JP7603913B2 - Toilet equipment - Google Patents

Description

The present invention relates to a toilet device that electrically opens and closes a toilet seat or toilet lid, for example, by using a motor or the like.

Conventionally, toilet seat devices have been realized that are equipped with an electric opening and closing device that uses a driving source such as a motor to electrically open and close the toilet seat or toilet lid (Patent Documents 1 and 2).

There is also a control that suppresses the speed at the opening end to reduce the shaking and collision noise of the opening end when the toilet seat or lid is opened and improve quality (Patent Document 3).

JP 2004-24362 A Patent No. 4293987 JP 2018-42921 A

When controlling the opening operation of a toilet seat or lid, it is necessary to reduce the speed at the open end in order to reduce the shaking and collision noise at the open end and improve quality. However, when the load torque of the toilet seat or lid reverses polarity, the speed cannot be suppressed because the rattle caused by the gap between the output part of the electric opening and closing device and the mating part of the toilet seat or lid enters an uncontrollable range. Therefore, from the standpoint of quality, it is required that the gap at the mating part is small.

On the other hand, to improve the ease of assembly of the toilet seat or lid, and the ease of cleaning by attaching and detaching it, it is essential to provide a gap between the output part of the electric opening and closing device and the mating part of the toilet seat or lid. Therefore, control is required that can smoothly suppress the speed in relation to the gap in the mating part.

However, the amount of the gap varies, as the gap in the fitting increases with age, and if there is a difference between the expected and actual amount of the gap, the seat cover may not be able to slow down and open forcefully, or conversely, it may slow down too much and return to the closed side, making it impossible to open it fully.

The object of the present invention is to provide a toilet device that can achieve a smooth opening action of the toilet seat or toilet lid, even if there is a gap between the output part and the fitting part of the toilet seat or toilet lid, regardless of the size of the gap.

The present invention is characterized in that it comprises an electric opening/closing mechanism having a support part attached to a toilet bowl, a rotating member rotatably supported on the support part and having a fitting part, a motor for rotating the rotating member, and an output part that fits with the fitting part with a gap provided and transmits the output of the motor to the rotating member, a control means for controlling the drive of the motor, and a contact detection means for detecting that the output part and the fitting part have come into contact with each other while the rotating member is rotating so that a force is applied to the rotating member in a direction opposite to the rotation direction, and when the rotating member is opened, the control means controls the motor when the rotating member reaches a predetermined angle to limit the rotation of the output part in the opening direction, and the control means further controls the motor to open the output part in the opening direction after the contact detection means detects that the output part and the fitting part have come into contact with each other so that a force is applied to the rotating member in the closing direction.

As a result, even if there is a gap between the output part and the fitting part of the toilet seat or toilet lid, a smooth opening action of the toilet seat or toilet lid can be achieved regardless of the size of the gap.

In the present invention, preferably, the contact detection means includes a motor torque detection means for detecting the torque of the motor, and performs detection based on the torque of the motor detected by the motor torque detection means.

As a result, by detecting contact based on the motor torque detected by the motor torque detection means, even if there is a gap between the output part and the fitting part of the toilet seat or toilet lid, a smooth opening operation of the toilet seat or toilet lid can be achieved regardless of the size of the gap.

In the present invention, preferably, the contact detection means includes an angular velocity detection means for detecting the angular velocity of the rotating member, and the angular velocity detection means is provided on the rotation axis of the output section or the fitting section.

This allows the torque to be measured at a position closer to the contact position, making it possible to make contact determinations that are less susceptible to disturbances and the possibility of false detection.

In the present invention, preferably, the contact detection means includes a current value detection means for detecting a current value of the motor, and performs detection based on the current value of the motor detected by the current value detection means.

This makes it possible to determine contact without increasing the number of parts in the electric opening and closing device by installing the current value detection means on a control board separate from the control means that controls the drive of the motor.

In the present invention, preferably, the contact detection means includes a load detection means for detecting the load applied from the output section to the fitting section of the rotating member, and performs detection based on the detection result of the load detection means.

This makes it possible to directly measure the load at the contact position, making it possible to make contact determinations that are less susceptible to disturbances and reduce the possibility of false detection.

In the present invention, the predetermined angle is preferably between 70° and 100°.

