CN106647362A - Control method of soybean milk machine - Google Patents
Control method of soybean milk machine Download PDFInfo
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- CN106647362A CN106647362A CN201611063328.3A CN201611063328A CN106647362A CN 106647362 A CN106647362 A CN 106647362A CN 201611063328 A CN201611063328 A CN 201611063328A CN 106647362 A CN106647362 A CN 106647362A
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- bean milk
- heating
- making machine
- milk making
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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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
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Food Science & Technology (AREA)
- Beans For Foods Or Fodder (AREA)
Abstract
The invention relates to a control method of a soybean milk machine. The soybean milk machine comprises loads and a control device; the loads include a motor and a heating device; the control device controls the motor and the heating device to perform soybean milk production; the soybean milk machine further comprises an anti-overflow detection device; the control means detects overflow signals through the anti-overflow detection device; the soybean milk production of the soybean milk machine includes a plurality of pulverization stages and a plurality of heating stages; the overflow signals include pulverization overflow signals at the pulverization stages and heating overflow signals at the heating stages; a pulverization overflow threshold value YS and a heating overflowing threshold YJ are built in the control device; the control device adjusts the soybean milk production process of the soybean milk machine according to the pulverization overflow signals and/or heating overflow signals; and the pulverization overflow signals at the pulverization stages are detected, and the overflow threshold values at corresponding stages are adjusted, and therefore, the work of the motor and heating device can be controlled.
Description
Technical field
The present invention relates to the control field of household kitchen electric appliance, more particularly to a kind of control method of soy bean milk making machine.
Background technology
As control technology constantly develops, to human lives great variety, and more and more intelligentized family are brought
Front yard electrical equipment enters the life of people, lifts the living standard of people.And these intelligentized household appliances, why can realize
Intellectuality be due to it is intelligentized control and intelligentized operation, while and can to the collection of self information and should
With.
It is well known that soy bean milk making machine of the prior art, the development of its basic technology is ripe, and it relate to food materials
Two aspects of electric heating and electrokinetic process.During its electric heating, because soya-bean milk and other drinks need to boil in heating process
The process of boiling, and in this process, there is the risk of spilling.
In prior art, the risk for typically having two ways to solve to overflow：First, enterprising from heat time and power
Row control, it is to avoid slurry foam is produced in pulping process, so as to solve to overflow risk.This kind of mode belongs to a kind of control of fuzzy concept
System, though substantial amounts of data acquisition suitable heat time and power can be passed through, various external causes can cause spilling wind
Danger.Second, arranging anti-spilled electrode, control device is detected in real time to anti-flow electrode, and by with built-in spilling threshold values
Contrasted so as to obtain spill over, corresponding work is then stopped when spill over is detected.
Although the above-mentioned second way can solve to a certain extent the risk overflowed, due to detecting letter is overflowed
Need to quit work after number, therefore, causing the whole slurrying cycle of soy bean milk making machine increases.And, because soy bean milk making machine exist it is electronic and
Two processes of electric heating, the spilling threshold values of setting can not more be adapted to existing material, so as to cause to yet suffer from corresponding overflowing
Go out risk.
The content of the invention
The technical problem to be solved is to provide a kind of system reliability, detection is accurate, can thoroughly solve spilling wind
Soy bean milk making machine control method dangerous and that adaptation can be automatically adjusted.
In order to solve above technical problem, a kind of soy bean milk making machine control method of the invention, the soy bean milk making machine load and control dress
Put, the load includes motor and heater, and the control device controls the motor and the heater is completed
Soya-bean milk makes, and the soy bean milk making machine also includes anti-spilled detection means, wherein, the control device is by the anti-spilled detection dress
Put detection spill over, the soy bean milk making machine pulping process include multiple shredding stages and with multiple heating periods, it is described to overflow
Go out crushing spill over and the heating spill over of heating period of the signal including shredding stage, it is interior in the control device
Threshold values YS is overflowed in the crushing put and threshold values YJ is overflowed in heating, the control device according to the crushing spill over for detecting and/or
Heating spill over adjusts the pulping process of the soy bean milk making machine.
