CN117137402A - Door driving method, storage medium, and cleaning machine - Google Patents

Door driving method, storage medium, and cleaning machine Download PDF

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Publication number
CN117137402A
CN117137402A CN202311117005.8A CN202311117005A CN117137402A CN 117137402 A CN117137402 A CN 117137402A CN 202311117005 A CN202311117005 A CN 202311117005A CN 117137402 A CN117137402 A CN 117137402A
Authority
CN
China
Prior art keywords
door
door body
driving mechanism
driving
driving method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311117005.8A
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Chinese (zh)
Inventor
岑琪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ningbo Fotile Kitchen Ware Co Ltd
Original Assignee
Ningbo Fotile Kitchen Ware Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ningbo Fotile Kitchen Ware Co Ltd filed Critical Ningbo Fotile Kitchen Ware Co Ltd
Priority to CN202311117005.8A priority Critical patent/CN117137402A/en
Publication of CN117137402A publication Critical patent/CN117137402A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A47L15/4251—Details of the casing
    • A47L15/4257—Details of the loading door
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/42—Details
    • A47L15/4251—Details of the casing
    • A47L15/4257—Details of the loading door
    • A47L15/4259—Arrangements of locking or security/safety devices for doors, e.g. door latches, switch to stop operation when door is open

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The utility model relates to a door body driving method, which adopts a driving mechanism to drive a door body to perform door closing action; in the process of driving the door body to perform door closing action, detecting and acquiring working current I of the driving mechanism in real time; and comparing the working current I with a set locked-rotor current threshold I0, and judging that the hand clamping risk exists if I is more than or equal to I0. The door body driving method can effectively judge the risk of clamping hands in the door closing process on the basis of not additionally adding a detection device. The present utility model relates to a storage medium storing computer instructions for causing a computer to execute a door driving method. The utility model relates to a cleaning machine, which comprises a box body, a door body, a driving mechanism, a controller and a memory, wherein the door body is connected to the box body in an openable and closable manner, the driving mechanism is in driving connection with the door body, the controller is respectively connected with the driving mechanism and the memory through electric signals, and computer instructions are stored in the controller and are used for enabling a computer to execute a door body driving method.

