CN101458497A - Concurrency controlled cooking device by employing multi motor position rings and speed rings - Google Patents
Concurrency controlled cooking device by employing multi motor position rings and speed rings Download PDFInfo
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- CN101458497A CN101458497A CNA2007100324212A CN200710032421A CN101458497A CN 101458497 A CN101458497 A CN 101458497A CN A2007100324212 A CNA2007100324212 A CN A2007100324212A CN 200710032421 A CN200710032421 A CN 200710032421A CN 101458497 A CN101458497 A CN 101458497A
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- control module
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J44/00—Multi-purpose machines for preparing food with several driving units
Abstract
The invention discloses a control module that is used in automatic/semi-automatic cooking device and can control a plurality of motors in an execution unit of the cooking device. The control module includes a velocity measurement circuit, which can measure velocity of the motors, a position measurement circuit, which can measure position of the execution unit driven by the motors, and a initialization circuit, which can process initialization setting to the execution unit position, wherein, measured velocity signal and position signal are feedback to the controller for realizing parallel control to velocity ring and position ring of the motors. In addition, the invention also discloses an automatic/semi-automatic cooking device using the control module. The control module with a plurality of motors and the cooking device have advantages of reducing control cost and increasing control real time.
Description
Technical field
The present invention relates to a kind of automatic/semi-automatic cooking device that is used for the control module of automatic/semi-automatic cooking device and adopts this control module.More particularly, the present invention relates to a kind of be used for automatic/semi-automatic cooking device, adopt multi motor position ring, the control module of speed ring parallel control and the automatic/semi-automatic cooking device that adopts this control module.
Background technology
In automation equipment, the control of a key is the control to motor.Some speed and schemes of controlling of the position of motor at electrode are also disclosed in the prior art.For example, Chinese patent 97182149.6 discloses a kind of position control of controlling motor position, and it comprises: the position control section that makes the position consistency of instruction position command of generating unit and motor; Output makes the consistent torque instruction of speed of its speed command and motor carry out the speed controlling portion of speed control; Receive this instruction and carry out the current control division of Current Control.Wherein, speed controlling portion comprises again: the velocity feedback wave filter that speed is carried out low-pass filtering; Deduct this signal and obtain the subtracter of velocity deviation from speed command; Velocity deviation is carried out the integrator that time integral is obtained the velocity deviation integrated value; The multiplier of speed command multiplying factor α; The signal of multiplier and the addition of velocity deviation integrated value and then deduct the adder subtractor of speed; The multiplier of speed loop gain Kv is taken advantage of in the output of adder subtractor; This signal is carried out the torque wave filter of low-pass filtering.
96197955.0 of Chinese patents disclose a kind of Robert controller and Flexible Control equipment, and this equipment is by changing and realization work between position control and Flexible Control.Carrying out from position control when Flexible Control is changed, stop the integral operation of speed control system, an integrated value with speed control system deposits a storer in then, simultaneously, this integrated value and a moment with reference to addition, or according to the quality of connection of the joint angle of a robot arm, robot and gravity compensation value that stasiofax is calculated thereof and this moment with reference to addition.From Flexible Control when position control is replied, it is a location of instruction that current location is handled.The Flexible Control equipment of this patent comprises: be used for controlling the moment of a servomotor to drive the device of a joint component; Be used for measuring the device of joint angle; Be used for device according to a very little displacement between the metrical information coordinates computed system; Be used for changing the device of the extreme value of power or moment by the aforementioned very little displacement corresponding relation that provides aforementioned calculation element; With the device that is used for limiting this moment.
Chinese patent 02807904.3 then discloses a kind of electric machine controller and a kind of mechanism characteristics measuring method, thereby can be under the situation that occurrence positions is not offset and torque is saturated, the accurately frequency response of measurement mechanical device, and while survey frequency characteristic and affirmation inertia.Detecting device detects the position of motor, and differentiator calculates the speed of motor according to motor position.The instruction generation unit is fixed in current location with a position command.Position control unit generates a speed command, so that position command is consistent with the position of motor.Speed control unit generates a torque instruction, so that speed command is consistent with the speed of motor.Totalizer will be disturbed and from the torque instruction addition of torque filter unit output by the torque that the undesired signal generation unit generates, and the signal of gained is exported as new torque instruction.Current control unit is transformed into current-order with this torque instruction, thus drive motor.The frequency response measurement unit receives from the torque instruction of totalizer output and the motor speed that is calculated by differentiator, thus frequency response.
