Opening and closing mechanism, control method and device thereof, storage medium and household appliance

Abstract

The invention discloses an opening and closing mechanism and a control method and device thereof, a storage medium and a household appliance, the opening and closing mechanism comprises an opening and closing clamping plate, the opening and closing clamping plate is opened and closed through a motor, and the control method comprises the following steps: acquiring position information of the opening and closing clamping plate in the closing process of the opening and closing clamping plate; when it is determined that the opening and closing clamping plate is located at a first preset position according to the position information, the working voltage of the motor is controlled to be reduced by a preset voltage threshold value, and whether the motor generates locked-rotor current or not is judged; if the motor generates the locked-rotor current, the motor is controlled to rotate reversely until the opening and closing clamping plate is located at a second preset position, and then the motor is controlled to rotate forwards to close the opening and closing clamping plate; and if the motor does not generate the locked-rotor current and the opening and closing clamping plate is located at a third preset position, the working voltage of the motor is controlled to be increased to a preset voltage threshold value until the opening and closing clamping plate is closed, so that the anti-pinch function of the opening and closing mechanism is achieved, the service life of the opening and closing mechanism is prolonged, the use safety of the opening and closing mechanism is improved, and meanwhile the personal safety of a user is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of household appliance control technology, and in particular to an opening and closing mechanism and a control method and device thereof, a storage medium, and household appliance equipment. Background Art

[0002] In some household appliances, an automatically controlled opening and closing mechanism is usually provided, such as the range hood on the stove. However, the opening and closing mechanism may pinch the user or objects during the automatic closing process, thereby reducing the user experience and may also reduce the service life of the opening and closing mechanism. Therefore, it is very necessary to set up a control method to prevent the opening and closing mechanism from being pinched. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, one object of the present invention is to provide a control method for an opening and closing mechanism, which can realize the anti-pinch function of the opening and closing mechanism, improve the service life and use safety of the opening and closing mechanism, and ensure the personal safety of the user.

[0004] A second object of the present invention is to provide a computer-readable storage medium.

[0005] The third object of the present invention is to provide a control device for an opening and closing mechanism.

[0006] A fourth objective of the present invention is to provide an opening and closing mechanism.

[0007] A fifth objective of the present invention is to provide a household appliance.

[0008] To achieve the above-mentioned purpose, the first aspect of the present invention proposes a control method for an opening and closing mechanism, wherein the opening and closing mechanism includes an opening and closing splint, and the opening and closing splint is opened and closed by a motor, and the control method includes: during the closing process of the opening and closing splint, obtaining the position information of the opening and closing splint; when it is determined that the opening and closing splint is in a first preset position according to the position information, controlling the working voltage of the motor to reduce a preset voltage threshold, and judging whether the motor generates a stall current; when the motor generates the stall current, controlling the motor to reverse until the opening and closing splint is in a second preset position, and then controlling the motor to rotate forward to close the opening and closing splint; when the motor does not generate the stall current, if it is determined that the opening and closing splint is in a third preset position according to the position information, controlling the working voltage of the motor to increase the preset voltage threshold until the opening and closing splint is completely closed.

[0009] The control method of the opening and closing mechanism in the embodiment of the present invention first obtains the position information of the opening and closing splint during the closing process of the opening and closing splint, then reduces the working voltage of the motor when the opening and closing splint is in the first preset position, and determines whether the motor generates a stall current. If it does, the opening and closing splint is controlled to open to the second preset position, and then the opening and closing splint is controlled to close again. If no stall current is generated, the working voltage of the motor is increased when the opening and closing splint is in the third preset position until the opening and closing splint is completely closed. Therefore, the control method of the opening and closing mechanism in this embodiment can realize the anti-pinch function of the opening and closing mechanism, so as to improve the service life and use safety of the opening and closing mechanism, and at the same time ensure the personal safety of the user.

[0010] In some embodiments of the present invention, the control method further comprises: before using the opening and closing splint, controlling the opening and closing splint to perform a self-check.

[0011] In some embodiments of the present invention, controlling the opening and closing splint to perform self-inspection includes: controlling the opening and closing splint to open to the second preset position, then controlling the opening and closing splint to close, and obtaining the opening and closing time of the opening and closing splint to complete the self-inspection.

[0012] In some embodiments of the present invention, obtaining the position information of the opening and closing splint includes: obtaining the closing time of the opening and closing splint, and determining the position information of the opening and closing splint according to the closing time.

