Milk frothing device control system with self-adaptive recognition of milk frothing device and control method

Abstract

The application discloses a milk frothing device control system and control method with self-adaptive recognition of a milk frothing cylinder, and relates to the technical field of automatic program control systems. The system comprises a rack, an electrically-controlled milk frothing mechanism, a milk frothing and filling mechanism, an electrically-controlled lifting mechanism, a control unit and an installation sensor. The sensor collects milk frothing cylinder type information, the control unit analyzes the type and calls the corresponding preset control strategy, and differentiates the output milk frothing rotation speed parameters while performing installation in-place state interlocking verification. The self-adaptive motion control after the recognition of the milk frothing cylinder is realized, and the compatibility and the automatic operation reliability of the equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of automatic program control system technology, and in particular to a milk preparation equipment control system and control method with adaptive recognition of container components. Background Technology

[0002] In existing literature, patent publication CN223158224U discloses a "bottle lifting mechanism, milk shaking device, and milk powder mixer," which can electrically control the lifting and shaking motions of a bottle on the same platform. The electrically controlled lifting motion allows the bottle to rise to better catch the milk powder. Since the shaking motion requires holding the shaker in place, and the shaker has a certain height, taller bottles are easily limited by the height of the powder-discharging structure, making them difficult to fit into or remove from the shaker. This is because the height of the powder-discharging structure must at least meet the height of the bottle plus the height of the shaker to prevent the bottle from hitting the bottle. If the powder-discharging structure is designed to meet this total height, the overall product height will be very high, taking up significant space for both the merchant's goods transportation and the buyer's daily placement.

[0003] Patent publication CN217285507U discloses "a height-adjustable milk shaker and automatic milk maker," proposing that the milk shaker can be detached separately and its height is adjustable. This detachable design means that the height of the removed bottle only needs to meet the height of the bottle plus the height of the detachable structure. Typically, the height of the detachable structure is significantly less than the height of the milk shaker, so the powder-dispensing structure above does not need to be adjusted too much, and the overall height of the product is within an acceptable range for both the seller and the buyer.

[0004] However, the structure proposed in the patent publication document CN217285507U lacks electronically controlled lifting of the bottle. When dispensing powder, the bottle opening may be too far from the powder dispensing structure above, resulting in powder spillage.

[0005] Furthermore, as the milk shaker is detachable, if the user needs to change to a different type of milk shaker, the device cannot recognize whether a different type of milk shaker has been changed, and therefore cannot make the corresponding control.

[0006] In addition, the control of existing milk preparation equipment is mostly based on fixed parameter output, lacking automatic program control logic of component identification and strategy mapping; it cannot automatically adapt motion execution parameters according to the change of tooling (such as milk shaker), which is a defect at the level of automation control and restricts the intelligence and compatibility of the equipment. Summary of the Invention

[0007] To overcome the shortcomings mentioned above, this invention aims to provide a milk preparation equipment control system and control method that can be raised and lowered to better receive milk powder, has a detachable milk shaker for easy removal of the bottle, can detect whether a different type of milk shaker has been changed, and can output different controls based on the change information, and can realize milk shaking on the same platform.

[0008] Another objective of this invention is to construct an adaptive program control system to realize automated control logic for tooling component identification, interlock verification, and differentiated parameter output, thereby improving the intelligence level of the equipment.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a milk preparation equipment control system with adaptive recognition of the milk shaker, comprising an actuator and a control unit; The actuator includes a frame, on which are mounted a... An electrically controlled milk-shaking mechanism includes a milk-shaking cylinder for holding a container and an electrically controlled shaking assembly for shaking the milk-shaking cylinder. The opening of the milk-shaking cylinder faces upward, and the container is inserted downward into the milk-shaking cylinder from the opening. A mounting base is provided on the shaking end of the electrically controlled shaking assembly, and the milk-shaking cylinder is detachably connected to the mounting base. The milk-shaking cylinder has type information indicating the current type of milk-shaking cylinder. The milk preparation and dispensing mechanism has at least one dispensing port located above the container, the dispensing port being used to dispense the necessary preparation for milk preparation into the container below; An electrically controlled lifting mechanism is provided with a mounting frame at the lifting end of the electrically controlled lifting mechanism, and an electrically controlled rocking component is mounted on the mounting frame. Install sensors to obtain type information on the milk shaker; The control unit is at least used to control the electronically controlled milk-shaking mechanism to shake milk and to control the electronically controlled lifting mechanism to raise / lower; The control unit is configured to determine the specific type of the milk shaker based on the milk shaker type information obtained by the installed sensors, and to perform different controls during milk shaking control based on the determined milk shaker type.

