arm," "frame support member," or variations thereof), which extends generally upward from the base 13 (i.e., away from the surface / ground on which the device 10 rests or is placed). The frame arm 14 and / or other parts of the swaying frame assembly 12 can be composed of any suitable structural components or elements, such as iron tubing, aluminum tubing, and / or the like. In some cases, such as FIG. 1As shown in Figure 3, the frame arm 14 may have an inherent curvature along its length (i.e., it is not straight). This curvature helps to reduce the end-to-end length of the frame arm 14, which in turn makes the overall height of the rocking device 10 suitable for use by an average adult user / caregiver. The reduction in length also results in less material being used to manufacture the support member 14, leading to a reduction in weight. In some cases, the frame arm 14 may be flexible, so that when the user places some weight on the device 10 (e.g., against the housing 21), the member 14 will bend without breaking. In some cases, the frame arm 14 may be rigid. In some cases, the frame arm 14 may be hollow and have an elliptical cross-section with its major axis facing inwards towards the interior of the rocking device 10. The wall thickness of the frame arm 14 can be chosen to balance strength, flexibility, and weight, and can range from about 1.2 mm to about 1.6 mm, including all values ​​and subranges therein.

[0120] A rotating member 14a is coupled at one end to a frame arm 14 and at the other end to a drive unit 20 for mounting the drive unit 20 to the frame arm 14. In some cases, the rotating member 14a may be integrally formed with the frame arm 14, with the drive unit 20, or with both. The rotating member 14a and the drive unit 20 may together define a pivot axis P-P' about which the rocking device rotates, as explained in more detail herein.

[0121] like FIGS. 24A-24C As shown, the frame arm 14, the rotating member 14a, or both can be shaped and / or otherwise configured such that the pivot axis P-P' can be oriented at any suitable angle α1 relative to the horizontal reference line HR. The reference line HR can generally be parallel to the floor or surface on which the device 10 is placed. FIG. 24A The apparatus 10 is shown when α1 is about 15°. FIG. 24B The apparatus 10 is shown when α1 is approximately 30°. FIG. 24C The device 10 is shown with α1 at approximately 45°. Typically, the angle α1 can be chosen based on factors such as the desired natural frequency and / or half-cycle of the rocking motion, where a relatively large value of α1 provides a slower motion than a relatively small value of α1. Another factor can be the child's experience of the rocking motion in the seat 18 (sometimes also referred to as the "seat frame," described in detail below), where a relatively large value of α1 will cause the child to experience more of a gliding or rocking motion than a relatively small value of α1, while a relatively low value of α1 will cause the child to experience more of a pendulum-like motion.

[0122] For example FIGS. 24A-24CAs shown, the user interface panel 22 may define interface panel II' (shown here in a side view), which in turn defines an interface angle γ relative to the pivot axis P-P'. The interface angle γ can generally be selected to allow an adult caregiver (typically higher than the rocking device 10) to easily view and interact with the user interface panel 22. The interface angle γ can be approximately 90 degrees, approximately 100 degrees, approximately 110 degrees, approximately 120 degrees, approximately 130 degrees, approximately 140 degrees, or greater, including all values ​​and subranges therein.

[0123] Refer again FIG. 1 - Figure 3 shows that the rocker arm assembly 15 that supports or holds (e.g., in a suspended state) the seat / seat frame 18 during use includes a hub 16 mounted for pivoting about the pivot axis P-P'. FIG. 3A A pivot plane PP, including the pivot axis P-P', is also shown. The pivot plane PP may be a plane passing through the pivot axis and may be generally perpendicular to the floor or surface on which the device 10 is mounted. Specifically, the hub 16 is mounted, coupled to, and / or otherwise attached along the pivot axis P-P' to the pivot axis rod 19 (in... FIG. 4 (Most clearly visible) The pivot axis rod 19 is carried by the frame arm 14 in a manner that allows rotation about the pivot axis. For example, the hub 16 can be rigidly mounted on the pivot axis rod 19, which is rotatably coupled to one end of the frame arm 14 via ball bearings (not shown), such that the hub 16 and the rod 19 can rotate about the pivot axis P-P'. As shown, the hub 16 can protrude beyond the housing 21, for example through an opening formed in the housing 21. Thus, during the assembly of the rocking device 10, the caregiver can easily couple the rocking arm 17 to the magnetic actuator without compromising the integrity of the housing and the actuator.

[0124] The rocker arm 17 is coupled to a hub 16 outside the housing 21 and projects downward from the hub 16 (i.e., toward the base member 13), bends toward the center of the device 10, and then (optionally, as shown) bends upward to couple to the seat frame 18. Regarding FIGS. 25A-25D , FIGS. 26A-26C The coupling between the rocker arm 17 and the seat 18 is explained in more detail. The seat frame 18 can accommodate any suitable hard and / or soft material (not shown) to form a seat for a child. The rocker arm 17 and the seat frame 18 hang from the hub 16, so the rocker arm 17 and the seat frame 18 can pivot / rotate back and forth about the pivot axis rod 19 and the pivot axis P-P' from the left direction L to the right direction R in an arc, circular and / or generally pendulum-like motion, such as... FIG. 5As best shown in the diagram. The back-and-forth motion (also known as rocking motion, oscillating motion, pendulum motion, and / or variations thereof) can characterize the swing angle α between the pivot axis PP-' and the L direction, and correspondingly characterize the swing angle α between the pivot axis P--P' and the R direction. It should be understood that the swing angle α can be different for the L and R directions, for example, when the device 10 is not on a horizontal plane and has a skew, such that the degree of rocking motion in one direction can differ from that in the other. The swing angle α can range from about 2 degrees to about 20 degrees, including all values ​​and subranges therein. The maximum swing angle α during use can be predetermined, specified by the caregiver, limited by the mechanical design of the device 10, limited by the weight of the infant in the seat 18, and / or similar.

[0125] The shape and size of the housing 21 of the swing device 10 can cover the moving parts of the magnetic drive mechanism and the swing arm assembly 15. FIG. 3A , FIG. 3B A user interface panel 22, coupled to or integrally formed with the housing 21, is shown, which includes a set of controllers 23. Controllers 23 may include preset application or function selection buttons / switches 24, such as, for example, a swing amplitude controller (i.e., the degree or range of rotation of the rocking device from its intermediate or resting position), music, natural sounds, volume control, lighting (e.g., a nightlight, not shown, mounted on the hub or seat frame 18, which can illuminate a child placed in the rocking device 10 during use) and / or the like. Controllers 23 also include a dial 25 for selecting parameters of the selected function. When the user selects the swing amplitude controller from switch 24, the dial 25 can then be used to select one of several preset values ​​(sometimes referred to as setpoints) for the swing angle α. For example, the user can select representative values ​​from 1 to 6, where value 1 corresponds to a swing angle α of 3 degrees, value 2 corresponds to a swing angle α of 6 degrees, value 3 corresponds to a swing angle α of 9 degrees, value 4 corresponds to a swing angle α of 12 degrees, value 5 corresponds to a swing angle α of 15 degrees, and value 6 corresponds to a swing angle α of 18 degrees. The size and resolution of the swing angle available to the user can be based on many factors, including but not limited to child safety considerations and the resolution of the swing motion detection (i.e., through...). FIGS. 8-11 (The optical sensor shown) and / or similar factors. In some cases, the user can program and / or otherwise directly specify and set the swing angle α during use.

[0126] Rotating and pushing / clicking the dial 25 allows the user / caregiver to switch and select device parameters to be adjusted. For example, when selecting a volume application, rotating the dial 25 allows adjustment to the desired music volume, and so on. Illumination may include a visual indicator 26 (e.g., a light panel with a set of light-emitting diodes (LEDs)) that provides visual indication of a predetermined setting of the swing amplitude, information about the selected range of each selected function, etc. FIG. 3BAlso shown is a circuit board 29 on which a controller 23 and a speaker (for playing music, ins (plug jacks), and / or other sounds, not shown) are mounted. The panel 22 includes an opening 28 formed in front of the speaker to allow music and / or sound to be transmitted to the user. FIG. 3A , FIG. 3B The panel 22 shows that the turntable 25 is projected from the surface 22a of the panel 22, which facilitates user positioning and control.

[0127] FIGS. 35A-35G Another panel design is shown, in which a user panel 3522 is coupled to a housing 3521 and includes a selection button 3524 (e.g., similar to button 24), a light panel 3526 (e.g., similar to a visual indicator 26), and a turntable 3525. Unlike a protruding turntable 25, the turntable 3525 is recessed from a surface 3522a into a hole, cavity, or pocket 3530 in the surface 3522a, such that the surface 3522a includes a recessed portion 3535. The depth of the recessed portion 3535 from the surface 3522b can be approximately 0.25 inches, approximately 0.5 inches, approximately 1 inch, approximately 1.5 inches, or greater, including all values ​​and subranges therein. The size and position of the turntable 3525 can make it flush with the surface 3522a, not protruding relative to the surface 3522a, protruding minimally relative to the surface 3522a, or protruding to some extent beyond the surface 3522a (e.g., see...). FIG. 35B , 35F (35G). In some cases, surface 3522a has curvature at least near turntable 3525, and the surface of turntable 3525 can also be bent to conform to this curvature. For example... FIGS. 35A-35G As shown, the selection button 3524 and the light panel 3526 can also be configured to be flush with the surface 3522a, not protruding relative to the surface 3522a, protruding to a minimal extent relative to the surface 3522a (e.g., perceived by the user as a notch), or protruding to a certain degree relative to the surface 3522a. The user can engage the selection button 3524 by pressing it, or by inserting their finger into the cavity 3530 to grip the side of the turntable 3525. FIGS. 35A-35G In the design, the button 3524 and / or turntable 3525 are minimized from the possibility of being pressed or even damaged due to accidental tipping, pushing, or brushing against environmental factors during unpacking and / or assembly, thereby reducing the possibility of certain features of the rocking device or the device becoming completely inoperable. When the button 3524 and turntable 3525 are physically coupled to the circuit board (e.g. FIG. 3B As shown), the flush design can also prevent or minimize misalignment and / or damage to the underlying circuit board, which could also cause some or all functions of the swing device to malfunction.

[0128] Refer againFIG. 3B The view also shows an optical sensor 45, a bar 35 (sometimes also called a "slot bar", "optical encoder bar" and its variants), and a magnetic actuator with an electromagnet 51 and two permanent magnets 52, 53, all of which will be explained in more detail in the following sections.

[0129] magnetic drive

[0130] FIGS. 4-11 The magnetic actuator 20 of the rocking device 10 is shown (sometimes also referred to as "magnetic drive mechanism", "drive" and its variants). FIG. 4 and FIG. 5 The arrangement and configuration of the rocker arm portion 30 of the magnetic actuator 20, i.e., the components of the magnetic actuator 20 directly or indirectly coupled to the rocker arm 17, are shown. Typically, these components of the rocker arm portion 30 can experience some form of motion (linear, rotational, and / or similar motion) during rocking motion. The pivot axis rod 19 is held in place while allowing rotation via the frame arm portion 40 of the magnetic actuator 20, i.e., the components of the magnetic actuator directly or indirectly coupled to the frame arm 14 (see...). FIG. 6 and FIG. 7 Typically, these components of the frame arm section 40 can be static during the swinging motion. The pivot axis rod 19 can also rotatably support the swing arm assembly 15 via longitudinally spaced bearings 27, which can be mounted on an electromagnet or an electromagnet support 151 that holds the electromagnet 51 in place. The swing arm section 30 rotates in an arc AR centered on the rotation axis P-P'. PM The hub houses permanent magnets 52 and 53, each of which has a different angular spacing relative to the pivot plane PP. However, as explained in more detail in Figures 31-34, any suitable number of permanent magnets can be used. The permanent magnets 52 and 53 are mounted on a permanent magnet support 152, which is coupled to the hub 16 and the rocker arm 17.

[0131] FIG. 5 As shown in the example dual permanent magnet layout, the angular spacing of magnets 52, 53 about the pivot axis P-P' relative to the pivot plane PP (e.g., based on the geometric center, centroid, and / or other predetermined point of the magnet) can be substantially similar to the maximum swing angle α. Permanent magnets 52, 53 can be formed of ceramic ferrite. However, alternatively, permanent magnets 52, 53 can also be made of neodymium or other equivalent materials.

[0132] Each permanent magnet 52, 53 defines a north pole and a south pole, and magnets 52, 53 can be arranged such that they are oriented towards the pivot axis rod 19 with alternating magnetic poles (sometimes referred to as polarities). For example, the north pole of magnet 52 (as shown) can face away from rod 19, and its south pole can face rod 19. The south pole of magnet 53 (as shown) can face away from rod 19, and its north pole can face rod 19. Alternatively, permanent magnets 52, 53 can be arranged with polarities opposite to those in the examples described above.

[0133] The frame arm portion 40 can be fixed to the upper end of the upright frame support 14, for example, to one end of the rotating member 14a or to the frame arm 14 itself. The frame arm portion 40 supports, is coupled to, and / or otherwise includes an electromagnet 51, although any suitable temporary magnet capable of controllably switching its magnetic poles can be used. The electromagnet 51 can be controlled (e.g., via a controller such as controller 2102, as...) FIGS. 21A-21D As explained in more detail in the text), to define two switchable poles, namely the North Pole and the South Pole, and to be oriented such that one of the switchable poles faces and the other of the switchable poles faces away from the pivot axis rod 19 and magnets 52, 53.

[0134] like FIGS. 8-11 As shown, the optical sensor 45 is securely fixed to the frame arm portion 40 and communicatively coupled to the controller 2102. During use, the optical sensor 45 is optically coupled and / or engaged with the slot strip 35 securely fixed to the swing arm portion 30. The optical sensor 45 includes sensing supports 46 and 47 with corresponding sensing beams 46a and 47a, and is centered about the pivot axis P-P', i.e., the plane PP can pass through the optical sensor 45, such as... FIG. 7 As shown. For example, each bracket 46, 47 may include a light-emitting diode (LED, not shown) emitting its sensing beam 46a, 47a, which can be detected by a photodetector (e.g., a photodiode) arranged opposite to its corresponding LED on the bracket. The LEDs can continuously emit beams 46a, 47a during use, which can be continuously detected by the photodetector. Although collimated beams are shown here, it should be understood that beams 46a, 47a may exhibit a degree of convergence and / or divergence, i.e., conical shape. As explained in more detail herein, the use of two sensing beams 46a, 47a can be used to detect changes in the direction of oscillation. Furthermore, the combination of each LED and its corresponding photodetector can be considered as an optical sensor, such that optical sensor 45 includes a pair of optical sensors as shown, and can generally include any suitable number of LED photodetector pairs as optical sensors.

