Electronic self-locking device for push rod

Abstract

The utility model discloses a push rod electronic self-locking device, which comprises an MCU (Microprogrammed Control Unit) connected with a PWM (Pulse Width Modulation) speed regulator, a push rod; the motor is used for controlling the push rod to move; the Hall plate is connected with the motor, the H-bridge motor driving circuit is used for outputting voltage to the motor, the Hall plate is used for collecting Hall signals of the motor and feeding back the Hall signals to the MCU controller, when the execution push rod stops acting, the MCU controller judges changes of the Hall signals, and when the Hall signals change, the H-bridge motor driving circuit drives the H-bridge motor to rotate. And the MCU controller controls the magnitude of the output voltage of the H-bridge motor driving circuit through the PWM speed regulator so as to control the motion state of the motor, so that the push rod stops to realize self-locking. According to the utility model, the motion direction and the motion speed of the motor can be measured, and the motor can be controlled to compensate the force opposite to the motion after the push rod stops, so that the push rod is stressed in a balanced manner and does not move any more, and the assembly difficulty and the production cost of the push rod in the production process are greatly reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to push rod self-locking technical field especially push rod electronic self-locking device. BACKGROUND

[0002] The self-locking electric push rod is a kind of electric push rod with special function, its characteristics are that it can be locked after stopping work, is not disturbed by external force, has the advantages such as high safety, stability, reliability, etc., therefore, it is widely used in some specific environment fields, such as smart home, medical equipment, industrial automation field etc.

[0003] Chinese patent CN118971480A discloses a kind of electric push rod with self-locking function, including shell, with the shell connection sleeve assembly, power assembly is installed in shell, the output end of power assembly is connected with front end assembly, front end assembly includes: telescopic pipe, its one end is connected with transmission nut, the other end extends sleeve assembly and is equipped with with connector;Further include self-locking assembly in the output end of power assembly, when drive motor has no output power and front end assembly has reset tendency, front end assembly drives self-locking assembly self-locking limit, prevents front end assembly reset, when drive motor output power, self-locking assembly automatically releases self-locking state, completes normal transmission;Solve the self-locking structure in prior art is complex, service life is low, only can realize unidirectional self-locking etc.

[0004] But the self-locking of this structure is realized by mechanical structure, stops, increases its friction, makes push rod stop moving.The above-mentioned structure not only increases the assembly difficulty and production cost of push rod in production process, but also increases wear, increases current, speeds up the aging of parts. UTILITY MODEL CONTENTS

[0005] The utility model aims at the deficiency existing in prior art and provides the technical scheme of push rod electronic self-locking device, not only can the movement direction and movement speed of motor be measured, but also can the opposite force of compensation movement be controlled after push rod stops, so that push rod is balanced, the purpose of no longer moving is achieved, the assembly difficulty and production cost of push rod in production process are greatly reduced, wear can be reduced, current can be reduced, and aging degree can be reduced in use process.

[0006] In order to solve the above technical problem, the utility model adopts the following technical scheme:

[0007] Push rod electronic self-locking device, including

[0008] MCU controller, MCU controller connects PWM speed regulator;

[0009] Push rod;

[0010] And motor, motor is used for controlling push rod movement;

[0011] characterized in that

[0012] Further comprising a Hall plate connected with the motor and an H-bridge motor drive circuit for outputting voltage to the motor, the Hall plate is used to collect the Hall signal of the motor and feedback to the MCU controller, when the push rod stopping action is executed, the MCU controller judges the change of the Hall signal, when the Hall signal changes, the MCU controller controls the size of the output voltage of the H-bridge motor drive circuit through the PWM speed regulator, and then controls the movement state of the motor, so that the push rod stops to realize self-locking.

[0013] Through the design of the above structure, not only the movement direction and speed of the motor can be measured, but also the motor can be controlled to move the opposite force for compensation after the push rod stops, so that the push rod is balanced in force and achieves the purpose of not moving, greatly reducing the assembly difficulty and production cost of the push rod in the production process, and reducing wear, current and aging degree in the use process.

[0014] Further, when the push rod stopping action is executed, the motor applies an initial force to the push rod, and then the MCU controller judges whether the Hall signal changes:

[0015] If there is a change, the MCU controller continues to judge the movement direction of the push rod, and the motor increases or decreases the force on the basis of the existing applied force, and then the MCU controller judges whether the push rod needs to stop, if it needs to stop, the MCU controller re judges whether the Hall signal changes, and the cycle continues until the Hall signal no longer changes;

[0016] If there is no change, the push rod has stopped to realize self-locking, and the push rod stopping action is executed.