[0010] A further aspect of the present invention: the electrically controlled rocking assembly is an electrically controlled rocking assembly driven by a motor. The motor output of the electrically controlled rocking assembly rotates in the forward and / or reverse directions, and the power is transmitted to the mounting base to drive the mounting base to rotate. The rotation axis of the mounting base constitutes an upright setting.

[0011] A further embodiment of the present invention: the mounting base has a power connection shaft, and the mounting base is rotatably connected to the mounting frame via the power connection shaft; The motor of the electrically controlled rocking assembly is mounted on a mounting bracket. The output shaft of the motor of the electrically controlled rocking assembly is connected to an output pulley, and the input pulley is connected to the output shaft. The output pulley and the input pulley are connected by a transmission belt. The motor of the electrically controlled shaking assembly is positioned vertically outside the vertical projection range of the shaking cylinder and the mounting base. The power connection shaft is located on the bottom side of the mounting base, the rotation output shaft of the motor of the electrically controlled rocking assembly is set downward, and the motor of the electrically controlled rocking assembly has at least a portion at the same height as the rotation output shaft.

[0012] A further aspect of the present invention is that the control unit, when controlling the electronically controlled milk-shaking mechanism to perform milk-shaking, at least enables controllability of the milk-shaking speed; Different types of milk shakers are milk shakers of different heights; Depending on the type of milk shaker identified, the maximum milk shaking speed controlled during milk shaking control varies. Among them, when the milk pump is identified as being at a higher height, the maximum output speed of the milk pump is allowed to be higher.

[0013] A further aspect of the present invention is that the sensor is also used to detect whether the milk shaker is installed or properly installed on the mounting base, and to provide the control unit with an installation detection signal indicating whether the installation is successful.

[0014] A further aspect of the invention includes another mounting sensor for detecting whether the milk shaker is installed or properly installed on the mounting base, and / or Used to detect whether a container is placed on the milk shaker or whether it is properly placed; It also constitutes an installation detection signal that provides the control unit with an indication of whether the installation was successful.

[0015] A further aspect of the present invention is that before controlling the milk shaking, the control unit confirms the installation status based on the installation information, and allows control of the milk shaking output when the installation is confirmed to be successful.

[0016] A further aspect of the present invention: the sensor installation includes a Hall sensor mounted on a mounting bracket, and different types of milk shakers have corresponding magnets; When different types of milk shakers are connected to the mounting base, Hall sensors detect different magnetic expressions, including different magnetic field strengths and / or different magnetic pole directions. The control unit is configured to determine the specific type of milk shaker based on the magnetic expression.

[0017] A further aspect of the present invention: the control unit is also configured to confirm whether the milk shaker has been successfully installed based on whether the correct magnet expression is obtained.

[0018] A further embodiment of the present invention: the mounting base has a top surface for engaging the milk shaker, the top surface of the mounting base has a recess, and the bottom of the recess is connected to a platform end magnetic engagement component; The bottom of the milk shaker has a protrusion, which is formed by protruding into the recess. The protrusion has a cylinder end magnetic engagement component that magnetically engages with the platform end magnetic engagement component. When the protrusion extends into the recess, the magnetic attraction between the platform end magnetic connector and the cylinder end magnetic connector holds the milk shaker downward on the top surface of the mounting base. The magnetic attachment at the end of the cylinder is a magnet that contains information about the type of milk shaker.