[0135] like FIG. 10As shown, the slot bar 35 (sometimes also referred to as an "encoder," "optical encoder," "optical bar," "encoder bar," and variations thereof) includes a slot 36 and a body portion 37. As illustrated, the slot bar 35 is generally curved and defines a curvature / arc AR centered on the pivot axis P-P'. SS The slot strip 35 may include approximately 6 to 20 slots (reference numeral 36), including all values ​​and subranges therebetween. The yaw angle at the pivot axis P-P' is approximately 1 degree to approximately 3 degrees or greater, including all values ​​and subranges therebetween. The center-to-center spacing C between adjacent slots 36 is... s --C s '(See FIG. 10 The slot 36 can range from approximately 0.15 inches, approximately 0.21 inches, approximately 0.3 inches, approximately 0.4 inches to approximately 0.5 inches, including all values ​​and subranges therein. The slot 36 can be formed as a cutout in the strip 35. In some cases, the slot 36 may include a thin film, window, and / or other layers disposed thereon that are substantially optically transparent at the wavelengths of the sensing beams 46a and 47a. Conversely, the body portion 37 can be composed of any suitable material that is optically opaque to the wavelengths of the sensing beams 46a and 47a. The curvature of the strip 35 and the spacing C s --C s The angular interval between the centers of adjacent slots (i.e., the angle between adjacent slots at the pivot axis P-P') can be between approximately 1 degree and approximately 3 degrees, including all values ​​and subranges therein. The number of slots can be selected such that the angular interval between the first slot and the last slot 36 is at least equal to the maximum permissible swing angle α.

[0136] The optical sensor 45 and the slot strip 35 are positioned relative to each other such that when the rocker arm portion 30 rotates about the P-P' axis, the slot strip 35 passes through the sensing supports 46, 47 and engages with the sensing beams 46a, 47a. While the slots 36 allow the beams 46a, 47a to pass through them, the body portion 37 blocks this continuity of the beams. In other words, the sensing beams 46a and 47a can be "tripped" by the body portion 37. It should generally be understood that, depending on the beam width relative to the width of the slot 36 and the width of the body portion 37 located between the slots, the sensing beam may not be completely blocked by the body portion 37. The body portion 37 between adjacent slots can also be referred to as a "light blocking portion," so the strip 35 can generally be considered to include staggered or continuous slots and light blocking portions.

[0137] However, if the optical signal detected at the photodetector of optical sensor 45 is below a predetermined threshold, the controller can assume that the corresponding sensing beam is blocked by the light blocking part. Conversely, the sensing beam may not transmit completely through slot 36, but if the optical signal detected at the photodetector is above the predetermined threshold, it can be assumed that the corresponding sensing beam is transmitting through one of the slots 36. In some cases, each photodetector of optical sensor 45 may also include a slit that limits the width of the optical signal reaching it.

[0138] Interruptions in the transmission of beams 46a and 47a can be detected by the photodetectors of sensor 45, and can be roughly analogous to, for example, different periodic signals for each photodetector, being maximum when slot 36 engages with the beam and minimum when body portion 37 engages with the beam. This is in FIG. 21C A more detailed explanation is provided below. Since beams 46a and 47a have a finite cross-sectional width, which can be wider or narrower at the interaction point than the body portion 37 between slot 36 and the continuous slots, the entire beam does not need to be blocked by the body portion 37 when interacting with it. Similarly, due to the beam width, the entire beam does not need to pass through slot 36. Therefore, it should be understood that when the detection signal at the photodetector is higher than a predetermined threshold, beams 46a and 47a can be considered to have passed through slot 36. Similarly, when the signal detected at the photodetector is lower than a predetermined threshold but does not need to be zero, beams 46a and 47a can be considered to be blocked by the body portion 37.

[0139] Center-to-center spacing C between beams 46a and 47a e --C e It can range from approximately 0.25 inches, 0.26 inches to approximately 0.4 inches, including all values ​​and subranges in between. In some cases, the interval C... e --C e This allows at least one complete slot 36 to always be positioned between beams 46a and 47a during the swing motion. Typically, this spacing results in the following: when one of the sensing beams (e.g., beam 46a) is centered and unobstructed in slot 36, the other beam (e.g., beam 47a) will be located at or surround the edge of the other slot 36, transitioning from obstructed to unobstructed to other states. Similarly, if one of the sensing beams 46a and 47a is centered in the portion between slots 36, the other beam will be located at or surround the edge of the other slot 36, transitioning from obstructed to unobstructed depending on the swing direction, or vice versa.

[0140] In some cases, interval C e --C eThis allows at least a portion of the two slots 36 and the body portion 37 (i.e., the light blocking portion) therebetween to remain positioned between the beams 46a and 47a during the swinging motion. As explained in more detail herein, this spacing C is superior to conventional techniques. e --C e It can provide increased resolution for determining swing motion.

[0141] FIG. 8 A hollow cover 49 is shown as an extension of the frame support 14 and / or the rotating member 14a, mechanically supporting the pivot axis rod 19 and the permanent magnets 31-33. As shown, the cover can be bent and / or otherwise include notches to partially or completely accommodate the pivot axis rod 19. For example, the curvature of the notches can be selected to match the curvature of the pivot axis rod 19. The cover 49 can also provide pathways for electrical and / or electronic wiring (e.g., powering the controller 2102, user interface panel 22, and / or similar components). Furthermore, the cover 49 can provide mechanical stops for the movement of the rocker arm assembly 15, i.e., physically limiting the swing angle. In some cases, the mechanical stops (e.g., the outer shell of the housing 21) can prevent the rocker arm assembly 15 from significantly exceeding the desired maximum swing angle α, as this could make the rocker device 10 unstable and prone to tipping over.

[0142] The magnetic actuator 20 offers several structural advantages compared to traditional methods. For example, none of the components of the magnetic actuator 20 (such as permanent magnets, electromagnets, optical sensors, control circuits, and / or similar components) are directly formed or coupled to the seat 18. Therefore, the seat design is simplified and can be based primarily on mechanical factors rather than electrical or magnetic ones. Safety is also improved by isolating these components from the child user of the seat. Furthermore, modularity in the seat design is possible without worrying about how it might affect the placement of these different components. A beneficial consequence is the ability to seamlessly replace the seat when it is damaged, worn, or even when a new design is available. Other advantages include a relatively lightweight seat / seat frame, which in turn makes it easy to disassemble and transport, and further allows for integration into other children's products such as car seats, playbeds, strollers, and / or similar products.

[0143] As another example, by removing the magnetic actuator 20 from the seat and excluding the pivot axis P-P' from the seat frame, the components of the magnetic actuator 20 can be positioned closer to the pivot axis P-P' of the rotational / turning motion compared to conventional methods, resulting in a smaller overall housing size / volume for the magnetic actuator. This closer placement also allows for closer placement of the permanent magnets 52, 53 and the electromagnet 51. Since the magnetic force between the two poles, including attractive and repulsive forces, increases with increasing proximity, the closer the permanent magnets and electromagnets are placed, the greater the resulting coupling force, and the greater the force that can be used to provide a wider range of rocking motion (i.e., the force used to convert the electrical energy supplied to the electromagnet 51 into magnetic force, and ultimately into mechanical rocking motion). Closer placement also allows for control of tolerances between the magnets 52, 53 and the electromagnet 51. Conversely, smaller and / or weaker magnets can be used to provide the same range of rocking motion compared to conventional methods. This offers space advantages and cost savings due to the use of smaller, weaker magnets and electromagnets. Furthermore, the magnetic actuators described herein (including magnetic actuator 20) do not use gears and / or gearboxes, thereby avoiding the size and noise associated with gearbox-based actuators (including DC motor actuators, which, although using magnets, also use gearboxes).

[0144] Magnetic drive operation

[0145] FIGS. 12-14 The configuration and operation of the magnetic actuator 20 are shown, with the rocker arm portion 30 and the frame arm portion 40 assembled, and the housing 21 removed for clarity. Two permanent magnets 52 and 53 are used (see...). FIGS. 4-5 ) and an electromagnet 51 (see FIG. 6 , FIG. 7 In an example configuration, when assembled and at rest or in the middle, electromagnet 51 can be positioned at an angle relative to the pivot axis P-P' between magnets 52 and 53 (e.g., at an angle in the middle of the axis), i.e., in an alternating manner. FIGS. 14-15 The diagram shows that electromagnets 51 and 42 can be positioned in an intermediate or stationary position or state within the pivot plane PP. This can be considered as the position / state when no excitation current is applied to electromagnet 51, such that non-magnetic forces (e.g., gravity acting on the movable rocker arm assembly 15) primarily determine the positioning of electromagnets 51 and magnets 52 and 53. It should be noted that the intermediate / stationary position can also be rapidly reached when the rocker device 10 is in motion.

[0146] In the middle / resting position (e.g., see FIG. 13Magnets 52, 53, and electromagnet 51 can be considered as being positioned on one side of the pivot axis P-P' (sometimes referred to as the "first side"), while the seat 18 is positioned on the other side of the pivot axis PP-' (sometimes referred to as the "second side"). For example, the seat is positioned between the pivot axis P-P' and the horizontal plane (e.g., the floor) where the rocking device 10 is located, while magnets 52, 53, and electromagnet 51 are positioned in the space above the pivot axis P-P'. Such spacing allows for a more compact design, where the seat 18 and electromagnets 51 / 52, 53 can be positioned close to the pivot axis P-P' with no other components between them. The compact design, with the electromagnets and permanent magnets closer to the pivot axis P-P', also allows for the use of smaller and / or weaker magnets, as the magnetic force between them requires a relatively smaller arc length sufficient to move the permanent magnet through the rocking motion.

[0147] For example, the linear interval or distance between the center of mass or geometric center of electromagnet 51 and the pivot axis P-P' can be at most about 1 inch, about 2 inches, about 3 inches, about 4 inches, about 5 inches, or about 6 inches, including all values ​​and subranges therein. Additionally or alternatively, the linear interval or distance between the geometric center of the surface (e.g., surface 51f) of electromagnet 51 and the pivot axis P-P' can be at most about 0.5 inches, about 1 inch, about 2 inches, about 2.35 inches, about 2.5 inches, about 3 inches, about 4 inches, or about 5 inches, including all values ​​and subranges therein. Similarly, the linear interval or distance between the center of mass or geometric center of one of the permanent magnets 52 and 53 and the pivot axis P-P' can be at most about 0.5 inches, about 1 inch, 1.87 inches, about 2 inches, about 2.5 inches, about 3 inches, about 4 inches, or about 5 inches, including all values ​​and subranges therein. Additionally or alternatively, the linear interval or distance between the geometric center of one of the surfaces (e.g., surface 52f) of the permanent magnets 52 and 53 and the pivot axis P-P' may be up to about 0.5 inches, about 1 inch, 1.5 inches, about 2 inches, about 2.25 inches, about 2.5 inches, about 3 inches, about 4 inches, about 5 inches, including all values ​​and subranges therein.

[0148] As explained in more detail below, when the magnetic drive is arranged and in... FIGS. 12-13In the initial position shown, and when electromagnet 51 is energized, the attractive and repulsive forces generated between magnets 52, 53 and electromagnet 51 can cause the rocker arm assembly 15 to begin rotating about the pivot axis P-P' in the L or R direction. During this movement, magnets 52, 53 can pass very close to electromagnet 51 in a non-contact manner (e.g., within about 0.02 inches, about 0.025 inches, about 0.03 inches, about 0.05 inches, and approximately 0.05 inches, including all values ​​and sub-ranges therein) while maintaining an air gap as rocker arm portion 30 rotates relative to static frame arm portion 40 about pivot axis P-P'.

[0149] Caregivers / users can use panel 22 to start the operation of magnetic actuator 20 and set various operating parameters. For example, caregivers / users can use controller 23 and turntable 25 to select the swing angle α (or its equivalent indicator, such as level 5) for the rocker arm assembly 15 and correspondingly for the magnetic actuator 20. Caregivers can also use controller 23 and turntable 25 to specify the duration for which the rocker arm assembly and magnetic actuator 20 will be operated. If no parameter is selected, the default value of the maximum swing angle can be used, and continuous operation or operation with a predetermined time limit (e.g., 20 minutes) can be performed. The maximum swing angle α of the rocker arm assembly 15 can be defined by the spatial position of magnets 52, 53, and more specifically, by the angular interval between magnet 53 and electromagnet 51.

[0150] As described above, permanent magnets 52 and 53 have pre-established permanent magnetic poles. FIGS. 13-15 An example of pre-established magnetic poles is shown. The electromagnet 51 has no poles before being excited by an electric current (e.g., from a power source such as a wall socket or battery). When the magnetic actuator is in... FIG. 13 In this state, the swing arm assembly 15 will begin to rotate to the left in the direction L (see...). FIG. 14 This rotation is further amplified by the repulsive force between the south pole of magnet 53 and the south pole of electromagnet 51, because the north pole of magnet 52 is attracted to the south pole of electromagnet 51. FIG. 14 As shown, the rotation is affected by the swing angle α, which aligns the attraction poles between magnet 52 and electromagnet 51.

[0151] Typically, the alignment and attraction between the permanent magnet and the electromagnet (i.e., between their opposing surfaces / poles) can be maximized when the overlap between their opposing surfaces / poles is at its maximum. FIG. 14 Magnet 52 and electromagnet 51 in the diagram serve as typical examples of the interaction between any electromagnet and permanent magnet disclosed herein, when they are as FIG. 14When aligned as shown, the attraction between them can be maximized. In this alignment, the surfaces 52f of magnet 52 and 51f of electromagnet 51 are substantially parallel and / or otherwise aligned to the greatest extent possible, and perpendicular to the pivot plane PP. The air gap or separation between surfaces 51f and 52f can be about 0.3 inches or less, about 0.2 inches or less, about 0.15 inches or less, about 0.1 inches or less, about 0.05 inches or less, or about 0.025 inches or less, including all values ​​and subranges in between. The plane PP can also pass through the geometric center, center of mass, or magnetic core of magnet 52 and electromagnet 51. Therefore, when not... FIG. 14 At the positions shown, a misalignment (sometimes referred to as "magnetic alignment") may occur between magnet 52 and electromagnet 51. For example, if the maximum swing angle α is 18 degrees, and the user's input (via panel 22 and turntable 25) is mapped to a swing angle α of approximately 12 degrees, magnet 52 can move from its rest position toward electromagnet 51, but will not reach it. FIG. 14 The maximum degree of alignment is shown. This can be achieved by modulating the excitation of electromagnet 51 according to the user's input of the swing angle α, which in turn affects the attractive force generated between magnet 52 and electromagnet 51, as explained in more detail later.

