CN115462673B - Clamping device, control method thereof, milk warmer and storage medium - Google Patents
Clamping device, control method thereof, milk warmer and storage medium Download PDFInfo
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- CN115462673B CN115462673B CN202211239162.1A CN202211239162A CN115462673B CN 115462673 B CN115462673 B CN 115462673B CN 202211239162 A CN202211239162 A CN 202211239162A CN 115462673 B CN115462673 B CN 115462673B
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- 235000013336 milk Nutrition 0.000 title claims abstract description 60
- 239000008267 milk Substances 0.000 title claims abstract description 60
- 210000004080 milk Anatomy 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012512 characterization method Methods 0.000 claims abstract description 80
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 238000004590 computer program Methods 0.000 claims description 9
- 238000007667 floating Methods 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims 3
- 230000000977 initiatory effect Effects 0.000 description 12
- 238000010792 warming Methods 0.000 description 11
- 238000012360 testing method Methods 0.000 description 10
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000004251 human milk Anatomy 0.000 description 1
- 235000020256 human milk Nutrition 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
- A47J27/10—Cooking-vessels with water-bath arrangements for domestic use
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
- A47J36/24—Warming devices
- A47J36/2483—Warming devices with electrical heating means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J45/00—Devices for fastening or gripping kitchen utensils or crockery
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Manipulator (AREA)
Abstract
The present disclosure provides a clamping device, a control method thereof, a milk warmer, and a storage medium, the clamping device including: at least one clamping piece connected to the inner side wall of the accommodating cavity; a clamping member adjusting assembly connected to at least one clamping member for adjusting a clamping force applied by the clamping member to the clamped member; the clamping piece detection assembly is connected to at least one clamping piece and used for collecting characterization parameters for characterizing the current state of the clamping piece; and the control unit is respectively connected with the clamping piece detection assembly and the clamping piece adjusting assembly and is used for controlling the working state of the clamping piece adjusting assembly according to the characterization parameters so as to enable the clamping piece to apply preset clamping force to the clamped piece. The clamping device, the control method thereof, the milk warmer and the storage medium can adapt to clamped pieces of different specifications, and the clamping force of the clamping piece is intelligently controlled, so that the clamped piece is clamped more stably in the accommodating cavity and the placing position is more suitable.
Description
Technical Field
The present disclosure relates to the field of household appliances, and more particularly, to a clamping device, a control method thereof, a milk warmer, and a storage medium.
Background
The milk warmer is a household electric heating appliance for heating a milk bottle filled with refrigerated breast milk through a water bath. The milk warmer heats water in the milk warming cavity through the heating component, the milk bottle is placed in the water, and the milk bottle is heated by using the water as a heat transfer medium, so that the purpose of warming milk is achieved. In some related technologies, the milk bottle can rotate in the milk warming cavity so as to realize the milk shaking function, but the milk bottle is not fixed in the milk warming cavity or is not fit between the milk warming cavity and the temperature sensing probe at the bottom of the milk warming cavity, and if the milk bottle is abnormal or too large and too small, the condition of discomfort can occur.
Disclosure of Invention
The present disclosure provides a clamping device, a control method thereof, a milk warmer and a storage medium, so as to at least solve the above technical problems in the prior art.
The technical scheme provided by the disclosure is as follows:
According to a first aspect of the present disclosure, there is provided a clamping device for clamping a clamped piece in a fixed accommodating chamber; the clamping device comprises:
at least one clamping piece connected to the inner side wall of the accommodating cavity;
A clamping member adjusting assembly connected to at least one of the clamping members for adjusting a clamping force applied by the clamping member to the clamped member;
the clamping piece detection assembly is connected to at least one clamping piece and used for collecting characterization parameters for characterizing the current state of the clamping piece; and
And the control unit is respectively connected with the clamping piece detection assembly and the clamping piece adjusting assembly and is used for controlling the working state of the clamping piece adjusting assembly according to the characterization parameters so that the clamping piece applies preset clamping force to the clamped piece.
In an embodiment, the characterization parameter includes at least one of: the current angle of the clamping piece and the current clamping force of the clamping piece;
The clamp detection assembly includes at least one of:
a clamp detection assembly connected to at least one of the clamps for detecting a current clamping force applied by the at least one clamp to the clamped piece;
And the angle detection assembly is connected to at least one clamping piece and is used for detecting the current clamping angle of at least one clamping piece for clamping the clamped piece.
