A chef machine and a control method thereof

Abstract

The application relates to the technical field of kitchen appliance control, and discloses a chef machine and a control method thereof. The method receives a stirring mode instruction through an operation interface, the stirring mode comprises a preset non-constant-speed double-linkage mode corresponding to multiple transmission gear ratio parameters; according to the transmission gear ratio parameters, a target speed ratio of a driving motor driving a stirring head and a stirring barrel base is determined; if it is detected that the stirring head is in a connected state with an upper transmission shaft and stirring barrel fixing is completed, based on the target speed ratio, output speed and torque parameters of the driving motor are calculated; a driving instruction is generated according to the output speed and torque parameters and is sent to the driving motor; in the running process of the driving motor, motor current and speed sensor data are collected in real time; if it is detected that the load torque exceeds a preset safety threshold, the motor output power is reduced or the running is stopped, and an overload alarm is triggered; if it is detected that the rotating buckle between the stirring barrel base and the machine base is loose, the driving motor and the electromagnetic heating are stopped.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of kitchen appliance control, and in particular to a chef machine and a control method thereof. BACKGROUND

[0002] In the field of kitchen appliances, the double linkage function (i.e., the synchronous rotation of the stirring head and the stirring barrel) of the chef machine is an important technical direction to improve the stirring efficiency and uniformity. In the traditional technology, the double linkage function is mainly realized in two ways: one is to independently drive the stirring head and the stirring barrel by two motors, which can realize the linkage effect, but has the defects of high cost, large machine size and high energy consumption; the other is to drive by a single motor combined with a mechanical transmission structure, but the existing single motor double linkage scheme generally has the following problems:

[0003] 1. Insufficient function compatibility: unable to realize the fusion of "lifting the head and separating the driving rod" and "double linkage", resulting in difficulty or inability to replace the stirring head, and users need to frequently manually calibrate the driving connection, which is tedious and easy to cause damage to the accessories;

[0004] 2. Single control strategy: the existing single motor driving scheme can only realize constant speed or fixed speed ratio linkage, cannot flexibly adjust the speed ratio of the stirring head and the stirring barrel according to the characteristics of the food materials, and lacks a safety detection mechanism for detachable structures, which has the risk of running due to loose buckles;

[0005] 3. Conflict between heating and transmission: when the detachable stirring barrel is combined with the electromagnetic heating function, the traditional design is difficult to balance the structural stability and heating uniformity, and no linkage control strategy is designed for the heating process, resulting in low heating efficiency and high safety risks.

[0006] Therefore, there is an urgent need for a method to solve at least one of the above problems. SUMMARY

[0007] The present application provides a chef machine and a control method thereof, aiming to solve the problem in the prior art that neither the double motor scheme nor the single motor scheme discloses a control method that integrates "single motor decoupler driving, non-constant speed double linkage control, detachable structure safety detection and automatic reset clamping" in one. Especially by receiving a stirring mode instruction through an operation interface, dynamically calculating a target speed ratio based on a transmission gear ratio parameter, and combining the control strategy of real-time monitoring of load torque and buckle state by a sensor, the problem is completely blank in the prior art.

[0008] In a first aspect, the embodiments of the present application provide a control method of a chef machine, comprising:

[0009] The stirring mode instruction is received through the operation interface, the stirring mode includes a preset non-constant speed double linkage mode, and a plurality of transmission gear ratio parameters correspond to the transmission gear ratio parameters; according to the transmission gear ratio parameters, a target rotating speed ratio of a driving motor driving a stirring head and a stirring barrel base is determined;

[0010] If it is detected that the stirring head is in a connected state with the upper transmission shaft and the stirring barrel is fixed, based on the target rotating speed ratio, the output rotating speed and torque parameters of the driving motor are calculated through the transmission relationship of the transfer gear and the belt; the driving instruction is generated according to the output rotating speed and torque parameters and is sent to the driving motor, so that the driving motor drives the upper transmission shaft to rotate through the transfer shaft and the transfer gear, and drives the stirring barrel base gear to rotate to drive the stirring barrel base to rotate, and the rotating directions of the stirring barrel base and the stirring barrel are opposite;

[0011] During the operation of the driving motor, the motor current and rotating speed sensor data are collected in real time, if it is detected that the load torque exceeds a preset safety threshold, the motor output power is reduced or the operation is stopped, and an overload alarm is triggered; if it is detected that the rotating buckle between the stirring barrel base and the machine base is loose, the driving motor and the electromagnetic heating are stopped, so as to prevent the equipment from running abnormally; the preset safety threshold is determined according to the maximum bearing torque of the stirring head or the stirring barrel.

[0012] In some embodiments, before the stirring mode instruction is received through the operation interface, the method further includes: obtaining the installation state signals of the stirring head and the stirring barrel through the rotating buckle sensor arranged at the connection position between the machine base and the stirring barrel and the electromagnetic induction sensor arranged at the connection position between the stirring head and the upper transmission shaft, to determine whether the stirring head is separated from or connected to the upper transmission shaft and whether the stirring barrel is fixed to the machine base through the rotating buckle and the base is rotatable; if it is detected that the stirring head is not installed or the stirring barrel is not fixed, an equipment abnormality signal is generated.

[0013] In some embodiments, the method further includes: if it is detected that the stirring barrel is a detachable electromagnetic heating stirring barrel, after the stirring barrel is fixed, the electromagnetic coil disc in the machine base is started to heat the stirring barrel through electromagnetic induction technology; the temperature sensor data of the stirring barrel are collected in real time, the heating power of the electromagnetic coil disc is adjusted according to a preset temperature threshold, and the heating uniformity is ensured.

[0014] In some embodiments, the method further includes: when the stirring head is detected to be close to the connection position again after being separated from the upper transmission shaft, the driving motor is controlled to rotate at a preset calibration rotating speed, the driving rod is allowed to freely stretch up and down through the spring elastic force at the bottom of the upper transmission shaft and the steel shaft transverse positioning structure; the driving rod is automatically slid to the positioning groove during the rotation of the driving rod through the inclined surface guiding design of the clamping groove, until the stirring head is completely engaged with the upper transmission shaft and the calibration rotation is stopped, so as to realize automatic reset engagement at any angle.

[0015] In some embodiments, the determining the target speed ratio of the driving motor driving the stirring head and the stirring barrel base according to the transmission gear ratio parameter comprises: pre-storing transmission gear ratio data corresponding to different gear sets in the transfer case, the transmission gear ratio data corresponding to the transmission gear ratio parameter in the stirring mode instruction; when the transmission gear ratio parameter is received, the transmission gear ratio of the corresponding gear set in the transfer case is called, and the first speed ratio of the driving motor output end and the stirring head transmission path and the second speed ratio of the driving motor output end and the stirring barrel base transmission path are determined based on the transmission gear ratio, and the target speed ratio of the stirring head and the stirring barrel base is calculated by the difference between the first speed ratio and the second speed ratio.

[0016] In some embodiments, if it is detected that the stirring head and the upper driving shaft are in a connected state and the stirring barrel is fixed, the output speed and torque parameters of the driving motor are calculated based on the target speed ratio through the transmission relationship of the transfer case gear and the belt, comprising: obtaining the number of teeth of the motor gear, the transfer case transmission shaft gear on the driving motor to the stirring head transmission path, and the number of teeth of the transfer case gear, the stirring barrel base gear on the driving motor to the stirring barrel base transmission path; according to the transmission proportional relationship of the pulley diameter and the gear tooth number, combined with the target speed ratio, a mathematical correlation model of the stirring head speed, the stirring barrel base speed and the driving motor output speed is established; based on the mathematical correlation model, combined with the preset load torque demand of the stirring head and the stirring barrel base, the required output speed and torque parameters of the driving motor are reversely calculated, and the load torque demand is pre-set according to the material and capacity of the stirring head and the stirring barrel.