[0013] In some embodiments of the present invention, determining that the opening and closing splint is in a first preset position based on the position information includes: when determining that the distance between the opening and closing splints is less than or equal to a first preset distance and greater than or equal to a second preset distance based on the position information, determining that the opening and closing splint is in the first preset position.

[0014] In some embodiments of the present invention, determining that the opening and closing splint is in the third preset position according to the position information includes: when determining that the distance between the opening and closing splints is less than the second preset distance according to the position information, determining that the opening and closing splint is in the third preset position.

[0015] In some embodiments of the invention, the motor comprises an encoder.

[0016] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium on which a control program for an opening and closing mechanism is stored. When the control program is executed by a processor, the control method for the opening and closing mechanism described in any of the above embodiments is implemented.

[0017] The computer-readable storage medium in the embodiment of the present invention can realize the anti-pinch function of the opening and closing mechanism by executing the control program of the opening and closing mechanism stored thereon, thereby improving the service life and use safety of the opening and closing mechanism and ensuring the personal safety of the user.

[0018] To achieve the above-mentioned purpose, the third aspect of the embodiment of the present invention proposes a control device for an opening and closing mechanism, wherein the opening and closing mechanism includes an opening and closing splint, and the opening and closing splint is opened and closed by a motor, and the control device includes: an acquisition module, used to acquire the position information of the opening and closing splint during the closing process of the opening and closing splint; a control module, used to control the working voltage of the motor to reduce a preset voltage threshold when it is determined that the opening and closing splint is in a first preset position according to the position information, and to determine whether the motor generates a stall current; when the motor generates the stall current, control the motor to reverse until the opening and closing splint is in a second preset position, and then control the motor to rotate forward to close the opening and closing splint; when the motor does not generate the stall current, if it is determined that the opening and closing splint is in a third preset position according to the position information, control the working voltage of the motor to increase the preset voltage threshold until the opening and closing splint is completely closed.

[0019] The control device of the opening and closing mechanism in the embodiment of the present invention first obtains the position information of the opening and closing splint through the acquisition module during the closing process of the opening and closing splint, and then uses the control module to reduce the working voltage of the motor when the opening and closing splint is in the first preset position, and judges whether the motor generates a stall current. If it does, the opening and closing splint is controlled to open to the second preset position, and then the opening and closing splint is controlled to close again. If the stall current is not generated, the working voltage of the motor is increased when the opening and closing splint is in the third preset position until the opening and closing splint is completely closed. Therefore, the control device of the opening and closing mechanism in this embodiment can realize the anti-pinch function of the opening and closing mechanism, so as to improve the service life and use safety of the opening and closing mechanism, and at the same time ensure the personal safety of the user.

[0020] To achieve the above-mentioned object, a fourth aspect of the present invention provides an opening and closing mechanism, which includes a control device for the opening and closing mechanism as described in the above-mentioned embodiment.

[0021] The opening and closing mechanism of the embodiment of the present invention can realize the anti-pinch function of the opening and closing mechanism through the control device of the opening and closing mechanism in the above embodiment, thereby improving the service life and use safety of the opening and closing mechanism and ensuring the personal safety of the user.

[0022] To achieve the above-mentioned purpose, a fifth aspect of the present invention provides a household appliance, which includes a control device for the opening and closing mechanism as described in the above-mentioned embodiment or an opening and closing mechanism as described in the above-mentioned embodiment.

[0023] The household appliance in the embodiment of the present invention can realize the anti-pinch function of the opening and closing mechanism through the control device and the opening and closing mechanism in the above embodiment, thereby improving the service life and safety of the opening and closing mechanism and ensuring the personal safety of the user.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is an application schematic diagram of a closed state of an opening and closing mechanism in a specific embodiment of the present invention;

[0026] Figure 2 It is an application schematic diagram of an opening and closing mechanism in an open state in a specific embodiment of the present invention;

[0027] Figure 3 It is a structural schematic diagram of an opening and closing mechanism in an open state in a specific embodiment of the present invention;

[0028] Figure 4 It is a structural schematic diagram of the opening and closing mechanism in a closed state in a specific embodiment of the present invention;

[0029] Figure 5 is a flow chart of a control method of an opening and closing mechanism in one embodiment of the present invention;

[0030] Figure 6 It is a structural schematic diagram of an opening and closing splint in a specific embodiment of the present invention in a first preset position;

