CN115406566A - A torque calibration method, device, host and storage medium - Google Patents

Abstract

The application provides a torque calibration method, a device, a host and a storage medium, which are used for carrying out torque calibration on a motor of dental equipment; taking the initial current value as the input current of the motor, adjusting the input current of the motor according to a preset current adjusting mode, and acquiring real-time, a real-time input current value and real-time output torque of the motor; when the output torque of the motor is in a preset torque interval, setting the real-time and the real-time input current value of the motor when the output torque is in the preset torque interval as a current calibration time and a current calibration current value respectively; the current calibration current value is used as the working current value of the motor, so that the torque output by the motor of the equipment is calibrated, and the problem that the equipment cannot work normally due to the change of the output torque of the equipment is solved.

Description

A torque calibration method, device, host and storage medium

technical field

The present application relates to the technical field of dental equipment, in particular, to a torque calibration method, device, host and storage medium.

Background technique

When the dental implant machine is working, the motor obtains electric energy through the motor and transmits power through transmission components such as gears in the output shaft of the contra-angle handpiece, so that the movement of the head of the contra-angle handpiece rotates. When the dental implant is in use, the torque output by the movement of the head of the contra-angle handpiece needs to reach a fixed value so that the dental implant can work normally.

However, during the long-term use of the equipment, due to the aging of the motor and the circuit or the wear of the gears, etc., the output torque of the equipment will deviate, resulting in the failure of the equipment to work normally, thus affecting the normal use and performance of the equipment.

Contents of the invention

The purpose of the embodiment of the present invention is to provide a torque calibration method, device, host and storage medium to solve the problem that the equipment cannot work normally due to the change of the output torque of the equipment.

In the first aspect, the embodiment of the present application provides a torque calibration method for torque calibration of a motor of a dental equipment, the method comprising:

Obtain an initial current value; wherein, the initial current value is determined according to the corresponding operating current value when the motor has been calibrated last time and the output torque is within a preset torque range;

Using the initial current value as the input current of the motor, adjusting the input current of the motor according to a preset current adjustment method, and obtaining real-time time, real-time input current value and real-time output torque of the motor;

When the output torque of the motor is within the preset torque range, the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range are respectively set as when Second calibration time and current calibration current value;

The current calibration current value is used as the working current value of the motor.

In the above torque calibration method, the main engine has a calibration mode. After the main engine enters the calibration mode, the above torque calibration method determines the initial current according to the operating current value corresponding to the last time the motor has been calibrated and the output torque is within the preset torque range. , and then take the initial current value as the input current value of the motor, adjust the input current value of the motor according to the preset current adjustment method, and obtain the current time, the real-time input current value of the current motor and the output torque of the current motor in real time until the motor When the output torque of the motor is within the preset torque range, the real-time input current value and real-time time of the motor when the output torque of the motor is within the preset torque range are used as the current calibration current value and the current calibration time, and the current calibration The current value is used as the working current value of the motor, so that the motor can complete torque calibration. Due to the dynamic adjustment of the initial current, the output torque of the motor of the device changes, and when the torque output by the motor of the device is within the preset torque range, the initial current at this time is used as the working current of the motor to Make the motor complete the torque calibration, thus solving the problem that the equipment cannot work normally due to the change of the output torque of the equipment.

Optionally, the relationship between the initial current value and the corresponding operating current value when the motor was last calibrated and the output torque is within a preset torque range is determined in the following manner:

Obtaining the corresponding operating current value when the motor has been calibrated last time and the output torque is within the preset torque range;

Using formula 1, calculate the corresponding working current value when the motor has been calibrated last time and the output torque is within the preset torque range, to obtain the initial current value; wherein, the formula 1 is: I ₂ =I ₁ /n ₁ ; I ₁ is the corresponding operating current value when the motor has been calibrated last time and the output torque is within the preset torque range; n ₁ is the first proportional coefficient; I ₂ is the initial current value; n ₁ > 1.

In the above torque calibration method, the initial current value is determined by calculating the corresponding operating current value when the motor has been calibrated last time and the output torque is within the preset torque range through the formula. Since the preset current adjustment mode is set, when the host detects that the real-time input current value is adjusted according to the preset current adjustment mode, the host can judge that this operation belongs to torque calibration.

Optionally, the adjusting the input current of the motor according to a preset current adjustment method includes:

The real-time input current value is increased or the compensation current value is decreased every time a preset interval time passes.

In the above torque calibration method, the real-time output current value is dynamically adjusted every preset interval. Due to the dynamic adjustment of the initial current value, the torque output by the motor gradually approaches the preset torque, thereby realizing the calibration of the torque output by the motor.

Optionally, wherein the preset current adjustment method includes Formula 2; the compensation current value is determined by the following method:

Using Formula 2 to calculate the input current value of the motor to obtain the compensation current value; wherein, the Formula 2 is: I ₃ =I ₂ /n ₂ ; I ₂ is the input current value of the motor, n ₂ is the second proportional coefficient, and I ₃ is the compensation current value; n ₂ ≥10.

In the above torque calibration method, the compensation current value is calculated by using the formula 2 for the input current value of the motor, so that the output current value of the motor can be dynamically adjusted according to the compensation current value, so as to realize the output torque calibration of the motor.

Optionally, increasing the real-time input current value or reducing the compensation current value every time the preset interval time passes includes:

judging whether the real-time output torque of the motor is smaller than the preset torque range;

If the real-time output torque of the motor is smaller than the preset torque range, increasing the real-time input current value to the compensation current value every time a preset interval passes;

If the real-time output torque of the motor is greater than the preset torque range, the real-time input current value is reduced by the compensation current value every time a preset interval passes.

