A mixerless full-automatic back-and-forth rotary shaking milk mixing machine and a control method thereof

Abstract

The application discloses a full-automatic back-and-forth rotary shaking uniform milk machine without a mixer and a control method thereof, and relates to the technical field of infant milk preparation equipment. The milk machine comprises a main control module, a movable milk powder bin with a three-stage moisture-proof mechanism, a double-station movable water supply module, and a three-layer rigid concentric stacking shaking uniform bearing assembly; a tray movement module is integrated with a Y-axis rack translation and a scissor-type vertical lifting structure, the whole machine is free of an independent mixing cavity, and the milk liquid is uniformly mixed by relying on the overall back-and-forth rotation of a feeding bottle. The control method adopts a two-stage uniform mixing process of synchronous vortex premixing of falling powder and full-speed shaking uniformity of gravity reduction, and is matched with weight induction PID closed-loop precise quantity control. The application improves the milk powder dissolving effect and shaking uniformity, strengthens the moisture-proof capacity of the milk powder, and has the functions of milk preparation and direct drinking, and is automatically operated in the whole process.

Description

Technical Field

[0001] This invention belongs to the technical field of infant formula preparation equipment, specifically relating to a formula preparation machine and its control method that can automatically add water, dispense powder in a measured amount, and synchronously rotate and mix without a built-in stirring structure. Background Technology

[0002] The existing fully automatic milk maker on the market can only automatically add water and dispense a fixed amount of powder. When preparing the milk, the water inside the bottle is still, and the milk powder is easy to float, clump, and stick to the wall. Some devices have added built-in stirring impellers, but milk residue is easily left in the gaps of the stirring chamber, making it difficult to clean and easy to breed bacteria. Manually shaking the milk maker is cumbersome and cannot stir the water at the same time while adding water and dispensing powder.

[0003] Regarding the lifting structure, existing milk makers generally adopt a single-column synchronous belt driven lifting scheme, with the tray suspended on one side of the synchronous belt slider, which is a cantilever single-point support structure. When the milk bottle is rotated and shaken at high speed, the centrifugal force is entirely applied to the single-sided column, and the tray is prone to swaying and shaking, causing the bottle mouth to detach from the feeding port and resulting in milk splashing and leakage. In addition, the center of gravity of the cantilever structure is offset, and it cannot be integrated with the front and rear translational feeding mechanism. It can only be arranged in layers, resulting in a bulky overall size and low space utilization.

[0004] In terms of milk powder hopper design, existing solutions generally suffer from the dual defects of poor powder dispensing stability and insufficient moisture protection: solutions that rely solely on screw dispensing lack internal anti-bridging structures, making the milk powder prone to absorbing moisture, bridging, and powder breakage, resulting in rapid decrease in dispensing accuracy; solutions with stirring functions often have built-in motors or electrical contacts, and the detachable hopper cannot be fully washed, making it easy for bacteria to grow in unsanitary corners; at the same time, most products rely solely on a single top cover for sealing, leaving the bottom outlet open for extended periods, and the gap between the hopper and the base lacks sealing, allowing water vapor generated during milk preparation to easily backflow from the bottom, accelerating milk powder clumping and spoilage; a few end-face compression sealing solutions require two sets of drive mechanisms for translation and lifting, resulting in redundant structures, large volume, and difficulty in fitting into the compact space of small household milk makers.

[0005] In terms of water supply system design, most existing fully automatic formula makers have fixed water outlets that only serve the formula preparation scenario, resulting in low equipment utilization. A few models with direct drinking function use a dual-outlet, dual-water-path design, where idle pipes are prone to accumulating stagnant water and breeding bacteria, posing a hygiene hazard. At the same time, most models lack a dedicated drip-feeding water collection structure, or the water collection area is shared with the bottle placement area, which can easily cause the formula preparation chamber to become damp, exacerbating the milk powder's absorption of moisture and clumping, and posing a risk of secondary contamination.

[0006] In terms of human-computer interaction, existing solutions generally suffer from a contradiction between feature richness and ease of operation: multi-button layouts have many components and potential failure points, complex operation logic, and high learning costs for elderly users; touch screen solutions are prone to failure in high humidity and sticky powder preparation scenarios, and their reliability is insufficient; moreover, preparing milk at night requires visual operation, which can easily disturb the baby's sleep, making it difficult to meet the needs of multiple usage scenarios and operational stability.

[0007] Traditional water tanks use bottom-mounted pumps for water extraction, which can easily lead to leaks in the sealing gasket after frequent disassembly and reassembly, posing an electrical safety hazard. Conventional shaking structures have a high center of gravity and poor concentricity, making them prone to shaking and spillage during high-speed rotation.

[0008] Existing publicly available container mixing devices only have a single rotation mixing function and lack an integrated linkage structure for water injection and quantitative powder dispensing; all fully automatic milk maker machines on the market use a static water dispensing scheme, stopping stirring before dispensing, causing the milk powder to float and clump; there is no full-time coordinated control logic for "water inlet calibration and positioning, powder dispensing position lifting and calibration, synchronous medium-speed vortex premixing throughout the powder dispensing process, and full-speed secondary shaking after the powder dispensing is completed and the center of gravity is lowered".