[0017] In some embodiments, the driving instruction is generated according to the output speed and torque parameters and sent to the driving motor, so that the driving motor drives the upper driving shaft to rotate the stirring head and drives the stirring barrel base gear to rotate the stirring barrel base through the transfer case transmission shaft and the transfer case gear, comprising: the driving instruction is decomposed into two independent driving control signals, the first driving control signal controls the power of the driving motor to be transmitted to the transfer case gear through the motor gear and the motor belt, and drives the upper driving shaft to rotate through the transfer case transmission shaft, and then drives the stirring head to rotate; the second driving control signal controls the power of the driving motor to be transmitted to the stirring barrel base gear through the transfer case gear and the transfer case belt, and drives the stirring barrel base to rotate; through the cooperative output of the two driving control signals, the stirring head and the stirring barrel base rotate at different speeds according to the target speed ratio, and the rotating direction of the stirring barrel base is opposite to the mounting direction of the stirring barrel.

[0018] In some embodiments, the real-time acquisition of motor current and rotation speed sensor data during the operation of the driving motor, if the detected load torque exceeds the preset safety threshold, the motor output power is reduced or the operation is stopped, and an overload alarm is triggered, including: using the real-time acquired motor current and rotation speed sensor data to calculate the real-time load torque of the current stirring head and stirring barrel base through the preset motor torque calculation formula; comparing the real-time load torque with the preset safety threshold set in advance according to the material strength of the stirring head and the upper limit of the stirring barrel capacity, if the real-time load torque exceeds the preset safety threshold, the output power of the driving motor is reduced in a linear decreasing manner, if the real-time load torque is still below the safety threshold within a preset time, a stop operation instruction is sent to the driving motor, and an overload alarm is triggered through an operation interface or a prompt sound; the preset time is set in advance according to the common stirring resistance characteristics of the stirring food materials.

[0019] In some embodiments, if the rotation buckle between the stirring barrel base and the machine base is loose, the driving motor and the electromagnetic heating are stopped to prevent abnormal operation of the equipment, including: acquiring the mechanical connection state signal of the rotation buckle in real time through the micro switch or the pressure sensor arranged at the connection of the rotation buckle; when the mechanical connection state signal indicates that the buckle insertion depth of the rotation buckle is less than the preset safety depth, or the buckle force offset angle exceeds the preset safety angle, it is determined that the rotation buckle is loose; if it is determined that the rotation buckle is loose, an emergency stop instruction is generated and sent to the driving motor control module and the electromagnetic heating control module, so that the driving motor stops running and the electromagnetic coil disc stops heating, and a buckle loosening warning is issued through the flashing of the indicator light or the voice prompt; the preset safety depth and the preset safety angle are set in advance according to the mechanical structure strength of the rotation buckle.

[0020] In the second aspect, the embodiments of the present application provide a chef machine for executing the method provided by any of the embodiments of the present application.

[0021] The present application replaces the double-motor scheme by the driving design of a single motor plus a sub-transmission, greatly reduces the manufacturing cost, and reduces the machine size, while realizing the driving of a small motor for a large torque load through 123-level transmission gear ratio optimization, and balancing energy saving and performance; realizes the fusion of the functions of "single motor double linkage" and "head-up driving rod separable + convenient replacement of accessories", solves the manual calibration problem through automatic reset biting control strategy, and improves the convenience of users in replacing the stirring head / barrel and the durability of the equipment; realizes overload protection and buckle loosening emergency stop through real-time monitoring of the load torque and the rotation buckle state by the sensor, and avoids safety accidents; in combination with the automatic heating control of the electromagnetic heating stirring barrel, the heating uniformity and efficiency are improved; the chef machine supports multiple preset stirring modes, dynamically adjusts the rotation speed ratio through the transmission relationship of the sub-transmission gear and the belt, meets the stirring needs of different food materials, and expands the use scenarios of the equipment.

[0022] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 is a structural schematic diagram of a chef machine provided by an embodiment of the present application;

[0025] Figure 2 is a step schematic flow chart of the installation and fixing method provided by an embodiment of the present application;

[0026] Figure 3 is a structural schematic block diagram of the controller provided by an embodiment of the present application.

[0027] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0029] The flow charts shown in the drawings are only exemplary descriptions, and do not necessarily include all the contents and operations / steps, and do not necessarily be executed in the described order. For example, some operations / steps can be decomposed, combined or partially merged, so that the actual execution order can be changed according to the actual situation.

[0030] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, the same items or similar items with basically the same functions and effects are distinguished by using "first", "second" and the like. Those skilled in the art can understand that "first", "second" and the like do not limit the quantity and execution order, and "first", "second" and the like do not necessarily mean different.

[0031] It is to be understood that the terms used in the specification herein are for the purpose of describing particular embodiments and do not intend to limit the application. As used in the specification and the appended claims herein, the singular forms "a," "an" and "the" are intended to include plural forms as well, unless the context clearly indicates otherwise.

[0032] It is also to be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, and that the term "at least one of' as used herein means "one, two, three, four, or more" and that the phrase "one or more of' as used herein means "one, two, three, four, or more."

[0033] Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments can be combined with each other without conflict.

[0034] In the field of kitchen appliances, the double linkage function of a chef machine (i.e., the synchronous rotation of the stirring head and the stirring barrel) is an important technical direction to improve stirring efficiency and uniformity. In traditional technology, the double linkage function is mainly realized in two ways: one is to independently drive the stirring head and the stirring barrel by two motors, which can realize the linkage effect, but has the defects of high cost, large machine size, and high energy consumption; the other is to drive by a single motor combined with a mechanical transmission structure, but the existing single motor double linkage scheme generally has the following problems:

[0035] 1. Insufficient functional compatibility: unable to realize the fusion of "lifting the head and separating the driving rod" and "double linkage", leading to difficulty or inability to replace the stirring head, and users need to frequently manually calibrate the driving connection, which is tedious and easy to cause damage to the accessories;

[0036] 2. Single control strategy: the existing single motor driving scheme can only realize constant speed or fixed speed ratio linkage, cannot flexibly adjust the speed ratio of the stirring head and the stirring barrel according to the characteristics of the food materials, and lacks a safety detection mechanism for detachable structures, which has the risk of running due to loose buckles;

[0037] 3. Conflict between heating and transmission: when the detachable stirring barrel is combined with the electromagnetic heating function, the traditional design is difficult to balance the structural stability and heating uniformity, and does not design a linkage control strategy for the heating process, resulting in low heating efficiency and great safety hazards.

[0038] To solve the above problems, please refer to Figure 1The embodiment of the application provides a chef machine, which comprises a base, a driving motor 1 arranged in the base, a motor gear 2 connected to the output end of the driving motor 1, a first transfer gear 4 in transmission connection with the motor gear 2 through a motor belt 3, a second transfer gear 7 fixedly installed on a transfer drive shaft 5, the transfer drive shaft 5 penetrating the inside of a transfer device 6, the transfer device 6 having two output ends, a first output end being connected with an upper drive shaft 12, and a second output end being in transmission connection with a stirring barrel base gear 10 through a transfer belt 8; the upper drive shaft 12 is used for detachably connecting a stirring head 13 at the top end, the stirring barrel base gear 10 is fixedly installed on a stirring barrel base 9, the stirring barrel base 9 is used for fixing a stirring barrel 11, and the rotating direction of the stirring barrel base 9 is opposite to that of the stirring barrel 11; a differential structure is arranged in the inside of the transfer device 6, so that the upper drive shaft 12 and the stirring barrel base gear 10 rotate at different speeds, forming a non-equal-speed double linkage transmission relationship; a rotating buckle is arranged at the connecting position of the base and the stirring barrel 11, the rotating buckle comprises a base fixing part and a barrel body connecting part, the base fixing part is fixedly connected with the base, the barrel body connecting part is fixedly connected with the stirring barrel 11, and an electromagnetic coil disc is arranged in the inside of the base fixing part; a circular ring boss buffer structure is correspondingly arranged at the bottom of the stirring barrel 11, and the electromagnetic coil disc is used for heating the stirring barrel 11 through electromagnetic induction; a spring elastic force positioning structure and a steel shaft transverse positioning structure are arranged at the bottom of the upper drive shaft 12, and a clamping groove with an inclined surface guide is arranged at the connecting position of the stirring head 13 and the upper drive shaft 12; the spring elastic force positioning structure is used for driving the steel shaft to freely stretch up and down when being connected; the clamping groove with the inclined surface guide is used for making the steel shaft automatically slide to the positioning groove through the inclined surface guide when the equipment rotates, so that the stirring head 13 and the upper drive shaft 12 are automatically reset and engaged at any angle.

