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CN-122018371-A - Multi-gear grading inertial positioning control method suitable for pot shaking machine and pot tilting machine

CN122018371ACN 122018371 ACN122018371 ACN 122018371ACN-122018371-A

Abstract

The invention discloses a multi-gear hierarchical inertial positioning control method suitable for a pot shaking machine and a pot tilting machine, and belongs to the field of automatic cooking equipment control. The method comprises the steps of presetting at least two fixed rotating speed gears of a motor, receiving a stop instruction, running to a position close to a switch to stop, naturally sliding a pot body by means of inertia, and executing grading compensation according to a selected mode. The invention comprises four modes of low-speed reference, high-speed reference, medium-speed reference and visual calibration compensation, wherein the visual calibration mode can realize high-precision positioning without real-time position detection by manually and visually setting fixed compensation parameters of each gear at one time. The invention has simple control logic, low cost, stable operation and strong anti-interference capability, can be simultaneously matched with a pot shaking machine and a pot tilting machine for use, and effectively solves the problems of inaccurate inertial positioning, large mechanical impact and poor batch consistency of industry pain points under the working condition of multiple rotating speeds.

Inventors

  • ZHOU YIBO

Assignees

  • 周益波

Dates

Publication Date
20260512
Application Date
20260318

Claims (7)

  1. 1. The multi-gear stage inertia positioning control method suitable for the pot shaking machine and the pot tilting machine is characterized by comprising the following steps of: Step 1, presetting a driving motor to be at least two fixed rotation speed gears; Step 2, after receiving a stop instruction, the motor keeps the current gear to be operated to a position close to the switch, and then the output stop is cut off; step 3, the pot body naturally slides to rest by virtue of inertia; and 4, performing hierarchical inertia compensation positioning according to a preset mode.
  2. 2. The method of claim 1, including a low speed reference mode wherein the target detent position is reached directly after freewheeling in the low speed range, and wherein the return is compensated by a short reverse start motor after freewheeling in the high speed range.
  3. 3. The method of claim 1, including a high speed reference mode wherein the high speed is referenced to the target detent position and the low speed is freewheeling and insufficient to be compensated for by a short forward start motor.
  4. 4. The method of claim 1, comprising a medium speed reference mode, wherein the medium speed reference mode is a mode that the medium speed reference mode is used for taking the medium speed as a reference gear, the medium speed reference mode directly reaches a target positioning position after freewheeling, and a high speed over-travel reverse compensation mode is used for compensating for the shortage forward direction of the low speed.
  5. 5. The method of claim 1, comprising a visual calibration compensation mode wherein the fixed compensation duration and direction parameters are preset and stored for each fixed gear by manual visual observation after the equipment is molded, and wherein the preset parameters are directly invoked to perform compensation after the equipment is stopped, and no real-time position detection is performed.
  6. 6. The method of claim 1, wherein the fixed speed gear comprises at least a low gear and a high gear, and further comprises a medium gear, and further wherein the medium gear is one of a plurality of intermediate gears other than high and low.
  7. 7. The method according to claim 1, characterized in that the method is applicable both to automatic pan and automatic pan tilting machines.

Description

Multi-gear grading inertial positioning control method suitable for pot shaking machine and pot tilting machine Technical Field The invention relates to the technical field of automatic cooking equipment control, in particular to a multi-mode grading inertial positioning control method applied to an automatic pot shaking machine and a pot tilting machine and based on fixed rotating speed of more than or equal to 2 gears and visual calibration. Background In commercial automatic cooking equipment, a pot shaking machine and a pot turning machine are core equipment for realizing automatic stir-frying, spoon shaking and spoon turning. When the equipment stops acting, the difference of the free-wheeling distance of the pot body is larger due to different running speeds, so that positioning deviation is easy to occur, and the cooking effect and the running stability of the equipment are influenced. The prior art has the following defects: 1) The single rotating speed or direct sudden stop is adopted, the working condition of multiple gears cannot be adapted, and the positioning accuracy is poor; 2) Part of schemes rely on real-time position detection sensors, so that the cost is high, the interference of oil smoke is easy, and the reliability is low; 3) The multi-gear grading inertial compensation system is not established, and the low-speed, medium-speed and high-speed full-interval accurate positioning cannot be covered; 4) The method for manually and visually calibrating the equipment at one time after molding is lacked, and the consistency of mass production is difficult to ensure. Therefore, developing an inertial control method which does not need real-time detection, is simple to control, is low in cost, is adaptive to multiple gears and is accurate in positioning becomes a technical problem to be solved in industry. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a multi-gear grading inertial positioning control method suitable for a pot shaking machine and a pot tilting machine, which realizes full-mode inertial compensation at a fixed rotating speed of more than or equal to 2 gears, completes fixed parameter setting through manual visual calibration, and can achieve high-precision and high-consistency positioning without real-time position detection. The technical scheme of the invention is as follows: A multi-gear stage inertia positioning control method suitable for a pot shaking machine and a pot tilting machine comprises the following steps: step 1, gear position presetting The preset driving motor is at least two fixed rotation speed gears, including a low gear and a high gear, and can be further provided with a medium gear. Step 2, stopping triggering When the pot body moves to the induction position of the proximity switch, the control system immediately cuts off the output of the motor, and the motor stops driving. Step 3, free-wheeling After the motor is stopped, the pot body continues to move forwards under the action of self inertia and gravity and is naturally stationary. Step 4, graded inertial compensation positioning The control system executes corresponding compensation control according to a selected mode, wherein the mode comprises the following four modes: Mode one Low speed reference mode Taking the low gear as a reference gear, enabling the rest position after the low gear freewheels to be equal to the target positioning position, and not executing compensation; and after the high-speed gear freewheels, the motor is reversely started for a short time by the control system to compensate and return the pot body to the target positioning position. Mode two high speed reference mode Taking the high-speed gear as a reference gear, enabling the rest position of the high-speed gear after freewheeling to be equal to the target positioning position, and not executing compensation; And after the low gear freewheels, the motor is started in a short time forward direction by the control system, and the pot body is pushed to the target positioning position in a compensating way. Mode three, medium speed reference mode Taking the middle speed gear as a reference gear, wherein the rest position of the middle speed gear after freewheeling is equal to the target positioning position, and no compensation is executed; Over-travel after the high-speed gear freewheels is controlled, and the motor is reversely started to compensate; the control system positively starts the motor to compensate after the low gear freewheels. Mode IV, visual calibration compensation mode (1) The calibration stage comprises the steps of after the complete machine assembly of the equipment is molded, manually and visually observing the actual rest position after freewheeling under each fixed gear, presetting fixed compensation time length and fixed compensation direction for each gear, and storing the fixed compensation time length and the fixed compensation direction in a con