WO2022142688A1

WO2022142688A1 - Control method for refrigerator

Info

Publication number: WO2022142688A1
Application number: PCT/CN2021/127658
Authority: WO
Inventors: 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: 2020-12-31
Filing date: 2021-10-29
Publication date: 2022-07-07
Also published as: CN114688789B; CN114688789A

Abstract

A control method for a refrigerator which comprises a door body and an opening/closing mechanism for driving the reciprocating rotation of the door body between an open position and a closed position, the opening/closing mechanism comprising an ejector rod and a guide rod, the ejector rod being configured to be controlled to extend outward to open the door body, and the guide rod being configured to be controlled to move to drive the door body to rotate. The control method comprises: determining that the door body is in the closed position; acquiring a door opening signal of the refrigerator; controlling the ejector rod to extend outward to open the door body, and measuring a pivot angle of the door body relative to the closed position; determining whether the pivot angle of the door body relative to the closed position is greater than a preset first angle threshold; and if so, controlling the guide rod to move to drive the door body to rotate to the open position. In the present invention, the ejector rod and the guide rod are integrated into the opening/closing mechanism, and by means of controlling the ejector rod and the guide rod of the opening/closing mechanism, the integrated opening/closing mechanism is used to improve the method for opening/closing a door body of a refrigerator, so as to improve the degree of automation of opening/closing the door body on the premise of simplifying the structure of the opening/closing mechanism.

Description

refrigerator control method

technical field

The invention relates to refrigeration equipment, in particular to a control method of a refrigerator.

Background technique

A refrigerator is a refrigeration device that can provide a low-temperature preservation environment for perishable items such as food and medicine.

In the prior art, the opening and closing methods of some refrigerators are often manual. If the user holds items with both hands, he often needs to free his hands to open and close the door. The degree of automation of the door opening and closing process is low, which leads to There are many inconveniences during use.

In order to improve the automation degree of the door opening and closing process, an opening and closing mechanism can be installed on the refrigerator. Since the opening and closing process of the door body needs to overcome multiple forces such as the suction force of the door seal, it is often necessary to configure multiple different opening and closing mechanisms for joint action to smoothly open and close the door body, which will lead to a complex number of opening and closing mechanisms. , the overall structure is complex, the integration is poor, the space is large, and the installation space of each mechanism needs to be reserved during the foaming process, resulting in a complex foaming process.

Therefore, how to use the integrated opening and closing mechanism to improve the door opening and closing method of the refrigerator, and improve the automation degree of the door opening and closing process under the premise of simplifying the structure of the opening and closing mechanism, has become a technical problem to be solved urgently by those skilled in the art.

SUMMARY OF THE INVENTION

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 use an integrated opening and closing mechanism to improve the door opening and closing method of the refrigerator, and to improve the automation degree of the door opening and closing process on the premise of simplifying the structure of the opening and closing mechanism.

Another further object of the present invention is to utilize the organic cooperation of the ejector rod and the guide rod to realize the automatic opening and closing of the door body.

A further object of the present invention is to provide a new way of turning the beam body, which simplifies the turning mechanism of the beam body.

Another further object of the present invention is to use simple control logic to regulate the automatic opening and closing of the door.

The invention provides a control method of a refrigerator. The refrigerator includes a door body and an opening and closing mechanism for driving the door body to reciprocate between an open position and a closed position. The opening and closing mechanism includes a top rod and a guide rod, wherein the top rod is configured with The guide rod is configured to be controlled to move to drive the door body to rotate; and the control method includes: determining that the door body is in a closed position; acquiring a door opening signal of the refrigerator; controlling the ejector rod to extend to push the door body. open the door, and detect the pivot angle of the door relative to the closed position; determine whether the pivot angle of the door relative to the closed position is greater than the preset first angle threshold; if so, control the movement of the guide rod to drive the door to open position turns.

Optionally, the opening and closing mechanism further includes an angle measuring device for detecting the pivoting angle of the door body relative to the closed position; and at the same time that the control ejector rod starts to extend, the angle measuring device is activated to perform the detection of the door body relative to the closed position. Pivot angle steps for closed position.

Optionally, the refrigerator further includes a turning beam connected to the door body and a turning mechanism for driving the turning beam to turn over between the folded position and the extended position. During the rotation of the open position, the compression deformation is generated by rotating around the axis, and it is also configured to reverse the rotation around the axis to restore the compression deformation and release the elastic force when the guide rod drives the door body to rotate from the open position to the closed position, thereby driving the door. The body is closed, and the turning beam is urged to turn over during the closing process of the door body; and in the process of controlling the guide rod to move to drive the door body to rotate to the open position, the control method further includes: when the pivot angle of the door body relative to the closed position is less than In the case of the preset second angle threshold, the rotation speed of the door body is detected, and the second angle threshold value is greater than the first angle threshold value; the guide rod is controlled according to the rotation speed of the door body, so that the flip elastic assembly is in the process of the door body rotating. Compression deformation occurs.

Optionally, the opening and closing mechanism further includes a first drive motor for providing a driving force to the guide rod, and in the step of controlling the movement of the guide rod to drive the door body to rotate to the open position, the first drive motor is activated to provide drive to the guide rod. and the step of controlling the guide rod according to the rotational speed of the door body includes: judging whether the rotational speed of the door body is less than a preset rotational speed threshold; if so, increasing the output rotational speed of the first drive motor.

Optionally, in the process of controlling the movement of the guide rod to drive the door body to rotate to the open position, the control method further includes: when the pivot angle of the door body relative to the closed position is greater than or equal to a second angle threshold, detecting the door body The rotation speed change rate of the door body is adjusted according to the rotation speed change rate of the door body.

Optionally, the step of adjusting the output rotational speed of the first drive motor according to the rate of change of the rotational speed of the door body includes: judging whether the rate of change of the rotational speed of the door body is greater than a preset rate of change threshold; The output speed is adjusted to the preset minimum output speed.

Optionally, during the rotation of the door body to the open position, the flip beam is flipped to the folded position; after the door body is rotated to the open position, the control method further includes: acquiring a door closing signal of the refrigerator; controlling the movement of the guide rod to drive the door The body is rotated to the closed position, and the turning beam is driven to turn over to the extended position during the rotation of the door body to the closed position.

Optionally, the step of acquiring the door closing signal of the refrigerator includes: detecting the door opening duration when the door is in the open position; judging whether the door opening duration exceeds a preset duration threshold; if so, generating a door closing signal.

Optionally, while controlling the movement of the guide rod to drive the door body to rotate to the closed position, the control method further includes: detecting a pivot angle of the door body relative to the closed position; judging whether the pivot angle is smaller than a preset third angle threshold , the third angle threshold value is greater than the second angle threshold value; if so, the guide rod is controlled to increase the rotation speed of the door body, so that the overturning elastic assembly restores the compression deformation during the door body rotation process.