[0031] Figure 7 is a structural schematic diagram of an opening and closing splint in a third preset position in a specific embodiment of the present invention;

[0032] Figure 8 is a flow chart of a control method of an opening and closing mechanism in a specific embodiment of the present invention;

[0033] Fig. 9 is a structural block diagram of a control device for an opening and closing mechanism in an embodiment of the present invention;

[0034] Fig.10 is a structural block diagram of an opening and closing mechanism in an embodiment of the present invention;

[0035] Fig.11 is a structural block diagram of a household appliance in one embodiment of the present invention;

[0036] Fig.12 It is a structural block diagram of a household appliance in another embodiment of the present invention. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0038] The opening and closing mechanism and control method and device thereof, storage medium, and household electrical appliance according to embodiments of the present invention are described below with reference to the accompanying drawings.

[0039] Figure 1 It is an application schematic diagram of the closed state of the opening and closing mechanism in a specific embodiment of the present invention.

[0040] like Figure 1 As shown, the opening and closing mechanism 15 in the embodiment of the present invention is arranged on the combination stove 11, and the combination stove 11 is provided with an electromagnetic cooker 12, a range hood 13 and a range hood outlet 14, and the range hood outlet 14 is provided with the opening and closing mechanism 15. When the range hood 13 is in use, the range hood outlet 14 is opened, but when the range hood 13 is not in use, the range hood outlet 14 is closed. Figure 1 The range hood 13 is not in operation and the range hood outlet 14 is closed. Figure 2 The state in which the range hood 13 is working with the range hood 13 being open, it can be understood that when the range hood 13 is started from the closed state, the range hood 14 is switched from the closed state to the open state, and when the range hood 13 is turned off from the open state, the range hood 14 is switched from the open state to the closed state. Figure 3 and Figure 4 It can be seen that the opening and closing mechanism 15 includes an opening and closing clamp 151, and the specific opening state and closing state of the opening and closing clamp 151, wherein the opening and closing mechanism 15 can be connected to the motor 152, and the opening and closing clamp 151 is controlled by the motor 152 to realize opening and closing, and the motor 152 can be a motor 152 with an encoder. A Hall encoder is arranged at the tail of the motor 152, and a PCB (Printed Circuit Board) equipped with a sensor is welded and fixed to the tail of the motor 152, and a magnetic grid is sleeved on the tail shaft. Each magnetic encoding includes a grid and a magnetic sensitive detection circuit, and outputs a square wave with a 90° orthogonal phase angle of two channels, and finally outputs a signal to the main board, so that the main board can identify the number of turns of the motor 152. The movement distance of the opening and closing clamp 151 corresponds to the number of turns of the motor 152, so according to the signal and program conversion, the main board can determine the running distance of the opening and closing clamp 151, and thus can determine the position of the opening and closing clamp 151.

[0041] The opening and closing splint 151 may pinch the user's fingers during the closing process, so if it is not controlled in detail, the user may be pinched and injured, and the opening and closing mechanism 15 may also be damaged. For this reason, the present application proposes a control method for the opening and closing mechanism 15, and the details can be found in the following process steps.

[0042] Figure 5 It is a flow chart of a control method of an opening and closing mechanism in one embodiment of the present invention.

[0043] The control method of the opening and closing mechanism 15 in this embodiment includes the following steps:

[0044] S10, obtaining position information of the opening and closing clamping plate 151 during the closing process of the opening and closing clamping plate 151.

[0045] Specifically, the opening and closing clamp 151 does not have the possibility of pinching the hand during the opening process, or the possibility of pinching the hand during the opening process is small. This embodiment can make a specific judgment on the closing process in which the possibility of pinching the hand is large. Therefore, if it is determined that the opening and closing clamp 151 is in the closing process, the position information of the opening and closing clamp 151 can be obtained. In this embodiment, the position information of the opening and closing clamp 151 can be determined according to the number of rotations of the motor 152, and when determining whether the opening and closing clamp 151 is in the closed state, it can be determined by the current direction of the motor 152 and the control signal of the motor 152. The method for determining the closing process of the opening and closing clamp 151 is not specifically limited here.

[0046] S20, when it is determined according to the position information that the opening and closing clamping plate 151 is in the first preset position, the working voltage of the motor 152 is controlled to be lowered by a preset voltage threshold, and it is determined whether the motor 152 generates a stall current.