[0019] Compared with the existing technology, the beneficial effects of this technical solution are: the control unit confirms the type of milk shaker based on the acquired type information, and executes different control strategies during milk shaking control accordingly; by combining the detachable milk shaker with electric lifting, while achieving height adjustment to accurately receive the falling powder, it can automatically identify milk shakers of different specifications and adapt to differentiated milk shaking control, thereby improving the compatibility and intelligence of the equipment.

[0020] On the other hand, the present invention also provides the following technical solution: an adaptive program control method for a milk preparation device, comprising: S1. Obtain the type information of the milk shaker by installing sensors; S2. Identify the specific type of the currently assembled milk shaker based on the type information; S3. Based on the identified type of milk shaker, retrieve the corresponding pre-stored control strategy; S4. Execution control strategy: Differentiate the output speed parameters of the electronically controlled milk shaking mechanism; S5. Execution Status Verification: Verify the installation status of the milk shaker based on sensor signals. Only after the verification is passed can the milk shaking action be performed.

[0021] Compared with existing technologies, the beneficial effects of this technical solution are: it constructs a program-automated control system, which collects tooling component type information through sensors, completes type identification, retrieves corresponding preset control strategies, realizes adaptive matching of actuator motion parameters, and has installation status signal interlock protection logic; it realizes intelligent control of equipment and improves equipment operation reliability.

[0022] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural view of the present invention, in which a portion of the frame is hidden, especially the lower part of the frame, so that the internal electrically controlled lifting mechanism can be shown. Figure 2 This refers to the positional relationship between the motor of the electric shaking assembly and the milk shaking drum in this invention. The motor is located outside the vertical projection range of the milk shaking drum, and the motor is at least partially at the same height as the power connection shaft. Figure 3 This is a cross-sectional view of the structure of the milk shaker connected to the mounting base of the present invention. The dashed lines in the figure show the approximate positions of the infrared sensor and the Hall sensor on the mounting bracket. The corresponding labels in the attached diagram are explained as follows: Rack-1, Electrically controlled milk shaking mechanism-2, milk shaking cylinder-21, protrusion-211, magnetic coupling part at cylinder end-212, electrically controlled shaking assembly-22, power connection shaft-221, output pulley-222, input pulley-223, motor-225, mounting base-23, recess-231, retaining spring-24. Formula dispensing mechanism - 3, dispensing port - 31, electrically controlled water dispensing component - 32, electrically controlled formula powder dispensing component - 33. Electrically controlled lifting mechanism-4, mounting bracket-41, motor lead screw and slider assembly-42. Control unit-5, infrared sensor-51, Hall sensor-52, Instruction input unit-6. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figure 1-3 A milk preparation equipment control system with adaptive recognition of milk shaker includes a frame 1, on which an electrically controlled milk shaking mechanism 2, a milk preparation and dispensing mechanism 3 and an electrically controlled lifting mechanism 4 are installed.

[0027] The electrically controlled shaking mechanism 2 has a shaking drum 21 for holding a baby bottle or other container (hereinafter collectively referred to as a baby bottle) and an electrically controlled shaking component 22 for shaking the shaking drum. The opening of the shaking drum 21 faces upward, and the baby bottle (not shown) can be inserted downward at least partially into the shaking drum from the opening. A mounting base 23 is provided on the shaking end of the electrically controlled shaking component 22, and the shaking drum 21 is detachably connected to the mounting base 23.

[0028] The formula dispensing mechanism 3 has at least one dispensing port 31 located above the bottle (placed inside the shaker), which is used to add the necessary ingredients for formula preparation, such as water and formula powder, to the bottle below, or to add only formula powder if the bottle contains water.

[0029] The lifting end of the electrically controlled lifting mechanism 4 is provided with a mounting frame 41, and the electrically controlled rocking component 22 is mounted on the mounting frame 41.

[0030] Thus, the mounting base 23 or the mounting base connected to the milk shaker constitutes a platform for placing the milk bottle, on which the milk bottle can be lifted and shaken, that is, a single platform can satisfy multiple different movements.