Preferably, the specified heating power of the soy bean milk making machine is P, and the control device detects spill over then to be stopped working as
Front loaded work piece, performs to overflow and waits T1 and move back foam process, described when moving back foam and processing, and control device control is described plus hot charging
Put with less than the work of 1/3P power.
Preferably, in same shredding stage, after slurry foam is reduced, the control device drops power (P2) work side using motor
Formula shortens the mode controlled motor repeated work of motor grinding time (T2), until number of repetition reaches and setting limit value N or reaching
To the time T of the shredding stage.
Preferably, the total cycle T of the slurrying of the soy bean milk making machineAlways, motor grinding time is T, if the anti-overflow maintenance of shredding stage
Time t is less than or equal to 1.28s, then overflow and wait T1=[10s-TAlways/ 60s] after, the control device controls the heater
The mode of operation T that 1s stops 1s being heated with 1/3 powerAlwaysCarry out within/60 seconds moving back foam process, the control device controls the electricity
Machine drops 2 power working time of power P T with motor；
If the anti-overflow t that holds time of shredding stage overflows and waits T1=[10s-2T more than 1.28sAlways/ 60s] after, it is described
Control device controls the heater and heats the mode of operation 2T that 1s stops 1s with 1/3 powerAlways/ 60s, the control dress
Put the working time T2 that the power of power P 2 drops with motor in the control motor..
Preferably, the motor drop power work mode is to be successively decreased in the way of reducing 1/10 than current rotating speed every time, is shortened
Grinding time T2 afterwards is not shorter than the 2/3T of former setting time.
Preferably, 3.0V≤YS≤4.0V, 2.5V≤YJ≤3.7V.
Preferably, the soy bean milk making machine in pulping process at least include two shredding stages, the control device according to
The crushing spill over of front shredding stage is adjusted described crushing of renewal and overflows threshold values.
Preferably, with the heating period alternately, the control device is according in front crushing rank for the shredding stage
The spill over of crushing of section is adjusted the heating spilling threshold values updated in the rear heating period.
Preferably, described to crush that to overflow initial value of threshold be a, it is b that the initial value of threshold values is overflowed in the heating, shredding stage
Middle to crush anti-overflow number of times for N, it is FY=a*N/10, YS=a+FY, YJ=b+FY to update and overflow variable quantity.
Preferably, during the heating period, the heating is overflowed threshold values YJ and is more than 3.0V, and the control device controls heater
It is operated with 1 second stopping n1+FY second of 1/3P power heating.
Under different material amount or varying environment parameter, to crush and there is certain phase between spill over and infusion spill over
Guan Xing, by the crushing spill over for detecting shredding stage, according to coarse crushing stage anti-overflow number of times etc., adjustment control respective stage
Spilling threshold values, and worked with this controlled motor and heater.Realize soy bean milk making machine shredding stage and carry out between the heating period
Coordinated signals, solve the problems, such as that current soy bean milk making machine pulping process overflows slurry；Realize that soy bean milk making machine pulpability is optimum, solve band daraf(reciprocal of farad) at present
That net or strength grinder type soy bean milk making machine pulping process are forgotten to install excessive slurry and the serious overflow problem that the device occurs；Solve current beans
Pulp grinder high temperature slurrying slurry foam is attached to the problem of difficult cleaning on inwall, reduces slurries vortex and produces, and realizes shredding stage touch anti-overflow
Slurry foam does not steadily spill over and is conducive to splash and the control that flies out；Be conducive to crushing process to overflow the improvement of slurry and splash, reduce without net and
The security risk of sharpener type whitewashing.
Description of the drawings
With reference to the accompanying drawings and detailed description the present invention is described in further detail：
Fig. 1 is a kind of slurrying FB(flow block) of soy bean milk making machine control method embodiment of the invention；
Fig. 2 is a kind of flow chart in the precomminution stage of soy bean milk making machine control method embodiment of the invention；
Fig. 3 is a kind of flow chart of the heating period of soy bean milk making machine control method embodiment of the invention.