[0047] Specifically, after obtaining the position information of the opening and closing clamp 151, a judgment is made. If the opening and closing clamp 151 is in the first preset position, it indicates that there may be a possibility of pinching the hand. It is understandable that when the opening and closing clamp 151 just begins to close, since the distance between the opening and closing clamps 151 is large, there is no possibility of pinching the hand, and the judgment of pinching the hand may not be performed at this time. When the opening and closing clamp 151 is in the first preset position, since there is a possibility of pinching the hand, the working voltage of the motor 152 may be controlled to be reduced first, thereby reducing the closing speed of the opening and closing clamp 151. Optionally, the first preset position in this embodiment is adjustable, and its specific adjustment method may not be limited here. More specifically, when it is determined according to the position information that the distance between the opening and closing clamps 151 is less than or equal to the first preset distance and greater than or equal to the second preset distance, it can be determined that the opening and closing clamp 151 is in the first preset position, wherein the value range of the first preset distance may be 30-40 mm, and the value range of the second preset distance may be 5-10 mm. If in some embodiments the angle between the opening and closing clamps 151 is determined, the angle corresponding to the first preset distance may range from 100 to 120 degrees, and the angle corresponding to the second preset distance may range from 140 to 160 degrees.

[0048] In addition, the preset voltage threshold in this embodiment can be half of the original working voltage, that is, when it is determined that the opening and closing clamp 151 is in the first preset position, the working voltage of the control motor 152 is reduced by half. Of course, the preset voltage threshold can also be other voltage values. Figure 6 The figure shows a schematic diagram of the opening and closing clamps 151 in a first preset position in a specific embodiment, wherein the distance between the opening and closing clamps 151 may be 36 mm, and the angle between the opening and closing clamps 151 may be 110°.

[0049] After the working voltage of the control motor 152 is reduced to the preset voltage threshold, it is further determined whether the motor 152 generates a stall current. It is understandable that when the opening and closing clamp 151 clamps a finger during the closing process, the opening and closing clamp 151 can no longer close, thereby generating a stall current. If the motor 152 does not generate a stall current, it can be determined that the opening and closing clamp 151 will not clamp a finger. Optionally, the stall current in this embodiment can be 0.8A±10%.

[0050] It should be noted that when the opening and closing splint 151 is in the first preset position, it means that continuing to close the opening and closing splint 151 may pinch the user's fingers, so the working voltage of the motor 152 can be reduced to reduce the closing speed of the opening and closing splint 151, so that even if the user's fingers are pinched later, the user's pain can be reduced.

[0051] S30 , when the motor 152 generates a stall current, the motor 152 is controlled to rotate in reverse until the opening and closing clamp 151 is at a second preset position, and then the motor 152 is controlled to rotate forward to close the opening and closing clamp 151 .

[0052] Specifically, if it is determined that the motor 152 generates a stall current, it can be determined that the opening and closing splint 151 has clamped an object, and the object has jammed the opening and closing splint 151, making it impossible for the opening and closing splint 151 to complete the closing operation smoothly. Then, the motor 152 can be controlled to reverse to prevent the opening and closing splint 151 from clamping the object. In this embodiment, the motor 152 is controlled to reverse, that is, the opening and closing splint 151 can be controlled to open until the opening and closing splint 151 is in the second preset position, and then the motor 152 is controlled to resume forward rotation to close the opening and closing splint 151. Specifically, Figure 2 Or as shown in 3, the second preset position in this embodiment can be the state where the opening and closing splint 151 is completely opened, and of course it can also be at a certain set position. It can be understood that the distance and angle between the opening and closing splints 151 in the set position are greater than the distance and angle between the opening and closing splints 151 when the opening and closing splints 151 are in the first preset position.

[0053] S40, when the motor 152 does not generate a stall current, if it is determined according to the position information that the opening and closing clamp 151 is in the third preset position, the operating voltage of the motor 152 is controlled to increase by a preset voltage threshold until the opening and closing clamp 151 is completely closed.