In the control method of the refrigerator of the present invention, when it is determined that the door body is in the closed position and the door opening signal of the refrigerator is obtained, the top rod is controlled to extend to push the door body, and the pivot angle of the door body relative to the closed position is greater than Under the condition of the preset first angle threshold, the guide rod is controlled to move to drive the door body to rotate to the open position, so that the door opening action can be completed smoothly. The invention integrates the top rod and the guide rod into the opening and closing mechanism, improves the door opening and closing method of the refrigerator by controlling the top rod and the guide rod of the opening and closing mechanism, and improves the door body of the refrigerator by using the integrated opening and closing mechanism. The opening and closing method improves the automation degree of the door opening and closing process on the premise of simplifying the structure of the opening and closing mechanism.

Further, in the control method of the refrigerator of the present invention, the pivot angle of the door body relative to the closed position is detected during the process of the ejector rod extending to push the door body, and the movement of the guide rod is controlled to drive the door according to the size of the pivot angle. The rotation of the body enables the refrigerator of the present invention to utilize the organic cooperation of the ejector rod and the guide rod to overcome multiple forces such as the suction force of the door seal to perform work and realize the automatic opening and closing of the door body.

Further, the control method of the refrigerator of the present invention provides a new way of flipping the beam body. By setting the flipping elastic component in the flipping mechanism, the flipping elastic component can pass through the guide rod in the process of driving the door body to rotate to the open position. Rotation around the axis produces compression deformation, and when the guide rod drives the door body to rotate to the closed position, the above-mentioned compression deformation is restored by reverse rotation around the axis, thereby driving the door body to close, thereby indirectly promoting the overturning beam during the door body closing process. flip. By detecting the rotation speed of the door body during the rotation of the door body, and adjusting the output speed of the first drive motor according to the rotation speed of the door body, the inversion elastic component can be smoothly deformed or restored to compression deformation, so that the inversion elastic component can be smoothly deformed. The assembly can cooperate with the guide rod to provide the turning power for the turning beam.

Further, the control method of the refrigerator of the present invention only needs to control the ejector rod and the guide rod when the door opening signal is obtained to complete the door opening action, and the guide rod is controlled when the door closing signal is obtained. The door closing action and the beam body turning action can be completed, so that the refrigerator of the present invention can adjust the automatic opening and closing of the door body by simple control logic.

The above and other objects, advantages and features of the present invention will be more apparent to those skilled in the art from the following detailed description of the specific embodiments of the present invention in conjunction with the accompanying drawings.

Description of drawings

Hereinafter, some specific embodiments of the present invention will be described in detail by way of example and not limitation with reference to the accompanying drawings. The same reference numbers in the figures designate the same or similar parts or parts. It will be understood by those skilled in the art that the drawings are not necessarily to scale. In the attached picture:

1 is a schematic diagram of a refrigerator according to an embodiment of the present invention;

2 is a schematic diagram of an opening and closing mechanism according to an embodiment of the present invention;

3 is a schematic diagram of a control method of a refrigerator according to an embodiment of the present invention;

Figure 4 is a top view of the opening and closing mechanism shown in Figure 2;

Fig. 5 is the internal structure diagram of the opening and closing mechanism shown in Fig. 4;

Fig. 6 is a partial structural view of the guide rod of the opening and closing mechanism shown in Fig. 4;

7 is a schematic diagram of a turning mechanism according to an embodiment of the present invention;

Figure 8 is an exploded view of the flip mechanism shown in Figure 7;

Fig. 9 is the schematic diagram of the overturning fixed shaft in the overturning mechanism shown in Fig. 8;

Fig. 10 is a schematic diagram of the overturning elastic component in the overturning mechanism shown in Fig. 8;

11 is a control flowchart of a refrigerator according to an embodiment of the present invention.

Detailed ways

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 140 (hereinafter referred to as a “beam body”), an opening and closing mechanism 200 , a turning mechanism 500 and a control device. The opening and closing mechanism 200 and the turning mechanism 500 may constitute an automatic door opening and closing device of the refrigerator 10 . The opening and closing mechanism 200 is used to drive the door body 120 to reciprocate between the open position and the closed position. The flip mechanism 500 is used to drive the flip beam 140 to flip between the folded position and the extended position. The refrigerator 10 in this embodiment may be a single-door refrigerator 10, or may be a multi-door refrigerator 10 having at least two door bodies 120 with opposite opening directions, such as a side-by-side refrigerator 10, a cross-door refrigerator 10, and a French multi-door refrigerator 10. Wait.

The following embodiments will take the side-by-side refrigerator 10 as an example to describe the control method of the side-by-side refrigerator 10 suitable for the opening and closing mechanism 200 , the turning mechanism 500 of the side-by-side refrigerator 10 , and the side-by-side refrigerator 10 provided with the above-mentioned opening and closing mechanism 200 and the turning mechanism 500 . For example, 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. There may be two door bodies 120 in this embodiment, which are mirror-symmetrically disposed at the front opening. For example, the first door body 120 may be used to close the left half of the front opening, and the second door body 120 may be used to close the front opening. Right half of the forward 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-right direction, 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. When the door body 120 is in the closed position, 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 . It is worth noting that 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.

The inversion beam 140 may be reversibly connected to the door body 120 of the refrigerator 10 . For example, the inversion beam 140 may be reversibly connected to the first door body 120 closing the left half of the front opening, the first end of the inversion beam 140 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 140 .

Both the turning beam 140 and the door body 120 may be substantially plate-shaped. The inversion beam 140 may invert relative to the door body 120 according to the opening and closing state of the door body 120 . The inversion process of the inversion beam 140 is a necessary link for realizing the opening and closing of the door body 120 . When the door body 120 is in the closed position, the angle between the board surface where the flip beam 140 is located and the board surface where the door body 120 is located may be approximately 0°. During the rotation of the door body 120 from the closed position to the open position, the flip beam 140 can be rotated relative to the door body 120, so that the angle between the board surface where the flip beam 140 is located and the board surface where the door body 120 is located can be approximately 90°, at this time the flip beam 140 is rotated relative to the door body 120 to the folded position; During the rotation of the door body 120 from the open position to the closed position, the flip beam 140 can be rotated relative to the door body 120 again, so that the included angle between the board surface where the flip beam 140 is located and the board surface where the door body 120 is located returns to 0° , at this time, the turning beam 140 rotates to the extended position relative to the door body 120 .

2 is a schematic diagram of an opening and closing mechanism 200 of the refrigerator 10 according to an embodiment of the present invention, where the opening and closing mechanism 200 is used to drive the first door body 120 to open and close. The opening and closing mechanism 200 for driving the opening and closing of the second door 120 is omitted in the figure. In order to facilitate the observation of the installation position of the opening and closing mechanism 200 , FIG. 2 also shows part of the door 120 and part of the box 110 of the refrigerator 10 .