[0017] Further, if the Hall signal does not change, the MCU controller judges whether the push rod needs to stop, if it needs to stop, the MCU controller re judges whether the Hall signal changes, and the cycle continues.

[0018] Further, the MCU controller judges whether the push rod is in the extension direction, if yes, the motor decreases the force, if not, the motor increases the force.

[0019] Further, the MCU controller judges whether the push rod is in the retraction direction, if yes, the motor increases the force, if not, the motor decreases the force.

[0020] Further, the Hall signal includes the movement speed and direction of the motor.

[0021] Further, the H-bridge motor driving circuit comprises an upper bridge output circuit and a lower bridge output circuit, the upper bridge output circuit comprises a pre-driving chip U40, a diode D40 and a capacitor C42, the lower bridge output circuit comprises a pre-driving chip U50, a diode D50 and a capacitor C52, a bootstrap circuit is formed by the diode D40, the capacitor C42, the diode D50 and the capacitor C52, so that the lower bridge output circuit outputs 12V or GND, and the upper bridge output circuit outputs a PWM speed regulator signal of VS or 29V+12V.

[0022] Further, the motor interface is further included, and the H-bridge motor driving circuit outputs the 29V voltage from the motor interface and controls the motor.

[0023] Further, the motor current acquisition circuit is further included, and the motor current acquisition circuit is connected to the MCU controller and the H-bridge motor driving circuit, the MCU controller measures the current through the motor current acquisition circuit, and is used for judging whether overcurrent occurs.

[0024] Further, the power supply voltage stabilization processing circuit and the power supply are further included, the power supply stabilizes the 29V voltage through the power supply interface, the first stage is stabilized to 12V and is delivered to the H-bridge motor driving circuit, and the second stage is stabilized to 5V from 12V through the power supply voltage stabilization processing circuit and is delivered to the MCU controller.

[0025] Further, the charging circuit is further included, and the charging circuit is connected to the power supply interface.

[0026] Further, the key is further included, and the MCU controller measures high and low levels through the IO communication protocol of the key and is used for controlling the state of the motor.

[0027] Further, the state of the motor comprises that the motor drives the push rod to extend, retract and the force applied by the motor to the push rod.

[0028] The utility model discloses the following beneficial effects are obtained by adopting the above technical scheme:

[0029] The utility model not only can measure the movement direction and movement speed of the motor, but also can control the motor to compensate the force opposite to the movement after the push rod stops, so that the push rod is balanced, the purpose of not moving again is achieved, the assembly difficulty and production cost of the push rod in the production process are greatly reduced, and the wear, current and aging degree can be reduced in the use process. DRAWINGS:

[0030] The utility model will be further described below in combination with the drawings:

[0031] Figure 1 It is the circuit block diagram of the self-locking device in the push rod electronic self-locking device of the utility model;

[0032] Figure 2The flow chart of the self-locking method of the utility model;

[0033] Figure 3 The flow chart of the push rod adjustment of the utility model;

[0034] Figure 4 The circuit diagram of the H-bridge motor driving circuit of the utility model;

[0035] Figure 5 The circuit diagram of the motor current acquisition circuit of the utility model;

[0036] Figure 6 The circuit diagram of the power supply voltage stabilization processing circuit of the utility model.

[0037] In the figure: 1-MCU controller; 2-Hall interface; 3-push rod; 4-power supply; 5-power supply interface; 6-H-bridge motor driving circuit; 7-motor current acquisition circuit; 8-motor interface; 9-power supply voltage stabilization processing circuit; 10-charging circuit; 11-extend button; 12-retract button; 13-motor. DETAILED DESCRIPTION

[0038] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] In order to enable the personnel in the technical field to better understand the utility model scheme, the technical scheme in the utility model embodiments will be described clearly and completely below in combination with the drawings in the utility model embodiments. Obviously, the described embodiments are only a part of the embodiments of the utility model, not all the embodiments. Based on the embodiments of the utility model, all the other embodiments obtained by the personnel in the field without creative labor should belong to the protection scope of the utility model.

[0040] It should be noted that the terms "first", "second" and the like in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, not necessarily to describe a specific order or sequence. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0041] As Figure 1 shown, the push rod electronic self-locking device of the utility model, including MCU controller 1, push rod 3 and motor 13, motor 13 is used for controlling push rod 3 to move. Push rod electronic self-locking device further includes motor interface 8, motor interface 8 is connected to motor 13, H-bridge motor driving circuit 6 will 29V voltage by motor interface 8 output, and control motor 13.