Specific embodiment
Embodiment：
A kind of soy bean milk making machine control method of the present invention, the soy bean milk making machine load and control device, the load includes motor
And heater, the control device controls the motor and the heater to carry out completing soya-bean milk making, the soy bean milk making machine
Also include anti-spilled detection means, wherein, the control device detects spill over by the anti-spilled detection means, described
Soy bean milk making machine pulping process include multiple shredding stages and with multiple heating periods, the spill over includes shredding stage
Crush spill over and the heating spill over of heating period, crushing built-in in the control device overflow threshold values YS and
Threshold values YJ is overflowed in heating, and the control device is according to the crushing spill over and/or heating spill over adjustment that detect
The pulping process of soy bean milk making machine.
It is well known that the electrokinetic process of soy bean milk making machine is commonly referred to as shredding stage, its electric heating process is commonly referred to as the heating period.
Again because soy bean milk making machine can typically have multiple shredding stages and a multiple heating periods during, and generally, crush with
Heating is carried out alternately.
In the present embodiment, as shown in figure 1, illustrating so that soy bean milk making machine has 5 stages as an example, first stage is pre-add
Thermoae end, second stage be the precomminution stage, three phases be the heating period, four-stage be shredding stage, the 5th
The individual stage is the infusion stage.Can certainly be more stages or less stage, or first carry out crushing laggard
Row heating.This is no longer going to repeat them.
First, in above-mentioned five stages, control device all may detect spill over by anti-spilled detection means, because
It is that the work of motor can cause the rising of liquid level to be fluctuated so as to encounter anti-spilled detection means in shredding stage, in the heating period
When, the heat of heater can cause the boiling of liquid level to rise so as to touch anti-spilled detection means, when liquid level touch it is anti-overflow
When going out detection means, the signal that control device is detected is compared so as to obtain overflow status with corresponding spilling decision threshold
Information, specifically no longer states one by one again.
In the present embodiment, the specified heating power of the soy bean milk making machine is P, and the control device detects spill over then
Stop present load work, perform to overflow and wait T1 and move back foam process, described when moving back foam and processing, control device control is described
Heater is with less than the work of 1/3P power.No matter that is, in any one stage in above-mentioned five stages, when control dress
When putting detection and knowing state of the soy bean milk making machine in overflowing, then need to perform corresponding spilling and wait and move back foam process.Foam is moved back in execution
Process, it is possible to use buffering heating eliminates corresponding slurry foam height, while the situation that it also avoid starching foam adhesion occurs, so as to keep away
Error detection is exempted from, while also increasing the heat time in soy bean milk making machine pulping process so that the overall slurrying cycle can reduce.
Further, corresponding overflow status is occurred in that if in shredding stage, now, in same shredding stage, slurry
After foam is reduced, the control device is dropped the working method of power P 2 or is shortened and controlled by the way of motor grinding time (T2) using motor
Motor repeated work, until number of repetition reaches setting limit value N or reaches the time T of the shredding stage.
As shown in Fig. 2 initializing precomminution decision threshold YS first, control device detects the shape of anti-spilled detection means
State, stops current motor work if control device detects the spill in precomminution stage, performs anti-overflow wait T1 and adds
Heat moves back foam process, described when moving back foam and processing, and the control device controls the heater to work less than 1/3P power, waits to starch
Foam repeats above-mentioned crushing action step after reducing by the way of the drop working method of power P 2 or shortening grinding time (T2), until
Number of repetition reaches setting limit value N or reaches the time T of the shredding stage, completes the precomminution stage hence into heating rank
Section, while calculating and updating variable quantity FY is overflowed.Described crushing overflows initial value of threshold for a, and anti-overflow number of times is crushed in shredding stage
For N, it is FY=a*N/10 to update and overflow variable quantity.