The opening and closing mechanism 200 may generally include a housing 230, and a top rod 260 and a guide rod disposed in the inner space of the housing 230, wherein the top rod 260 is configured to controllably protrude to push up the door body 120, and the guide rod is configured to Controlled movement to drive the door body 120 to rotate. The opening and closing mechanism 200 may further include an angle measuring device for detecting the pivot angle of the door body 120 relative to the closed position, a first driving motor 215 for providing a driving force to the guide rod, and a first driving motor 215 for connecting the guide rod and the first The first transmission assembly of the driving motor 215, the second driving motor 216 for providing driving force to the ejector rod 260, the second transmission assembly for connecting the ejector rod 260 and the second driving motor 216, and the The restoring elastic member 270 that drives the ejector rod 260 to retract after being controlledly extended.

The turning mechanism 500 includes a turning elastic component configured to generate compression deformation by rotating around the axis when the guide rod drives the door body 120 to rotate to the open position, and is also configured to rotate the door body 120 from the open position to the closed position when the guide rod drives the door body 120 to rotate from the open position to the closed position. In the process, the elastic force is released by reversing the rotation around the axis to restore the compression deformation, thereby driving the door body 120 to close, and promoting the turning beam 140 to turn over during the closing process of the door body 120 . The turning mechanism 500 may further include a box body fixing plate 510 , a turning fixing shaft 520 and a door body fixing member 570 .

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 drive motor of the opening and closing mechanism 200 and the angle measuring device.

FIG. 3 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 S302, it is determined that the door body 120 is in the closed position.

In step S304, the door opening signal of the refrigerator 10 is obtained.

In step S306, the ejector rod 260 is controlled to extend to push up the door body 120, and the pivot angle of the door body 120 relative to the closed position is detected.

Step S308, determining whether the pivot angle of the door body 120 relative to the closed position is greater than a preset first angle threshold.

Step S310 , when the pivot angle of the door body 120 relative to the closed position is greater than the preset first angle threshold, control the guide rod to move to drive the door body 120 to rotate to the open position.

Using the above method, the refrigerator 10 of this embodiment controls the ejector rod 260 to extend to push up the door body 120 when the door body 120 is determined to be in the closed position and the door opening signal of the refrigerator 10 is obtained, and the door body 120 is opposite to the door body 120. When the pivot angle of the closed position is greater than the preset first angle threshold, the guide rod is controlled to move to drive the door body 120 to rotate to the open position, so that the door opening action can be completed smoothly. In this embodiment, the ejector rod 260 and the guide rod are integrated into the opening and closing mechanism 200. By controlling the ejector rod 260 and the guide rod of the opening and closing mechanism 200, the method for opening and closing the door 120 of the refrigerator 10 is improved. The closing mechanism 200 improves the opening and closing method of the door body 120 of the refrigerator 10 , and improves the automation degree of the opening and closing process of the door body 120 under the premise of simplifying the structure of the opening and closing mechanism 200 .

By detecting the pivot angle of the door body 120 relative to the closed position when the ejector rod 260 is extended to push up the door body 120, and controlling the movement of the guide rod according to the pivot angle to drive the door body 120 to rotate, this embodiment makes The refrigerator 10 of the present invention can utilize the organic cooperation of the ejector rod 260 and the guide rod to overcome multiple forces such as the suction of the door seal and perform work, so as to realize the automatic opening and closing of the door body 120 .

In the above step S302, in the process of determining that the door body 120 is in the closed position, for example, the door opening and closing records of the refrigerator 10 can be obtained, and the door opening and closing records are recorded in chronological order with the door opening actions performed by the refrigerator 10 each time within the set time period. And the door closing action, if the previous last record in the door opening and closing record corresponds to the door closing action, it can be determined that the door body 120 is in the closed position.

In some optional embodiments, the method for determining that the door body 120 is in the closed position can also be changed. For example, an illumination lamp for providing illumination light can be provided in the box body 110, and the door can be determined by detecting the working state of the illumination lamp. The body 120 is in a closed position, but is not limited thereto. The working state of the lighting lamp can include a running state and an off state. When the door body 120 is in the closed position, the lighting lamp may be in an off state. When the door body 120 is in the open position, the lighting lamp in the box body 110 can be switched to a running state to provide lighting light to the box body 110 .

In the above step S304, the door opening signal is used to instruct the refrigerator 10 to perform the 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 command sent by the user, and the door opening command may be sent by the user to the voice interaction module of the refrigerator 10 by voice, and the refrigerator 10 may generate the door opening signal after receiving the door opening command. The door opening signal may contain information for instructing the door body 120 to rotate to a certain opening position.

In the above step S306 , in the step of controlling the ejector rod 260 to extend to push up the door body 120 , the second driving motor 216 is activated to provide driving force to the ejector rod 260 to drive the ejector rod 260 to extend. The second drive motor 216 may be connected to the jack 260 through a second transmission assembly. That is, the second transmission assembly can be connected to the output shaft of the second drive motor 216 on the one hand, and can be connected to the ejector rod 260 on the other hand. For example, the second driving motor 216 may be a stepper motor, and the second transmission component may be a gear set.

4 is a top view of the opening and closing mechanism 200 shown in FIG. 2 . In order to facilitate the observation of the relative position between the opening and closing mechanism 200 and the door body 120 , FIG. 4 also shows part of the door body 120 and part of the box body 110 of the refrigerator 10 .

The ejector rod 260 in this embodiment may be substantially in the shape of a long rod. In the left and right extension direction of the box 110 of the refrigerator 10 , the ejector rod 260 may be disposed on the right side of the guide rod, and close to the part where the door body 120 and the turning beam 140 are connected, so as to use a small force to eject the door body 120 .

The ejector bar 260 is configured to be controllably extended or retracted along the direction of its center axis, and the center axis of the ejector bar 260 is parallel to the front-rear extension direction of the refrigerator 10 . 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 .

A rack 261 is formed on the ejector rod 260 along the direction of its central axis for engaging with the second transmission assembly, so that the second transmission assembly transmits the driving force of the first driving motor 215 to the ejector rod 260 .

The casing 230 can be roughly in the shape of a rectangular parallelepiped, and can also be in any other shape. The interior of the housing 230 forms an installation space. The opening and closing mechanism 200 is installed in the installation space. The opening and closing mechanism 200 is integrated in a casing 230 . The casing 230 may be disposed above the box body 110 and disposed close to the top of the door body 120 , so as to exert a force on the door body 120 . The housing 230 may have a front wall 231 and a back wall 232 disposed opposite to each other, and the front wall 231 is provided with a telescopic hole into which the ejector rod 260 can be inserted and telescopically movable.