In an embodiment, at least one of the clamping members includes a connecting end connected to an inner sidewall of the accommodating cavity, and a suspending end for clamping the clamped member, where the clamping member is an elastically deformable member capable of being elastically deformed when the suspending end is stressed, so that a position of the suspending end is changed.
In one embodiment, the clamp detection assembly includes: a pressure sensor provided at the floating end and capable of contacting the held member; and/or
The angle detection assembly includes: at least one distance sensor and at least one sensed sensor, one of the at least one distance sensor and the at least one sensed sensor is arranged on the inner side wall of the accommodating cavity, the other is arranged on the clamping piece, and the at least one sensed sensor is positioned on the sensing path of the at least one distance sensor so that the at least one distance sensor can sense the distance between the at least one distance sensor and the sensed sensor; and/or
The clamp adjustment assembly includes: and the mechanical arm assembly is connected to the connecting end of the clamping piece and can apply a force to the connecting end so as to change the clamping force applied by the clamping piece to the clamped piece.
In an embodiment, the control unit specifically includes:
The storage module is used for storing a corresponding relation table of a preset characterization parameter threshold value and control parameters, wherein the control parameters comprise parameters for controlling the working state of the clamping piece adjusting component;
The query module is used for querying the corresponding relation table according to the current characterization parameters, finding out the corresponding preset characterization parameter threshold value and determining the corresponding control parameters;
The calculating module is used for calculating and determining the preset clamping force according to the following formula when the current characterization parameter does not find the corresponding preset characterization parameter threshold value: Wherein F represents a preset clamping force; mg represents the weight of the clamp; n represents the number of clamping pieces, and θ represents the clamping angle of the clamping pieces;
The processing module is used for obtaining control parameters of the clamping piece adjusting component according to the preset clamping force calculated by the calculating module;
And the control module is used for controlling the working state of the clamping piece adjusting assembly according to the control parameters so that the clamping piece applies a preset clamping force to the clamped piece.
According to a second aspect of the present disclosure, there is provided a control method of a clamping device, applied to the clamping device as described above, the method comprising the steps of:
Collecting characterization parameters for characterizing the current state of the clamping piece;
And controlling the working state of the clamping piece adjusting assembly according to the characterization parameters so that the clamping piece applies a preset clamping force to the clamped piece.
In an embodiment, the characterization parameter includes at least one of: the current angle of the clamping piece and the current clamping force of the clamping piece.
In an embodiment, the controlling the working state of the clamping member adjusting assembly according to the characterization parameter, so that the clamping member applies a predetermined clamping force to the clamped member specifically includes:
Inquiring a pre-stored corresponding relation table according to the current characterization parameters, wherein the corresponding relation table comprises a corresponding relation between a preset characterization parameter threshold value and a control parameter, and finding out the corresponding preset characterization parameter threshold value to determine the corresponding control parameter, and the control parameter comprises a parameter for controlling the working state of the clamping piece adjusting component;
When the current characterization parameter does not find the corresponding preset characterization parameter threshold, the preset clamping force is calculated and determined according to the following formula: Wherein F represents a preset clamping force; mg represents the weight of the clamp; n represents the number of clamping pieces, and θ represents the clamping angle of the clamping pieces;
Obtaining control parameters of the clamping piece adjusting component according to the preset clamping force calculated by the calculating module;
and controlling the working state of the clamping piece adjusting assembly according to the control parameter so that the clamping piece applies a preset clamping force to the clamped piece.
According to a third aspect of the present disclosure, the present disclosure provides a milk warmer comprising: a milk warmer body including a receiving cavity for receiving a clamped member; and the clamping device is used for clamping and fixing the clamped piece.
According to a fourth aspect of the present disclosure, there is provided a computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the control method of the above-described gripping device.