[0009] Reference document 1 (CN217285507U, A lifting milk shaking device and automatic milk maker, Guangdong Xinbao Electric Appliance Co., Ltd., August 26, 2022): discloses a milk shaking device with lifting function, which uses a motor to drive the milk shaking mechanism to rotate and mix the milk. However, its lifting mechanism is a single column guide structure, which is a cantilever support and has insufficient stability when rotating at high speed. Moreover, it only has basic milk shaking function and does not have an integrated design such as fully automatic quantitative water injection, synchronous powder premixing, and three-level moisture-proof sealing, so it cannot realize fully automatic milk preparation throughout the entire process.

[0010] Comparative document 2 (CN113633174A, An automatic milk maker, Zhuhai Gree Electric Appliances Co., Ltd., November 12, 2021): discloses a fully automatic milk maker with automatic water injection and quantitative powder dispensing functions, but it adopts a traditional static water powder dispensing scheme, without a synchronous pre-shaking process during the powder dispensing stage, which makes the milk powder prone to clumping and floating; moreover, the water tank adopts a bottom-sealed docking structure, which is prone to leakage after long-term use; the milk powder compartment has a simple moisture-proof design, relying only on the top compartment cover for sealing, and the bottom outlet is open for a long time and is prone to moisture; there is no two-stage mixing control logic, and the dissolving effect is limited. Summary of the Invention

[0011] (1) Purpose of the invention

[0012] To overcome the shortcomings of existing milk maker machines, such as clumping and difficulty in dissolving, difficulty in cleaning the stirring structure, water leakage, easy absorption of milk powder by moisture, poor shaking stability, insufficient lifting and bearing rigidity, single function, and cumbersome operation, a fully automatic reciprocating rotary shaking milk maker without a mixer and its control method are provided.

[0013] (2) Technical solution

[0014] A fully automatic reciprocating rotary mixing milk maker without a mixer includes a main control circuit board module, a movable milk powder compartment module, a milk powder compartment fixing and moisture-proof module, a bottle position sensing module, a movable water supply module, a bottle tray fixing module, a bottle reciprocating rotary mixing module, a weight sensing module, a bottle tray movement module, a large-capacity water tank, and an equipment information display module. The main control circuit board module is electrically connected to each of the other modules, serving as the central control unit for the entire machine's operation. The large-capacity water tank features a top-inserted water-drawing structure and has no bottom sealing connection structure. The movable water supply module can adjust the position of the water inlet. The machine features two displacement actions: positioning the water inlet and repositioning the bottle. The bottle tray motion module, weight sensing module, and bottle reciprocating rotation mixing module are rigidly concentrically connected from bottom to top. The bottle tray fixing module concentrically locks the bottle. The entire machine has no independent mixing chamber or stirring impeller; it relies on the overall rotation of the bottle to mix water and milk powder. The weight sensing module, combined with a PID algorithm, precisely controls the water injection and powder output in a closed loop. The milk powder compartment fixing and moisture-proof module is equipped with an openable and closable discharge sealing gate, which is only opened during the powder dispensing period. The bottle reciprocating rotation mixing module can maintain a medium speed throughout the powder dispensing process to drive the water inside the bottle to form a bidirectional vortex.

[0015] Furthermore, the bottle reciprocating rotation mixing module is driven by a shaking motor, which can achieve linear stepless speed increase, and the shaking operation parameters are adaptively matched according to the milk volume.

[0016] Furthermore, in the calibrated state of the active water supply module, the distance between the water outlet and the milk powder outlet is less than 1 cm.

[0017] Furthermore, the active milk powder compartment module can be detached and installed via a snap-on or magnetic structure.

[0018] Furthermore, the bottle tray motion module includes a Y-axis horizontal translation unit and a scissor-type vertical lifting unit; the rack of the Y-axis horizontal translation unit is fixed to the base, and the drive motor and gear move synchronously with the sliding slide. The entire scissor lifting mechanism is fully integrated on the translation slide to form an independent motion module.

[0019] Furthermore, the scissor-type vertical lifting unit includes two sets of double-layer cross scissor arms arranged symmetrically on the left and right sides. The lifting limit is achieved through the waist-shaped sliding joint, eliminating the need for an external vertical guide column. The load-bearing plate remains horizontal throughout the lifting process.

[0020] Furthermore, the active milk powder container module is equipped with a vertical stirring paddle and a horizontal powder dispensing screw. It achieves single-power dual-shaft synchronous transmission through a side bevel gear pair. The container is purely mechanical and non-electric, and can be disassembled for full cleaning.

[0021] Furthermore, the milk powder hopper fixed moisture-proof module is equipped with a radial sealing rubber ring and a screw-driven translational lifting discharge gate, which together with the top hopper cover constitute a three-level moisture-proof sealing system.

[0022] Furthermore, the active water supply module adopts a single-outlet active design, which can switch between two workstations: one for making milk and one for daily direct drinking, while sharing a single water circuit system.