FIG. 5 is an internal configuration diagram of the opening and closing mechanism 200 shown in FIG. 4 .

The top rod 260 may be entirely located in the installation space, and its front end may also be partially exposed outside the front wall 231 . The ejector rod 260 can extend forward through the telescopic hole to eject the door body 120 . The restoring elastic member 270 may be connected between the back wall 232 of the housing 230 and the top rod 260 . That is, the reset elastic member 270 is disposed on the rear side of the top rod 260 along the central axis direction of the top rod 260 , and one end of the reset elastic member 270 is fixedly connected to the top rod 260 , and the other end is fixedly connected to the rear wall of the housing 230 . The telescopic direction of the restoring elastic member 270 is collinear with the central axis direction of the ejector rod 260 . During the process that the ejector rod 260 extends forward to push up the door body 120 , the restoring elastic member 270 is stretched and deformed.

After the step of controlling the ejector rod 260 to extend to push up the door body 120, and after the guide rod starts to drive the door body 120 to rotate to the open position, the control method further includes: controlling the second driving motor 216 to stop, so that the reset elastic member 270 drives the The jack 260 is retracted. That is, the restoring elastic member 270 is configured to drive the ejector bar 260 to retract after the ejector bar 260 extends to push the door body 120 to prevent the ejector bar 260 from interfering with the closing process of the door body 120 . The restoring elastic member 270 may be any elastic body with stretchability, such as a spring, but is not limited thereto.

In some embodiments, the opening and closing mechanism 200 may further include a proximity sensor 280 disposed on the front side of the rack 261 of the ejector rod 260 . When the ejector rod 260 is extended, the rack 261 thereof will move forward. When the rack 261 of the ejector rod 260 presses against the proximity sensor 280 , the proximity sensor 280 can generate a specific electrical signal, and the second driving motor 216 can switch to a stop state after receiving the electrical signal from the proximity sensor 280 .

During the rotation of the door body 120, the angle measuring device is used to detect the pivot angle of the door body 120 relative to the closed position (hereinafter may be referred to as "the pivot angle of the door body 120"). The pivoting angle of the door body 120 relative to the closed position refers to the angle between the board surface where the door body 120 is currently located and the board surface where the closed position is located. And in the above-mentioned step S306, when the ejector rod 260 is controlled to start extending, 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 at the first end of the first guide portion 241 of the guide rod. In some optional embodiments, the angle measuring device may also be disposed on the pivot shaft of the door body 120 . During the reciprocating rotation of the door body 120 between the closed position and the open position, the angle measuring device can detect the pivoting angle of the door body 120 once every preset time interval (for example, any value in the range of 0.1-1 s).

In the above step S308, the first angle threshold may be any value within the range of 1° to 5°, for example, 2° or 3°. By judging whether the pivot angle of the door body 120 relative to the closed position is greater than a preset first angle threshold, it can be determined whether the ejector rod 260 has ejected the door body 120 . Step S310 is executed when it is determined that the ejector rod 260 has pushed up the door body 120, which enables the guide rod to smoothly drive the door body 120 to continue to rotate to the open position, reducing or preventing the suction of the door seal from adversely affecting the continued rotation of the door body 120 .

The guide rod may be located on the left side of the top rod 260 and disposed close to the pivot shaft of the door body 120 so as to apply a force to the pivot shaft of the door body 120 . The guide rod can be roughly a connecting rod structure. The guide rod may include a first guide portion 241 and a second guide portion 242 that are connected to each other and are relatively rotatable, and may further include a rotating shaft portion 243 for connecting the first guide portion 241 and the second guide portion 242 . The first guide portion 241 and the second guide portion 242 may be rod-shaped, respectively. Each guide has a first end and a second end along its length.

The first guide portion 241 has a first end fixedly connected to the first transmission assembly, and a second end extending outward from the installation space. The second guide portion 242 has a first end rotatably connected to the second end of the first guide portion 241 , and a second end for fixedly connecting to the door body 120 of the refrigerator 10 . That is to say, the first end of the first guide portion 241 is located in the installation space and is used for drivingly connecting with the first transmission assembly, and the second end of the first guide portion 241 extends to the outside of the installation space and is used for connecting with the second guide portion The first end of 242 is relatively rotatably connected. The second end of the second guide portion 242 is fixedly connected to the door body 120 of the refrigerator 10, for example, it can be fixedly connected to the pivot shaft of the door body 120 through a hinge.

The first guide portion 241 and the second guide portion 242 can be located in the same horizontal plane, and can relatively rotate within the horizontal plane. When the first guide portion 241 and the second guide portion 242 rotate relative to each other, the size of the included angle between them changes. The second end of the first guide portion 241 is provided with a first assembly hole penetrating the thickness direction thereof, and the first end of the second guide portion 242 is provided with a second assembly hole penetrating the thickness direction thereof. The "thickness direction" here may refer to the vertical direction.

FIG. 6 is a partial configuration diagram of a guide rod of the opening and closing mechanism 200 shown in FIG. 4 .

The rotating shaft portion 243 has a rotation guide shaft, an upper limit flange 243a and a lower limit flange 243b. The center axis of the rotation guide shaft, the center axis of the upper limit flange 243a, and the center axis of the lower limit flange 243b are coaxial, and extend in the vertical direction. The upper limit flange 243a and the lower limit flange 243b may be substantially cylindrical. The rotation guide shaft is assembled in the first assembly hole and the second assembly hole. The first assembly hole and the rotating guide shaft can be fixedly connected, or can also be movably connected. The upper limit flange 243a and the lower limit flange 243b are fixedly connected with the rotary guide shaft or integrally formed with the rotary guide shaft, and are respectively formed to extend radially outward from the upper and lower sections of the rotary guide shaft, thereby The first guide portion 241 and the second guide portion 242 are sleeved on the rotation guide shaft so as to be relatively rotatable. That is to say, the first guide portion 241 and the second guide portion 242 are sleeved on the rotation guide shaft, and the cross-sectional diameter of the upper limit flange 243a and the lower limit flange 243b is larger than that of the rotation guide shaft, thereby preventing the first The first guide portion 241 and the second guide portion 242 are separated from the rotating guide shaft, which can improve the reliability of the connection between the various components of the guide rod.

The structures of the first transmission assembly and the second transmission assembly may be the same, and each may include a door body first transmission gear 211 , a door body second transmission gear 212 and a door body third transmission gear 213 .

The first transmission gear 211 of the door body is connected to the output shaft of the corresponding driving motor. The first transmission gear 211 of the door body may be engaged with the output shaft of the first drive motor 215 or the second drive segment set, and the output shaft of each drive motor may be formed with a tooth profile that meshes with the teeth of the first transmission gear 211 of the door body strip. In some optional embodiments, the output shaft of each driving motor may be connected to the shaft of the first transmission gear 211 of the door body.