The technical effects brought by the method are as follows:
The clamping device can be used for fixing the clamped piece in the accommodating cavity and mainly comprises at least one clamping piece, a clamping piece adjusting component, a clamping piece detecting component and a control unit, wherein the clamping piece adjusting component can adjust clamping force applied to the clamped piece by the clamping piece, the clamping piece detecting component can detect current characterization parameters of the clamping piece, and the control unit can control the working state of the clamping piece adjusting component according to the current characterization parameters of the clamping piece so that the clamping piece can apply preset clamping force to the clamped piece. Therefore, when the clamped pieces with different sizes, weights or shapes are placed in the accommodating cavity, at least one of the clamping angles and the clamping forces of the clamped pieces are different due to the fact that the clamped pieces are different, the characterization parameters for characterizing the current state of the clamped pieces are different, the characterization parameters are collected by the clamping piece detection assembly and sent to the control unit, and the control unit can adjust the clamping forces on the clamped pieces according to the characterization parameters so as to adapt to the clamped pieces with different specifications, so that the purpose of intelligently controlling the clamping force of the clamped pieces is achieved, and the clamped pieces are clamped more firmly in the accommodating cavity and are placed at a more proper position.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings, in which:
Fig. 1 is a schematic structural view of a clamping device provided in an embodiment of the present disclosure in a state of clamping a clamped piece, wherein a dashed box represents a receiving cavity;
FIG. 2 is a schematic view of an embodiment of a clamping force adjustment assembly in a clamping device according to an embodiment of the present disclosure;
fig. 3 is a block diagram showing a control unit of a clamping device according to an embodiment of the present disclosure;
Fig. 4 is a flowchart illustrating a method for controlling a clamping device according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of step S02 in a control method of a clamping device according to an embodiment of the disclosure.
In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.
Detailed Description
In order to make the objects, features and advantages of the present disclosure more comprehensible, the technical solutions in the embodiments of the present disclosure will be clearly described in conjunction with the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person skilled in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
Before describing in detail the clamping device and the control method thereof, the milk warmer, and the storage medium provided by the embodiments of the present disclosure, the following description is necessary for the related art:
In the related art, when the feeding bottle is placed in a milk warming cavity of the milk warming device, the feeding bottle is not fixed in the milk warming cavity, or can be fixed, but can not be adjusted for feeding bottles with different sizes, weights or shapes, so that the problem that the temperature sensing probe at the bottom of the milk warming cavity is not fit with the feeding bottle exists, and the condition that the feeding bottle is not fit with the milk warming cavity can occur for special-shaped feeding bottles or feeding bottles with oversized or undersized feeding bottles.
In order to solve the above-mentioned problems, the embodiments of the present disclosure provide a clamping device and a control method thereof, a milk warmer, and a storage medium, which can adjust a clamping force of the clamping device for clamped pieces of different sizes, shapes, or weights, so that the clamped pieces can be adapted to a receiving chamber and firmly fixed.
A schematic structural view of a clamping device provided in an embodiment of the present disclosure is shown; the diagram is shown in a block diagram of a clamping device provided in an embodiment of the present disclosure.
As shown in fig. 1 and 2, the clamping device provided in the embodiment of the present disclosure is used for clamping the clamped piece 20 in the fixed accommodating cavity 10; the clamping device comprises: at least one clamping member 100, a clamping member adjusting assembly 200, a clamping member detecting assembly 300 and a control unit 400, wherein at least one clamping member 100 is connected to the inner side wall of the accommodating cavity 10, and the clamping member adjusting assembly 200 is connected to at least one clamping member 100 for adjusting the clamping force applied by the clamping member 100 to the clamped member 20; the clamping member detecting assembly 300 is connected to at least one clamping member 100, and is configured to collect a characterization parameter that characterizes a current state of the clamping member 100; the control unit 400 is connected to the clamping member detecting assembly 300 and the clamping member adjusting assembly 200, respectively, and is configured to control the working state of the clamping member adjusting assembly 200 according to the characterization parameter, so that the clamping member 100 applies a predetermined clamping force to the clamped member 20.
The clamping device provided by the disclosure can be used for fixing the clamped piece 20 in the accommodating cavity 10, wherein the clamping piece adjusting component can adjust the clamping force applied to the clamped piece 20 by the clamping piece, the clamping piece detecting component can detect the current characterization parameter of the clamping piece, and the control unit 400 can control the working state of the clamping piece adjusting component according to the current characterization parameter of the clamping piece so as to enable the clamping piece to apply the preset clamping force to the clamped piece 20. Thus, when the clamped pieces 20 with different sizes, weights or shapes are placed in the accommodating cavity 10, at least one of the clamping angles and the clamping forces of the clamped pieces 20 are different due to the difference of the clamped pieces 20, so that the characterization parameters for characterizing the current state of the clamped pieces are different, the characterization parameters are collected by the clamping piece detection assembly and sent to the control unit 400, and the control unit 400 adjusts the clamping forces on the clamped pieces according to the characterization parameters so as to adapt to the clamped pieces 20 with different specifications, thereby achieving the purpose of intelligently controlling the clamping force of the clamped pieces, so that the clamped pieces 20 are clamped more firmly in the accommodating cavity 10 and the placing position is more suitable.