[0023] Furthermore, a detachable perforated cup holder is installed below the direct drinking station on the outside of the equipment to catch any dripping liquid and physically isolate it from the milk preparation chamber.

[0024] Furthermore, the weight sensing module is a miniature pressure weighing sensor with a range of 0~2000g and an accuracy of 0.1g; the PID algorithm control parameters are proportional coefficient P=1.2~2.0, integral coefficient I=0.05~0.12, and derivative coefficient D=0.01~0.03.

[0025] Furthermore, the diameter of the tubing for large-capacity water storage containers is 4-6 mm.

[0026] This invention also provides a control method for a mixer-free, fully automatic reciprocating rotary milk mixing machine, comprising the following steps:

[0027] S1. Place the baby bottle; the baby bottle tray motion module lifts the baby bottle; the baby bottle position sensing module detects the baby bottle positioning signal.

[0028] S2, The main control unit performs water inlet position calibration for the active water supply module;

[0029] S3. Start water filling. The weight sensor module provides real-time feedback on the water volume. The PID adjusts the water pump speed for precise water filling. There is a short pause after water filling is completed.

[0030] S4. The active water supply module returns the water inlet to its original position and removes the water outlet pipe to prevent milk powder from sticking.

[0031] S5, the bottle tray motion module lifts the entire set of shaking components to complete the powder drop position calibration;

[0032] S6. Start the bottle reciprocating rotation mixing module to rotate at medium speed, and the water in the bottle forms a two-way vortex. At the same time, the main control drives the milk powder hopper fixing moisture-proof module to open the discharge sealing gate.

[0033] S7. Start dispensing powder: The motor drives the screw to deliver milk powder. The weight sensor and PID control precisely control the amount of powder. The powder is dispensed at a medium speed throughout the process to maintain a water vortex. After the powder is dispensed, the milk powder compartment's moisture-proof module immediately closes the gate to isolate the air and prevent moisture.

[0034] S8. Pause after powder application is complete;

[0035] S9, the bottle tray motion module drives the entire shaking assembly to descend vertically and lower the overall center of gravity, and the motor speeds up to full speed to shake evenly.

[0036] S10. After shaking is complete, the tray motion module sends the bottle out along the Y-axis, and the entire machine structure is reset.

[0037] The shaking time is adjusted proportionally to the set milk volume, and the motor speed increases linearly and steadily. The milk powder is mixed through two stages: synchronous vortex premixing with powder falling and secondary full-speed shaking with a lower center of gravity.

[0038] This application distinguishes itself from all existing technologies by the following set of core defining features:

[0039] 1. Mechanical structure constraints: The bottle tray motion module, weight sensing module, and bottle reciprocating rotation hybrid module are rigidly concentrically stacked from bottom to top;

[0040] 2. Lifting Structure Limitations: A double-layer symmetrical scissor arm full-bottom-surface lifting structure is adopted to replace the single-column synchronous belt cantilever support;

[0041] 3. Translation structure limitation: The Y-axis horizontal translation is driven by rack and pinion, and the scissor lift module is integrated on the translation slide, realizing multi-axis integration;

[0042] 4. Milk powder compartment structure limitations: a single set of bevel gears achieves single-power dual-shaft linkage, purely mechanical, detachable, and fully washable;

[0043] 5. Moisture-proof system: Radial clamping static seal + screw-driven translational lifting end face dynamic seal + top cover three-level coordinated seal, blocking moisture intrusion throughout the entire path;

[0044] 6. Water supply structure limitations: The movable water supply module has dual stations for calibration and repositioning;

[0045] 7. Limited water supply function: The single water outlet is reusable, and one water circuit can provide precise water for making formula and daily drinking, with no dead water or hygienic blind spots;

[0046] 8. Water collection design limitations: External independent perforated cup holder, physical isolation between dripping and milk preparation chamber, dry and wet separation for enhanced moisture protection;

[0047] 9. Interaction Design Limitations: A single rotary encoder + OLED screen provides a minimalist interaction, balancing multi-scenario functionality with a low operating threshold, thus improving overall device reliability;

[0048] 10. Unique control timing features: Water injection → Water inlet return to position → Lifting and calibrating powder drop position → Pre-rotation to create bidirectional vortex → Opening the chamber to release powder synchronously → Closing the chamber and sealing → Lowering the center of gravity and shaking at full speed.

[0049] 11. Unique mixing mechanism: The water body continuously forms a two-way vortex throughout the powder falling process, and the milk powder is immediately dispersed by the water flow as it falls, which is different from powder falling in still water.

[0050] (3) Beneficial effects

[0051] 1. The two-stage mixing process brings unexpected dissolution results: Existing milk powder makers only shake once, and the powder tends to clump when the water is still. This application maintains a two-way vortex throughout the powder falling process, and the milk powder is dispersed by the water flow as it falls. Combined with full-speed deep shaking after the center of gravity is lowered, small-volume milk liquid has no floating powder and no residue on the bottle wall, and the dissolution uniformity is greatly improved. This synergistic timing combination is not a simple superposition of existing known methods.

