A control method for a food processing machine

Abstract

The embodiment of the present application discloses a control method for a food processing machine, wherein a pulp discharge rotary valve is provided on the cup body of the food processing machine, the pulp discharge rotary valve includes a valve core and a pulp discharge nozzle, a magnetic element is provided on the valve core, and a first Hall element and a second Hall element are provided at the valve opening position and the valve closing position on the pulp discharge rotary valve respectively; a first limit device and a second limit device are provided at the position facing the pulp cup and the position facing the residual water box respectively; the valve core and the pulp discharge nozzle are linked; the method comprises: when a discharge signal is detected, the control valve core starts to rotate, driving the pulp discharge nozzle to rotate to a specified position; after determining that the pulp discharge nozzle has been driven to rotate to the specified position according to the rotation angle and / or rotation duration of the valve core, the control valve core continues to rotate in the original direction until the first Hall signal emitted by the first Hall element is detected, it is determined that the valve is opened, and the control valve core stops rotating. This embodiment improves the reliability and life of the rotary valve, saves resources, and reduces costs.

Description

Technical Field

[0001] This article relates to cooking equipment control technology, especially a control method for a food processing machine. Background Art

[0002] A major feature of some food processing machines (such as soymilk machines) is automatic slurry discharge. Automatic slurry discharge is achieved by driving the rotary valve to a specific position through a reduction motor, thereby opening or closing the valve. Generally, opening or closing the valve is achieved through limit or position detection plus limit. The limit is achieved by blocking the rotary valve gear through the structure, and judging whether the rotary valve is in place by detecting the current change and time. Using this solution for a long time will affect the life of the motor and gear. Position detection generally requires 3 Hall elements and a magnet, corresponding to slurry discharge, residual water discharge and closing, respectively. Each position requires the IO port resources of a chip, which undoubtedly increases production costs and resource requirements. Summary of the Invention

[0003] The embodiments of the present application provide a control method for a food processing machine, which can improve the reliability and life of a rotary valve, save resources and reduce costs.

[0004] An embodiment of the present application provides a control method for a food processing machine, the food processing machine may include: a cup body, a pulp discharge rotary valve is provided on the cup body, the pulp discharge rotary valve may include: a rotatable valve core and a pulp discharge nozzle, the valve core is provided with a magnetic element, and a first Hall element and a second Hall element are respectively provided at the valve opening position and the valve closing position preset on the pulp discharge rotary valve; a first limit device and a second limit device are respectively provided on the cup body at a position facing the pulp cup and a position facing the residual water box, and the pulp discharge nozzle rotates between the first limit device and the second limit device; wherein the valve core and the pulp discharge nozzle are linked; the method may include:

[0005] When a discharge signal is detected, the valve core is controlled to start rotating in a preset rotation direction, and drives the pulp discharge nozzle to rotate to a specified position; the discharge signal includes: a pulp discharge signal or a residual water discharge signal; the specified position includes: a position facing the pulp cup or a position facing the residual water box;

[0006] After determining that the slurry discharge nozzle has been driven to rotate to the specified position based on the rotation angle and / or rotation duration of the valve core, the valve core is controlled to continue rotating in the original direction until the first Hall signal emitted by the first Hall element is detected, and it is determined that the valve is opened, and the valve core is controlled to stop rotating; wherein, before the slurry discharge nozzle rotates to the specified position, the slurry discharge rotary valve is in a closed state.

[0007] In an exemplary embodiment of the present application, the angle between the valve opening position and the valve closing position satisfies: 80°-100°;

[0008] The angle between the position facing the pulp cup and the position facing the residual water box satisfies the following conditions: 35°-55°.

[0009] In an exemplary embodiment of the present application, the food processor may include a first motor; and when a discharge signal is detected, controlling the valve core to start rotating in a preset rotation direction to drive the pulp discharge nozzle to rotate to a specified position may include:

[0010] Upon receiving the pulp discharge signal, the first motor is controlled to rotate in a first direction, driving the pulp discharge nozzle to rotate toward a position facing the pulp cup, until the pulp discharge nozzle is rotated toward the position facing the pulp cup, and then the pulp discharge nozzle is restricted by the first limiting device and stops rotating;

[0011] When the slurry discharge signal is received, the first motor is controlled to rotate in the second direction, driving the slurry discharge nozzle to rotate toward the position facing the residual water box, until the slurry discharge nozzle rotates to the position facing the residual water box, and the slurry discharge nozzle is restricted by the second limit device and stops rotating.