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 top rod 260 or the guide rod. The position of the third transmission gear 213 of the door body may be lower than the position of the second transmission gear 212 of the door body. And 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. That is to say, the overall outer dimension of the third transmission gear 213 of the door body is larger than that of the second transmission gear 212 of the door body, which can amplify the rotation stroke of the driving motor, and the top can be driven by a small rotation. The rod 260 produces a larger amount of telescoping, or the drive guide rod produces a larger amount of rotation.

The first transmission assembly and the second transmission assembly of the present embodiment may further include a fourth transmission gear 214 of the door body for drivingly connecting the third transmission gear 213 of the door body to the ejector rod 260 or the guide rod. That is to say, the third transmission gear 213 of the door body may be connected to the ejector rod 260 or the guide rod in a driving manner through a fourth transmission gear 214 of the door body. For example, the fourth transmission gear 214 of the door body may be engaged with the third transmission gear 213 of the door body on the one hand, and may be engaged with the rack 261 of the ejector rod 260 on the other hand. For another example, the fourth transmission gear 214 of the door body can be meshed with the third transmission gear 213 of the door body on the one hand, and the shaft of the fourth transmission gear 214 of the door body can be fixed to the first end of the first guide portion 241 of the guide rod on the other hand. connect.

By organically connecting a plurality of transmission gears of the transmission assembly, the automatic door opening and closing device of this embodiment can realize the opening and closing of the door body 120 by using a small driving force and a small rotation stroke of the motor, which is beneficial to reduce the automatic opening and closing of the door. The difficulty of opening and closing the door body 120 by the door device.

In the step of controlling the movement of the guide rod to drive the door body 120 to rotate to the open position, the first driving motor 215 is activated to provide driving force to the guide rod, so that the guide rod drives the door body 120 to rotate. The guide rod in this embodiment can move in two ways, that is, the guide rod can drive the door body 120 to rotate from the closed position to the open position, and can also drive the door body 120 to rotate reversely from the open position to the closed position. The first driving motor 215 can adjust the movement mode of the guide rod. The movement mode of the guide rod can be determined according to the type of door switch signal. The first driving motor 215 may have two rotation directions, ie, a forward rotation direction and a reverse rotation direction. In the process of controlling the movement of the guide rod to drive the door body 120 to rotate to the open position, the rotation direction of the first driving motor 215 is the forward rotation direction.

In the process of controlling the movement of the guide rod to drive the door body 120 to rotate to the open position, the control method further includes: when the pivot angle of the door body 120 relative to the closed position is smaller than a preset second angle threshold, detecting the door body The rotation speed of the door 120, the second angle threshold is greater than the first angle threshold, and the guide rod is controlled according to the rotation speed of the door body 120, so that the overturning elastic assembly produces compression deformation during the rotation of the door body 120. The second angle threshold can be set according to the rotation angle of the door body 120 required when the flip elastic component starts to produce compression deformation, and can be any value within the range of 5° to 15°, for example, it can be 8°. The rotation speed of the door body 120 refers to the rotation angle of the door body 120 per unit time, which can be calculated according to the detection result of the angle measuring device.

Since the guide rod is in the process of driving the door body 120 to rotate to the open position, the overturning elastic component is compressed and deformed by rotating around the axis, which makes the guide rod not only need to drive the door body 120 to rotate when applying a driving force to the door body 120, but also need to rotate the door body 120. Compression deformation of the flip elastic component. That is to say, the inversion elastic assembly can “accumulate energy” by generating compressive deformation during the opening process of the door body 120 , and can “release energy” by recovering the compressive deformation during the closing process of the door body 120 , so as to provide the door 120 for closing. Another driving force enables the door body 120 to rotate toward the closed position under the dual action of the opening and closing mechanism 200 and the turning mechanism 500 , which can indirectly provide turning power for the turning beam 140 .

FIG. 7 is a schematic diagram of a turning mechanism 500 according to an embodiment of the present invention, and FIG. 8 is an exploded view of the turning mechanism 500 shown in FIG. 7 . For the turning mechanism 500, the box body fixing plate 510 is used for fixed connection with the box body 110 of the refrigerator 10. For example, the main body surface of the box body fixing plate 510 may be located below the accommodating cavity of the door body 120 (which will be described in detail below).

FIG. 9 is a schematic diagram of the inversion fixed shaft 520 in the inversion mechanism 500 shown in FIG. 8 . The overturning fixing shaft 520 is fixed above the box body fixing plate 510 in the vertical direction. In this embodiment, the overturned fixing shaft 520 may extend into the accommodating cavity of the door body 120 . The overturned fixed shaft 520 has an upper shaft section 521, a middle shaft section 522 and a lower shaft section 523 arranged in sequence from top to bottom. The shaft middle section 522 extends radially outward to form a runner. A part of the outer peripheral surface of a runner forms the wheel surface part 522b. The outer peripheral surface of the runner is also formed with a wheel well portion 522a recessed radially inward. That is, the wheel well portion 522a is recessed radially inward with respect to the wheel surface portion 522b.

The inversion elastic assembly is disposed on the door body 120 of the refrigerator 10 so as to be rotatable around an axis. Generally, the door body 120 is a vertical panel. A portion of the lower surface of the door body 120 may be upwardly recessed to form an accommodating cavity, and the accommodating cavity may be close to the pivot shaft of the door body 120 . The inversion elastic component can be arranged in the accommodating cavity. The door body fixing member 570 is used for fixed connection with the door body 120 . For example, the main body of the door body fixing member 570 can be in the shape of a thin plate, and a part of the plate surface is concave to form an upper concave portion inserted into the accommodating cavity, and the interior of the upper concave portion defines a space for installing the turning elastic assembly. The third assembly section 533 of the elastic assembly assembly box 530 in the overturned elastic assembly can be fixedly connected with the upper recess. The door body fixing member 570 is hidden in FIG. 8 .

The inversion elastic assembly is rotatably sleeved on the shaft upper section 521 and the shaft lower section 523 . The turning elastic assembly includes an elastic assembly assembling box 530 and a turning elastic member 550 disposed in the elastic assembly assembling box 530 .

FIG. 10 is a schematic diagram of the inversion elastic component in the inversion mechanism 500 shown in FIG. 8 , and the dotted line in the figure shows the dividing line between adjacent assembly sections.

The elastic component assembling box 530 has a plurality of assembling sections, and the plurality of assembling sections includes a first assembling section 531 , a second assembling section 532 and a third assembling section 533 which are arranged in sequence along the horizontal direction. When the door body 120 is in the closed position, the first assembly section 531 , the second assembly section 532 and the third assembly section 533 may be sequentially arranged from left to right. Each assembly section has opposing top and bottom walls.