The above-mentioned torque calibration method judges the magnitude relationship between the real-time output torque of the motor and the preset torque range, and then uses the compensation current to adjust the initial current accordingly to increase or decrease according to the magnitude relationship every preset interval time. . Since the relationship between the real-time output torque of the motor and the preset torque is determined, it is determined how to specifically adjust the real-time current value of the motor, thereby effectively calibrating the output torque of the motor of the device.

Optionally, when the output torque of the motor is within the preset torque range, the real-time time when the output torque of the motor is within the preset torque range and the real-time input current The values are respectively set as the current calibration time and the current calibration current value, including:

When the output torque of the motor is within the preset torque range, the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range are respectively set as the current calibration time and the current calibration current value, and mark the current calibration current value according to the current calibration time.

The above torque calibration method, by marking the current calibration current value according to the current calibration time, realizes the binding of the current calibration time and the current calibration current value, providing a reliable basis for subsequent regular calibration and re-torque calibration of the motor , so as to effectively ensure that the equipment can perform therapeutic work.

Optionally, the method also includes:

Recording the accumulative running time of the motor since the current calibration time;

When the difference between the accumulated running time of the motor and the preset time is less than or equal to the preset threshold, the user is reminded to perform torque calibration on the motor. The above torque calibration method reminds the user to perform torque calibration on the motor when it is detected that the difference between the accumulated running time of the motor and the preset time is less than a preset threshold. By performing torque calibration on the motor in advance when the accumulative running time of the motor is about to exceed the preset time, it is avoided that when the main engine is started for treatment next time, it is detected that the accumulative running time of the motor exceeds the preset time. Immediately lock, so that the motor cannot be started within a certain period of time, so as to ensure that the device can perform treatment work safely and stably.

In the second aspect, the embodiment of the present application also provides a torque calibration device for torque calibration of the motor of the dental equipment, the output end of the motor is connected with the torque detection device, and the torque detection device is used to detect the The output torque of the motor, the device comprising:

An acquisition module, configured to acquire an initial current value; wherein, the initial current value is determined according to the corresponding operating current value when the motor has been calibrated last time and the output torque is within a preset torque range;

An adjustment module, configured to use the initial current value as the input current of the motor, adjust the input current of the motor according to a preset current adjustment method, and obtain real-time time, real-time input current value, and real-time output torque;

a setting module, configured to set the real-time time and the real-time input current when the output torque of the motor is within the preset torque range when the output torque of the motor is within the preset torque range The values are respectively set as the current calibration time and the current calibration current value;

A determining module, configured to use the current calibration current value as the working current value of the motor. The torque calibrating device provided by the above embodiment has the same beneficial effects as the torque calibrating method provided in the above first aspect, or any optional implementation manner of the first aspect, which will not be repeated here.

In the third aspect, the embodiment of the present application also provides a host of dental equipment, the host includes: a processor and a memory, the memory stores machine-readable instructions executable by the processor, and the machine-readable instructions When executed by the processor, the method described above is performed.

The above-mentioned embodiment provides the same effective effect as the torque calibration method provided by the host of the dental equipment in the above-mentioned first aspect, or any optional implementation manner of the first aspect, and will not be repeated here.

In a fourth aspect, the embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the method described above is executed.

The computer-readable storage medium provided by the above embodiment has the same beneficial effects as the torque calibration method provided by the above first aspect, or any optional implementation manner of the first aspect, which will not be repeated here.

In summary, the present application provides a torque calibration method, device, host and storage medium for torque calibration of motors of dental equipment. The method obtains the initial current value; obtains the initial current value; wherein, the initial current value It is determined according to the corresponding working current value when the motor has been calibrated last time and the output torque is within the preset torque range; the initial current value is used as the input current of the motor, and the input current of the motor is adjusted according to the preset current adjustment method, and obtained Real-time time, real-time input current value and real-time output torque of the motor; when the output torque of the motor is within the preset torque range, set the real-time time and real-time input current value when the output torque of the motor is within the preset torque range For the current calibration time and the current calibration current value; the current calibration current value is used as the working current value of the motor, which realizes the calibration of the torque output by the motor of the equipment, thus solving the problem that the equipment cannot work normally due to the change of the output torque of the equipment. work problem.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings that need to be used in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, so It should not be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings according to these drawings without creative work.

Fig. 1 is a schematic diagram of the structure composition of the dental equipment provided by the embodiment of the present application;

Fig. 2 is the schematic block diagram of the host computer of the dental equipment provided by the embodiment of the present application;

Fig. 3 is a schematic flow chart of the first torque calibration method provided by the embodiment of the present application;

Fig. 4 is a second schematic flow chart of the torque calibration method provided by the embodiment of the present application;

Fig. 5 is a third schematic flow chart of the torque calibration method provided by the embodiment of the present application;

FIG. 6 is a schematic structural diagram of a torque calibration device provided in an embodiment of the present application;

Fig. 7 is a schematic structural diagram of a host computer of a dental device provided by an embodiment of the present application.

Detailed ways

Embodiments of the technical solutions of the present application will be described in detail below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present application more clearly, and therefore are only examples, rather than limiting the protection scope of the present application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the application; the terms used herein are only for the purpose of describing specific embodiments, and are not intended to Limit this application.

In the description of the embodiments of the present application, the technical terms "first", "second" and so on are only used to distinguish different objects, and should not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features, A specific order or primary-secondary relationship. In the description of the embodiments of the present application, "plurality" means two or more, unless otherwise specifically defined.