This allows for smooth opening of the toilet seat or lid by limiting rotation in the opening direction to a rotation angle of 70° to 100°, where the vertical downward force of the rotating member becomes small.

In the present invention, preferably, when the rotating member is opened, the control means controls the motor to rotate the output section in the closing direction when the rotating member reaches the predetermined opening angle.

By reversing the rotation direction of the output part, the gap between the output part and the mating part can be quickly closed, enabling operation with little change in speed when the load torque of the toilet seat or toilet lid reverses from positive to negative.

With the above configuration, the present invention can provide a toilet device that can achieve a smooth opening action of the toilet seat or toilet lid, even if there is a gap between the output part and the fitting part of the toilet seat or toilet lid, regardless of the size of the gap.

FIG. 1 is a perspective view showing a toilet lid of a toilet device according to an embodiment of the present invention in an open state; FIG. 1 is a perspective view showing a toilet lid of a toilet device according to an embodiment of the present invention in a closed state; FIG. 1 is a partial perspective view of a toilet with the toilet seat and toilet lid removed according to an embodiment of the present invention; FIG. 13 is a diagram showing a state in which an output portion and a bearing of a fitting portion are fitted with a gap according to an embodiment of the present invention; 1 is a block diagram of an electric toilet lid opening/closing device and an electric toilet seat opening/closing device according to an embodiment of the present invention; A diagram explaining the mechanism by which rattling occurs in a conventional toilet device. FIG. 1 is a diagram illustrating torque generated in an output section during an opening operation in a conventional toilet device. A diagram explaining the mechanism by which the toilet lid bounces in a conventional toilet device. FIG. 1 is a diagram illustrating the torque that occurs when the toilet lid bounces in a conventional toilet device. FIG. 13 is a diagram showing the relative positions of the output portion and the bearing when the toilet lid is smoothly driven to open according to an embodiment of the present invention; FIG. 13 is a diagram illustrating the torque generated in the output section when the rotation speed is reduced during the opening operation of the toilet lid according to the embodiment of the present invention. FIG. 13 is a diagram illustrating the torque generated in the output section when the rotation direction is reversed during the opening operation of the toilet lid according to the embodiment of the present invention. FIG. 1 is a flowchart of a contact determination process according to an embodiment of the present invention. FIG. 2 is a diagram showing a torque detection means of a motor according to an embodiment of the present invention; FIG. 2 is a diagram showing a torque detection means using an angular velocity detection circuit according to an embodiment of the present invention. FIG. 1 is a diagram illustrating an example of installation of an angular velocity sensor according to an embodiment of the present invention; FIG. 2 is a diagram showing a torque detection means using a current value detection circuit according to an embodiment of the present invention. FIG. 1 is a diagram for explaining a method for calculating generated torque from a motor current value. FIG. 2 is a diagram showing a contact detection means using a load detection circuit according to an embodiment of the present invention. FIG. 1 is a diagram illustrating an example of installation of a load detection sensor according to an embodiment of the present invention.

Figures 1 and 2 are perspective views showing a toilet device according to an embodiment of the present invention. In more detail, Figure 1 shows the toilet device with the toilet lid 300 open to a predetermined opening limit angle and the toilet seat 200 closed, and Figure 2 shows the toilet lid 300 and toilet seat 200 both closed.

The toilet device in FIG. 1 has a main body 100 (support part) provided behind a toilet bowl 400. Rotating members of a toilet seat 200 and a toilet lid 300 are pivotally supported on the main body 100 so that they can be opened and closed. Although not shown, the main body 100 is formed with stoppers that regulate the maximum opening angle of the toilet seat 200 and the toilet lid 300. When the toilet seat 200 and the toilet lid 300 are opened electrically, they are opened until a predetermined portion of the base end of the toilet seat 200 and the toilet lid 300 abuts against the stopper (until the maximum opening angle is reached).

Figure 3 partially shows the toilet device in the state of Figure 1 with the toilet seat 200 and toilet lid 300 removed from the main body 100, and also shows the schematic configuration of the present invention inside the main body 100. As shown in Figure 3, on the inside (toilet bowl side) of the toilet lid 300, bearings 310, 320 (fitting parts) that engage with the main body 100 are formed on both side walls of the base end. Similarly, on the inside of the toilet seat 200, bearings 210, 220 (fitting parts) that engage with the main body 100 are formed on both side walls of the base end.