But above-mentioned prior art is at unipolar automatic control.For multielectrode automatic control, prior art is used the embedded movement control card that is embedded on the industrial computer mostly, and this embedded movement control card comprises arithmetic processor, calculates to finish at the control of many motors.
In general, embedded movement control card uses bus such as ISA or PCI and industrial computer to finish high-speed data exchange, and industrial computer then uses operating systems such as Windows or Linux; Embedded movement control card inside comprises the PID scheduling algorithm, and industrial computer uses higher level lanquage that embedded movement control card is sent order, and motion control card feeds back current kinematic parameter, and each motor adopts scrambler to finish velocity feedback.Such Electric Machine Control mode generally can realize the parallel control at 3～4 motors.
Above-mentioned Electric Machine Control mode has increased the cost of control section greatly owing to use industrial computer, and every motor uses scrambler, has increased the complexity of wiring, has also increased cost.This has caused the control section volume excessive, but the motor platform number of control and few generally has only 3～4; And kinematic parameter feeds back to industrial computer through motion control card, reduced the real-time of control, and industrial computer uses Windows operating system simultaneously, also makes the real-time variation.
The cooking, the especially cooking of Chinese dishes is a kind of highly difficult even have a process of creation of art.If adopt automatic or automanual cooking device to simulate the artificial cooking, just require the motion of each topworks of cooking device is controlled.This to the motion control relate to a plurality of motors (the motor number is far above the 3-4 platform) of each topworks in the cooking device, and require real-time, to finish control in moment to topworks.
Therefore, be necessary to provide a kind of and can control a plurality of motors, motor control module real-time, that be used for automatic/semi-automatic cooking device.
Summary of the invention
The purpose of this invention is to provide a kind of can be to many motors control module that control in real time, that be used for automatic/semi-automatic cooking device and the automatic/semi-automatic cooking device that adopts this control module.
In order to realize above-mentioned goal of the invention, on the one hand, the invention provides a kind of automatic/semi-automatic cooking device that is used for, the control module that can control many (individual) motor of operating part in this cooking device, this control module comprises the velocity survey circuit that the speed of many motors is measured, position measurement circuit that the position of the operating part that many motors drove is measured and the initializing circuit that the position of operating part is carried out initializing set, wherein, the position signalling that rate signal that the velocity survey circuit records and position measurement circuit record feeds back to controller, thereby realizes the speed ring and the position ring of many motors are carried out parallel control.In fact, to the measurement of operating part position with to the position initialization of operating part, can be converted into measurement to the motor stroke measurment of motor (for example to) and to the initialization of motor position.
In the above-mentioned control module, the position signalling that rate signal that the velocity survey circuit records and position measurement circuit record can feed back to the controller that control module itself is provided with, the processor of execution algorithm for example, also can feed back to the controller of control module periphery, for example the controller in the motion-control module of each operating part of cooking device or the master controller of cooking device.
In control module of the present invention, the velocity survey circuit that it adopted can adopt gear sensor, magnetic coder or photoimpact scrambler etc. that many motors are measured, acquisition is about the pulse duration frequency signal of motor speed, and then these pulse duration frequency signals are transformed into voltage signal through voltage to frequency conversion (F/V conversion), obtain the rate signal of many motors through convert (linear transformation).
For example, in above-mentioned velocity survey circuit, can adopt high-precision strong magnetic gear sensor that many motors are measured; Certainly, also can adopt other mode that the speed of many motors is measured, feed back the speed of moving when front motor as adopting magnetic coder or photoimpact scrambler.Magnetic coder is cylinder-shaped magnet of non-contacting installation above specific magnetic induction chip, when motor movement, drive magnet shaft to rotation, the speed of magnet rotation and the speed of motor movement are linear, obtain when the absolute position of front motor rotation by the distribution situation of measuring current magnet, by measuring the rotating speed that current magnetic field of magnets rate of change obtains working as the front motor rotation; The photoimpact scrambler is in the motor rotary course, the rotation axis that drives photoelectric encoder rotates together, the grating of different accuracy is distributing on the rotation axis of photoelectric encoder, these gratings produce the light of pulsation, convert the light of pulsation to corresponding pulse voltage signal, the frequency of such pulse signal can reflect the rotating speed when the front motor operation.
In control module of the present invention, the position measurement circuit that it adopted can be carried out integration with the voltage signal that changes through the voltage to frequency conversion and obtain, and obtains the position signalling of current location.Preferably, position measurement circuit of the present invention is to realize position measurement by the stroke of measuring many motors.