Now, the control device is adjusted the posterior heating of renewal according to the crushing spill in the precomminution stage
Threshold values is overflowed in the heating in stage and threshold values is overflowed in the crushing of/shredding stage.It is heating rank after the precomminution stage in embodiment
Section, thus the heating period heating overflow threshold values need according to overflow variable quantity be adjusted, if initial setting up heating overflow
Threshold values is b, then YJ=b+FY.After precomminution close to next motor working stage be shredding stage, the powder of shredding stage
Broken spilling threshold values needs to be adjusted according to spilling variable quantity, i.e. threshold values YS=a+FY is overflowed in the crushing of shredding stage.And in powder
The broken stage will produce a new spilling variable quantity, then the infusion stage after shredding stage heating overflow threshold values then need into
Row is corresponding to be updated.3.0V≤YS≤4.0V, 2.5V≤YJ≤3.7V.Experimental study and checking show, crush and overflow threshold values model
It is trapped among 3.0V-4.0V, anti-spilled best results；Heating overflows threshold values in the anti-spilled best results of 2.5V-3.7V, anti-overflow level mistake
, easily there is false anti-overflow situation when anti-flow electrode steam/water droplet is wrapped up in height, and anti-overflow level is too low, then easily because detection judges too slow
Cause to crush and overflow with during infusion.
That is, by detecting to anti-spilled detection means in the precomminution stage, and known according to detection case
One spilling variable quantity, so as to adjust the spilling decision threshold of the heating period after the precomminution stage and shredding stage so that every
The individual stage is more accurate for the judgement of spill over.And the heating spilling threshold values in infusion stage can be according to shredding stage
Spilling situation be adjusted.
Pulping materials species inventory and various factors all can have an impact to effects on slurry making, such as inventory is more, system
Slurry process is easier to overflow touch anti-overflow (slurries contact anti-spilled detection means) in other words, produces in the coarse crushing of precomminution stage
Foam density is big, is more prone to easily overflow, thus at the spilling situation Automatic adjusument mode according to this process and drop foam
Reason method, properly increases the anti-overflow level of crushing, it is possible to resolve the process overflow problem, while threshold values is overflowed in the heating for the heating period
There is provided and adjust variable quantity, it is ensured that the anti-overflow control of heating period is quick efficiently, and shredding stage is with infusion phase process in the same manner.Cause
This, after equipment entered function, is processed by spill over self adaptation with foam is moved back, and so as to solve to overflow safety problem, improves soya-bean milk
Mouthfeel and cup hardly possible cleaning problem
Certainly, need to arrange an initial spilling decision threshold, then each stage is according to the spilling of previous stage letter
Number situation is adjusted, naturally it is also possible to according to the spilling situation in precomminution stage, directly sentence the spilling in other stages below
Disconnected threshold values is disposably adjusted, and can so cause soy bean milk making machine to carry out real-time tune to spill in pulping process
It is whole, it is to avoid due to external factor so as to overflow decision threshold and be not suitable for, so as to cause to overflow risk.
In the present embodiment, the total cycle T of the slurrying of the soy bean milk making machineAlways, the motor working time in precomminution stage is T, if
The anti-overflow t that holds time in precomminution stage then overflows and waits T1=[10s-T less than or equal to 1.28sAlways/ 60s] after, the control
Device controls the heater and heats the mode of operation T that 1s stops 1s with 1/3 powerAlwaysCarry out within/60 seconds moving back foam process, institute
State control device and control the motor with motor drop 2 power working time of power P T；
If the anti-overflow t that holds time in precomminution stage overflows and waits T1=[10s-2T more than 1.28sAlways/ 60s] after, institute
State control device and control the heater with the mode of operation 2T of 1/3 power heating 1s stopping 1sAlways/ 60s, the control
Device controls the working time T2 that the power of power P 2 drops with motor in the motor.
The anti-times N value upper limit of touching in precomminution stage is less than 5, can preferably play motor performance, it is ensured that motor uses the longevity
Life, while and reach optimization crush purpose；It is of course possible to be adjusted according to different slurrying flow processs, in same slurrying flow process
Interior, the different precomminution stages can also crash and put number of times and be adjusted.
Overflow and wait T1 to be determined according to the anti-overflow length (stickiness) held time and the total cycle request of slurrying, span
Guarantee in 10s-TAlwaysIn the range of/60 seconds, more preferable the effect of eliminating foam reagent and slurrying cycle have been reached；The single infusion time is according to anti-overflow dimension
The length (stickiness) and the total cycle request of slurrying for holding the time determines that span is in [/ 60 seconds -2TAlways/ 60 seconds], it is ensured that reach
To preferable the effect of eliminating foam reagent and soya-bean milk mouthfeel；Grinding time T2 after shortening is not shorter than the 2/3 of former setting time, to guarantee preferably
Crushing effect.