[0039] Specifically, the technical scheme of the chef machine provided by the application is developed around the single-motor driving double linkage structure, the detachable component, the automatic reset function and the electromagnetic heating compatibility, and the core innovation is that multifunctional integration is realized through mechanical structure design, and the problems of high cost, inconvenient operation and function separation in the prior art are solved.

[0040] The power transmission path corresponding to the double linkage transmission system driven by the single motor comprises that the driving motor outputs power is transmitted to the transfer gear through the motor gear and the motor belt, the transfer gear is fixed on the transfer drive shaft, and the transfer gear drives the transfer device to operate. The transfer device as a core transmission component has two output ends: the first output end is directly connected with the upper drive shaft through the transfer drive shaft, and drives the stirring head to rotate; the second output end is connected with the stirring barrel base gear through the transfer gear and the transfer belt, and drives the stirring barrel base to rotate. The differential structure is integrated in the inside of the transfer device, so that the two output ends move at different speeds (non-equal-speed double linkage), through the 123-level transmission gear ratio design, small motor driving large torque load is realized, and the compact machine body and energy saving are considered.

[0041] The double linkage function is realized by independently driving the two power paths of the stirring head and the stirring barrel through the splitter, and the rotation direction of the stirring barrel base and the stirring barrel is opposite (realized by gear or belt transmission direction design), forming reverse double linkage stirring to improve mixing efficiency.

[0042] The detachable connection of the stirring barrel is realized by adopting a rotating buckle structure at the connection between the base and the stirring barrel, including a base fixing part fixed to the base and a barrel body connecting part fixed to the stirring barrel. The rotating buckle fixes the stirring barrel through mechanical engagement to ensure stable structure during rotation. The stirring barrel base and the stirring barrel are designed as a whole, the base is rotatable, the barrel body rotates synchronously with the base, but through transmission direction design and base fixing part, the detachable structure is formed in reverse rotation to avoid loosening during movement.

[0043] The electromagnetic heating system is integrated by arranging an electromagnetic coil disc in the base fixing part of the base and designing a circular boss buffer structure at the corresponding position of the bottom of the stirring barrel. When starting heating, the electromagnetic coil disc generates eddy current heating at the bottom of the stirring barrel through electromagnetic induction, and the circular boss avoids direct contact between the barrel body and the electromagnetic disc during rotation, which takes into account the heating function and safety.

[0044] The connection and separation design is realized by setting spring elastic positioning structure (spring driven steel shaft) and steel shaft transverse positioning structure at the bottom of the upper transmission shaft, and setting a clamping groove with inclined guide at the connection between the stirring head and the upper transmission shaft. When the stirring head is separated and reinstalled, there is no need to manually align the angle: the spring elastic force makes the steel shaft freely stretch up and down, and after the equipment is started, the driving motor rotates at low speed, and through the inclined guide of the clamping groove, the steel shaft automatically slides into the positioning groove, realizing automatic reset engagement at any angle, solving the problem of difficult manual calibration and easy damage of accessories.

[0045] Through the splitter + differential structure, only one motor is used to realize the double linkage driving of the stirring head and the stirring barrel. Compared with the traditional double motor scheme, the cost is reduced, the volume is reduced, the energy consumption is reduced, and the maintenance convenience is improved. The detachable stirring barrel also supports electromagnetic heating, which solves the compatibility contradiction between rotation and heating through the circular boss buffer structure, avoiding the operation complexity and food material loss caused by function separation. The automatic reset engagement structure eliminates the manual calibration step, and after connecting at any angle, the inclined guide and spring elastic force are used for automatic positioning, improving the use convenience and equipment durability.

[0046] The driving motor drives the differential to drive the stirring head (upper driving shaft) and the stirring barrel base (gear + belt) respectively, the differential structure controls the speed ratio; the rotating buckle fixes the stirring barrel, the electromagnetic coil disc heats the barrel body, and the circular ring boss isolates the rotating part and the heating part; the spring + steel shaft + inclined surface slot constitute an automatic reset mechanism to ensure intelligent calibration when the stirring head is connected. The scheme realizes the function integration of "single motor double linkage + detachable part + automatic reset + electromagnetic heating" through mechanical structure innovation, solves the defects of the existing chef machine in cost, volume, operation convenience and function integration, and has significant technical progress and practical value.

[0047] Please refer to Figure 2 As Figure 2 indicated, the control method of the chef machine provided by an embodiment of the present application provides a schematic flowchart of the control method of the chef machine, and the method is used for controlling Figure 1 the corresponding chef machine. The control method of the chef machine can be realized by a controller built in the chef machine.

[0048] Specifically, as Figure 2 indicated, the control method of the chef machine provided by an embodiment of the present application provides a schematic flowchart of the control method of the chef machine, and the method is used for controlling

[0049] Step S101. Receive the stirring mode instruction through the operation interface, the stirring mode includes a preset non-constant speed double linkage mode, and a plurality of transmission gear ratio parameters correspond to the non-constant speed double linkage mode; determine the target speed ratio of the driving motor driving the stirring head and the stirring barrel base according to the transmission gear ratio parameters.

[0050] Specifically, this step realizes the parameter matching of the user operation interface and the transmission system, and the core is to determine the target speed ratio of the stirring head and the stirring barrel base according to the preset non-constant speed double linkage mode.

[0051] The operation interface supports physical keys, touch screens or remote APP control, and a plurality of stirring modes (such as dough mixing mode, egg beating mode, mixing mode, etc.) are preset, and each mode corresponds to a unique non-constant speed double linkage strategy (i.e. different transmission gear ratio parameters). After the user selects the mode through the interface, the controller reads the pre-stored transmission gear ratio parameters (such as stirring head speed: stirring barrel base speed = 3:1, 2:1, etc.) in this mode, which are pre-optimized based on the characteristics of the food materials (such as dough hardness, liquid viscosity) and stored in the built-in memory of the controller.

[0052] The inside differential structure of the transfer case realizes the speed decoupling of the two-way output through a gear set or planetary gear mechanism, and the transmission gear ratio parameter directly corresponds to the speed ratio n1:n2 of the two-way output ends (the upper transmission shaft and the stirring barrel base gear). The controller determines the speed ratio relationship that the driving motor needs to output according to the selected transmission gear ratio parameter and the fixed transmission ratio of the transfer case mechanical structure (such as the first output end transmission ratio i1 and the second output end transmission ratio i2), and forms the target speed ratio (i.e. the ratio of the stirring head speed to the stirring barrel base speed).

[0053] Step S102. If it is detected that the stirring head and the upper transmission shaft are in a connected state and the stirring barrel is fixed, based on the target speed ratio, the output speed and torque parameters of the driving motor are calculated through the transmission relationship of the transfer case gear and the belt; the driving instructions are generated according to the output speed and torque parameters and sent to the driving motor, so that the driving motor drives the upper transmission shaft to rotate the stirring head and drives the stirring barrel base gear to rotate the stirring barrel base through the transfer case transmission shaft and the transfer case gear, and the rotation directions of the stirring barrel base and the stirring barrel are opposite.

[0054] Specifically, this step ensures that the equipment starts in a safe connection state, and the control parameters of the driving motor are back calculated through the mechanical transmission relationship, and the double linkage system is driven to operate at the target speed ratio.

