WO2022142687A1 - 冰箱的控制方法 - Google Patents

冰箱的控制方法 Download PDF

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Publication number
WO2022142687A1
WO2022142687A1 PCT/CN2021/127657 CN2021127657W WO2022142687A1 WO 2022142687 A1 WO2022142687 A1 WO 2022142687A1 CN 2021127657 W CN2021127657 W CN 2021127657W WO 2022142687 A1 WO2022142687 A1 WO 2022142687A1
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WO
WIPO (PCT)
Prior art keywords
door body
opening
door
closed position
angle
Prior art date
Application number
PCT/CN2021/127657
Other languages
English (en)
French (fr)
Inventor
苗建林
许以浩
程学丽
王铭
Original Assignee
青岛海尔电冰箱有限公司
海尔智家股份有限公司
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.)
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Publication date
Application filed by 青岛海尔电冰箱有限公司, 海尔智家股份有限公司 filed Critical 青岛海尔电冰箱有限公司
Publication of WO2022142687A1 publication Critical patent/WO2022142687A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D11/00—Self-contained movable devices, e.g. domestic refrigerators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D23/00—General constructional features
    • F25D23/02—Doors; Covers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D23/00—General constructional features
    • F25D23/02—Doors; Covers
    • F25D23/028—Details
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D29/00—Arrangement or mounting of control or safety devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D29/00—Arrangement or mounting of control or safety devices
    • F25D29/005—Mounting of control devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D2323/00—General constructional features not provided for in other groups of this subclass
    • F25D2323/02—Details of doors or covers not otherwise covered
    • F25D2323/021—French doors

Definitions

  • the invention relates to refrigeration equipment, in particular to a control method of a refrigerator.
  • some refrigerators are often manual, that is, the door can only be opened and closed manually by the user. The degree is low, which causes a lot of inconvenience to the user during use.
  • some refrigerators are also provided with a turning beam connected to the door body. During the closing process of the door body, it is often necessary to drive the turning beam to turn over to the initial position when the door body is not opened. The door body opening and closing process is complicated, and it is necessary to adjust the door body Applying a large force can no longer meet the needs of users.
  • An object of the present invention is to provide a control method for a refrigerator that solves at least any aspect of the above-mentioned technical problems.
  • a further object of the present invention is to improve the door opening and closing method of the refrigerator, and improve the automation degree of the door opening and closing process.
  • Another further objective of the present invention is to utilize the organic cooperation of the opening and closing mechanism and the overturning mechanism to realize the orderly opening and closing of the door body and the overturning of the beam body.
  • a further object of the present invention is to simplify the control logic of the door opening and closing and the beam turning process.
  • the present invention provides a control method of a refrigerator.
  • the refrigerator includes a door body, an inversion beam connected to the door body, an opening and closing mechanism for driving the door body to reciprocate between an open position and a closed position, and a door for driving the inversion beam
  • the turning mechanism is turned between the folding position and the unfolding position
  • the control method includes: determining that the door body is in the open position and the turning beam is in the folding position; acquiring the door closing signal of the refrigerator; controlling the opening and closing mechanism to drive the door body from the open position to the folded position
  • the closed position is rotated, and the pivot angle of the door relative to the closed position is detected during the rotation of the door; when the pivot angle is smaller than the preset first angle threshold, the overturning mechanism is controlled to drive the overturning beam to overturn from the overturned position to the stretched position.
  • the opening and closing mechanism includes a rotating assembly, which has a rotation acting member that is controlled and rotatably arranged on the box body of the refrigerator and is hinged with the door body; and controls the opening and closing mechanism to drive the door body to rotate from the open position to the closed position.
  • the steps include: acquiring door-closing rotation parameters of the rotary action piece, the door-closing rotation parameters of the rotary action piece at least including the rotation direction and rotation speed of the rotary action piece; Turn off position.
  • the rotating assembly further includes an angle measuring device for detecting the rotation angle of the door body; and while the rotating acting member is controlled to start to rotate according to the door closing rotation parameter of the rotating acting member, the angle measuring device is activated to detect the door body.
  • the step of pivoting angle relative to the closed position; wherein the step of detecting the pivoting angle of the door relative to the closed position includes: acquiring the opening angle of the open position relative to the closed position; according to the opening angle of the open position relative to the closed position, and the angle The rotation angle of the door body detected by the measuring device determines the pivot angle of the door body relative to the closed position.
  • control method further includes: adjusting the rotation speed of the rotary action member according to the pivot angle of the door body relative to the closed position.
  • the step of adjusting the rotation speed of the rotary action member according to the pivot angle of the door body relative to the closed position includes: judging whether the pivot angle of the door body relative to the closed position is smaller than a preset second angle threshold, the second angle The threshold value is greater than the first angle threshold value; if so, the rotation speed of the rotary action member is increased.
  • the turning mechanism includes a turning lever that is controlled and rotatably arranged on the box body of the refrigerator; and the step of controlling the turning mechanism to drive the turning beam to turn over from the folded position to the extended position includes: acquiring turning parameters of the turning lever,
  • the flipping parameters include at least the rotation direction and rotation angle of the flipping lever; the flipping lever is controlled to rotate according to the flipping parameters, thereby driving the flipping beam to flip from the folded position to the stretched position.
  • the overturning lever includes a rotating shaft part rotatably arranged on the box body and a rotating part fixedly connected with the rotating shaft part; wherein the rotating part is formed with a plurality of rotating protrusions, relative to the central axis of the rotating part.
  • the intervals are evenly distributed, and are used to cooperate with the flipping beam to drive the flipping beam to flip; before controlling the flipping lever to rotate according to the flipping parameters, it is determined that a lever protrusion is located at the preset working position; and the flipping lever is controlled according to the flipping parameters.
  • each toggle protrusion rotates to another toggle protrusion at an adjacent position.
  • control method further includes: determining that the door body is in the closed position and the flipping beam is in the extended position; acquiring a door opening signal of the refrigerator to control the opening and closing The mechanism drives the door body to rotate from the closed position to the open position.
  • the opening and closing mechanism further includes an ejector rod assembly, which has an ejector rod that is controlled and retractably arranged on the box body of the refrigerator; the step of controlling the opening and closing mechanism to drive the door body to rotate from the closed position to the open position includes: obtaining Telescopic parameters of the ejector rod, the telescopic parameters include at least the direction of extension and contraction of the ejector rod; control the extension and retraction of the ejector rod according to the telescopic parameters, so as to lift the door body.
  • the step of controlling the opening and closing mechanism to drive the door body to rotate from the closed position to the open position further includes: detecting the pivot angle of the door body relative to the closed position; When the rotation angle is greater than the preset third angle threshold, the rotary action member of the control opening and closing mechanism drives the door body to continue to rotate.
  • the door body is driven to rotate from the open position to the closed position by controlling the opening and closing mechanism
  • the door can be automatically closed by detecting the pivot angle of the door relative to the closed position during the rotation of the door, and controlling the flip mechanism to drive the flip beam from the flip when the pivot angle is smaller than the preset first angle threshold.
  • the folding position is turned to the stretching position, so that the beam body can be automatically turned over in a timely manner during the closing process of the door body, so as to successfully complete the door closing action.
  • the pivot angle of the door body relative to the closed position is detected, and the turning mechanism is controlled according to the size of the pivot angle.
  • the overturning of the overturning beam enables the refrigerator of the present invention to utilize the organic cooperation of the opening and closing mechanism and the overturning mechanism to realize the orderly opening and closing of the door body and the overturning of the beam body.
  • the rotation speed of the door body can be increased by increasing the rotation speed of the rotating action member.
  • the rapid rotation of the door body is beneficial to reduce the difficulty of the flipping mechanism driving the flipping beam to flip, and improve the degree of cooperation between the opening and closing mechanism and the flipping mechanism, thereby improving the reliability of the flipping process and reducing or avoiding jamming.
  • control method of the refrigerator of the present invention only needs to control the opening and closing mechanism to drive the door body to rotate to complete the door opening action during the door opening process, and only needs to control the opening and closing mechanism and the turning mechanism during the door closing process.
  • Door closing action, control logic is simple.
  • FIG. 1 is a schematic diagram of a refrigerator according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an opening and closing mechanism and a turning mechanism of a refrigerator according to an embodiment of the present invention
  • FIG. 3 is an exploded view of the opening and closing mechanism and the overturning mechanism of the refrigerator shown in FIG. 2;
  • FIG. 4 is a schematic diagram of a control method of a refrigerator according to an embodiment of the present invention.
  • Fig. 5 is the internal structure diagram of the rotating assembly in the opening and closing mechanism of the refrigerator shown in Fig. 3;
  • FIG. 6 is an exploded view of the overturning mechanism and the overturning beam of the refrigerator shown in FIG. 3;
  • FIG. 7 is a schematic diagram of the internal structure of the overturning mechanism of the refrigerator shown in FIG. 6;
  • Fig. 8 is a top view of the toggle portion of the inversion lever of the inversion mechanism of the refrigerator shown in Fig. 7;
  • Fig. 9 is the internal structure diagram of the ejector rod assembly in the opening and closing mechanism of the refrigerator shown in Fig. 3;
  • FIG. 10 is a control flowchart of a refrigerator according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of a refrigerator 10 according to one embodiment of the present invention.
  • the refrigerator 10 may generally include a box body 110, a door body 120, a turning beam 400, an opening and closing mechanism, a turning mechanism 500, and a control device.
  • the opening and closing mechanism and the turning mechanism 500 may constitute an automatic door opening and closing device of the refrigerator 10 .
  • the control method of this embodiment can be applied to various types of refrigerators 10 , especially to refrigerators 10 having at least two door bodies 120 with opposite opening directions, such as side-by-side refrigerators, cross-door refrigerators, French multi-door refrigerators, and the like.
  • This embodiment will take a side-by-side refrigerator as an example to illustrate an opening and closing mechanism applicable to a side-by-side refrigerator, a turning mechanism 500 , and a control method for a side-by-side refrigerator provided with the above-mentioned opening and closing mechanism and turning mechanism 500 .
  • Those skilled in the art should be fully capable of expanding for other application situations on the basis of understanding the present embodiment, which will not be illustrated one by one here.
  • a storage compartment may be formed inside the box body 110 , and the storage compartment may be a storage space with a forward opening.
  • the door body 120 is pivotally disposed on the box body 110 to close or open the front opening, thereby closing or opening the storage compartment.
  • the first door body 120 may be used to close the left half of the front opening
  • the second door body 120 may be used to close the front opening.
