Magnetic induction yaw motor based on Hall induction

Abstract

The utility model discloses a magnetic induction yaw motor based on Hall induction, which comprises a fixing frame, a stator assembly and a rotor assembly, the stator assembly comprises a stator body and a stator coil, the rotor assembly comprises a mounting seat, a motor shaft and a rotor body, and two sides of the rotor assembly are connected with elastic pieces. The rotor assembly provides reset elastic force through the elastic piece when the rotor assembly transversely swings in a reciprocating mode, the detection unit comprises at least one Hall sensor, the Hall sensor is fixedly installed on the fixing frame or the stator body, the Hall sensor detects the position of the rotor body in real time, and the control unit is electrically connected with the detection unit. The current input into the stator coil is controlled through the control unit, the position of the mover body is detected in real time through the Hall sensor, so that the position information of a tool bit of the hair trimming equipment is obtained, and the current input into the stator coil is controlled through the control unit, so that the follow-up action of the mover body is accurately controlled. Therefore, closed-loop motor control based on blade position feedback can be completed.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a magnetic induction yaw motor based on Hall induction. Background Art

[0002] At present, during the use of a hair clipper, the movable blade needs to move back and forth at a high frequency, and this process requires the help of a motor and a transmission structure to complete. In view of the above description, the commonly used transmission structure is usually that the motor drives the eccentric wheel to rotate at high speed, and the eccentric wheel is connected to the end of the blade holder, thereby driving the blade to move back and forth at a high frequency. The defects are: 1. Since the eccentric wheel and the blade holder need to be rotationally connected to realize the above-mentioned transmission process, there is friction between the two during the rotational connection, and in the high-frequency rotation usage scenario, the rotation connection point between the eccentric wheel and the blade holder is accelerated to wear, and frequent replacement is required, which increases the cost; 2. With the eccentric wheel drive structure, the interior of the hair clipper shell requires a larger accommodating cavity, so that the end of the hair clipper adjacent to the blade head must be designed to be relatively thick, increasing the volume of the hair clipper itself.

[0003] This gave rise to a magnetic induction yaw motor, which changes the layout between the rotor and stator bodies. By applying the principle of magnetic induction, it directly drives the two swinging parts to perform staggered reciprocating movement. During the reciprocating movement, the springs and yaw limiters also swing accordingly to improve the stability of the staggered reciprocating movement. For example, a brushless electromagnetic suspension vibration motor disclosed in a Chinese patent (application publication CN114123702A) effectively solves the technical problems caused by the use of an eccentric wheel structure in the cutter head transmission structure.

[0004] However, the aforementioned yaw motor cannot sense the position of the moving blade relative to the fixed blade, and therefore cannot precisely control or intervene in the cutter head's movement. This often leads to problems such as the cutter head becoming stuck, increased friction, and mechanical aging, making the tool's hair-cutting performance unreliable. Summary of the Invention

[0005] The purpose of this utility model is to provide a magnetic induction yaw motor based on Hall effect sensing. The Hall effect sensor detects the position of the mover in real time, thereby obtaining the position information of the cutter head (movable blade) of the hair trimming device. The control unit controls the current input to the stator coil to accurately control the subsequent movement of the mover, which means that closed-loop motor control based on blade position feedback can be completed.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: a magnetic induction yaw motor based on Hall induction, comprising a fixed frame, a stator assembly fixedly arranged at the lower end of the fixed frame, and a mover assembly laterally swingably arranged in the fixed frame, the stator assembly comprising a stator body and a stator coil wound around the outer periphery of the stator body, the mover assembly comprising a mounting seat, a motor shaft fixedly mounted at the upper end of the mounting seat, and a mover body fixedly mounted at the lower end of the mounting seat, elastic parts are connected between both sides of the mover assembly and the fixed frame, and a reset elastic force is provided by the elastic parts when the mover assembly swings back and forth laterally, and also comprises a detection unit and a control unit electrically connected to the detection unit, the detection unit comprising at least one Hall sensor, the Hall sensor being fixedly mounted on the fixed frame or the stator body, the Hall sensor detecting the position information of the mover body in real time and transmitting it to the control unit, the control unit processing the data detected by the detection unit and controlling the current input to the stator coil.