[0055] The safety state detection includes: stirring head connection detection: when the spring elastic positioning structure at the bottom of the upper transmission shaft contacts the stirring head clamping groove, the built-in Hall sensor or mechanical micro switch is triggered, and the "connection in place" signal is fed back to the controller (the circuit is turned on when the steel shaft slides into the positioning groove). Stirring barrel fixing detection: when the base fixing part of the rotating buckle engages with the barrel body connecting part, the in-place signal is detected by the magnetic sensor or pressure sensor on the buckle (such as when the metal sheet of the barrel body connecting part approaches the electromagnetic coil disc of the base fixing part, the induction is triggered). Only when both signals are "normal", the controller allows entering the driving process to avoid starting the equipment in an uncalibrated or loose state.

[0056] The driving parameter calculation and instruction generation includes: transmission relationship modeling: the output speed nm of the driving motor is transmitted to the transfer case gear (tooth number Zd) through the motor gear (tooth number Zm) and the motor belt, the transmission ratio imd=Zd / Zm, and therefore the transfer case transmission shaft speed nd=nm*imd.

[0057] The first output end (upper drive shaft) is directly driven by the transfer shaft, and the rotation speed n1 = nd*i1; the second output end drives the stirring barrel base gear through the transfer belt, and the rotation speed n2 = nd*i2, wherein i1 and i2 are the transmission ratios of the two internal gear sets of the transfer (preset through the differential structure). According to the target rotation speed ratio n1:n2 and the mechanical transmission ratio, the target output rotation speed nm and the torque parameter Tm of the driving motor are inversely deduced (considering the load torque demand, matched through the motor characteristic curve). The controller generates a PWM (pulse width modulation) drive instruction or a vector control signal, which is sent to the driving motor to make it run according to the calculated parameters, and at the same time, through the reverse gear or cross belt design, it ensures that the stirring barrel base and the stirring barrel rotate in opposite directions (for example, the stirring head rotates clockwise, and the stirring barrel rotates counterclockwise).

[0058] Step S103. During the operation of the driving motor, real-time acquisition of motor current and rotation speed sensor data is performed. If it is detected that the load torque exceeds the preset safety threshold, the motor output power is reduced or the operation is stopped, and an overload alarm is triggered. If it is detected that the rotation buckle between the stirring barrel base and the machine base is loose, the driving motor and the electromagnetic heating are stopped to prevent abnormal operation of the equipment. The preset safety threshold is determined according to the maximum bearing torque of the stirring head or the stirring barrel.

[0059] Specifically, this step realizes overload protection and buckle loosening detection by monitoring the equipment running state through real-time sensor data, avoiding safety hazards.

[0060] Overload detection and processing includes: data acquisition: the controller monitors the working current of the driving motor in real time through the built-in current sensor, and calculates the real-time load torque (torque T∝ current) combined with the motor back electromotive force formula; at the same time, the motor speed is collected through the encoder or Hall sensor to verify whether it is consistent with the target rotation speed. Safety threshold comparison: the preset safety threshold is stored in the controller (such as the maximum torque Tmax calibrated according to the material strength of the stirring head and the maximum bearing of the stirring barrel), when the real-time torque exceeds 80% (configurable) of Tmax, the first level protection (reducing the motor output power by 50%) is triggered; when it exceeds 100%, the motor power is immediately cut off, the fault indicator light is turned on and the alarm sound (such as "ticking" sound for 3 seconds) is played, until the user manually resets.

[0061] The buckle loosening detection and processing includes: detection mechanism: built-in vibration sensor or displacement sensor in the base fixing part of the rotating buckle, monitoring the radial displacement of the mixing barrel base when rotating (the displacement exceeds the safety threshold, such as 0.5mm when loosening); or indirectly detecting the barrel body connection state through the inductance change of the electromagnetic coil disc (the inductance value is abnormal when the contact is poor). Safety response: once the buckle loosening signal is detected, the controller immediately sends a stop command to the drive motor and electromagnetic heating module (disconnects the power supply of the electromagnetic coil disc), and displays the "please re-fix the mixing barrel" prompt on the operation interface, to prevent the mixing barrel from falling off during rotation or the food from splashing / overheating due to uneven heating.

[0062] The control strategy optimization adjusts the double linkage rotation speed synchronously during the heating process for the electromagnetic heating scene of the detachable mixing barrel (such as reducing the rotation speed to avoid food clumping during low-temperature heating, and increasing the rotation speed to enhance the mixing efficiency during high-temperature stirring), and realizes function cooperation through the preset heating-rotation speed linkage algorithm.

[0063] In some embodiments, before receiving the stirring mode instruction through the operation interface, it further includes: obtaining the installation state signal of the stirring head and the mixing barrel through the rotating buckle sensor arranged at the connection between the chef machine base and the mixing barrel, and the electromagnetic induction sensor arranged at the connection between the stirring head and the upper driving shaft, to determine whether the stirring head is separated from or connected to the upper driving shaft, and whether the mixing barrel is fixed to the base through the rotating buckle and the base is rotatable; if it is detected that the stirring head is not installed or the mixing barrel is not fixed, a device abnormal signal is generated.

[0064] Before receiving the stirring mode instruction, the installation state of the stirring head and the mixing barrel is detected in real time through the sensor to ensure that the device is started in a safe connection state, and to avoid the running risk caused by not being installed or loosening.

[0065] The sensor configuration and signal acquisition includes: rotating buckle sensor: built-in microswitch or pressure sensor in the base fixing part at the connection between the base and the mixing barrel, when the barrel body connecting part of the mixing barrel is completely clamped into the base fixing part, the sensor is triggered (such as contact closure or pressure value meets the standard), and outputs the "fixed in place" signal; if the buckle is not engaged, the signal is "not fixed". Electromagnetic induction sensor (stirring head connection detection): Hall sensor or inductive sensor is arranged at the connection between the upper driving shaft and the stirring head (such as near the steel shaft positioning groove), when the clamping groove of the stirring head is engaged with the steel shaft, the sensor detects that the metal part is close (or the magnetic field changes), and outputs the "connected in place" signal; the signal is disconnected when separated.

[0066] The abnormality processing logic reads the two types of sensor signals in real time through the controller. If it detects that the "mixing head is not connected" (no signal from the sensor) or that the "mixing barrel is not fixed" (the buckle sensor is not triggered), it immediately generates a device abnormality signal and displays a red warning icon (such as an exclamation mark) on the operation interface, and locks the start button to prevent the user from selecting the stirring mode until the installation state returns to normal.

[0067] In some embodiments, the method further comprises: if it is detected that the mixing barrel is a detachable electromagnetic heating mixing barrel, after the mixing barrel is fixed, starting the electromagnetic coil disc in the base to heat the mixing barrel through electromagnetic induction technology; collecting temperature sensor data of the mixing barrel in real time, and adjusting the heating power of the electromagnetic coil disc according to a preset temperature threshold to ensure heating uniformity.

[0068] For the detachable electromagnetic heating mixing barrel, automatic heating is realized after fixing, and the heating power is dynamically adjusted through temperature feedback, solving the problems of uneven heating and safety hazards in traditional designs.

[0069] The heating module activation conditions include: when the rotating buckle sensor confirms that the mixing barrel is fixed (and detects that the mixing barrel bottom has a circular boss buffer structure, which is identified as an electromagnetic heating compatible type through barrel body material identification), the controller sends a heating start instruction to the electromagnetic coil disc driving module, the coil disc generates a high-frequency alternating magnetic field, and the mixing barrel bottom metal material surface induces eddy current heating.

[0070] Temperature closed-loop control includes: temperature collection: embedding NTC temperature sensors or infrared temperature measurement modules near the bottom of the mixing barrel outside or the electromagnetic coil disc of the base to collect the temperature inside the barrel (or the bottom temperature) in real time, with an accuracy of ±1℃. Power adjustment strategy: preset heating temperature threshold (such as 40℃ for dough mixing mode and 35℃ for fermentation mode), when the measured temperature is lower than the threshold by 2℃, the electromagnetic coil disc heats at 100% power; when approaching the threshold (±1℃), the power is reduced to 50%; when reaching the threshold, heating is stopped and the temperature is maintained. If the temperature exceeds the threshold by 5℃, the coil disc power is immediately cut off and an alarm is given to prevent overheating of the food material.