[0152] In some cases, due to inertia, the magnetic actuator may overshoot beyond the desired swing angle α. The weight of the rocker arm assembly (including any child in the seat frame 18) and the continuous attractive force between magnet 52 and electromagnet 51 will counteract / suppress this effect. In some cases, due to similar weight considerations, the magnetic force between electromagnet 51 and permanent magnets 52, 53 may be insufficient (e.g., too weak to overcome the counteracting gravity) to move the rocker arm assembly 15 through the swing angle α, and may partially move the rocker arm assembly toward that position.

[0153] During this movement of the rocker arm assembly 15, as described above, the slot strip 35 passes through the sensing supports 46, 47, and the controller 2102 can use this movement to detect the direction of movement of the rocker arm assembly 15 and when the direction of movement changes. Upon detecting a change in the direction of movement, the controller 2102 can switch the magnetic poles / polarity of the electromagnet 51 (see...). FIG. 15 This causes the north pole of electromagnet 51 to interact with magnets 52 and 53 at this time.

[0154] At this moment, electromagnet 51 repels magnet 52 and attracts magnet 53. These simultaneously generated magnetic forces, along with gravity, cause the rocker arm assembly 15 to move in the opposite direction (i.e., to the right, R, see...). FIG. 15The magnetic actuator 20 can swing fully or partially in the right direction R by an angle α. When another change in direction is detected, the controller 2102 can switch the poles of the electromagnet 51 again, and the magnetic actuator 20 will move to the left direction L again.

[0155] FIGS. 16-18 Another swinging device 50 is shown. Unless otherwise explicitly stated, similarly labeled and named components may be structurally and / or functionally similar to those of device 10. Unlike device 10, which includes a single centrally positioned (i.e., aligned with the pivot plane PP) electromagnet 51 and a pair of permanent magnets 52, 53 angularly offset relative to the pivot plane PP, device 50 includes three magnets 31-33 and two electromagnets 41, 42. Similar to magnets 31-32, electromagnets 41, 42 may also be positioned on an arc centered on the pivot axis P-P'. Similar to the permanent magnets, each electromagnet 41, 42 may have a different angular spacing about the pivot axis P-P relative to the pivot plane PP. Here, FIG. 16 As shown, for the exemplary dual-electromagnetic-body layout, electromagnets 41 and 42 can be equidistant from the pivot plane PP, and can be spaced about half of the maximum permissible swing angle α around the pivot axis P-P'.

[0156] In the illustrated device 50, upon startup, electromagnet 41 can be energized to face south pole toward magnets 31-33, and electromagnet 42 can be energized to face north pole toward magnets 31-33. This generates attractive forces between magnets 31 and 41, and between magnets 32 and 42, and repulsive forces between magnets 32 and 41, and between magnets 33 and 42. This causes the rocker arm assembly 15 to move to the left (see...). FIG. 17 ). FIG. 17 This illustrates the maximum leftward deflection (i.e., maximum swing angle α) of the rocker arm assembly 15 when magnet 32 ​​is aligned with electromagnet 42. In some cases, magnet 32 ​​may fly past electromagnet 42 due to momentum, while in other cases, magnet 32 ​​may not be able to achieve this. FIG. 17 The alignment shown may be due to, for example, insufficient excitation of the electromagnet 51 due to the child's weight and / or similar reasons. FIGS. 16-18 This illustrates the situation when the user selects the maximum swing angle α, i.e., during the swing motion in one direction, the electromagnets 41 and 42 and the permanent magnets 31 and 32 achieve maximum alignment respectively. FIG. 17 During the swinging motion in another direction, electromagnets 41 and 42 achieve maximum alignment with permanent magnets 32 and 33. FIG. 18 As mentioned above regarding FIGS. 13-15As explained, the user can select a value smaller than the maximum swing angle α, in which case the alignment between electromagnets 41, 42 and permanent magnets 31-33 is less precise.

[0157] FIG. 18 The device 50 is shown, in which electromagnets 41 and 42 are subsequently energized so that their north and south poles face magnets 31-33, respectively, causing the rocker arm assembly 15 to rotate to the right. Similar to device 10, device 50 may include an optical sensor (e.g., sensor 45) that cooperates with the slot bar (e.g., bar 35) and controller 2102 to determine changes in the direction of the rocker motion and switch the polarities of electromagnets 41 and 42.

[0158] Typically, the configuration of device 50, with two electromagnets 41 and 42 and three permanent magnets 31-33, generates greater magnetic force, including both attractive and repulsive forces, compared to device 10. Therefore, the configuration of device 50 can be used when greater magnetic force is required (e.g., with a heavier seat and / or user) to allow for more precise control of the rocking mechanism, etc. In contrast, for the configuration of device 10, placing electromagnet 51 at the center of the pivot plane PP and offsetting electromagnets 52 and 53 angularly from the pivot plane PP by the maximum swing angle α (e.g., 20 degrees) can provide similar operating results to device 10, but with fewer parts and lower cost.

[0159] FIG. 19 , FIGS. 20A-20D Another swinging device 1900 is shown. Unless otherwise explicitly stated, similarly labeled and named components may be structurally and / or functionally similar to those of devices 10 and / or 50. Device 1900 includes an electromagnet 1941 mounted to the swinging frame assembly 12 via an inductor bracket 1945. A permanent magnet 1931 is attached to the magnet bracket 1935 and centered on the pivot plane PP. Here, the magnet 1931 is a curved magnet, whose geometric center is also located on the pivot plane PP, but its size and shape allow its south and north pole faces 1931a, 1931b to define axes angularly separated from the pivot plane PP (i.e., axes perpendicular to the magnetic pole surfaces and passing through the pivot axis P-P') to limit the maximum swing angle α (e.g., 20 degrees, as shown in the image). FIG. 19 As shown). As generally understood in the interpretation of the device 10, the magnet 1931 and the rocker arm 1917 can rotate relative to the electromagnet 1941 about the pivot axis rod 1919.

[0160] FIG. 20A , FIG. 20BThis illustrates how to achieve rightward rotational motion by exciting electromagnet 1941, for example, by applying a -5V voltage to the electromagnet coil, causing the south pole of the electromagnet to face magnet 1931. The south pole of electromagnet 1941 is attracted to the north pole 1931a and repelled by the south pole 1931b. These attractive and repulsive magnetic forces together cause the rocker arm assembly to rotate / rock to the right about the pivot axis P-P'. Similarly, FIG. 20C , FIG. 20D It shows how to use with FIG. 20A , 20B A counter-current voltage excites electromagnet 1941 to achieve a leftward rotational motion. For example, as shown in the figure, a +5 volt voltage is applied to the coil of electromagnet 1942, causing the north pole of the electromagnet to face magnet 1931. The north pole of electromagnet 1941 is attracted to the south pole 1931b and repelled by the north pole 1931a. These attractive and repulsive magnetic forces together cause the rocker arm assembly to rotate / rock to the left about the pivot axis P-P'. FIG. 19 , FIGS. 20A-20D This shows the swing motion in one direction during the swing motion of electromagnet 1941 and surface / pole 1931a when the user selects the maximum swing angle α. FIG. 20B Maximum alignment between the electromagnet 1941 and the surface / pole 1931b during swinging motion in one direction. FIG. 20D The case of maximum alignment between ) . As above for FIGS. 13-15 As explained, the user can select an angle smaller than the maximum swing angle α, in which case the alignment between the electromagnet 1941 and the magnetic poles 1931a and 1931b is less precise.

[0161] Compared to devices 10 and 50, device 1900 can generate less magnetic force, but it is advantageous when a stronger magnet is available, when a smaller housing size is required (e.g., the size of housing 21), when a smaller range of swing angle α is provided, and / or in similar circumstances.

[0162] Devices 10, 50, and 1900 encapsulate the general concept that a magnetic actuator includes at least one magnetic component (permanent magnet or electromagnet) coupled to the rocker frame assembly 12 or the rocker arm assembly 15, and at least two magnetic components (permanent magnets or electromagnets) coupled to the other of the rocker frame assembly 12 or the rocker arm assembly 15, which are angularly offset from the at least one magnetic component. Although device 1900 employs a single magnet 1931 and a single electromagnet 1941, the magnet 1931 is designed so that both poles of it interact with the electromagnet 1941, functioning as effectively as two magnetic components.

[0163] FIGS. 12-2Variations of the magnetic actuator disclosed in 0 are within the scope of this disclosure. For example, device 10 can be modified such that electromagnet 51 is formed on the rocker arm assembly 15 and magnets 52, 53 are formed on the frame assembly 12. As another example, a pair of electromagnets can be mounted on the rocker arm assembly 15, while a single permanent magnet can be mounted on the frame assembly 12, as in the case of device 50, where electromagnets and permanent magnets are distributed. As yet another example, two electromagnets can be mounted on the frame assembly 12 and a single permanent magnet can be mounted on the arm assembly 15.

[0164] After explaining FIGS. 12-2 Following the design of the example embodiment shown in 0, more generalized magnetic drives, as described herein, can be implemented.

[0165] Magnetic actuator in a general sense

[0166] FIGS. 31A-31B A generalized rocking device 3110 is shown, which, unless explicitly stated otherwise, is structurally and / or functionally similar to device 10. Device 3100 includes a base 3113 for stabilization and a vertically rising frame assembly 3112 connected to a drive / motor 3120. Device 3110 also includes a rocking arm assembly 3115, which includes a rocking seat 18. The rocking arm assembly 3115 is suspended from and rotatably coupled to the motor 3115 to allow the rocking arm assembly to rock in a pendulum-like reciprocating motion.

[0167] FIG. 32 Additional details of motor 3120 are shown. As described herein, motor 3120 may include a brushless direct current (DC) motor or a portion thereof. The stationary portion / stator 3222 of motor 3120 is coupled to frame 3112. Drive shaft 3224 is positioned at the center of stator 3222 and coupled to rocker arm assembly 3115, and may define a rotational axis similar to a pivot axis P-P'. Stator 3222 includes a set of sensors or electromagnets 3226 (e.g., similar to electromagnet 51) mounted in a rotating array about drive shaft 3224. Motor 3120 also includes a rotating portion or rotor 3228 comprising a set of permanent magnets 3230 (e.g., similar to magnets 52, 53), also arranged in a rotating array about drive shaft 3224 and positioned closer to drive shaft 3224 than the electromagnets 3230.

[0168] FIGS. 33A-33F It shows how to select the number of electromagnets 3226 and magnets 3230 based on the desired maximum swing angle and assuming that the swing motion in any direction will not exceed 90 degrees. FIG. 33AThe diagram illustrates how, when using twelve magnets 3230 and twelve electromagnets 3226, the angular interval between adjacent magnets and adjacent electromagnets can be approximately 30 degrees, and the maximum permissible swing angle can be set to 15 degrees. FIG. 33B This demonstrates how, when using ten magnets 3230 and ten electromagnets 3226, the angular interval between adjacent magnets and adjacent electromagnets is approximately 36 degrees, and the maximum permissible swing angle can be set to 18 degrees. FIG. 33C This demonstrates how, when using eight magnets 3230 and eight electromagnets 3226, the angular interval between adjacent magnets and adjacent electromagnets is approximately 45 degrees, and the maximum permissible swing angle can be set to 22.5 degrees. FIG. 33D This demonstrates how, when using six magnets 3230 and six electromagnets 3226, the angular interval between adjacent magnets and adjacent electromagnets can be approximately 60 degrees, and the maximum permissible swing angle can be set to 30 degrees. FIG. 33E This demonstrates how, when using four magnets 3230 and four electromagnets 3226, the angular interval between adjacent magnets and adjacent electromagnets is approximately 90 degrees, and the maximum permissible swing angle can be set to 45 degrees. FIG. 33F This demonstrates how, when using two magnets 3230 and two electromagnets 3226, the angular interval between adjacent magnets and adjacent electromagnets is approximately 180 degrees, and the maximum permissible swing angle can be set to 90 degrees.

[0169] FIG. 34A This illustrates that each magnet 3230 is located within an angular range defined by the two closest electromagnets 3226. FIGS. 33A-33F The design minimizes the use of a single electromagnet 3236 and a pair of permanent magnets 3230. Therefore, the rotor can also be minimized to produce a localized rotor 3428, which further reduces operating weight. FIG. 34A The illustration shown is for illustrative purposes only. For example, FIGS. 31A-31B The swing mechanism design shown has a pivot axis that is approximately horizontal or nearly horizontal. This design can be used with a 30-degree or 60-degree interval between magnets 3230 (including all values ​​and sub-ranges in between), which produces a maximum swing angle of 15 degrees or 30 degrees, respectively.

[0170] In other words, the choice of the number of electromagnets, the number of permanent magnets, and the angular spacing between adjacent electromagnets / permanent magnets can be based on the angle formed by the pivot axis relative to the surface on which the rocking device is mounted. For example, FIG. 33F In the embodiments described, a 90-degree swing angle may not be suitable when the pivot axis is generally horizontal or nearly horizontal, but may be perfectly suitable for a generally vertical pivot axis. Such a swinging device may be similar to the swinging device shown and described in U.S. Patent No. 9,433,304, the entire disclosure of which is incorporated herein by reference.

[0171] Continue FIG. 34A The aforementioned optimization, FIG. 34B This demonstrates how to minimize the stator as well to produce a local stator 3422. Furthermore, through... FIG. 34C The design shown achieves miniaturization, fewer parts, and reduced operating weight, with the partial stator 3422 formed as a support suspending the electromagnet 3226 above the partial rotor 3428. The stator 3422, rotor 3428, and rocker arm 3115 can all be mounted on the shaft 3224. Then, FIGS. 12-2 The embodiment of 0 can be regarded as FIG. 34C Example embodiments of the general implementation.