[0052] 2. Three-layer rigid concentric stacking + scissor-type full-bottom lifting structure: While separate weighing modules and separate shaking mechanisms are well-known, the rigid coupling and synchronous lifting of these two components achieves real-time weight measurement while ensuring high-speed concentric stability during rotation. A unique double-layer symmetrical scissor arm full-bottom lifting structure replaces the traditional single-column synchronous belt cantilever support. The centrifugal force generated by the bottle's rotation is evenly distributed and absorbed by the entire scissor frame, reducing tray offset by over 90%. This significantly reduces machine vibration and the probability of spillage, overcoming industry pain points such as incompatibility between weighing and rotation mechanisms and insufficient rigidity of the lifting support.

[0053] 3. Integrated design of Y-axis translation and scissor lift: The entire scissor lift module is directly mounted on the bottom rack and pinion translation slide, eliminating the need for layered stacking. Compared with the traditional separate structure of synchronous belt lifting + independent translation, the internal space occupied by the whole machine is reduced by more than 30%, realizing the miniaturization and lightweighting of the household milk maker; the inertia of translation start and stop is buffered by the scissor frame and the bottom optical axis, ensuring smooth operation without the risk of tipping over.

[0054] 4. Single-power bevel gear dual-shaft linkage for breaking up bridging and feeding powder: This solves the problem of powder bridging and breaking from the root, ensuring long-term stable powder dispensing accuracy. The container is purely mechanical and non-electric, and can be fully washed with water, eliminating any unsanitary corners. It balances powder dispensing reliability with safety in use.

[0055] 5. A three-level collaborative moisture-proof system blocks moisture intrusion along the entire path: radial rubber rings seal the assembly gaps, and a screw-driven translational lifting gate achieves end-face pressing dynamic sealing, forming a fully enclosed protection with the top cover; the single-drive composite action structure is compact, with no sliding friction on the sealing surface, low wear and long service life, and uniform and reliable sealing pressure, significantly reducing the monthly moisture absorption rate of milk powder, effectively extending the shelf life of milk powder, and solving the common pain point of milk powder clumping due to moisture in the industry.

[0056] 6. Single-outlet dual-station reuse design: One water circuit can simultaneously meet the needs of baby formula preparation and family daily drinking water, greatly improving equipment utilization; the single pipeline has no dead water corners, avoiding the stagnant water and bacteria problems of dual water circuit solutions, resulting in better hygiene.

[0057] 7. External independent perforated cup holder for complete drip collection: Physically isolated from the formula preparation chamber, it prevents moisture accumulation inside the chamber, further reducing the risk of milk powder getting damp. It is also detachable and easy to clean, with no dead corners for cleaning.

[0058] 8. Single encoder minimalist interactive architecture: Unified "rotation switching + press confirmation" operation logic, covering all functions such as formula preparation, water supply, temperature adjustment, and settings. It has a very low learning cost, is user-friendly for the elderly and blind at night, and greatly improves ease of use.

[0059] 9. Single-input hardware architecture reduces the number of components and interfaces: reduces assembly complexity and failure points, the rotary encoder has a long mechanical life and is not affected by water vapor powder, significantly improves operational reliability in milk preparation scenarios, and extends the service life of the whole machine.

[0060] 10. The top-inserted water inlet combined with the rotating bearing system solves the two major problems of leakage and vibration interference from the load at the same time. The combined solution does not have any existing technological inspiration.

[0061] 11. No stirring or mixing chamber, no milk residue dead corners, easy to disassemble and clean.

[0062] 12. PID closed-loop weight control ensures high accuracy in water and powder measurement, meeting the requirements for infant formula preparation ratios.

[0063] 13. The entire process is automated. No manual intervention is required after placing the cup. The system automatically calibrates, adds water, dispenses powder, mixes the powder in layers, and returns the cup to its original position.

[0064] 14. Stepless linear speed increase start-up reduces equipment vibration and extends the overall service life of the machine. Attached Figure Description

[0065] Figure 1 This is a schematic diagram of the overall three-dimensional assembly structure of the present invention;

[0066] Figure 2 This is a longitudinal cross-sectional view of the shaking bearing component of the present invention;

[0067] Figure 3 This is an enlarged schematic diagram of the water inlet and leak-proof structure on the large-capacity water tank of the present invention;

[0068] Figure 4 This is a sequence logic block diagram of the fully automatic brewing process of the present invention;

[0069] Figure 5 This is an enlarged schematic diagram of the structure of the baby bottle tray motion module (Y-axis translation + scissor lift) of the present invention;

[0070] Figure 6This is a schematic cross-sectional view of the internal transmission and fixed moisture-proof base of the active milk powder compartment of the present invention;

[0071] Figure 7 This is an enlarged schematic diagram of the structure of the milk powder hopper discharge sealing gate (screw drive + three-point convex lifting) of the present invention;

[0072] Figure 8 This is a schematic diagram of the dual-station active water supply module and the external perforated cup holder structure of the present invention;

[0073] Figure 9 This is a schematic diagram of the layout of the device information display module (OLED screen + rotary encoder) of the present invention. Detailed Implementation