  • the opening directions of the two door bodies 120 are opposite, for example, the pivot axis of the first door body 120 may be located on the left side thereof, and the pivot axis of the second door body 120 may be located on the right side thereof.
  • the arrows in FIG. 1 show the left and right directions, and words such as “left” and “right” used to indicate orientation are relative to the actual use state of the refrigerator 10 , and may be roughly the horizontal and lateral extension direction of the box 110 .
  • Each door body 120 has a respective closed position and an open position, respectively.
  • the door body 120 closes the front opening of the box body 110 , and when the door body 120 is rotated from the closed position to the open position, the door body 120 opens the frontward opening of the box body 110 .
  • the door body 120 may have a preset opening position, for example, the pivoting angle between the opening position and the closing position may be 135°.
  • the door body 120 can also have a plurality of preset different opening positions, the pivot angle of each opening position relative to the closed position can be different, and during the door opening process, the door body 120 can be selectively driven to rotate according to the indication of the door opening signal. either open position.
  • the pivoting angle of each open position relative to the closed position affects the degree of opening of the door body 120 .
  • Presetting the opening positions of the door body 120 to a plurality of positions and selecting the opening positions according to the instructions of the door opening signal enables the refrigerator 10 to adjust the opening degree of the door body 120 according to the user's usage requirements, thereby reducing the loss of cooling capacity in the open state.
  • FIG. 2 is a schematic diagram of the opening and closing mechanism and the turning mechanism 500 of the refrigerator 10 according to an embodiment of the present invention. In order to facilitate the observation of the installation positions of the opening and closing mechanism and the turning mechanism 500 , FIG. 2 also shows a part of the door body 120 of the refrigerator 10 and part of the case 110 .
  • FIG. 3 is an exploded view of the opening and closing mechanism and the reversing mechanism 500 of the refrigerator 10 shown in FIG. 2 .
  • the inversion beam 400 may be reversibly connected to the door body 120 of the refrigerator 10 .
  • the turning beam 400 may be reversibly connected to the first door body 120 closing the left half of the front opening, the first end of the turning beam 400 may be fixedly connected to the right edge of the first door body 120, and the The second end is opposite to the first end, and rotates with the first end as the rotation axis, so as to realize the inversion of the inversion beam 400 .
  • Both the turning beam 400 and the door body 120 may be substantially plate-shaped.
  • the inversion beam 400 may invert relative to the door body 120 according to the opening and closing state of the door body 120 .
  • the angle between the board surface where the flip beam 400 is located and the board surface where the door body 120 is located may be approximately 0°.
  • the flip beam 400 can be rotated relative to the door body 120, so that the angle between the board surface where the flip beam 400 is located and the board surface where the door body 120 is located can be approximately 90°, and the flip beam 400 is rotated relative to the door body 120 to the folded position at this time;
  • the flip beam 400 can be rotated relative to the door body 120 again, so that the included angle between the board surface where the flip beam 400 is located and the board surface where the door body 120 is located returns to 0° , at this time, the flip beam 400 rotates to the extended position relative to the door body 120 .
  • the inversion process of the inversion beam 400 is a necessary link for realizing the opening and closing of the door body 120 .
  • the opening and closing mechanism is used to drive the door body 120 to reciprocate between the open position and the closed position.
  • the turning mechanism 500 is used to drive the turning beam 400 to turn over between the folding position and the unfolding position.
  • the control device has a memory and a processor, wherein the memory stores a control program, and when the control program is executed by the processor, is used to implement the control method of the refrigerator 10 according to any one of the following embodiments.
  • the processor may be a central processing unit (CPU), or a digital processing unit (DSP), or the like.
  • Memory is used to store programs executed by the processor.
  • the memory may be, but is not limited to, any medium that can be used to carry or store the desired program code in the form of instructions or data structures and that can be accessed by a computer.
  • the memory can also be a combination of various memories. Since the control program is executed by the processor to implement each process of the following method embodiments, and can achieve the same technical effect, to avoid repetition, details are not repeated here.
  • the control device of this embodiment can be connected in communication with the rotary drive motor 210 of the opening and closing mechanism, the angle measuring device, and the ejection drive motor 310 of the turning mechanism.
  • FIG. 4 is a schematic diagram of a control method of the refrigerator 10 according to an embodiment of the present invention.
  • the control method may generally include:
  • Step S402 it is determined that the door body 120 is in the open position and the flip beam 400 is in the flip position.
  • step S404 a door closing signal of the refrigerator 10 is acquired.
  • Step S406 the opening and closing mechanism is controlled to drive the door body 120 to rotate from the open position to the closed position, and the pivot angle of the door body 120 relative to the closed position is detected during the rotation of the door body 120 .
  • Step S408 when the pivoting angle is smaller than the preset first angle threshold, the turning mechanism 500 is controlled to drive the turning beam 400 to turn from the folded position to the extended position.
  • the refrigerator 10 of this embodiment drives the door 120 from opening by controlling the opening and closing mechanism when it is determined that the door 120 is in the open position, the flip beam 400 is in the folded position, and the door closing signal of the refrigerator 10 is obtained.
  • the door body 120 can be automatically closed by rotating the door body 120 to the closed position.
  • the lower control turning mechanism 500 drives the turning beam 400 to turn from the folded position to the stretched position, so that the beam body (ie the turning beam 400 ) can be turned over automatically in a timely manner during the closing process of the door body 120 , thereby successfully completing the door closing action.
  • the present embodiment improves the method for opening and closing the door 120 of the refrigerator 10 , and improves the automation degree of the opening and closing process of the door 120 .
  • the opening and closing mechanism drives the door body 120 to rotate to the closed position
  • the pivoting angle of the door body 120 relative to the closed position is detected, and the overturning mechanism 500 is controlled to drive the overturning beam 400 to overturn according to the size of the pivoting angle.
  • the refrigerator 10 of the example can utilize the organic cooperation of the opening and closing mechanism and the overturning mechanism 500 to realize the orderly opening and closing of the door body 120 and the overturning of the beam body.
  • a lighting lamp for providing lighting light may be provided in the box body 110 .
  • the working state of the lighting lamp can include a running state and an off state.
  • the lighting lamp may be in an off state.
  • the lighting lamp in the box body 110 can be switched to a running state to provide lighting light to the box body 110 .
  • the step of determining that the door body 120 is in the open position and the turning beam 400 is in the folded position may include: acquiring the working state of the lighting lamp, and when the working state of the lighting lamp is the running state, determining the door body 120 In the open position, the flip beam 400 is in the folded position.
  • the above step S402 can also be transformed, for example, it can be determined according to the door opening and closing records of the refrigerator 10 that the door body 120 is in the open position and the flip beam 400 is in the folded position, but not limited thereto.
  • the door opening and closing records of the refrigerator 10 may store the time of each door opening and closing operation (eg, door opening operation and door closing operation) performed by the refrigerator 10 .
  • the time of the door opening and closing action can be determined according to the acquisition time of the door opening signal and the door closing signal.
  • the last door opening and closing action previously saved in the door opening and closing record is the opening action, it can be determined that the door body 120 is in the open position and the flip beam 400 is in the folded position.
  • the door closing signal is used to instruct the refrigerator 10 to perform a door closing action to close the door body 120.
  • the trigger condition of the door closing signal can be that the door opening duration reaches the preset door opening duration threshold.
  • the door opening duration refers to the duration that the door body 120 remains in the open position.
  • the door-opening duration threshold can be preset according to the user's usage habits, for example, it can be any value within the range of 1 to 5 minutes.
  • the trigger condition of the door closing signal can be changed.
  • the refrigerator 10 can receive a door closing instruction sent by the user, and the door closing instruction can be sent by the user to the voice interaction module of the refrigerator 10.
  • the refrigerator 10 receives the door closing instruction.
  • the door closing signal can be generated after the command.
  • FIG. 5 is an internal structural diagram of the rotating assembly 200 in the opening and closing mechanism of the refrigerator 10 shown in FIG. 3 .
  • the opening and closing mechanism may include a rotating assembly 200 , the rotating assembly 200 has a rotating action member 250 that is controlled and rotatably disposed on the box body 110 of the refrigerator 10 and is hinged with the door body 120 , a rotating driving motor 210 and a rotating transmission assembly.
  • the above-mentioned step S406 may include: acquiring the door-closing rotation parameters of the rotary action member 250 , and the door-close rotation parameters of the rotary action member 250 at least include the rotation direction and rotation speed of the rotary action member 250 .
  • the rotation of the rotary action member 250 is controlled according to the door closing rotation parameter of the rotary action member 250, thereby driving the door body 120 to rotate to the closed position.
  • the rotation driving motor 210 may provide a driving force to the rotation acting member 250 .
  • the rotary transmission assembly connects the output shaft of the rotary drive motor 210 and the rotary action member 250 for transmitting the driving force provided by the rotary drive motor 210 to the rotary action member 250 , so that the rotary action member 250 is controlled to rotate.
  • the rotation driving motor 210 may be a stepping motor, and the rotation transmission component may be a gear set, but not limited thereto.
  • the rotary action member 250 can be hinged with the pivot shaft of the door body 120 through a hinge. When the rotary action member 250 rotates, it can drive the pivot shaft of the door body 120 to rotate, thereby driving the door body 120 to rotate around the pivot shaft to realize the opening of the door body 120 . close.
  • the rotating acting member 250 may be a gear, and a plurality of teeth are evenly distributed on the outer periphery thereof. On the one hand, the rotation acting member 250 is engaged with the rotation transmission assembly, and on the other hand, it is engaged and hinged with the pivot shaft of the door body 120 .
  • the door-closing rotation parameters of the rotary action member 250 are adjusted by the rotary drive motor 210 .
  • the rotation direction of the rotary action member 250 is determined by the type of the door switch signal, and may include a forward rotation direction for driving the door body 120 to open and a reverse rotation direction for driving the door body 120 to close. According to the door closing signal of the refrigerator 10, it can be determined that the rotation direction of the rotating action member 250 is the reverse rotation direction. According to the door opening signal of the refrigerator 10, it can be determined that the rotation direction of the rotary action member 250 is the forward rotation direction.
  • the rotational speed of the rotary action member 250 may be preset as one or more set values.
  • the rotation speed of the rotary action member 250 may be preset to two, for example, the first preset rotation speed and the second preset rotation speed may be respectively, and the first preset rotation speed is smaller than the second preset rotation speed.
  • the rotation speed of the rotary action member 250 may be the first preset rotation speed.
  • the rotation assembly 200 may further include an angle measuring device for detecting the rotation angle of the door body 120 .