For ease of understanding, an application implementation environment provided by an embodiment of the present application is firstly introduced below.

Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of a dental implant provided in an embodiment of the present application. As shown in FIG. 1 , the dental implant may include a host 100 , a multifunctional pedal 110 , a peristaltic pump 120 , and a contra-angle handpiece 130 .

The host 100 is powered by a power supply of 220V. The motor inside the host 100 is electrically connected to the host through a connecting wire, and is powered by the inverter current circuit of the host. Electric energy can be obtained through the motor and transmitted through transmission components such as gears in the output shaft of the contra-angle handpiece. In actual use, it can be realized by operating multiple controls on the display screen of the main unit 100, such as rotation speed, hand speed ratio, torque, forward/reverse rotation, water flow, and program mode, and cooperating with the multifunctional pedal 120. corresponding function.

The multi-kinetic pedal 110 is connected to the host pedal interface through the peripheral interface, and is used to control the water flow, forward/reverse rotation, program mode, motor start or pause of the dental equipment.

The peristaltic pump 120 is controlled by the host computer 100, and is used to provide water cooling power in the operation area during the dental implant process, and is also used to control the flow rate of the cooling liquid.

The contra-angle handpiece 130 is held by the doctor and is used to drive the surgical instruments of the dental implanter to complete the dental implant surgery.

In order to facilitate the understanding of this embodiment, firstly, a detailed introduction will be given to the host computer implementing the torque calibration method disclosed in the embodiment of the present application.

FIG. 2 is a block schematic diagram of an embodiment of the host 100 . The host 100 may include a memory 111 , a memory 112 , a processor 113 , a peripheral interface 114 , an input and output unit 115 , and a display unit 116 . Those skilled in the art can understand that the structure shown in FIG. 1 is only for illustration, and it does not limit the structure of the host 100 . For example, the host 100 may also include more or fewer components than shown in FIG. 1 , or have a different configuration than that shown in FIG. 1 .

The memory 111 , memory 112 , processor 113 , peripheral interface 114 , input/output unit 115 and display unit 116 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The aforementioned processor 113 is used to execute the executable modules stored in the memory.

Wherein, the memory 111 can be, but not limited to, random access memory (Random Access Memory, referred to as RAM), read-only memory (Read Only Memory, referred to as ROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM) , Erasable Programmable Read-Only Memory (EPROM for short), Electric Erasable Programmable Read-Only Memory (EEPROM for short), etc. Wherein, the memory 111 is used to store the program, and the processor 113 executes the program after receiving the execution instruction, and the method performed by the host 100 according to the process definition disclosed in any embodiment of the present application can be applied to the processor 113, or Realized by processor 113 .

The above-mentioned processor 113 may be an integrated circuit chip, which has a signal processing capability. The above-mentioned processor 113 can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (digital signal processor, referred to as DSP) , Application Specific Integrated Circuit (ASIC for short), Field Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The aforementioned peripheral interface 114 couples various input/output devices to the processor 113 and the memory 111 . In some embodiments, peripheral interface 114, processor 113, and memory 112 may be implemented in a single chip. In some other instances, they can be implemented by independent chips respectively.

The aforementioned input and output unit 115 is used to provide the user with input data. The input and output unit 115 may be, but not limited to, a mouse and a keyboard.

The above-mentioned display unit 116 provides an interactive interface (such as a user operation interface) between the host 100 and the user or is used to display image data for the user's reference. In this embodiment, the display unit may be a liquid crystal display or a touch display. If it is a touch display, it can be a capacitive touch screen or a resistive touch screen supporting single-point and multi-touch operations. Supporting single-point and multi-touch operations means that the touch display can sense simultaneous touch operations from one or more positions on the touch display, and hand over the sensed touch operations to the processor calculation and processing.

The host 100 in this embodiment may be used to execute each step in each method provided in the embodiment of this application. The implementation process of the torque calibration method will be described in detail below through several embodiments.

Please refer to FIG. 3 which shows a first schematic flowchart of the torque calibration method provided by the embodiment of the present application. The specific process shown in FIG. 3 will be described in detail below.

As shown in Fig. 3, the torque calibration method may include steps S100-S300.

Step S100: Obtain an initial current value; wherein, the initial current value is determined according to the corresponding operating current value when the motor has been calibrated last time and the output torque is within the preset torque range;

Exemplarily, the execution body of the torque calibration method provided in the embodiment of the present application is the host computer 100 .

The initial current refers to an initial value output by the control host during the current calibration, not the real-time current value after the host is connected to the power supply, but a current value output by the control host is based on the latest calibration of the motor and the output torque at It is determined by the corresponding operating current value when it is within the preset torque range.

In one embodiment, if it is the first time to calibrate the torque of the motor of the dental equipment, since there is no current value corresponding to the latest calibration and the output torque is within the preset torque range, the main engine The actual current value when the power is connected is taken as the initial current value.

Step S200: Use the initial current value as the input current of the motor, adjust the input current of the motor according to the preset current adjustment method, and obtain real-time time, real-time input current value and real-time output torque of the motor;

It should be noted that the output torque of the motor is directly proportional to the input current of the host, so the accuracy of the calibration can be verified by adjusting the input current. If the output torque of the motor is abnormal or changes during the dynamic adjustment of the current (for example, the output torque of the motor is not proportional to the input current), it means that there is a fault in the torque detection device or the motor, and it will also be judged to be invalid. When the output torque of the motor is not equal to the torque range, it is necessary to dynamically adjust the output current value of the motor until the output torque of the motor is within the preset torque range.