[0074] The overall assembly structure is as follows: The bottom is a bottle tray motion module (9), which is divided into two layers from bottom to top: a Y-axis horizontal translation unit (9-1) and a scissor-type vertical lifting unit (9-2). The Y-axis horizontal translation unit (9-1) includes a base guide optical axis (9-3), a sliding slide (9-4), and a rack and pinion drive assembly (9-5). The rack is fixed to the base frame, and the drive motor and gear are installed on the side of the sliding slide (9-4). The gear and rack mesh to drive the slide to move back and forth along the optical axis. The scissor-type vertical lifting unit (9-2) is fixedly installed on the sliding slide (9-4). The top of the unit includes two sets of symmetrical double-layer cross scissor arms (9-6), a lower fixed plate, and an upper support plate (9-8). The two ends of the scissor arms are slidably hinged to the upper and lower plates through waist-shaped sliding grooves (9-7). The upper support plate (9-8) is vertically raised and lowered by opening and closing the scissor arms. The weight sensing module (8) is rigidly fixed above the scissor-type vertical lifting unit (9-2). The bottle reciprocating rotation mixing module (7) is rigidly connected above the weight sensing module (8). The bottle reciprocating rotation mixing module (7) is equipped with a bottle tray fixing module (6) on top. The cylindrical fixing seat is equipped with an elastic clamping part that concentrically clamps the bottle with the top flexible sleeve.

[0075] Milk powder hopper and moisture-proof base assembly structure: The movable milk powder hopper module (2) is a cylindrical purely mechanical detachable structure with a centrally located spoke stirring paddle (2-1) and a horizontally arranged quantitative powder dispensing screw (2-2) at the bottom. The side of the hopper has a built-in bevel gear transmission pair (2-3). The milk powder hopper fixed moisture-proof module (3) is equipped with positioning support feet and a buckle locking structure, so that the hopper can be accurately aligned when placed in the hopper. The base has a built-in drive shaft that is inserted and meshed with the input end of the bevel gear in the hopper. A single power input synchronously drives the stirring paddle and screw to operate. The base outlet is equipped with a radial sealing rubber ring (3-1). After the hopper is installed, the outer wall of the outlet is radially tightened to seal the assembly gap. The bottom of the base is equipped with a sliding sealing gate (3-2) driven by a screw nut mechanism (3-3). The bottom of the gate is equipped with three positioning protrusions (3-4). In conjunction with the inclined surface of the base track (3-5), the gate is vertically lifted at the end of the closing stroke, and the outlet end face is axially pressed to form a press seal.

[0076] The structure of the active water supply module (5): a single water outlet (5-1) is driven by a drive mechanism to move horizontally, and can be switched between the milk preparation water injection station and the daily direct drinking station; the water outlet of the milk preparation station is aligned with the top of the milk bottle, and after water injection, it is returned to the daily direct drinking station; the water outlet of the direct drinking station is moved to the open area outside the equipment, and a detachable perforated cup holder (5-2) is set below it. The cup holder surface is provided with spirally distributed drainage holes (5-3), and a water storage cavity (5-4) is provided below to receive dripping liquid and physically isolate it from the milk preparation cavity.

[0077] Human-computer interaction module structure: The equipment information display module (11) is set on the side of the equipment, which includes an OLED display screen (11-1) and a single rotary encoder with pressing function (11-2). The whole machine is only set with one physical operation input component; the OLED screen displays a hierarchical Chinese menu, including functions such as intelligent milk preparation, quantitative water supply, intelligent shaking, tea brewing temperature adjustment, and system settings; the rotary encoder realizes menu switching, parameter adjustment, and confirmation of pressing action.

[0078] The main control circuit board module (1) electrically connects all functional components; the large capacity water tank (10) has a water pump connected to the top of the water pump with a water pipe inserted, and no bottom sealing connection structure; the movable milk powder compartment module (2) is detachable and can be installed, and is equipped with a milk powder compartment fixing moisture-proof module (3) gate mechanism; the equipment information display module (11) realizes parameter setting and status display; the milk bottle position sensing module (4) has the sensor arranged in the tray placement position.

[0079] The operation process strictly follows steps S1 to S10 of the above control method; water injection and powder dispensing are controlled by a weight sensing module (8) + PID speed closed-loop control; the shaking motor adopts pulse stepless speed regulation, with a speed range of 200r / min to 1000r / min, a pre-rotation medium speed range of 250 to 350r / min, and a full-speed shaking range of 700 to 1000r / min; the shaking time is adjusted proportionally to the set milk volume, with a short time for low-speed shaking for small milk volume and a longer rotation time for large milk volume; the milk powder hopper gate is only opened during the powder dispensing period and is immediately closed and sealed after the powder dispensing is completed.

[0080] Quantitative Testing Examples

[0081] Example 1: 30ml small-capacity formula preparation

[0082] After the water inlet is calibrated, the distance between the water outlet and the powder dispensing outlet is 0.8cm. After water is added, the water inlet returns to its original position. The lifting component is pre-rotated at 300r / min, and the speed is maintained throughout the powder dispensing process to form a bidirectional vortex. After the powder dispensing ends, the center of gravity is lowered to the lowest position, and the mixture is shaken at full speed at 800r / min for 15 seconds. After dissolving, there is no milk powder sediment at the bottom of the bottle and no clumps on the bottle wall. Compared with traditional static powder dispensing milk maker, the clump residue rate is reduced by 72% under the same ratio.