[0012] In an exemplary embodiment of the present application, the first motor is used to control the valve core and the slurry discharge nozzle in a linkage manner; the valve core can rotate 360 ​​degrees;

[0013] After determining that the slurry discharge nozzle has been driven to rotate to the designated position according to the rotation angle and / or rotation duration of the valve core, controlling the valve core to continue rotating in the original direction may include:

[0014] Controlling the first motor to continue rotating in the first direction or the second direction to drive the valve core to continue rotating in the original rotation direction until the first Hall element sends a first Hall signal, controlling the first motor to stop rotating, thereby opening the valve;

[0015] When a valve closing signal is detected during the process of controlling the first motor to rotate in the first direction or the second direction, or during the process of discharging slurry or residual water, the first motor is controlled to continue to rotate in the original rotation direction to drive the valve core to continue to rotate in the original rotation direction until the second Hall element sends a second Hall signal, controlling the first motor to stop rotating to achieve valve closing.

[0016] In an exemplary embodiment of the present application, the method may further include:

[0017] During the process of controlling the first motor to rotate in the first direction or the second direction, when a valve opening signal or a valve closing signal is detected, the first motor is controlled to stop rotating for a first preset time period. If the first Hall signal or the second Hall signal is not detected after the first preset time period, the first motor is controlled to continue moving until the first Hall signal or the second Hall signal is detected, and the first motor is controlled to stop moving.

[0018] In an exemplary embodiment of the present application, the method may further include:

[0019] After detecting the discharge signal, before controlling the valve core to start rotating in a preset rotation direction, detecting whether the second Hall element sends a second Hall signal to confirm whether the slurry discharge rotary valve is in a closed state;

[0020] When it is confirmed that the slurry discharge rotary valve is in the closed state, the subsequent control process is entered; when it is confirmed that the slurry discharge rotary valve is not in the closed state, a fault alarm is issued.

[0021] In an exemplary embodiment of the present application, the food processor may further include a second motor;

[0022] The step of controlling the valve core to rotate in a preset direction according to the valve rotation signal may include:

[0023] When the valve opening signal is detected, the second motor is controlled to rotate in a first preset direction to drive the valve core to rotate until the second Hall element sends a second Hall signal, and the second motor is controlled to stop rotating to open the valve;

[0024] When the valve closing signal is detected, the second motor is controlled to rotate in a second preset direction to drive the valve core to rotate until the first Hall element sends a first Hall signal, and the second motor is controlled to stop rotating to close the valve.

[0025] In an exemplary embodiment of the present application, the method may further include: performing power-on initialization on the pulp discharge rotary valve when the food processor is powered on;

[0026] Among them, the power-on initialization of the slurry discharge valve includes: judging whether the second Hall signal is detected, and when it is determined that the second Hall signal is detected, maintaining the current position state of the valve core; when it is determined that the second Hall signal is not detected, controlling the valve core to rotate in the first rotation direction until the second Hall signal is detected, controlling the valve core to stop rotating, and marking the preset valve closing flag position as the first mark.

[0027] In an exemplary embodiment of the present application, when the first motor rotates in the first direction, the valve core first triggers the first Hall element to emit the first Hall signal. When the first motor continues to rotate in the first direction, the valve core triggers the second Hall element to emit the second Hall signal.

[0028] The method may further comprise:

[0029] When the slurry discharge signal is received, the first motor is controlled to rotate in the first direction for a second preset time to open the valve; the first motor is controlled to continue to rotate in the first direction until the second Hall element sends a second Hall signal, and the first motor is controlled to stop rotating to close the valve; the first motor is controlled to rotate in the second direction to open and close the valve in sequence, so that the slurry discharge nozzle is rotated to a position facing the residual water box;

[0030] When the residual water discharge signal is received, the first motor is controlled to rotate in the second direction for a third preset time to open the valve; and the first motor is controlled to continue to rotate in the second direction until the second Hall element sends a second Hall signal, and the first motor is controlled to stop rotating to close the valve.

[0031] In an exemplary embodiment of the present application, the second preset time length may meet the following conditions: 30-60 seconds;

[0032] The third preset time length may satisfy: 15-30 seconds.

[0033] In an exemplary embodiment of the present application, the method may further include: during the slurry blending process, calculating the valve opening time and valve closing time according to the preset ratio, the second preset time and the third preset time to control the slurry discharge valve to open a portion.

[0034] Compared with the related art, the food processor of the embodiment of the present application may include: a cup body, a pulp discharge rotary valve is provided on the cup body, and the pulp discharge rotary valve may include: a rotatable valve core and a pulp discharge nozzle, the valve core is provided with a magnetic element, and a first Hall element and a second Hall element are respectively provided at the preset valve opening position and valve closing position on the pulp discharge rotary valve; a first limiting device and a second limiting device are respectively provided at the position of the cup body facing the pulp cup and the position facing the residual water box, and the pulp discharge nozzle rotates between the first limiting device and the second limiting device; wherein, the valve core and the pulp discharge nozzle are linked; the method may include: in When a discharge signal is detected, the valve core is controlled to start rotating in a preset direction and drive the slurry discharge nozzle to a designated position; the discharge signal includes a slurry discharge signal or a residual water discharge signal; the designated position includes a position facing the slurry cup or a position facing the residual water box; after determining that the slurry discharge nozzle has been driven to rotate to the designated position based on the rotation angle and / or rotation duration of the valve core, the valve core is controlled to continue rotating in the original direction until the first Hall signal emitted by the first Hall element is detected, and it is determined that the valve is opened, and the valve core is controlled to stop rotating; wherein, before the slurry discharge nozzle rotates to the designated position, the slurry discharge rotary valve is in a closed state. Through this embodiment, the reliability and life of the rotary valve are improved, resources are saved, and costs are reduced.