  • the rotation angle of the door body 120 refers to the included angle between the board surface where the door body 120 is at the current position and the board surface where the opening position is located. And while controlling the rotating acting member 250 to start to rotate according to the door closing rotation parameter of the rotating acting member 250, the angle measuring device is activated to perform the step of detecting the pivot angle of the door body 120 relative to the closed position.
  • the angle measuring device may be an angle sensor, and may be disposed on the rotating shaft of the rotating action member 250 .
  • the pivoting angle of the door body 120 relative to the door closing position refers to the included angle between the board surface where the door body 120 is currently positioned and the board surface where the door closing position is located.
  • the angle measuring device can detect the rotation angle of the door body 120 once every preset time interval (for example, any value in the range of 0.1-1 s).
  • the step of detecting the pivoting angle of the door body 120 relative to the closed position may include: acquiring the opening angle of the open position relative to the closed position, according to the opening angle of the open position relative to the closed position, and the door body 120 detected by the angle measuring device
  • the rotation angle of ⁇ determines the pivot angle of the door body 120 relative to the closed position.
  • the pivoting angle of the door body 120 relative to the closed position may be the difference between the opening angle of the open position relative to the closed position and the rotation angle of the door body 120 detected by the angle measuring device.
  • the opening angle of the open position relative to the closed position refers to the required rotation angle of the door body 120 in the open position to rotate to the closed position. For example, if the opening angle of the open position relative to the closed position is 135°, to restore the door body 120 from the open position to the closed position, the door body 120 needs to be driven to rotate 135°.
  • the control method may further include: adjusting the rotation speed of the rotary action member 250 according to the pivot angle of the door body 120 relative to the closed position.
  • the step of adjusting the rotational speed of the rotary action member 250 according to the pivot angle of the door body 120 relative to the closed position may include: judging whether the pivot angle of the door body 120 relative to the closed position is smaller than a preset second angle threshold, the second angle The threshold value is greater than the first angle threshold value, and if so, the rotational speed of the rotating action member 250 is increased, for example, it can be increased to the second preset rotational speed.
  • the second angle threshold may be any value within the range of 10° to 50°, for example, 45°, 35°, and the like.
  • the rotation speed of the door body 120 can be increased, and the rapid rotation of the door body 120 has It is beneficial to reduce the difficulty that the overturning mechanism 500 drives the overturning beam 400 to overturn, and improves the degree of cooperation between the opening and closing mechanism and the overturning mechanism 500, thereby improving the reliability of the overturning process and reducing or avoiding the stuck phenomenon.
  • FIG. 6 is an exploded view of the inversion mechanism 500 and the inversion beam 400 of the refrigerator 10 shown in FIG. 3
  • FIG. 7 is a schematic diagram of the internal structure of the inversion mechanism 500 of the refrigerator 10 shown in FIG. 6 .
  • the turning mechanism 500 includes a turning lever 510 , a turning driving motor 540 and a turning transmission assembly, which are controlled and rotatably disposed on the box body 110 of the refrigerator 10 .
  • the above step S408 may include: acquiring the flipping parameters of the flipping lever 510, the flipping parameters including at least the rotation direction and the rotation angle of the flipping lever 510, and controlling the flipping lever 510 to rotate according to the flipping parameters, thereby driving the flipping beam 400 to flip from the flipping position to the stretched position.
  • the flip lever 510 may include a rotating shaft portion 511 rotatably disposed on the box body 110 and a toggle portion 512 fixedly connected with the rotating shaft portion 511 .
  • the rotating shaft portion 511 is used to drive the toggle portion to rotate, and the toggle portion 512 is used to drive the overturning beam 400 to overturn.
  • the turning drive motor 540 is used to provide driving force for the rotation of the turning lever 510 .
  • the inversion transmission assembly is used to transmit the driving force of the inversion driving motor 540 to the inversion lever 510 .
  • the overturning transmission assembly can connect the output shaft of the overturning drive motor 540 and the rotating shaft portion 511 of the overturning lever 510 for transmitting the driving force provided by the overturning drive motor 540 to the rotating shaft portion 511 of the overturning lever 510 to drive the overturning lever 510 turn.
  • the top end of the rotating shaft portion 511 is in driving connection with the overturning transmission assembly.
  • the turning drive motor 540 may be a stepping motor
  • the turning transmission assembly may be a gear set, but not limited thereto.
  • the rollover transmission assembly may include a beam body first transmission gear 551 and a beam body second transmission gear 552 that mesh with each other, wherein the beam body first transmission gear 551 is connected to the output shaft of the rollover drive motor 540 .
  • the first transmission gear 551 of the beam body may be engaged with the output shaft of the turning drive motor 540
  • the output shaft of the turning driving motor 540 may be formed with a toothed rack that meshes with the teeth of the first transmission gear 551 of the beam body.
  • connection mode between the first transmission gear 551 of the beam body and the output shaft of the turning drive motor 540 can be changed according to actual needs, for example, the output shaft of the turning drive motor 540 can be connected to the beam body The shaft of the first transmission gear 551 .
  • the various components of the turning mechanism 500 in this embodiment may be arranged in a box body 520 .
  • the box body 520 has a top wall and a bottom wall.
  • the top and bottom walls may be substantially horizontal slab walls.
  • the upper surface of the bottom wall is formed with an upper annular flange, and the center of the upper annular flange is formed with a shaft hole into which the bottom end of the rotating shaft portion 511 extends and is rotatably fitted.
  • An annular fixing member 570 may be formed under the top wall, and another shaft hole is formed in the center of the annular fixing member 570 through its thickness direction for the top end of the rotating shaft portion 511 to protrude into and rotatably fit.
  • the shaft of the second transmission gear 552 of the beam body is connected to the rotating shaft portion 511 of the turning lever 510 .
  • the shaft of the second transmission gear 552 of the beam body may be located above the rotating shaft portion 511 .
  • the top end of the rotating shaft portion 511 can pass through the shaft hole of the annular fixing member 570 to be fixedly connected with the shaft of the second transmission gear 552 of the beam body.
  • the flipping parameters of the flipping lever 510 are adjusted by the flipping drive motor 540 .
  • the rotation direction of the flip lever 510 is determined by the type of door switch signal, and may include a forward rotation direction for driving the flip beam 400 to flip from the extended position to the flip position and a forward rotation direction for driving the flip beam 400 to flip from the flip position to the flip position. Reverse direction of rotation in stretched position. According to the door closing signal of the refrigerator 10, it can be determined that the rotation direction of the flip lever 510 is the reverse rotation direction. According to the door opening signal of the refrigerator 10, it can be determined that the rotation direction of the flip lever 510 is the forward rotation direction. By adjusting the rotation direction of the inversion driving motor 540, the rotation direction of the inversion lever 510 can be adjusted.
  • the rotation speed of the flip lever 510 may be preset as one or more set values. In this embodiment, the rotation speed of the flip lever 510 may be preset as one, for example, may be the third preset rotation speed.
  • the rotation axes of the rotating shaft portion 511 and the toggle portion 512 are coaxial with the central axis of the rotating shaft portion 511 and the central axis of the toggle portion 512 . Both the central axis of the rotating shaft portion 511 and the central axis of the toggle portion 512 may extend in the vertical direction. And the toggle portion 512 extends radially outward from at least a portion of the rotating shaft portion 511 , for example, may extend radially outward from a middle portion of the rotating shaft portion 511 .
  • FIG. 8 is a plan view of the toggle portion 512 of the inversion lever 510 of the inversion mechanism 500 of the refrigerator 10 shown in FIG. 7 .
  • the toggle portion 512 is formed with a plurality of toggle protrusions 512a, which are evenly spaced relative to the center axis of the toggle portion 512, and are used for cooperating with the inversion beam 400 to drive the inversion beam 400 to invert.
  • the toggle protrusion 512a may protrude radially outward from the circumferential direction of the toggle portion 512 .
  • each toggle protrusion 512a rotates to the corresponding position.
  • Another toggle protrusion 512a in the adjacent position may refer to the position of the toggle protrusion 512a indicated by the arrow in FIG. 8 .
  • toggle protrusions 512a there may be three toggle protrusions 512a in this embodiment, and the included angle between adjacent toggle protrusions 512a may be 120°.
  • the overall shape of the toggle portion 512 may be substantially similar to a ceiling fan, and the toggle protrusion 512a may be substantially similar to a fan blade of the ceiling fan, and has a thickness.
  • Each toggle protrusion 512a is configured to rotate to another toggle protrusion 512a at an adjacent position during the closing process of the door body 120 of the refrigerator 10 . That is to say, during the closing process of the door body 120, a toggle protrusion 512a is driven to rotate by 120°, and the flip beam 400 can be driven to flip to the extended position.
  • the toggle protrusion 512a When the door body 120 returns to the closed position and the inversion beam 400 returns to the extended position, the toggle protrusion 512a is stationary, and the extension direction of the toggle protrusion 512a for driving the inversion beam 400 to be inverted can be parallel to the left and right sides of the box body 110
  • the extension direction, the dotted line in the figure shows the left and right extension direction of the box body 110 . In this way, during the opening process of the door body 120 , none of the toggle protrusions 512 a will interfere with the inversion of the inversion beam 400 .
  • the turning lever 510 of this embodiment only needs to drive the turning beam 400 to turn over during the closing process of the door body 120 , which not only facilitates the simplification of the control process of the turning mechanism 500 of the beam body, but also reduces the number of inversion levers 510 and turning over.
  • the beam 400 experiences mechanical wear.
  • the inversion beam 400 may include an inversion beam body 410 and a guide rod 420 protruding upward from a top end of the inversion beam body 410 .
  • the height of the inversion beam body 410 may be approximately the same as the height of the door body 120 . That is to say, the top of the inversion beam 400 is further formed with a guide rod 420 protruding upward.
  • the box body 520 is correspondingly formed with a guide groove into which the guide rod 420 extends and can move reciprocally.
  • the guide rod 420 is configured to be driven by the toggle portion 512 to move along the guide groove when the door body 120 of the refrigerator 10 is closed, so that the turning beam 400 is turned over.
  • the position of the guide groove may be adjacent to the installation position of the flip lever 510 .
  • the rotation driving motor 210 and the turning driving motor 540 can be switched to the stop state at the same time.
  • control method may further include: determining that the door body 120 is in the closed position and the flip beam 400 is in the extended position, obtaining the door opening signal of the refrigerator 10, and controlling the opening and closing mechanism to drive the door body 120 to rotate from the closed position to the open position.
  • the door opening signal is used to instruct the refrigerator 10 to perform a door opening action to open the door body 120 .