[0031] In this embodiment, the electric lifting mechanism 4 can be used to adjust the height of the electric shaking component 22 so that the milk bottle in the shaking bucket can be moved up to the vicinity of the filling port 31 when or before receiving the dispensing, so as to reduce the possibility of the dispensing spilling.

[0032] After the baby bottle is filled and prepared, it can be shaken by the electronically controlled shaking mechanism 2 in the same position to achieve milk shaking.

[0033] Of course, after the bottle is filled and prepared, the cap can be closed before the electronically controlled shaking mechanism starts shaking to reduce the chance of milk spilling out of the bottle during the shaking process.

[0034] In some embodiments, a retaining spring 24 is provided on the milk shaker 21. The retaining spring 24 extends into the internal space of the milk shaker to elastically press and hold the bottle portion placed inside the milk shaker, so as to prevent the bottle from being thrown out during milk shaking.

[0035] In some embodiments, the electrically controlled lifting mechanism 4 includes, for example, a motor screw-slider assembly 42 driven by a motor. The screw of the motor screw-slider assembly 42 is vertically positioned, and the slider of the motor screw-slider assembly 42 constitutes the lifting end of the electrically controlled lifting mechanism. The mounting bracket 41 is correspondingly connected to the slider of the motor screw-slider assembly 42. The motor of the motor screw-slider assembly 42 rotates forward / reverse, thereby actuating the slider with a mating nut on the guide rod or guide rail to rise / fall, thereby driving the electrically controlled rocking assembly on the mounting bracket 41 to rise / fall, and further driving the baby bottle on the shaker to rise / fall.

[0036] In some embodiments, the electrically controlled rocking assembly 22 is, for example, an electrically controlled rocking assembly driven by a motor 225. The motor 225 of the electrically controlled rocking assembly outputs forward / reverse rotation, and the power is transmitted to the mounting base 23 to drive the mounting base to rotate. The rotation axis of the mounting base 23 is, for example, set vertically to drive the milk shaker 21 connected to the mounting base to rotate, thereby realizing the rotation and rocking of the milk bottle (the milk inside) in the milk shaker.

[0037] In some embodiments, the mounting base 23 has a power connection shaft 221, and the mounting base 23 is rotatably connected to the mounting bracket 41 via the power connection shaft 221.

[0038] The motor 225 of the electrically controlled rocking assembly is mounted on the mounting bracket 41. The rotation output shaft of the motor 225 of the electrically controlled rocking assembly is poweredly connected to the power connection shaft 221 so that the motor of the electrically controlled rocking assembly can drive the mounting base to rotate.

[0039] In some embodiments, the rotary output shaft of the motor 225 of the electrically controlled rocking assembly is connected to the power connection shaft 221 via a pulley drive. For example, an output pulley 222 is connected to the rotary output shaft of the motor 225 of the electrically controlled rocking assembly, and an input pulley 223 is connected to the rotary output shaft. The output pulley 222 and the input pulley 223 are connected by a transmission belt (not shown), that is, the first part of the transmission belt is wound around the output pulley, and the second part of the transmission belt is wound around the input pulley. When the output pulley rotates, it drives the input pulley through the transmission belt.

[0040] In this way, the motor 225 of the electrically controlled rocking assembly and the power connection shaft 221 do not need to be arranged vertically. The motor 225 of the electrically controlled rocking assembly can be moved out of the vertical projection range of the milk shaker and the mounting base through the pulley drive. Furthermore, the motor of the electrically controlled rocking assembly can be basically flush with the rotating output shaft, so as to reuse the height space occupied by the rotating output shaft and reduce the overall height of the product.

[0041] For example, the power connection shaft 221 is located on the bottom side of the mounting base 23, and the rotation output shaft of the motor 225 of the electrically controlled rocking assembly faces downward.

[0042] like Figure 2 As shown, the overall height of the motor 225 is usually significantly higher than the height of the pulleys (input pulley and output pulley). Replacing the motor with pulleys can reduce the space occupied in the height space below the mounting base 23.

[0043] In this embodiment, the control system of the milk preparation equipment also includes a control unit 5, which is used to control the above-mentioned electrically controlled lifting mechanism 4 and electrically controlled milk shaking mechanism 2 to perform corresponding motion outputs.