[0172] Controller circuit and operation

[0173] FIG. 21A A controller circuit 2100 is shown for controlling the operation of any swinging device disclosed herein (e.g., device 10, 50, 1900). For simplicity, reference is made to device 10 for explanation, and parts / components of circuit 2100 may be formed in... FIG. 3B On the circuit board 29 shown. Circuit 2100 includes a controller 2102 and may also include a memory or database (not shown) communicatively coupled to the controller. Controller 2102 may be any suitable processing device configured to run and / or execute a set of instructions or code associated with device 10. Controller 2102 may be, for example, a general-purpose processor, a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a digital signal processor (DSP), and / or the like.

[0174] The memory / database may include, for example, random access memory (RAM), memory buffers, hard disk drives, databases, erasable programmable read-only memory (EPROM), electrically erasable read-only memory (EEPROM), read-only memory (ROM), flash memory, etc. The memory / database may store instructions to cause the controller 2102 to perform processes and / or functions associated with the device 10.

[0175] Circuit 2100 may also include a network interface (not shown) for communicating with one or more external devices (e.g., remote controls, smartphones, other computing devices, etc.) and / or virtual assistants (e.g., Amazon Alexa), for example, for remote control of device 10. Communication with one or more external devices may be direct, such as via Bluetooth, Bluetooth Low Energy, Near Field Communication (NFC), Wi-Fi, etc. Additionally or alternatively, communication with one or more external devices may be implemented via one or more networks, such as local area networks (LANs), wide area networks (WANs), virtual networks, telecommunications networks, and / or the Internet, as wired and / or wireless networks. Any or all communication may be secure (e.g., encrypted) or insecure, as known in the art.

[0176] Controller 2102 is coupled to a power supply 2104 of the device, which may be a utility power source, a battery, a rechargeable battery, etc. As an example, controller 2102 receives a 6V DC input from power supply 2104. Circuit 2100 also includes a power button 2106 (e.g., located on panel 22) coupled to controller 2102 to allow the user to turn the device 10 on and off. Controller 2102 receives input from button / switch 24 to allow the user to select device parameters to operate such as swing amplitude, swing duration, music, etc. Controller 2102 also receives input from dial / knob 25, which allows the user to operate selected device parameters, such as swing amplitude (i.e., swing angle α), how long the swing should last, etc. FIG. 21A It is also shown that the controller 2102 can control the operation of the visual indicator 26, as well as the operation of individual lights (e.g., LEDs) that can be formed on each button 24. The controller 2102 can also control music playback via the music driver 2116 of the circuit 2100, which is in turn coupled to a speaker on the circuit board 29.

[0177] Circuit 2100 also includes a drive circuit 2120 for controlling and switching the polarity of the voltage signal applied to electromagnet 51, thereby switching the magnetic poles of the electromagnet. For example, drive circuit 2120 may be an H-bridge circuit with an output voltage line to which electromagnet 51 is coupled. When more than one electromagnet is used (e.g., electromagnets 41, 42), they may be connected in parallel to the H-bridge circuit with opposite polarities. Typically, whenever more than one electromagnet is used, adjacent electromagnets may be connected in opposite directions. As a result, the same voltage / polarity applied by circuit 2120 will cause electromagnets 41, 42 to have opposite magnetic poles, and the magnetic poles will be switched when the voltage polarity is switched.

[0178] Referring again to the design of the single electromagnet 51, such as FIG. 21AAs shown, the drive circuit 2120 is also coupled to the power supply 2104 to receive, for example, a 6V signal, which can either power the drive circuit 2120 or provide a voltage signal to the electromagnet 51. For example, the voltage signal can be a pulse width modulation (PWM) signal. FIG. 21A The communication coupling between the controller 2102 and the optical sensor 45 is also shown, which enables the controller 2102 to control the operation of the light source of the optical sensor 45 and to receive the optical signals detected by the photodetector of the optical sensor 45.

[0179] The rocking device 10 may include other components (not shown) that are readable and / or controllable by the controller 2102, such as: an ambient light sensor for controlling the brightness of any LEDs on housing 21 for turning the night light on and off; a motion sensor for turning the night light on and off when a user approaches the night light; a weight sensor coupled to seat frame 18 for sensing whether the seat is in place and / or whether a child is sitting in the seat; a yaw sensor, gyroscope, and / or gyroscope tester coupled to seat frame 18 for disabling device 10 if the seat is tilted or oriented in a way that makes its use unsafe; and / or one or more reed switches for detecting the position of permanent magnets during rocking motion. For example, one or more reed switches may be positioned on rocking frame assembly 12 at a preset angle between pivot plane PP and pivot axis P-P'. This can be detected and used to sense the rocking angle at the moment of detection when permanent magnets (e.g., magnets 52, 53) approach one or more reed switches during rocking motion.

[0180] FIG. 21B This is a flowchart detailing an example method 2125 for operating the swing device 10, and this method can be executed by circuit 2100, such as by controller 2102. Method 2125 begins at step S1, for example, after the user turns on the device 10 and selects the swing angle α. In step S2, it is checked whether the selection of the swing angle α has changed. When this check is performed at least for the first time after the user makes the selection (i.e., the device is stationary and the swing angle is currently zero), the latest value of the swing angle is read in step S3. Step S3 here represents six example values ​​or "setpoints" (SP) of the swing angle that the user can set, from SP1 of 3 degrees to SP6 of 18 degrees, which is the maximum permissible swing angle. After the setpoint is determined at S3, in step S4, the maximum value of the voltage signal (e.g., PWM signal, such as...) is... FIG. 21B (As shown) is applied to electromagnets 41, 42 having a given (e.g., first) polarity. See reference... FIGS. 13-15As explained, in this way, the electromagnet 51 is excited, and depending on the polarity of the electromagnet, the swing motion will begin in one direction or the other (i.e., to the left or right) without any additional input from the user (i.e., the user does not need to push the device 10 to start the swing motion or do anything other than provide a setpoint for the swing motion). Also in step S4, the clock or timer is started (in... FIG. 21B It is called a "half-cycle timer" in China to reflect the duration of a voltage signal of a given polarity that has been applied.

[0181] Then, controller 2102 executes self-starting sequence / loop 2125a, which allows the rocking device 10 to initiate rocking motion upon user input via interface panel 22, without requiring manual pushing by the user as with several conventional devices. FIG. 13 , FIG. 16 and FIG. 19 As illustrated in the embodiment, during the stationary period, self-starting can be affected by the off-axis placement of the permanent magnet and one or more electromagnets, such that powering one or more electromagnets essentially immediately generates attractive and repulsive forces that initiate the swinging motion. Sequence 2125a includes reading the output of a photodetector in step S5, where a reading of "0" indicates that its corresponding beam (e.g., one of beams 46a, 47a) is blocked, while a reading of "1" indicates that its corresponding beam is detected. In step S5, the output or state of at least one photodetector is read. In step S6, it is determined whether the output of one or more photodetectors has changed. This can be done for one or both photodetectors; that is, it is not necessary to read the outputs of two photodetectors to perform self-starting sequence 2125a. For simplicity, it is assumed that a photodetector is read in steps S5 and S6, and the change in its output indicates some movement of the magnetic actuator caused by the application of a maximum voltage signal to the electromagnet in step S4. When the interval between two adjacent slots 36 of the slot strip 35 is about 2 degrees, the swing motion corresponding to the state change of the photodetector ranges from about just greater than 0 degrees (e.g., when the beam 46a is exactly in the slot and near the edge of the slot, the swing motion pushes it out of the adjacent slot edge) to about 1 degree (e.g., when the beam 46a is exactly in the slot and near the edge of the slot, the swing motion moves the beam 46a across the slot and pushes it out of the opposite slot edge), with an average value of about 0.5 degrees, about 1 degree, about 2 degrees, about 3 degrees, about 4 degrees or greater, including all values ​​and subranges in between.

[0182] If the motion / state change is not detected in step S6, then in step S7, the predetermined time period is checked (within...). FIG. 21BThe timer (shown as "half-cycle") started in step S4 is checked to determine whether the duration of the voltage signal with the first polarity applied is greater than, for example, a time period of 700 ms. Typically, the time period can range from about 400 ms to about 900 ms, including all values ​​and sub-ranges therein. In some cases, the time period can be about 700 ms. If the timer value is greater than or equal to the predetermined time period, then in step S8, the polarity of the voltage signal applied to the electromagnet 51 is switched, for example from... FIG. 14 Polarity switching in FIG. 15 The polarity in the timer. In step S9, the timer is reset, and in step S10, control returns to step S1. As is done at other different times during step S9 and method 2125 (explained later), the control is regularly returned to step S1 so that any changes by the user to the swing angle / setpoint can be quickly considered in steps S2-S4; if the user does not make such a change, control returns to the self-starting sequence 2125a and returns to step S5.

[0183] If the timer value in step S7 is less than a predetermined time period, the time value continues to increase, and the self-starting sequence 2125a loops back to step S5. In this way, during the self-starting sequence 2115b, the controller 2102 will periodically switch the polarity on the electromagnet 51 based on the periodicity of the predetermined time period in step S8 until some swinging motion as detected in step S5 is taking place.

[0184] Once some swaying motion is detected based on the analysis in step S6, the controller 2102 can execute the swaying motion control sequence / loop 2125b. In step S11, the sway angle measurement value (e.g., set to zero at startup) is used. FIG. 21B The angle (represented as "angle count") is increased by 1 degree as an initial estimate of the swing motion achieved during the self-starting sequence 2125a. The updated swing angle measurement is stored in step S12 for use during the swing angle control sequence / loop 2125c described later.

[0185] In step S13, the controller 2102 continuously reads or monitors the photodetector of the optical sensor 35 to determine the swing direction and whether it has changed, such as FIG. 21C This is shown in more detail below. See now for reference. FIG. 21CFor ease of explanation, the change in direction is illustrated when the swinging motion begins from one end of the swinging motion represented by state 2130a (“starting point”), in which the swing angle is at its maximum and the swing speed is essentially zero. The swinging device 10 then moves through state 2130b to state 2130c, in which the swing angle is essentially zero and the swing speed is at its maximum. During this movement, the sensing beams 46a and 47a will be blocked and transmitted differently by the slot strip 35, which can be detected by the controller 2102 as “0” (or “LOW”, when the beam is blocked) or “1” (or “LOW”, when the beam is unblocked and detectable), as well as... FIG. 21C As illustrated in the diagram. For example, when the swing motion is between states 2130a and 2130b, i.e. when beam 46a is not blocked but beam 47a is blocked, the controller can detect "10" (typically shown as reading / reading block 2135a).

[0186] The oscillating motion then continues from reading "11" to reading "01" (see reading 2135b), then to "00", and then back to "10" (see reading 2135c). Because the oscillating motion accelerates from state 2130a through 2130b to 2130c, reading 2135c has a shorter duration than 2135a (i.e., a reduced thickness, as...). FIG. 21C As shown), and because the swaying motion is at its maximum speed, the duration of reading 2135d in state 2130c is even shorter.

[0187] like FIG. 21C As illustrated, any of these reading transitions can be used to determine the direction of the oscillating motion. As shown in reading block 2135e, when the reading subsequently changes in the opposite direction—from “10” to “00”, from “01” to “11”, and back to “10”—it can be determined that the oscillating motion is in the opposite direction (here, from state 2130e to state 2130f). In this way, the size of the slot in slot bar 35 and the spacing C between beams 46a and 47a... s --C s It can be selected such that there is a complete slot 36 between beams 46a and 47a, which in turn allows for reading-based direction determination as described herein. Furthermore, a change in the reading of only one of beams 46a and 47a is sufficient to determine the swing direction. As explained above with respect to the self-starting sequence 2125a, this determination can be performed within an average swing motion of approximately 0.5 to 4 degrees.

[0188] Therefore, when the cyclic transition between readings reverses, the controller 2102 can determine that a change in direction has occurred (e.g., from clockwise / CW to counterclockwise / CCW or vice versa). As shown in reading block 2135f, when the swing motion is in state 2130e, it will reverse direction. This is detected by the controller 2102 as a transition from "10" to "11" and then back to "10". On the other hand, if there is no change in direction, the transition will be from "10" to "11" and then back to "01", similar to what has been explained above for readings 2135a and 2135b.

[0189] Figure 21C The concept of half-cycle 2140 is also roughly explained (e.g., approximately 300 ms, approximately 500 ms, approximately 700 ms, approximately 900 ms, approximately 1 s, approximately 1.2 s, approximately 1.5 s, including all values ​​and sub-ranges in between), which is the time taken during steady-state motion to move from one end of the motion (state 2130a) to the center (state 2130c) by a swing angle α, and then to the other end of the motion (state 2130e) by a swing angle α. Then, the motion takes another half-cycle to move from state 2130e, through state 2130f to the center 2130g, and then back to state 2130a through state 2130h. The determination of the change in swing direction (the brief instantaneous state occurring between half-cycles) is usually done at the beginning of the next half-cycle, because the reversal of the reading is detectable at this time, as explained above for reading block 2135f.

[0190] Refer again Figure 21B If no change in the swing direction is detected in step S13, then in step S15, control returns to step S1, as previously described. This facilitates a reassessment of whether the user has changed the swing setpoint. Since the device is currently in motion and the motion detection criteria of step S6 are easily met, control quickly returns to motion control sequence 2125b, where the swing angle measurement continues to increase in step S11 because the device 10 continues to swing in the same direction.

[0191] If a change in the swing direction is determined in step S13, the swing angle measurement is reset to zero in step S14. Since device 10 is now swinging in the opposite direction, the polarity of electromagnet 51 can be switched (e.g., in...). Figure 14 and Figure 15(between), this is done in step S18 in a manner similar to that explained for step S8. Subsequently, controller 2102 can execute the swing angle control sequence / loop 2125c to determine whether the degree of swing motion is commensurate with the setpoint specified by the user in step S3, and this can be achieved as follows. In step S19, the stored value of the swing angle measurement from step S12 (since the current value of the swing angle measurement has been reset in step S17) is compared with the desired setpoint specified in step S3. If the swing angle measurement value is equal to or exceeds the desired setpoint, it indicates that the swing motion has exceeded or will exceed the user-specified swing motion. In this case, in step S20, the voltage signal applied to the electromagnet (e.g., as a pulse width modulation signal, a PWM signal) is set to zero and / or turned off to allow the swing motion to decay on its own. In step S21, control then returns to step S1.