It should be noted that the clamping device provided in the embodiments of the present disclosure may be applied to a milk warmer, and may also be applied to various other devices that need to clamp and fix the clamped piece 20. The clamped member 20 may comprise any part to be clamped, such as a milk bottle.
As an exemplary embodiment, as shown in fig. 1 and 2, at least one of the clamping members 100 includes a connection end connected to an inner sidewall of the accommodating chamber 10, and a suspending end for clamping the clamped member 20, and the clamping member is an elastically deformable member capable of being elastically deformed when the suspending end is stressed to change a position of the suspending end. When the clamping member 100 is in a state of not applying other external force and the clamped member 20 is placed in the clamping space of at least one clamping member, the clamped member 20 is elastically deformed by the acting force of the clamped member 20 so as to apply an initial elastic clamping force to the clamped member 20 and have a certain initial clamping angle. It will be understood, of course, that the specific configuration of the clamp 10 may not be limited.
Taking the clamped member 20 as a milk bottle, the shape of the clamped member can comprise various shapes such as an arc surface or a plane, taking the milk bottle with the arc surface as the shape and the milk bottle with the plane as the shape shown in fig. 1 as the example, when the clamping member 100 clamps milk bottles with different shapes, the initial elastic clamping force and the initial clamping angle of the clamping member are different.
The number of the clamping members 100 may be plural, for example, the number of the clamping members 100 may be four. As still another example, as shown in the embodiment of fig. 1, the clamping members 100 may form a clamping structure, the clamping members may be distributed along the circumference of the accommodating cavity 10, and a central area surrounded by the clamping members 100 is a clamping space for placing the clamped member 20.
Thus, in an embodiment, the characterization parameters may include at least one of: the current angle of the clamp 100, the current clamping force of the clamp 100. It will of course be appreciated that the characterizing parameters are not limited thereto, e.g. the characterizing parameters may also comprise the position of the clamping member, etc.
In one embodiment, the clamp detection assembly 300 may include at least one of a clamp force detection assembly and an angle detection assembly. Wherein the clamping force detection assembly is connectable to at least one of the clamping members 100 for detecting a current clamping force applied by the at least one clamping member 100 to the clamped member 20; the angle detection assembly may be connected to at least one of the clamping members 100 for detecting a current clamping angle at which the at least one clamping member 100 clamps the clamped member 20.
In the above-mentioned scheme, when the clamped piece 20 is placed in the clamping space surrounded by the plurality of clamping pieces 100, the clamping piece can apply an elastic clamping force to the clamped piece 20, the elastic clamping force currently applied to the clamped piece 20 by the clamping piece can be detected by the clamping piece detecting component, and the current clamping angle of the clamping piece can be detected by the angle detecting component, so that the characterization parameters of the clamped piece 20 with different sizes or shapes when clamped by the plurality of clamping pieces can be obtained.
In one embodiment, the clamping force detection assembly includes: a pressure sensor 310 provided at the floating end and capable of contacting the clamped member 20. Thus, when the floating end of the clamping member clamps the clamped member 20, the pressure sensor may be located between the floating end and the clamped member 20, so that the pressure sensor may detect the current clamping force of the clamping member. It will be understood, of course, that the specific configuration of the clamp detection assembly 300 is not limited thereto, and that in other embodiments not shown, the detection of the clamping force of the clamp 100 may be accomplished in other ways.
Further, in an embodiment, the angle detection assembly may include: at least one distance sensor 330 and at least one sensor 320, wherein one of the at least one distance sensor 330 and the at least one sensor 320 is arranged on the inner side wall of the accommodating cavity 10, the other is arranged on the clamping piece, and the at least one sensor 320 is positioned on the sensing path of the at least one distance sensor 330, so that the at least one distance sensor 330 can sense the distance between the at least one sensor and the sensor 320.