The input current value refers to the current value to start the motor. In this embodiment, after the initial current value is determined, it is used as the starting current value of the motor to start the motor.

Step S300: When the output torque of the motor is within the preset torque range, set the real-time time and real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value respectively ;

The preset torque interval refers to the torque interval value that enables the output torque of the motor to enable the equipment to work normally. The reason for setting the torque interval is that there will be errors in the torque calibration of the motor, and the error range is determined by the accuracy requirements of the equipment for the output torque. For example: when the error requirement is 10% and the fixed torque is 4N·cm, the fixed torque at this time can be 4±0.4N·cm, and the specific error range and fixed torque are not specifically limited in this embodiment of the application. Set according to the requirements of the equipment in the actual application.

Specifically, the input current value of the motor, the output torque of the motor and the current time are obtained in real time, and then the real-time input current of the motor is dynamically adjusted according to the preset current adjustment method until the output torque of the motor is within the preset torque range. , set the input current value of the motor at this time and the current time as the current value of the current calibration and the current calibration time.

Step S400: Use the current calibration current value as the working current value of the motor.

The operating current value of the motor refers to the current value that meets the requirements for the normal operation of the device.

Specifically, the current value of the current calibration is used as the working current value of the motor, and the motor can work normally according to the current value, thereby completing the calibration of the output torque of the motor.

In this embodiment, the main engine has a calibration mode. After the main engine enters the calibration mode, the above-mentioned torque calibration method determines the initial Current, then use the initial current value as the input current value of the motor, adjust the input current value of the motor according to the preset current adjustment method, and obtain the current time, the real-time input current value of the current motor and the output torque of the current motor in real time, until When the output torque of the motor is within the preset torque range, the real-time input current value and real-time time of the motor when the output torque of the motor is within the preset torque range are used as the current calibration current value and the current calibration time, and the current The calibration current value is used as the working current value of the motor, so that the motor can complete torque calibration. Due to the dynamic adjustment of the initial current, the output torque of the motor of the device changes, and when the torque output by the motor of the device is within the preset torque range, the initial current at this time is used as the working current of the motor to Make the motor complete the torque calibration, thus solving the problem that the equipment cannot work normally due to the change of the output torque of the equipment.

Optionally, Step S100 may specifically include: Steps S110-S120, wherein the relationship between the initial current value and the corresponding operating current value when the motor was calibrated last time and the output torque is within the preset torque range is determined in the following manner:

Step S110: Obtain the corresponding operating current value when the motor has been calibrated last time and the output torque is within the preset torque range;

Step S120: Using Formula 1, calculate the corresponding operating current value when the motor has been calibrated last time and the output torque is within the preset torque range, to obtain the initial current value; where, Formula 1 is: I ₂ =I ₁ /n ₁ ; I ₁ is the corresponding operating current value when the motor has been calibrated last time and the output torque is within the preset torque range; n ₁ is the first proportional coefficient; I ₂ is the initial current value; n ₁ >1.

It should be noted that if the operating current value corresponding to the last time the motor has been calibrated and the output torque is within the preset torque range is used as the initial current value for the current calibration, there will be the following problems: When calibrating the torque output by the motor Afterwards, if the user performs calibration again in a short period of time, the output torque of the motor obtained with the previous calibration current value as the initial current value may still meet the preset torque range, and this will make it impossible for the host to judge whether this calibration is a misoperation .

Exemplarily, the first proportionality factor is an optional numerical range, but the numerical range must meet the current value when the last calibration is completed, divided by this value to obtain the initial current value and the current value when the last calibration is completed There is a difference, and this difference can be recognized by the host. For example: the recognition accuracy of the host for dynamic current adjustment is 1A, if the current value at the time of the last calibration is 5A, the initial current value should be less than or equal to 4A, that is, the first proportional coefficient should be greater than or equal to 5/4 (1.25).

Specifically, the host actively acquires the corresponding operating current value when the motor was calibrated last time and the output torque is within the preset torque range, and then according to the formula, a pair of motors are last calibrated and the output torque is within the preset torque range. Calculate the current initial current value before calibration.

In this embodiment, the initial current value is determined by calculating the corresponding operating current value when the motor has been calibrated last time and the output torque is within the preset torque range through the formula. Since the preset current adjustment mode is set, when the host detects that the real-time input current value is adjusted according to the preset current adjustment mode, the host can judge that this operation belongs to torque calibration.

Optionally, step S200 may specifically include: Step S210:

Make the real-time input current value increase or decrease the compensation current value every time the preset interval time passes.

It should be noted that since the output torque of the motor is a dynamic adjustment process, it is not a one-step process, so it is necessary to dynamically adjust the real-time input current value of the motor every preset interval. If the output torque of the motor does not reach the preset When setting the torque range, it is necessary to continue to increase or decrease the compensation current value of the output current value of the motor; wherein, the preset interval time can be 0.2s, 1s, 5s, etc., and the specific time is not limited in this embodiment of the application , which can be set according to actual needs.

In this embodiment, the real-time output current value is dynamically adjusted every preset interval time. Due to the dynamic adjustment of the initial current value, the torque output by the motor gradually approaches the preset torque, thereby realizing the calibration of the torque output by the motor.

Optionally, wherein the preset current adjustment method includes Formula 2; the compensation current value is determined by the following method:

Use formula 2 to calculate the input current value of the motor to obtain the compensation current value; wherein, formula 2 is: I ₃ =I ₂ /n ₂ ; I ₂ is the input current value of the motor, n ₂ is the second proportional coefficient, I ₃ is the compensation current value; n ₂ ≥10.