[0035] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. Other advantages of the present application can be realized and obtained through the solutions described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0037] Figure 1 This is a flow chart of a control method for a food processor according to an embodiment of the present application. DETAILED DESCRIPTION

[0038] This application describes multiple embodiments, but this description is exemplary rather than restrictive, and it will be apparent to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described herein. Although many possible feature combinations are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0039] This application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features, and elements disclosed in this application may also be combined with any conventional features or elements to form a unique inventive solution defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other inventive solutions to form another unique inventive solution defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in this application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the appended claims and their equivalents, the embodiments are not subject to other limitations. In addition, various modifications and changes may be made within the scope of protection of the appended claims.

[0040] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps in the specific order described. As will be understood by those skilled in the art, other orders of steps are also possible. Therefore, the specific order of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to performing their steps in the order written, and those skilled in the art can readily understand that these orders can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0041] Example 1

[0042] The embodiment of the present application provides a control method for a food processing machine, wherein the food processing machine may include: a cup body, a pulp discharge rotary valve is provided on the cup body, and the pulp discharge rotary valve may include: a rotatable valve core and a pulp discharge nozzle, the valve core is provided with a magnetic element, and a first Hall element and a second Hall element are respectively provided at the preset valve opening position and valve closing position on the pulp discharge rotary valve; a first limiting device and a second limiting device are respectively provided at the position of the cup body facing the pulp cup and the position facing the residual water box, and the pulp discharge nozzle rotates between the first limiting device and the second limiting device; wherein the valve core and the pulp discharge nozzle are linked; as Figure 1 As shown, the method may include S101-S102:

[0043] S101. When a discharge signal is detected, the valve core is controlled to start rotating in a preset direction and drive the pulp discharge nozzle to rotate to a designated position; the discharge signal includes a pulp discharge signal or a residual water discharge signal; the designated position includes a position facing the pulp cup or a position facing the residual water box.

[0044] S102. After determining that the slurry discharge nozzle has been driven to rotate to the specified position based on the rotation angle and / or rotation duration of the valve core, the valve core is controlled to continue rotating in the original direction until the first Hall signal emitted by the first Hall element is detected, and it is determined that the valve is opened, and the valve core is controlled to stop rotating; wherein, before the slurry discharge nozzle rotates to the specified position, the slurry discharge rotary valve is in a closed state.

[0045] In an exemplary embodiment of the present application, the valve core gear of the slurry discharge rotary valve may not be limited in position, and the slurry discharge nozzle may be limited in position.

[0046] In an exemplary embodiment of the present application, the valve core of the slurry discharge rotary valve can be a valve core that can rotate 360 ​​degrees, at least one magnetic element (such as a magnet) can be provided on the valve core, and a Hall element (for example, a first Hall element and a second Hall element) can be set in the valve open position and the valve closed position respectively; the slurry discharge nozzle of the slurry discharge rotary valve can be installed with limiting devices (for example, a first limiting device and a second limiting device) at the position facing the slurry cup and the position facing the residual water box.

[0047] In the exemplary embodiment of the present application, the valve core gear of the pulp discharge rotary valve has no limit (the limit device is replaced by a magnetic element and a Hall element), which can avoid problems such as motor heating and valve core gear wear caused by stalling. The pulp discharge nozzle is equipped with a limit device at the position opposite to the pulp cup and the position opposite to the residual water box to ensure that the pulp discharge nozzle rotates only within a limited area regardless of clockwise or counterclockwise rotation. In this way, the rotation direction is only related to the direction facing the pulp discharge nozzle. After determining the rotation direction, it is only necessary to detect the signal of the Hall element, and the control logic is simpler.

[0048] In an exemplary embodiment of the present application, the valve core can be driven directly by a motor or indirectly by a gear. When the indirect drive is implemented, a gear can be provided to drive the pulp discharge nozzle (or pulp receiving pipe) to rotate to achieve linkage.

[0049] In an exemplary embodiment of the present application, when the valve core and the slurry discharge nozzle (or slurry receiving pipe) are linked by gears, the gear ratio can be set in advance so that when the valve core rotates to the valve opening position, the slurry discharge nozzle (or slurry receiving pipe) can be rotated to the corresponding designated position, and when the valve core continues to rotate to the valve closing position, the slurry discharge nozzle (or slurry receiving pipe) can be rotated to the corresponding limit position.