By adopting the above scheme, taking the gripping structure shown in fig. 1 as an example, the gripping member is a gripping arm structure, a distance sensor 330 may be disposed on the gripping arm structure, a sensor 320 may be disposed on the inner side wall of the accommodating cavity 10, and the sensor 320 is located on the sensing path of the distance sensor 330, when the position of the gripping arm structure changes, the distance between the sensor 320 and the distance sensor 330 will change, so that the distance sensor 330 will sense a distance signal and the distance signal will be generated to the control unit 400, and since the positions of the sensor 320 and the distance sensor 330 are fixed, the control unit 400 calculates the current gripping angle of the gripping arm structure according to the distance signal.
It should be noted that the above is only an example, and in practical application, the specific embodiment of the angle detection assembly is not limited thereto.
Furthermore, in one embodiment, the clamp adjustment assembly 200 includes: the robot arm assembly 200' connected to the connection end of the clamping member 100 is capable of applying a force to the connection end to change the clamping force applied by the clamping member 100 to the clamped member 20.
With the above-mentioned scheme, the clamping member adjusting assembly is used for adjusting the clamping force applied by the clamping member to the clamped member 20 by changing the position of the clamping member or applying a force to the clamping member. For example, the robotic arm assembly may push or pull the gripping member from or to the link end in the direction of the floating end to change the gripping force of the gripped member 20. The specific structure of the mechanical arm assembly is not limited as long as a structure capable of adjusting the clamping force of the clamping member is satisfied.
In one embodiment, as shown in fig. 2, a specific embodiment of the mechanical arm assembly may be as follows:
the clamping member 100 is a gripping arm structure having at least one free end for gripping the clamped member 20; the robot arm assembly 200' includes:
A moving arm 210', wherein the moving arm 210' is arranged along the radial direction of the accommodating cavity 10 and can reciprocate along the radial direction, a first end of the moving arm 210' is connected to the clamping piece, and a second end of the moving arm is movably arranged on the side wall of the accommodating cavity 10;
The driving member 220' is connected to the second end of the moving arm 210', and can drive the moving arm 210' to reciprocate along the radial direction of the accommodating cavity 10, so as to change the position of the free end of the clamping member 100, so that the clamping force exerted by the clamping member 100 on the clamped member 20 is changed.
The driving member 220' may be any suitable driving means, such as a screw driving means or a hydraulic rod driving means, so long as the moving arm can reciprocate in a radial direction.
In one embodiment, as shown in fig. 3, the control unit 400 specifically includes:
a storage module 410, configured to store a correspondence table between preset characterization parameter thresholds and control parameters, where the control parameters include parameters for controlling the working state of the clamping member adjusting assembly 200;
The query module 420 is configured to query the correspondence table according to the current characterization parameter, and find a corresponding threshold value of the preset characterization parameter to determine the corresponding control parameter;
the calculating module 430 is configured to calculate and determine the preset clamping force according to the following formula when the current characterization parameter does not find the corresponding preset characterization parameter threshold value: Wherein F represents a preset clamping force; mg represents the weight of the clip 100; n represents the number of grippers 100, θ represents the gripping angle of grippers 100;
the processing module 440 is configured to obtain control parameters of the clamping member adjusting assembly according to the preset clamping force calculated by the calculating module;
And the control module 450 is used for controlling the working state of the clamping piece adjusting assembly 200 according to the control parameters so as to enable the clamping piece 100 to apply a preset clamping force to the clamped piece 20.
Taking a milk warmer as an example, a plurality of common milk bottles can be used as test pieces, such as a nearly cuboid milk bottle or a nearly cylindrical milk bottle shown in fig. 1, initial elastic clamping forces of the two milk bottles for testing when the milk bottles for testing are placed in the accommodating cavity 10 are respectively F Initial initiation 1 and F Initial initiation 2, initial clamping angles of the two milk bottles for testing are detected to obtain initial clamping angles of respectively theta Initial initiation 1 and theta Initial initiation 2, and the number of the clamping pieces is n as an example, then the initial elastic clamping forces are calculated according to the following formulaThe preset clamping force of the two feeding bottles can be calculated.
Testing several conventional milk bottles to obtain preset clamping forces corresponding to different milk bottles, and further obtaining working state control parameters of the clamping piece adjusting assembly according to the preset clamping forces, namely obtaining a corresponding relation table of preset characterization parameter thresholds and control parameters, wherein the preset characterization parameter thresholds comprise: f Initial initiation ±△F Allowable error value , and/or θ Initial initiation ±△θ Allowable error value .