[0007] Furthermore, the Hall sensors are provided in two groups and are symmetrically arranged on both sides of the fixing frame or the stator body, and the two Hall sensors respectively detect the position of the mover body in real time.

[0008] Furthermore, a seat portion is provided at the lower portion of the motor shaft, and two groups of elastic members are provided and symmetrically arranged on both sides of the seat portion, and the elastic members are connected to the fixing frame relative to the other side of the seat portion.

[0009] Furthermore, a track bar for supporting and guiding the mover assembly is provided in the fixing frame, the track bar is arranged horizontally, and the mounting seat or the motor shaft is provided with a guide groove that cooperates with the guide of the track bar.

[0010] Furthermore, at least one mover is provided at the lower end of the mounting seat. The mover is laterally suspended at the upper end of the stator. The mover can swing back and forth laterally under the action of the stator assembly.

[0011] Furthermore, the mover body is a permanent magnet.

[0012] In summary, the present invention has the following beneficial effects:

[0013] The magnetic induction yaw motor of this utility model detects the position of the moving body in real time through a Hall sensor, thereby obtaining the position information of the cutter head (moving blade) of the hair trimming device. The control unit controls the current (intensity, size, flow direction, etc.) input to the stator coil to accurately control the subsequent movement of the moving body, which means that closed-loop motor control based on blade position feedback can be completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0015] Figure 2It is a front view of the present utility model.

[0016] Figure 3 It is a schematic diagram of a single detection unit of the present invention during detection.

[0017] Figure 4 It is a schematic diagram of the two detection units of the present invention during detection.

[0018] In the figure: 10, fixing frame; 20, stator assembly; 21, stator body; 22, stator coil; 30, mover assembly; 31, mounting seat; 32, motor shaft; 321, seat body; 33, mover body; 34, elastic member; 35, track bar; 40, detection unit. DETAILED DESCRIPTION

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] like Figure 1-4 As shown, a magnetic induction yaw motor based on Hall induction includes a fixed frame 10, a stator assembly 20 fixedly arranged at the lower end of the fixed frame 10, and a mover assembly 30 laterally swingably arranged in the fixed frame 10, which constitute the technical structure of the present invention.

[0021] The stator assembly 20 includes a stator body 21 and a stator coil 22 wound around the outer circumference of the stator body 21. The mover assembly 30 includes a mounting base 31, a motor shaft 32 fixedly mounted on the upper end of the mounting base 31, and a mover body 33 fixedly mounted on the lower end of the mounting base 31. Specifically, the mover body 33 is a permanent magnet. The motor shaft 32 is used to connect the cutter head. The displacement, rotation and other motion information of the cutter head are consistent with the motion information of the permanent magnet. Therefore, obtaining the position change information of the mover body 33 means obtaining the position information of the cutter head (movable cutter) of the hair trimming device, which means that closed-loop motor control based on blade position feedback can be completed. Elastic members 34 are connected between both sides of the mover assembly 30 and the fixed frame 10. The elastic member 34 provides a reset elastic force when the mover assembly 30 swings back and forth laterally. The mover assembly 30 also includes a detection unit 40 and a control unit electrically connected to the detection unit 40.

[0022] The detection unit 40 includes at least one Hall sensor, which is fixedly mounted on the fixing frame 10 or the stator body 21. Preferably, the Hall sensor is fixedly mounted on the stator body 21. The Hall sensor detects the position information of the mover body 33 in real time and transmits it to the control unit. The control unit processes the data detected by the detection unit 40 and controls the current input to the stator coil 22. In the present utility model, the control unit controls the current intensity, size, flow direction and other parameters of the input stator coil 22, thereby accurately controlling the subsequent action of the mover body 33.