Control module of the present invention can further include the Filtering Processing circuit that position signalling that rate signal that above-mentioned velocity survey circuit is recorded and above-mentioned position measurement circuit record carries out Filtering Processing.
Further, control module of the present invention can also comprise the processor of analog to digital converter (ADC) and execution algorithm, and the algorithm process at many motors, for example pid algorithm are carried out in this processor energy backstage.In this case, processor can be accepted the position signalling that rate signal that the velocity survey circuit fed back and position measurement circuit are fed back, and finishes the closed loop parallel control at speed ring and position ring.
In the above-mentioned pid algorithm, P refers to ratio, and I refers to integration, and D refers to differential.Wherein, the speed of the response of P (ratio) control raising system, I (integration) control can be eliminated system's static difference, and D (differential) control can reduce or eliminate system deviation as far as possible.
Preferably, above-mentioned processor can be to power transistor output pulse width modulation signal (PWM), and then control is at the driving of many motors.This power transistor is preferably high power transistor.
On the other hand, the present invention also provides a kind of motion-control module automatic/semi-automatic cooking device, that can control operating part motion in this cooking device that is used for controlling, wherein, this motion-control module comprises aforesaid control module at many motors.Usually, cooking device of the present invention comprises two or more than two motion-control module, and these motion-control modules can carry out communication by bus structure, and for example the redundancy structure by dual bus carries out communication, to guarantee the reliability of system.
Again on the one hand, the invention provides a kind of automatic/semi-automatic cooking device, this cooking device comprises control section and by the operating part of this control part branch control, operating part then can comprise topworkies such as pot utensils ' movement mechanism, batch charging mechanism, ignition mechanism and intensity of fire control gear.Wherein, control section comprises the aforesaid control module more than one or; Perhaps control section comprise two or more than two, by the motion-control module that bus structure such as double-bus redundancy structure are carried out communication, wherein, at least one motion-control module comprises aforesaid control module.
For example, in the above-mentioned double-bus redundancy structure, bus can adopt the CAN bus.CAN bus communication frame comprises id number and data, can realize point-to-point transmission, also can realize broadcast transmitted, accomplishes data sharing.It can expand 255 nodes at most, and message transmission rate is up to 1MB/S, and the CRC redundancy check method of itself has guaranteed reliability of data transmission.
Because the CAN bus is used the physical connection of difference form, can improve stability of data transmission, farthest even can reach the kilometer level, the network control in therefore can accomplishing on a large scale.In this structure, every motion-control module defines unique id number, and can obtain the motion-control module essential information according to id number.On connection of CAN bus physical and power interface, add the hot plug holding circuit, can accomplish dynamic interpolation and deletion under the node electrifying condition.
In cooking device of the present invention, above-mentioned pot utensils ' movement mechanism has and can realize the quick return mechanism of shaking pot and/or turning over the pot action by producing acceleration.For example, come execution by driving heavy-duty motor, and mate gear sensor, magnetic coder or photoimpact scrambler obtain current rotating speed of motor information, rotational speed pulse signal is converted to the velocity voltage signal and waits until current acceleration information by differential, the velocity voltage signal integration is obtained current position information, therefore speed, three status informations of acceleration and position be can obtain, the acceleration and the speed closed loop control of the ad-hoc location of motor finished by specific algorithm when the front motor operation.The speed of this ad-hoc location and acceleration closed-loop control are exactly to turn over the anxious basis of reversing and doing of pot.
In the cooking device of the invention described above, can further include material rabbling mechanism, middle material and/or dish and contain out topworkies such as mechanism.
Compare with the prior motor control technology, the control module at many motors of the present invention has a lot of advantages.For example, adopt the control module at many motors of the present invention, can avoid using industrial computer, thereby the size that can dwindle control section also can reduce the cost of automatic/semi-automatic cooking device greatly; And every motor also need not to use independent scrambler, thereby can simplify the wiring complexity widely; In certain speed and position control accuracy scope, can finish the multiple motors parallel control; In addition, can improve the real-time of control system by use task Processing Algorithm.
Compare with the cooking device of prior art, cooking device of the present invention is because the control module that adopts speed ring and position ring at many motors to carry out parallel control, thereby can improve various machine cooking accuracy of actions, assurance can be finished the action of various complexity fast.This control module is embedded into by the bus redundancy structure undertaken in the motion-control module of communication, also can greatly increase the reliability of cooking device.