After detecting the current characterization parameter of the clamped piece 20, if the current characterization parameter meets the preset characterization parameter threshold, directly inquiring the corresponding relation table to find a corresponding control parameter, and adjusting the clamping force of the clamped piece according to the control parameter; if the current characterization parameter exceeds the preset characterization parameter threshold, directly passing through the calculation module, and according to the formulaAnd calculating to obtain the preset clamping force, and controlling the clamping force of the clamping piece according to the calculation result.
Summarizing the above, the clamping device that this disclosed embodiment provided, but intelligent regulation clamping force size, suitability chamber, clamping stability is high.
In addition, as shown in fig. 4, the embodiment of the present disclosure further provides a control method of a clamping device, which is applied to the clamping device provided by the embodiment of the present disclosure, and the method includes the following steps:
S01, collecting characterization parameters for characterizing the current state of the clamping piece;
Step S02, according to the characterization parameter, controlling the working state of the clamping member adjusting assembly, so that the clamping member applies a predetermined clamping force to the clamped member 20.
According to the control method of the clamping device provided by the disclosure, when the clamped pieces 20 with different sizes, weights or shapes are placed in the accommodating cavity 10, at least one of the clamping angles and clamping forces of the clamped pieces 20 is different due to the difference of the clamped pieces 20, so that the characterization parameters for representing the current state of the clamped pieces are different, the characterization parameters are collected by the clamping piece detection assembly 300 and sent to the control unit 400, and the control unit 400 adjusts the clamping forces on the clamped pieces according to the characterization parameters so as to adapt to the clamped pieces 20 with different specifications, thereby achieving the purpose of intelligently controlling the clamping force of the clamped pieces, so that the clamped pieces 20 are clamped more stably in the accommodating cavity 10 and the placing position is more suitable.
It should be noted that the clamping device provided in the embodiments of the present disclosure may be applied to a milk warmer, and may also be applied to various other devices that need to clamp and fix the clamped piece 20. The clamped member 20 may comprise any part to be clamped, such as a milk bottle.
In an embodiment, the characterization parameter includes at least one of: the current angle of the clamping piece and the current clamping force of the clamping piece. It will of course be appreciated that the characterizing parameters are not limited thereto, e.g. the characterizing parameters may also comprise the position of the clamping member, etc.
In one embodiment, as shown in fig. 5, the step S02 specifically includes:
step S021, according to the current characterization parameters, inquiring a pre-stored corresponding relation table, wherein the corresponding relation table comprises the corresponding relation between preset characterization parameter thresholds and control parameters, and finding out the corresponding preset characterization parameter thresholds so as to determine the corresponding control parameters, and the control parameters comprise parameters for controlling the working state of the clamping piece adjusting component;
step S022, when the current characterization parameter does not find the corresponding preset characterization parameter threshold, calculating and determining the preset clamping force according to the following formula: Wherein F represents a preset clamping force; mg represents the weight of the clamp; n represents the number of clamping pieces, and θ represents the clamping angle of the clamping pieces;
Step S023, obtaining control parameters of the clamping piece adjusting component according to the preset clamping force calculated by the calculating module;
step S024, according to the control parameter, controlling the working state of the clamping member adjusting assembly, so that the clamping member applies a predetermined clamping force to the clamped member 20.
Taking a milk warmer as an example, a plurality of common milk bottles can be used as test pieces, such as a nearly cuboid milk bottle or a nearly cylindrical milk bottle shown in fig. 1, initial elastic clamping forces of the two milk bottles for testing when the milk bottles for testing are placed in the accommodating cavity 10 are respectively F Initial initiation 1 and F Initial initiation 2, initial clamping angles of the two milk bottles for testing are detected to obtain initial clamping angles of respectively theta Initial initiation 1 and theta Initial initiation 2, and the number of the clamping pieces is n as an example, then the initial elastic clamping forces are calculated according to the following formulaThe preset clamping force of the two feeding bottles can be calculated.
Testing several conventional milk bottles to obtain preset clamping forces corresponding to different milk bottles, and further obtaining working state control parameters of the clamping piece adjusting assembly according to the preset clamping forces, namely obtaining a corresponding relation table of preset characterization parameter thresholds and control parameters, wherein the preset characterization parameter thresholds comprise: f Initial initiation ±△F Allowable error value , and/or θ Initial initiation ±△θ Allowable error value .