[0071] In some embodiments, the method further comprises: when the mixing head is detected to be close to the connection position again after being separated from the upper driving shaft, controlling the driving motor to rotate at a preset calibration speed, using the spring force at the bottom of the upper driving shaft and the steel shaft horizontal positioning structure to make the driving rod freely extend up and down; using the inclined surface guide design of the clamping groove, the driving rod automatically slides into the positioning groove during rotation until the sensor detects that the mixing head is completely engaged with the upper driving shaft, and the calibration rotation is stopped, realizing automatic reset engagement at any angle.

[0072] When the stirring head is reinstalled after being separated, the mechanical structure is matched by low-speed rotation of the motor to realize automatic engagement at any angle, and the problems of tedious manual calibration and accessory damage are solved.

[0073] The calibration trigger condition includes that when the electromagnetic induction sensor detects that the stirring head is close to the upper driving shaft (such as the card slot entering the induction range, and the sensor signal changes from “off” to “close”), the controller automatically triggers the calibration program to drive the motor to rotate at a preset low speed (such as 5 rpm) to avoid collision caused by high-speed rotation.

[0074] The mechanical-control cooperative reset includes a spring and steel shaft structure: the spring force at the bottom of the upper driving shaft makes the steel shaft stretchable up and down (the stroke is about 2-5 mm), and when the stirring head card slot contacts the steel shaft, the spring is compressed, and the steel shaft slides along the inclined surface. Inclined surface guide engagement: when the motor rotates at a low speed, the steel shaft rotates with the upper driving shaft, and the inclined surface of the card slot guides the steel shaft to slide into the positioning groove (similar to a cam mechanism). When the steel shaft completely falls into the groove, the sensor detects the in-place signal (such as the Hall sensor detecting the positioning magnet), and the controller stops the motor rotation, completing the reset.

[0075] In some embodiments, the target speed ratio of the driving motor driving the stirring head and the stirring barrel base is determined according to the transmission gear ratio parameter, including: pre-storing transmission gear ratio data corresponding to different gear sets in the transfer case, the transmission gear ratio data corresponding to the transmission gear ratio parameter in the stirring mode instruction; when receiving the transmission gear ratio parameter, the transmission gear ratio of the corresponding gear set in the transfer case is called, and the first speed ratio of the driving motor output end and the stirring head transmission path and the second speed ratio of the driving motor output end and the stirring barrel base transmission path are determined based on the transmission gear ratio. The target speed ratio of the stirring head and the stirring barrel base is calculated by the difference between the first speed ratio and the second speed ratio.

[0076] By pre-storing the transmission gear ratio data of the transfer case gear set, the accurate matching of the stirring mode and the mechanical transmission is realized, and the flexible adjustment of the speed ratio is supported.

[0077] The gear ratio data storage stores the gear ratio parameter table in the EEPROM of the controller, stores the combination of the transfer case gear set corresponding to different stirring modes (such as gear A / B / C corresponding to three transmission ratios), and each mode is associated with the first speed ratio (motor→stirring head) and the second speed ratio (motor→stirring barrel base). For example:

[0078]

[0079] The gear ratio calling and calculation call i1 and i2 corresponding to the transmission gear ratio parameter according to the transmission gear ratio parameter after receiving the mode selected by the user, and determine the output speed relationship of the two paths by the target speed ratio formula n1:n2=i1:i2, which provides a basis for subsequent motor parameter calculation.

[0080] In some embodiments, if the stirring head is detected to be connected to the upper transmission shaft and the stirring bucket is fixed, based on the target speed ratio, the output speed and torque parameters of the driving motor are calculated through the transmission relationship of the transfer gear and the belt, including: obtaining the number of teeth of the motor gear in the driving motor to the transmission path of the stirring head, the number of teeth of the transfer transmission shaft gear, and the number of teeth of the transfer gear and the stirring bucket base gear in the driving motor to the stirring bucket base transmission path; according to the transmission proportional relationship of the pulley diameter and the number of teeth of the gear, combined with the target speed ratio, a mathematical correlation model of the stirring head speed, the stirring bucket base speed and the output speed of the driving motor is established; based on the mathematical correlation model, combined with the preset load torque demand of the stirring head and the stirring bucket base, the output speed and torque parameters required by the driving motor are reversely deduced and calculated, and the load torque demand is preset according to the material and capacity of the stirring head and the stirring bucket.

[0081] Based on the number of teeth of the gear and the diameter of the pulley, a mathematical model is established to reversely deduce the motor output parameters, ensuring the accuracy of the double linkage speed ratio.

[0082] The preset hardware parameters are: the number of teeth of the motor gear Zm, the number of teeth of the transfer transmission shaft gear Zd1 (the first output end), the diameter of the transfer pulley Dd (the second output end), the number of teeth of the gear inside the transfer for driving the stirring bucket base Zd2, the number of teeth of the stirring bucket base gear Zb and the speed of the driving motor nm.

[0083] The mathematical model is established by the stirring head speed n1=nm×(Zm / Zd1) (motor→transfer→upper transmission shaft). The stirring bucket base speed n2=nm×(Zm / Zd2)×(Dp / Db) (motor→transfer belt→base gear, Dp is the diameter of the transfer pulley, and Db is the diameter of the base pulley). Combined with the target speed ratio n1:n2=k, the motor speed nm=(k×n2×Zd1×Db) / (Zm×Dp) is solved, and the required motor torque is calculated according to the load torque formula Tm=T1×Zd1 / Zm+T2×Zd2 / Zm (T1, T2 are two load torques).

[0084] In some embodiments, the driving instructions are generated according to the output rotation speed and torque parameters and sent to the driving motor, so that the driving motor drives the upper transmission shaft to rotate the stirring head and drives the stirring bucket base gear to rotate the stirring bucket base through the transfer shaft and the transfer gear, comprising: the driving instructions are decomposed into two independent driving control signals, the first driving control signal controls the power of the driving motor to be transmitted to the transfer gear through the motor gear and the motor belt, drives the upper transmission shaft to rotate through the transfer shaft, and further drives the stirring head to rotate; the second driving control signal controls the power of the driving motor to be transmitted to the stirring bucket base gear through the transfer gear and the transfer belt, and drives the stirring bucket base to rotate; through the cooperative output of the two driving control signals, the stirring head and the stirring bucket base rotate at a non-constant speed according to the target rotation speed ratio, and the rotation direction of the stirring bucket base is opposite to the installation direction of the stirring bucket.

[0085] By decomposing the driving instructions into two independent control signals, the stirring head and the stirring bucket base are cooperatively driven to operate according to the target rotation speed ratio, and the mechanical stability of the reverse rotation is ensured.

[0086] The power path separation includes: the first route (stirring head): the driving signal controls the motor gear → the motor belt → the transfer gear → the transfer shaft → the upper transmission shaft, which realizes rigid transmission through direct connection of gears, and the rotation speed accurately follows the first output end of the transfer. The second route (stirring bucket base): the driving signal is transmitted to the base gear through the transfer gear → the transfer belt, which realizes rotation speed ratio conversion through belt transmission, and the rotation direction of the base is opposite to that of the stirring head through reverse gear or cross belt design (e.g., clockwise for the stirring head and counterclockwise for the base).

[0087] The controller adopts double closed-loop PID control, the rotation speed ring ensures the stability of the two output rotation speed ratios, the current ring compensates the load change in real time, the power distribution of the two driving signals is adjusted through the PWM duty ratio, and the error is controlled within ±2%.