[0044] For example, controlling the motor of the electric lifting mechanism to rotate forward when powered on (such as the corresponding upward drive), to stop working when powered on, and to rotate in the reverse direction when powered on (such as the corresponding downward drive), etc. For example, controlling the motor of the electronically controlled milk-shaking mechanism to rotate forward when powered on (e.g., corresponding to forward rotation for milk-shaking), controlling it to stop working when powered on, and controlling it to rotate in reverse when powered on (e.g., corresponding to reverse rotation for milk-shaking), etc.

[0045] In some embodiments, the control system of this milk-making equipment also includes sensors, such as a height sensor (not shown) for detecting the lifting height, so that the control unit can know the current lifting height and make corresponding control.

[0046] The height sensor detects positions such as the slider of a motor lead screw slider assembly, mounting base, milk shaker, and baby bottle.

[0047] A specific form of height sensor is, for example, multiple infrared pairs spaced at intervals along the lifting path of a slider, which determine the height of the slider by identifying the slider it passes through.

[0048] Specific forms of height sensors include, for example, infrared sensors that illuminate and detect the mounting base, milk shaker, or baby bottle from above; and radar sensors that are positioned above to detect the mounting base, milk shaker, or baby bottle below, etc.

[0049] Furthermore, when designed to detect the height of the bottle, it can also stop the upward movement when it is determined that the bottle is about to touch the structure above (such as the filling port of the milk dispensing mechanism).

[0050] In some embodiments, the control system of this milk preparation equipment also includes sensors, such as a mounting sensor for detecting whether the milk shaker is installed or in place on the mounting base, and / or a mounting sensor for detecting whether a milk bottle is placed on the milk shaker or in place, so that the control unit can know whether the milk shaker is installed or in place, and / or know whether the milk bottle is placed or in place, thereby making corresponding control.

[0051] The specific form of the sensor installation is, for example, an infrared sensor 51 installed on the mounting frame to detect the irradiation of the milk shaker or the milk bottle, or a Hall sensor 52 (with a corresponding magnet on the milk shaker) installed on the mounting frame to sense the magnet on the milk shaker, etc.

[0052] Preferably, the infrared sensor 51 can also be used to measure the temperature of the bottle so that the control unit 5 can know the temperature of the bottle (the temperature of the bottle is usually affected by the temperature of the liquid inside the bottle), for example, the bottle shaker has a through hole that allows the infrared sensor 51 to irradiate the inside of the bottle.

[0053] Preferably, the Hall sensor 52 can also be used to identify the type of the milk shaker 21. For example, different types of milk shakers (such as milk shakers with different heights) have different magnets. When different types of milk shakers are connected to the mounting base 23, the Hall sensor 52 can detect different magnetic expressions, such as different magnetic field strengths and different magnetic pole directions. The control unit can then determine the specific type of milk shaker based on the magnetic expressions and perform corresponding control.

[0054] For example, different heights of milk shakers result in different maximum shaking speeds during milk control. Generally, taller milk shakers can better hold the bottle in place, preventing it from being thrown out. When a taller milk shaker is identified, a higher maximum shaking speed is allowed.

[0055] In some embodiments, the formula dispensing mechanism 3 includes a water dispensing component and / or a formula powder dispensing component. The water dispensing component has at least one water inlet located above the bottle for adding water to the bottle below. The formula powder dispensing component has at least one formula powder inlet located above the bottle for adding formula powder to the bottle below.

[0056] The water filling assembly is, for example, an electrically controlled water filling assembly 32. For example, the electrically controlled water filling assembly has a water tank and a water pump for pumping the water tank to the water filling port, or a pipeline solenoid valve that allows water in the water tank to flow to the water filling port under gravity or water pressure.

[0057] The formula dispensing component is, for example, an electronically controlled formula dispensing component 33. For example, the electronically controlled formula dispensing component has a formula container and a dispensing blade driven by a motor of the electronically controlled formula dispensing component. The motor drives the dispensing blade to push the formula in the formula container toward the formula dispensing port connected to the formula container, so as to dispense formula into the baby bottle below.