[0192] If, in step S19, it is determined that the measured swing angle is less than the setpoint specified by the user in step S3, it indicates that the swing device 10 is still increasing angular motion toward achieving the desired setpoint, but has not yet completed. In this case, the controller 2102 can execute control loop 2125cl, which modulates the voltage signal applied to the electromagnet 51 to obtain oscillation convergence between the measured swing angle and the desired setpoint over time, taking into account and allowing the swing motion to gradually increase toward the desired swing angle. In this way, the voltage signal applied to the electromagnet 51 when the polarity changes indicates the final swing motion completed in a specific direction.

[0193] The control loop 2125cl shown and explained here as a proportional-integral-derivative (PID) control loop can be any other suitable feedback loop (e.g., controlled damping) capable of estimating the magnitude of the voltage signal applied to the electromagnet 51 to reduce the difference between the desired setpoint and the observed swing angle. Here, in step S22, the difference or error value is calculated as the difference between the desired setpoint and the observed swing angle. In step S23a, the error value is used based on a predetermined proportional coefficient K. p Calculate the proportional term. Typically, the calculated proportional term is based on the current error value, i.e., the value calculated immediately preceding step S22. The error value is also used in step S23b based on a predetermined integration coefficient K. iThe integral term is calculated. Typically, the calculated integral term is based on the current and past error values, i.e., the error values ​​calculated immediately before and during step S22 in the previous execution of control sequence 2125cl. In some cases, control sequence 2125cl may also include calculating a differential term based on the error values ​​in step S23c, reflecting the rate of change of the error values. The terms calculated in steps S23a, S23b, and optionally in S23c are then summed in step 24 to generate a control output. In step 25, in addition to the polarity change affected in step S18, the control output is used to determine the amplitude of the voltage signal to be applied to the electromagnet 51. In step S26, control returns to step S1.

[0194] In this way, various aspects of method 2125 facilitate obtaining and maintaining the desired swing angle based on detected changes in direction, without needing to determine the center of the swing motion as is common in conventional methods. This is particularly advantageous when the swing device 10 can be placed on a skewed, tilted, and / or substantially non-horizontal surface such that the center of the swing motion may differ from the geometric center of the device. In some cases, the device 10 also does not detect and / or evaluate the velocity of the swing motion.

[0195] Figure 21D A control sequence / loop 2150, executable by controller 2102 to manage swing control, is shown. Unless otherwise stated, aspects of the control sequence may be similar to other aspects of control sequence 2125cl and method 2125. In step SS1, the user-selected desired swing angle, setpoint, or "desired" amplitude 2155 (e.g., in step S3) is compared with the observed swing or output swing amplitude 2140 determined based on optical sensor 45, thereby generating an error value 2115. As described above for... Figure 21B If the swing amplitude 2140 is greater than or equal to the desired swing angle, the power supply to the electromagnet can be cut off. If the swing amplitude is less than the desired swing angle, the error can be input into a PID algorithm, where coefficients 2170 (integral coefficient 2170a, proportional coefficient 2170b, derivative coefficient 2170c) are combined with proportional, integral, and derivative terms 2175a, 2175b, and 2175c, respectively, to generate an indication (e.g., a relatively increased input PWM duty cycle) 2182 in step SS2 that can be applied to the output voltage and / or input power of the electromagnet 51. This can cause the swing amplitude 2190 to increase until a setpoint amplitude 2155 is reached.

[0196] rocking base

[0197] Figures 36A-36H The diagram illustrates how a connection can be formed between a rocking frame arm 3614 (e.g., similar to frame arm 14) and a base member 3613 (e.g., similar to base member 13). Figure 36D Details of a handle 3620 are shown, which can be inserted into a base member 3613 to receive a frame arm 3614. Specifically, a first end 3624a of the handle 3620 can receive the frame arm 3614, while the other end / second end 3624b is sized and constructed to be inserted into the base member 3613.

[0198] Regarding the coupling between the handle 3620 and the base member 3513, the handle 3620 may include a pair of lugs 3626 formed at its second end 3624b. The base member 3613 may include a handle opening 3630 to receive the second end 3624b and allow the second end to be inserted into the internal volume of the base member 3613 in a mating manner. More or fewer lugs may be used, and in some cases, these lugs may not be used at all.

[0199] The base member 3613 also includes a pair of lug openings 3628 to allow lugs 3626 to pass through. The number of lug openings can generally be selected based on the number of lugs, and there may be no lug openings if there are no lugs, or there may be a single opening that is substantially similar to the handle opening 3630.

[0200] After insertion, a first weld 3621a (e.g., a full circumferential weld) can be formed at the handle opening 3630 between the handle opening and the body of the handle 3620, and a pair of second welds 3621b can be formed between the lug 3626 and the lug opening 3621b to secure the handle 3620 to the base member 3513. Figure 36H As best illustrated, when inserted, the handle 3620, or at least the portion of the handle 3620 that engages with the base member 3513, is positioned relative to the normal axis N at a handle angle β, wherein the axis N may be perpendicular to the surface on which the base member 3613 is located. The handle angle β may be about 5 degrees, about 10 degrees, about 15 degrees, about 20 degrees, about 25 degrees, or greater, including all values ​​and subranges therein.

[0201] As described in more detail in the next section, during user assembly, the user can insert the frame arm 3614 into the first end 3624a of the handle 3620. The dimensions of the frame arm 3614a and the handle 3620 can be designed such that the inserted frame arm 3614 can travel in a mating manner within the handle 3620 until it engages with the flange 3623 within the handle 3620, thus preventing the swinging frame arm 3614 from traveling further into the handle. The flange 3623 also includes a notch formed on the outer surface of the handle 3620, which serves as a visual guide for the user to correctly insert the handle 3620 into the base member 3513.

[0202] The shank 3620 may include a pair of shank holes 3622 formed therethrough for inserting bolts during assembly. The shank holes 3624 may be substantially circular, as shown. Similarly, the frame arm 3614 may include a pair of arm holes 3634 formed therethrough, the arm holes 3634 being aligned with the shank holes 3622 when the rocker arm 3614 is inserted into the shank 3620 such that the rocker arm engages with the flange 3623. Figure 36G As best shown, the arm hole 3634 facing the center of the rocking device can be shaped such that once the bolt 3632b passes through the shank hole 3622 and the arm hole 36341, it prevents the bolt 3632b from rotating. As an example, the arm hole 3634 is shown as a square or rectangle.

[0203] Each bolt assembly 3632 may include a first bolt 3632a and a second bolt 3632b. The first bolt 3632a may include a head and external threads, and the second bolt 3632b may include a head and internal threads that can mate with the external threads of its corresponding first bolt 3632a during assembly. The second bolt 3632b may also include a boss 3633 shaped to engage with an arm hole 3624, preventing the second bolt 3632b from rotating once inserted. This allows the user to screw the second bolt 3632b into its corresponding first bolt 3632a as soon as it is in place, without having to keep the second bolt 3632a in place.

[0204] When the bolt assembly 3632 is tightened (e.g., by screwing the first bolt 3632a into the second bolt 3632b), this applies pressure to the rocker arm 3614 and causes it to expand within the handle 3620. This, in turn, creates a tighter, more rigid connection between the rocker arm 3614 and the handle 3620, which in turn connects to the base member 3613. The tight connection between the rocker arm 3614 and the handle 3620 also prevents or mitigates rotational losses during rocking motion.

[0205] Figure 36A This demonstrates how, after assembly, the cap 3618 (e.g., a plastic cap) is placed on the connector that essentially encapsulates the handle 3620 to prevent any damage from mechanical shock or other issues.

[0206] Swing stability

[0207] Figure 37The diagram illustrates how the handle angle β and bending design of the rocker frame arm 14 allow for a relatively small base member 13 while still providing a structurally sound design for the rocker device 10. Compared to a corresponding design including a straight frame arm 14, the smaller base member 13 can encompass a base member with a smaller width, length, perimeter, and / or area. The base member 13 defines a vertical coverage area FP on its resting horizontal floor / surface / ground, i.e., the coverage area FP can be considered as a vertical projection of the frame of the base member 13 extending directly upward from the floor. The rocker frame arm can be bent as shown and is considered to comprise two generally continuous portions 14a, 14b. The first rocker arm portion 14a defines a handle angle β at its connection point with the handle 3620 and bends away from the coverage area FP, such that portion 14a is completely outside the coverage area. The second rocker arm portion 14b bends back towards the coverage area FP. Figure 37 The second rocker arm portion 14b and a portion of the housing 21 are shown to be located outside the coverage area FP. In some cases, at least a portion of the second rocker arm portion 14a may be located within the coverage area FP, such that the entire housing 21 may be located within the coverage area FP.

[0208] As shown in the figure, the curvature of the frame arm 14 also allows for the curvature in the rocker arm 17, which in turn allows the seat 18 to be positioned relatively close to the center of the rocker device 10. Using a single frame arm 14 minimizes any space issues caused by the frame arm bending outwards from the base, compared to two or more rocker arms in some conventional methods. Furthermore, the curved frame arm 14 and the curved rocker arm 17 provide sufficient clearance for the installation and removal of the seat 18, while allowing the user interface panel 14 to remain positioned further within the coverage area FP for easy access by adults / caregivers.

[0209] Compared to using, for example, a straight frame arm, the curved frame arm 14 (and optionally the curvature of the rocker arm 17) not only allows for a smaller coverage area FP of the base member 13, but also keeps the overall center of gravity of the rocker device 10 closer to, for example, the geometric center of the coverage area. Stability is established and maintained when the seat 18 extends beyond the coverage area FP in the rest position as shown, when a child / user is placed in the seat 18, when the seat 18 is repositioned to a lateral position, and even when the seat 18 moves further beyond the coverage area FP during rocking motion.

[0210] More specifically, such as Figure 1 and Figure 37 As shown, the base component 13 can define the coverage area FP and the base width BM. W and base depth BM D When stationary, at least some portions of seat 18 extend along the depth BM of base member 13. DExtending beyond the coverage area FP. During rocking motion, the horizontal travel of seat 18 (i.e., the rocking motion projected onto the floor where the rocking device is placed) may further cause an additional portion of seat 18 to extend at least along width BM at both ends of the rocking motion. W Move outside the coverage area FP. In some cases, the maximum swing angle α can be limited so that at both ends of the swing motion, the seat 18 does not swing outside the coverage area FP. In some cases, the horizontal travel or lateral distance between the ranges of the swing motion can be approximately 1 foot, approximately 1.5 feet, approximately 2 feet, approximately 2.5 feet, approximately 3 feet, or greater, including all values ​​and subranges in between.

[0211] These features of the rocking device described herein can also reduce the reduced gap between the center of gravity of the rocking device of the user / child in seat 18 and the axis of rotation defined by seat 18. Figure 37 For illustrative purposes only, the axis of rotation RA-RA' defined by seat 18 and an example center of gravity CG of the rocking device are shown, recognizing that the center of gravity of device 10 need not be located within the components of the device. Even with an anthropomorphic test device (ATD) provided in seat 18, the linear interval / offset D between CG and axis RA-RA' is shown. CG-RA It can be up to 0.5 inches, up to 1 inch, up to 1.5 inches, up to 2 inches, up to 5 inches, including all values ​​and subranges in between.

[0212] Based at least in part on all these features, the rocking device 10 is able to remain vertically positioned without tipping over when placed on a 20-degree inclined surface and with an ATD (e.g., a newborn test dummy, a six-month-old infant test dummy, and / or similar, according to the American Society for Testing and Materials (ASTM) specification) placed in the seat 18.

[0213] Swing device components

[0214] To allow users to assemble the device themselves, the swing assembly disclosed herein can be manufactured, packaged, sold, and / or delivered as a kit comprising multiple components (with user assembly instructions). For simplicity, referring to the swing assembly 10, the kit may include a first component comprising a swing frame assembly 12 on which a magnetic actuator 20 is already mounted. Given the tight and critical coupling between the frame assembly 12 and the magnetic actuator 20, this minimizes any user error and potential damage during the assembly of these parts. The magnetic actuator 20 may already have a hub 16 coupled thereto.

[0215] The first component may also include power delivery circuitry, such as a power cord 3616 with a wall plug or adapter (see [link]). Figures 36A-36HThis can be used to connect the magnetic drive 20 to a wall electrical outlet. The power cord 3616 can be partially housed within the hollow housing 49 and passes through the rocking frame assembly 12 to exit the assembly near its base, i.e., close to the floor / surface where the rocking device 10 is placed. This complete housing of the power delivery mechanism / circuit within the first component prevents user access to the magnetic drive components and ensures that power is delivered to the magnetic drive 20 without any user effort.

[0216] The first component may also include a cover 3618 pre-positioned on the frame arm 14 (e.g., held in place on the frame arm by tape or otherwise above the arm hole 3634). In this way, the cover can be slid down to cover the handle after the caregiver screws the frame arm 14 onto the handle 3620.

[0217] The kit may also include a rocker arm 17 as a second separate component, capable of coupling to the magnetic actuator 20 (more specifically, to the hub 16). Furthermore, the kit may include a seat / seat frame 18 as a third separate component, which can be locked into place by the user, such as... Figures 26A-26C The explanation given.

[0218] In some cases, for ease of user assembly, there is no electrical coupling between the first component and other components. For example, by eliminating the need for electrical coupling between the first component and seat 18, the user does not have to deal with cables running through hub 16, rocker arm 17, etc. If seat 18 does have a power requirement to vibrate during use, such as a motor driver (or any power-consuming component more generally), seat 18 may include its own power supply circuitry independent of the first component. For example, seat 18 may be configured to power the power-consuming component using AA batteries, AAA batteries, plug-in power inputs, etc. The kit may include such an additional power supply.

[0219] The kit may also include base member 13 as a single base (e.g., as a fourth component), or as two base portions of substantially the same or different dimensions (e.g., a fourth component and a fifth component). For example, each base portion may be substantially C-shaped, and its telescopic end mates with the telescopic end of another base portion. As mentioned above regarding Figures 36A-36H The base member 13 may include a handle welded thereto, such as handle 3620, which may serve as a receiving part for the swing frame arm 14 of the swing frame assembly 12. The kit may also include additional components, such as bolts 3632a, bolts 3632b, etc.