[0050] In an exemplary embodiment of the present application, when direct driving is implemented, the valve core may also rotate together with the slurry discharge nozzle (or slurry receiving pipe), or the valve core drives the slurry discharge nozzle (or slurry receiving pipe) to rotate.

[0051] In an exemplary embodiment of the present application, the method may further include:

[0052] After detecting the discharge signal, before controlling the valve core to start rotating in a preset rotation direction, detecting whether the second Hall element sends a second Hall signal to confirm whether the slurry discharge rotary valve is in a closed state;

[0053] When it is confirmed that the slurry discharge rotary valve is in the closed state, the subsequent control process is entered; when it is confirmed that the slurry discharge rotary valve is not in the closed state, a fault alarm is issued.

[0054] In the exemplary embodiment of the present application, by detecting the status of the slurry discharge rotary valve before the valve core is started, it is ensured that the slurry discharge rotary valve is completely closed before discharging slurry or wastewater, avoiding premature slurry leakage, thereby improving product reliability.

[0055] Example 2

[0056] Based on the first embodiment, this embodiment provides an embodiment of the positional relationship between the open position and the closed position of the slurry discharge rotary valve, and the positional relationship between the slurry discharge position and the residual water discharge position of the slurry discharge nozzle.

[0057] In an exemplary embodiment of the present application, the angle between the valve opening position and the valve closing position may satisfy: 80°-100°;

[0058] The angle between the position facing the pulp cup and the position facing the residual water box can meet the following requirements: 35°-55°.

[0059] In an exemplary embodiment of the present application, a Hall element is placed on the slurry discharge rotary valve at the open valve position and the closed valve position respectively, and the open valve position and the closed valve position can be 90°; the position of the slurry discharge nozzle facing the slurry cup and the position facing the residual water box can be 45°.

[0060] In the exemplary embodiment of the present application, the open valve position and the closed valve position are maintained at 90°, which is conducive to draining the slurry or draining the residual water. It is equivalent to the stroke of 1 / 4 circle of the slurry discharge rotary valve being in the open valve state, ensuring that the slurry discharge or water discharge is faster and smoother. If the angle between the open valve position and the closed valve position is set too large, the time for the rotary valve to switch states is too long, thereby affecting the efficiency. If it is set too small, the slurry discharge port is too small, the slurry discharge and residual water discharge efficiency is low, and it takes more time to discharge the same amount of water, affecting the pulping cycle. The position of the slurry discharge nozzle facing the slurry cup and the position facing the residual water box is 45°, which is conducive to the rapid switching of the slurry discharge and residual water discharge states, and is smaller than the angle between the open valve and the closed valve. In the linkage mode, it can be ensured that each time the slurry discharge nozzle is turned clockwise or counterclockwise, the switch valve state can be switched first.

[0061] Example 3

[0062] This embodiment provides an embodiment of a control method for the valve core and the slurry discharge nozzle based on the first or second embodiment.

[0063] In an exemplary embodiment of the present application, the food processor may include a first motor; when the discharge signal is detected, controlling the valve core to start rotating in a preset rotation direction to drive the pulp discharge nozzle to rotate to a specified position may include:

[0064] Upon receiving the pulp discharge signal, the first motor is controlled to rotate in a first direction, driving the pulp discharge nozzle to rotate toward a position facing the pulp cup, until the pulp discharge nozzle is rotated toward the position facing the pulp cup, and then the pulp discharge nozzle is restricted by the first limiting device and stops rotating;

[0065] When the slurry discharge signal is received, the first motor is controlled to rotate in the second direction, driving the slurry discharge nozzle to rotate toward the position facing the residual water box, until the slurry discharge nozzle rotates to the position facing the residual water box, and the slurry discharge nozzle is restricted by the second limit device and stops rotating.

[0066] In an exemplary embodiment of the present application, the first direction may be a counterclockwise direction, and the second direction may be a clockwise direction.

[0067] In an exemplary embodiment of the present application, when the first motor starts to rotate clockwise, if the pulp discharge nozzle is not in a position facing the residual water box, the pulp discharge nozzle starts to rotate to the position of the residual water box and stops when it hits the second limit device; if the pulp discharge nozzle is already in a position facing the residual water box from the beginning, it will no longer rotate.

[0068] In an exemplary embodiment of the present application, when the first motor starts to rotate counterclockwise, if the pulp discharge nozzle is not in the position directly opposite to the pulp cup, the pulp discharge nozzle starts to rotate to the pulp cup position and stops when it hits the first limit device; if the pulp discharge nozzle is already in the position directly opposite to the pulp cup at the beginning, it will no longer rotate.