[0058] In some embodiments, the control unit 5 may be configured to, for example, when it is necessary to add formula, first identify whether the bottle shaker is installed on the mounting base and whether the bottle is placed on the bottle shaker; if it is confirmed that the bottle and the bottle shaker are installed, identify the current height of the bottle and the bottle shaker, and based on the minimum height difference between the current identified height and the upper filling port, control the electric lifting mechanism to drive so that the minimum height difference between the bottle or the bottle shaker and the upper filling port is within a set range (e.g., leave 1cm); after the lifting adjustment is completed, control the addition of water and formula; after the addition is completed, control the electric lifting mechanism to drive so that the bottle is lowered to the lowest point.

[0059] If it is determined whether the milk shaker is installed on the mounting base and whether the bottle is placed on the milk shaker, and at least one of them is not determined, no further control is performed.

[0060] When further milk shaking is required, the control unit 5 controls the maximum milk shaking speed according to the type of milk shaker.

[0061] In some embodiments, subsequent milk shaking control can be performed after the user tightens the bottle cap, for example, by inputting the start of milk shaking control through the instruction input unit described below after the user tightens the bottle cap.

[0062] In some embodiments, the control system of this milk preparation equipment further includes an instruction input unit 6, such as a touch screen mounted on the frame. The instruction input unit 6 is electrically connected to the control unit 5, and the user can input corresponding control instructions through the instruction input unit.

[0063] For example, if a filling command is input, the control unit will execute the aforementioned lifting and filling controls; if a milk shaking command is input, the control unit will execute the aforementioned milk shaking controls, and so on.

[0064] In some embodiments, the mounting base 23 has a top surface for engaging a milk shaker, and the top surface of the mounting base 23 has a recess 231, the bottom of which is connected to a platform end magnetic engagement member.

[0065] The bottom of the milk shaker 21 has a protrusion 211, which is formed by protruding into the recess 231. The protrusion 211 has a cylinder end magnetic engagement member 212 that magnetically engages with the platform end magnetic engagement member.

[0066] When the protrusion 211 protrudes into the recess 231, the magnetic attraction between the platform end magnetic coupling and the cylinder end magnetic coupling 212 forms a force that holds the milk shaker downward on the top surface of the mounting base.

[0067] In this embodiment, the milk shaker 21 and the mounting base 23 can be detachably connected by the protrusion 211, the recess 231, the platform end magnetic attraction component, and the cylinder end magnetic attraction component 212.

[0068] Specifically, the protrusion at the bottom of the milk shaker can be made to bulge downwards into the depression, and the protrusion can be held in the depression by the magnetic attraction between the platform end magnetic connector and the drum end magnetic connector.

[0069] When the motor of the electrically controlled shaking assembly drives the mounting base to rotate, the milk shaker connected to the mounting base can be driven to rotate accordingly.

[0070] When a bottle is placed on a milk shaker, the formula preparation (such as milk powder and water) in the bottle can be rotated and shaken to mix it, resulting in well-mixed milk.

[0071] When rotating, the convex and concave sides work together to prevent the milk shaker from detaching from the mounting base laterally or horizontally. The magnetic attraction between the platform end magnetic connector and the cylinder end magnetic connector makes it difficult for the milk shaker to detach from the concave side, thus allowing the milk shaker to be held stably on the mounting base.

[0072] In this embodiment, when it is necessary to install a baby bottle, the milk shaker can be moved upward first (to overcome the magnetic attraction) so that the protrusion comes out of the recess, and then it can be moved horizontally or horizontally out of the frame. This disassembly process is relatively convenient. Then, the baby bottle can be easily inserted into the shaker through the upper opening of the shaker outside the frame; Next, move the milk shaker containing the bottle horizontally or horizontally into the frame. After the protrusion aligns with the recess, push the protrusion downward into the recess. The magnetic attraction at the platform end and the magnetic attraction at the cylinder end will form a magnetic attraction, keeping the milk shaker on the mounting base.