Like the above-mentioned first proportional coefficient, the second proportional coefficient is also an optional range value, and the second proportional coefficient can be determined according to the size of the first proportional coefficient. When the first proportional coefficient is set to a larger value, it means that the initial current value is adjusted to a small value. At this time, the second proportional coefficient can be set to a smaller value to obtain a larger compensation current value, thereby improving the Adjustment efficiency when the initial current is small; when the first proportional coefficient is set to a small value, it means that the initial current value is adjusted to a large value. At this time, the second proportional coefficient should be set to a larger value to obtain a higher If the current value is small, the adjustment of the initial current will not fluctuate greatly, because if the compensation current value is too large, the output torque of the corresponding motor will immediately exceed the preset value when the initial current value is adjusted. Torque, which makes it difficult to adjust the initial current value until the output torque of the motor is equal to the preset torque, which increases the difficulty of adjustment and takes more time, so setting a larger proportional coefficient helps to improve the initial current value. down regulation efficiency. Since the range of the preset torque range is generally ±10%, the embodiment of the present application may set the second proportional coefficient n ₂ ≥10. In other embodiments, the second proportional coefficient can also be flexibly set according to actual application requirements.

For example: the current value recorded when the calibration was completed last time is 6A, and the accuracy of the current adjustment recognized by the host is 1A. At this time, the first proportional coefficient can be set to 6/6-1=1.2>1 (the first proportional coefficient), if we Set the first proportional coefficient to 5, and the initial current value at this time is 6A/5=1.2A. In order to speed up the adjustment speed of the initial current, set the second proportional coefficient to 5, and the compensation current value at this time is 5A/5 5=1A, that is, the initial current is adjusted with a precision of 1A. Conversely, when the first proportional coefficient is set to 3, the initial current at this time is 6A/3=2A. In order to avoid the output torque of the corresponding motor from immediately exceeding the preset torque when the initial current is adjusted, set The second proportional coefficient is set to 10, and the compensation current value at this time is 5/10=0.5A, that is, the initial current is adjusted with a precision of 0.5A.

In an embodiment, the compensation current value can be the power value calculated from the initial current value by formula 2, or an artificially set current value, or a current value obtained by other methods, but the compensation current value The size may be specifically determined according to the initial current value, and the method of obtaining the compensation current in the embodiment of the present application is not specifically limited here.

In an embodiment, the compensation current value can also be based on formula three: I ₃ =I ₁ /n ₂ ; where, I ₃ is the compensation current value; I ₁ is the last time the motor has been calibrated and the output torque is within the preset torque range The working current value corresponding to the internal time; n ₂ the second proportional coefficient, that is to say, the compensation current value is determined according to the corresponding working current value when the motor has been calibrated last time and the output torque is within the preset torque range, and at this time The second proportional coefficient also has a relationship with the initial current value. When the initial current value is larger, the second proportional coefficient is set smaller to avoid that when the initial current is adjusted, the output torque of the corresponding motor will not immediately exceed the preset value. Set the torque; when the initial current value is small, the second proportional coefficient is set to be large to speed up the adjustment speed of the initial current.

The above torque calibration method calculates the compensation current value by using formula 2 to calculate the input current value of the motor, so that the compensation current value can be increased or decreased to dynamically adjust the output current value of the motor, so as to realize the output torque calibration of the motor .

Optionally, step S210 may specifically include: Steps S211-S213:

Step S211: judging whether the real-time output torque of the motor is smaller than the preset torque range;

Step S212: If the real-time output torque of the motor is less than the preset torque range, the real-time input current value is increased to compensate the current value every time the preset interval time passes;

Step S213: If the real-time output torque of the motor is greater than the preset torque range, the real-time input current value is reduced by the compensation current value every time the preset interval time passes.

The preset interval time can be 0.2s, 1s, etc., which can be set according to the doctor's experience, which is not specifically limited in this embodiment of the present application.

It can be understood that the real-time output torque of the motor is obtained by detecting the output torque of the motor, and the torque detection method includes but is not limited to a torque detection device, and can also be any other method that can detect the torque output by the motor , the embodiment of the present application does not specifically limit it here, and it can be set according to actual application requirements.

For example, please refer to FIG. 4 which shows a second schematic flowchart of the torque calibration method provided by the embodiment of the present application.

In the embodiment of the present application corresponding to FIG. 4 , the torque detection device includes a torque sensor, and the torque sensor is used to detect the output torque of the motor. When the output torque of the motor is within the preset torque range, the torque calibration of the device works Complete, specifically include the following steps:

Judging whether the output torque of the motor detected by the torque sensor is less than a preset torque range;

If the output torque of the motor detected by the torque sensor is less than the preset torque range, the real-time input current value is increased every time the preset interval time passes to compensate the current value;

If the output torque of the motor detected by the torque sensor is greater than the preset torque range, the real-time input current value is reduced by the compensation current value every time the preset interval time passes.

Torque sensors, also known as torque sensors, torque sensors, torque sensors, and torque meters, are divided into two categories: static and dynamic. The torque sensor is a detection of the perception of torsional torque on various rotating or non-rotating mechanical parts. It can convert the physical change of the torque into an accurate electrical signal. It has the advantages of high precision, high frequency response, good reliability, and long life.

Torque refers to a special torque that causes physical rotation, which is equal to the product of the force and the arm, and the unit is N m (Nm). Among them, the factors that affect the output torque of the motor include the aging of the equipment wire, the wear of the gear, etc. etc. These factors will change the output torque of the equipment.