  • the trigger condition of the door opening signal may be that the refrigerator 10 receives the door opening instruction sent by the user, and the door opening instruction may be sent by the user to the voice interaction module of the refrigerator 10 through voice, and the refrigerator 10 may generate the door opening signal after receiving the door opening instruction.
  • the door opening signal may contain information for instructing the door body 120 to rotate to a certain opening position.
  • FIG. 9 is an internal structural diagram of the ejector rod assembly 300 in the opening and closing mechanism of the refrigerator 10 shown in FIG. 3 .
  • the opening and closing mechanism further includes an ejector rod assembly 300 , the ejector rod assembly 300 has an ejector rod 350 , an ejector drive motor 310 and an ejector transmission assembly, which are controlled and retractably arranged on the box body 110 of the refrigerator 10 .
  • the step of controlling the opening and closing mechanism to drive the door body 120 to rotate from the closed position to the open position may include: acquiring telescopic parameters of the ejector rod 350, the telescopic parameters at least including the direction of extension and contraction of the ejector rod 350, and controlling the extension and contraction of the ejector rod 350 according to the telescopic parameters , so as to lift the door body 120 .
  • the ejector rod assembly 300 can push up the door body 120 .
  • the ejector rod assembly 300 is disposed on the box body 110, for example, it can be disposed between the rotating assembly 200 and the flipping lever 510, and is close to the part where the door body 120 and the flipping beam 400 are connected, so as to use a small force to lift the door body 120.
  • the ejector rod 350 is used to be controlled and retractably arranged on the box body 110 of the refrigerator 10 , and is configured to be controllably extended before the rotation action member 250 is rotated, so as to eject the door body 120 .
  • the ejector rod 350 can be extended or retracted in the direction of its central axis.
  • the central axis of the ejector rod 350 may be parallel to the front-rear extension direction of the box body 110 .
  • the arrows in FIG. 1 show the front and rear extension directions of the box body 110 , and words such as “front” and “rear” used to indicate orientation are all relative to the actual use state of the refrigerator 10 .
  • the ejector rod 350 is formed with a rack 351 arranged in the direction of its central axis.
  • the rack 351 can be engaged with the ejection transmission assembly, so that the ejection transmission assembly transmits the driving force of the ejection drive motor 310 to the ejection rod 350.
  • the ejector driving motor 310 may provide a driving force to the ejector rod 350 .
  • the ejector transmission assembly connects the output shaft of the ejector drive motor 310 and the ejector rod 350, and is used for transmitting the driving force provided by the ejector drive motor 310 to the ejector rod 350, so that the ejector rod 350 can be controlled to expand and contract.
  • the ejector drive motor 310 may be a stepping motor
  • the ejector transmission assembly may be a gear set, but not limited thereto.
  • the telescopic parameters of the ejector rod 350 are adjusted by the ejector drive motor 310 .
  • the extension and retraction direction of the ejector rod 350 is determined by the type of the door switch signal, and may include an extension direction for driving the ejector rod 350 to extend and a retraction direction for driving the ejector rod 350 to retract. According to the door opening signal of the refrigerator 10, it can be determined that the extension direction of the ejector rod 350 is the extension direction. According to the door closing signal of the refrigerator 10, it can be determined that the extension and retraction direction of the ejector rod 350 is the retraction direction. By adjusting the rotation direction of the ejector driving motor 310, the extension and retraction direction of the ejector rod 350 can be adjusted.
  • the ejector rod assembly 300 may further include a return spring 360 , which is provided on the rear side of the ejector rod 350 in a stretchable manner along the direction of the central axis of the ejector rod 350 .
  • the stretching direction of the return spring 360 is collinear with the central axis direction of the ejector rod 350 .
  • the return spring 360 is configured to extend during the controlled extension of the ejector rod 350 to generate elastic deformation, and is also configured to drive the ejector rod 350 to retract after the ejector rod 350 ejects the door body 120 to prevent the ejection rod 350 from being ejected.
  • the exit rod 350 interferes with the closing process of the door body 120 .
  • the ejector rod assembly 300 may further include a proximity sensor 380 disposed on the front side of the rack 351 of the ejector rod 350 .
  • a proximity sensor 380 disposed on the front side of the rack 351 of the ejector rod 350 .
  • the rack 351 thereof will move forward.
  • the proximity sensor 380 can generate a specific electrical signal, and the ejector rod driving motor can switch to a stop state after receiving the electrical signal from the proximity sensor 380 .
  • the step of controlling the opening and closing mechanism to drive the door body 120 to rotate from the closed position to the open position further includes: When the angle is greater than the preset third angle threshold, the rotary action member 250 of the control opening and closing mechanism drives the door body 120 to continue to rotate.
  • the third angle threshold may be any value within the range of 1° to 5°, for example, may be 2°, 3° or 4°.
  • the third angle threshold may be smaller than the first angle threshold.
  • the pivot angle of the door body 120 relative to the closed position can be continuously detected, and the door body 120 has not reached the open position or the closed position and when the change rate of the pivot angle of the door body 120 relative to the closed position is less than the preset change rate threshold, the rotary drive motor 210 is controlled to switch to the standby state.
  • the preset change rate threshold may be any value in the range of 1 to 2°/s, for example, it may be 2°/s.
  • the rotation drive motor 210 is controlled Switching to the standby state can reduce or avoid mechanical damage to various components of the rotating assembly 200 .
  • the refrigerator 10 of this embodiment only needs to control the opening and closing mechanism to drive the door body 120 to rotate during the door opening process to complete the door opening action, and only needs to control the opening and closing mechanism and the turning mechanism 500 during the door closing process.
  • Door closing action, control logic is simple.
  • the structure of the rotation transmission assembly and the ejection transmission assembly may be the same, for example, both may include the first transmission gear 211 of the door body, the second transmission gear 212 of the door body, and the third transmission gear 213 of the door body.
  • the door body first transmission gear 211 is connected to the output shaft of the rotary drive motor 210 or the ejection drive motor 310 .
  • the door body second transmission gear 212 meshes with the door body first transmission gear 211 .
  • the third transmission gear 213 of the door body is coaxial with the second transmission gear 212 of the door body, and is in driving connection with the rotating action member 250 or the ejector rod 350 .
  • the diameter of the root circle of the third transmission gear 213 of the door body is larger than the diameter of the root circle of the second transmission gear 212 of the door body, which can amplify the rotation stroke of the driving motor, and the ejector can be driven by a small rotation.
  • the rod 350 generates a larger expansion and contraction amount, or drives the rotary action member 250 to generate a larger rotation amount.
  • the third transmission gear 213 of the door body may be connected to the rotating action member 250 or the ejector rod 350 through a fourth transmission gear 214 of the door body.
  • FIG. 10 is a control flowchart of the refrigerator 10 according to one embodiment of the present invention.
  • the control flow may generally include:
  • Step S1002 it is determined that the door body 120 is in the open position and the flip beam 400 is in the flip position.
  • step S1004 a door closing signal of the refrigerator 10 is acquired.
  • step S1006 the door closing rotation parameters of the rotary action member 250 are acquired.
  • the door closing rotation parameters of the rotary action member 250 at least include the rotation direction and the rotation speed of the rotary action member 250 .
  • Step S1008 controlling the rotation of the rotary action member 250 according to the door closing rotation parameter of the rotary action member 250 , thereby driving the door body 120 to rotate to the closed position.
  • step S1010 the angle measuring device is activated to detect the pivoting angle of the door body 120 relative to the closed position.
  • the angle measuring device is activated at the same time that the rotary action piece 250 is controlled to start to rotate according to the door closing rotation parameter of the rotary action piece 250 .
  • the step of detecting the pivoting angle of the door body 120 relative to the closed position includes: acquiring the opening angle of the open position relative to the closed position, according to the opening angle of the open position relative to the closed position, and the rotation of the door body 120 detected by the angle measuring device The angle determines the pivot angle of the door body 120 relative to the closed position.
  • Step S1012 it is judged whether the pivot angle of the door body 120 relative to the closed position is smaller than the preset second angle threshold, if yes, go to step S1014, if not, go to step S1012.
  • Step S1014 increasing the rotational speed of the rotating action member 250 .
  • step S1016 the pivoting angle of the door body 120 relative to the closed position is continuously detected in the process that the rotating action member 250 drives the door body 120 to rotate. Determine whether the pivoting angle of the door body 120 relative to the closed position is smaller than a preset first angle threshold, wherein the first angle threshold is smaller than the second angle threshold, if yes, go to step S1018, if not, go to step S1016.
  • step S1018 the flipping parameters of the flipping lever 510 are acquired, and the flipping parameters include at least the rotation direction and the rotation angle of the flipping lever 510 .
  • Step S1020 it is determined that a lever protrusion is located at a preset working position.
  • Step S1022 controlling each toggle protrusion 512a to rotate to another toggle protrusion 512a at an adjacent position according to the flip parameter, so that the flip beam 400 is flipped to the extended position.
  • the flip beam 400 flips to the extended position
  • the door body 120 returns to the closed position, and at this time, the rotation driving motor 210 and the flip driving motor 540 are controlled to stop at the same time.
  • Step S1024 it is determined that the door body 120 is in the closed position and the flip beam 400 is in the extended position.
  • step S1026 the door opening signal of the refrigerator 10 is obtained.
  • step S1028 the telescopic parameters of the ejector rod 350 are acquired, and the telescopic parameters at least include the extension and contraction direction of the ejector rod 350.
  • step S1030 the ejector rod 350 is controlled to be retracted and retracted according to the retraction parameter, so as to eject the door body 120 .
  • Step S1032 detecting the pivot angle of the door body 120 relative to the closed position.
  • Step S1034 when the pivot angle is greater than the preset third angle threshold, control the rotation action member 250 of the opening and closing mechanism to drive the door body 120 to continue to rotate toward the open position.
  • the door body 120 is driven from opening by controlling the opening and closing mechanism.
  • the door body 120 can be automatically closed by rotating the door body 120 to the closed position.