Various devices and circuits are installed within the main body 100, such as an electric opening/closing device (control means 700, electric opening/closing mechanism for the toilet seat 200 and the toilet lid 300) for electrically opening and closing the toilet seat 200 and the toilet lid 300, and a main control unit 800 for controlling the entire toilet device.

The electric toilet lid opening/closing mechanism 600 includes an output unit 620 for driving the toilet lid 300 to rotate (open and close), and a drive unit for driving the output unit 620 (see FIG. 5). The output unit 620 has a shape that fits into one of the bearings 320 of the toilet lid 300. In this case, as shown in FIG. 4, the output unit 620 fits into the bearing 320 so that there is a certain gap in the rotation direction of the output unit 620 (see the arrow in the figure) relative to the bearing 320.

On the other hand, the output part 630 has a shape that fits into the other bearing 310 of the toilet lid 300, and supports the toilet lid 300. The output part 630 may be equipped with a device that has a torsion coil spring and biases the rotation, or may be equipped with a buffer device that has a damper part and brakes the rotation.

The output part 630 and the output part 620 of the electric toilet lid opening and closing mechanism 600 each coincide with the rotation center of the toilet lid 300. The shapes of the mating parts of the bearings 310 and 320 may be the same or different. The shapes of the output parts 620 and 630 may be the same or different.

The electric toilet seat opening/closing mechanism 500 includes an output unit 520 for driving the toilet seat 200 to rotate (open and close), and a drive unit for driving the output unit 220 (see FIG. 5). The output unit 620 has a shape that fits into one of the bearings 320 of the toilet lid 300. In this case, as shown in FIG. 4, the output unit 520 fits into the bearing 220 so that there is a certain gap in the rotation direction of the output unit 520 (see the arrow in the figure) relative to the bearing 220.

On the other hand, the output part 530 has a shape that fits into the other bearing 210 of the toilet seat 200, and supports the toilet seat 200. The output part 530 may be equipped with a device that has a torsion coil spring and biases the rotation, or may be equipped with a buffer device that has a damper part and brakes the rotation.

The output part 530 and the output part 520 of the toilet seat electric opening and closing mechanism 500 each coincide with the rotation center of the toilet seat 200. The shapes of the fitting parts of the bearings 210 and 220 may be the same or different. The shapes of the output parts 520 and 530 may be the same or different.

Figure 5 is a block diagram showing in detail the configuration of the electric toilet lid opening/closing device and the electric toilet seat opening/closing device within the main body 100.

The electric toilet lid opening/closing device comprises an electric toilet lid opening/closing mechanism 600 that rotates the output unit 620 by motor drive, and an electric opening/closing control means 700 that controls the opening and closing operation of the electric toilet lid opening/closing mechanism 600. The electric opening/closing control means 700 comprises a toilet lid motor driver 730 for the motor 611 in the electric toilet lid opening/closing mechanism 600, and an electric opening/closing control unit 710 (CPU) that drives the motor 611 via the driver 730 and receives and controls signals related to the opening and closing of the toilet lid.

The electric toilet lid opening/closing mechanism 600 has a motor 611 that generates a driving force, a reduction gear mechanism (transmission mechanism) 612 that reduces the rotational output of the motor 611 and transmits the driving force to the output unit 620, a rotation detection circuit 613 that detects the rotation angle of the output unit 620, and an output unit 620. The electric toilet lid opening/closing mechanism 600 may further include an assist spring (elastic body) 614 that applies a biasing force to the output unit 620 in the opening direction of the toilet lid 300.

The motor 611 is, for example, a DC motor of the PWM (Pulse Width Modulation) type. In this case, the electric opening/closing control unit 710 provides a PWM control signal (duty ratio to the applied voltage) to the driver 730, and the driver 730 drives the DC motor by providing a PWM voltage corresponding to the PWM control signal to the DC motor. The drive unit of the present invention includes, for example, the motor 611 and the reduction gear mechanism 612, and may further include the driver 730.