The first assembly section 531 is rotatably sleeved on the shaft upper section 521 and the shaft lower section 523 , so that the inversion elastic assembly reciprocates around the inversion fixed shaft 520 . The top wall of the first assembly section 531 may be formed with a third assembly hole 536 penetrating the thickness direction thereof, and the bottom wall of the first assembly section 531 may be formed with a third assembly hole 536 passing through the thickness direction and below the first assembly hole. Four mounting holes 537. The third assembly hole 536 is rotatably sleeved on the shaft upper section 521 . The fourth assembly hole 537 is rotatably sleeved on the shaft lower section 523 .

The second assembly section 532 is provided with a guide shaft 535 reciprocatingly movable along the arrangement direction of the plurality of assembly sections. The third assembly section 533 forms a telescopic space. A first linear hole may be formed on the top wall of the second fitting section 532 through the thickness direction thereof. A second linear hole may be formed on the bottom wall of the second assembly section 532 in the thickness direction of the second assembly section 532 and located below the first telescopic hole. The guide shaft 535 can pass through the first linear hole and the second linear hole, and reciprocate in the first linear hole and the second linear hole along the telescopic direction of the inversion elastic member 550 .

The inversion elastic member 550 may be any elastic body with stretchability, such as a spring, but is not limited thereto. The inversion elastic member 550 is telescopically disposed in the telescopic space along the arrangement direction of the plurality of assembling sections, and is fixedly connected with the guide shaft 535 . The arrangement direction of the plurality of assembly sections is the extension and contraction direction of the flip elastic member 550 . The guide shaft 535 is formed with a protruding portion 535a which is adapted to the outer shape of the wheel socket portion 522a. The protruding portion 535a extends radially outward from the middle section of the guide shaft 535 and is located in the first linear hole. below and above the second linear hole. The protruding portion 535a is configured to leave the wheel socket portion 522a during the opening process of the door body 120 of the refrigerator 10 and rotate to the wheel surface portion 522b, so as to cause the inversion elastic member 550 to produce compression deformation, and is also configured to close the door body 120 of the refrigerator 10. into the wheel well portion 522a, so that the overturning elastic member 550 recovers the compressive deformation and releases the elastic force. That is to say, during the rotation of the door body 120, the inverting elastic assembly will be driven to rotate around the inverting fixed shaft 520, and during the rotating process of the inverting elastic assembly, the protruding portion 535a will move along the peripheral surface of the runner, so as to enter and exit the wheel well part 522a.

The inversion elastic assembly is configured to rotate around the inversion fixed shaft 520 during the rotation of the door body 120, and the inversion elastic member 550 is connected to the reciprocating guide shaft 535, and the protruding portion 535a of the guiding shaft 535 is connected to the rotary shaft 535. The wheel socket portion 522a of the wheel is matched, so that the compression and stretching of the inversion elastic member 550 can be realized ingeniously without directly providing a driving force to the inversion elastic member 550, so that the inversion elastic member 550 can be provided by compression and tension. The driving force for the overturning of the beam body.

The rotational speed of the door body 120 may reflect the output rotational speed of the first driving motor 215 . During the rotation of the door body 120 to the open position, since the first driving motor 215 not only needs to drive the door body 120 to rotate indirectly, but also needs to indirectly drive the inversion elastic assembly to rotate around the axis, so that the guide shaft 535 of the inversion elastic assembly needs to rotate. The protruding portion 535a leaves the wheel well portion 522a and enters the wheel surface portion 522b to cause compression deformation. By detecting the rotational speed of the door body 120 and comparing the rotational speed of the door body 120 with a preset rotational speed threshold, it can be determined whether the rotation can be smoothly driven when the output rotational speed of the first drive motor 215 is the current rotational speed The elastic member enters the wheel surface portion 522b from the wheel well portion 522a.

The step of controlling the guide rod according to the rotational speed of the door body 120 may include: judging whether the rotational speed of the door body 120 is less than a preset rotational speed threshold, if so, increasing the output rotational speed of the first drive motor 215, if not, not Adjust the output rotational speed of the first drive motor 215 . For example, the first driving motor 215 may be preset with a plurality of rotation speed levels in which the output rotation speed increases sequentially, such as a first preset rotation speed, a second preset rotation speed, and a third preset rotation speed. The first driving motor 215 is controlled to start running according to the first preset rotational speed. When the output speed of the first drive motor 215 needs to be increased, the output speed of the first drive motor 215 can be adjusted to the second preset speed or the third preset speed.

When the rotational speed of the door body 120 is less than the preset rotational speed threshold, the first driving motor 215 may not be able to drive the flip elastic component to produce compression deformation. By increasing the output rotational speed of the first driving motor 215, the rotation of the door body 120 can be increased. speed, so as to ensure that the inversion elastic assembly smoothly produces compression deformation during the rotation process of the door body 120 . The rotational speed threshold may be set according to the minimum rotational speed of the door body 120 required when the elastic assembly is flipped to produce compression deformation, and may be any value within the range of 0.5°/s to 5°/s, for example.

In the process of controlling the movement of the guide rod to drive the door body 120 to rotate to the open position, the control method may further include: when the pivot angle of the door body 120 relative to the closed position is greater than or equal to a second angle threshold, detecting the door body 120 According to the rotation speed change rate of the door body 120, the output speed of the first drive motor 215 is adjusted. The rate of change of the rotation speed refers to the speed of change of the rotation speed of the door body 120 , and can be calculated according to the detection result of the angle measuring device. When the pivot angle of the door body 120 is greater than or equal to the second angle threshold, the overturning elastic component has produced compression deformation, and the door body 120 continues to rotate to the open position under the driving of the guide rod. By detecting the change of the rotation speed of the door body 120 rate, it can be judged whether the door 120 encounters an obstacle (such as the user of the refrigerator 10, or items such as tables and chairs) and the phenomenon of “emergency stop” or “sudden stop” occurs during the continuous rotation of the door body 120. It can also be judged that the door Whether the body 120 has reached the open position.

Wherein, the step of adjusting the output speed of the first driving motor 215 according to the rate of change of the rotational speed of the door body 120 may include: judging whether the rate of change of the rotational speed of the door body 120 is greater than a preset rate of change threshold, and if so, the first driving The output speed of the motor 215 is adjusted to a preset minimum output speed.

There may be multiple thresholds for the rate of change, and may be selected according to the output rotational speed of the first driving motor 215 . Each output speed of the first driving motor 215 corresponds to a rate of change threshold. By detecting the output rotational speed of the first driving motor 215, a corresponding change rate threshold can be selected. The rate of change threshold can be any value within the range of 1 to 10°.