Below in conjunction with accompanying drawing, come to illustrate further the present invention by specific embodiment; But be appreciated that these concrete embodiments just are used to illustrate the present invention, rather than limitation of the present invention.Those of ordinary skill in the art fully can be under enlightenment of the present invention; the specific embodiment of the present invention is improved; or some technical characterictic is equal to replacement, but these still belong to protection scope of the present invention through the technical scheme after improving or replacing.
Description of drawings
Fig. 1 is the synoptic diagram of a kind of embodiment of in the control module of the present invention rate signal and position signalling being handled.
Fig. 2 is the synoptic diagram of a kind of concrete structure of control module middle gear sensor acquisition rate signal of the present invention.
Fig. 3 is the synoptic diagram of a kind of concrete structure of magnetic coder picking rate signal in the control module of the present invention.
Fig. 4 is the circuit diagram that carries out a kind of embodiment of voltage to frequency conversion of the present invention.
Fig. 5 be adopted in the control module of the present invention rate signal is carried out the circuit diagram of a kind of embodiment of integration.
Fig. 6 is the circuit diagram of a kind of embodiment of carrying out filtering of being adopted in the control module of the present invention.
Fig. 7 is the synoptic diagram of control module medium velocity ring of the present invention and position ring parallel control.
Fig. 8 is the structural representation of a kind of bus control system of being adopted in the cooking device of the present invention.
Embodiment
Fig. 7 has shown a kind of position ring that adopted in the control module of the present invention and the double loop position control system of speed ring parallel control, and this system can realize accurately controlling for the position of controlling object.The The whole control framework can be divided into outer shroud and interior ring, and wherein, outer shroud is the control of position ring close loop negative feedback, and interior ring then is speed closed loop negative feedback control.
In double loop position control system shown in Figure 7, " target location " is meant the desired value of the control motor position of finishing, and it is according to the running status real-time change of current total system in whole control process; " position control " is that computing is carried out in target location and the detected front motor run location of working as, and most typical compute mode is modes such as PID control or fuzzy control, and what its was exported is the echo signal of speed, as the controlled target of interior ring speed feedback control.
Among Fig. 7, " speed control " belongs to the interior ring of whole dicyclo control, the present speed of feedback and the target velocity of outer shroud generation are carried out computing, generate the rate signal of final Electric Machine Control, pass to power drive, most typical speed control signal is PWM (pulse-length modulation) or voltage signal etc.
Among Fig. 7, " power drive " is meant and carries out power amplification, the motor speed that drive controlling is dissimilar with obtaining rate signal; " pulse collection " then is to convert current rate signal to pulse signal, the pulsed frequency value that obtains and when front motor travelling speed value linear, for next step computing provides the feedback raw data; " signal Processing " is to convert current pulse signal to voltage signal, obtains the voltage signal linear with speed.
" position feedback " among Fig. 7 and " velocity feedback " are meant by processing procedure shown in Figure 1, with rate signal and the displacement signal of gathering when the front motor operation that prepulse is handled, drawn in real time of working as.By this position signalling feedback and rate signal feedback, can form closed-loop control of the present invention.
The calculation process process of The whole control framework shown in Figure 7 can adopt processing procedure shown in Figure 1; And " pulse collection " this process can realize by gear sensor shown in Figure 2 or magnetic coder shown in Figure 3, can certainly adopt the sensor of other kind such as photoimpact scrambler to come the picking rate signal; Circuit diagram shown in Figure 4 can be realized the voltage to frequency conversion in " signal Processing ", but is understood that Fig. 4 only is a kind of schematic circuit diagram that can finish the pulse voltage conversion, and similarly circuit can have multiple.
Integrating circuit shown in Figure 5 can be realized in the control module of the present invention Integral Processing to rate signal, thereby finishes " position feedback " function of Fig. 7; And circuit diagram shown in Figure 6 can be realized the Filtering Processing in the control module of the present invention, so that position or the rate signal that obtains carried out low-pass filtering removal noise, will give processor except that the signal after making an uproar again.Similarly, anyly the integrating function of Fig. 5 or Fig. 6 and the circuit of filter function can be realized, all control module of the present invention can be used for.
Shown in Figure 8 is that each motion-control module of a kind of bus control system structure of being adopted in the cooking device of the present invention connects and shows that this bus structure can be the unibus forms, can be the multibus form also, and be not limited only to dual-bus structure shown in Figure 8.Wherein, 1 represents the CAN dual bus, and 2-4 is four different motion-control modules, do not have in the The whole control system main control and from control, each motion-control module independent operating, data sharing, high-efficiency reliable is finished the task of requirement.