  • the lower control turning mechanism 500 drives the turning beam 400 to turn from the folded position to the stretched position, so that the beam body can be turned over automatically in a timely manner during the closing process of the door body 120, thereby completing the door closing action smoothly.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
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Abstract

一种冰箱的控制方法，冰箱包括门体、连接于门体的翻转梁、用于驱动门体在打开位置和关闭位置之间往复转动的开闭机构、以及用于驱动翻转梁在翻折位置和舒展位置之间翻转的翻转机构，并且控制方法包括：确定门体处于打开位置，翻转梁处于翻折位置；获取冰箱的关门信号；控制开闭机构驱动门体从打开位置向关闭位置转动，且在门体转动过程中检测门体相对于关闭位置的枢转角度；在枢转角度小于预设的第一角度阈值的情况下，控制翻转机构驱动翻转梁从翻折位置翻转至舒展位置。本发明通过对开闭机构和翻转机构进行控制，改进了冰箱的门体开闭方法，提高了门体开闭过程的自动化程度。

Description

冰箱的控制方法 技术领域
本发明涉及制冷设备，特别是涉及一种冰箱的控制方法。
背景技术
在日常生活中，用户通过开闭冰箱的门体来实施物品取放动作。
现有技术中，部分冰箱的开闭方法往往为手动式，即，门体仅能通过用户手动开闭，而当用户双手持有物品时，往往还需腾出手来才能开闭门体，自动化程度较低，这导致用户在使用过程中存在诸多不便。此外，部分冰箱还设置有连接于门体的翻转梁，在门体关闭过程中，往往还需要驱动翻转梁翻转至门体未打开时的初始位置，门体开闭过程复杂，而且需要对门体施加较大的作用力，已无法满足用户的使用需求。
因此，如何改进冰箱的门体开闭方法，成为本领域技术人员亟待解决的技术问题。
发明内容
本发明的一个目的是要提供一种至少解决上述技术问题中任一方面的冰箱的控制方法。
本发明的一个进一步的目的是要改进冰箱的门体开闭方法，提高门体开闭过程的自动化程度。
本发明的另一个进一步的目的是要利用开闭机构和翻转机构的有机配合，实现门体开闭和梁体翻转的有序进行。
本发明的又一个进一步的目的是要简化门体开闭和梁体翻转过程的控制逻辑。
本发明提供了一种冰箱的控制方法，冰箱包括门体、连接于门体的翻转梁、用于驱动门体在打开位置和关闭位置之间往复转动的开闭机构、以及用于驱动翻转梁在翻折位置和舒展位置之间翻转的翻转机构，并且控制方法包括：确定门体处于打开位置，翻转梁处于翻折位置；获取冰箱的关门信号；控制开闭机构驱动门体从打开位置向关闭位置转动，且在门体转动过程中检测门体相对于关闭位置的枢转角度；在枢转角度小于预设的第一角度阈值的情况下，控制翻转机构驱动翻转梁从翻折位置翻转至舒展位置。
可选地，开闭机构包括旋转组件，其具有受控可转动地设置于冰箱的箱体且与门体铰接的旋转作用件；且控制开闭机构驱动门体从打开位置向关闭位置转动的步骤包括：获取旋转作用件的关门转动参数，旋转作用件的关门转动参数至少包括旋转作用件的转动方向和转动速度；按照旋转作用件的关门转动参数控制旋转作用件转动，从而带动门体向关闭位置转动。
可选地，旋转组件还包括角度测量装置，用于检测门体的转动角度；且在按照旋转作用件的关门转动参数控制旋转作用件开始转动的同时，启动角度测量装置，以执行检测门体相对于关闭位置的枢转角度步骤；其中检测门体相对于关闭位置的枢转角度的步骤包括：获取打开位置相对于关闭位置的打开角度；根据打开位置相对于关闭位置的打 开角度、以及角度测量装置检测到的门体的转动角度确定门体相对于关闭位置的枢转角度。
可选地，在检测门体相对于关闭位置的枢转角度的同时，控制方法还包括：根据门体相对于关闭位置的枢转角度调整旋转作用件的转动速度。
可选地，根据门体相对于关闭位置的枢转角度调整旋转作用件的转动速度的步骤包括：判断门体相对于关闭位置的枢转角度是否小于预设的第二角度阈值，第二角度阈值大于第一角度阈值；若是，则提高旋转作用件的转动速度。
可选地，翻转机构包括受控可转动地设置于冰箱的箱体的翻转拨杆；且控制翻转机构驱动翻转梁从翻折位置翻转至舒展位置的步骤包括：获取翻转拨杆的翻转参数，翻转参数至少包括翻转拨杆的转动方向和转动角度；控制翻转拨杆按照翻转参数转动，从而带动翻转梁从翻折位置翻转至舒展位置。
可选地，翻转拨杆包括可转动地设置于箱体的转轴部和与转轴部固定连接的拨动部；其中拨动部形成有多个拨动凸起，相对于拨动部的中心轴线间隔均匀分布，且用于与翻转梁配合以带动翻转梁翻转；在控制翻转拨杆按照翻转参数转动之前，确定一拨杆凸起位于预设的工作位置；且在控制翻转拨杆按照翻转参数转动的过程中，每一拨动凸起转动至相邻位置的另一拨动凸起处。
可选地，在控制翻转机构驱动翻转梁从翻折位置翻转至舒展位置的步骤之后，控制方法还包括：确定门体处于关闭位置，翻转梁处于舒展位置；获取冰箱的开门信号，控制开闭机构驱动门体从关闭位置向打开位置转动。
可选地，开闭机构还包括顶杆组件，其具有受控可伸缩地设置于冰箱的箱体的顶出杆；控制开闭机构驱动门体从关闭位置向打开位置转动的步骤包括：获取顶出杆的伸缩参数，伸缩参数至少包括顶出杆的伸缩方向；按照伸缩参数控制顶出杆伸缩，从而顶开门体。
可选地，在按照伸缩参数控制顶出杆伸缩的步骤之后，控制开闭机构驱动门体从关闭位置向打开位置转动的步骤还包括：检测门体相对于关闭位置的枢转角度；在枢转角度大于预设的第三角度阈值的情况下，控制开闭机构的旋转作用件驱动门体继续转动。
本发明的冰箱的控制方法，在确定门体处于打开位置、翻转梁处于翻折位置，且获取到冰箱的关门信号的情况下，通过控制开闭机构驱动门体从打开位置向关闭位置转动，可使门体自动关闭，通过在门体转动过程中检测门体相对于关闭位置的枢转角度，且在枢转角度小于预设的第一角度阈值的情况下控制翻转机构驱动翻转梁从翻折位置翻转至舒展位置，可使梁体在门体关闭过程中适时地自动翻转，从而顺利地完成关门动作。本发明通过对开闭机构和翻转机构进行控制，改进了冰箱的门体开闭方法，提高了门体开闭过程的自动化程度。
进一步地，本发明的冰箱的控制方法，在开闭机构驱动门体向关闭位置转动的过程中，通过检测门体相对于关闭位置的枢转角度，并根据枢转角度的大小控制翻转机构驱动翻转梁翻转，使得本发明的冰箱能够利用开闭机构和翻转机构的有机配合，实现门体开闭和梁体翻转的有序进行。
进一步地，本发明的冰箱的控制方法，在门体相对于关闭位置的枢转角度小于预设的第二角度阈值的情况下，通过提高旋转作用件的转动速度，可以提高门体的转动速度，门体的快速转动有利于降低翻转机构带动翻转梁翻转的难度，提高了开闭机构和翻转机构之间的配合程度，从而提高翻转过程的可靠性，减少或避免卡死现象。
更进一步地，本发明的冰箱的控制方法，在开门过程中仅需要控制开闭机构驱动门体转动即可完成开门动作，在关门过程中仅需要针对开闭机构和翻转机构进行控制即可完成关门动作，控制逻辑简单。
根据下文结合附图对本发明具体实施例的详细描述，本领域技术人员将会更加明了本发明的上述以及其他目的、优点和特征。
附图说明
后文将参照附图以示例性而非限制性的方式详细描述本发明的一些具体实施例。附图中相同的附图标记标示了相同或类似的部件或部分。本领域技术人员应该理解，这些附图未必是按比例绘制的。附图中：
图1是根据本发明一个实施例的冰箱的示意图；
图2是根据本发明一个实施例的冰箱的开闭机构和翻转机构的示意图；
图3是图2所示的冰箱的开闭机构和翻转机构的分解图；
图4是根据本发明一个实施例的冰箱的控制方法的示意图；
图5是图3所示的冰箱的开闭机构中旋转组件的内部结构图；
图6是图3所示的冰箱的翻转机构和翻转梁的分解图；
图7是图6所示的冰箱的翻转机构的内部结构的示意图；
图8是图7所示的冰箱的翻转机构的翻转拨杆的拨动部的俯视图；
图9是图3所示的冰箱的开闭机构中顶杆组件的内部结构图；
图10是根据本发明一个实施例的冰箱的控制流程图。
具体实施方式
图1是根据本发明一个实施例的冰箱10的示意图。冰箱10一般性地可包括箱体110、门体120、翻转梁400、开闭机构、翻转机构500和控制装置。开闭机构和翻转机构500可以组成冰箱10的自动开关门装置。本实施例的控制方法可以适用于多种类型的冰箱10，尤其适用于至少具有两个开启方向相对设置的门体120的冰箱10，例如对开门冰箱、十字门冰箱、法式多门冰箱等。
本实施例将以对开门冰箱为例，针对适用于对开门冰箱的开闭机构、翻转机构500、以及设置有上述开闭机构、翻转机构500的对开门冰箱的控制方法为例进行示意，本领域技术人员在了解本实施例的基础上，应当完全有能力针对其他应用情况进行拓展，此处不再一一示例。
箱体110内部可以形成有储物间室，储物间室可以为具有前向开口的储物空间。门体120可枢转地设置于箱体110，以封闭或打开前向开口，从而关闭或打开储物间室。本 实施例的门体120可以为两个，镜像对称地设置于前向开口处，例如，第一门体120可以用于封闭前向开口的左半部分，第二门体120可以用于封闭前向开口的右半部分。两个门体120的打开方向相对，例如前述第一门体120的枢转轴可以位于其左侧，前述第二门体120的枢转轴可以位于其右侧。图1中箭头示出左右方向，其中“左”“右”等用于表示方位的词语，均是相对于冰箱10的实际使用状态而言的，大致可以为箱体110的水平横向延伸方向。
每一门体120分别具有各自的关闭位置和打开位置。当门体120处于关闭位置时，门体120封闭箱体110的前向开口，当门体120从关闭位置向打开位置转动时，门体120打开箱体110的前向开口。值得说明的是，门体120可以具有预设的一个打开位置，例如该打开位置与关闭位置之间的枢转角度可以为135°。门体120也可以具有多个预设不同的打开位置，每一打开位置相对于关闭位置的枢转角度可以不同，并且在开门过程中可以根据开门信号的指示选择性地驱动门体120转动至任一打开位置。
