CN114703625A - Sock washing machine and control method thereof - Google Patents

Abstract

The invention discloses a sock washing machine and a control method thereof, which are used for solving the problems that manual washing of socks is time-consuming and labor-consuming, and the existing sock washing equipment is not clean in washing. The invention provides a sock washing machine, which comprises: an inner barrel; a plurality of rubbing pieces, arranged in a row in the inner tub, each of the rubbing pieces having an elastic rubbing part and a moving part, one end of the moving part being connected to the bottom of the elastic rubbing part, the other end thereof extending from the bottom of the inner tub, the elastic rubbing part having a hollow cavity formed therein, the hollow cavity being capable of being inflated by air to expand the elastic rubbing part; and the driving mechanism can drive the moving parts of the kneading pieces to do up-and-down reciprocating motion. The invention is provided with a plurality of rubbing pieces, the rubbing pieces are driven to move by the driving mechanism, the sock washing process is simulated by hands, and meanwhile, air is introduced into the rubbing pieces to adjust the gap between two adjacent rubbing pieces, so that the problem that the socks cannot be rubbed when moving upwards in the sock washing process is avoided.

Description

Sock washing machine and control method thereof

Technical Field

The invention relates to the technical field of clothes washing, in particular to a sock washing machine and a control method thereof.

Background

The usual washing methods are manual washing or washing machine washing. The manual cleaning is time-consuming and labor-consuming. The washing machine is used for shuffling, which can cause the conflict of most people, the conventional sock washing equipment in the market is only a reduced version washing machine for socks or underwear, the equipment has insufficient pertinence, is only a simple roller structure, is difficult to meet the use requirement of modern users, and is not clean.

Disclosure of Invention

In view of the above, the invention discloses a sock washing machine and a control method thereof, which are used for solving the problems that the time and labor are wasted when socks are washed manually, and the existing sock washing equipment is not clean in washing.

In order to achieve the above object, the invention adopts the following technical scheme:

the invention discloses a sock washing machine in a first aspect, which comprises: an inner barrel; the rubbing parts are arranged in the inner barrel in rows, each rubbing part is provided with an elastic rubbing part and a moving part, one end of the moving part is connected to the bottom of the elastic rubbing part, the other end of the moving part extends out of the bottom of the inner barrel, a hollow cavity is formed in the elastic rubbing part, air can be introduced into the hollow cavity to expand the elastic rubbing part, and the hollow cavity can be used for adjusting the gap between the elastic rubbing parts of two adjacent rubbing parts; and the driving mechanism can drive the moving parts of the rubbing pieces to reciprocate up and down, and the moving directions of every two adjacent rubbing pieces are opposite.

Further optionally, the sock washing machine further comprises: an inflator having an exhaust port; the pipeline is used for communicating the air outlet and the hollow cavity of each elastic kneading part; the first valve is arranged on the pipeline and used for realizing the connection and disconnection of the air outlet and the hollow cavity in the elastic kneading part of each kneading piece; and the pressure detection element is arranged on the pipeline and used for detecting the pressure of the gas in the pipeline.

Further optionally, the drive mechanism comprises: a crankshaft having a plurality of eccentric shaft sections, the moving parts of the plurality of rubbing pieces corresponding to the plurality of eccentric shaft sections one to one; the spring is sleeved on the moving part, and two ends of the spring are abutted against the moving part and the bottom of the inner barrel, so that the moving part is abutted against the eccentric shaft section of the crankshaft; and the actuating mechanism drives the crankshaft to rotate, when the crankshaft rotates, the kneading components reciprocate up and down, and the moving directions of two adjacent kneading components are opposite.

Further optionally, the elastic kneading part is plate-shaped, and a plurality of protrusions are formed on an outer surface of the elastic kneading part and an inner surface of the inner tub.

Further optionally, the moving part forms a sealing connection with the bottom of the inner barrel.

Further optionally, the sock washing machine further comprises a shell and a barrel cover, an opening is formed in the top of the shell, a water inlet pipeline is arranged on the shell, the inner barrel is arranged in the shell, the water inlet pipeline is used for feeding water into the inner barrel, and the barrel cover are covered at the opening of the shell.