[0220] Gliding rocking device with magnetic actuator

[0221] Figure 22A , Figure 22B A gliding rocking device 2200 with the magnetic actuator and controller described herein is shown. Unless otherwise explicitly stated, similar references and names may refer to components that are structurally and / or functionally similar to any other device disclosed herein (e.g., device 10). Device 2200 includes a frame 2220 for retaining and / or otherwise supporting a seat 2210, an arm 2230, and a set of two housings 2240 suspended on the frame 2220. Figure 22A , Figure 22B , Figure 23A As shown, the magnetic actuator 2235 is disposed inside one of the housings 2240. The magnetic actuator 2255 is shown as having (similar to device 10) two magnets 2260 and one electromagnet 2265; however, it should be understood that the magnetic actuator 2235 can be configured as follows: Figures 16-18 As described, it is formed with three magnets and two electromagnets, such as for... Figure 19 and Figures 20A-20D As described, it is formed with a curved magnet and an electromagnet, etc.

[0222] As shown in the figure, the magnetic actuator 2235 can drive one of the four rocker arms 2230 suspended on the frame 2220. However, it should be understood that two or more rocker arms 2330 can be attached to the magnetic actuator 2235, and more than one magnetic actuator can be used to drive two or more of the rocker arms. For example, the magnetic actuator 2235 can be disposed in each housing 2240.

[0223] Figure 23B A rocker arm 2230 rotatably coupled to a frame 2220 about a pivot axis rod shaft 2250 is shown, along with two bearings (not shown) mounted to a housing 2240. Similar to device 10, an electromagnet 2265 is positioned on the pivot axis P-P', and a permanent magnet 2260 is angularly spaced from the pivot axis P-P' by a swing angle α. This rotatable coupling allows for free pivoting of the sliding rocker arm 2230, reciprocating swinging from front to back or from back to front, and sliding motion relative to the sliding rocker frame 2220, approximately as shown in arc GS (see...). Figure 23A ).

[0224] Electromagnet 2265 is mounted to the gliding rocker frame 2220 via housing 2240, and magnet 2260 is mounted on magnet bracket 2245, which is in turn coupled to rocker arm 2230. Similar to device 10, encoder bar 2270 with multiple slots is connected to either bracket 2245 or magnet 2260. Optical sensor 2275 is mounted to glider housing 2240 and may be substantially similar to sensor 35.

[0225] During use, for example, when a user activates the swing device 2200 via a user interface (not shown), the electromagnet 2265 is energized in a cyclic manner similar to that described for device 10. This causes the swing arm 2230 to rotate by a swing angle α (e.g., ...). Figure 23B (As shown in the diagram, in the right direction R), which in turn causes the rocking device to make the seat 2210 rock back and forth along the arc GS, as... Figure 23B As shown, the rocker arm 2230 and its corresponding longitudinal axis G-G' passing through the pivot axis P-P' rotate to the right by an angle α. A controller similar to device 10, and similar to controller 2102, controls and monitors the operation of the magnetic actuator 2235.

[0226] Rocking mechanism with removable seat

[0227] Figures 25A-25D A rocking device 2500 including a removable seat 2518 is shown. Unless otherwise explicitly stated, similarly referenced and named components may be structurally and / or functionally similar to any other device disclosed herein (e.g., device 10).

[0228] First, although seat 2518 is shown positioned such that the child / user in the seat faces away from the rocker arm assembly 2512 during use, it should be understood that the seat can be repositioned, i.e., removed and reinstalled, so that the child / user faces a different direction. For example, the seat can be positioned as shown, or laterally positioned such that the rocker arm assembly 2512 is on the left or right side of the child / user during use. Seat 2518 may also include a bouncing mechanism, such as a spring-like mechanism, allowing the seat to bounce back and forth once the adult / caregiver pulls the seat forward until the movement diminishes. Seat 2518 may also include an adjustable tilt feature (e.g., between three tilt positions).

[0229] Seat 2518 can be installed onto rocker arm 2517 ( Figure 25B ), or can be used as a stand-alone seat ( Figure 25A Seat 2518 includes a seat mount / connector 2520a that aligns with rocker mount / connector 5220b for removably attaching the seat to rocker arm 2517. Although mount 2520b is shown as a plug-type connector and mount 2520a as a socket-type connector, the reverse is possible, and any other suitable mating connector design may be used. When attached to rocker mount 2520b, seat 2518 can be reversibly latched and / or otherwise secured in place and cannot be removed unless the latch / fastener is released. Figure 25C , Figure 25DAdditional details of the latching mechanism of seat 2518 are shown, concealing the soft material, toy rod, rocker arm, and seat base. Latching mechanism operation reference. Figures 25A-25D and Figures 26A-26C The diagram also shows additional details of the locking mounting parts 2520a and 2520b.

[0230] The latch / latch mechanism includes an actuator / switch 2545 (e.g., a pressable button, lever, slider, and / or the like) that is pivotally coupled to the seat ring 2530 and allows the caregiver / user to actuate the latch / fastener 2555. A cable 2550 is connected at one end to the switch 2545 and extends through a bent tube 2535 to the mounting 2520a, wherein the tube 2535 is bent to accommodate a child during use and also serves to connect the seat ring 2530 to the seat mounting 2520a. It should also be understood that while the latch mechanism shown herein is a single mechanism formed on one of the tubes 2535 of the seat 2518, it can also be similarly formed on the opposite tube of the seat (see [link to documentation]). Figure 25C , Figure 25D )superior.

[0231] The second end of cable 2550 is attached to latch 2555, shown here as a V-shaped fastener, which is pivotable about its base 2555a, i.e., the base is rotatably secured to seat mount 2520a. Latch 2555 can rotate back and forth when the caregiver squeezes and releases switch 2545. V-shaped latch 2555 also includes a first arm 2555b and a second arm 2555c. The second end of cable 2550 is attached to hook end 2555d of second arm 2555c. When seat 2518 is mounted on the rest of the device (see...), Figure 26B If the user does not engage switch 2545, latch 2555 is held against rocker frame 2520b by pressure applied by first arm 2555b, which may be a resilient flexible finger / spring. Second arm 2555b of latch 2555 protrudes into latch sleeve 2560 formed in rocker mount 2520b, preventing rocker arm mount 2520b from separating from and / or pulling away from seat mount 2520a. Figure 26B To remove seat 2518 from seat mount 2520a, the caregiver can squeeze or otherwise engage switch 2555, which in turn pulls cable 2550, and this in turn pulls latch arm 2555c out of latch sleeve 2560. With latch 2555 disengaged in this manner, rocker mount 2520b and seat mount 2520a can be separated. Figure 26C ).

[0232] Magnet design

[0233] Figure 27A, Figure 27B The diagram illustrates that planar permanent magnets, such as magnets 52 and 53 shown for device 10, may not have an air gap that aligns with the electromagnet. Another explanation is that the planar surface of the magnet and the opposing electromagnet moving along the arc create different spaces between them, not only in terms of different degrees of alignment but also between different portions of their respective poles / faces. As these figures show, the air gap / separation gap AG between magnet 2732 and magnet 2741 can vary within a range of + / - 0.025 inches as magnet 2732 rotates about the pivot axis P-P' and passes through the opposing face of electromagnet 2741, depending on the rotational positions of magnet 2732 and permanent magnet 2741. A variable air gap between one or more permanent magnets and one or more electromagnets can cause a decrease in the variable magnetic force between them at points and times with larger air gaps, and vice versa.

[0234] Figure 28 An example method for eliminating and / or minimizing air gap AG variation is shown. It is shown here that any of magnets 2731-2733 can be modified to include a surface 2835, thus obtaining magnet design 2831 (here). The curvature of surface 2835 can be approximately concentric with the pivot axis P-P'. Then, when magnet 2831 rotates about the pivot axis, the separation gap AG between magnet 2831 and electromagnet 2742 is substantially consistent, approximately 0.050". In some cases, electromagnet 2742 can also have a corresponding curvature concentric with the pivot axis P-P', which can result in additional uniformity of magnetic interaction between magnet 2831 and electromagnet 2744.

[0235] Figure 29 Additional design and design variations of the representative magnet 2731 are shown, which help to maintain a consistent air gap AG. Magnet 2831 includes a curved surface 2835, as designed for... Figure 28 As explained, magnet 2841 has a chamfered surface 2845, meaning its surface is not a smooth and continuous curved surface, but rather consists of multiple planar components that intersect at the edges to define discontinuous curves. In another design, magnet 2851 includes a curved surface and a hole 2855 for threading magnet 2851 onto the frame / bracket of the magnetic actuator, as described herein. Figure 29 Magnets 2831, 2841, and 2861 are also shown to have ribs 2848 on their top surfaces, with no part protruding beyond the curved surface of the magnet. Magnet 2861 can be similar to magnet 2831 with curved surface 2835, except that the ribs 2858 on magnet 2861 are formed on different sides relative to magnet 2831. Figure 29 As described for magnet 2831, the locking position 2848 can engage with the retaining rib 2865 of the magnetic actuator to securely hold magnet 2831 in place during use.

[0236] Figure 30 A curved metal cap 3050 is shown as a cover on the plane of a permanent magnet, instead of forming a curved magnet. In this way, existing planar magnets can be converted into curved magnets for use in the magnetic actuators disclosed herein, allowing for a consistent separation gap AG between the magnet and the electromagnet of the magnetic actuator. The size and shape of the metal cap 3050 are designed such that a locking slot 3048 is formed on the plane of the magnet during assembly, as for... Figure 29 As explained, this helps to secure the magnet to the magnetic drive component. While a similar process is shown here... Figure 29 The magnet 2831 is a curved magnet, but it should be understood that such a cover can be designed to produce magnets 2841, 2851 and / or 2861.

[0237] in conclusion

[0238] While various embodiments of the invention have been described and illustrated herein, those skilled in the art will readily envision various other methods and / or structures to perform the functions and / or obtain the results and / or one or more advantages described herein, and each of these variations and / or modifications is considered to be within the scope of the embodiments of the invention described herein. More generally, those skilled in the art will readily understand that all parameters, dimensions, materials, and configurations described herein are exemplary, and actual parameters, dimensions, materials, and / or configurations will depend on the specific application using the teachings of this invention. Those skilled in the art will recognize or be able to determine many equivalents of the specific embodiments of the invention described herein solely through conventional experimentation. Therefore, it should be understood that the above embodiments are presented by way of example only, and embodiments of the invention may be practiced within the scope of the appended claims and their equivalents, in addition to those specifically described and claimed. The embodiments of the invention disclosed herein are directed to each individual feature, system, article, material, kit, and / or method described herein. Furthermore, any combination of two or more such features, systems, articles, materials, kits, and / or methods (if such features, systems, articles, materials, kits, and / or methods do not contradict each other) is included within the scope of the invention disclosed herein.

[0239] Furthermore, various inventive concepts can be embodied in one or more methods, examples of which have been provided. Actions performed as part of a method can be ordered in any suitable manner. Thus, embodiments can be constructed in which actions are performed in a different order than those shown, which may include performing some actions simultaneously, even if they are shown as sequential actions in the exemplary embodiments.

[0240] All definitions used and defined herein should be understood as control dictionary definitions, definitions incorporated by reference in other documents, and / or the general meaning of the defining terms.

[0241] The indefinite articles “a” and “an” used in this specification and claims shall be understood as “at least one”, unless there is an explicit indication to the contrary.

[0242] As used herein in the specification and claims, the phrase “and / or” should be understood to mean “one or two” of such combined elements, i.e., elements that are combined in some cases and separate in others. Multiple elements listed with “and / or” should be interpreted in the same way, i.e., “one or more” of such combined elements. Other elements may be optionally present, whether related to or unrelated to the specifically indicated elements, in addition to those specifically indicated by “and / or”. Thus, as a non-limiting example, when used in conjunction with open-ended language such as “comprising,” a reference to “A and / or B” may in one embodiment refer only to A (optionally including elements other than B); in another embodiment, it may refer to B (optionally including elements other than A); in yet another embodiment, it may refer to both A and B (optionally including other elements); and so on.

[0243] As used in this specification and claims, “or” should be understood to have the same meaning as “and / or” as defined above. For example, when separating items in a list, “or” or “and / or” should be interpreted as inclusive, meaning it includes both at least one of a plurality of elements and more than one of a plurality of elements, and optionally additional unlisted items. Only when the opposite terms are explicitly stated, such as “only one” or “exactly one”, or when used in the claims, will “consist of” indicate exactly one of a plurality of elements. In general, the term “or” as used herein should only be interpreted as indicating an exclusive alternative (i.e., “one or the other, but not both”) before exclusive terms such as “any,” “one of,” “only one of,” or “exact one of.” When used in the claims, “consist of substantially” should have the ordinary meaning used in the field of patent law.

[0244] As used herein in the specification and claims, the phrase “at least one” refers to a list of one or more elements and should be understood to mean at least one element selected from any one or more elements in the list, but does not necessarily include at least one of every element specifically listed in the list, nor exclude any combination of elements in the list. This definition also allows for the optional presence of elements other than those explicitly identified in the list of elements referred to by the phrase “at least one,” regardless of their relation to those specifically identified elements. Thus, as a non-limiting example, “at least one of A and B” (or equivalently, “at least one of A or B”, or equivalently, “at least one of A and / or B”) in one embodiment may refer to at least one, optionally including more than one A, while B is absent (optionally including elements other than B); in another embodiment, at least one may optionally include more than one B, while A is absent (optionally including elements other than A); in yet another embodiment, at least one may optionally include more than one A, and at least one may optionally include more than one B (and optionally include other elements); and so on.

[0245] In the claims and the aforementioned description, all transitional phrases such as “comprising,” “including,” “carrying,” “having,” “containing,” “involving,” “holding,” and “comprising” should be understood as open-ended, meaning including but not limited to. As specified in Section 2111.03 of the U.S. Patent Examination Procedure Manual, only the transitional phrases “consisting of…” and “consisting substantially of…” are respectively closed or semi-closed transitional phrases.

Claims

1. A swinging device (10), comprising: Electromagnet (51); Multiple permanent magnets (52, 53) are positioned close to the electromagnet (51) such that when the electromagnet is electrically activated, a magnetic force is generated between the electromagnet and each of the multiple permanent magnets; as well as A controller (2102) is coupled to the electromagnet to electrically activate the electromagnet, thereby initiating the swing motion of the swing device without manual intervention from the user.