每一打开位置相对于关闭位置的枢转角度影响门体120的打开程度。将门体120的打开位置预设为多个，并根据开门信号的指示选择打开位置，可使冰箱10根据用户的使用需求调整门体120的打开程度，从而可以减少开门状态下的冷量散失。
图2是根据本发明一个实施例的冰箱10的开闭机构和翻转机构500的示意图，为便于观察开闭机构和翻转机构500的安装位置，图2还示出了冰箱10的部分门体120以及部分箱体110。图3是图2所示的冰箱10的开闭机构和翻转机构500的分解图。
翻转梁400可以可翻转地连接于冰箱10的门体120。例如翻转梁400可以可翻转地连接至封闭前向开口左半部分的第一门体120，翻转梁400的第一端可以固定连接至第一门体120的右侧边缘部位，翻转梁400的第二端与第一端相对，且以第一端为转轴进行转动，从而实现翻转梁400的翻转。
翻转梁400和门体120均可以大致呈板状。翻转梁400可以根据门体120的开闭状态相对于门体120翻转。当门体120处于关闭位置时，翻转梁400所在板面与门体120所在板面之间的夹角可以大致为0°，在门体120从关闭位置向打开位置转动的过程中，翻转梁400可以相对于门体120转动，使得翻转梁400所在板面与门体120所在板面之间的夹角可以大致为90°，此时翻转梁400相对于门体120转动至翻折位置；在门体120从打开位置转动至关闭位置的过程中，翻转梁400可以相对于门体120再次转动，使得翻转梁400所在板面与门体120所在板面之间的夹角恢复至0°，此时翻转梁400相对于门体120转动至舒展位置。
翻转梁400的翻转过程是实现门体120开闭的必要环节。开闭机构用于驱动门体120在打开位置和关闭位置之间往复转动。翻转机构500用于驱动翻转梁400在翻折位置和舒展位置之间翻转。
控制装置具有存储器以及处理器，其中存储器内存储有控制程序，控制程序被处理器执行时用于实现以下任一实施例的冰箱10的控制方法。处理器可以是一个中央处理单元(CPU)，或者为数字处理单元(DSP)等等。存储器用于存储处理器执行的程序。存储器可以是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算 机存取的任何介质，但不限于此。存储器也可以是各种存储器的组合。由于控制程序被处理器执行时实现下述方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。本实施例的控制装置可以与开闭机构的旋转驱动电机210、角度测量装置、翻转机构的顶出驱动电机310通讯连接。
图4是根据本发明一个实施例的冰箱10的控制方法的示意图。该控制方法一般性地可包括：
步骤S402，确定门体120处于打开位置，翻转梁400处于翻折位置。
步骤S404，获取冰箱10的关门信号。
步骤S406，控制开闭机构驱动门体120从打开位置向关闭位置转动，且在门体120转动过程中检测门体120相对于关闭位置的枢转角度。
步骤S408，在枢转角度小于预设的第一角度阈值的情况下，控制翻转机构500驱动翻转梁400从翻折位置翻转至舒展位置。
使用上述方法，本实施例的冰箱10在确定门体120处于打开位置、翻转梁400处于翻折位置，且获取到冰箱10的关门信号的情况下，通过控制开闭机构驱动门体120从打开位置向关闭位置转动，可使门体120自动关闭，通过在门体120转动过程中检测门体120相对于关闭位置的枢转角度，且在枢转角度小于预设的第一角度阈值的情况下控制翻转机构500驱动翻转梁400从翻折位置翻转至舒展位置，可使梁体(即翻转梁400)在门体120关闭过程中适时地自动翻转，从而顺利地完成关门动作。通过对开闭机构和翻转机构500进行控制，本实施例改进了冰箱10的门体120开闭方法，提高了门体120开闭过程的自动化程度。
在开闭机构驱动门体120向关闭位置转动的过程中，通过检测门体120相对于关闭位置的枢转角度，并根据枢转角度的大小控制翻转机构500驱动翻转梁400翻转，使得本实施例的冰箱10能够利用开闭机构和翻转机构500的有机配合，实现门体120开闭和梁体翻转的有序进行。
例如箱体110内可以设置有用于提供照明光线的照明灯。照明灯的工作状态可以包括运行状态和关闭状态。门体120处于关闭位置时，照明灯可以处于关闭状态。门体120处于打开位置时，箱体110内的照明灯可以切换至运行状态，以向箱体110提供照明光线。上述步骤S402中，确定门体120处于打开位置且翻转梁400处于翻折位置的步骤可以包括：获取照明灯的工作状态，且在照明灯的工作状态为运行状态的情况下，确定门体120处于打开位置，翻转梁400处于翻折位置。
在一些可选的实施例中，还可以对上述步骤S402进行变换，例如可以根据冰箱10的开关门记录来确定门体120处于打开位置、翻转梁400处于翻折位置，但不限于此。冰箱10的开关门记录中可以保存有冰箱10每次执行的开关门动作(例如开门动作和关门动作)的时间。开关门动作的时间可以根据开门信号和关门信号的获取时间确定。上述步骤S402中，若开关门记录中此前保存的最后一次开关门动作为开门动作，则可以确定门体120处于打开位置、翻转梁400处于翻折位置。
上述步骤S404中，关门信号用于指示冰箱10执行关门动作以关闭门体120。关门 信号的触发条件可以为开门时长达到预设的开门时长阈值。开门时长是指门体120维持处于打开位置的持续时间。开门时长阈值可以根据用户的使用习惯进行预先设置，例如可以为1～5min范围内的任意值。
在另一些实施例中，可以对关门信号的触发条件进行变换，例如冰箱10可以接收用户发送的关门指令，该关门指令可以由用户通过语音发送到冰箱10的语音交互模块，冰箱10接收到关门指令后可以生成关门信号。
图5是图3所示的冰箱10的开闭机构中旋转组件200的内部结构图。
开闭机构可以包括旋转组件200，旋转组件200具有受控可转动地设置于冰箱10的箱体110且与门体120铰接的旋转作用件250、旋转驱动电机210以及旋转传动组件。
上述步骤S406可以包括：获取旋转作用件250的关门转动参数，旋转作用件250的关门转动参数至少包括旋转作用件250的转动方向和转动速度。按照旋转作用件250的关门转动参数控制旋转作用件250转动，从而带动门体120向关闭位置转动。
旋转驱动电机210可以向旋转作用件250提供驱动力。旋转传动组件连接旋转驱动电机210的输出轴与旋转作用件250，用于将旋转驱动电机210提供的驱动力传递至旋转作用件250，从而使得旋转作用件250受控转动。例如旋转驱动电机210可以为步进电机，旋转传动组件可以为齿轮组，但不限于此。
旋转作用件250可以与门体120的枢转轴通过铰链铰接，当旋转作用件250转动时，可以带动门体120的枢转轴转动，从而驱动门体120绕枢转轴转动以实现门体120的开闭。旋转作用件250可以为齿轮，其外周缘均匀分布有多个齿。且旋转作用件250一方面与旋转传动组件啮合连接，另一方面与门体120的枢转轴啮合铰接。
旋转作用件250的关门转动参数由旋转驱动电机210进行调节。旋转作用件250的转动方向由开关门信号的类型确定，且可以包括用于驱动门体120打开的正向转动方向以及用于驱动门体120关闭的逆向转动方向。根据冰箱10的关门信号可以确定旋转作用件250的转动方向为逆向转动方向。根据冰箱10的开门信号可以确定旋转作用件250的转动方向为正向转动方向。通过对旋转驱动电机210的转动方向进行调控，可以调节旋转作用件250的转动方向。旋转作用件250的转动速度可以预先设置为一个或多个设定值。本实施例中旋转作用件250的转动速度可以预设为两个，例如可以分别为第一预设转速和第二预设转速，且第一预设转速小于第二预设转速。在关门转动参数的确定步骤中，旋转作用件250的转动速度可以为第一预设转速。
旋转组件200还可以进一步地包括角度测量装置，用于检测门体120的转动角度。门体120的转动角度是指门体120当前位置所在板面与打开位置所在板面之间的夹角。且在按照旋转作用件250的关门转动参数控制旋转作用件250开始转动的同时，启动角度测量装置，以执行检测门体120相对于关闭位置的枢转角度步骤。角度测量装置可以为角度传感器，且可以设置于旋转作用件250的转轴上。门体120相对于关门位置的枢转角度是指门体120当前位置所在板面与关门位置所在板面之间的夹角。角度测量装置可以每隔预设的时间间隔(例如0.1～1s范围内的任意值)检测一次门体120的转动角度。
其中检测门体120相对于关闭位置的枢转角度的步骤可以包括：获取打开位置相对 于关闭位置的打开角度，根据打开位置相对于关闭位置的打开角度、以及角度测量装置检测到的门体120的转动角度确定门体120相对于关闭位置的枢转角度。例如门体120相对于关闭位置的枢转角度可以为打开位置相对于关闭位置的打开角度与角度测量装置检测到的门体120的转动角度之间的差值。
由于关门动作为开门动作的“逆向动作”，打开位置相对于关闭位置的打开角度是指处于打开位置的门体120转动至关闭位置所需转动的角度。例如，若打开位置相对于关闭位置的打开角度为135°，则若使门体120从该打开位置恢复至关闭位置，则需驱动门体120转动135°。
在检测门体120相对于关闭位置的枢转角度的同时，控制方法还可以包括：根据门体120相对于关闭位置的枢转角度调整旋转作用件250的转动速度。根据门体120相对于关闭位置的枢转角度调整旋转作用件250的转动速度的步骤可以包括：判断门体120相对于关闭位置的枢转角度是否小于预设的第二角度阈值，第二角度阈值大于第一角度阈值，若是，则提高旋转作用件250的转动速度，例如可以提高至第二预设转速。第二角度阈值可以为10～50°范围内的任意值，例如45°，35°等。