Further optionally, the water inlet pipeline is provided with a second valve, the water inlet pipeline on the water inlet side of the second valve is provided with a water temperature detection device, the water temperature detection device and the second valve, and the water inlet pipeline on the water inlet side of the water temperature detection device is provided with a heating module.

Further optionally, a detergent feeding box and/or a sterilization liquid box is arranged on the barrel cover, or a detergent feeding box and/or a sterilization liquid box is arranged on the shell.

The invention discloses a control method of the sock washing machine in the first aspect, which comprises the following steps:

s1, obtaining the pressure value P of the hollow cavities in the kneading pieces;

and S2, judging whether to introduce gas into the hollow cavity according to the pressure value P so as to adjust the gap between two adjacent kneading pieces.

Further optionally, the step S2 includes:

if the pressure value P and a first preset pressure value A meet the following conditions: if P is less than A, gas is introduced into the hollow cavity to reduce the gap between two adjacent rubbing pieces;

if the pressure value P and a second preset pressure value B meet the following conditions: if P is larger than or equal to B, reducing the gas in the hollow cavity to increase the gap between two adjacent rubbing pieces;

if the A is not more than P and less than B, maintaining the gas pressure value in the hollow cavity.

Has the advantages that: the invention is provided with a plurality of rubbing pieces, the rubbing pieces are driven to move by the driving mechanism, the sock washing process is simulated by hands, and meanwhile, air is introduced into the rubbing pieces to adjust the gap between two adjacent rubbing pieces, so that the problem that the socks cannot be rubbed when moving upwards in the sock washing process is avoided.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are merely exemplary embodiments of the present disclosure, and other drawings may be derived by those skilled in the art without inventive effort.

Fig. 1 schematically shows the overall structure of an embodiment 1 of the sock washing machine according to the invention;

FIG. 2 is a schematic view illustrating a piping view of an embodiment in which the mid-inflating device is connected to the hollow chamber in the embodiment 1 of the sock washing machine of the present invention;

FIG. 3 is a schematic view illustrating a piping view of another embodiment in which the mid-inflating device is connected to the hollow chamber in the embodiment 1 of the sock washing machine of the present invention;

FIG. 4 schematically shows a side view of an embodiment of the rubbing elements in embodiment 1 of the sock washing machine according to the present invention;

FIG. 5 schematically illustrates a view in direction A of an embodiment of the kneading elements of FIG. 4;

fig. 6 exemplarily shows a view of another embodiment of the kneading member of fig. 4 in direction a;

fig. 7 is a flowchart schematically showing a control method in embodiment 2 of the sock washing machine according to the present invention.

Reference numerals are as follows:

1-inner barrel; 2-a kneading member; 21-elastic kneading part; 22-a moving part; 23-a limiting block; 3-a drive mechanism; 4-an inflation device; 5-pipeline; 6-a first valve; 7-a housing; 8-barrel cover; 9-a water inlet pipeline; 10-a second valve; 20-water temperature detection means; 30-heating module; 40-detergent putting box; 50-sterilizing liquid box; 60-a drain pipe; 70-a drain valve; 80-a pressure sensing element; 71-an overflow port; 31-a crankshaft; 32-a spring; 33-an actuator; 211-protrusions; 21 a-hollow cavity.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

The invention sets a plurality of rubbing pieces in the washing inner barrel to imitate the washing process of people so as to solve the problem that socks are not washed cleanly by the traditional washing machine, and simultaneously, the elastic rubbing parts of the rubbing pieces can expand so as to solve the problem that the socks move upwards in the washing process, thereby realizing better washing effect.

To further illustrate the technical solution of the present invention, the following specific examples are provided with reference to fig. 1 to 7.