In the present embodiment, precomminution does not typically adopt total power grinding mode, drop power P 2 to adopt with every time than current
Rotating speed reduces 1/10 mode and successively decreases i.e. P2=P-P/10, above-mentioned flowchart logic relation is met until dropping rotating speed number of times, to reach
To the double effectses of anti-spilled and more excellent crushing.
In the present embodiment, the spilling variable quantity for being calculated according to precomminution, as shown in figure 3, the heating of adjustment heating period
Threshold values is overflowed, and the touch anti-overflow power that threshold values adjusts the heating period is overflowed according to heating, threshold values is overflowed in heating after self adaptation
More than 3.0V less than highest can setting value 3.7V when, heating process is adjusted to slow fire infusion, and power is heated 1 second using 1/3 power
Stop the n1+ Δ FY seconds (heat 1 second for 1/3 power before adjustment and stop the n1 seconds)；Otherwise power is not adjusted, only adjustment heating spill valve
Value, it is ensured that this process does not spill over simultaneously and the effect of the abundant infusion that can reach a high temperature.
Situation is overflowed according to shredding stage, the mode of operation in infusion stage, its Principles of Regulation and the same precomminution of mode is adjusted
Principle between stage and heating period, its drop rotating speed mode is still adopted passs in the way of motor reduces 1/10 than current rotating speed every time
Subtract, because shredding stage is typically crushed using total power, while this process is more easy to overflow, therefore its amplitude for reducing also accordingly is increased；
Experimental verification, drop rotating speed can reach crushing and optimizes with anti-spilled effect by this amplitude adjustment；Anti-overflow automatically adjusted by this kind of
And coordinated signals mode, overflow problem can be crushed with effectively solving.From shredding stage to the handling principle in infusion stage with from pre-
The process of shredding stage to heating period, here is omitted.
Under different material amount or varying environment parameter, to crush and there is certain phase between spill over and infusion spill over
Guan Xing, by the crushing spill over for detecting crushing process, according to anti-overflow number of times of coarse crushing process etc., adjustment control respective stage
Spilling threshold values, and worked with this controlled motor and heater.Realize soy bean milk making machine shredding stage and carry out between the heating period
Coordinated signals, solve the problems, such as that current soy bean milk making machine pulping process overflows slurry；Realize that soy bean milk making machine pulpability is optimum, solve band daraf(reciprocal of farad) at present
That net or strength grinder type soy bean milk making machine pulping process are forgotten to install excessive slurry and the serious overflow problem that the device occurs；Solve current beans
Pulp grinder high temperature slurrying slurry foam is attached to the problem of difficult cleaning on inwall, reduces slurries vortex and produces, and realizes shredding stage touch anti-overflow
Slurry foam does not steadily spill over and is conducive to splash and the control that flies out；Be conducive to crushing process to overflow the improvement of slurry and splash, reduce without net and
The security risk of sharpener type whitewashing.
It is emphasized that protection scope of the present invention is including but not limited to above-mentioned specific embodiment.It should be pointed out that right
For those skilled in the art, under the premise without departing from the principles of the invention, some deformations and improvement can also be made, this
Also should be considered to belong to protection scope of the present invention a bit.
Claims (10)
1. a kind of soy bean milk making machine control method, the soy bean milk making machine load and control device, the load includes motor and heater,
The control device controls the motor and the heater to carry out completing soya-bean milk making, and the soy bean milk making machine also includes anti-spilled
Detection means, it is characterised in that the control device detects spill over, the soy bean milk making machine by the anti-spilled detection means
Pulping process include multiple shredding stages and with multiple heating periods, the crushing of the spill over including shredding stage overflows
Go out the heating spill over of signal and heating period, threshold values YS is overflowed in crushing built-in in the control device and heating is overflow
Go out threshold values YJ, the control device adjusts the soy bean milk making machine according to the crushing spill over and/or heating spill over that detect
Pulping process.
2. soy bean milk making machine control method according to claim 1, it is characterised in that the specified heating power of the soy bean milk making machine is
P, the control device detects spill over and then stops present load work, performs and overflows wait T1 and move back foam process, described
When moving back foam process, the control device controls the heater with less than the work of 1/3P power.