Specifically, when the torque sensor detects that the output torque of the motor is less than the preset torque range, it means that the output torque of the motor at this time does not meet the requirements for normal operation of the equipment. Since the rotational power of the motor is proportional to the current value input by the host, At this time, it is necessary to increase the compensation current value for the real-time input current value of the motor to increase the torque.

Specifically, when it is detected that the output torque of the motor detected by the torque sensor is greater than the preset torque, it means that the output torque of the motor exceeds the preset torque at this time. Since the equipment has high requirements on the accuracy of the torque, the output torque of the motor When the preset torque value is exceeded, the torque needs to be reduced to meet the normal operation of the equipment. Since the rotational power of the motor is proportional to the current value input by the host, at this time, the real-time input current value of the motor needs to be reduced to compensate the current value. Reduce torque.

In this embodiment, the magnitude relationship between the output torque of the motor detected by the torque sensor and the preset torque is determined by judging, and then according to the magnitude relationship, the real-time input current value of the motor is adjusted by using the compensation current every preset interval time. increase or decrease accordingly. Since the relationship between the real-time output torque of the motor and the preset torque is determined, it is determined how to specifically adjust the real-time input current value of the motor, thereby effectively calibrating the output torque of the motor of the device.

For example, please refer to FIG. 5 which shows a third schematic flowchart of the torque calibration method provided by the embodiment of the present application.

In the embodiment of the present application corresponding to FIG. 5 , wherein the torque detection device includes a torque damper set to a preset torque, which is used to provide resistance to prevent the movement from rotating, since the torque damper provides resistance to prevent its rotation , so when the motor starts to rotate, it means that the output torque of the motor is already within the preset torque range, and the output torque of the motor at this time is within the preset torque range. For example: if the preset torque is 5±0.5N·cm, then the resistance torque of the torque damper is 5±0.5N·cm, including the following steps:

judging whether the output torque of the motor connected to the torque damper set as the preset torque range is smaller than the preset torque range;

If the output torque of the motor connected to the torque damper set to the preset torque is less than the preset torque range, the real-time input current value is increased to compensate the current value every time the preset interval time passes;

If the output torque of the motor connected to the torque damper set to the preset torque is greater than zero, the real-time input current value is reduced by the compensation current value every time the preset interval time passes.

Specifically, when the output torque of the motor connected to the torque damper set to the preset torque is less than the preset torque range, it means that the output torque of the motor at this time cannot overcome the resistance torque provided by the torque device and is relatively Since the relative rotation of the torque damper does not occur, that is, the output torque of the motor has not yet reached the preset torque range, since the rotational power of the motor is proportional to the real-time input current value of the motor, at this time, the real-time input current of the motor needs to be adjusted. Increase the compensation current value to increase the output torque of the motor.

Specifically, when the output torque of the motor connected to the torque damper set to the preset torque is greater than the preset torque range, it means that the motor at this time has overcome the resistance torque provided by the torque damper and relative to the torque damper. The relative rotation of the motor occurs, that is, the output torque of the motor has reached the preset torque range, or even exceeded the preset torque range. Since the rotational power of the motor is proportional to the real-time input current value of the motor, at this time, it is necessary to The real-time input current value of the motor is reduced to compensate the current value to reduce the output torque of the motor.

In this embodiment, by judging the size relationship between the output torque of the motor connected to the torque damper set as the preset torque range and the preset torque range, and then using the The compensation current increases or decreases the real-time input current value of the motor accordingly. Since the output end of the motor is connected to the torque damper, the torque damper is used to provide resistance to prevent the movement from rotating. The resistance torque corresponds to the preset torque range, that is, when the motor starts to rotate, it means that the output torque of the motor has The preset torque range is reached, so by determining the relationship between the real-time output torque of the motor and the preset torque, it is determined how to specifically adjust the real-time current value of the motor, so that the torque output by the motor can be effectively calibrated .

Optionally, step S300 may specifically include: Step S310:

Step S310: When the output torque of the motor is within the preset torque range, set the real-time time and real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current calibration current value respectively , and mark the current calibration current value according to the current calibration time.

It is understandable that when performing the next torque calibration, it is necessary to analyze the cumulative running time of the motor, and the cumulative running time of the motor is counted from the calibration time recorded when the torque calibration was completed last time. In addition, the initial current value is based on the previous Therefore, after the previous torque calibration is completed, it is necessary to record the current value and time when the calibration is completed, as the basis for the next torque calibration.

In this embodiment, by marking the current calibration current value according to the current calibration time, the binding of the current calibration time and the current calibration current value is realized, which provides reliable information for subsequent regular calibration and torque calibration of the motor again. basis, so as to effectively ensure that the equipment performs therapeutic work.

Optionally, after the above step S400, the method may further include: S500-S600.

Step S500: Record the cumulative running time of the motor since the current calibration time;

Step S600: When the difference between the accumulated running time of the motor and the preset time is less than or equal to the preset threshold, remind the user to perform torque calibration on the motor.

The cumulative running time of the motor starts from the time when the calibration is completed this time, and the running time of the motor is recorded cumulatively. In addition, the running time of the motor refers to the time during which the motor is running. When the motor is not running, it does not Include the running hours of the motor.

The preset duration refers to the duration for which the motor of the device needs to be calibrated regularly, including but not limited to: 100h or 150h, etc., which can be set according to actual application requirements.