Example 1

In the present embodiment, there is provided a sock washing machine, as shown in fig. 1, which may include an inner tub 1, a driving mechanism 3, and a plurality of rubbing pieces 2; wherein, a plurality of kneading pieces 2 are arranged in the inner barrel 1 in rows, each kneading piece 2 is provided with an elastic kneading part 21 and a moving part 22, the elastic kneading part 21 can be made of elastic materials such as rubber, silica gel and the like, and is not limited in detail herein; one end of the moving part 22 is connected to the bottom of the elastic kneading part 21, the other end of the moving part 22 extends out from the bottom of the inner barrel 1, the elastic kneading part 21 and the moving part 22 can be integrally formed, or can be fixedly connected together by other methods, which is not limited herein; the moving part 22 can be rod-shaped, the bottom of the inner barrel 1 is provided with a through hole, the moving part 22 passes through the through hole and is in sealing fit with the through hole, and the moving part 22 can move up and down relative to the inner barrel 1; the elastic kneading part 21 is formed with a hollow cavity 21a, and the hollow cavity 21a can be used for introducing air into the cavity to expand the elastic kneading part 21 so as to adjust the gap between the elastic kneading parts 21 of two adjacent kneading members 2; the driving mechanism 3 can drive the moving parts 22 of the rubbing pieces 2 to reciprocate up and down, and the moving directions of two adjacent rubbing pieces 2 are opposite, so as to realize the action of imitating people to wash socks.

Compared with the traditional washing machine for washing socks, the embodiment can increase the kneading force in the washing process by simulating the washing of people for washing socks, and can avoid the problem that the socks cannot move upwards and be kneaded in the washing process by filling air into the elastic kneading part 21. Through the improvement, the washing effect of the socks is improved, and the labor and the time are saved.

On the basis of the above modification, as shown in fig. 2, the sock washing machine of the present embodiment further includes an inflating device 4, a pipe 5, a first valve 6, and a pressure detecting member 80; the inflation device 4 has an exhaust port, and may be a gas source, a gas pump, or other devices that generate pressure gas, and is not specifically limited herein; the pipeline 5 is communicated with the air outlet and the hollow cavity of each elastic kneading part 21, a valve is arranged on the pipeline 5 and used for controlling the on-off of the air outlet and the hollow cavity in the elastic kneading part 21 of each kneading piece 2, and the pressure detection element 80 is arranged on the pipeline 5 and used for detecting the pressure of air in the pipeline 5. The valve in this embodiment is preferably a solenoid valve.

In order to facilitate understanding of the connection relationship between the above-mentioned pipe 5 and the hollow cavity, two types are exemplified in the present embodiment. First, as shown in fig. 3, the air outlet of the inflator 4 is connected to a main pipe 5, the hollow cavity of each elastic kneading portion 21 is communicated with the main pipe 5 through a branch pipe 5, a valve is provided on the main pipe 5, ventilation and exhaust of the hollow cavity are realized by opening and closing the valve, and a pressure detecting element 80 is provided on the main pipe 5. Secondly, as shown in fig. 2, the air outlet of the inflator 4 is connected to a main pipe 5, the hollow chamber of each elastic kneading portion 21 is communicated with the main pipe 5 through a branch pipe 5, and a valve and a pressure detecting element 80 are provided on each branch pipe 5. The first structure can save the number of the pressure detection elements 80 and the valves, and the second structure can adjust the expansion size of each kneading piece 2 according to the pressure of each hollow cavity although the number of the pressure detection elements 80 and the valves is large, so that the gap between two adjacent kneading pieces 2 is changed, and fine control is realized.

The pressure detecting element 80 may be a gas pressure sensor, a pressure gauge, etc., and is not limited herein, only can detect gas pressure data.