Description

Door driving method, storage medium, and cleaning machine
Technical Field
The utility model relates to a door driving method, a storage medium and a cleaning machine.
Background
Intelligent appliances are becoming more and more popular in life, but the door of existing appliances typically adopts a manual switch structure. In order to improve the intelligent degree of door operation, a structure for automatically opening and closing a door is proposed in the prior art to be applied to various electric appliances.
For example, the Chinese patent application No. CN219126244U (202320022992.2) discloses a door opening and closing mechanism which can realize the automatic opening and closing and the automatic door closing drive. For another example, chinese patent publication No. CN218045037U (202222262278.9) discloses an automatic door opening and closing mechanism and dish washer, wherein the disclosed automatic door opening and closing mechanism can also realize automatic opening and closing.
However, in order to ensure tightness after closing, the shearing force between the door body and the closing surface is very large, and based on the automatic door opening and closing mechanism, the situation that the fingers of a user are pinched easily occurs in the automatic door closing process, particularly, the child is poor in safety consciousness, and the probability of pinching the fingers is higher.
Disclosure of Invention
The first technical problem to be solved by the utility model is to provide a door driving method capable of effectively judging the risk of clamping a hand in the door closing process on the basis of not additionally adding a detection device aiming at the prior art.
The second technical problem to be solved by the present utility model is to provide a door driving method capable of effectively performing a pinch warning during a door closing process.
A third object of the present utility model is to provide a storage medium storing a computer program for causing a computer to execute the door driving method.
The fourth technical problem to be solved by the present utility model is to provide a cleaning machine applying the door driving method according to the above-mentioned prior art.
The technical scheme adopted by the utility model for solving the first technical problem is as follows: a door driving method is characterized in that: the door body is driven by a driving mechanism to perform door closing action;
in the process of driving the door body to perform door closing action, detecting and acquiring working current I of the driving mechanism in real time;
and comparing the working current I with a set locked-rotor current threshold I0, and judging that the hand clamping risk exists if I is more than or equal to I0.
In order to ensure the door closing safety, when judging that the risk of clamping the hand exists, the driving mechanism is controlled to stop working, and then the driving mechanism is controlled to drive the door body to open the door.
In order to shorten the closing time as much as possible, the duration of the door opening action driven by the driving mechanism is controlled to be set to be the set duration T.
Preferably, after judging that the risk of clamping the hand exists and controlling the driving mechanism to drive the door body to open the door, controlling the driving mechanism to drive the door body to close the door again, and judging whether the risk of clamping the hand exists or not in the process of closing the door each time;
and the process is circulated until the door body is completely closed, and then the door closing work is completed.
The utility model solves the second technical problem by adopting the technical proposal that: setting a range of a locked rotor current threshold I0 as [ Imin, imax ], wherein Imin represents a minimum current threshold capable of judging the risk of clamping a hand, and Imax is the corresponding locked rotor current when the door body is completely closed;
selecting a locked-rotor current threshold I0 in a range [ Imin, imax ] in the process of driving the door body to perform door closing action;
in the door closing process, if the times of door closing actions performed by the door body are driven to exceed once, the locked rotor current threshold I0 selected in the next door closing action process is larger than the locked rotor current threshold I0 adopted in the previous time.
As an improvement, the stall current threshold I0 is gradually increased according to the set stall current difference Δi until the stall current threshold I0 reaches Imax.
Preferably, in the door closing process, the door body is driven to perform the door closing operation for the first time, and the locked rotor current threshold value i0=imin is selected.
The technical scheme adopted by the utility model for solving the third technical problem is as follows: a computer-readable storage medium, characterized by: the computer-readable storage medium stores computer instructions for causing a computer to execute the aforementioned door driving method.
The technical scheme adopted by the utility model for solving the fourth technical problem is as follows: the utility model provides a cleaning machine, includes the box, can open and shut the door body of connection on the box to and the actuating mechanism who is connected with the door body drive, its characterized in that: the door body driving device is characterized by further comprising a controller and a memory, wherein the controller is respectively connected with the driving mechanism and the memory through electric signals, and the memory stores computer instructions which are used for enabling a computer to execute the door body driving method.
Preferably, the driving mechanism is provided on the case.
The structure is simple, the driving mechanism comprises a motor connected with the electric signal of the controller, and a push rod connected with the motor in a transmission way, and one end of the push rod is propped against the door body.
Preferably, one side of the push rod is provided with meshing teeth along the length direction, and the motor is in meshing transmission with the push rod through a gear.
In order to conveniently determine the moving position of the push rod and further better determine whether the door is opened or closed in place, a first micro switch for detecting the movement of the push rod to the door opening position and a second micro switch for detecting the movement of the push rod to the door closing position are arranged beside the push rod;
the side wall of the push rod is provided with a first protruding part for pushing the first micro switch and a second protruding part for pushing the second micro switch.
Compared with the prior art, the utility model has the advantages that: according to the door driving method, whether resistance is encountered in the door closing action is judged based on the working current of the driving mechanism, and then the risk of clamping the hand is judged under the condition that the resistance is judged, and the method effectively realizes the judgment of the risk of clamping the hand on the basis that no additional detection mechanism is added.
On the basis, when a plurality of door closing actions exist in the one-time door closing working process, the risk judgment of the clamping hand can be carried out by improving the locked-rotor current threshold value.
The cleaning machine applying the method realizes the risk judgment of the clamping hand on the basis of not increasing the cost when the door body is closed, can effectively remind the user of the risk of clamping the hand, and has high use safety.
Drawings
Fig. 1 is a perspective view of a cleaning machine according to an embodiment of the present utility model.
Detailed Description
The utility model is described in further detail below with reference to the embodiments of the drawings.
The door driving method in the embodiment can be applied to various products capable of automatically opening and closing the door.
The door body driving method specifically comprises the following steps: the door body 2 is driven by the driving mechanism 3 to perform door closing operation. During the process of driving the door body 2 to perform the door closing action, the working current I of the driving mechanism 3 is detected and obtained in real time. When the door is closed, the driving mechanism 3 is controlled to output with stable power, and the working current of the driving mechanism 3 is kept stable at a specific value, namely normal working current, but if resistance is encountered during the door closing action, such as when a user hand is present between the door body 2 and the object to be closed, the user hand can generate resistance to the closing of the door body 2, and then the driving mechanism 3 is caused to generate certain locked rotation, so that the working current of the driving mechanism 3 is increased relative to the normal working current.