The electric toilet lid opening/closing mechanism 600 also has a magnet (magnetic material) attached to the gear of the reduction gear mechanism 612, and a rotation detection circuit 613. The rotation detection circuit 613 includes a Hall IC that detects the next change in the magnet and outputs a pulse signal, and detects whether the gear is rotating (i.e., the motor 611 is rotating) based on the output of the Hall IC. In addition to detecting the presence or absence of rotation, the rotation detection circuit 613 may also have a function to detect the direction of rotation of the motor 611 based on the output of the Hall IC. The magnet and rotation detection circuit 613 may also be attached to the output unit 620, and have a function to detect the rotation angle and direction of the output unit 620.

The electric toilet lid opening and closing device is connected to a main control unit 800 that controls the entire toilet device, and receives various instruction signals (control signals) related to opening and closing the toilet lid from the main control unit 800, and performs operations according to the received control signals.

The main control unit 800 is configured to be able to communicate with a remote control 810 and a human body detection sensor as another function 820. When the main control unit 800 detects the presence of a human body via the human body detection sensor, it sends a control signal to the control unit 710 to instruct the toilet lid 300 to open. Also, when the main control unit 800 receives an instruction from the remote control 810 to open or close the toilet lid 300, it sends a control signal corresponding to the instruction to the control unit 710.

When the electric opening/closing control unit 710 receives a control signal for driving the toilet lid 300 to close from the main control unit 800, it drives the motor 611 in the direction of closing the toilet lid 300 via the driver 730. In other words, it drives the motor 611 so that the output unit 620 rotates in the direction of closing the toilet lid 300. The rotation output of the motor 611 is decelerated by the reduction gear mechanism 612 and transmitted to the output unit 620. Then, when the control unit 710 confirms that the toilet lid 300 is closed, it stops driving the motor 611. The toilet lid 300 can be detected to be closed, for example, based on the output of the rotation detection circuit 613, when the output unit 620 reaches a predetermined angle corresponding to the closed state of the toilet lid 300. Alternatively, the toilet lid 300 can be detected to be closed by detecting the stop of the rotation of the gear 612 (the rotation of the motor 611) based on the output of the rotation detection circuit 613. That is, the stop of the rotation of the gears (rotation of the motor 611) can be detected when the pulse output of the Hall IC provided in the rotation detection circuit 613 stops. Note that if the toilet lid 300 is stopped by human action, the pulse output of the Hall IC also stops, but in this case too, the control unit 710 stops driving the motor 611.

On the other hand, when the control unit 710 receives a control signal for opening the toilet lid 300 from the main control unit 800, it drives the motor 611 in the direction in which the toilet lid 300 opens. In other words, it drives the motor 611 so that the output unit 620 rotates in the direction in which the toilet lid 300 opens. The control unit 710 can detect that the toilet lid 300 has opened to the opening limit angle by detecting that the angle of the output unit 620 has reached a predetermined opening limit angle based on the output of the rotation detection circuit 613. Alternatively, it can detect that the predetermined opening limit angle has been reached by detecting the stop of the rotation of the gear 612 (the rotation of the motor 611) based on the output of the rotation detection circuit 613. In other words, it can be determined that the toilet lid 300 has come into contact with the stopper by detecting that the pulse output of the Hall IC provided in the rotation detection circuit 613 has stopped. Note that if the toilet lid 300 is stopped by human action, the pulse output of the Hall IC will also stop, but in this case, the control unit 710 will stop driving the motor 611.

On the other hand, the electric toilet seat opening and closing device includes an electric toilet seat opening and closing mechanism 500 that rotates the toilet seat output unit 520 by motor drive, a toilet lid motor driver 720 for the motor 511 in the electric toilet seat opening and closing mechanism 500, and a control unit 710 (CPU) that drives the motor 511 via the driver 720 and controls the opening and closing of the toilet seat.

The toilet seat electric opening/closing mechanism 500 has a motor 511, a reduction gear mechanism 512 that reduces the rotation output of the motor 511, a rotation detection circuit 513 that detects the rotation angle of the output part 520 of the toilet seat, and an output part 520. The toilet seat electric opening/closing mechanism 500 may further include an assist spring that applies a biasing force in the opening direction to the output part 520.