On the basis of the above improvement, to facilitate understanding of the technical solution of the present embodiment, the present embodiment exemplarily recites the detailed structure of the above driving mechanism 3, and as shown in fig. 1, the above driving mechanism 3 includes a crankshaft 31, a spring 32, and an actuator 33; wherein, the crankshaft 31 has a plurality of eccentric shaft sections, and the moving parts 22 of the kneading members 2 correspond to the plurality of eccentric shaft sections one to one; the spring 32 is sleeved on the moving part 22, two ends of the spring 32 are abutted against the moving part 22 and the bottom of the inner barrel 1, so that the moving part 22 is abutted against the eccentric shaft section of the crankshaft 31, the actuating mechanism 33 drives the crankshaft 31 to rotate, when the crankshaft 31 rotates, a plurality of rubbing parts reciprocate up and down, the moving directions of two adjacent rubbing parts are opposite, and the actuating mechanism 33 can be a motor. In this embodiment, the first stopper 23 may be disposed on a side of the moving portion 22 contacting with the eccentric shaft section of the crankshaft 31, such that one end of the spring 32 acts on the first stopper 23, the other end of the spring 32 acts on the bottom of the inner barrel 1, the downward movement of the plurality of rubbing pieces 2 is realized by disposing the spring 32, and the moving portion 22 may be of a rod-like structure, so as to facilitate the disposition of the spring 32. The above-mentioned embodiments are preferred embodiments of the present invention, and the driving mechanism 3 of the present embodiment is driven by a motor, and the crankshaft 31 can be rotated by adding a transmission mechanism to the motor, and the kneading members 2 can be pushed by a cylinder to reciprocate, which is not illustrated here.

On the basis of the above-described modification, as shown in fig. 4 and 5, the elastic kneading part 21 in the present embodiment is preferably plate-shaped, and the outer surface of the elastic kneading part 21 and the inner surface of the inner tub 1 have a plurality of protrusions 211 to increase the kneading force during the washing process. As shown in fig. 4 and 6, the elastic kneading parts 21 in this embodiment may also be rod-shaped, and may be arranged in a rectangular array, wherein the elastic kneading parts may be divided into a plurality of groups, and two adjacent groups of the elastic kneading parts 21 reciprocate up and down and have opposite movement directions, wherein the elastic kneading parts 21 in the same group may be fixed together to facilitate the simultaneous upward or downward movement.

On the basis of the above improvement, the present embodiment further includes a casing 7 and a lid 8, the crankshaft 31 is rotatably disposed on the casing 7, an opening is formed at the top of the casing 7, the casing 7 is provided with a water inlet pipeline 9, the inner barrel 1 is disposed in the casing 7, the water inlet pipeline 9 is used for feeding water to the inner barrel 1, and the lid 8 and the lid are closed at the opening position of the casing 7.

In addition to the above improvement, the water inlet pipeline 9 is provided with a second valve 10, the water inlet pipeline 9 on the water inlet side of the second valve 10 is provided with a water temperature detection device 20, the water temperature detection device 20 and the second valve 10, and the water inlet pipeline 9 on the water inlet side of the water temperature detection device 20 is provided with a heating module 30. The water temperature detecting device 20 is used for detecting the temperature of the inlet water, and when the temperature of the inlet water is lower than a preset water temperature, the heating module 30 heats the water in the water inlet pipeline 9 and then leads the water into the inner barrel 1, wherein the water temperature detecting device 20 can be a temperature detecting element such as a temperature sensor.

In this embodiment, the lid 8 may be provided with the detergent dispensing box 40 and/or the disinfectant box 50, or the housing 7 may be provided with the detergent dispensing box 40 and/or the disinfectant box 50, and the detergent and/or the disinfectant liquid may be dispensed before washing to wash the socks. Wherein, the detergent is put in box 40 and is provided with the detergent leakage fluid dram, and the detergent leakage fluid dram can set up the flowing back valve and put in the pump for the input volume of control detergent, degerming liquid box 50 is provided with the degerming liquid discharge port, and the degerming liquid discharge port can set up degerming liquid discharge valve and discharge pump, is used for controlling the degerming liquid input volume.

In this embodiment, a drain pipe 60 is provided at the bottom of the inner tub 1, and a drain valve 70 is provided on the drain pipe 60.

Optionally, in this embodiment, a gap is formed between the side wall of the inner barrel 1 and the side wall of the outer shell 7, the height of the barrel opening of the inner barrel 1 is lower than the height of the top opening of the outer shell 7, the height of the water outlet of the water inlet pipeline 9 is located between the barrel opening of the inner barrel 1 and the top opening of the outer shell 7, an overflow port 71 is further disposed in the outer shell 7, the overflow port 71 is communicated with the external environment through a pipeline, and the overflow port 71 is located between the side wall of the inner barrel 1 and the side wall of the outer shell 7, so as to prevent the inner barrel 1 from excessively intaking water.