[0069] In an exemplary embodiment of the present application, the first motor may be used to control the valve core and the slurry discharge nozzle in a linkage manner; the valve core may be a valve core capable of rotating 360 degrees;

[0070] The controlling the valve core to continue rotating in the original direction after determining that the slurry discharge nozzle has been driven to rotate to the designated position according to the rotation angle and / or rotation duration of the valve core may include:

[0071] Controlling the first motor to continue rotating in the first direction or the second direction to drive the valve core to continue rotating in the original rotation direction until the first Hall element sends a first Hall signal, controlling the first motor to stop rotating, thereby opening the valve;

[0072] When a valve closing signal is detected during the process of controlling the first motor to rotate in the first direction or the second direction, or during the process of discharging slurry or residual water, the first motor is controlled to continue to rotate in the original rotation direction to drive the valve core to continue to rotate in the original rotation direction until the second Hall element sends a second Hall signal, controlling the first motor to stop rotating to achieve valve closing.

[0073] In an exemplary embodiment of the present application, in the process of controlling the first motor to continue rotating in the original rotation direction, due to the different setting positions of the first Hall element and the second Hall element, the valve core may first pass through the second Hall element, that is, first rotate to the valve closing position to close the valve, and only then will it reach the first Hall element during the continued rotation process, that is, rotate to the valve opening position to open the valve.

[0074] In the exemplary embodiment of the present application, similarly, after detecting the valve closing signal, when controlling the first motor to continue rotating in the original direction of rotation, due to the different setting positions of the first Hall element and the second Hall element, the valve core may first pass through the first Hall element, that is, first rotate to the valve opening position to open the valve, and only then will it reach the second Hall element during the continued rotation process, that is, rotate to the valve closing position to close the valve.

[0075] In an exemplary embodiment of the present application, when the first motor is controlled to rotate in the clockwise direction (i.e., the slurry discharge nozzle is controlled to turn to the position facing the residual water box), when a valve opening signal is detected, the first motor can be controlled to continue to rotate in the clockwise direction to drive the valve core to rotate until the first Hall element sends a first Hall signal, and the first motor is controlled to stop rotating to open the valve; when the valve core is in the valve opening state and the valve closing signal is detected, the first motor is controlled to continue to rotate in the clockwise direction to drive the valve core to rotate until the second Hall element sends a second Hall signal, and the first motor is controlled to stop rotating to close the valve.

[0076] In an exemplary embodiment of the present application, when the first motor is controlled to rotate counterclockwise (i.e., the slurry discharge nozzle is controlled to rotate toward the position of the slurry cup), when the valve opening signal is detected, the first motor is controlled to continue to rotate counterclockwise to drive the valve core to rotate. At this time, it will first pass through the second Hall element, thereby triggering the second Hall element to send a second Hall signal to close the valve. The first motor continues to rotate counterclockwise until the first Hall element sends a first Hall signal, and the first motor is controlled to stop rotating to open the valve; when the valve core is in the valve opening state and the valve closing signal is detected, the first motor can be controlled to continue to rotate counterclockwise (at this time, the gear ratio needs to be calculated in advance to avoid the first motor rotating in one direction in the linkage state, causing the slurry discharge nozzle to be severely blocked by the limit device and thus causing damage to the motor), or the first motor can be controlled to rotate in the opposite direction, i.e., clockwise, to drive the valve core to rotate until the second Hall element sends a second Hall signal, and the first motor is controlled to stop rotating to close the valve.

[0077] In an exemplary embodiment of the present application, the method may further include:

[0078] During the process of controlling the first motor to rotate in the first direction or the second direction, when a valve opening signal or a valve closing signal is detected, the first motor is controlled to stop rotating for a first preset time period. If the first Hall signal or the second Hall signal is not detected after the first preset time period, the first motor is controlled to continue moving until the first Hall signal or the second Hall signal is detected, and the first motor is controlled to stop moving.

[0079] In an exemplary embodiment of the present application, the first preset duration may meet the following conditions: 200-400 ms.

[0080] In an exemplary embodiment of the present application, the control logic for clockwise or counterclockwise rotation may include: the forward control signal (which may be a clockwise control signal) is set to 1, the reverse control signal (which may be a counterclockwise control signal) is set to 0, the first motor may start to rotate clockwise, and when the valve opening Hall signal (i.e., the first Hall signal) or the valve closing Hall signal (i.e., the second Hall signal) is detected, the forward control signal and the reverse control signal are simultaneously set to 1, braking is performed, and after 200-400ms of braking, the forward control signal and the reverse control signal are simultaneously set to 0. The forward control signal is set to 0, the reverse control signal is set to 1, the first motor starts to rotate counterclockwise, and when the valve opening Hall signal or the valve closing Hall signal is detected, the forward control signal and the reverse control signal are simultaneously set to 1, braking is performed, and after 200-400ms of braking, the forward control signal and the reverse control signal are simultaneously set to 0.