[0023] like Figure 3 and 4 As shown, when the Hall sensor is operating, it can measure the magnetic field strength around the sensor. Theoretically, the magnetic field data measured by the Hall sensor represents the magnetic field strength in a three-dimensional environment. If the measurement results are visualized using isosurfaces, a sphere can be used to represent the corresponding isomagnetic field strength measured by the Hall sensor. Because the yaw motor's mover moves only horizontally, the magnetic field strength in the longitudinal and vertical directions remains constant within the space defined by the mover body 33 itself, so this operating condition can be simplified to a two-dimensional problem. The principle of the Hall sensor measuring the surrounding magnetic field strength through voltage changes on a semiconductor chip is not described in detail. For example, when the hair trimming device is operating normally, the cutter head should move to the set left position before moving to the right, or to the set right position before moving to the left. However, when encountering some thicker hairs, due to the large friction, the yaw motor moves in the opposite direction before moving to the set left position or right position, affecting the trimming effect. When encountering this situation, the yaw motor of the present invention will adjust the current intensity of the stator coil 22 through the control unit, so that the cutter head can continue to move to the set position.

[0024] The magnetic induction yaw motor of the present invention detects the position of the mover 33 in real time through a Hall sensor, thereby obtaining the position information of the cutter head (movable blade) of the hair trimming device. The control unit controls the current (intensity, size, flow direction, etc.) input to the stator coil 22 to accurately control the subsequent movement of the mover 33, which means that closed-loop motor control based on blade position feedback can be completed.

[0025] like Figure 3 As shown, when a single Hall sensor is used, after the magnetic induction yaw motor is assembled, the Hall sensor's fixed position A is determined. In the initial state, the vertical distance between the Hall sensor's fixed position A and the initial position B of the mover 33 in the height direction and the horizontal distance in the horizontal direction are known. Because the Hall sensor calibrates the relationship between magnetic field strength and relative position angle before operation, after measuring the magnetic field strength, the relative relationship can also be expressed by the angle formed by it with the center of the mover 33. That is, when the mover 33 oscillates laterally, the Hall sensor can detect in real time the angle X between the straight line formed by its fixed position A and the real-time position B' of the mover 33 and the horizontal line. The control unit then processes the angle in real time to calculate the distance between the real-time position B' of the mover 33 and the initial position B.

[0026] The distance between the real-time position B' and the initial position B of the movable body 33 can be calculated in a variety of ways. As an example, if the horizontal distance L between the fixed position A and the initial position B is known, the horizontal distance L' between the fixed position A and the real-time position B' can be calculated using the vertical distance from the real-time position B' to the fixed position A and arccosX. The distance BB' is then the distance between L' and L.

[0027] like Figure 4 As shown, in some embodiments, two sets of Hall sensors are provided and symmetrically arranged on either side of the fixed frame 10 or the stator body 21. The two Hall sensors respectively detect the position of the mover 33 in real time. After the magnetic induction yaw motor is assembled, the fixed positions A and A' of the two Hall sensors are determined. This utility model uses the real-time detection of the left Hall sensor as an example. In the initial state, the vertical distance between the fixed position A of the left Hall sensor and the initial position B of the mover 33 in the height direction and the horizontal distance in the horizontal direction are known. Because the Hall sensor calibrates the relationship between magnetic field strength and relative position angle before operation, after measuring the magnetic field strength, the relative relationship can also be expressed by the angle formed by it with the center of the mover 33. In other words, when the mover 33 oscillates laterally, the left Hall sensor can detect in real time the angle X between the line formed by its fixed position A and the real-time position B' of the mover 33 and the horizontal line. The control unit then processes the angle in real time to calculate the distance between the real-time position B' of the mover 33 and the initial position B. In this embodiment, two Hall sensors detect the position of the mover 33 in real time, enabling correction and enhancing detection accuracy. Specifically, when the mover 33 moves, the relative position between the mover 33 and the stator 21 changes, resulting in a decrease in magnetic field intensity measured by the Hall sensor on one side and an increase in magnetic field intensity measured by the Hall sensor on the other side. In the example shown above, when the mover 33 moves to the right, the measurement data from the Hall sensor on the left decreases, while the value measured by the sensor on the right increases. Since the closer Hall sensor has higher detection accuracy than the farther one, the two Hall sensors can improve detection accuracy by correcting the detection data.