3. soy bean milk making machine control method according to claim 2, it is characterised in that in same shredding stage, after slurry foam is reduced,
The control device is dropped the working method of power P 2 or is shortened controlled motor by the way of motor grinding time (T2) and repeated using motor
Work, until number of repetition reaches setting limit value N or reaches the time T of the shredding stage.
4. soy bean milk making machine control method according to claim 3, it is characterised in that the total cycle T of slurrying of the soy bean milk making machineAlways,
Motor grinding time is T, if the anti-overflow t that holds time of shredding stage overflows and wait T1=[10s-T less than or equal to 1.28sAlways/
60s] after, the control device controls the heater and heats the mode of operation T that 1s stops 1s with 1/3 powerAlways/ 60 seconds
Carry out moving back foam process, the control device controls the motor and drops 2 power working time of power P T with motor；
If the anti-overflow t that holds time of shredding stage overflows and waits T1=[10s-2T more than 1.28sAlways/ 60s] after, the control
Device controls the heater and heats the mode of operation 2T that 1s stops 1s with 1/3 powerAlways/ 60s, the control device control
The motor is made with the working time T2 of the motor drop power of power P 2.
5. the soy bean milk making machine control method according to any one of claim 3 or 4, it is characterised in that power drops in the motor
Work mode is to be successively decreased in the way of reducing 1/10 than current rotating speed every time, and the grinding time T2 after shortening is not shorter than former setting time
2/3T.
6. soy bean milk making machine control method according to claim 1, it is characterised in that 3.0V≤YS≤4.0V, 2.5V≤YJ≤
3.7V。
7. soy bean milk making machine control method according to claim 1, it is characterised in that the soy bean milk making machine in pulping process at least
Including two shredding stages, the control device is adjusted the renewal powder according to the crushing spill in front shredding stage
Broken spilling threshold values.
8. soy bean milk making machine control method according to claim 1, it is characterised in that the shredding stage and the heating period
Alternately, the control device is adjusted renewal in the rear heating period according to the spill over of crushing in front shredding stage
Threshold values is overflowed in heating.
9. the soy bean milk making machine control method according to any one of claim 7 or 8, it is characterised in that threshold values is overflowed in the crushing
Initial value is a, and it is b that the initial value of threshold values is overflowed in the heating, and anti-overflow number of times is crushed in shredding stage for N, renewal spilling change
Measure as FY=a*N/10, YS=a+FY, YJ=b+FY.
10. soy bean milk making machine control method according to claim 8, it is characterised in that during the heating period, the heating spill valve
Value YJ is more than 3.0V, and the control device control heater is operated with 1 second stopping n1+FY second of 1/3P power heating.
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Cited By (4)
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| CN107495864A (en) * | 2017-09-29 | 2017-12-22 | 九阳股份有限公司 | A kind of pulping control method of soy bean milk making machine |
| CN108158422A (en) * | 2017-12-01 | 2018-06-15 | 九阳股份有限公司 | A kind of method for heating and controlling of food processor |
| CN108309039A (en) * | 2017-01-18 | 2018-07-24 | 佛山市顺德区美的电热电器制造有限公司 | Electric cooking pot and its anti-spilled method for heating and controlling and device |
| CN109820416A (en) * | 2019-01-23 | 2019-05-31 | 齐鲁工业大学 | A kind of soy bean milk making machine autocontrol method, system and soy bean milk making machine |
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| DE102014220631A1 (en) * | 2014-10-10 | 2016-04-14 | BSH Hausgeräte GmbH | Kitchen appliance for shredding a material to be processed |
| CN104958011A (en) * | 2015-06-02 | 2015-10-07 | 杭州九阳小家电有限公司 | Soybean milk machine control method |
| CN105877491A (en) * | 2016-06-17 | 2016-08-24 | 九阳股份有限公司 | Food processing method for high-speed wall-breaking food processer |
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| CN109820416A (en) * | 2019-01-23 | 2019-05-31 | 齐鲁工业大学 | A kind of soy bean milk making machine autocontrol method, system and soy bean milk making machine |
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