Above-mentioned cooking device of the present invention is a kind of automatic/semi-automatic cooking device, this cooking device comprises control section and by the operating part of this control part branch control, operating part then can comprise topworkies such as pot utensils ' movement mechanism, batch charging mechanism, ignition mechanism and intensity of fire control gear.Wherein, control section comprises the control module of the present invention more than one or; Perhaps control section comprise two or more than two, by the motion-control module that bus structure are carried out communication, wherein, at least one motion-control module comprises control module of the present invention.
For example, in control system shown in Figure 8, its employed motion-control module can comprise and turns over a pot control module, reinforced control module and firepower control module.In these motion-control modules, at least one motion-control module comprises control module of the present invention.Wherein:
Turning over pot control module partly is made up of heavy-duty motor drive control part, scrambler or approach signal feedback fraction, external environmental information collecting part and bus communication.Finish and wholely turn over pot motion and rely on some heavy-duty motor speed rings and a position ring control circuit, and other feedback information, such as various with turn over pot collection of relevant external environment condition variable.Turning over pot control needs to produce at short notice quite high acceleration, so that the material in the pan is carried out reliably and efficiently upset, therefore need finish speed, the acceleration closed-loop control of heavy-duty motor.
Reinforced control module partly is made up of motor-driven control section (motor is one or more), motor position and velocity feedback part, current reinforced feedback of status part and bus communication.Situation according to current dish culinary art is finished the input process of material to pan according to the program of setting.
The purpose that the firepower control module is set is the culinary art that firepower size that the state according to current culinary art mates respective strengths is automatically finished different dish.This module can comprise ignition section, firepower size control section, valve size feedback fraction, igniting test section, firepower size feedback fraction and bus interface part.Ignition section adopts the mode of high-voltage spark igniting that inflammable gas is lighted; Thereby firepower size control section by-pass valve control aperture is controlled the purpose that the inflammable gas flow plays control firepower size; The valve flow information that the reaction of valve size feedback fraction is current; To the light a fire status information of success or not of igniting test section feeds back to processor; Firepower size feedback fraction detects current intensity of fire size by the firepower radiation value of measuring the fixed position.
In the control system shown in Figure 8, its motion-control module can further include material and stirs control module.The purpose that this module is set is that the culinary art material in the current pan is stirred more fully, so that heating more equably.Finish the stirring action if comprise the Mixing Machine pawl in the topworks of cooking device, then material stirring module can be made up of motor-driven control section (motor is one or more), Mixing Machine pawl rotational speed feedback fraction, various valve control section and bus communication part etc.
Claims (10)
1, a kind ofly be used for automatic/semi-automatic cooking device, the control module that can control many motors of operating part in this cooking device, it is characterized in that, this control module comprises the velocity survey circuit that the speed of described many motors is measured, position measurement circuit that the position of the operating part that described many motors drove is measured and the initializing circuit that the position of described operating part is carried out initializing set, the position signalling that rate signal that described velocity survey circuit records and described position measurement circuit record feeds back to controller, realizes the speed ring and the position ring of described many motors are carried out parallel control.
2, control module as claimed in claim 1, it is characterized in that, in described velocity survey circuit, described many motors are measured, obtain its pulse duration frequency signal, and with described pulse duration frequency signal conversion is transformed into voltage signal through voltage to frequency, obtain the rate signal of described many motors.
3, control module as claimed in claim 2 is characterized in that, in described position measurement circuit, the described voltage signal that obtains through voltage to frequency conversion transformation is carried out integration, obtains the position signalling of current location.
4, control module as claimed in claim 1 is characterized in that, described position measurement circuit is to realize position measurement by the stroke of measuring described many motors.
5, control module as claimed in claim 1 is characterized in that, described control module comprises further that also position signalling that rate signal that described velocity survey circuit is recorded and described position measurement circuit record carries out the Filtering Processing circuit of Filtering Processing.
6, control module as claimed in claim 1 is characterized in that, described control module also further comprises the processor of analog to digital converter and execution algorithm, and the algorithm process at described many motors is carried out on described processor energy backstage.
7, control module as claimed in claim 6 is characterized in that, described processor output pulse width modulation signal is to power transistor, and then controls the driving of described many motors.
8, a kind ofly be used for controlling motion-control module automatic/semi-automatic cooking device, that can control operating part motion in this cooking device, it is characterized in that this motion-control module comprises the described control module as one of claim 1-7.
