Multi-gear graded inertial positioning control method suitable for pot shaking machine and pot tossing machine

Abstract

The invention discloses a multi-gear graded inertial positioning control method suitable for a pot shaking machine and a pot tossing machine, and belongs to the field of automatic cooking equipment control. The method comprises the following steps: presetting at least two fixed rotating speed gears of the motor; after receiving a stop instruction, running to a proximity switch position and stopping; the pot body naturally slides by virtue of inertia; and executing grading compensation according to the selected mode. The method comprises a low-speed reference mode, a high-speed reference mode, a medium-speed reference mode and a visual calibration compensation mode, in the visual calibration mode, fixed compensation parameters of all gears are set at a time through manual vision, and high-precision positioning can be achieved without real-time position detection. The system is simple in control logic, low in cost, stable in operation and high in anti-interference capability, can be simultaneously matched with a pot shaking machine and a pot tossing machine for use, and effectively solves the industrial problems of inaccurate inertial positioning, large mechanical impact and poor batch consistency under the multi-rotating-speed working condition.

Description

Technical Field

[0001] This invention relates to the field of automatic cooking equipment control technology, specifically to a multi-mode graded inertial positioning control method for automatic wok shakers and tossers, based on ≥2 fixed speed levels and visual calibration. Background Technology

[0002] In commercial automated cooking equipment, wok shakers and tossing machines are core components for automating stir-frying, shaking, and tossing. When the equipment stops, due to differences in operating speed, the inertial sliding distance of the wok varies significantly, easily leading to positioning deviations and affecting cooking results and equipment operational stability. Existing technologies have the following drawbacks: 1) Using a single speed or direct emergency stop cannot adapt to multi-speed working conditions, resulting in poor positioning accuracy; 2) Some solutions rely on real-time position detection sensors, which are costly, susceptible to interference from oil fumes, and have low reliability; 3) A multi-level inertial compensation system has not been established, which cannot cover accurate positioning across the entire range of low speed, medium speed, and high speed. 4) The lack of a method for manual visual calibration after equipment molding makes it difficult to guarantee consistency in mass production.

[0003] Therefore, developing an inertial control method that requires no real-time detection, is simple to control, low in cost, adaptable to multiple gears, and has precise positioning has become a pressing technical problem to be solved in the industry. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects of the prior art and provide a multi-level graded inertial positioning control method suitable for wok shaking machines and wok tossing machines. It achieves full-mode inertial compensation under ≥2 fixed speeds and completes the setting of fixed parameters through manual visual calibration, achieving high-precision and high-consistency positioning without real-time position detection.

[0005] The technical solution of this invention is as follows: A multi-level, graded inertial positioning control method applicable to wok shaking machines and wok tossing machines includes the following steps: Step 1: Gear Preset The preset drive motor has at least two fixed speed settings, including low speed and high speed, and a medium speed setting can be further set.

[0006] Step 2: Stop triggering When a stop command is received, the drive motor continues to run at the current speed; when the pot body moves to the proximity switch sensing position, the control system immediately cuts off the motor output and the motor stops driving.

[0007] Step 3: Gliding naturally due to inertia After the motor stops, the pot continues to move forward under its own inertia and gravity, and then comes to a stop naturally.

[0008] Step 4: Graded Inertial Compensation Positioning The control system executes corresponding compensation control according to the selected mode. The modes include the following four: Mode 1: Low-speed baseline mode Using low speed as the base gear, the stationary position after coasting in low speed is equal to the target positioning position, and no compensation is performed; After the pot body glides at high speed beyond the target positioning position, the control system briefly reverses and starts the motor to compensate and return the pot body to the target positioning position.

[0009] Mode 2: High-speed reference mode Using the high gear as the reference gear, the stationary position after coasting in high gear is equal to the target positioning position, and no compensation is performed; If the pot body fails to reach the target positioning position after coasting at low speed, the control system briefly starts the motor in the forward direction to compensate and push the pot body to the target positioning position.

[0010] Mode 3: Medium-speed benchmark mode Using the medium speed gear as the baseline, the stationary position after coasting in the medium speed gear is equal to the target positioning position, and no compensation is performed; If the vehicle overtravels after coasting at high speed, the control system will reverse and start the motor to compensate. If the low-speed coasting is insufficient, the control system will start the motor in the forward direction to compensate.