2. The swinging device according to claim 1, wherein, None of the electromagnets or any of the plurality of permanent magnets are formed on the seat.

3. The swinging device according to claim 1, wherein, Adjacent permanent magnets among the plurality of permanent magnets are arranged to have opposite polarities facing the electromagnet, and wherein, upon electrical activation, the electromagnet acquires a predetermined polarity on the electromagnet surface facing the plurality of permanent magnets, thereby generating both attractive and repulsive magnetic forces between the electromagnet and the plurality of permanent magnets.

4. The swinging device according to claim 1, wherein, In the intermediate position, the electromagnet is positioned within a pivot plane including the pivot axis, and each permanent magnet in the group of permanent magnets is positioned outside the pivot plane.

5. A swinging device (10), comprising: A controller (2102) is used to control the movement of at least a portion of the swing device (10); Multiple optical sensors (46, 47) are coupled to the controller (2102), the multiple optical sensors (46, 47) including: A first light source is used to emit a first beam of light (46a) that propagates along a first optical path. A first detector, separated from the first light source and disposed in the first optical path, is used to detect the first beam (46a). A second light source is used to emit a second beam (47a) along a second optical path, the second optical path being substantially parallel to the first optical path and offset relative to the first optical path by a separation distance; A second detector, spaced apart from the second light source and disposed in the second optical path, is used to detect the second light beam; and An optical encoder strip (35) is disposed in the first optical path and the second optical path to facilitate the detection of the movement of at least the portion of the swinging device.

6. The swinging device according to claim 5, further comprising: An arm assembly, the arm assembly including a seat, wherein the optical encoder strip is mechanically coupled to the arm assembly; and A frame assembly, coupled to the arm assembly and defining a pivot axis, wherein the arm assembly rotates about the pivot axis during movement of the rocking device, wherein the plurality of optical sensors are mechanically coupled to the frame assembly.

7. The swinging device according to claim 6, wherein, The optical encoder bar is a curved slot bar with a curvature centered on the pivot axis.

8. A swinging device (10), comprising: A controller (2102) is used to control the movement of at least a portion of the swing device (10); Multiple optical sensors (46, 47) are coupled to the controller (2102), the multiple optical sensors (46, 47) including: A first light source is used to emit a first beam of light (46a) that propagates along a first optical path. A first detector, separated from the first light source and disposed in the first optical path, is used to detect the first beam (46a). A second light source emits a second beam (47a) along a second optical path, the second optical path being substantially parallel to the first optical path and offset relative to the first optical path by a separation distance; A second detector, spaced apart from the second light source and disposed in the second optical path, is used to detect the second light beam; and A slot strip (35) is disposed in the first optical path and the second optical path to facilitate the detection of movement of at least said portion of the oscillating device based on alternating blocking and unblocking of the first beam (46a) and the second beam (47b), the slot strip (35) comprising: Multiple optically transparent slots (36); and Multiple light blocking parts (37) are respectively disposed between the continuous slots (36) of the multiple optically transparent slots (36).

9. The swinging device according to claim 8, wherein, The slot strip is a curved slot strip that includes the plurality of optically transparent slots and the plurality of light-blocking portions.

10. The swing device according to claim 8, further comprising: An arm assembly, the arm assembly including a seat, wherein the slot strip is mechanically coupled to the arm assembly; as well as A frame assembly, coupled to the arm assembly and defining a pivot axis, wherein the arm assembly rotates about the pivot axis during movement of the rocking device, wherein the plurality of optical sensors are mechanically coupled to the frame assembly.

11. The swinging device according to claim 10, wherein, The slot strip is a curved slot strip with curvature centered on the pivot axis.

12. The swinging device according to claim 8, wherein, During at least the movement of the swinging device, at least one of the plurality of slots is completely positioned between the first optical path and the second optical path.

13. The swinging device according to claim 8, wherein, During at least the movement of the swinging device, at least one of the plurality of light blocking parts is completely disposed between the first optical path and the second optical path.

14. The swinging device according to claim 8, wherein, The angular interval between adjacent slots in the plurality of slots is approximately 1 degree to approximately 3 degrees.

15. A swinging device (10), comprising: arm assembly (15), the arm assembly including seat (18); A frame assembly (12) is coupled to the arm assembly (15) and defines a pivot axis (P--P') about which the arm assembly (15) rotates during operation of the rocking device (10); An electromagnet (51) is disposed on the frame assembly (12); as well as Multiple permanent magnets (52, 53) are disposed on the arm assembly and positioned to define an arc centered on the pivot axis (P--P'). When the swinging device is in the middle position, the electromagnet (51) has an angular offset relative to the plurality of permanent magnets (52, 53) positioned along the arc about the pivot axis (P--P').

16. The swinging device according to claim 15, wherein, None of the electromagnets or any of the plurality of permanent magnets are formed on the seat.

17. The swinging device according to claim 15, wherein, Adjacent permanent magnets among the plurality of permanent magnets are arranged to have opposite polarities facing the electromagnet.

18. The swinging device of claim 17, further comprising a controller for electrically activating the electromagnet such that the electromagnet acquires a first magnetic pole on an electromagnet surface facing the plurality of permanent magnets, and such that an attractive magnetic force and a repulsive magnetic force are simultaneously generated between the electromagnet and the plurality of permanent magnets.

19. The swinging device according to claim 15, wherein, In the intermediate position, the electromagnet is disposed within a pivot plane including the pivot axis, and each permanent magnet in the group of permanent magnets is disposed outside the pivot plane.

20. A swinging device (10), comprising: arm assembly (15), the arm assembly including seat (18); A frame assembly (12) is coupled to the arm assembly (15) and defines a pivot axis (P--P') about which the arm assembly (15) rotates during operation of the rocking device (10); An electromagnet (51) is disposed on one of the frame assembly (12) and the arm assembly (15); and A plurality of permanent magnets (52, 53) are disposed on another of the frame assembly (12) and the arm assembly (15), the plurality of permanent magnets (52, 53) being positioned to define an arc centered on the pivot axis (P--P'). When the rocking device (10) is in the middle position, the electromagnet (51) and the plurality of permanent magnets (52, 53) are arranged on the first side of the pivot axis, and the seat is arranged on the second side of the pivot axis.

21. The swinging device according to claim 20, wherein, None of the electromagnets or any of the plurality of permanent magnets are formed on the seat.

22. The swinging device according to claim 20, wherein, Adjacent permanent magnets among the plurality of permanent magnets are arranged to have opposite polarities facing the electromagnet.

23. The swinging device of claim 22 further includes a controller for electrically activating the electromagnet such that the electromagnet acquires predetermined magnetic poles on the surface of the electromagnet facing the plurality of permanent magnets, and such that attractive and repulsive magnetic forces are simultaneously generated between the electromagnet and the plurality of permanent magnets.

24. The swinging device according to claim 20, wherein, In the intermediate position, the electromagnet is disposed within a pivot plane including the pivot axis, and each permanent magnet in the group of permanent magnets is disposed outside the pivot plane.

25. The swinging device according to claim 20, wherein, The first side of the pivot axis includes a space vertically above the pivot axis, and the second side of the pivot axis includes a space between the pivot axis and the surface on which the rocking device is mounted.

26. A swinging device (10), comprising: arm assembly (15), the arm assembly including seat (18); A frame assembly (12) is coupled to the arm assembly (15) and defines a pivot axis (P--P') about which the arm assembly (15) rotates during operation of the rocking device (10); A plurality of permanent magnets (52, 53) are disposed on the arm assembly and positioned to define an arc centered on the pivot axis (P--P'), wherein the linear distance between each of the plurality of permanent magnets and the pivot axis is at most about 0.5 inches to about 5 inches; and An electromagnet (51) is disposed on the frame assembly (12).

27. A swinging device (10), comprising: arm assembly (15), the arm assembly including seat (18); A frame assembly (12) is coupled to the arm assembly (15) and defines a pivot axis (P--P') about which the arm assembly (15) rotates during operation of the rocking device (10); Multiple permanent magnets (52, 53) are disposed on the arm assembly and positioned to define an arc centered on the pivot axis (P--P'); as well as An electromagnet (51) is disposed on the frame assembly (12), wherein the linear distance between the electromagnet and the pivot axis is at most about 1 inch to about 6 inches.

28. A swinging device (10), comprising: Electromagnet (51); as well as Multiple permanent magnets (52, 53) are positioned close to the electromagnet (51) to generate magnetic force when the electromagnets (52, 53) are electrically activated, thereby controlling the swinging motion of at least a portion of the swinging device (10). When the swaying device (10) is in magnetic alignment during operation, the gap (AG) between the electromagnet (51) and the first permanent magnet (52) of the plurality of permanent magnets (52, 53) is less than or equal to 0.15 inches.

29. A swinging device (10), comprising: Arm assembly (15), the arm assembly including a hub (16), a rocker arm (17) coupled to the hub and a seat (18) coupled to the rocker arm. A frame assembly (12), coupled to the hub and including a frame arm, defines a pivot axis (P--P') about which the hub rotates during operation of the rocking device (10); An electromagnet (51) is disposed on the frame assembly (12); Multiple permanent magnets (52, 53) are disposed on the hub and positioned to define an arc centered on the pivot axis (P--P'); as well as The housing encloses the electromagnet and the plurality of permanent magnets.

30. The swing device of claim 29, wherein the frame assembly further comprises an electromagnet support coupled to the frame arm and disposed within the housing, wherein the electromagnet is disposed on the support.

31. The rocking device of claim 30, wherein the electromagnet support further includes a rod shaft disposed adjacent to the frame arm and defining the pivot axis.

32. The swinging device according to claim 31, wherein, The rod shaft is nested in a notch formed in a portion of the frame arm.

33. The swing device according to claim 29, wherein the hub further includes a plurality of permanent magnet supports, wherein the plurality of permanent magnets are disposed in the plurality of permanent magnet supports.

34. The swinging device according to claim 29, further comprising: An optical sensor is mounted on the electromagnet support. An optical encoder is mounted on the hub, wherein the optical sensor and the optical encoder together contribute to the detection of the swinging motion of the swinging device. When the swinging device is in the middle position, the electromagnet, the plurality of permanent magnets, the optical sensor and the optical encoder are respectively positioned above the pivot axis.

35. The swinging device according to claim 29, wherein, The hub protrudes through the housing, and the rocker arm is coupled to the hub externally to the housing.

36. A swinging device (10), comprising: A controller (2102) is configured to determine when at least a portion of the rocking device (10) changes direction during the rocking motion, without detecting when the portion of the rocking device (100) passes through the middle position of the rocking motion.

37. The swinging device according to claim 36, further comprising: Multiple optical sensors are coupled to the controller, the multiple optical sensors including: The first light source is used to emit a first beam of light that propagates along the first optical path; A first detector, separated from the first light source and disposed in the first optical path, is used to detect the first light beam; A second light source emits a second beam along a second optical path, the second optical path being substantially parallel to the first optical path and offset relative to the first optical path by a separation distance; A second detector, spaced apart from the second light source and disposed in the second optical path, is used to detect the second light beam; and An optical encoder strip, disposed in the first optical path and the second optical path, is used to modulate the detection of the first beam by the first detector to affect the change of a first state of the first detector, and to modulate the detection of the second beam by the second detector to affect the change of a second state of the second detector. Specifically, when the portion of the swing device moves along a first direction, the first state and the second state transition together through a first state sequence; when the portion of the swing device moves along a second direction, the first state and the second state transition together through a second state sequence, the second state sequence being the opposite of the first state sequence. Furthermore, the controller is configured to determine the change in direction of the portion of the swinging device during the swinging motion by detecting changes in the first state and the second state, wherein the change in the first state and the second state is a change from one of the first state sequence and the second state sequence to the other of the first state sequence and the second state sequence.

38. The swinging device according to claim 36, further comprising: A magnetic actuator, comprising at least one electromagnet and at least one permanent magnet, The controller is coupled to the electromagnet and is also configured to selectively switch the polarity of the activation current applied to the electromagnet when it is determined when the portion of the swinging device changes direction during the swinging motion.

39. A swinging device (10), comprising: A panel (3522) having a surface (3522a) and including a turntable (3525) for user input, the user input specifying the degree of rocking motion of at least a portion of the rocking device during use, the surface defining a hole and a recess (3530) within the hole, wherein the turntable (3525) is disposed in the recess; and The controller (2102) is communicatively coupled to the turntable to control the swing motion based on the user input.

40. The rocking device of claim 39, further comprising a circuit board mechanically coupled to the turntable, wherein, The controller is mounted on the circuit board and is communicatively coupled to the turntable.

41. The swinging device according to claim 39, wherein, The turntable does not protrude beyond the surface of the panel.

42. The rocking device according to claim 41, wherein the panel further comprises a set of selection buttons for controlling the operation of the rocking device.

43. The swinging device according to claim 42, wherein, The set of selection buttons is configured to be flush with the surface of the panel.

44. The rocking device of claim 41, wherein the panel further comprises a set of light indicators communicatively coupled to the controller.

45. The swinging device according to claim 44, wherein, The set of light indicators is configured to be flush with the surface of the panel.

46. ​​The swinging device according to claim 39, wherein, The turntable protrudes beyond the surface of the panel.

47. The swinging device according to claim 39, further comprising: An arm assembly, the arm assembly including a seat; A frame assembly defining a pivot axis, wherein the arm assembly, as part of the rocking device, oscillates about the pivot axis during operation of the rocking device; An electromagnet is coupled to the frame assembly and to the controller, wherein the controller is also configured to electrically activate the electromagnet; Multiple permanent magnets are coupled to the arm assembly and positioned to define an arc centered on the pivot axis; as well as A housing that encloses the electromagnet and the plurality of permanent magnets, wherein the panel is coupled to the housing.

48. The swinging device according to claim 39, wherein, The recessed portion is at a maximum depth of about 0.25 inches to about 1 inch from the surface of the panel.

49. A kit comprising a plurality of components for assembling into a rocking device (10), said kit comprising: The first component includes: Framework components (12); The magnetic actuator (20) is coupled to the frame assembly (12); and A power delivery circuit that couples an external power source to the magnetic drive (20). The second component includes a rocker arm (17) configured to be coupled to the magnetic actuator (20); and The third component includes a seat (18) configured to be coupled to the rocker arm (17). The power delivery circuit is entirely contained within the first component.