[0088] In some embodiments, during the operation of the driving motor, the motor current and rotation speed sensor data are collected in real time, if the detected load torque exceeds the preset safety threshold, the motor output power is reduced or the operation is stopped, and an overload alarm is triggered, comprising: the real-time load torque of the current stirring head and stirring bucket base is calculated by using the real-time collected motor current and rotation speed sensor data through a preset motor torque calculation formula; the real-time load torque is compared with the preset safety threshold which is preset according to the material strength of the stirring head and the upper limit of the stirring bucket capacity, if the real-time load torque exceeds the preset safety threshold, the output power of the driving motor is reduced in a linear decreasing manner, if the real-time load torque is still not below the safety threshold within a preset time, a stop operation instruction is sent to the driving motor, and an overload alarm is triggered through the operation interface or prompt sound; the preset time is preset according to the common stirring resistance characteristics of the stirring food materials.

[0089] Real-time monitoring of load by current-torque model, hierarchical execution of power regulation and shutdown protection, and avoidance of mechanical component damage.

[0090] Real-time torque calculation utilizes motor torque formula T=Kt×I (Kt is motor torque constant, I is armature current), combined with speed sensor feedback of speed fluctuation (Δn), to estimate real-time load torque through Kalman filtering algorithm, filtering out high-frequency noise.

[0091] Hierarchical protection strategy includes: first-level protection (early warning): when torque reaches preset threshold 80%, controller linearly decreases motor output power (such as 10% per second) for 5 seconds, and observes whether torque decreases; second-level protection (shutdown): if torque still exceeds threshold after 5 seconds, or instantaneously exceeds 110% threshold, immediately cuts off motor power supply, and operation interface displays "overload, please reduce food quantity", which needs to be manually cleared of load and restarted.

[0092] In some embodiments, if it is detected that the rotating buckle of the stirring barrel base and the base is loose, the driving motor and the electromagnetic heating are stopped to prevent abnormal operation of the equipment, including: collecting the mechanical connection state signal of the rotating buckle in real time through the micro switch or pressure sensor arranged at the connection of the rotating buckle; when the mechanical connection state signal indicates that the insertion depth of the rotating buckle is less than the preset safe depth, or the deflection angle of the rotating buckle exceeds the preset safe angle, it is determined that the rotating buckle is loose; if it is determined that the rotating buckle is loose, an emergency stop instruction is generated and sent to the driving motor control module and the electromagnetic heating control module, so that the driving motor stops running and the electromagnetic coil disc stops heating, and a buckle loosening warning is issued through flashing of the indicator light or voice prompt; the preset safe depth and the preset safe angle are pre-set according to the mechanical structure strength of the rotating buckle.

[0093] The state of the rotating buckle is monitored in real time by a mechanical sensor to prevent equipment abnormalities caused by loosening and improve the safety of the detachable structure.

[0094] The loosening detection sensor detects the insertion depth (safe depth ≥ 8 mm) and deflection angle (safe angle ≤ 5°) of the rotating buckle by installing a displacement sensor (such as a linear Hall sensor) or an angle sensor at the buckle interface of the base fixed part and the barrel body connecting part.

[0095] Abnormality determination and response: when the insertion depth is less than 8 mm or the deflection angle is greater than 5°, it is determined that the rotating buckle is loose, and the controller immediately sends an emergency stop instruction, while: cutting off the motor driving power supply to stop the stirring head and the base from rotating; turning off the electromagnetic coil disc to prevent local overheating caused by barrel displacement during heating; triggering an audible and visual alarm (such as flashing red indicator light + "loose rotating buckle, please reinstall" voice prompt) until the user reattaches the stirring barrel.

[0096] In some embodiments, the food material recognition model is trained by historical stirring data, the optimal transmission gear ratio and the rotation speed curve are automatically matched, and the problem that the traditional preset mode cannot adapt to the complex characteristics of food materials is solved.

[0097] Data acquisition and model training include: sensor matrix: pressure sensors (detect food material resistance distribution) and temperature sensors (monitor friction heat generation) are installed on the inner wall of the stirring barrel, a torque sensor is built-in the stirring head (real-time acquisition of load torque waveform), food material type (user manual input), gear ratio parameter, rotation speed curve, completion time and other data are recorded each time the stirring is performed, and are uploaded to the cloud database. Neural network model: a LSTM-RNN hybrid model is constructed, the torque waveform, temperature change and stirring time are input, and the optimal gear ratio parameter (n1:n2) and rotation speed adjustment strategy (such as the acceleration curve in the starting stage) are output. Supervised learning is performed using labeled data (such as professional chef debugging parameters), and the training error is controlled within ±3% torque deviation.

[0098] Intelligent matching process includes: after the user puts in the food material, selects "intelligent mode" on the operation interface, the device idles for 3 seconds to collect initial resistance data (torque baseline value without food material); the model judges the food material type (such as dough, egg liquid, sauce) according to the real-time torque waveform (after removing the baseline), automatically retrieves the corresponding gear ratio parameter, and dynamically adjusts the acceleration and deceleration curve of the driving motor (such as low-speed anti-sticking barrel for dough at the initial stage and high-speed kneading at the later stage); supports user-defined labeling (such as "soft dough" label), continuously optimizes the model through online learning, and forms a personalized stirring strategy library.

[0099] In some embodiments, the state of the food material in the stirring barrel is monitored in real time through the camera, the rotation speed ratio and the heating power are dynamically adjusted in combination with the image recognition algorithm, and the "what you see is what you get" intelligent control is realized.

[0100] The visual system is built by installing an RGB-D camera (resolution 1080P with depth perception) on the top of the machine base, the lens viewing angle covers 80% of the area in the stirring barrel, the oil pollution shielding problem is solved through anti-fog coating and detachable protective cover; image preprocessing: using bilateral filtering to remove the motion blur of the stirring head, using background difference method to segment the food material area, and extracting key features (dough extensibility, egg liquid foam height, sauce mixing uniformity).

[0101] Uniformity detection: based on the HSV color space, the pixel distribution entropy value is calculated, when the entropy value is lower than the threshold value (indicating uneven mixing), the rotation speed ratio is automatically increased from 2:1 to 3:1 to enhance the shear force; dough kneading optimization: the dough reaches the "glove film" state (the film transmittance is judged by edge detection), the "low-speed shape preservation" mode is triggered immediately to avoid over-stirring;

[0102] Heating linkage strategy: When a focal spot appears on the surface of the food material (RGB image recognition of red area), automatically reduce the power of the electromagnetic coil disc by 20%, and increase the rotation speed of the stirring barrel base by 10% to promote uniform distribution of heat.

[0103] In some embodiments, remote monitoring, fault diagnosis and OTA algorithm updating are achieved through device networking, a collaborative system of "local control + cloud brain" is constructed, and the limitations of the traditional single machine device strategy are solved.

[0104] IoT architecture design includes: edge layer: the controller integrates a Wi-Fi module, real-time uploads device status (rotation speed, torque, temperature), sensor data to the cloud platform, frequency 10Hz; Cloud layer: Establish a digital twin model of the device, predict the service life of the transmission components based on real-time data (such as gear wear degree = torque fluctuation amplitude x running time), and push maintenance reminders in advance; Application layer: User APP displays real-time stirring video (transmitted through visual system coding), historical stirring report (energy consumption, efficiency analysis), and supports remote start and stop (double authentication is required to prevent misoperation).

[0105] Fault self-healing: When the cloud detects 3 consecutive overload shutdowns (same user device), automatically analyze the food material data (such as excessive dough), push "batch stirring" suggestions, and remotely update the control algorithm (such as increasing the torque threshold by 15% and increasing the speed in stages); OTA strategy update: Regularly synchronize the optimized stirring parameters of global users (anonymous desensitization processing), automatically select the optimal strategy through A / B testing, for example, automatically increase the kneading time by 2 minutes in a humid environment during the rainy season to prevent the dough from being too sticky.

[0106] In some embodiments, a dynamic impedance adjustment strategy based on force control algorithm is designed to solve the problem of food material splashing during high-speed stirring, and flexible contact control between the stirring head and the barrel wall is realized through real-time torque feedback.