[0081] In an exemplary embodiment of the present application, the pulp nozzle can be switched first. When the first motor starts to rotate clockwise, if the pulp nozzle is not facing the residual water box, the pulp nozzle starts to rotate to the residual water box position and then stops. If the pulp nozzle is already facing the residual water box, it will not rotate any further. When the first motor starts to rotate counterclockwise, if the pulp nozzle is not facing the pulp cup, the pulp nozzle starts to rotate to the pulp cup position and then stops. If the pulp nozzle is already facing the pulp cup, it will not rotate any further.

[0082] In an exemplary embodiment of the present application, if a valve opening or closing Hall effect signal is detected during clockwise or counterclockwise rotation, the valve can be braked for 200-400ms to ensure a stable stop, preventing excessive inertia from causing loose closure or insufficient opening. If the valve is to be switched directly from the open state to the closed state, the slurry discharge rotary valve can be closed by simply continuing to rotate in the previous direction of rotation.

[0083] In an exemplary embodiment of the present application, the valve core can also be controlled solely by the second motor without being linked to the slurry discharge nozzle.

[0084] In an exemplary embodiment of the present application, the food processor may further include a second motor;

[0085] The step of controlling the valve core to rotate in a preset direction according to the valve rotation signal may include:

[0086] When the valve opening signal is detected, the second motor is controlled to rotate in a first preset direction to drive the valve core to rotate until the second Hall element sends a second Hall signal, and the second motor is controlled to stop rotating to open the valve;

[0087] When the valve closing signal is detected, the second motor is controlled to rotate in a second preset direction to drive the valve core to rotate until the first Hall element sends a first Hall signal, and the second motor is controlled to stop rotating to close the valve.

[0088] In an exemplary embodiment of the present application, the first preset direction is clockwise, and the second preset direction is counterclockwise, or the first preset direction is counterclockwise, and the second preset direction is clockwise.

[0089] In an exemplary embodiment of the present application, after the pulp discharge nozzle is rotated into position by the first motor, the second motor can be controlled to open or close the valve. Alternatively, after the second motor closes the valve, the position of the pulp discharge nozzle is controlled by the first motor, and after the pulp discharge nozzle is in position, the second motor is used to open the valve.

[0090] Example 4

[0091] This embodiment provides an embodiment of initialization control of the slurry discharge rotary valve when power is turned on and the function is started, based on any of the above embodiments.

[0092] In an exemplary embodiment of the present application, the method may further include: performing power-on initialization on the pulp discharge rotary valve when the food processor is powered on;

[0093] Among them, the power-on initialization of the slurry discharge valve includes: judging whether the second Hall signal is detected, and when it is determined that the second Hall signal is detected, maintaining the current position state of the valve core; when it is determined that the second Hall signal is not detected, controlling the valve core to rotate in the first rotation direction until the second Hall signal is detected, controlling the valve core to stop rotating, and marking the preset valve closing flag position as the first mark.

[0094] In an exemplary embodiment of the present application, if a valve closing Hall effect signal is detected upon power-up, the slurry discharge rotary valve remains unchanged. If no valve closing Hall effect signal is detected, the valve core may begin to rotate clockwise, and then stop rotating once a valve closing Hall effect signal is detected. The initialization processing logic during the startup function can be consistent with that during power-up.

[0095] In an exemplary embodiment of the present application, when power is turned on, it is detected that the valve closing Hall signal initialization completion flag (i.e., the valve closing flag position) is set to 1 (i.e., the first flag). When starting the function, it can be determined that the valve closing Hall signal initialization completion flag is 1 before the function process is allowed to be executed.

[0096] In the exemplary embodiment of this application, a valve closing Hall effect signal is detected upon power-up, and an initialization complete flag is set as soon as this signal is detected. If this signal is not detected upon power-up, clockwise rotation begins, and as soon as this signal is detected during the process, the initialization complete flag is also set. If the slurry discharge rotary valve is limited by a structure, it will require a period of stalling to determine whether it is in position. If the direction is incorrect, it will also require stalling in the opposite direction, which will seriously affect the life of the reduction motor.

[0097] Example 5

[0098] This embodiment provides another control logic embodiment of the slurry discharge rotary valve when discharging slurry and residual water based on any of the above embodiments.

[0099] In an exemplary embodiment of the present application, when the first motor rotates in the first direction, the valve core first triggers the first Hall element to emit the first Hall signal. When the first motor continues to rotate in the first direction, the valve core triggers the second Hall element to emit the second Hall signal.

[0100] The method may further comprise:

[0101] When the slurry discharge signal is received, the first motor is controlled to rotate in the first direction for a second preset time to open the valve; the first motor is controlled to continue to rotate in the first direction until the second Hall element sends a second Hall signal, and the first motor is controlled to stop rotating to close the valve; the first motor is controlled to rotate in the second direction to open and close the valve in sequence, so that the slurry discharge nozzle is rotated to a position facing the residual water box;

[0102] When the residual water discharge signal is received, the first motor is controlled to rotate in the second direction for a third preset time to open the valve; and the first motor is controlled to continue to rotate in the second direction until the second Hall element sends a second Hall signal, and the first motor is controlled to stop rotating to close the valve.