The electric toilet lid opening/closing mechanism 500 also has a magnet attached to the gear of the reduction gear mechanism 512, and a rotation detection circuit 513. The rotation detection circuit 513 includes a Hall IC that detects changes in the magnetic field of the magnet, and detects whether the gear is rotating (i.e., the motor 511 is rotating) based on the output of the Hall IC.
The operation of each element of the electric toilet seat opening/closing device is basically the same as that of the electric toilet lid opening/closing device of the same name, except that the object to be driven is the toilet seat, so their explanation will be omitted.

Here, we will explain the rattling caused by gaps that occur when the toilet lid 300 or toilet seat 200 is driven to open in a conventional toilet device. Here, we will use the toilet lid 300 as an example, but the same applies to the toilet seat 200.

Figure 6 (A) shows a graph F of the load torque (weight torque) of the toilet lid 300 against the rotation angle of the toilet lid 300 (or the output section 620 of the electric toilet lid opening/closing mechanism 600), and Figure 6 (B) is a diagram explaining the mechanism of rattling of the fitting portion that occurs when the toilet lid 300 is driven to open.

The vertical axis of Figure 6 (A) indicates the weight torque of the toilet lid 300, and the horizontal axis indicates the rotation angle of the toilet lid 300. On the vertical axis, a weight torque greater than 0 means that the weight torque of the toilet lid 300 acts in the closing direction of the toilet lid 300, and a weight torque less than 0 means that the weight torque of the toilet lid 300 acts in the opening direction of the toilet lid 300. An angle of 0° corresponds to a state in which the toilet lid 300 is completely closed, and a fully open angle corresponds to a state in which the toilet lid is open to its maximum opening angle.

In the conventional toilet device, as shown in FIG. 6(B), from the closed state of the toilet lid 300 to the reversal point P10 (for example, the angle at which the center of gravity of the toilet lid 300 is located vertically above the rotation axis and the torque of the toilet lid 300's own weight is 0), the torque of the toilet lid 300's own weight acts in the closing direction of the toilet lid 300. However, once the reversal point P10 is exceeded, the torque of the toilet lid 300's own weight reverses from the closing direction of the toilet lid 300 to the opening direction. At this time, depending on the size of the gap between the output part 620 and the bearing 320, the toilet lid 300 moves suddenly in the opening direction due to its own weight (reversal operation), and the relative position relationship between the output part 620 and the bearing 320 is reversed (see the dashed frame in FIG. 6(B)). In other words, the gap between the output part 620 and the bearing 320 was formed in the closing direction side up to the reversal point P10, but after the reversal point P10, it is formed in the opening direction side. This causes rattling, an increase in rotation speed after the inversion operation, and wobbling at the full open angle of the toilet lid 300, resulting in an operation that impairs the quality of the toilet.

Figure 7 shows the torque transmitted by the output part 620 of the electric toilet lid opening and closing mechanism 600 to the bearing 320 of the toilet lid 300 when the toilet lid 300 is opened in a conventional manner, with the torque applied to the toilet lid 300 on the vertical axis and the time during the opening drive on the horizontal axis. In Figure 7(a), the load torque of the toilet lid 300 is large, so a large torque is transmitted in the opening direction. In Figure 7(b), the torque transmitted to the toilet lid 300 is reduced to slow down the speed in anticipation of an increase in speed during the rattle. Figure 7(c) shows that the speed of the toilet lid 300 increases due to the reversal operation, and a small torque is transmitted from the output part 620. In Figure 7(d), after the toilet lid 300 hits the stopper and opens fully, the torque increases to the stall torque, and the toilet lid 300 is held down at the opening limit angle. The stall torque here refers to the torque output when the rotation speed of the output part 620 of the electric opening and closing mechanism 600 becomes 0. (For example, in FIG. 14, the stall torque for a control output with a duty ratio of 50% is P20.) In the opening operation state of FIG. 8, the torque continues to be transmitted in the opening direction, accelerating after reversal point P10 just before the open end, causing the toilet lid 300 to wobble at the maximum opening angle.