The preset threshold refers to a threshold set to prevent the cumulative running time of the motor from exceeding the preset time during the dental equipment. The purpose is to allow the motor to perform without exceeding the preset time after each calibration. Work to ensure the stability and reliability of the motor, and then ensure that the dental equipment can perform treatment work safely and stably.

The preset threshold is related to the time required for a single operation of the dental equipment. Taking dental implants as an example, under normal circumstances, dental implants generally need to run for 0.5h-1h for each treatment. In the actual operation process, since different dental equipment requires different running time for each treatment, the preset threshold can be set according to the experience and actual situation of the equipment and the doctor.

Ways of reminder include but not limited to alarm reminder, voice prompt, display interface text display and so on. Among them, the alarm reminder can be the flashing of the device indicator light and the red light warning; the content text of the voice prompt can be "Please calibrate", "Please calibrate" and so on; the text display of the display interface can be that the device display interface has display controls, display controls The content is "Please choose to calibrate the device, and you can return to the normal working display interface after clicking", etc. The embodiment of this application does not specifically limit the way of reminding, and it is set according to the device configuration and actual application requirements.

An example is given below:

For example: the preset duration of the motor is set to 100h. After the motor is calibrated, it has been running for 99.5 hours. Taking the motor for a single treatment as an example, it can be calculated that the cumulative running time of the motor will reach 100.5h, which has exceeded the preset duration of 100h. Therefore, in this example, when the accumulative operating time of the motor is greater than or equal to 99 hours, the host will remind the user that torque calibration needs to be performed on the motor of the device.

Specifically, when it is detected that the difference between the accumulated running time of the device and the preset time is less than the preset threshold, it means that the motor of the device needs to be calibrated for torque. At this time, the user is reminded to calibrate the motor for torque to ensure that the device normal use.

In one embodiment, it is also possible to set a fixed time to calibrate the motor, obtain the current time in real time at a certain moment after the motor completes the torque calibration, and judge whether the current time is equal to the fixed time, and if so, remind the user to correct The motor is torque calibrated.

In this embodiment, when it is detected that the difference between the accumulated running time of the motor and the preset time is less than the required time for torque calibration of the motor next time, the user is reminded to perform torque calibration on the motor. Since the motor torque is calibrated in advance when the cumulative running time of the motor is about to exceed the preset time, it is avoided that when the main unit is started for treatment next time, it is detected that the cumulative running time of the motor exceeds the preset time. When starting, the motor will be locked, and the motor will not be able to start within a certain period of time, thus ensuring that the device can perform treatment work safely and stably.

Please refer to the schematic structural diagram of the torque calibration device provided by the embodiment of the present application shown in FIG. 6; the embodiment of the present application provides a torque calibration device 200, including:

An acquisition module 210, configured to acquire an initial current value; wherein, the initial current value is determined according to the corresponding operating current value when the motor has been calibrated last time and the output torque is within a preset torque range;

The adjustment module 220 is used to use the initial current value as the input current of the motor, adjust the input current of the motor according to the preset current adjustment method, and obtain real-time time, real-time input current value and real-time output torque of the motor;

The setting module 230 is used to set the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as the current calibration time and the current current value respectively when the output torque of the motor is within the preset torque range. secondary calibration current value;

The determining module 240 is configured to use the current calibration current value as the working current value of the motor.

Optionally, the acquiring module 220 is also used to: acquire the corresponding operating current value when the motor was last calibrated and the output torque is within the preset torque range; Calculate the corresponding operating current value when it is within the torque range to obtain the initial current value; among them, formula 1 is: I ₂ =I ₁ /n ₁ ; I ₁ is the last time the motor has been calibrated and the output torque is within the preset torque range When the corresponding working current value, n ₁ is the first proportional coefficient, I ₂ is the initial current value; n ₁ >1;

Optionally, the adjustment module 220 is further configured to increase or decrease the compensation current value in real-time input current every time a preset interval passes.

Optionally, the adjustment module 220 is also used to: use Formula 2 to calculate the input current value of the motor to obtain the compensation current value; wherein, Formula 2 is: I ₃ =I ₂ /n ₂ ; I ₂ is the input of the motor Current value, n ₂ is the second proportional coefficient, I ₃ is the compensation current value; n ₂ ≥10.

Optionally, the adjustment module 220 is also used for: judging whether the real-time output torque of the motor is less than the preset torque range; Increase the compensation current value; if the real-time output torque of the motor is greater than the preset torque range, the real-time input current value is reduced every time the preset interval time passes.

Optionally, the setting module 230 is also used to: when the output torque of the motor is within the preset torque range, set the real-time time and the real-time input current value when the output torque of the motor is within the preset torque range as when The current calibration time and the current calibration current value, and mark the current calibration current value according to the current calibration time.

Optionally, the torque calibration device 200 also includes:

The recording module is used to record the cumulative running time of the motor since the current calibration time;

The detection module is used to remind the user to perform torque calibration on the motor when the difference between the accumulated running time of the motor and the preset time is less than or equal to the preset threshold.

It should be understood that the device corresponds to the above-mentioned embodiment of the torque calibration method, and can perform various steps involved in the above-mentioned method embodiment. For the specific functions of the device, please refer to the description above. To avoid repetition, the detailed description is appropriately omitted here. . The device includes at least one software function module that can be stored in a memory in the form of software or firmware (firmware) or solidified in an operating system (operating system, OS) of the device.

Please refer to FIG. 7 which is a schematic structural diagram of a host computer of a dental device provided by an embodiment of the present application. The embodiment of the present application also provides a host 300 of dental equipment, the host 300 of the dental equipment includes a processor 310 and a memory 320, the memory 320 stores machine-readable instructions executable by the processor 310, and the machine-readable instructions are processed When the device 310 is executed, the above method is executed.