[0054] Specifically, if it is determined that the motor 152 does not generate a stall current, it can be determined that the current opening and closing splint 151 does not clamp an object, and the position information of the opening and closing splint 151 can continue to be obtained. When it is determined that the opening and closing splint 151 is in the third preset position according to the position information, the working voltage of the motor 152 can be controlled to return to the original working voltage, that is, the preset voltage threshold is increased until the opening and closing splint 151 is completely closed. More specifically, when it is determined that the distance between the opening and closing splints 151 is less than the second preset distance according to the position information, it can be determined that the opening and closing splint 151 is in the third preset position, wherein the value range of the second preset distance can be 5-10 mm. If in some embodiments, the angle between the opening and closing splints 151 is determined, the value range of the angle corresponding to the second preset distance can be 140-160 degrees.

[0055] When the opening and closing clamping plate 151 is in the third preset position, it can be determined that the opening and closing clamping plate 151 will no longer clamp the user's fingers. Figure 7As shown, when the opening and closing clamps 151 are in the third preset position, the distance between the opening and closing clamps 151 can be 6 mm, and the angle between the opening and closing clamps 151 can be 150°. In this case, even if the fingers are small, they will not be clamped by the opening and closing clamps 151. Therefore, when the opening and closing clamps 151 are in the third preset position, the working voltage of the motor 152 can be controlled to increase the preset voltage threshold until the opening and closing clamps 151 are completely closed.

[0056] It can be understood that in this embodiment, whether the opening and closing clamp 151 has completed closing can also be determined by detecting whether the motor 152 generates a stall current, but it is necessary to determine whether the stall current is generated after the opening and closing clamp 151 reaches the third preset position. If the stall current is generated after reaching the third preset position, it can be determined that the opening and closing clamp 151 has completed closing.

[0057] It should also be noted that in this embodiment, the working voltage of the motor 152 is increased to finally complete the closing of the opening and closing clamp 151, thereby ensuring that the opening and closing clamp 151 is closed in place and reducing the possibility of gaps.

[0058] In some embodiments of the present invention, the control method of the opening and closing mechanism 15 further includes: before using the opening and closing clamp 151 , controlling the opening and closing clamp 151 to perform a self-check.

[0059] Specifically, in this embodiment, before the opening and closing splint 151 in the opening and closing mechanism 15 is used, a self-test is also performed, wherein the use of the opening and closing splint 151 may be the first use of the opening and closing splint 151, or of course, it may be used once every preset time or every preset number of times. For example, after the user purchases the corresponding device and powers it on, the opening and closing splint 151 may first perform a self-test, or it may perform a self-test once every week or every ten times it is used. The purpose of controlling the self-test of the opening and closing splint 151 in this embodiment is to close the opening and closing splint 151 in place so that the position of the opening and closing splint 151 is reset to zero.

[0060] In this embodiment, controlling the opening and closing clamp 151 to perform self-inspection includes: controlling the opening and closing clamp 151 to open to a second preset position, then controlling the opening and closing clamp 151 to close, and obtaining the opening and closing time of the opening and closing clamp 151 to complete the self-inspection.

[0061] Specifically, in this embodiment, controlling the opening and closing splint 151 to perform self-test may be controlling the opening and closing splint 151 to open to the second preset position, that is, controlling the opening and closing splint 151 to open completely, and then controlling the opening and closing splint 151 to close, so that the opening and closing time of the opening and closing splint 151 can be obtained, and then the time can be converted into the angle of the opening and closing splint 151, and in the subsequent application process, the position of the opening and closing splint 151 can be determined by obtaining the opening and closing time of the splint 151. In one embodiment, obtaining the position information of the opening and closing splint 151 may include: obtaining the closing time of the opening and closing splint 151, and determining the position information of the opening and closing splint 151 according to the closing time.

[0062] Figure 8 It is a flow chart of a control method of the opening and closing mechanism 15 in a specific embodiment of the present invention.

[0063] like Figure 8 As shown, first, when the range hood 13 is turned on, it is determined whether it is the first time to use the combination stove 11. If it is, the opening and closing mechanism 15 is controlled to perform self-checking, and the cycle time of opening and closing is recorded. Then, the time is converted into an opening and closing angle, and then the opening and closing mechanism 15 is operated normally, and the opening and closing mechanism 15 is opened to the second preset position, and it is determined whether there is a stalled current. If there is a stalled current, the movement is stopped, and then the range hood 13 is controlled to be closed. In the process of closing the range hood 13, the opening and closing mechanism 15 is closed normally, and then the angle information of the opening and closing clamp 151 is obtained. When the angle of the opening and closing clamp 151 is 110°, the working voltage of the motor 152 is reduced by half, the movement is slowed down, and then it is determined whether there is a stalled current in the middle. If there is, the opening and closing mechanism 15 is controlled to open to the second preset position. If there is a stalled current in this process, the movement is stopped, and then the opening and closing mechanism 15 is controlled to be closed normally again, and this cycle is repeated. If there is no stall current after the working current of the motor 152 is reduced by half, when the angle of the opening and closing clamp 151 is 150°, the working voltage of the control motor 152 returns to normal and continues to move until there is a stall current, and the opening and closing mechanism 15 is closed.