[0083] Test conditions: ambient temperature 25℃, water temperature 45℃, milk powder is a certain brand of stage 1 infant formula, powder to water ratio 1:7.

[0084] Example 2: 180ml large-capacity formula preparation

[0085] The pre-rotation speed is 300r / min for synchronous powder dispensing, and the full-speed shaking time after powder dispensing is 45s; the three-layer rigid stacking + scissor lift structure results in a vibration amplitude of ≤0.3mm and no liquid spillage; the water tank has a top tube that allows for 30 days of continuous use without leakage; the milk powder compartment adopts a three-level sealing system, and powder dispensing only takes 12s when the lid is opened, reducing the monthly moisture absorption rate of milk powder by more than 70%.

[0086] Test conditions: ambient temperature 25℃, relative humidity 65%, test period 30 days, simulated milk preparation 6 times a day.

[0087] Example 3: Weight Control Accuracy Test

[0088] Under PID closed-loop control, the error for 30ml water volume is ≤±1.2ml, and the error for 5g milk powder dispensing is ≤±0.15g, meeting the high-precision mixing requirements for infant formula. This control precision can be stably achieved by a low-cost embedded system.

[0089] Test conditions: An electronic balance with an accuracy of 0.01g was used as the reference standard, and each test was repeated 20 times and the average value was taken.

[0090] Example 4: Milk Powder Moisture Resistance and Powder Dispensing Stability Test

[0091] The milk powder hopper, which adopts a three-level sealing system, can maintain a milk powder clumping rate of less than 2% after 30 days of continuous use under an ambient humidity of 65%. The bevel gear dual-shaft linkage powder feeding structure can continuously dispense powder 100 times without bridging or powder breakage. The powder weight error remains within ±0.15g, and the long-term accuracy shows no significant decline.

[0092] Test conditions: ambient temperature 25℃, relative humidity 65%, test period 30 days, using a certain brand of stage 1 infant formula milk powder.

[0093] Example 5: Stability Test of Lifting and Shaking

[0094] The scissor-type full-bottom lifting structure ensures that the tray's horizontal offset is ≤0.05mm when the bottle is shaken at full speed of 800r / min. Compared with the traditional single-column synchronous belt lifting solution, the tray offset is reduced by 92% at the same speed, and there is no milk splashing out of the bottle mouth.

[0095] Test conditions: The horizontal offset of the tray was measured using a high-precision laser displacement sensor, the baby bottle contained 180ml of water, and the rotation speed was 800r / min.

[0096] Creative supplementary reasoning

[0097] Based on existing technology, those skilled in the art have no incentive to combine all of the following: "dual-displacement water supply mechanism, three-layer concentric weighing and rotating stacking, scissor-type full-bottom lifting structure, integrated Y-axis translation and lifting, bevel gear single-power dual-axis milk powder compartment, three-level composite moisture-proof sealing, single water path dual-scene reuse, extremely simple knob interaction, and top leak-proof water tank." Existing equipment addresses single moisture-proof, single shaking, and single leak-proof issues separately. The lifting mechanism generally adopts a single-column synchronous belt cantilever support scheme, which cannot simultaneously ensure high-speed rotation stability and multi-axis motion integrated design. The milk powder compartment solution cannot simultaneously meet the requirements of being washable, preventing bridging, and providing strong moisture resistance. The water supply and interaction solutions cannot balance functional richness and reliability.

[0098] The mechanical structures and control processes of each module in this application work together to create synergistic effects. In particular, the use of a miniaturized double-layer symmetrical scissor structure solves the industry pain point of shaking and trembling during rotation in milk powder mixers. The use of a single set of bevel gears and a lead screw lifting and sealing combination resolves the industry contradiction of "washable, stable powder, and moisture-proof" milk powder compartments. The use of a single reusable water nozzle and a single knob for interaction achieves a minimalist and multifunctional design. All of these are customized improvements for specific working conditions and do not involve any prior art inspiration. The entire machine, from its mechanical structure to its control timing, from its core functions to its detailed user experience, forms a complete invention system with outstanding substantive features and significant progress.

[0099] Explanation of reference numerals in the attached figures

[0100] 1-Main control circuit board module, 2-Moving milk powder compartment module, 3-Milk powder compartment fixing and moisture-proof module, 4-Bottle position sensing module, 5-Moving water supply module, 6-Bottle tray fixing module, 7-Bottle reciprocating rotation mixing module, 8-Weight sensing module, 9-Bottle tray movement module, 10-Large capacity water tank, 11-Equipment information display module.