在门体120相对于关闭位置的枢转角度小于预设的第二角度阈值的情况下，通过提高旋转作用件250的转动速度，可以提高门体120的转动速度，门体120的快速转动有利于降低翻转机构500带动翻转梁400翻转的难度，提高了开闭机构和翻转机构500之间的配合程度，从而提高翻转过程的可靠性，减少或避免卡死现象。
图6是图3所示的冰箱10的翻转机构500和翻转梁400的分解图，图7是图6所示的冰箱10的翻转机构500的内部结构的示意图。
翻转机构500包括受控可转动地设置于冰箱10的箱体110的翻转拨杆510、翻转驱动电机540和翻转传动组件。
上述步骤S408可以包括：获取翻转拨杆510的翻转参数，翻转参数至少包括翻转拨杆510的转动方向和转动角度，控制翻转拨杆510按照翻转参数转动，从而带动翻转梁400从翻折位置翻转至舒展位置。
翻转拨杆510可以包括可转动地设置于箱体110的转轴部511和与转轴部511固定连接的拨动部512。转轴部511用于带动拨杆部转动，拨动部512用于带动翻转梁400翻转。翻转驱动电机540用于为翻转拨杆510的转动提供驱动力。翻转传动组件用于将翻转驱动电机540的驱动力传递至翻转拨杆510。翻转传动组件可以连接翻转驱动电机540的输出轴与翻转拨杆510的转轴部511，用于将翻转驱动电机540提供的驱动力传递至翻转拨杆510的转轴部511，以驱动翻转拨杆510转动。转轴部511的顶端与翻转传动组件传动连接。例如翻转驱动电机540可以为步进电机，翻转传动组件可以为齿轮组，但不限于此。
例如翻转传动组件可以包括相互啮合的梁体第一传动齿轮551和梁体第二传动齿轮552，其中梁体第一传动齿轮551连接至翻转驱动电机540的输出轴。梁体第一传动齿轮551可以与翻转驱动电机540的输出轴啮合连接，翻转驱动电机540的输出轴可以形成有与梁体第一传动齿轮551的齿啮合的齿形条。在一些可选的实施例中，梁体第一传动齿 轮551与翻转驱动电机540的输出轴之间的连接方式可以根据实际需要进行变换，例如，翻转驱动电机540的输出轴可以连接至梁体第一传动齿轮551的轴。
本实施例的翻转机构500的各个部件可以设置于一盒体520内。盒体520具有顶壁和底壁。顶壁和底壁大致可以为水平板壁状。其中底壁的上表面形成有上环形凸缘，上环形凸缘的中央形成有供转轴部511的底端伸入其中且可转动地配合的轴孔。顶壁的下方可以形成有环形固定件570，环形固定件570的中央形成有贯穿其厚度方向、以供转轴部511的顶端伸入其中且可转动地配合的另一轴孔。
梁体第二传动齿轮552的轴连接至翻转拨杆510的转轴部511。梁体第二传动齿轮552的轴可以位于转轴部511的上方。转轴部511的顶端可以穿过环形固定件570的轴孔，以与梁体第二传动齿轮552的轴固定连接。
翻转拨杆510的翻转参数由翻转驱动电机540进行调节。翻转拨杆510的转动方向由开关门信号的类型确定，且可以包括用于驱动翻转梁400由舒展位置翻转至翻折位置的正向转动方向以及用于驱动翻转梁400由翻折位置翻转至舒展位置的逆向转动方向。根据冰箱10的关门信号可以确定翻转拨杆510的转动方向为逆向转动方向。根据冰箱10的开门信号可以确定翻转拨杆510的转动方向为正向转动方向。通过对翻转驱动电机540的转动方向进行调控，可以调节翻转拨杆510的转动方向。翻转拨杆510的转动速度可以预先设置为一个或多个设定值。本实施例中翻转拨杆510的转动速度可以预设为一个，例如可以为第三预设转速。
转轴部511与拨动部512的旋转轴线与转轴部511的中心轴线及拨动部512的中心轴线同轴。转轴部511的中心轴线以及拨动部512的中心轴线均可以沿竖直方向延伸。且拨动部512从转轴部511的至少一部分区段沿径向向外延伸，例如可以从转轴部511的中部区段沿径向向外延伸。
图8是图7所示的冰箱10的翻转机构500的翻转拨杆510的拨动部512的俯视图。
拨动部512形成有多个拨动凸起512a，相对于拨动部512的中心轴线间隔均匀分布，且用于与翻转梁400配合以带动翻转梁400翻转。拨动凸起512a可以从拨动部512的周向沿径向向外伸出。
在控制翻转拨杆510按照翻转参数转动之前，确定一拨杆凸起位于预设的工作位置，且在控制翻转拨杆510按照翻转参数转动的过程中，每一拨动凸起512a转动至相邻位置的另一拨动凸起512a处。预设的工作位置可以指图8中箭头所指拨动凸起512a所在位置。
例如本实施例的拨动凸起512a可以为三个，相邻拨动凸起512a之间的夹角可以为120°。拨动部512的整体外形可以大致类似于吊扇，拨动凸起512a可以大致类似于吊扇的扇叶，且具有厚度。每一拨动凸起512a配置成在冰箱10的门体120关闭过程中转动至相邻位置的另一拨动凸起512a处。也就是说，在门体120关闭过程中，驱动一拨动凸起512a转动120°，即可带动翻转梁400翻转至舒展位置。在门体120恢复至关闭位置且翻转梁400恢复至舒展位置时，拨动凸起512a静止，且用于带动翻转梁400翻转的拨动凸起512a的延伸方向可以平行于箱体110的左右延伸方向，图中虚线示出箱体110的左 右延伸方向。如此设置，在门体120打开过程中，任一拨动凸起512a均不会对翻转梁400的翻转造成干涉。也就是说，本实施例的翻转拨杆510仅需要在门体120关闭过程中带动翻转梁400翻转，这既有利于简化梁体翻转机构500的控制过程，也可以减少翻转拨杆510与翻转梁400产生机械磨损。
值得说明的是，在了解本实施例的基础上，本领域技术人员应当易于根据实际情况适当调整拨动凸起512a的数量和转动角度的大小、以及拨动部512的位置和拨动凸起512a的形状尺寸，以上举例不应视为针对拨动凸起512a的数量和转动角度大小的限定。
翻转梁400可以包括翻转梁本体410和从翻转梁本体410的顶端向上凸出的导向杆420。翻转梁本体410的高度与门体120的高度可以大致相同。也就是说，翻转梁400的顶部还形成有向上凸出的导向杆420。盒体520内相应形成有供导向杆420伸入其中且可往复移动的导向槽，例如导向槽可以从盒体520的部分底壁向上凹陷形成。导向杆420配置成在冰箱10的门体120关闭过程中由拨动部512带动沿导向槽移动，从而使得翻转梁400翻转。导向槽的位置可以与翻转拨杆510的安装位置邻近设置。
在关门过程中，在翻转梁400翻转至舒展位置时，旋转驱动电机210与翻转驱动电机540可以同时切换至停机状态。
上述步骤S408之后，控制方法还可以包括：确定门体120处于关闭位置，翻转梁400处于舒展位置，获取冰箱10的开门信号，控制开闭机构驱动门体120从关闭位置向打开位置转动。
开门信号用于指示冰箱10执行开门动作以打开门体120。开门信号的触发条件可以为冰箱10接收到用户发送的开门指令，该开门指令可以由用户通过语音发送到冰箱10的语音交互模块，冰箱10接收到开门指令后可以生成开门信号。开门信号中可以含有用于指示门体120转动至某一打开位置的信息。
图9是图3所示的冰箱10的开闭机构中顶杆组件300的内部结构图。开闭机构还包括顶杆组件300，顶杆组件300具有受控可伸缩地设置于冰箱10的箱体110的顶出杆350、顶出驱动电机310以及顶出传动组件。
控制开闭机构驱动门体120从关闭位置向打开位置转动的步骤可以包括：获取顶出杆350的伸缩参数，伸缩参数至少包括顶出杆350的伸缩方向，按照伸缩参数控制顶出杆350伸缩，从而顶开门体120。
在门体120处于关闭位置的情况下，顶杆组件300可以顶开门体120。顶杆组件300设置于箱体110上，例如可以设置于旋转组件200与翻转拨杆510之间，且靠近门体120与翻转梁400相接的部位，以利用较小的作用力顶开门体120。
顶出杆350用于受控可伸缩地设置于冰箱10的箱体110，且配置成在旋转作用件250转动之前受控地伸出，以顶开门体120。顶出杆350可以沿其中心轴线方向伸出或者缩回。顶出杆350的中心轴线可以平行于箱体110的前后延伸方向。图1箭头示出箱体110的前后延伸方向，其中“前”“后”等用于表示方位的词语，均是相对于冰箱10的实际使用状态而言的。
顶出杆350上形成有沿其中心轴线方向排布的齿条351。该齿条351可以与顶出传动 组件啮合连接，从而使得顶出传动组件将顶出驱动电机310的驱动力传递至顶出杆350。
顶出驱动电机310可以向顶出杆350提供驱动力。顶出传动组件连接顶出驱动电机310的输出轴与顶出杆350，用于将顶出驱动电机310提供的驱动力传递至顶出杆350，从而使得顶出杆350受控伸缩。例如顶出驱动电机310可以为步进电机，顶出传动组件可以为齿轮组，但不限于此。
顶出杆350的伸缩参数由顶出驱动电机310进行调节。顶出杆350的伸缩方向由开关门信号的类型确定，且可以包括用于驱动顶出杆350伸出的伸出方向以及用于驱动顶出杆350缩回的缩回方向。根据冰箱10的开门信号可以确定顶出杆350的伸缩方向为伸出方向。根据冰箱10的关门信号可以确定顶出杆350的伸缩方向为缩回方向。通过对顶出驱动电机310的转动方向进行调控，可以调节顶出杆350的伸缩方向。
在另一些实施例中，顶杆组件300还可以包括复位弹簧360，沿顶出杆350的中心轴线方向可拉伸地设置于顶出杆350的后侧。复位弹簧360的拉伸方向与顶出杆350的中心轴线方向共线。在顶出杆350顶开门体120之后，可以控制顶出驱动电机310停机。且复位弹簧360配置成在顶出杆350受控地伸出的过程中伸长以产生弹性形变，还配置成在顶出杆350顶开门体120之后带动顶出杆350缩回，以防顶出杆350对门体120的关闭过程造成干涉。
在一些实施例中，顶杆组件300还可以包括接近传感器380，设置于顶出杆350的齿条351的前侧。顶出杆350做伸出运动时，其齿条351会随之前移。当顶出杆350的齿条351抵压于接近传感器380时，接近传感器380可以产生特定的电信号，顶杆驱动电机在接收到接近传感器380的电信号之后可以切换至停机状态。
在按照伸缩参数控制顶出杆350伸缩的步骤之后，控制开闭机构驱动门体120从关闭位置向打开位置转动的步骤还包括：检测门体120相对于关闭位置的枢转角度，在枢转角度大于预设的第三角度阈值的情况下，控制开闭机构的旋转作用件250驱动门体120继续转动。其中第三角度阈值可以为1～5°范围内的任意值，例如可以为2°，3°或者4°。第三角度阈值可以小于第一角度阈值。