After detecting the current characterization parameter of the clamped piece 20, if the current characterization parameter meets the preset characterization parameter threshold, directly inquiring the corresponding relation table to find a corresponding control parameter, and adjusting the clamping force of the clamped piece according to the control parameter; if the current characterization parameter exceeds the preset characterization parameter threshold, directly passing through the calculation module, and according to the formulaAnd calculating to obtain the preset clamping force, and controlling the clamping force of the clamping piece according to the calculation result.
According to a third aspect of the present disclosure, the present disclosure provides a milk warmer comprising: a milk warmer body comprising a receiving cavity 10 for receiving a clamped member 20; and a clamping device for clamping and fixing the clamped piece 20 provided in the embodiment of the present disclosure.
According to a fourth aspect of the present disclosure, there is provided a computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the control method of the above-described gripping device. Examples of the computer readable storage medium herein include: read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random-access memory (DRAM), static random-access memory (SRAM), flash memory, nonvolatile memory, CD ROM, CD R, CD+R, CD RW, CD+RW, DVD ROM, DVD R, DVD+R, DVD RW, DVD RAM, BD ROM, BD R, BD RLTH, BD RE, blu-ray or optical disk memory, hard Disk Drive (HDD), solid State Disk (SSD), card memory (such as a multimedia card, secure Digital (SD) card or a very fast digital (XD) card), magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid state disk, and any other device configured to store and provide computer programs and any associated data, data files and data structures to a processor or computer in a non-transitory manner enabling the processor or computer to execute the computer programs.
The computer programs in the computer readable storage media described above can be run in an environment deployed in a computer device, such as a client, host, proxy device, server, etc., and further, in one example, the computer programs and any associated data, data files, and data structures are distributed across networked computer systems such that the computer programs and any associated data, data files, and data structures are stored, accessed, and executed in a distributed fashion by one or more processors or computers.
According to an exemplary embodiment of the present disclosure, there may also be provided a computer program product comprising computer instructions which, when executed by at least one processor, cause the at least one processor to perform a method of controlling a clamping device according to an exemplary embodiment of the present disclosure.
Illustratively, the present disclosure also provides an apparatus comprising: a control module 430; a memory for storing instructions executable by the control module 430; the control module 430 is configured to read the executable instructions from the memory and execute the instructions to implement the control method of the clamping device.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Or the above-described integrated units of the invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (8)
1. The clamping device is used for clamping and fixing a clamped piece in the accommodating cavity; the clamping device is characterized by comprising:
at least one clamping piece connected to the inner side wall of the accommodating cavity;
A clamping member adjusting assembly connected to at least one of the clamping members for adjusting a clamping force applied by the clamping member to the clamped member;
the clamping piece detection assembly is connected to at least one clamping piece and used for collecting characterization parameters for characterizing the current state of the clamping piece; and
The control unit is respectively connected with the clamping piece detection assembly and the clamping piece adjusting assembly and is used for controlling the working state of the clamping piece adjusting assembly according to the characterization parameters so that the clamping piece applies a preset clamping force to the clamped piece;
the clamp adjustment assembly includes: the mechanical arm assembly is connected to the connecting end of the clamping piece and can apply acting force to the connecting end so as to change the clamping force applied by the clamping piece to the clamped piece;
The clamping piece is of a clamping arm structure and is provided with at least one free end, and the free end is used for clamping the clamped piece;
The mechanical arm assembly includes:
the movable arm is arranged along the radial direction of the accommodating cavity and can reciprocate along the radial direction, a first end of the movable arm is connected to the clamping piece, and a second end of the movable arm is movably arranged on the side wall of the accommodating cavity; and
The driving piece is connected to the second end of the movable arm and can drive the movable arm to reciprocate along the radial direction of the accommodating cavity so as to drive the position of the free end of the clamping piece to change, so that the clamping force exerted by the clamping piece on the clamped piece is changed;
The characterization parameters include: the current angle of the clamping piece and the current clamping force of the clamping piece;
the holder detection assembly includes:
A clamping force detection assembly connected to at least one of the clamping members for detecting a current clamping force applied by the at least one clamping member to the clamped member;
The angle detection assembly is connected to at least one clamping piece and is used for detecting the current clamping angle of the clamped piece clamped by the at least one clamping piece;
the control unit specifically comprises:
The storage module is used for storing a corresponding relation table of a preset characterization parameter threshold value and control parameters, wherein the control parameters comprise parameters for controlling the working state of the clamping piece adjusting component;
The query module is used for querying the corresponding relation table according to the current characterization parameters, and finding out the corresponding preset characterization parameter threshold value so as to determine the corresponding control parameters;
The calculating module is used for calculating and determining a preset clamping force according to the following formula when the current characterization parameter does not find the corresponding preset characterization parameter threshold value: ; wherein F represents a preset clamping force; mg represents the weight of the clamp; n represents the number of clamping members,/> Representing the clamping angle of the clamping piece;
The processing module is used for obtaining control parameters of the clamping piece adjusting component according to the preset clamping force calculated by the calculating module;
And the control module is used for controlling the working state of the clamping piece adjusting assembly according to the control parameters so that the clamping piece applies a preset clamping force to the clamped piece.