[0107] The impedance model is established by defining a "virtual spring-damper" model of the stirring head and the barrel wall, the stiffness coefficient K is positively correlated with the viscosity of the food material (K=0.5~2N / mm, identified by initial idle data), and the damping coefficient D is dynamically adjusted according to the speed ratio (D=0.1n1+0.05n2);

[0108] When the torque sensor detects that the radial impact force exceeds the safety value (such as 0.8N·m, corresponding to the splashing critical value), the impedance control algorithm is triggered, and the motor output is adjusted through the following formula: nm′=nm α*(Timpact Tsafe)(α is the adjustment coefficient, 0.10.3).

[0109] The anti-splashing control process includes: a starting stage: rotating at a low speed of 5 rpm, touching the barrel wall 3 times through the stirring head, establishing a barrel position coordinate system (combined with camera positioning), generating a safe motion boundary (distance from the barrel wall is greater than or equal to 10 mm); high-speed operation: real-time calculation of the stirring head position (based on encoder pulse counting), if entering the warning area (distance from the barrel wall is less than 15 mm), automatically reducing the stirring head speed by 5%, while increasing the barrel base speed by 3%, shifting the contact point through relative motion; extreme case: if the impact force exceeds 2 times the safety threshold, immediately execute the "spiral retreat" action (stirring head rises 20 mm, speed drops to idle speed), automatically restore after 3 seconds, to avoid rigid collision leading to splashing.

[0110] In some embodiments, by fusing speech recognition and context understanding technology, "dialog cooking" is realized, automatically matching stirring mode, heating strategy and linked home appliances (such as oven preheating) according to user instructions, and building a kitchen intelligent ecosystem.

[0111] The voice interaction system supports far-field wake-up ("Little Kitchen, start kneading") through the built-in MEMS microphone array (anti-kitchen noise design), recognizes 200+ cooking instructions (such as "mix to wet and foamy" and "heat to 35 degrees for fermentation") through the ASR engine; the NLP module analyzes the instruction intent, for example, the user says "make pizza dough", automatically retrieves the preset process: stirring stage: dough mixing mode (gear ratio 2:1), first low-speed mixing of flour and water (2 minutes), then high-speed kneading (8 minutes); fermentation stage: start electromagnetic heating to 32℃, keep the barrel base rotating clockwise / counterclockwise alternately every 10 minutes (prevent dough from sinking to the bottom); linked instruction: send a preheating signal (220℃, use after 15 minutes) to the oven simultaneously.

[0112] The context awareness capability includes: remembering user habits: recording the last "make cake" egg beating time (12 minutes), sugar amount (calculated based on the stirring head load), directly asking "whether to use the last egg beating parameters?" next time; multi-device collaboration: detecting that the refrigerator door is opened (through IoT linkage), if the eggs are taken out, automatically pushing "whether to need the egg beating mode?", reducing user operation steps; abnormal handling voice guidance: when the buckle loosening alarm is triggered, synchronously guiding "please rotate the stirring barrel counterclockwise until you hear 'click' sound", improving the friendliness of human-computer interaction.

[0113] Embodiments of the present application provide a control device of a chef machine. The control device of the chef machine is used to execute the steps of the control method of the chef machine shown in the above embodiments. The control device of the chef machine can be a single server or a server cluster, or the control device of the chef machine can be a terminal, which can be a handheld terminal, a notebook computer, a wearable device, or a robot, etc.

[0114] The provided control device of the chef machine comprises:

[0115] An instruction receiving unit is configured to receive a stirring mode instruction through an operation interface, the stirring mode including a preset non-constant speed double linkage mode corresponding to a plurality of transmission gear ratio parameters; and determine a target speed ratio of a driving motor driving a stirring head and a stirring barrel base according to the transmission gear ratio parameters;

[0116] A stirring control unit is configured to, if it is detected that the stirring head is in a connected state with the upper transmission shaft and the stirring barrel is fixed, calculate an output speed and torque parameter of the driving motor based on the target speed ratio through a transmission relationship of a transfer gear and a belt, generate a driving instruction according to the output speed and torque parameter and send the driving instruction to the driving motor, so that the driving motor drives the stirring head to rotate through the transfer transmission shaft and the transfer gear, drives the stirring barrel base to rotate through the stirring barrel base gear, and the rotation directions of the stirring barrel base and the stirring barrel are opposite.

[0117] An abnormality detection unit is configured to, in a driving motor operation process, collect motor current and speed sensor data in real time, reduce motor output power or stop operation if it is detected that the load torque exceeds a preset safety threshold, and trigger an overload alarm; stop the driving motor and electromagnetic heating if it is detected that the rotation buckle between the stirring barrel base and the base is loose, to prevent equipment operation abnormalities; and the preset safety threshold is determined according to the maximum bearing torque of the stirring head or the stirring barrel.

[0118] It should be noted that, for the convenience and brevity of description, the specific working processes of the control device and each module of the chef machine described above can refer to the corresponding processes in the control method embodiments of the chef machine described above, and will not be described here.

[0119] The control method of the chef machine described above can be implemented in the form of a computer program, which can run on the provided device.

[0120] Please refer to Figure 3 , Figure 3 is a structural schematic block diagram of the controller provided by the embodiment of the present application. The controller includes a processor, a memory and a network interface connected through a device bus, wherein the memory can include a storage medium and an internal memory.

[0121] The storage medium can store an operating device and a computer program. The computer program includes program instructions, which, when executed, can cause the processor to execute any kind of control method of the controller.

[0122] The processor is configured to provide computing and control capabilities to support the operation of the entire controller.

[0123] The internal memory provides an environment for the running of a computer program in a non-volatile storage medium, which, when executed by the processor, can enable the processor to perform any kind of control method of a chef machine.

[0124] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that, Figure 3 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific controller can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0125] It should be understood that the processor can be a central processing unit (CPU), and the processor can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0126] In one embodiment, the processor is configured to run a computer program stored in the memory to perform the following steps:

[0127] The stirring mode instruction is received through the operation interface, the stirring mode includes a preset non-constant speed double linkage mode, and a plurality of transmission gear ratio parameters correspond to the stirring mode; according to the transmission gear ratio parameters, a target speed ratio of a driving motor driving a stirring head and a stirring barrel base is determined;

[0128] If it is detected that the stirring head and the upper transmission shaft are in a connected state and the stirring barrel is fixed, based on the target speed ratio, the output speed and torque parameters of the driving motor are calculated through the transmission relationship of the transfer gear and the belt; the driving instruction is generated according to the output speed and torque parameters and sent to the driving motor, so that the driving motor drives the upper transmission shaft to rotate through the transfer shaft and the transfer gear, and drives the stirring barrel base gear to rotate to drive the stirring barrel base to rotate, and the rotation directions of the stirring barrel base and the stirring barrel are opposite;

[0129] During the operation of the driving motor, the motor current and the rotating speed sensor data are collected in real time, if the detected load torque exceeds the preset safety threshold, the motor output power is reduced or the operation is stopped, and the overload alarm is triggered; if the rotating buckle between the stirring barrel base and the machine base is loose, the driving motor and the electromagnetic heating are stopped to prevent abnormal operation of the equipment; the preset safety threshold is determined according to the maximum bearing torque of the stirring head or the stirring barrel.

[0130] The computer readable storage medium stores a computer program, and the computer program includes program instructions. The processor executes the program instructions to implement the steps of the control method of the chef machine provided in the above embodiments.

[0131] The computer readable storage medium can be an internal storage unit of the chef machine, such as a hard disk or a memory of the chef machine. The computer readable storage medium can also be an external storage device of the chef machine, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0132] It should be understood that the terms used herein are only for the purpose of describing particular embodiments and are not intended to limit the present application. It should be understood that when an element or layer is referred to as "on", "adjacent to", "connected to", or "coupled to" another element or layer, it can be directly on, adjacent to, connected or coupled to the other element or layer, or there can be an intervening element or layer. In contrast, when an element is referred to as "directly on", "directly adjacent to", "directly connected to", or "directly coupled to" another element or layer, there is no intervening element or layer. It should be understood that although the terms first, second, third, etc. are used to describe various elements, components, regions, layers and / or parts, these elements, components, regions, layers and / or parts should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or part from another element, component, region, layer or part. Therefore, the first element, component, region, layer or part discussed below can be represented as the second element, component, region, layer or part without departing from the teachings of the present application.