在一些进一步的实施例中，在开门过程和关门过程中，控制开闭机构的旋转作用件250驱动门体120转动的同时，可以持续检测门体120相对于关闭位置的枢转角度，门体120尚未到达打开位置或关闭位置且在门体120相对于关闭位置的枢转角度的变化率小于预设的变化率阈值的情况下，控制旋转驱动电机210切换至待机状态。预设的变化率阈值可以为1～2°/s范围内的任意值，例如可以为2°/s。当门体120相对于关闭位置的枢转角度的变化率小于预设的变化率阈值时，表明门体120在转动过程中可能与障碍物发生碰撞而导致卡死，此时控制旋转驱动电机210切换至待机状态可以减少或避免旋转组件200各个部件发生机械损伤。
使用上述方法，本实施例的冰箱10在开门过程中仅需要控制开闭机构驱动门体120转动即可完成开门动作，在关门过程中仅需要针对开闭机构和翻转机构500进行控制即可完成关门动作，控制逻辑简单。
旋转传动组件和顶出传动组件的结构可以相同，例如均可以包括门体第一传动齿轮 211、门体第二传动齿轮212和门体第三传动齿轮213。门体第一传动齿轮211连接至旋转驱动电机210或者顶出驱动电机310的输出轴。门体第二传动齿轮212与门体第一传动齿轮211啮合。门体第三传动齿轮213与门体第二传动齿轮212同轴，并与旋转作用件250或者顶出杆350传动连接。且门体第三传动齿轮213的齿根圆直径大于门体第二传动齿轮212的齿根圆直径，这可以对驱动电机的转动行程起到放大作用，利用小幅度的转动即可驱动顶出杆350产生较大的伸缩量，或者驱动旋转作用件250产生较大的转动量。门体第三传动齿轮213可以通过一门体第四传动齿轮214与旋转作用件250或者顶出杆350传动连接。
图10是根据本发明一个实施例的冰箱10的控制流程图。该控制流程一般性地可包括：
步骤S1002，确定门体120处于打开位置，翻转梁400处于翻折位置。
步骤S1004，获取冰箱10的关门信号。
步骤S1006，获取旋转作用件250的关门转动参数。旋转作用件250的关门转动参数至少包括旋转作用件250的转动方向和转动速度。
步骤S1008，按照旋转作用件250的关门转动参数控制旋转作用件250转动，从而带动门体120向关闭位置转动。
步骤S1010，启动角度测量装置，以检测门体120相对于关闭位置的枢转角度。在按照旋转作用件250的关门转动参数控制旋转作用件250开始转动的同时，启动角度测量装置。检测门体120相对于关闭位置的枢转角度的步骤包括：获取打开位置相对于关闭位置的打开角度，根据打开位置相对于关闭位置的打开角度、以及角度测量装置检测到的门体120的转动角度确定门体120相对于关闭位置的枢转角度。
步骤S1012，判断门体120相对于关闭位置的枢转角度是否小于预设的第二角度阈值，若是，则执行步骤S1014，若否，则执行步骤S1012。
步骤S1014，提高旋转作用件250的转动速度。
步骤S1016，在旋转作用件250带动门体120转动的过程中持续检测门体120相对于关闭位置的枢转角度。判断门体120相对于关闭位置的枢转角度是否小于预设的第一角度阈值，其中第一角度阈值小于第二角度阈值，若是，则执行步骤S1018，若否，则执行步骤S1016。
步骤S1018，获取翻转拨杆510的翻转参数，翻转参数至少包括翻转拨杆510的转动方向和转动角度。
步骤S1020，确定一拨杆凸起位于预设的工作位置。
步骤S1022，按照翻转参数控制每一拨动凸起512a转动至相邻位置的另一拨动凸起512a，使得翻转梁400翻转至舒展位置。在翻转梁400翻转至舒展位置的同时，门体120恢复至关闭位置，此时控制旋转驱动电机210和翻转驱动电机540同时停机。
步骤S1024，确定门体120处于关闭位置，翻转梁400处于舒展位置。
步骤S1026，获取冰箱10的开门信号。
步骤S1028，获取顶出杆350的伸缩参数，伸缩参数至少包括顶出杆350的伸缩方 向。
步骤S1030，按照伸缩参数控制顶出杆350伸缩，从而顶开门体120。
步骤S1032，检测门体120相对于关闭位置的枢转角度。
步骤S1034，在枢转角度大于预设的第三角度阈值的情况下，控制开闭机构的旋转作用件250驱动门体120向打开位置继续转动。
本实施例的冰箱10的控制方法，在确定门体120处于打开位置、翻转梁400处于翻折位置，且获取到冰箱10的关门信号的情况下，通过控制开闭机构驱动门体120从打开位置向关闭位置转动，可使门体120自动关闭，通过在门体120转动过程中检测门体120相对于关闭位置的枢转角度，且在枢转角度小于预设的第一角度阈值的情况下控制翻转机构500驱动翻转梁400从翻折位置翻转至舒展位置，可使梁体在门体120关闭过程中适时地自动翻转，从而顺利地完成关门动作。本实施例通过对开闭机构和翻转机构500进行控制，改进了冰箱10的门体120开闭方法，提高了门体120开闭过程的自动化程度。
至此，本领域技术人员应认识到，虽然本文已详尽示出和描述了本发明的多个示例性实施例，但是，在不脱离本发明精神和范围的情况下，仍可根据本发明公开的内容直接确定或推导出符合本发明原理的许多其他变型或修改。因此，本发明的范围应被理解和认定为覆盖了所有这些其他变型或修改。

Claims (10)

  1. 一种冰箱的控制方法，所述冰箱包括门体、连接于所述门体的翻转梁、用于驱动所述门体在打开位置和关闭位置之间往复转动的开闭机构、以及用于驱动所述翻转梁在翻折位置和舒展位置之间翻转的翻转机构，并且所述控制方法包括：
    确定所述门体处于所述打开位置，所述翻转梁处于所述翻折位置；
    获取所述冰箱的关门信号；
    控制所述开闭机构驱动所述门体从所述打开位置向所述关闭位置转动，且在所述门体转动过程中检测所述门体相对于所述关闭位置的枢转角度；
    在所述枢转角度小于预设的第一角度阈值的情况下，控制所述翻转机构驱动所述翻转梁从所述翻折位置翻转至所述舒展位置。
  2. 根据权利要求1所述的控制方法，其中
    所述开闭机构包括旋转组件，其具有受控可转动地设置于所述冰箱的箱体且与所述门体铰接的旋转作用件；且
    控制所述开闭机构驱动所述门体从所述打开位置向所述关闭位置转动的步骤包括：
    获取所述旋转作用件的关门转动参数，所述旋转作用件的关门转动参数至少包括所述旋转作用件的转动方向和转动速度；
    按照所述旋转作用件的关门转动参数控制所述旋转作用件转动，从而带动所述门体向所述关闭位置转动。
  3. 根据权利要求2所述的控制方法，其中
    所述旋转组件还包括角度测量装置，用于检测所述门体的转动角度；且在按照所述旋转作用件的关门转动参数控制所述旋转作用件开始转动的同时，启动所述角度测量装置，以执行检测所述门体相对于所述关闭位置的枢转角度步骤；其中
    检测所述门体相对于所述关闭位置的枢转角度的步骤包括：
    获取所述打开位置相对于所述关闭位置的打开角度；
    根据所述打开位置相对于所述关闭位置的打开角度、以及所述角度测量装置检测到的所述门体的转动角度确定所述门体相对于所述关闭位置的枢转角度。
  4. 根据权利要求3所述的控制方法，其中
    在检测所述门体相对于所述关闭位置的枢转角度的同时，所述控制方法还包括：
    根据所述门体相对于所述关闭位置的枢转角度调整所述旋转作用件的转动速度。
  5. 根据权利要求4所述的控制方法，其中
    根据所述门体相对于所述关闭位置的枢转角度调整所述旋转作用件的转动速度的步骤包括：
    判断所述门体相对于所述关闭位置的枢转角度是否小于预设的第二角度阈值，所述第二角度阈值大于所述第一角度阈值；
    若是，则提高所述旋转作用件的转动速度。
  6. 根据权利要求1所述的控制方法，其中
    所述翻转机构包括受控可转动地设置于所述冰箱的箱体的翻转拨杆；且
    控制所述翻转机构驱动所述翻转梁从所述翻折位置翻转至所述舒展位置的步骤包括：
    获取所述翻转拨杆的翻转参数，所述翻转参数至少包括所述翻转拨杆的转动方向和转动角度；
    控制所述翻转拨杆按照所述翻转参数转动，从而带动所述翻转梁从所述翻折位置翻转至所述舒展位置。
  7. 根据权利要求6所述的控制方法，其中
    所述翻转拨杆包括可转动地设置于所述箱体的转轴部和与所述转轴部固定连接的拨动部；其中所述拨动部形成有多个拨动凸起，相对于所述拨动部的中心轴线间隔均匀分布，且用于与所述翻转梁配合以带动所述翻转梁翻转；
    在控制所述翻转拨杆按照所述翻转参数转动之前，确定一所述拨杆凸起位于预设的工作位置；且
    在控制所述翻转拨杆按照所述翻转参数转动的过程中，每一所述拨动凸起转动至相邻位置的另一拨动凸起处。
  8. 根据权利要求1所述的控制方法，其中
    在控制所述翻转机构驱动所述翻转梁从所述翻折位置翻转至所述舒展位置的步骤之后，所述控制方法还包括：
    确定所述门体处于所述关闭位置，所述翻转梁处于所述舒展位置；
    获取所述冰箱的开门信号，
    控制所述开闭机构驱动所述门体从所述关闭位置向所述打开位置转动。
  9. 根据权利要求8所述的控制方法，其中
    所述开闭机构还包括顶杆组件，其具有受控可伸缩地设置于所述冰箱的箱体的顶出杆；
    控制所述开闭机构驱动所述门体从所述关闭位置向所述打开位置转动的步骤包括：
    获取所述顶出杆的伸缩参数，所述伸缩参数至少包括所述顶出杆的伸缩方向；
    按照所述伸缩参数控制所述顶出杆伸缩，从而顶开所述门体。
  10. 根据权利要求9所述的控制方法，其中
    在按照所述伸缩参数控制所述顶出杆伸缩的步骤之后，控制所述开闭机构驱动所述门体从所述关闭位置向所述打开位置转动的步骤还包括：
    检测所述门体相对于所述关闭位置的枢转角度；
    在所述枢转角度大于预设的第三角度阈值的情况下，控制所述开闭机构的旋转作用件驱动所述门体继续转动。
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