In this embodiment, the first drive motor 215 may also be configured with a preset minimum output speed, and the preset minimum output speed may be zero. When the output rotational speed of the first drive motor 215 is 0, the first drive motor 215 is in a standby state. Under the condition that the rate of change of the rotation speed of the door body 120 is greater than the preset rate of change threshold, if the pivot angle of the door body 120 is smaller than the pivot angle corresponding to the opening position, the door body 120 may generate an “emergency stop” or "Sudden stop" phenomenon, at this time, by adjusting the output speed of the first drive motor 215 to the minimum output speed, the first drive motor 215 can be prevented from burning out, the guide rod can be prevented from mechanical damage, and the operation reliability of the opening and closing mechanism 200 can be improved. .

When the pivoting angle of the door body 120 reaches the pivoting angle of the door body 120 corresponding to the open position, the first driving motor 215 may be controlled to switch to the standby state. Under the condition that the rate of change of the rotation speed of the door body 120 is greater than the preset rate of change threshold, if the pivot angle of the door body 120 is equal to the pivot angle corresponding to the opening position, the door body 120 may not have an “emergency stop” Or "sudden stop" phenomenon, but has reached the opening position indicated by the door opening signal, at this time, by adjusting the first drive motor 215 to the standby state, the door body 120 can be prevented from being excessively opened and lose more cooling capacity. When the door body 120 has reached the open position, if it is detected that the door body 120 continues to rotate in a direction away from the closed position (for example, the user may apply force to the door body 120 to make the door body 120 continue to rotate), and the door body 120 continues to rotate. If the angle exceeds 1-5°, the first driving motor 215 can be restarted, so that the first driving motor 215 drives the guide rod to move so as to drive the door body 120 to rotate to the next open position.

During the rotation of the door body 120 to the open position, the turning beam 140 is turned over to the folded position. After the door body 120 is rotated to the open position, the control method may further include: acquiring a door closing signal of the refrigerator 10, controlling the movement of the guide rod to drive the door body 120 to rotate to the closed position, and driving the door body 120 to rotate to the closed position during the process of rotating the door body 120 to the closed position. The inversion beam 140 is inverted to the stretched position, ie, the inversion elastic component is urged to recover the compression deformation by reverse rotation about the axis to release the elastic force. In the process of controlling the movement of the guide rod to drive the door body 120 to rotate to the closed position, the rotation direction of the first driving motor 215 is the reverse rotation direction.

The step of acquiring the door closing signal of the refrigerator 10 may include: detecting the door opening duration when the door body 120 is in the open position, judging whether the door opening duration exceeds a preset duration threshold, and if so, generating a door closing signal. The duration threshold may be preset according to the user's usage habits, for example, may be any value within the range of 1 to 5 minutes, but is not limited thereto. Using the above method, the door body can be automatically closed when the user forgets to close the door, which is beneficial to improve the automation degree of the refrigerator 10 .

In some optional embodiments, the method for acquiring the door closing signal of the refrigerator 10 may also be changed. For example, the refrigerator 10 may receive a door closing instruction sent by the user, and the door closing instruction may be sent by the user to the voice interaction module of the refrigerator 10 through voice, and the refrigerator 10 may generate a door closing signal after receiving the door closing instruction.

In some other optional embodiments, another transformation may be performed on the method for acquiring the door closing signal of the refrigerator 10 . For example, after it is determined that the door body 120 is in the open position, if the angle measuring device detects that the current pivot angle of the door body 120 has decreased relative to the pivot angle corresponding to the open position (for example, decreased by 1-5°), The door closing signal can also be triggered.

While controlling the movement of the guide rod to drive the door body 120 to rotate to the closed position, the control method may further include: detecting the pivot angle of the door body 120 relative to the closed position, and judging whether the pivot angle is smaller than a preset third angle threshold, The third angle threshold is greater than the second angle threshold, and if so, the guide rod is controlled to increase the rotation speed of the door body 120 , so that the overturning elastic assembly restores the compression deformation during the rotation process of the door body 120 . The difference between the third angle threshold and the second angle threshold may be any value in the range of 1-10°.

During the rotation of the door body 120 from the open position to the closed position, since the first drive motor 215 not only needs to drive the door body 120 to rotate indirectly, but also needs to indirectly drive the inversion elastic assembly to rotate around the axis, so that the guiding of the inversion elastic assembly The protruding portion 535a of the shaft 535 leaves the wheel surface portion 522b and enters the wheel well portion 522a to restore the compression deformation. By increasing the rotational speed of the door body 120 in advance, the turning elastic assembly can be smoothly driven from the wheel surface portion 522b into the wheel well portion 522a.

The rotation speed of the door body 120 is adjusted by the first driving motor 215 . When the control guide rod moves to drive the door body 120 to rotate to the closed position, the first driving motor 215 can be controlled to start running according to the first preset rotational speed. When the output speed of the first drive motor 215 needs to be increased, the output speed of the first drive motor 215 can be adjusted to the second preset speed or the third preset speed.

When the pivot angle of the door body 120 is smaller than the third angle threshold, by adjusting the output speed of the first drive motor 215 in time, the rotation speed of the door body 120 can be increased, thereby ensuring that the flip elastic assembly is rotated during the door body 120 . The smooth recovery of the compression deformation is beneficial to improve the reliability of the turning process and reduce or avoid the stuck phenomenon.

FIG. 11 is a control flowchart of the refrigerator 10 according to one embodiment of the present invention.

Step S1102, it is determined that the door body 120 is in the closed position.

In step S1104, the door opening signal of the refrigerator 10 is obtained.

In step S1106 , the second driving motor 216 is activated to provide a driving force to the ejector rod 260 , so that the ejector rod 260 extends to eject the door body 120 . The angle measuring device is activated to detect the pivot angle of the door body 120 relative to the closed position. In this embodiment, the angle measuring device and the second driving motor 216 can be started synchronously.

In step S1108, it is determined whether the pivoting angle of the door body 120 relative to the closed position is greater than the preset first angle threshold.

In step S1110, the first driving motor 215 is activated to provide a driving force to the guide rod, so that the guide rod moves to drive the door body 120 to rotate to the open position. After the guide rod starts to drive the door body 120 to rotate to the open position, the second driving motor 216 is controlled to stop, so that the restoring elastic member 270 drives the ejector rod 260 to retract.

Step S1112 , when the pivoting angle of the door body 120 relative to the closed position is smaller than a preset second angle threshold, detect the rotation speed of the door body 120 . The second angle threshold is greater than the first angle threshold.

In step S1114, it is determined whether the rotational speed of the door body 120 is less than a preset rotational speed threshold.

In step S1116, the output rotational speed of the first driving motor 215 is increased.

Step S1118 , in the case that the pivot angle of the door body 120 relative to the closed position is greater than or equal to the second angle threshold, detect the rate of change of the rotation speed of the door body 120 .

In step S1120, it is determined whether the rate of change of the rotation speed of the door body 120 is greater than a preset rate of change threshold, if so, step S1122 is performed; if not, step S1118 is performed.