The rubbing element 2 in this embodiment may include an elastic rubbing portion 21, an inelastic rubbing portion 21 and a moving portion 22, which are connected in sequence, the elastic rubbing portion 21 is located above the inelastic rubbing portion 21 and the moving portion 22 in the inner tub 1, and the elastic rubbing portion 21 is inflated with air and then expands and deforms, so that the gap between the tops of two adjacent rubbing elements 2 is reduced, and the socks are prevented from moving upwards and being extruded during the rubbing process. Of course, the present embodiment may also only provide the elastic kneading part 21 and the moving part 22, that is, the whole kneading area of the kneading member 2 is expanded and deformed to realize the squeezing and kneading, and simultaneously prevent the socks from moving upwards and being extruded.

The working process is as follows:

before washing, the water inlet pipeline 9 introduces warm water into the inner barrel 1, meanwhile, detergent and sterilization liquid are put in, after a preset water level is reached, the actuating mechanism 33 drives the crankshaft 31 to rotate, the rubbing pieces 2 are driven to reciprocate up and down to rub socks, and at the moment, the pressure detection element 80 detects the pressure value P of gas in a hollow cavity in the rubbing piece 2; when P is less than A, wherein A is a first preset pressure, the first valve 6 is opened, the air charging device 4 introduces air into the hollow cavity to expand the elastic kneading part 21 and extend towards the kneading piece 2 adjacent to the elastic kneading part to reduce the gap between the two adjacent kneading pieces 2; when P is larger than or equal to B, wherein B is a second preset pressure, the first valve 6 cuts off the communication of the inflating device 4 to the hollow cavity and discharges the gas in the hollow cavity to the external environment; when A is less than or equal to P and less than B, the first valve 6 cuts off the communication of the air charging device 4 to the hollow cavity and the communication of the hollow cavity and the external environment at the same time, keeps the air pressure in the hollow cavity unchanged, maintains the pressure value at [ A, B ] in the washing process, and opens the drain valve 70 for draining water after the washing is finished.

This embodiment is through setting up elasticity portion of kneading 21 to a plurality of elasticity portions of kneading 21 reciprocating motion have realized the process that the imitative people washed socks, and through the monitoring of cavity atmospheric pressure in the elasticity portion of kneading 21, solve the socks and imitate the problem that the moving was not rubbed on the people's rubbing socks, and then realize better washing effect. In order to achieve the washing effect in the washing process, the water temperature is further monitored, and warm water washing is achieved, so that the performance of the detergent is fully exerted.

Example 2

The present embodiment exemplarily provides the control method of the hosiery washing machine exemplified in embodiment 1, as shown in fig. 7, including the steps of S1-S2:

and S1, acquiring the pressure value P of the hollow cavities in the kneading pieces 2.

The pressure value of each hollow cavity is detected by the pressure detecting element 80, and may be the pressure value of each hollow cavity, or may be the pressure value of the main pipeline 5 in the above embodiment 1 as the pressure value of each hollow cavity.

And S2, judging whether to introduce air into the hollow cavity according to the pressure value P so as to adjust the gap between two adjacent kneading pieces 2.

The specific judgment process is as follows:

if the pressure value P and the first preset pressure value A meet the following conditions: if P is less than A, gas is introduced into the hollow cavity to reduce the gap between two adjacent kneading pieces 2;

if the pressure value P and the second preset pressure value B meet the following conditions: if P is larger than or equal to B, reducing the gas in the hollow cavity to increase the gap between two adjacent rubbing pieces 2;

if P is less than B, the pressure of the gas in the hollow cavity is maintained.

Through the above determination process, it can be seen that the pressure value of each hollow cavity needs to be maintained in the range of [ a, B ] during the washing process of the socks, so as to ensure the kneading effect on the one hand, and prevent the socks from moving upwards and out of the kneading element 2 during the kneading process due to too large gaps, and the preset effect cannot be achieved on the other hand.