[0042] The output characteristic of the motor interface 8 is that M+ can be greater than M-, M- can also be greater than M+, and the output voltage can be adjusted by the PWM speed regulator.

[0043] The push rod electronic self-locking device further comprises a Hall plate connected with the motor and an H-bridge motor driving circuit for outputting voltage to the motor, the Hall plate is used to collect the Hall signal of the motor and feed back to the MCU controller, when the push rod stopping action is executed, the MCU controller judges the change of the Hall signal, when the Hall signal changes, the MCU controller adjusts the duty cycle through the PWM speed regulator to control the size of the output voltage of the H-bridge motor driving circuit, and then controls the movement state of the motor, so that the push rod stops to realize self-locking.

[0044] The movement of the motor 13 changes the magnetic pole of the magnet, so that S2 and S1 have different voltage waveforms.

[0045] As shown in Figure 3 When the push rod stopping action is executed, the motor applies an initial force to the push rod, and then the MCU controller judges whether the Hall signal changes:

[0046] If there is a change, the MCU controller continues to judge the movement direction of the push rod, and the motor increases or decreases the force on the basis of the existing applied force, and then the MCU controller judges whether the push rod needs to stop, if it needs to stop, the MCU controller re judges whether the Hall signal changes, and so on until the Hall signal no longer changes; "so on" here refers to that the Hall signal changes, and the MCU controller judges the direction of the push rod, and increases or decreases the force by one level on the basis of the original force, and then the MCU controller judges whether the push rod needs to stop, and then the MCU controller re judges the change of the Hall signal, to realize external circulation.

[0047] The MCU controller judges whether the push rod is in the extension direction, if yes, the motor decreases the force, and if not, the motor increases the force.

[0048] The MCU controller judges whether the push rod is in the retraction direction, if yes, the motor increases the force, and if not, the motor decreases the force.

[0049] The Hall signal includes the movement speed and direction of the motor.

[0050] If there is no change, the push rod has stopped to realize self-locking, and the push rod stopping action is executed.

[0051] The initial force and the force increased or decreased by one level include the size and direction of the force.

[0052] The existing applied force includes the initial applied force and the force increased or decreased by one level before.

[0053] If the Hall signal does not change, the MCU controller judges whether the push rod needs to stop, if it needs to stop, the MCU controller re judges whether the Hall signal changes, and so on. The "so on" here refers to that the Hall signal does not change, the MCU controller judges whether the push rod needs to stop, if it needs to stop, the MCU controller re judges whether the Hall signal changes, realizes internal circulation, and the push rod is in a balanced state; when an external force is applied, such as a person sitting on the seat, the MCU controller judges whether the Hall signal changes again:

[0054] If there is a change, the MCU controller continues to judge the movement direction of the push rod, the motor increases or reduces the force on the basis of the existing applied force, and then the MCU controller judges whether the push rod needs to stop, if it needs to stop, the MCU controller re judges whether the Hall signal changes, and so on until the Hall signal does not change again;

[0055] If there is no change, the push rod has stopped to realize self-locking, and the push rod stopping action is completed.

[0056] As shown in Figure 4 The H-bridge motor driving circuit 6 includes an upper bridge output circuit and a lower bridge output circuit, the upper bridge output circuit includes a pre-drive chip U40, a diode D40 and a capacitor C42, the lower bridge output circuit includes a pre-drive chip U50, a diode D50 and a capacitor C52, a bootstrap circuit is formed by the diode D40, the capacitor C42, the diode D50 and the capacitor C52, the lower bridge output circuit outputs 12V or GND, the upper bridge output circuit outputs VS or 29V+12V PWM speed regulator signal, so as to drive the field effect tubes Q40, Q41, Q50 and Q51. M1U and M1D are PWM outputs of the MCU controller, and M1UN and M1DN are IO outputs of the MCU controller.

[0057] The MCU controller 1 detects the voltage waveform change of the Hall interface 2 of the Hall plate, measures the movement direction and speed of the motor 13, and controls the state of the motor 13 through the H-bridge motor driving circuit 6 through the PWM speed regulator, when the push rod 3 stops, compensates according to the movement direction and speed of the motor 13, and realizes self-locking.

[0058] Through the design of the above structure, not only the movement direction and speed of the motor 13 can be measured, but also the motor 13 can be controlled to move in the opposite direction after the push rod 3 stops, so that the push rod 3 is in a balanced state, and the purpose of not moving is achieved, which greatly reduces the assembly difficulty and production cost of the push rod 3 in the production process, and reduces wear, current and aging degree in the use process.