Based on the above, a locked rotor current threshold I0 slightly larger than the normal working current is set, the working current I is compared with the set locked rotor current threshold I0, if I is more than or equal to I0, the risk of clamping the hand is judged, and the situation that the hand of the user is located in the closing stroke of the door body 2 can be caused.
In order to ensure the door closing safety, the situation that the door body 2 clamps the hand is avoided, when the risk of clamping the hand is judged to exist, the driving mechanism 3 is controlled to stop working, and then the driving mechanism 3 is controlled to drive the door body 2 to open the door, so that the risk of clamping the hand is contacted, and the hand of a user is avoided. The door opening is driven to release the clamping of the hand of the user even if the hand is slightly clamped.
However, in order to minimize the closing time, the duration of the door opening operation performed by the driving mechanism 3 to drive the door body 2 is controlled to be set to be the set duration T. The set time period T is set so that the angle at which the door body 2 is opened corresponding to the set time period T is sufficient to release the grip of the user's hand. Meanwhile, based on the set time length T, the situation that the door body 2 needs to be driven again to be opened completely when the risk of clamping the hand occurs is avoided, the time for clamping the hand of a user is shortened, and then the door closing work can be completed as soon as possible.
After judging that the risk of clamping the hand exists and controlling the driving mechanism 3 to drive the door body 2 to open the door, controlling the driving mechanism 3 to drive the door body 2 to close the door again, namely continuing to close the door this time, and judging whether the risk of clamping the hand exists or not in the process of closing the door every time. The cycle is performed until the door body 2 is completely closed, and then the door closing work is completed. Of course, based on the situation that the child user plays the door body 2, the door closing operation may be stopped after the door closing operation and the door opening operation are cyclically performed for a set number of times or after the time for performing the door closing operation reaches a set maximum time.
Aiming at the fact that the user does not timely find the risk of clamping the hands and the playing door body 2 which is not safe to children is effectively warned, the risk of clamping the hands is thoroughly relieved. In this embodiment, the range of the stall current threshold I0 is set to [ Imin, imax ], where Imin represents a minimum current threshold capable of determining the risk of pinching, and Imax is the stall current corresponding to the door 2 when it is completely closed. And selecting a locked-rotor current threshold I0 in the range [ Imin, imax ] in the process of driving the door body 2 to perform door closing operation every time. Specifically, in the door closing process, if the number of times of door closing actions performed by driving the door body 2 exceeds one time, the blocking current threshold I0 selected in the next door closing action process is greater than the blocking current threshold I0 adopted in the previous time. The specific way of gradually increasing the locked rotor current threshold value I0 can be specifically set according to the needs, for example, the locked rotor current threshold value I0 can be increased according to the set proportion. In this embodiment, the current blocking threshold I0 is gradually increased according to the set current blocking difference Δi until the current blocking threshold I0 reaches Imax.
In addition, during the door closing operation, the door body 2 is driven to perform the door closing operation for the first time, and the selected blocking current threshold value i0=imin is obtained.
The door closing work is performed in a mode of increasing the locked rotor current threshold I0, so that the door closing force is gradually increased, the locked rotor current threshold I0 is set to be smaller at the beginning, no damage is caused even if a user clamps the door, the door closing force is increased after the door is opened every time, the user is warned by the gradual clamp, the user is warned to leave the door closing position, and the aim of preventing the user from clamping the door is achieved.
According to the door driving method, whether resistance is encountered in the door closing action is judged based on the working current of the driving mechanism 3, and then the risk of clamping the hand is judged under the condition that the resistance is judged to exist.
On this basis, when there are a plurality of door closing actions in the one-time door closing working process, the risk judgment of clamping the hand can be carried out by improving the locked-rotor current threshold value.
The present utility model also relates to a computer-readable storage medium storing computer instructions for causing a computer to execute the aforementioned door driving method.
As shown in fig. 1, the cleaning machine in this embodiment includes a box 1, a door 2 connected to the box 1 in an openable and closable manner, a driving mechanism 3 connected to the door 2 in a driving manner, and a controller and a memory. The controller is respectively connected with the driving mechanism 3 and the memory through electric signals, and stores computer instructions stored in the controller, wherein the computer instructions are used for enabling a computer to execute the door body driving method.
The opening and closing direction of the door body 2 is specifically set based on the opening direction of the case body 1. The driving direction of the corresponding driving mechanism 3 to the door body 2 is consistent with the opening and closing direction of the door body 2. The driving mechanism 3 is provided on the casing 1. The driving mechanism 3 comprises a motor connected with the electric signal of the controller, a push rod 31 connected with the motor in a transmission way, and one end of the push rod 31 is propped against the door body 2.
Specifically, one side of the push rod 31 is provided with a meshing tooth 311 along the length direction, and the motor is meshed with the push rod 31 through a gear for transmission. In order to conveniently determine the moving position of the push rod 31 and further better determine whether the door is opened or closed in place, a first micro switch 4 for detecting the movement of the push rod 31 to the door opening position and a second micro switch 5 for detecting the movement of the push rod 31 to the door closing position are arranged beside the push rod 31. The side wall of the push rod 31 is provided with a first protruding part 312 for pushing the first micro switch 4 and a second protruding part 313 for pushing the second micro switch 5. In this way, in the process of driving the door body 2, the controller can also judge whether the door body 2 is opened in place or closed in place based on the first micro switch 4 and the second micro switch 5. Naturally, when the door body 2 is closed in place, the motor stall current corresponding to the fully closed door state can also be detected.
The cleaning machine applying the method realizes the risk judgment of the clamping hand on the basis of not increasing the cost when the door body 2 is closed, can effectively remind a user of the risk of clamping the hand, and has high use safety.
In the description and claims of the present utility model, terms indicating directions, such as "front", "rear", "upper", "lower", "left", "right", "side", "top", "bottom", etc., are used to describe various example structural parts and elements of the present utility model, but these terms are used herein for convenience of description only and are determined based on the example orientations shown in the drawings. Because the disclosed embodiments of the utility model may be arranged in a variety of orientations, the directional terminology is used for purposes of illustration and is in no way limiting, such as "upper" and "lower" are not necessarily limited to being in a direction opposite or coincident with the direction of gravity.