[0028] In some embodiments, a seat portion 321 is provided at the lower portion of the motor shaft 32 , and two groups of elastic members 34 are symmetrically arranged on both sides of the seat portion 321 . The elastic members 34 are connected to the fixing frame 10 relative to the other side of the seat portion 321 .

[0029] The fixing frame 10 is provided with a track bar 35 for supporting and guiding the mover assembly 30. The track bar 35 is arranged horizontally, and the mounting seat 31 or the motor shaft 32 is provided with a guide groove that cooperates with the track bar 35. The mover assembly 30 is supported and guided by the track bar 35, so that the mover assembly 30 can only move back and forth horizontally.

[0030] At least one mover 33 is provided at the lower end of the mounting seat 31 . The mover 33 is laterally suspended at the upper end of the stator body 21 . The mover 33 can swing back and forth laterally under the action of the stator assembly.

[0031] The above description is only a preferred embodiment of the present invention. Therefore, any equivalent changes or modifications made according to the structure, features and principles described in the scope of the present invention patent application are included in the scope of the present invention patent application.

Claims

1. A magnetic induction yaw motor based on Hall induction, comprising a fixed frame (10), a stator assembly (20) fixedly arranged at the lower end of the fixed frame (10), and a mover assembly (30) arranged in the fixed frame (10) in a transversely swingable manner, wherein the stator assembly (20) comprises a stator body (21) and a stator coil (22) wound around the outer periphery of the stator body (21), the mover assembly (30) comprises a mounting seat (31), a motor shaft (32) fixedly mounted at the upper end of the mounting seat (31), and a mover body (33) fixedly mounted at the lower end of the mounting seat (31), elastic members (34) are connected between both sides of the mover assembly (30) and the fixed frame (10), and a restoring elastic force is provided by the elastic members (34) when the mover assembly (30) oscillates back and forth laterally, and is characterized in that: The invention also includes a detection unit (40) and a control unit electrically connected to the detection unit (40), wherein the detection unit (40) includes at least one Hall sensor, the Hall sensor being fixedly mounted on a fixing frame (10) or a stator body (21), the Hall sensor detecting position information of the mover body (33) in real time and transmitting the information to the control unit, and the control unit processing the data detected by the detection unit (40) and controlling the current input to the stator coil (22).

2. The magnetic induction yaw motor based on Hall induction according to claim 1, characterized in that: The Hall sensors are provided in two groups and are symmetrically arranged on both sides of the fixing frame (10) or the stator body (21), and the two Hall sensors respectively detect the position of the mover body (33) in real time.

3. The magnetic induction yaw motor based on Hall induction according to claim 1, characterized in that: A seat body (321) is provided at the lower portion of the motor shaft (32), two groups of elastic members (34) are provided and symmetrically arranged on both sides of the seat body (321), and the elastic members (34) are connected to the fixing frame (10) relative to the other side of the seat body (321).

4. The magnetic induction yaw motor based on Hall induction according to any one of claims 1 to 3, characterized in that: A track bar (35) for supporting and guiding the moving subassembly (30) is provided in the fixing frame (10); the track bar (35) is arranged transversely; and the mounting seat (31) or the motor shaft (32) is provided with a guide groove for guiding and cooperating with the track bar (35).

5. The magnetic induction yaw motor based on Hall induction according to claim 4, characterized in that: At least one mover (33) is provided at the lower end of the mounting seat (31). The mover (33) is laterally suspended at the upper end of the stator body (21). The mover (33) can reciprocate laterally under the action of the stator assembly (20).

6. The magnetic induction yaw motor based on Hall induction according to claim 5, characterized in that: The mover body (33) is a permanent magnet.

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