[0101] 9-1-Y-axis horizontal translation unit, 9-2-scissor-type vertical lifting unit, 9-3-guide optical axis, 9-4-sliding slide block, 9-5-rack and pinion drive assembly, 9-6-double-layer cross scissor arm, 9-7-waist-shaped slide groove, 9-8-upper bearing plate;

[0102] 2-1-Vertical stirring paddle, 2-2-Powder discharge screw, 2-3-Bevel gear transmission pair;

[0103] 3-1-Radial sealing rubber ring, 3-2-Sealing gate, 3-3-Screw and nut mechanism, 3-4-Positioning protrusion, 3-5-Rail inclined surface;

[0104] 5-1-Water outlet, 5-2-Perforated cup holder, 5-3-Drain hole, 5-4-Water storage chamber;

[0105] 11-1-OLED display screen, 11-2-rotary encoder.

Claims

1. A fully automatic reciprocating rotary milk mixing machine without a mixer, characterized in that: It includes a main control circuit board module, a movable milk powder compartment module, a milk powder compartment fixing and moisture-proof module, a bottle position sensing module, a movable water supply module, a bottle tray fixing module, a bottle reciprocating rotation mixing module, a weight sensing module, a bottle tray motion module, a large-capacity water storage tank, and an equipment information display module. The main control circuit board module is electrically connected to each of the other modules, serving as the central control hub for the entire machine's operation. The large-capacity water tank is equipped with a top-insertion water-pumping structure and has no bottom sealing connection structure. The active water supply module can perform two displacement actions: water outlet position calibration and water outlet position return. In the calibration state, the water outlet is aligned with the top of the baby bottle. The bottle tray motion module, weight sensing module, and bottle reciprocating rotation mixing module are rigidly concentrically connected from bottom to top; the bottle tray motion module drives the entire shaking assembly to achieve vertical lifting and Y-axis displacement; the bottle tray fixing module is cylindrical, with an elastic clamping element inside that concentrically locks the bottle with the top flexible sleeve; the bottle reciprocating rotation mixing module drives the bottle to perform reciprocating rotational motion; the whole machine has no independent mixing chamber or stirring impeller, and relies on the overall rotation of the bottle to mix water and milk powder; The weight sensor module collects weight data in real time, and works with the PID algorithm in the main control circuit board module to precisely control the water injection and powder output in a closed loop. The milk powder hopper's fixed moisture-proof module is equipped with an openable and closable discharge sealing gate. This gate is only opened during the powder dispensing period and closes once the powder dispensing is complete. The bottle's reciprocating rotating mixing module maintains a medium speed throughout the powder dispensing process to drive the water inside the bottle to form a bidirectional vortex.

2. The mixerless fully automatic reciprocating rotary milk maker according to claim 1, characterized in that: The inner wall of the bottle tray fixing module is equipped with a plastic clip and the top is fitted with a rubber sleeve. It is concentrically assembled with the shaking motor and the bottle is fixed by the friction between the plastic clip and the rubber sleeve.

3. The mixerless fully automatic reciprocating rotary milk maker according to claim 1, characterized in that: The bottle reciprocating rotation mixing module is driven by a shaking motor. The main control circuit board uses pulse signals to achieve linear stepless speed increase of the motor from 0 to full speed. The shaking operation parameters are adaptively matched according to the milk volume, and the milk volume is proportional to the rotation time.

4. The mixerless fully automatic reciprocating rotary mixing milk maker according to claim 3, characterized in that: The shaking motor speed range is set to 200r / min~1000r / min, the pre-rotation medium speed range is 250~350r / min, and the full-speed shaking range is 700~1000r / min.

5. The mixerless fully automatic reciprocating rotary milk maker according to claim 1, characterized in that: After the water supply module completes the water inlet position calibration, the water outlet is aligned directly above the baby bottle, and the distance between the water outlet and the milk powder outlet is less than 1 cm.

6. The mixerless fully automatic reciprocating rotary milk maker according to claim 1, characterized in that: The active milk powder compartment module can be detached and installed via a snap-on or magnetic structure; the fixed moisture-proof module of the milk powder compartment closes the gate immediately after dispensing to isolate air.

7. The mixerless fully automatic reciprocating rotary milk maker according to claim 1, characterized in that: The weight sensing module uses a miniature pressure weighing sensor with a range of 0~2000g and an accuracy of 0.1g; the control parameters of the PID algorithm in the main control circuit board module are: proportional coefficient P=1.2~2.0, integral coefficient I=0.05~0.12, and derivative coefficient D=0.01~0.

03.

8. The mixerless fully automatic reciprocating rotary milk maker according to claim 1, characterized in that: The diameter of the tubing for large-capacity water storage containers is 4-6mm.

9. The mixerless fully automatic reciprocating rotary mixing milk maker according to claim 1, characterized in that: The bottle tray motion module includes a Y-axis horizontal translation unit and a scissor-type vertical lifting unit; the Y-axis horizontal translation unit adopts a rack and pinion drive structure to drive the entire mechanism to achieve forward and backward feed displacement; the scissor-type vertical lifting unit adopts a double-layer symmetrical scissor arm structure to lift the entire shaking assembly from the bottom plane to achieve vertical lifting.