[0133] Spatially relative terms, such as "beneath", "below", "lower", "under", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use and / or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is inverted, then a dependent- element described as "below" or "beneath" another element or feature would then be oriented "above" and "over" the other element or feature. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0134] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising", when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0135] It will be further understood that the terms "comprises" and / or "comprising", when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0136] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for a food processor, characterized in that, include: The user receives stirring mode commands through the operating interface. The stirring mode includes a preset non-uniform speed dual linkage mode, corresponding to multiple transmission gear ratio parameters. Based on the transmission gear ratio parameters, determine the target speed ratio between the drive motor driving the stirring head and the stirring tank base; If it is detected that the stirring head is connected to the upper drive shaft and the stirring tank is fixed, based on the target speed ratio, the output speed and torque parameters of the drive motor are calculated through the transmission relationship of the transfer case gear and belt; a drive command is generated according to the output speed and torque parameters and sent to the drive motor, so that the drive motor drives the upper drive shaft to rotate the stirring head and drives the stirring tank base gear to rotate the stirring tank base through the transfer case drive shaft and transfer case gear, and the rotation direction of the stirring tank base is opposite to that of the stirring tank; During the operation of the drive motor, the motor current and speed sensor data are collected in real time. If the load torque is detected to exceed the preset safety threshold, the motor output power is reduced or the operation is stopped, and an overload alarm is triggered. If the rotation buckle between the mixing tank base and the machine base is detected to be loose, the drive motor and electromagnetic heating are stopped to prevent abnormal operation of the equipment. The preset safety threshold is determined based on the maximum load-bearing torque of the stirring head or stirring tank.

2. The method according to claim 1, characterized in that, Before receiving the stirring mode command through the user interface, the following is also included: By using a rotary latch sensor located at the connection between the stand mixer base and the mixing bowl, and an electromagnetic induction sensor located at the connection between the mixing head and the upper drive shaft, the installation status signals of the mixing head and the mixing bowl are obtained to determine whether the mixing head is separated from or connected to the upper drive shaft and whether the mixing bowl is fixed to the base by the rotary latch and whether the base can rotate. If it is detected that the mixing head is not installed or the mixing bowl is not fixed, an equipment abnormality signal is generated.

3. The method according to claim 1, characterized in that, The method further includes: If the mixing tank is detected to be a detachable electromagnetic heating mixing tank, after the mixing tank is fixed, the electromagnetic coil inside the base is activated to heat the mixing tank through electromagnetic induction technology; The temperature sensor data of the mixing tank is collected in real time, and the heating power of the electromagnetic coil is adjusted according to the preset temperature threshold to ensure uniform heating.

4. The method according to claim 1, characterized in that, The method further includes: When the stirring head is detected to have separated from the upper drive shaft and then approach the connection position again, the drive motor is controlled to rotate at a low speed at a preset calibration speed. Through the spring force at the bottom of the upper drive shaft and the lateral positioning structure of the steel shaft, the drive rod can freely extend and retract up and down. Utilizing the inclined guide design of the slot, the drive rod automatically slides into the positioning slot during rotation until the sensor detects that the stirring head is fully engaged with the upper drive shaft, stopping the calibration rotation and achieving automatic reset engagement at any angle.

5. The control method for a food processor according to claim 1, characterized in that, The step of determining the target speed ratio between the drive motor driving the stirring head and the stirring tank base based on the transmission gear ratio parameters includes: The transmission gear ratio data corresponding to different gear sets in the transfer case are pre-stored, and the transmission gear ratio data corresponds to the transmission gear ratio parameters in the stirring mode command. When the transmission gear ratio parameter is received, the transmission gear ratio of the corresponding gear set in the transfer case is retrieved. Based on the transmission gear ratio, the first speed ratio between the output end of the drive motor and the transmission path of the stirring head, and the second speed ratio between the output end of the drive motor and the transmission path of the stirring tank base are determined. The target speed ratio between the stirring head and the stirring tank base is calculated by the difference between the first speed ratio and the second speed ratio.

6. The control method for a food processor according to claim 1, characterized in that, If it is detected that the stirring head is connected to the upper drive shaft and the stirring tank is fixed, based on the target speed ratio, the output speed and torque parameters of the drive motor are calculated through the transmission relationship of the transfer case gear and belt, including: Obtain the number of teeth on the motor gear and the transfer case drive shaft gear in the transmission path from the drive motor to the stirring head, as well as the number of teeth on the transfer case gear and the stirring tank base gear in the transmission path from the drive motor to the stirring tank base. Based on the transmission ratio between the pulley diameter and the number of gear teeth, and combined with the target speed ratio, a mathematical correlation model is established between the stirring head speed, the stirring tank base speed, and the drive motor output speed. Based on the mathematical correlation model, and combined with the preset load torque requirements of the stirring head and stirring tank base, the required output speed and torque parameters of the drive motor are calculated in reverse. The load torque requirements are preset according to the material and capacity of the stirring head and stirring tank.

7. The control method for a food processor according to claim 1, characterized in that, The process of generating drive commands based on output speed and torque parameters and sending them to the drive motor, causing the drive motor to drive the upper drive shaft to rotate the stirring head and drive the stirring tank base gear to rotate the stirring tank base via the transfer case drive shaft and transfer case gear, includes: The drive command is decomposed into two independent drive control signals. The first drive control signal controls the power of the drive motor to be transmitted to the transfer case gear through the motor gear and motor belt, and drives the upper transmission shaft to rotate through the transfer case transmission shaft, thereby driving the stirring head to rotate. The second drive control signal controls the power of the drive motor to be transmitted to the stirring tank base gear through the transfer case gear and transfer case belt, driving the stirring tank base to rotate. By coordinating the output of two drive control signals, the stirring head and the stirring tank base rotate at non-uniform speeds according to the target speed ratio, and the rotation direction of the stirring tank base is opposite to the installation and fixing direction of the stirring tank.

8. The control method for a food processor according to claim 1, characterized in that, During the operation of the drive motor, real-time data from motor current and speed sensors are collected. If the load torque exceeds a preset safety threshold, the motor output power is reduced or the motor stops operating, and an overload alarm is triggered, including: Using a preset motor torque calculation formula and real-time collected data from motor current and speed sensors, the real-time load torque of the stirring head and stirring tank base is calculated. The real-time load torque is compared with a preset safety threshold set according to the strength of the stirring head material and the upper limit of the stirring tank capacity. If the real-time load torque exceeds the preset safety threshold, the drive motor is controlled to reduce the output power in a linear decreasing manner. If the real-time load torque still does not drop below the safety threshold within a preset time, a stop operation command is sent to the drive motor, and an overload alarm is triggered through the operation interface or prompt sound. The preset time is preset according to the common stirring resistance characteristics of the stirred food.

9. The control method for a food processor according to claim 1, characterized in that, If the rotating latch between the mixing tank base and the machine base is detected to be loose, the drive motor and electromagnetic heating will be stopped to prevent abnormal equipment operation, including: The mechanical connection status signal of the rotary buckle is collected in real time by a micro switch or pressure sensor set at the rotary buckle connection. When the mechanical connection status signal indicates that the insertion depth of the rotary buckle is less than the preset safety depth, or the buckle force offset angle exceeds the preset safety angle, it is determined that the rotary buckle is loose. If the rotating latch is determined to be loose, an emergency stop command is generated and sent to the drive motor control module and the electromagnetic heating control module, causing the drive motor to stop running and the electromagnetic coil to stop heating. A warning of latch looseness is issued through flashing indicator lights or voice prompts. The preset safety depth and preset safety angle are preset according to the mechanical structural strength of the rotating latch.

10. A food processor, characterized in that, Used to perform the method according to any one of claims 1-9.

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