[0103] In an exemplary embodiment of the present application, the second preset time length may meet the following conditions: 30-60 seconds;

[0104] The third preset time length may satisfy: 15-30 seconds.

[0105] In an exemplary embodiment of the present application, when draining slurry, the valve can be first opened counterclockwise for T1 seconds (the second preset time length), 30<=T1<=60, then the valve can be closed counterclockwise, then opened clockwise, and finally closed clockwise. When draining residual water, the valve can be first opened clockwise for T2 seconds (the third preset time length), 15<=T2<=30, then the valve can be closed clockwise.

[0106] In the exemplary embodiment of the present application, the slurry discharge nozzle needs to be directly opposite the slurry cup when discharging the slurry. In the closed valve state, no matter whether the current slurry discharge nozzle is facing the residual water box or the slurry cup, the slurry discharge nozzle must be directly opposite the slurry cup when the valve is turned counterclockwise to the open valve state. The valve opening time T1 is controlled to be more than 30 seconds to ensure that the slurry within a single slurry production volume of less than 700 ml can be smoothly discharged to the slurry cup. It is controlled within 60 seconds to ensure that a single slurry output of 1000 ml can be smoothly discharged. Finally, the valve is opened and closed clockwise twice in succession to ensure that the slurry discharge nozzle is switched to the residual water box.

[0107] In the exemplary embodiment of the present application, when draining the residual water, the pulp nozzle does not need to adjust the direction, and can directly open and close the valve. The valve opening time is controlled within 15-30 seconds to ensure that the cleaning water can be smoothly discharged into the residual water box.

[0108] Example 6

[0109] This embodiment provides an embodiment of the control logic of the pulp discharge rotary valve during the blending process based on any of the above embodiments.

[0110] In an exemplary embodiment of the present application, the method may further include: during the slurry blending process, calculating the valve opening time and valve closing time according to the preset ratio, the second preset time and the third preset time to control the slurry discharge valve to open a portion.

[0111] In an exemplary embodiment of the present application, the time T1 and T2 taken from the open valve state to the closed valve state, or from the closed valve state to the open valve state can be recorded during the rotation of the slurry discharge valve. When a half-open valve state is required, 1 / N of T1 or T2 can be used to control the time of the valve rotation, where N is a positive number greater than 1.

[0112] In the exemplary embodiment of this application, this embodiment is compatible with blending using a grinding cup. Because the water temperature during blending is very high, it is necessary to simultaneously feed water into the grinding cup and discharge slurry into the receiving cup to prevent the slurry from accumulating due to internal heat and causing it to overflow. This embodiment dynamically adjusts the valve opening by recording time to ensure reliable blending.

[0113] Example 7

[0114] This embodiment provides an embodiment of a method for handling an abnormal Hall signal alarm based on any of the above embodiments.

[0115] In an exemplary embodiment of the present application, if the valve opening Hall signal and the valve closing Hall signal are detected at the same time, an alarm can be directly issued; if the valve opening Hall signal or the valve closing Hall signal has not been detected for more than a fourth preset time, such as 60 seconds, an alarm can be directly issued.

[0116] In an exemplary embodiment of the present application, if the valve opening Hall signal and the valve closing Hall signal are detected at the same time, it means that there is an abnormality in the Hall element, chip or circuit. At this time, an alarm can be immediately sounded to prevent overflow and other problems caused by confusion in the slurry drainage logic.

[0117] In the exemplary embodiment of this application, the valve opening or closing Hall effect signals are not detected. Conventional solutions experience a prolonged stall, which adversely affects both the reduction motor and the gears. In this embodiment, the gear driving the valve core is infinitely variable and can rotate 360 ​​degrees. This ensures that abnormalities will not affect the reduction motor or the valve gear.

[0118] Example 8

[0119] This embodiment, based on any of the above embodiments, provides an embodiment of a method for handling other abnormal signals during pulp discharge.

[0120] In an exemplary embodiment of the present application, when other abnormal faults occur in the machine and the slurry discharge rotary valve is in the open state, the valve can be closed directly. If the other abnormal faults are recovered, the valve can continue to return to the open state.

[0121] In the exemplary embodiment of the present application, this embodiment can prevent the pulp discharge from causing overflow when an abnormal fault occurs (such as the pulp receiving cup or the residual water box is suddenly removed), and can restore the machine to its original state when the abnormal fault is recovered, thereby improving the reliability of the machine.