[0073] In this embodiment, since the protrusions and recesses mainly provide lateral resistance to limit the milk shaker from detaching laterally or horizontally from the mounting base, the protrusion depth of the protrusions is usually set to a small value to provide very large lateral resistance, without requiring too much upward space.

[0074] Compared to a typical bottle shaker with a certain depth, the protrusion depth of the protrusion is less than the depth to which the bottle can be accommodated.

[0075] While ensuring convenient disassembly and stable rotation, the improved structure of this invention requires less height space at the top compared to the traditional method of directly removing the bottle from the rack. That is, usually only a small amount of height space (such as between the top of the bottle and the filling port after installation) is needed to facilitate easy removal after the bottle is rotated and used, thus requiring less height space.

[0076] In some embodiments, the protrusion protrudes into the recess in the same direction as the rotation axis.

[0077] In some embodiments, the protrusion extends circumferentially as it rotates along the mounting base to form an arc-shaped protrusion.

[0078] In some embodiments, a plurality of recesses are provided, and the plurality of recesses are provided at annular intervals on the top surface of the mounting base, wherein the annular axis of the annular interval is collinear with the rotation axis corresponding to the rotation axis.

[0079] Correspondingly, the milk shaker has multiple protrusions. The overall assembly is more stable and less likely to detach during rotation.

[0080] In some embodiments, the magnetic attraction component at the end of the cylinder is, for example, a magnet.

[0081] In some embodiments, the magnetic coupling member at the end of the cylinder is, for example, a magnet, and is configured to be detected and sensed by the Hall sensor described above.

[0082] In some embodiments, the magnets of taller milk shakers have stronger magnetic forces. Thus, on the one hand, milk shakers of different heights exhibit different magnetic fields due to the different magnetic forces of their magnets, which can be detected and identified by Hall sensors. On the other hand, the magnetic attraction force of taller milk shakers is correspondingly increased, making it less likely for the milk shaker to detach when the shaking speed is increased.

[0083] In some embodiments, the magnetic field expression data of all the magnets in the milk shaker can be pre-recorded to identify that the milk shaker is correctly installed when the correct magnetic information is identified.

[0084] In some embodiments, the platform-end magnetic coupling component may be, for example, a soft magnetic component such as an iron block that can be magnetically attracted by a magnet.

[0085] In this embodiment, an adaptive program control method for a milk preparation device is also proposed, including: S1. Obtain the type information of the milk shaker by installing sensors; S2. Identify the specific type of the currently assembled milk shaker based on the type information; S3. Based on the identified type of milk shaker, retrieve the corresponding pre-stored control strategy; S4. Execution control strategy: Differentiate the output speed parameters of the electronically controlled milk shaking mechanism; S5. Execution Status Verification: Verify the installation status of the milk shaker based on sensor signals. Only after the verification is passed can the milk shaking action be performed.

[0086] This embodiment constructs a program-automated control system. It collects information about the type of milk shaker through sensors, completes type identification, retrieves the corresponding preset speed control strategy, and realizes adaptive matching of the motion parameters of the actuator. It also has an installation status signal interlock protection logic, that is, it verifies the installation status of the milk shaker based on sensor signals, and only allows the milk shaking action to be executed after the verification is passed. It realizes intelligent control of the equipment and improves the reliability of equipment operation.

[0087] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A control system for a milk preparation device with adaptive recognition of the milk shaker, characterized in that, Including actuators and control units; The actuator includes a frame, on which are mounted a... An electrically controlled milk-shaking mechanism includes a milk-shaking cylinder for holding a container and an electrically controlled shaking assembly for shaking the milk-shaking cylinder. The opening of the milk-shaking cylinder faces upward, and the container is inserted downward into the milk-shaking cylinder from the opening. A mounting base is provided on the shaking end of the electrically controlled shaking assembly, and the milk-shaking cylinder is detachably connected to the mounting base. The milk-shaking cylinder has type information indicating the current type of milk-shaking cylinder. The milk preparation and dispensing mechanism has at least one dispensing port located above the container, the dispensing port being used to dispense the necessary preparation for milk preparation into the container below; An electrically controlled lifting mechanism is provided with a mounting frame at the lifting end of the electrically controlled lifting mechanism, and an electrically controlled rocking component is mounted on the mounting frame. Install sensors to obtain type information on the milk shaker; The control unit is at least used to control the electronically controlled milk-shaking mechanism to shake milk and to control the electronically controlled lifting mechanism to raise / lower; The control unit is configured to determine the specific type of the milk shaker based on the milk shaker type information obtained by the installed sensors, and to perform different controls during milk shaking control based on the determined milk shaker type.