50. The kit of claim 49, wherein the power delivery circuitry includes a cable partially disposed outside the frame assembly and coupled to the adapter, wherein, The adapter is coupled to the external power source during use.

51. The kit according to claim 49, wherein, There is no electrical coupling between the first component and the second component or between the first component and the seat.

52. The kit according to claim 49, wherein, The seat includes power-consuming components and a power supply independent of the power delivery circuit that powers the power-consuming components.

53. The kit of claim 49, further comprising a fourth and a fifth component configured to be coupled together to form a base for the rocking device, wherein, The first component is configured to be coupled to the base via the frame assembly.

54. A swinging device (10), comprising: arm assembly (15), the arm assembly including seat (18); A frame assembly (12) supports the rocking device on the ground during operation of the rocking device, the frame assembly is coupled to the arm assembly (15) and defines a pivot axis (P--P'), the arm assembly (15) swings about the pivot axis during operation of the rocking device (10), wherein the pivot axis forms an angle of about 15 degrees to about 45 degrees with respect to a horizontal plane parallel to the ground. as well as A driver (20) is provided about the pivot axis (P--P') to control the swing motion of the arm assembly (15) about the pivot axis during operation of the swing device.

55. The swinging device according to claim 54, wherein, When projected onto the horizontal plane parallel to the ground, the lateral distance traversed by the arm assembly between the maximum range of the swing motion is in the range of approximately 1 to 3 feet.

56. The swinging device according to claim 54, further comprising: A housing that at least partially encloses the actuator; as well as An interface panel, coupled to the housing, defines an interface panel (II') at an angle of 90 degrees or greater relative to the pivot axis.

57. The swinging device according to claim 54, wherein, The angle formed by the pivot axis relative to the horizontal plane is approximately 30 degrees to approximately 45 degrees.

58. A swinging device (10), comprising: The base (13) rests on a generally horizontal ground during operation of the swaying device, and the base defines a vertical coverage area of ​​the base member on the ground; The frame assembly (12) includes a frame arm (14), the lower portion (14a) of which is coupled to the base, the lower portion (14a) of which extends upward from the base and is inclined relative to the vertical direction, such that the lower portion (14a) of the frame handle extends away from the vertical coverage area of ​​the base and is located outside the vertical coverage area of ​​the base. as well as A rocking arm assembly (15) is coupled to the frame assembly (12), the rocking arm assembly (15) including a seat (18) to hold a child during operation of the rocking device.

59. The rocking device of claim 58, further comprising a handle for receiving the lower portion of the frame arm and coupling the frame arm to the base, wherein the handle is welded to the base by a full circumferential weld.

60. The swinging device according to claim 59, wherein, The frame arm is hollow, and the wall thickness of the frame arm is from about 1.2 mm to about 1.6 mm.

61. The swinging device according to claim 59, wherein, The lower first end of the frame arm includes a set of lugs, and the base includes a set of lug openings for receiving the set of lugs when the handle is inserted into the base.

62. A swinging device, comprising: Base (13), which rests on the ground during operation of the rocking device, having a curved outer periphery; An arm assembly (15) includes a rocking arm and a rotatable seat (18) coupled to the rocking arm for holding a child during operation of the rocking device, the rotatable seat having a rotation axis perpendicular to the ground; as well as The frame assembly (12), coupled to the arm assembly (15) and the base and defining a pivot axis (P--P'), about which the arm assembly (15) oscillates during operation of the rocking device. The rotatable seat is positioned on the arm assembly such that the combined center of gravity of the rocking device and the anthropomorphic test device ATD (40) disposed in the seat is laterally offset by less than 1 inch relative to the rotation axis of the rotatable seat.

63. The swinging device according to claim 62, wherein, The ATD is one of a newborn test dummy and a six-month-old infant test dummy.

64. A swinging device (10), comprising: A base (13) is placed on a horizontal surface during use, and the base (13) defines a vertical coverage area; The frame assembly (12) includes a frame arm (14) defining an upper and a lower portion, the lower portion of the frame arm (14) being coupled to the base (13) via a handle and tilted at an angle relative to the vertical coverage area at an interconnection point, such that the lower portion of the frame arm (14) is located outside the vertical coverage area. as well as A rocker arm assembly (15) is coupled to the frame assembly, the rocker arm assembly including a seat (18) that holds the child in use. The lower part and the upper part together define the curvature, such that the upper part of the frame arm (14) intrudes into the vertical coverage area.

65. A swinging device (10), comprising: A base component (13) is placed on a horizontal surface during use, and the base component (13) defines a vertical coverage area; The frame assembly (12) includes a frame arm (14) defining an upper and a lower portion, the lower portion of which is coupled to the base (13) via a handle and is tilted at an angle relative to the vertical coverage area at an interconnection point, such that the lower portion of the frame arm (14) is located outside the vertical coverage area. as well as A driver (20) coupled to the upper portion, wherein at least a portion of the driver (20) is located within the vertical coverage area; and A rocker arm assembly (15) is coupled to the drive, the rocker arm assembly including a seat (18) that holds the child in use.

66. A swinging device (10), comprising: Framework components (12); Hub (16), which is rotatably coupled to frame assembly (12) at pivot axis (P--P'); Seat (18); A rocker arm (17) has a first end attached to the seat (18) and a second end attached to the hub (16) such that rotation of the hub (16) relative to the frame assembly (12) about the pivot axis (P--P') causes rotation of the rocker arm (17) and the seat (18). At least one permanent magnet (52, 53) is disposed on one of the frame assembly (12) and the hub (16); At least one electromagnet (51) is disposed on the other of the frame assembly (12) and the hub (16), wherein the at least one electromagnet (51) and the at least one permanent magnet (52, 53) are configured to apply magnetic force to each other, such that the hub (16) rotates relative to the frame assembly (12) about the pivot axis (P--P').

67. The rocking device according to claim 66, comprising a housing, wherein, The at least one permanent magnet and the at least one electromagnet are housed in the housing.

68. The swinging device according to claim 67, wherein, At least a portion of the hub is housed in the housing, the portion including the at least one permanent magnet or the at least one electromagnet.

69. A swinging device (10), comprising: arm assembly (15), the arm assembly including seat (18); A frame assembly (12) is coupled to the arm assembly (15) and defines a pivot axis (P--P') about which the arm assembly (15) rotates during operation of the rocking device (10); At least one permanent magnet (52, 53) is disposed on one of the arm assembly (15) and the frame assembly (12) and positioned to define an arc centered on the pivot axis (P--P'); as well as An electromagnet (51) is disposed on another of the arm assembly (15) and the frame assembly (12). The at least one permanent magnet (52, 53) is arranged to have opposite polarities facing the electromagnet (51), and the swing device (10) is configured to generate both an attractive magnetic force and a repulsive magnetic force between the electromagnet (51) and the at least one permanent magnet (52, 53) when the arm assembly (15) is in the intermediate position and the electromagnet (51) is electrically activated.

70. The swinging device according to claim 69, wherein, The at least one permanent magnet defines a north pole and a south pole, each pole facing the electromagnet.

71. The swinging device according to claim 70, wherein, The at least one permanent magnet includes a single magnet that defines both the North Pole and the South Pole.

72. The swinging device according to claim 70, wherein, The at least one permanent magnet includes a first magnet and a second magnet, the first magnet and the second magnet defining the North Pole and the South Pole, respectively.

73. The swinging device according to claim 70, wherein, The distance between the North Pole and the South Pole along the linear direction is less than the width of the electromagnet along the linear direction.

74. A swinging device (10), comprising: arm assembly (15), the arm assembly including seat (18); A frame assembly (12) is coupled to the arm assembly (15) and defines a pivot axis (P--P') about which the arm assembly (15) rotates during operation of the rocking device (10); An electromagnet (1945) is disposed on the frame assembly (12); as well as At least one permanent magnet (1931) is disposed on the arm assembly and positioned such that during operation of the swing device (10), the north pole (1931a) and the south pole (1931b) of the at least one permanent magnet (1931) are magnetically aligned with the electromagnet (1945). When the swinging device is in the middle position, the electromagnet (51) has an angular offset relative to the north pole (1931a) and south pole (1931b) of the at least one permanent magnet (1931) about the pivot axis (P--P').

75. A swinging device, comprising: A magnetic actuator, the magnetic actuator comprising an electromagnet and a plurality of permanent magnets; as well as A controller, coupled to the electromagnet, activates the electromagnet by applying an activation current of polarity, thereby initiating movement of at least a portion of the rocking device, the polarity being selectable from a first polarity and a second polarity, the controller being configured to: A1) Apply an activation current having one of the first and second polarities; A2) Determine whether at least the portion of the swing device has moved by at least a predetermined amount; A3) If, after a predetermined time period, at least said portion of the swing device has not moved by at least said predetermined amount, then the polarity of the activation current is switched to the other polarity of the first polarity and the second polarity; and A4) Repeat A2) and A3) until it is determined in A2) that the swinging device has moved at least the predetermined amount.

76. The swinging device according to claim 75, further comprising: Multiple optical sensors are coupled to the controller, the multiple optical sensors including: The first light source is used to emit a first beam of light that propagates along the first optical path; A first detector, separated from the first light source and disposed in the first optical path, is used to detect the first light beam; A second light source is used to emit a second beam along a second optical path, the second optical path being substantially parallel to the first optical path and offset relative to the first optical path by a separation distance; A second detector, spaced apart from the second light source and disposed in the second optical path, is used to detect the second light beam; and An optical encoder strip, disposed in the first optical path and the second optical path, is used to modulate the detection of the first beam by the first detector to affect the state change of the first detector, and to modulate the detection of the second beam by the second detector to affect the state change of the second detector. The controller is further configured to, in A2), determine whether at least said portion of the swing device has moved by at least said predetermined amount by detecting a state change of at least one of the first detector and the second detector.

77. The swinging device according to claim 75, wherein, The controller is also configured to, when it is determined in A2) that the swing device has moved at least the predetermined amount: A5) Determine whether the part of the swing device has changed the direction of the swing motion.

78. The swinging device according to claim 77, wherein, The controller is also configured to repeat A2) and A3) when it is determined in A5) that the portion of the swinging device has not changed the direction of the swinging motion.

79. The swinging device according to claim 77, wherein, The controller is also configured to, when it is determined in A2) that the swing device has moved at least the predetermined amount: A6) Increase the swing angle measurement value associated with the motion of the portion of the swing device.

80. The swinging device according to claim 79, wherein, The controller is also configured to, when it is determined in A5) that the portion of the swing device has changed its direction of motion: A7) Switch the polarity of the activation current applied to the electromagnet.

81. The swinging device according to claim 80, wherein, The controller is also configured to, after A7): A8) If the measured swing angle exceeds a predetermined set point, the activation current is set to zero.

82. The swinging device according to claim 81, wherein, The controller is also configured to repeat A2) and A3) after the activation current is set to zero in A8).

83. The swinging device according to claim 81, wherein, The controller is also configured to, after A7): A9) If the measured swing angle is less than the predetermined set point, then the activation current is modulated.

84. The swinging device according to claim 83, wherein, The controller is also configured to modulate the activation current in A9 in the following manner: The error value is calculated based on the measured swing angle and the predetermined set point; Based on the error value, calculate one or more of the proportional term, differential term, or integral term; and The activation current is modulated based on one or more of the proportional term, the differential term, or the integral term.

85. The swinging device according to claim 83, wherein, The controller is also configured to repeat A2) and A3) after A9) modulates the activation current.

86. The swinging device according to claim 75, wherein, The controller is also configured to determine when the portion of the rocking device changes direction during the motion, without determining when the portion of the rocking device passes through the equilibrium position of the motion.

87. A swinging device, comprising: Electromagnets; Multiple permanent magnets are positioned close to the electromagnet such that when the electromagnet is electrically activated, a magnetic force is generated between the electromagnet and each of the multiple permanent magnets. as well as A controller, coupled to the electromagnet, electrically activates the electromagnet, thereby initiating the swinging motion of the swinging device without manual intervention from the user. In the middle position, the electromagnet is disposed within a pivot plane including the pivot axis, and each of the plurality of permanent magnets is disposed outside the pivot plane.

88. The swinging device according to claim 87, wherein, None of the electromagnets or any of the plurality of permanent magnets are formed on the seat.

89. The swinging device according to claim 87, wherein, Adjacent permanent magnets among the plurality of permanent magnets are arranged to have opposite polarities facing the electromagnet, and wherein, upon electrical activation, the electromagnet acquires a predetermined polarity on the electromagnet surface facing the plurality of permanent magnets, thereby generating both attractive and repulsive magnetic forces between the electromagnet and the plurality of permanent magnets.

90. A swinging device, comprising: An arm assembly, the arm assembly including a seat; A frame assembly, coupled to the arm assembly and defining a pivot axis, wherein the arm assembly rotates about the pivot axis during operation of the rocking device; An electromagnet is disposed on the frame assembly; as well as Multiple permanent magnets are disposed on the arm assembly and positioned to define an arc centered on the pivot axis. When the seat is in the middle position, the electromagnet has a first angular offset relative to the pivot plane including the pivot axis.

91. The swinging device according to claim 90, wherein, None of the electromagnets or any of the plurality of permanent magnets are formed on the seat.

92. The swinging device according to claim 90, wherein, Adjacent permanent magnets among the plurality of permanent magnets are arranged to have opposite polarities facing the electromagnet.

93. The swinging device according to claim 92, further comprising: The controller electrically activates the electromagnet, causing the electromagnet to acquire a first magnetic pole on the surface of the electromagnet facing the plurality of permanent magnets, and causing an attractive magnetic force and a repulsive magnetic force to be generated simultaneously between the electromagnet and the plurality of permanent magnets.

94. The rocking device of claim 90, further comprising another electromagnet, the other electromagnet being offset such that when the seat is in the intermediate position, the other electromagnet has a second angular offset relative to the pivot plane, the second angular offset being offset from the pivot plane in a direction opposite to the first angular offset.

95. The swinging device according to claim 94, wherein, The magnitude of the first angular offset is equal to the magnitude of the second angular offset.

96. The swinging device according to claim 94, wherein, The magnitude of the first angular offset is different from the magnitude of the second angular offset.

97. The swinging device according to claim 90, wherein, The first angular offset is equal to half of the maximum swing angle of the arm assembly about the pivot axis.

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