Next, a case where the toilet lid 300 is decelerated by suppressing the drive torque of the electric toilet lid opening/closing mechanism 600 during a conventional inversion operation and contacting the output unit 620 with the side opposite to the opening direction of the bearing 320 (reverse contact) will be described. Figure 8 shows the relationship between the output unit 620 and the bearing 320 of the toilet lid 300 when the contact direction of the output unit 620 is brought into contact with the closing side of the bearing 320 during inversion to decelerate the toilet lid 300. In Figure 8 (b), the toilet lid 300 is gradually decelerated just before the reversal point of the self-weight torque. In Figure 8 (c), the output unit 620 performs reverse contact to suppress an increase in the speed of the toilet lid 300 after the inversion operation. At that time, if the torque applied in the closing direction of the toilet lid 300 due to reverse contact is excessive, the toilet lid 300 will return to the closing direction (bounce) as shown in Figure 8 (d).

Figure 9 shows the change in torque value over time during the opening operation when the toilet lid 300 in Figure 8 bounces back. In Figure 9 (c), excessive torque is applied in the closing direction during reverse impact, causing the toilet lid 300 to bounce back to the closed side. As a result of the rebound, the output unit 620 contacts the bearing 320 again in the opening direction, driving the toilet lid 300 in the opening direction. In the worst case scenario, if the torque to drive in the opening direction is insufficient and the rotation detection means 613 cannot detect the rotation of the output unit 620, the control unit 710 may stop driving the motor 611. If the torque at the reverse impact to decelerate is not appropriate and rebounding occurs, the toilet lid 300 will no longer follow a smooth trajectory, and the quality will be greatly impaired. However, because of the rattle, it is difficult to adjust the degree of deceleration torque.

In this invention, therefore, a contact determination is made as to whether or not a reverse strike has occurred at the moment shown in FIG. 10(c), and the timing of resuming the opening drive in FIG. 10(d) is adjusted depending on the degree of contact, thereby eliminating the bouncing of the toilet lid 300 mentioned above and realizing a smooth opening and closing operation of the toilet lid 300.

Figure 11 shows the torque generated by the output unit 620 when the toilet lid 300 is driven to open in the present invention. Figure 11 (b) shows how the drive torque is suppressed and the speed is suppressed just before the load reversal point P10. Because the toilet lid 300 does not stop by the reversal point P10, the drive torque continues to be generated in the opening direction. When the reversal point P10 is reached, the output unit 620 comes into contact with the closing side of the toilet lid bearing 320, so as shown in Figure 11 (c), the output unit 620 generates a closing torque on the toilet lid 300. Using the contact determination method described below, the torque generated according to the magnitude of contact is adjusted to a torque that decelerates the toilet lid 300 and does not cause bouncing, as shown in Figure 12 (d).

When suppressing the drive torque of the output unit 620 at the reversal point P10, the output unit 620 may be rotated in reverse as shown in FIG. 12(b). By rotating in reverse, the time until the output unit 620 hits the closing side of the bearing 320 can be made shorter than in the form shown in FIG. 11, so that the acceleration of the toilet lid 300 after the reversal point P10 can be suppressed more quickly. The process after the contact determination is the same as in FIG. 11.

This toilet device performs the opening operation by sequentially executing the steps shown in Figure 13.

First, when the electric opening/closing control means 700 receives a signal from the main control unit 800 to start the opening operation, it starts driving the motor 611 to open. Then, the electric opening/closing control unit 710 judges whether the angle of the toilet lid 300 calculated by the rotation detection circuit 613 exceeds a preset angle, for example, an arbitrary set value between 70° and 100° of the toilet lid opening angle. If the set angle is exceeded, the driving of the motor 611 is suppressed. In this case, suppression may mean reducing the driving torque of the motor 611 to decelerate, or driving in the closing direction to rotate in reverse. Next, after suppressing the driving of the motor 611, the contact determination flow is started. The generated torque in the toilet lid bearing 320 is calculated from sensors installed in the electric toilet lid opening/closing mechanism 600 or the toilet lid 300. Then, it is judged whether the generated torque exceeds the preset set torque. If it does, the contact determination flow is terminated, the motor drive is increased in the opening direction, and the toilet lid 300 is opened to the opening limit angle.

Figures 14 to 20 explain how to calculate the generated torque.