[0122] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A control method for a food processing machine, wherein the food processing machine comprises a cup body and a pulp discharge rotary valve for controlling pulp discharge from the cup body, wherein the pulp discharge rotary valve comprises a movable valve core and a pulp discharge nozzle, wherein the valve core is driven and controlled by a first motor, wherein: The valve core drives the pulp discharge nozzle to rotate, and the cup body is provided with a first limit device and a second limit device at a position facing the pulp cup and a position facing the residual water box, respectively. The pulp discharge nozzle moves between the first limit device and the second limit device in a linkage manner with the valve core; the method includes: Upon receiving a pulp discharge signal, the first motor is controlled to rotate in a first direction, driving the pulp discharge nozzle to rotate toward a position facing the pulp cup, until the pulp discharge nozzle is rotated toward the position facing the pulp cup, and then the pulp discharge nozzle is restricted by the first limiting device and stops rotating; Upon receiving the residual water discharge signal, the first motor is controlled to rotate in the second direction, driving the pulp discharge nozzle to rotate toward a position facing the residual water box, until the pulp discharge nozzle is rotated toward the position facing the residual water box, and the pulp discharge nozzle is restricted by the second limit device and stops rotating; The slurry discharge rotary valve is preset with an open valve position and a closed valve position, and the angle between the position of the slurry discharge nozzle facing the slurry cup and the position facing the residual water box is smaller than the angle between the open valve position and the closed valve position; After the slurry discharge nozzle rotates to the specified position, the valve core continues to rotate in the original direction to the valve open position. The specified position includes the position facing the slurry cup or the position facing the residual water box. Before the slurry discharge nozzle rotates to the specified position, the slurry discharge rotary valve is in the valve closed state.

2. The food processing machine control method according to claim 1, characterized in that: Upon receiving the pulp discharge signal, controlling the first motor to rotate in a first direction to drive the pulp discharge nozzle to rotate toward a position facing the pulp cup, the method further comprising: If the pulp discharge nozzle is not in the position of receiving the pulp cup, the pulp discharge nozzle will rotate to the pulp cup position and stop when it hits the first limit device; if the pulp discharge nozzle is already in the position of receiving the pulp cup at the beginning, it will no longer rotate.

3. The control method of a food processing machine according to claim 1, characterized in that: Upon receiving the residual water discharge signal, controlling the first motor to rotate in a second direction to drive the pulp discharge nozzle to rotate toward a position facing the residual water box, the method further comprising: If the pulp discharge nozzle is not in the position facing the residual water box, the pulp discharge nozzle rotates to the position of the residual water box and stops when it hits the second limit device; if the pulp discharge nozzle is already in the position facing the residual water box at the beginning, it will no longer rotate.

4. The control method of a food processing machine according to claim 1, characterized in that: The valve core is provided with a magnetic element, and a first Hall element and a second Hall element are respectively provided at the preset valve opening position and valve closing position on the slurry discharge rotary valve; the method comprises: When the slurry discharge nozzle is restricted by the first limit device or the second limit device and stops rotating, the first motor is controlled to continue rotating in the first direction or the second direction, so as to drive the valve core to continue rotating in the original rotation direction until the first Hall element sends a first Hall signal, and the first motor is controlled to stop rotating, thereby opening the valve; When the valve core is in the open state, the first motor is controlled to continue to rotate in the original rotation direction to drive the valve core to continue to rotate in the original rotation direction until the second Hall element sends a second Hall signal to control the first motor to stop rotating and close the valve.

5. The food processing machine control method according to claim 4, characterized in that: During the process of controlling the first motor to rotate in the first direction or the second direction, the method further includes: When the first Hall signal and the second Hall signal are detected at the same time, or when the first Hall signal or the second Hall signal is not detected for more than a fourth preset time period, an alarm is triggered.

6. The control method of a food processing machine according to claim 4, characterized in that: The first motor rotates in opposite directions in the first direction and the second direction, and the method includes: detecting a forward control signal for controlling the first motor to rotate in a first direction and a reverse control signal for controlling the first motor to rotate in a second direction; When the first Hall signal or the second Hall signal is detected, the forward control signal and the reverse control signal are triggered simultaneously to control the first motor to brake.

7. The control method of a food processing machine according to claim 4, characterized in that: During the process of controlling the first motor to rotate in the first direction or the second direction, the method further includes: When the first Hall signal or the second Hall signal is detected, the first motor is controlled to stop rotating for a first preset time period. If the first Hall signal or the second Hall signal is not detected after the first preset time period, the first motor is controlled to continue rotating until the first Hall signal or the second Hall signal is detected, and the first motor is controlled to stop moving.

8. The control method of a food processing machine according to claim 7, characterized in that: The first preset duration satisfies 200-400ms.

9. The food processing machine control method according to claim 1, characterized in that: The method further comprises: when an abnormal fault occurs in the food processing machine, if the pulp discharge rotary valve is in an open valve state, the valve can be directly closed; when the abnormal fault of the food processing machine is recovered, the valve can be returned to the open valve state.

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