9, a kind of automatic/semi-automatic cooking device, this cooking device comprises control section and the operating part of being controlled by described control section, described operating part comprises pot utensils ' movement mechanism, batch charging mechanism, ignition mechanism and intensity of fire control gear, it is characterized in that described control section comprises the described control module as one of claim 1-7.
10, a kind of automatic/semi-automatic cooking device, this cooking device comprises control section and the operating part of being controlled by described control section, described operating part comprises pot utensils ' movement mechanism, batch charging mechanism, ignition mechanism and intensity of fire control gear, it is characterized in that, described control section motion-control module that comprise two or more than two, carry out communication by the double-bus redundancy structure, wherein, at least one described motion-control module comprises the described control module as one of claim 1-7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100324212A CN101458497A (en) | 2007-12-13 | 2007-12-13 | Concurrency controlled cooking device by employing multi motor position rings and speed rings |
| PCT/CN2008/073501 WO2009082918A1 (en) | 2007-12-13 | 2008-12-13 | Cooking machine using several motors position loop, speed loop parallel control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007100324212A CN101458497A (en) | 2007-12-13 | 2007-12-13 | Concurrency controlled cooking device by employing multi motor position rings and speed rings |
Publications (1)
| Publication Number | Publication Date |
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| CN101458497A true CN101458497A (en) | 2009-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2007100324212A Pending CN101458497A (en) | 2007-12-13 | 2007-12-13 | Concurrency controlled cooking device by employing multi motor position rings and speed rings |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101458497A (en) |
| WO (1) | WO2009082918A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459108A (en) * | 2015-07-31 | 2016-04-06 | 宁夏巨能机器人系统有限公司 | Driving device of servo motor for robot hand and driving method for driving device |
| CN106610437A (en) * | 2015-10-23 | 2017-05-03 | 沈阳芯源微电子设备有限公司 | An apparatus for measuring the accelerated speed of a centrifuge through an encoder |
| CN107005183A (en) * | 2016-08-05 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of steering wheel |
| CN108856307A (en) * | 2018-05-23 | 2018-11-23 | 山信软件股份有限公司 | A kind of mechanical equipment position detecting device and detection method |
| CN110051247A (en) * | 2019-03-29 | 2019-07-26 | 宫军军 | A kind of cooking machine |
| CN110664283A (en) * | 2018-10-22 | 2020-01-10 | 王莉 | Flat base silence heating stirring food processor |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106155141A (en) * | 2015-04-02 | 2016-11-23 | 北京航天计量测试技术研究所 | Improve the rotating platform control system of turntable robustness and the adjustment method based on this system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2330277Y (en) * | 1998-04-22 | 1999-07-28 | 王祥虎 | Automatic cooking machine for Chinese dishes |
| CN2326132Y (en) * | 1998-04-28 | 1999-06-30 | 张军 | Machine for automatically preparing dishes and meal |
| CN1208017C (en) * | 2002-07-05 | 2005-06-29 | 康文朝 | Automatic stir-frying machine |
| US6629491B1 (en) * | 2002-12-12 | 2003-10-07 | Chiaphua Industries Limited | Cooking appliance |
| JP4478584B2 (en) * | 2005-01-17 | 2010-06-09 | 株式会社ミツトヨ | Position control device, measuring device and processing device |
| JP4586719B2 (en) * | 2005-12-07 | 2010-11-24 | 味の素株式会社 | Chinese seasoning |
-
2007
- 2007-12-13 CN CNA2007100324212A patent/CN101458497A/en active Pending
-
2008
- 2008-12-13 WO PCT/CN2008/073501 patent/WO2009082918A1/en active Application Filing
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459108A (en) * | 2015-07-31 | 2016-04-06 | 宁夏巨能机器人系统有限公司 | Driving device of servo motor for robot hand and driving method for driving device |
| CN106610437A (en) * | 2015-10-23 | 2017-05-03 | 沈阳芯源微电子设备有限公司 | An apparatus for measuring the accelerated speed of a centrifuge through an encoder |
| CN107005183A (en) * | 2016-08-05 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of steering wheel |
| CN108856307A (en) * | 2018-05-23 | 2018-11-23 | 山信软件股份有限公司 | A kind of mechanical equipment position detecting device and detection method |
| CN110664283A (en) * | 2018-10-22 | 2020-01-10 | 王莉 | Flat base silence heating stirring food processor |
| CN110051247A (en) * | 2019-03-29 | 2019-07-26 | 宫军军 | A kind of cooking machine |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2009082918A1 (en) | 2009-07-09 |
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