Figure 14 shows a method for calculating the generated torque based on the TN characteristic of the electric toilet lid opening/closing mechanism 600 that has been set in advance. The TN characteristic shown in Figure 14 shows the relationship between the drive torque and rotation speed of the electric toilet lid opening/closing mechanism 600. Here, the TN characteristic during operation is assumed to be a characteristic that is shifted in parallel from the TN characteristic with a duty ratio of 100% set in accordance with the duty ratio of the PWM control. In addition, the electric opening/closing control unit 710 has a means for calculating the rotation speed (rotation speed) based on the rotation information detected from the rotation detection circuit 613, and the rotation detection circuit 613 may be, for example, a Hall IC, which calculates the average rotation speed (rotation speed) by dividing the angle of the pulse 1 waveform output from the Hall IC by the time of the pulse 1 waveform.

The generated torque can be calculated as the torque corresponding to the calculated number of revolutions (rotational speed) in the TN characteristic obtained from the output duty ratio. For example, as shown in FIG. 14, in an electric toilet lid opening/closing mechanism 600 operating at a duty ratio of 50%, if the number of revolutions detected by the rotation detection circuit 613 is N1, the generated torque of the electric toilet lid opening/closing mechanism 600 at that time is T1.

This method makes it possible to determine contact using the rotation detection circuit 613.

Figure 15 shows a method for calculating the generated torque using the angular velocity detection circuit 640. The angular velocity detection circuit 640 shown in Figure 15 is disposed in the toilet lid 300 or the electric toilet lid opening/closing mechanism 600, and is connected to the electric opening/closing control means 700.

Figure 16 shows an example of the arrangement of the angular velocity detection circuit 640. The angular velocity detection circuit 640 is, for example, arranged with a gyro sensor on the rotation axis of the output unit 620 or the toilet lid 300 (long chain line in Figure 16), and is installed in a direction that allows it to detect angular velocity with respect to the rotation direction of the rotation axis (arrow in Figure 16).

The electric opening/closing control unit 710 can calculate the angular acceleration θdd by dividing the amount of change in the angular velocity θd detected by the angular velocity detection circuit 640 by the time until the change. Then, the generated torque τ can be calculated as τ = I × θdd from the preset inertial force I of the toilet lid 300 and the calculated angular acceleration θdd.

In the embodiment of FIG. 14, there is a reduction gear mechanism 612 between the output unit 620 and the rotation detection circuit 613, and if there is gear backlash, a delay will occur between the timing when the toilet lid 300 and the output unit 620 come into contact and the calculation of the generated torque. On the other hand, in the embodiment of FIG. 15, contact determination can be performed in a location close to the contact position, making it possible to perform quick drive control in response to a reverse hit.

Figures 17 and 18 show a method of calculating the generated torque using the current value detection circuit 740. Figure 17 shows how the motor 611 current value detection circuit 740 is installed in the electric opening/closing control means 700, and the electric opening/closing control unit 710 can detect the current value. Figure 18 shows a method of calculating the generated torque based on the TI characteristic of the electric toilet lid opening/closing mechanism 600. Here, the TI characteristic represents the relationship between the drive torque of the electric toilet lid opening/closing mechanism 600 and the current value flowing through the motor 611. The electric opening/closing control unit 710 calculates the generated torque from the preset TI characteristic of the electric toilet lid opening/closing mechanism 600 based on the current value during driving, and performs contact determination.

In the means for calculating the generated torque based on the TN characteristic in FIG. 15, the calculation accuracy of the rotation speed is greatly affected by the mechanical configuration of the rotation detection circuit 613. In other words, if the rotation detection circuit 613 is a Hall IC, the rotation speed cannot be detected until a pulse waveform is output. On the other hand, in the means in FIG. 17 and FIG. 18, the generated torque according to the current value can be output according to the sampling period of the sensor, so that the generated torque in the motor 611 can be calculated each time. In addition, in the form in FIG. 17, by installing a current value detection circuit 740 in the electric opening/closing control means 700, it is no longer necessary to install a current value detection circuit 740 inside the electric toilet lid opening/closing mechanism 600, and the electric toilet lid opening/closing mechanism 600 can be made smaller.

Figures 19 and 20 show the calculation configuration of the generated torque by the load detection circuit 650. Figure 19 shows a configuration in which the load detection circuit 650 is installed in the output section 620 of the electric toilet lid opening/closing mechanism 600 or in the bearing 320 of the toilet lid 300. The load detection circuit 650 is connected to the electric opening/closing control means 70, and the electric opening/closing control section 710 calculates the generated torque based on the detected load value.