[0064] In summary, the embodiments of the present invention can accurately control the opening and closing mechanism, realize the anti-pinch function of the opening and closing mechanism, improve the service life and use safety of the opening and closing mechanism, and ensure the personal safety of the user.

[0065] Furthermore, the present invention also proposes a computer-readable storage medium on which a control program of an opening and closing mechanism is stored. When the control program is executed by a processor, the control method of the opening and closing mechanism according to the above embodiment is implemented.

[0066] In this embodiment, the computer-readable storage medium accurately controls the opening and closing mechanism by executing the control program of the opening and closing mechanism stored thereon, thereby realizing the anti-pinch function of the opening and closing mechanism, improving the service life and safety of the opening and closing mechanism, and ensuring the personal safety of the user.

[0067] Fig. 9 It is a structural block diagram of the control device of the opening and closing mechanism in an embodiment of the present invention.

[0068] Furthermore, if Fig. 9 As shown, the present invention proposes a control device 100 for an opening and closing mechanism, the opening and closing mechanism includes an opening and closing splint, the opening and closing splint is opened and closed by a motor, the control device 100 includes an acquisition module 101 and a control module 102, wherein the acquisition module 101 is used to acquire the position information of the opening and closing splint during the closing process of the opening and closing splint; the control module 102 is used to control the working voltage of the motor to reduce a preset voltage threshold when it is determined that the opening and closing splint is in a first preset position according to the position information, and to determine whether the motor generates a stall current; when the motor generates a stall current, control the motor to reverse until the opening and closing splint is in a second preset position, and then control the motor to rotate forward to close the opening and closing splint; when the motor does not generate a stall current, if it is determined that the opening and closing splint is in a third preset position according to the position information, then control the working voltage of the motor to increase the preset voltage threshold until the opening and closing splint is completely closed.

[0069] In some embodiments of the present invention, the control module 102 is further used to control the opening and closing splint to perform a self-check before using the opening and closing splint.

[0070] In some embodiments of the present invention, the control module 102 is specifically used to: control the opening and closing splint to open to a second preset position, then control the opening and closing splint to close, and obtain the opening and closing time of the opening and closing splint to complete the self-check.

[0071] In some embodiments of the present invention, the acquisition module 101 is specifically used to: acquire the closing time of the opening and closing splint, and determine the position information of the opening and closing splint according to the closing time.

[0072] In some embodiments of the present invention, the control module 102 is further used to: determine that the opening and closing splints are in the first preset position when it is determined according to the position information that the distance between the opening and closing splints is less than or equal to the first preset distance and greater than or equal to the second preset distance.

[0073] In some embodiments of the present invention, the control module 102 is further configured to: determine that the opening and closing clamps are in a third preset position when it is determined according to the position information that the distance between the opening and closing clamps is less than the second preset distance.

[0074] In some embodiments of the invention, the motor includes an encoder.

[0075] It should be noted that the specific implementation of the control device of the opening and closing mechanism in this embodiment can refer to the specific implementation of the control method of the opening and closing mechanism in the above embodiment, and will not be repeated here to avoid redundancy.

[0076] In summary, the control device of the opening and closing mechanism in the embodiment of the present invention can accurately control the opening and closing mechanism, realize the anti-pinch function of the opening and closing mechanism, improve the service life and safety of the opening and closing mechanism, and ensure the personal safety of the user.

[0077] Fig.10 It is a structural block diagram of the opening and closing mechanism in an embodiment of the present invention.

[0078] Furthermore, if Fig.10 As shown, the present invention proposes an opening and closing mechanism 200, which includes the control device 100 of the opening and closing mechanism in the above embodiment.

[0079] The opening and closing mechanism in this embodiment can accurately control the opening and closing mechanism through the control device of the opening and closing mechanism in the above embodiment, realize the anti-pinch function of the opening and closing mechanism, improve the service life and safety of use of the opening and closing mechanism, and ensure the personal safety of the user.