10. The mixerless fully automatic reciprocating rotary mixing milk maker according to claim 9, characterized in that: The scissor-type vertical lifting unit includes two sets of symmetrically arranged double-layer cross scissor arms, a lower fixed plate, and an upper support plate. The lower fixed plate is fixedly installed on the top of the sliding slide of the Y-axis horizontal translation unit. The two ends of the double-layer cross scissor arms are slidably hinged to the lower fixed plate and the upper support plate through waist-shaped sliding grooves, respectively. The upper support plate is driven to complete the vertical lifting of the Z-axis by changing the included angle of the scissor arms. The double-layer cross scissor arms completely lift the upper support plate from the bottom, forming a multi-point symmetrical rigid support structure to counteract the centrifugal force generated by the rotation of the bottle and keep the upper support plate horizontal throughout the entire process.

11. The mixerless fully automatic reciprocating rotary mixing milk maker according to claim 1, characterized in that: The active milk powder container module is a purely mechanical and detachable structure. It is equipped with a vertical spoke stirring paddle and a horizontal quantitative powder dispensing screw, and a bevel gear transmission pair is built into the side. Through a single power input from the base, the bevel gear pair synchronously drives the stirring paddle to rotate to break up arches and the screw to rotate to deliver powder. The container has no electrical components and can be fully washed with water.

12. The mixerless fully automatic reciprocating rotary milk maker according to claim 1, characterized in that: The milk powder hopper fixed moisture-proof module has a built-in radial sealing rubber ring and a screw-driven translational lifting sealing gate. After the movable milk powder hopper is installed in the base, the rubber ring radially tightens the outer wall of the hopper's outlet, sealing the assembly gap to form a static seal. The sealing gate is driven by a screw and nut mechanism to move horizontally back and forth. Three positioning protrusions are set at the bottom of the gate. In conjunction with the inclined surface of the base track, the gate is vertically lifted at the end of the closing stroke, axially pressing the end face of the hopper's outlet to achieve a press-type dynamic seal.

13. The mixerless fully automatic reciprocating rotary milk maker according to claim 1, characterized in that: The active water supply module adopts a single-outlet active design, which can be switched between the milk preparation water injection station and the daily drinking water station. The water outlet of the milk preparation water injection station is aligned with the top of the baby bottle to add a fixed amount of water, while the water outlet of the daily drinking water station is moved to the open area outside the equipment, sharing a single water system to achieve water supply in both scenarios.

14. The mixerless fully automatic reciprocating rotary mixing milk maker according to claim 13, characterized in that: A detachable perforated cup holder is installed below the direct drinking station on the outside of the equipment. The cup holder surface has distributed drainage holes and a water storage cavity below it to collect residual liquid dripping from the spout, and is physically isolated from the milk preparation chamber.

15. The mixerless fully automatic reciprocating rotary milk maker according to claim 1, characterized in that: The device information display module consists of an OLED display screen and a single rotary encoder with a press confirmation function. The entire machine has only one physical operation input component. The rotary encoder enables hierarchical menu switching and parameter adjustment, while the press action confirms the function. The single-input hardware architecture reduces the number of components, lowers the failure point, and improves the overall reliability of the machine.

16. A control method for a mixer-free, fully automatic reciprocating rotary milk maker, characterized in that, It includes the following process steps: S1. Place the baby bottle; the baby bottle tray motion module lifts the baby bottle; the baby bottle position sensing module detects the baby bottle positioning signal. S2, The main control unit performs water inlet position calibration for the active water supply module; S3. Start water filling. The weight sensor module provides real-time feedback on the water volume. The PID adjusts the water pump speed for precise water filling. There is a short pause after water filling is completed. S4. The active water supply module returns the water inlet to its original position and removes the water outlet pipe to prevent milk powder from sticking. S5, the bottle tray motion module lifts the entire set of shaking components to complete the powder drop position calibration; S6. Start the bottle reciprocating rotation mixing module to rotate at medium speed, and the water in the bottle forms a two-way vortex. At the same time, the main control drives the milk powder hopper fixing moisture-proof module to open the discharge sealing gate. S7. Start dispensing powder: The motor drives the screw to deliver milk powder. The weight sensor and PID control precisely control the amount of powder. The powder is dispensed at a medium speed throughout the process to maintain a water vortex. After the powder is dispensed, the milk powder compartment's moisture-proof module immediately closes the gate to isolate the air and prevent moisture. S8. Pause after powder application is complete; S9, the bottle tray motion module drives the entire shaking assembly to descend vertically and lower the overall center of gravity, and the motor speeds up to full speed to shake evenly. S10. After shaking is complete, the tray motion module sends the bottle out along the Y-axis, and the entire machine structure is reset. The shaking time is adjusted proportionally to the set milk volume, and the motor speed increases linearly and steadily. The milk powder is mixed through two stages: synchronous vortex premixing with falling powder and secondary full-speed shaking with a lower center of gravity.

17. The control method according to claim 16, characterized in that: During the powder dispensing stage, the water continuously swirls and flows, and the falling milk powder is directly dispersed and premixed by the water flow; the milk powder hopper gate is only opened during the powder dispensing period, and sealed to prevent moisture at other times.

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