Figure 20(a) shows an example where a load sensor such as a strain gauge is installed on the output section 620 of the electric toilet lid opening/closing mechanism 600. Also, Figure 20(b) shows an example where a similar load sensor is installed on the bearing of the toilet lid 300. The load sensor is positioned so that it can measure the load in the circumferential direction, which allows the moment of the rotation axis to be measured. The control section calculates the torque from the load value and the distance from the preset center of the rotation axis to the load sensor, and performs contact determination from the magnitude of the generated torque. Note that, in order to perform a simple contact determination, it is not necessarily necessary to convert the torque value, and it may be determined based on the magnitude of the load value.

When contact determination is performed using a detection circuit connected to the gears of the motor 611 or the electric toilet lid opening/closing mechanism 600 as shown in Figures 14, 17, and 18, there is a backlash in the electric toilet lid opening/closing mechanism 600, so there is a delay in the time from contact to the contact determination. On the other hand, the means in Figures 19 and 20 can detect the occurrence of contact at the position closest to the contact position, so rapid control can be performed in response to a back hit by the output unit 620, suppressing the bouncing of the toilet lid 300 and enabling a smooth opening operation.

Although an embodiment of the present invention has been described above, the present invention is not limited to this embodiment, and in the implementation stage, the components can be appropriately modified and embodied as long as the modification does not deviate from the scope of the technical concept of the present invention. Furthermore, various inventions can be formed by appropriately combining the multiple components disclosed in the above embodiment. For example, it is also possible to delete some of the components from all of the components shown in the above embodiment.

100 Main body 200 Toilet seat 210, 220, 310, 320 Bearing 300 Toilet lid 400 Toilet bowl 500 Electric toilet seat opening/closing mechanism 511, 611 Motor 512, 612 Reduction gear mechanism 513, 613 Rotation detection circuit 514, 614 Spring 520, 530, 620, 630 Output section 600 Electric toilet lid opening/closing mechanism 640 Angular velocity detection circuit 650 Load detection circuit 700 Electric opening/closing control means 710 Electric opening/closing control section 720 Toilet seat motor driver 730 Toilet lid motor driver 740 Current value detection circuit 800 Main control section 810 Remote control 820 Other functions P10 Reversal point P20, P30 Stall torque

Claims (6)

A support part that is attached to the toilet bowl;
A rotating member supported rotatably relative to the support portion and having a fitting portion;
an electric opening/closing mechanism including a motor that rotates the rotating member and an output portion that is fitted to the fitting portion with a gap therebetween and transmits an output of the motor to the rotating member;
A control means for controlling the driving of the motor;
a contact detection means for detecting, when the rotating member is rotating, that the output portion and the fitting portion come into contact with each other so that a force is applied to the rotating member in a direction opposite to a rotation direction,
the control means, when performing an opening operation of the rotating member, controls the motor when the rotating member reaches a predetermined angle to suppress rotation of the output section in the opening direction;
the control means controls the motor to rotate the output unit in the opening direction after the contact detection means detects that the output unit and the fitting unit have come into contact with each other so that a force is applied to the rotating member in the closing direction after the rotation of the output unit in the opening direction is suppressed ,
The toilet apparatus according to the present invention, characterized in that the contact detection means includes a motor torque detection means for detecting a torque of the motor, and detection is performed based on the torque of the motor detected by the motor torque detection means . 2. The toilet device according to claim 1 , wherein the contact detection means includes angular velocity detection means for detecting an angular velocity of the rotating member, the angular velocity detection means being provided on a rotation axis of the output portion or the fitting portion. 3. The toilet device according to claim 1, wherein the contact detection means includes a current value detection means for detecting a current value of the motor, and performs detection based on the current value of the motor detected by the current value detection means. The toilet device according to any one of claims 1 to 3, characterized in that the contact detection means includes a load detection means for detecting a load applied from the output portion to the fitting portion of the rotating member, and performs detection based on a detection result of the load detection means . 5. The toilet device according to claim 1 , wherein the predetermined angle is between 70° and 100°. The toilet device according to any one of claims 1 to 5, characterized in that, when the rotating member is caused to perform an opening operation, the control means controls the motor to rotate the output portion in a closing direction when the rotating member reaches the predetermined angle .