[0059] The push rod electronic self-locking device also includes a motor current acquisition circuit 7, which is connected to the MCU controller 1 and the H-bridge motor drive circuit 6. The MCU controller 1 measures the current through the motor current acquisition circuit 7 to determine whether there is an overcurrent.

[0060] like Figure 5 As shown, PGND_M in the motor current acquisition circuit is the common ground of the H-bridge motor drive circuit 6. The common ground reaches the current ground PGND through the sampling resistor R31. PGND is then filtered by resistor R30 and capacitor C30 before being sent to the ADC input port of the MCU controller for measurement.

[0061] The push rod electronic self-locking device also includes a power supply voltage regulation circuit 9 and a power supply 4. The power supply 4 converts the mains power to 29V through an external power supply 4. The 29V voltage is regulated through the power interface 5. The first stage of voltage regulation to 12V is sent to the H-bridge motor drive circuit 6. The second stage of voltage regulation to 5V is sent to the MCU controller 1 through the power supply voltage regulation circuit 9.

[0062] like Figure 6 As shown, the power supply regulation circuit receives 29V from VIN. Diode D1 provides reverse connection protection, and resistor R2, which can withstand 10V, reduces the load on chip U3 and prevents it from overheating. The voltage is then converted to 12V through the LDO of chip U3, powering the pre-driver chips U40 and U50 in the H-bridge motor drive circuit 6. The 12V voltage is then converted to 5V through the LDO of chip U4 to power the MCU controller and other components.

[0063] The push rod electronic self-locking device also includes a charging circuit 10, which is connected to the power interface 5. The charging circuit 10 uses a charging chip to control the 29V power supply to output to the A port and the C port. The device can be charged by plugging it into the A port or the C port.

[0064] The push rod electronic self-locking device also includes buttons. The MCU controller 1 measures high and low levels through the button's IO communication protocol to control the state of the motor 13. The state of the motor 13 includes the extension and retraction of the push rod 3 driven by the motor 13, as well as the force applied by the motor 13 to the push rod 3. The buttons include an extension button 11 and a retraction button 12.

[0065] like Figure 2 The diagram shows the self-locking method of the push rod electronic self-locking device of this utility model, which includes the following steps:

[0066] The self-locking device starts running and performs system initialization operations, which may include clock initialization, timer initialization, GPIO initialization, Flash initialization, ADC initialization, PWM initialization, and interrupt initialization.

[0067] S1, the Hall plate collects the Hall signal of the motor and feeds back to the MCU controller;

[0068] S2, the MCU controller detects the speed and direction of the push rod;

[0069] S3, determine whether the push rod is top or bottom, if yes, execute the push rod stop action; if not, perform current collection;

[0070] S4, determine whether the current is overcurrent, if yes, execute the push rod stop action; if not, read the key signal;

[0071] S5, determine whether the key is pressed, if yes, determine the direction of the push rod and execute the push rod movement; if not, execute the push rod stop action.

[0072] In steps S3 to S5, the process of executing the push rod stop action is:

[0073] As shown in Figure 3 When the push rod stop action is executed, the motor applies an initial force to the push rod, and then the MCU controller determines whether the Hall signal changes:

[0074] If there is a change, the MCU controller continues to determine the direction of the push rod movement, and the motor increases or decreases the force based on the existing applied force, and then the MCU controller determines whether the push rod needs to stop, if it needs to stop, the MCU controller re-determines whether the Hall signal changes, and so on until the Hall signal no longer changes; "so on" here refers to that the Hall signal changes, and after the MCU controller determines the direction of the push rod, the force is increased or decreased by one level, and the MCU controller determines that the push rod needs to stop, and then the MCU controller re-determines the change of the Hall signal, realizing external circulation.

[0075] The MCU controller determines whether the push rod is in the extension direction, if yes, the motor decreases the force, if not, the motor increases the force.

[0076] The MCU controller determines whether the push rod is in the retraction direction, if yes, the motor increases the force, if not, the motor decreases the force.

[0077] The Hall signal includes the speed and direction of the motor movement.

[0078] If there is no change, the push rod has stopped and achieved self-locking, completing the execution of the push rod stop action.

[0079] The initial force and the force increased or decreased by one level include the size and direction of the force.

[0080] The applied force includes an initial force and a force after the last increase or decrease by one level.

[0081] If the Hall signal does not change, the MCU controller determines whether the push rod needs to stop, and if so, the MCU controller re-determines whether the Hall signal changes, and so on.

[0082] If the Hall signal changes, the MCU controller continues to determine the movement direction of the push rod, the motor increases or decreases the force on the basis of the existing applied force, and the MCU controller determines whether the push rod needs to stop, and if so, the MCU controller re-determines whether the Hall signal changes, and so on until the Hall signal no longer changes.