[0011] Mode 4: Visual Calibration Compensation Mode (1) Calibration stage: After the equipment is assembled, the actual stationary position after inertial sliding at each fixed gear is observed by manual visual inspection. The fixed compensation time and fixed compensation direction are preset for each gear and stored in the control system. (2) Execution phase: After the equipment stops running, the control system directly calls the preset fixed compensation parameters corresponding to the current gear and drives the motor to move in the forward or reverse direction to complete the positioning; This mode does not perform any real-time position detection; it relies solely on the consistency of the equipment's mechanical structure to achieve accurate positioning.

[0012] This invention achieves stable, accurate, and consistent positioning of the wok shaker and tossing machine at different speeds by combining multi-level graded inertial compensation with visual calibration.

[0013] Beneficial effects 1. This invention employs an open protection design with at least two fixed speed gears, the number of gears is unlimited, and its application range is extremely wide; 2. It pioneered a parallel system with four control modes that can be freely switched to meet the needs of different equipment, loads, and cost requirements, making it highly versatile; 3. Make full use of inertial natural gliding to avoid sudden stop impact, reduce mechanical wear, and improve equipment service life and operational stability; 4. An innovative visual calibration compensation mode is proposed, which requires no sensors, no real-time detection, and no complex algorithms. It can be manually calibrated once and used for life, with extremely low cost and extremely high stability. 5. Strong positioning consistency: The stopping position of each piece of equipment in mass production is completely uniform, solving the problem of large individual differences in the industry; 6. It is applicable to both wok shaking machines and wok tossing machines, with strong versatility, easy to promote and apply, and has significant economic value and technological contribution. Attached Figure Description

[0014] Figure 1 This is an overall flowchart of the multi-level graded inertial positioning control method of the present invention. Specific Implementation The invention will be further described with reference to the accompanying drawings: In this embodiment, the drive motor is set to three fixed speeds: low speed, medium speed, and high speed.

[0016] After the equipment is started, select any speed setting; press the stop button, the motor continues to run until the proximity switch is triggered, then stops; the pot body slides to a stop due to inertia; the system enters the compensation process: 1) Select low-speed baseline mode: low speed to position, high speed reversing compensation; 2) Select high-speed baseline mode: high-speed positioning, low-speed vehicle correction compensation; 3) Select medium speed reference mode: medium speed is in place, high speed reverses, low speed forwards for compensation; further, the medium speed gear is one of several intermediate speed gears other than high and low speeds; 4) Select visual calibration compensation mode: The system directly calls the fixed compensation parameters of each gear set by manual visual inspection at the factory, and performs forward or reverse actions to make the pot body accurately reach the target position.

[0017] In this embodiment, all compensation actions do not rely on real-time position detection, but only on preset fixed parameters to achieve high-precision positioning.

Claims

1. A multi-level, graded inertial positioning control method suitable for wok shaking machines and wok tossing machines, characterized in that, Includes the following steps: Step 1: Preset the drive motor to have at least two fixed speed settings; Step 2: After receiving the stop command, the motor maintains its current speed until it reaches the proximity switch position, and then the output is cut off to stop the machine; Step 3: The pot body slides naturally to a stop due to inertia; Step 4: Perform graded inertial compensation positioning according to the preset mode.

2. The method according to claim 1, characterized in that, Includes a low-speed reference mode: using the low-speed gear as the reference gear, the vehicle will directly reach the target positioning position after coasting in the low-speed gear; if the vehicle overtravels after coasting in the high-speed gear, it will compensate for the return to the position by briefly reversing the motor.

3. The method according to claim 1, characterized in that, Includes a high-speed reference mode: using the high-speed gear as the reference gear, the vehicle directly reaches the target positioning position after coasting in the high-speed gear; if the coasting in the low-speed gear is insufficient, the motor is used to compensate for the insufficient coasting in the low-speed gear.

4. The method according to claim 1, characterized in that, Includes a medium-speed reference mode: using the medium-speed gear as the reference gear, the vehicle will directly reach the target positioning position after coasting in the medium-speed gear; high-speed gear overtravel is compensated in reverse, and low-speed gear undertravel is compensated in positive direction.

5. The method according to claim 1, characterized in that, It includes a visual calibration compensation mode: after the equipment is formed, fixed compensation duration and direction parameters are preset and stored for each fixed position through manual visual observation; after the machine stops, the preset parameters are directly called to perform compensation, and no real-time position detection is performed.

6. The method according to claim 1, characterized in that, The fixed speed gear includes at least a low speed gear and a high speed gear, and may further include a medium speed gear; furthermore, the medium speed gear is one of several intermediate speed gears other than high and low speeds.

7. The method according to claim 1, characterized in that, The method is applicable to both automatic wok shaking machines and automatic wok tossing machines.

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