[0080] Fig.11 and Fig.12 It is a structural block diagram of a household appliance in one embodiment of the present invention.

[0081] Furthermore, if Fig.11 and Fig.12 As shown, the present invention proposes a household appliance 300, which includes the control device 100 or the opening and closing mechanism 200 of the opening and closing mechanism in the above embodiment.

[0082] The household appliance in this embodiment can accurately control the opening and closing mechanism, realize the anti-pinch function of the opening and closing mechanism, improve the service life and safety of the opening and closing mechanism, and ensure the personal safety of the user.

[0083] In addition, other structures and functions of the household appliance in the embodiment of the present invention are known to those skilled in the art and will not be described herein in detail to reduce redundancy.

[0084] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0085] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0086] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0087] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0088] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0089] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific implementation situation.

[0090] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0091] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for controlling an opening and closing mechanism, characterized in that: The opening and closing mechanism includes an opening and closing clamp, and the opening and closing clamp is opened and closed by a motor. The control method includes: During the closing process of the opening and closing splint, obtaining position information of the opening and closing splint; When it is determined according to the position information that the opening and closing clamp is in the first preset position, controlling the working voltage of the motor to be lowered by a preset voltage threshold, and determining whether the motor generates a stall current; When the motor generates the stall current, the motor is controlled to rotate in reverse until the opening and closing clamp is in a second preset position, and then the motor is controlled to rotate forward to close the opening and closing clamp; When the motor does not generate the stall current, if it is determined according to the position information that the opening and closing clamp is in the third preset position, the working voltage of the motor is controlled to increase by the preset voltage threshold until the opening and closing clamp is completely closed.

2. The control method according to claim 1, characterized in that: The control method further comprises: Before using the opening and closing splint, the opening and closing splint is controlled to perform a self-check.

3. The control method according to claim 2, characterized in that: Controlling the opening and closing splint to perform self-inspection includes: The opening and closing clamp is controlled to open to the second preset position, and then the opening and closing clamp is controlled to close, and the opening and closing time of the opening and closing clamp is obtained to complete the self-check.

4. The control method according to claim 3, characterized in that: Obtaining the position information of the opening and closing splint includes: The closing time of the opening and closing splint is acquired, and the position information of the opening and closing splint is determined according to the closing time.

5. The control method according to any one of claims 1 to 4, characterized in that: Determining that the opening and closing clamp is in a first preset position according to the position information includes: When it is determined according to the position information that the distance between the opening and closing clamps is less than or equal to the first preset distance and greater than or equal to the second preset distance, it is determined that the opening and closing clamps are in the first preset position.

6. The control method according to any one of claims 1 to 4, characterized in that: Determining that the opening and closing clamp is at a third preset position according to the position information includes: When it is determined according to the position information that the distance between the opening and closing clamps is less than the second preset distance, it is determined that the opening and closing clamps are in the third preset position.

7. The control method according to any one of claims 1 to 4, characterized in that: The motor includes an encoder.

8. A computer-readable storage medium, characterized in that: A control program for the opening and closing mechanism is stored thereon, and when the control program is executed by a processor, a control method for the opening and closing mechanism according to any one of claims 1-7 is implemented.

9. A control device for an opening and closing mechanism, characterized in that: The opening and closing mechanism includes an opening and closing clamp, and the opening and closing clamp is opened and closed by a motor. The control device includes: An acquisition module, used for acquiring position information of the opening and closing splint during the closing process of the opening and closing splint; A control module, for controlling the working voltage of the motor to reduce a preset voltage threshold when it is determined that the opening and closing splint is in a first preset position according to the position information, and determining whether the motor generates a stall current; when the motor generates the stall current, controlling the motor to reverse until the opening and closing splint is in a second preset position, and then controlling the motor to rotate forward to close the opening and closing splint; when the motor does not generate the stall current, if it is determined that the opening and closing splint is in a third preset position according to the position information, controlling the working voltage of the motor to increase the preset voltage threshold until the opening and closing splint is completely closed.

10. An opening and closing mechanism, characterized in that: The opening and closing mechanism comprises a control device for the opening and closing mechanism as claimed in claim 9.

11. A household appliance, characterized in that: The household appliance comprises the control device of the opening and closing mechanism according to claim 9 or the opening and closing mechanism according to claim 10.

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