2. The milk preparation equipment control system according to claim 1, characterized in that, The electrically controlled rocking assembly is an electrically controlled rocking assembly driven by a motor. The motor output of the electrically controlled rocking assembly rotates in the forward and / or reverse directions, and the power is transmitted to the mounting base to drive the mounting base to rotate. The rotation axis of the mounting base constitutes an upright setting.

3. The milk preparation equipment control system according to claim 2, characterized in that, The mounting base has a power connection shaft, and the mounting base is rotatably connected to the mounting bracket via the power connection shaft; The motor of the electrically controlled rocking assembly is mounted on a mounting bracket. The output shaft of the motor of the electrically controlled rocking assembly is connected to an output pulley, and the input pulley is connected to the output shaft. The output pulley and the input pulley are connected by a transmission belt. The motor of the electrically controlled shaking assembly is positioned vertically outside the vertical projection range of the shaking cylinder and the mounting base. The power connection shaft is located on the bottom side of the mounting base, the rotation output shaft of the motor of the electrically controlled rocking assembly is set downward, and the motor of the electrically controlled rocking assembly has at least a portion at the same height as the rotation output shaft.

4. The milk preparation equipment control system according to any one of claims 1-3, characterized in that, The control unit, when controlling the electronically controlled milk shaking mechanism to shake milk, at least enables controllability of the milk shaking speed; Different types of milk shakers are milk shakers of different heights; Depending on the type of milk shaker identified, the maximum milk shaking speed controlled during milk shaking control varies. Among them, when the milk pump is identified as being at a higher height, the maximum output speed of the milk pump is allowed to be higher.

5. The milk preparation equipment control system according to claim 1, characterized in that, The sensor is also used to detect whether the milk shaker is installed or properly installed on the mounting base, and to provide an installation detection signal to the control unit indicating whether the installation was successful.

6. The milk preparation equipment control system according to claim 1, characterized in that, It also includes another mounting sensor for detecting whether the milk shaker is installed or properly mounted on the mounting base, and / or Used to detect whether a container is placed on the milk shaker or whether it is properly placed; It also constitutes an installation detection signal that provides the control unit with an indication of whether the installation was successful.

7. The milk preparation equipment control system according to claim 5 or 6, characterized in that, Before controlling the milk shaking, the control unit confirms the installation status based on the installation information, and allows control of the milk shaking output when the installation is confirmed to be successful.

8. The milk preparation equipment control system according to claim 1, characterized in that, The installed sensors include Hall sensors mounted on the mounting bracket, and different types of milk shakers have corresponding magnets; When different types of milk shakers are connected to the mounting base, Hall sensors detect different magnetic expressions, including different magnetic field strengths and / or different magnetic pole directions. The control unit is configured to determine the specific type of milk shaker based on the magnetic expression.

9. The milk preparation equipment control system according to claim 8, characterized in that, The control unit is also configured to confirm whether the milk shaker has been successfully installed based on whether the correct magnet expression is obtained.

10. An adaptive program control method for a milk preparation device, characterized in that, include: S1. Obtain the type information of the milk shaker by installing sensors; S2. Identify the specific type of the currently assembled milk shaker based on the type information; S3. Based on the identified type of milk shaker, retrieve the corresponding pre-stored control strategy; S4. Execution control strategy: Differentiate the output speed parameters of the electronically controlled milk shaking mechanism; S5. Execution Status Verification: Verify the installation status of the milk shaker based on sensor signals. Only after the verification is passed can the milk shaking action be performed.

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