Claims (13)

1. A door driving method is characterized in that: a driving mechanism (3) is adopted to drive a door body (2) to perform door closing action;
in the process of driving the door body (2) to perform door closing action, detecting and acquiring working current I of the driving mechanism (3) in real time;
and comparing the working current I with a set locked-rotor current threshold I0, and judging that the hand clamping risk exists if I is more than or equal to I0.
2. The door driving method according to claim 1, wherein: when judging that the risk of clamping the hand exists, controlling the driving mechanism (3) to stop working, and then controlling the driving mechanism (3) to drive the door body (2) to open the door.
3. The door driving method according to claim 2, wherein: the duration of the door opening action of the door body (2) driven by the control driving mechanism (3) is set as a set duration T.
4. The door driving method according to claim 2, wherein: after judging that the risk of clamping the hand exists and controlling the driving mechanism (3) to drive the door body (2) to open the door, controlling the driving mechanism (3) to drive the door body (2) to close the door again, and judging whether the risk of clamping the hand exists or not in the process of closing the door each time;
and the cycle is performed until the door body (2) is completely closed, and then the door closing work is completed.
5. The door driving method according to any one of claims 2 to 4, wherein: setting a range of a locked rotor current threshold I0 as [ Imin, imax ], wherein Imin represents a minimum current threshold capable of judging the risk of clamping a hand, and Imax is the corresponding locked rotor current when the door body (2) is completely closed;
selecting a locked-rotor current threshold I0 in a range [ Imin, imax ] in the process of driving the door body (2) to perform door closing action;
in the door closing process, if the times of door closing actions performed by the door body (2) are driven to exceed once, the blocking current threshold I0 selected in the next door closing action process is larger than the blocking current threshold I0 adopted in the previous time.
6. The door driving method according to claim 5, wherein: gradually increasing the blocking current threshold I0 according to the set blocking current difference delta I until the blocking current threshold I0 reaches Imax.
7. The door driving method according to claim 5, wherein: in the door closing process, the door body (2) is driven to perform the door closing operation for the first time, and the selected locked-rotor current threshold value I0=Imin.
8. A computer-readable storage medium, characterized by: the computer-readable storage medium stores computer instructions for causing a computer to execute the door driving method according to any one of claims 1 to 7.
9. The utility model provides a cleaning machine, includes box (1), but door body (2) of connection on box (1) that opens and shuts to and actuating mechanism (3) that door body (2) drive is connected, its characterized in that: the door driving device further comprises a controller and a memory, wherein the controller is respectively connected with the driving mechanism (3) and the memory through electric signals, and computer instructions are stored in the memory and are used for enabling a computer to execute the door driving method according to any one of claims 1 to 7.
10. The cleaning machine of claim 9, wherein: the driving mechanism (3) is arranged on the box body (1).
11. The cleaning machine of claim 9, wherein: the driving mechanism (3) comprises a motor connected with the electric signal of the controller, and a push rod (31) connected with the motor in a transmission way, wherein one end of the push rod (31) is propped against the door body (2).
12. The cleaning machine of claim 11, wherein: one side of the push rod (31) is provided with a meshing tooth (311) along the length direction, and the motor is meshed with the push rod (31) through a gear for transmission.
13. The cleaning machine of claim 11, wherein: a first micro switch (4) for detecting the movement of the push rod (31) to the door opening position and a second micro switch (5) for detecting the movement of the push rod (31) to the door closing position are arranged beside the push rod (31);
the side wall of the push rod (31) is provided with a first protruding part (312) for pushing the first micro switch (4) and a second protruding part (313) for pushing the second micro switch (5).
CN202311117005.8A 2023-08-31 2023-08-31 Door driving method, storage medium, and cleaning machine Pending CN117137402A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311117005.8A CN117137402A (en) 2023-08-31 2023-08-31 Door driving method, storage medium, and cleaning machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311117005.8A CN117137402A (en) 2023-08-31 2023-08-31 Door driving method, storage medium, and cleaning machine

Publications (1)

Publication Number Publication Date
CN117137402A true CN117137402A (en) 2023-12-01

Family

ID=88903985

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311117005.8A Pending CN117137402A (en) 2023-08-31 2023-08-31 Door driving method, storage medium, and cleaning machine

Country Status (1)

Country Link
CN (1) CN117137402A (en)

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