It should be particularly noted that, in this embodiment, other parameters of the hollow cavity may also be obtained by monitoring, for example, the density and the volume of the gas in the hollow cavity, and the pressure value is obtained by conversion of a calculation formula, or the relationship between the density of the gas in the hollow cavity and the gap between two adjacent rubbing pieces 2 may also be obtained by experiments, and the judgment condition is reasonably set.

Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims (10)

1. A sock washing machine, characterized in that, sock washing machine includes:

an inner barrel;

the rubbing parts are arranged in the inner barrel in rows, each rubbing part is provided with an elastic rubbing part and a moving part, one end of the moving part is connected to the bottom of the elastic rubbing part, the other end of the moving part extends out of the bottom of the inner barrel, a hollow cavity is formed in the elastic rubbing part, air can be introduced into the hollow cavity to expand the elastic rubbing part, and the hollow cavity can be used for adjusting the gap between the elastic rubbing parts of two adjacent rubbing parts;

and the driving mechanism can drive the moving parts of the plurality of rubbing pieces to reciprocate up and down, and the moving directions of every two adjacent rubbing pieces are opposite.

2. A sock washing machine as claimed in claim 1, further comprising:

an inflator having an exhaust port;

the pipeline is communicated with the air outlet and the hollow cavity of each elastic kneading part;

the first valve is arranged on the pipeline and used for realizing the connection and disconnection of the air outlet and the hollow cavity in the elastic kneading part of each kneading piece;

and the pressure detection element is arranged on the pipeline and used for detecting the pressure of the gas in the pipeline.

3. A sock washing machine as claimed in any one of claims 1 to 2 wherein the drive mechanism includes:

a crankshaft having a plurality of eccentric shaft sections, the moving parts of the plurality of rubbing pieces corresponding to the plurality of eccentric shaft sections one to one;

the spring is sleeved on the moving part, and two ends of the spring are abutted against the moving part and the bottom of the inner barrel, so that the moving part is abutted against the eccentric shaft section of the crankshaft;

and the actuating mechanism drives the crankshaft to rotate, when the crankshaft rotates, the kneading components reciprocate up and down, and the moving directions of two adjacent kneading components are opposite.

4. The sock washing machine of claim 3, wherein the elastic kneading portion has a plate shape, and an outer surface of the elastic kneading portion and an inner surface of the inner tub have a plurality of protrusions.

5. The sock washing machine of claim 3, wherein the moving portion forms a sealing connection with a bottom of the inner tub.

6. The sock washing machine of claim 3, further comprising a shell and a cover, wherein an opening is formed at the top of the shell, a water inlet pipeline is arranged on the shell, the inner barrel is arranged in the shell, the water inlet pipeline is used for supplying water to the inner barrel, and the cover are closed at the opening of the shell.

7. The sock washing machine of claim 6, wherein the water inlet line is provided with a second valve, the water inlet line on the inlet side of the second valve is provided with a water temperature detection device, the water temperature detection device and the second valve, the water inlet line on the inlet side of the water temperature detection device is provided with a heating module.

8. The sock washing machine of claim 7, wherein a detergent dispensing box and/or a disinfectant box is provided on the tub cover, or a detergent dispensing box and/or a disinfectant box is provided on the outer case.

9. A control method of the hosiery washing machine according to any one of claims 1-8, characterized in that the control method comprises:

s1, obtaining the pressure value P of the hollow cavities in the kneading pieces;

and S2, judging whether to introduce gas into the hollow cavity according to the pressure value P so as to adjust the gap between two adjacent kneading pieces.

10. The control method according to claim 9, wherein step S2 includes:

if the pressure value P and a first preset pressure value A meet the following conditions: if P is less than A, introducing gas into the hollow cavity to reduce the gap between two adjacent rubbing pieces;

if the pressure value P and a second preset pressure value B meet the following conditions: if P is larger than or equal to B, reducing the gas in the hollow cavity to increase the gap between two adjacent rubbing pieces;

if the A is not more than P and less than B, maintaining the gas pressure value in the hollow cavity.

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