[0083] If the Hall signal does not change, the push rod has stopped and self-locking is achieved, completing the push rod stop action.

[0084] As shown in Figure 3 Assuming that the force is divided into 11 levels, level 1 to level 11, and the initial level 6 is the middle force, then measure whether the Hall moves, and increase or decrease the level of force according to the movement direction to achieve balance, and the motor 13 stops running.

[0085] This self-locking method is simple, not only can measure the movement speed and direction of the motor 13, control the motor 13 to compensate the opposite force to make the push rod 3 balanced, achieve the purpose of no longer moving, greatly reduce the assembly difficulty and production cost of the push rod 3 in the production process.

[0086] The above is only a specific embodiment of the present application, but the technical features of the present application are not limited thereto. Any simple change, equivalent replacement or modification made on the basis of the present application to achieve substantially the same technical effect is also covered by the protection scope of the present application.

Claims

1. A push rod electronic self-locking device, comprising an MCU controller connected with a PWM governor; a push rod; a motor for controlling the movement of the push rod; characterized in that: it further comprises a Hall plate connected with the motor and an H-bridge motor drive circuit for outputting voltage to the motor, the Hall plate is used to collect the Hall signal of the motor and feed back to the MCU controller, when executing the push rod stop action, the MCU controller judges the change of the Hall signal, when the Hall signal changes, the MCU controller controls the size of the output voltage of the H-bridge motor drive circuit through the PWM governor, and then controls the movement state of the motor, so that the push rod stops to realize self-locking.

2. The push rod electronic self-locking device according to claim 1, characterized in that: When executing the push rod stop action, the motor applies an initial force to the push rod, and then the MCU controller judges whether the Hall signal changes: If there is a change, the MCU controller continues to judge the movement direction of the push rod, the motor increases or decreases the force on the basis of the existing applied force, and then the MCU controller judges whether the push rod needs to stop, if it needs to stop, the MCU controller re judges whether the Hall signal changes, and the cycle continues until the Hall signal no longer changes; If there is no change, the push rod has stopped to realize self-locking, and the push rod stop action is completed.

3. The push rod electronic self-locking device according to claim 2, characterized in that: If the Hall signal does not change, the MCU controller judges whether the push rod needs to stop, if it needs to stop, the MCU controller re judges whether the Hall signal changes, and the cycle continues.

4. The push rod electronic self-locking device according to claim 2, characterized in that: The MCU controller judges whether the push rod is in the extension direction, if yes, the motor decreases the force, if not, the motor increases the force.

5. The push rod electronic self-locking device according to claim 2, wherein: The MCU controller judges whether the push rod is in the retraction direction, if yes, the motor increases the force, if not, the motor decreases the force.

6. The push rod electronic self-locking device according to claim 2, wherein: The Hall signal includes the movement speed and direction of the motor.

7. The push rod electronic self-locking device according to claim 1, wherein: The H-bridge motor drive circuit includes an upper bridge output circuit and a lower bridge output circuit, the upper bridge output circuit includes a pre-driver chip U40, a diode D40 and a capacitor C42, the lower bridge output circuit includes a pre-driver chip U50, a diode D50 and a capacitor C52, a bootstrap circuit is formed by the diode D40, the capacitor C42, the diode D50 and the capacitor C52, so that the lower bridge output circuit outputs 12V or GND, and the upper bridge output circuit outputs VS or 29V+12V PWM governor signal.

8. The push rod electronic self-locking device according to claim 7, characterized in that: It further comprises a motor interface, the H-bridge motor drive circuit outputs 29V voltage from the motor interface and controls the motor.

9. The push rod electronic self-locking device according to claim 1, wherein: It further comprises a motor current acquisition circuit connected with the MCU controller and the H-bridge motor drive circuit, the MCU controller measures the current through the motor current acquisition circuit to judge whether it is overcurrent.

10. The push rod electronic self-locking device according to claim 9, characterized in that: Further comprising a power supply voltage stabilization processing circuit and a power supply, the power supply stabilizes 29V voltage through the power supply interface, the first stage is stabilized to 12V and delivered to the H-bridge motor drive circuit, the second stage is stabilized from 12V to 5V through the power supply voltage stabilization processing circuit and delivered to the MCU controller.

11. The push rod electronic self-locking device according to claim 10, characterized in that: Further comprising a charging circuit connected to the power supply interface.

12. The push rod electronic self-locking device according to claim 1, wherein: Further comprising a key, the MCU controller measures high and low levels through the IO communication protocol of the key, for controlling the motor.

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