Step S1122: Adjust the output rotational speed of the first drive motor 215 to a preset minimum output rotational speed.

In step S1124, a door closing signal of the refrigerator 10 is acquired. The step of acquiring the door closing signal of the refrigerator 10 may include: detecting the door opening duration when the door body 120 is in the open position, judging whether the door opening duration exceeds a preset duration threshold, and if so, generating a door closing signal.

Step S1126, control the guide rod to move to drive the door body 120 to rotate to the closed position.

Step S1128, detecting the pivot angle of the door body 120 relative to the closed position.

Step S1130 , determine whether the pivot angle is smaller than a third angle threshold, which is greater than the second angle threshold, if yes, go to step S1132 , if not, go to step S1130 .

Step S1132 , the guide rod is controlled to increase the rotation speed of the door body 120 , so that the overturning elastic assembly recovers the compression deformation during the rotation process of the door body 120 .

In the control method of the refrigerator 10 in this embodiment, when it is determined that the door body 120 is in the closed position and the door opening signal of the refrigerator 10 is obtained, the ejector rod 260 is controlled to extend to push up the door body 120, and the door body 120 is opposite to the door body 120. When the pivot angle of the closed position is greater than the preset first angle threshold, the guide rod is controlled to move to drive the door body 120 to rotate to the open position, so that the door opening action can be completed smoothly. The ejector rod 260 and the guide rod are integrated into the opening and closing mechanism 200. By controlling the ejector rod 260 and the guide rod of the opening and closing mechanism 200, the present embodiment improves the opening and closing method of the door 120 of the refrigerator 10. The closing mechanism 200 improves the opening and closing method of the door body 120 of the refrigerator 10 , and improves the automation degree of the opening and closing process of the door body 120 under the premise of simplifying the structure of the opening and closing mechanism 200 .

By now, those skilled in the art will recognize that, although various exemplary embodiments of the present invention have been illustrated and described in detail herein, the present invention may still be implemented in accordance with the present disclosure without departing from the spirit and scope of the present invention. The content directly determines or derives many other variations or modifications consistent with the principles of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims

A control method of a refrigerator, the refrigerator includes a door body and an opening and closing mechanism for driving the door body to reciprocate between an open position and a closed position, the opening and closing mechanism includes a top rod and a guide rod, wherein the The ejector rod is configured to extend in a controlled manner to eject the door body, and the guide rod is configured to move in a controlled manner to drive the door body to rotate; and the control method includes:

determining that the door body is in the closed position;

obtaining the door opening signal of the refrigerator;

controlling the ejector rod to extend to eject the door body, and detecting the pivoting angle of the door body relative to the closed position;

judging whether the pivot angle of the door body relative to the closed position is greater than a preset first angle threshold;

If so, the guide rod is controlled to move to drive the door body to rotate toward the open position.
The control method according to claim 1, wherein

The opening and closing mechanism further includes an angle measuring device for detecting the pivoting angle of the door body relative to the closed position; and

While controlling the ejector rod to start extending, the angle measuring device is activated to perform the step of detecting the pivoting angle of the door body relative to the closed position.
The control method according to claim 1, wherein

The refrigerator further includes a turning beam connected to the door body and a turning mechanism for driving the turning beam to turn over between the folding position and the unfolding position, the turning mechanism comprising a turning elastic component configured to When the guide rod drives the door body to rotate to the open position, compression deformation is generated by rotating around the axis, and it is also configured to drive the door body to rotate from the open position to the closed position when the guide rod rotates. In the middle, the elastic force is released by reversing the rotation around the axis to restore the compression deformation, thereby driving the door body to close, and urging the turning beam to turn over during the closing process of the door body; and

In the process of controlling the movement of the guide rod to drive the door body to rotate to the open position, the control method further includes:

In the case that the pivoting angle of the door body relative to the closed position is smaller than a preset second angle threshold value, detecting the rotation speed of the door body, and the second angle threshold value is greater than the first angle threshold value;

The guide rod is controlled according to the rotation speed of the door body, so that the overturning elastic component generates the compression deformation during the rotation process of the door body.
The control method according to claim 3, wherein

The opening and closing mechanism further includes a first driving motor for providing driving force to the guide rod, and in the step of controlling the movement of the guide rod to drive the door body to rotate to the open position, the first drive motor is activated. a drive motor to provide driving force to the guide rod; and

The step of controlling the guide rod according to the rotation speed of the door body includes:

judging whether the rotational speed of the door body is less than a preset rotational speed threshold;

If so, increase the output rotational speed of the first drive motor.
The control method according to claim 4, wherein

In the process of controlling the movement of the guide rod to drive the door body to rotate to the open position, the control method further includes:

In the case that the pivot angle of the door body relative to the closed position is greater than or equal to the second angle threshold value, detecting the rate of change of the rotation speed of the door body;

The output rotational speed of the first driving motor is adjusted according to the rate of change of the rotational speed of the door body.
The control method according to claim 5, wherein

The step of adjusting the output rotational speed of the first drive motor according to the rate of change of the rotational speed of the door body includes:

judging whether the rate of change of the rotational speed of the door body is greater than a preset rate of change threshold;

If so, adjust the output rotational speed of the first drive motor to a preset minimum output rotational speed.
The control method according to claim 1, wherein

The opening and closing mechanism further includes a second driving motor for providing driving force to the guide rod and a restoring elastic member for driving the top rod to retract after the top rod is controlled to extend; and

In the step of controlling the ejector rod to extend to push up the door body, the second driving motor is activated to provide a driving force to the ejector rod; After the step of the door body, and after the guide rod starts to drive the door body to rotate to the open position, the control method further includes:

The second driving motor is controlled to stop, so that the restoring elastic member drives the ejector rod to retract.
The control method according to claim 3, wherein

During the rotation of the door body to the open position, the inversion beam is flipped to the folded position; after the door body is rotated to the open position, the control method further includes:

obtaining the door closing signal of the refrigerator;

The movement of the guide rod is controlled to drive the door body to rotate to the closed position, and during the process of the door body to rotate to the closed position, the turning beam is driven to turn over to the extended position.
The control method according to claim 8, wherein

The step of acquiring the door closing signal of the refrigerator includes:

Detecting the door opening duration when the door body is in the open position;

Judging whether the door opening duration exceeds a preset duration threshold;

If so, the door closing signal is generated.
The control method according to claim 8, wherein

While controlling the movement of the guide rod to drive the door body to rotate to the closed position, the control method further includes:

detecting the pivot angle of the door body relative to the closed position;

determining whether the pivot angle is smaller than a preset third angle threshold, and the third angle threshold is greater than the second angle threshold;

If so, the guide rod is controlled to increase the rotation speed of the door body, so that the overturning elastic component restores the compression deformation during the rotation process of the door body.