The embodiment of the present application also provides a storage medium, on which a computer program is stored, and when the computer program is run by a processor, the above method is executed.

Wherein, the storage medium can be realized by any type of volatile or non-volatile storage device or their combination, such as Static Random Access Memory (Static Random Access Memory, referred to as SRAM), Electrically Erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, referred to as EPROM), Programmable Read-Only Memory (Programmable Red-Only Memory, referred to as PROM), read-only Memory (Read-Only Memory, ROM for short), magnetic memory, flash memory, magnetic disk or optical disk.

In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed devices and methods may also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show possible implementation architectures of devices, methods, and computer program products according to multiple embodiments of the embodiments of the present application. function and operation. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more executable instruction. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions.

In addition, each functional module in each embodiment of the embodiment of the present application may be integrated to form an independent part, each module may exist independently, or two or more modules may be integrated to form an independent part.

The above description is only an optional implementation of the embodiment of the present application, but the scope of protection of the embodiment of the present application is not limited thereto. Anyone familiar with the technical field can Changes or substitutions that can easily be thought of should fall within the scope of protection of the embodiments of the present application.

Claims (10)

1. A torque calibration method for torque calibrating a motor of a dental apparatus, the method comprising:

acquiring an initial current value; the initial current value is determined according to a working current value corresponding to the motor which is calibrated for the last time and the output torque is within a preset torque interval;

taking the initial current value as the input current of the motor, adjusting the input current of the motor according to a preset current adjusting mode, and acquiring real-time, a real-time input current value and real-time output torque of the motor;

when the output torque of the motor is in the preset torque interval, setting the real-time and the real-time input current value when the output torque of the motor is in the preset torque interval as a current calibration time and a current calibration current value respectively;

and taking the current calibration current value as the working current value of the motor.

2. The torque calibration method according to claim 1, wherein the relationship between the initial current value and the corresponding working current value when the motor has been calibrated for the last time and the output torque is within a preset torque interval is determined by:

obtaining a working current value corresponding to the motor which is calibrated for the last time and the output torque is in a preset torque interval;

calculating a working current value corresponding to the motor which is calibrated for the last time and the output torque is within a preset torque interval by using a formula I to obtain an initial current value; wherein, the first formula is: i is ₂ ＝I ₁ /n ₁ ；I ₁ For the last time the motor has been calibrated and the output torque is in the preset torque zoneThe working current value corresponding to the time interval; n is ₁ Is a first scale factor; i is ₂ Is the initial current value; n is a radical of an alkyl radical ₁ ＞1。

3. The torque calibration method according to claim 2, wherein the adjusting the input current of the motor according to a preset current regulation manner comprises:

and increasing or decreasing the real-time input current value by the compensation current value according to each preset interval time.

4. The torque calibration method according to claim 3, wherein the preset current adjustment manner comprises a formula two; the compensation current value is determined by:

calculating the input current value of the motor by using a formula II to obtain the compensation current value; wherein, the formula two is: i is ₃ ＝I ₂ /n ₂ ；I ₂ Is the input current value of the motor, n ₂ Is a second proportionality coefficient, I ₃ Is the compensation current value; n is ₂ ≥10。

5. The torque calibration method according to claim 3, wherein said increasing or decreasing the real-time input current value by a compensation current value every predetermined interval time, comprises:

judging whether the real-time output torque of the motor is smaller than the preset torque interval or not;

if the real-time output torque of the motor is smaller than the preset torque interval, increasing the compensation current value by the real-time input current value every time a preset interval time passes;

and if the real-time output torque of the motor is larger than the preset torque interval, reducing the compensation current value by the real-time input current value every preset interval time.

6. The torque calibration method according to any one of claims 1 to 5, wherein the real-time and the real-time input current value when the output torque of the motor is within the preset torque interval are set as a current calibration time and a current calibration current value, respectively, when the output torque of the motor is within the preset torque interval; the method comprises the following steps:

when the output torque of the motor is in the preset torque interval, the real-time and the real-time input current value when the output torque of the motor is in the preset torque interval are respectively set as a current calibration time and a current calibration current value, and the current calibration current value is marked according to the current calibration time.

7. The torque calibration method of claim 1, further comprising:

recording the accumulated running time of the motor from the current calibration time;

and when the difference value between the accumulated running time length of the motor and the preset time length is less than or equal to the preset threshold value, reminding a user of carrying out torque calibration on the motor.

8. A torque calibration device for torque calibration of a motor of a dental apparatus, the output of the motor being connected to a torque detection device, the device comprising:

the acquisition module is used for acquiring an initial current value; the initial current value is determined according to a working current value corresponding to the motor which is calibrated for the last time and the output torque is within a preset torque interval;

the adjusting module is used for adjusting the input current of the motor according to a preset current adjusting mode by taking the initial current value as the input current of the motor, and acquiring real-time, a real-time input current value and real-time output torque of the motor;

the setting module is used for respectively setting the real-time and the real-time input current value of the motor when the output torque of the motor is in the preset torque interval as the current calibration time and the current calibration current value;

and the determining module is used for taking the current calibration current value as the working current value of the motor.

9. A host of dental equipment, comprising: a processor and a memory, the memory storing machine-readable instructions executable by the processor, the machine-readable instructions, when executed by the processor, performing the method of any of claims 1 to 7.

10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, performs the method of any one of claims 1 to 7.

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