2. The clamping device as claimed in claim 1, characterized in that,
At least one clamping piece comprises a connecting end connected to the inner side wall of the accommodating cavity and a suspension end used for clamping the clamped piece, wherein the clamping piece is an elastically deformable piece and can be elastically deformed when the suspension end is stressed so that the position of the suspension end is changed.
3. The clamping device as claimed in claim 2, characterized in that,
The clamping force detection assembly includes: a pressure sensor provided at the floating end and capable of contacting the held member; and/or
The angle detection assembly includes: at least one distance sensor and at least one sensed sensor, one of the at least one distance sensor and the at least one sensed sensor is arranged on the inner side wall of the accommodating cavity, the other is arranged on the clamping piece, and the at least one sensed sensor is positioned on the sensing path of the at least one distance sensor so that the at least one distance sensor can sense the distance between the at least one distance sensor and the sensed sensor; and/or
The clamp adjustment assembly includes: and the mechanical arm assembly is connected to the connecting end of the clamping piece and can apply a force to the connecting end so as to change the clamping force applied by the clamping piece to the clamped piece.
4. A method of controlling a clamping device, characterized by being applied to a clamping device as claimed in any one of claims 1 to 3, the method comprising the steps of:
Collecting characterization parameters for characterizing the current state of the clamping piece;
And controlling the working state of the clamping piece adjusting assembly according to the characterization parameters so that the clamping piece applies a preset clamping force to the clamped piece.
5. The method of claim 4, wherein the characterization parameters include at least one of: the current angle of the clamping piece and the current clamping force of the clamping piece.
6. The method according to claim 5, wherein controlling the operating state of the clamp adjustment assembly according to the characterization parameter so that the clamp applies a predetermined clamping force to the clamped piece comprises:
inquiring a pre-stored corresponding relation table according to the current characterization parameters, wherein the corresponding relation table comprises the corresponding relation between a preset characterization parameter threshold value and control parameters, and finding out the corresponding preset characterization parameter threshold value to determine the corresponding control parameters, and the control parameters comprise parameters for controlling the working state of the clamping piece adjusting component;
when the current characterization parameter does not find the corresponding preset characterization parameter threshold value, calculating and determining the preset clamping force according to the following formula: ; wherein F represents a preset clamping force; mg represents the weight of the clamp; n represents the number of clamping members,/> Representing the clamping angle of the clamping piece;
Obtaining control parameters of the clamping piece adjusting component according to the preset clamping force calculated by the calculating module;
and controlling the working state of the clamping piece adjusting assembly according to the control parameter so that the clamping piece applies a preset clamping force to the clamped piece.
7. A milk warmer, comprising: a milk warmer body including a receiving cavity for receiving a clamped member; and a clamping device for clamping and fixing the clamped piece according to any one of claims 1 to 6.
8. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the control method according to any one of the preceding claims 4 to 6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211239162.1A CN115462673B (en) | 2022-10-11 | 2022-10-11 | Clamping device, control method thereof, milk warmer and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211239162.1A CN115462673B (en) | 2022-10-11 | 2022-10-11 | Clamping device, control method thereof, milk warmer and storage medium |
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| CN115462673A CN115462673A (en) | 2022-12-13 |
| CN115462673B true CN115462673B (en) | 2024-06-04 |
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| CN115462673A (en) | 2022-12-13 |
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