Intelligent cooking machine

Abstract

The present invention discloses an intelligent cooking machine, comprising a stir-fry device and a pot body with a jigsaw puzzle structure. The pot body comprises jigsaw puzzles and a main body. The stir-fry device comprises a stirring shovel auxiliary module and a stirring shovel. The stirring shovel auxiliary module assists the stirring shovel in stirring the food in the pot body, and enables the stirring shovel to complete two or more independent movements. The envelope surface formed by the movement of the pot body and the stirring shovel is consistent. The stirring shovel fits the surface of the pot body or leaves the surface of the pot body at the required position of the pot body as needed. The stirring shovel can traverse the pot body to achieve stir-frying without dead angles of the pot body, including one or more stirring shovels covering both ends of the pot body, and / or, the stirring shovel rotation axis is translated or rotated around the central axis of the pot body. The jigsaw puzzle can be opened to put the food in the pot body into a bowl. The present invention better solves the stir-frying and serving problems of the intelligent cooking machine.

Description

[0001] The present invention is a divisional case of patent application publication number CN 109381032 A. Technical Field

[0002] The present invention relates to the technical field of intelligent household appliances, and in particular to a stir-frying device of an intelligent cooking machine, a cooking machine and a stir-frying cooking method thereof. Background Art

[0003] In the field of smart cooking machines, the most challenging are smart stir-fry machines, particularly Chinese-style stir-fry machines. Compared to the boiling or frying methods of some countries, the essence of the world-renowned Chinese cooking lies in stir-frying. This gives Chinese food its unparalleled taste and color, but also makes Chinese cooking machines very challenging. Currently, there are hundreds of Chinese stir-frying machine solutions, including robots that simulate manual cooking, simulate chefs flipping woks, stir-frying systems similar to those used in washing machines, simulated spatula stir-frying, and the simplest solution: adding a horizontal stirrer to the bottom of the rice cooker. However, none of these solutions effectively solve the stir-frying problem.

[0004] For example, robots simulating manual cooking is too complex to be practical in the short term. Simulating a chef's flipping technique, like flipping a wok, requires tossing the food, making it difficult to control. The machine is bulky and expensive, and the food easily falls out of the wok. Many dishes (such as those with soup) cannot be prepared using flipping wok technology. Flipping wok technology is clearly unsuitable for home cooking machines.

[0005] The problem with a drum-type pot combined with an agitator, as described in the inventor's 2000 patents CN2448232 and 2001 patent CN1364436, is that ingredients tend to stick to the pot walls. Therefore, this solution is more suitable for use in corporate cafeterias than for home cookers. To address this issue, the drum agitator can be tilted. While this approach partially alleviates the problem of ingredients sticking to the pot, it is uncompact and inconvenient for serving food.

[0006] Simulating the motion of a spatula for cooking is far from practical. Current robotic spatulas lack the flexibility and accuracy of a human arm, and lack the "machine eye" to visually identify cooking ingredients, making them difficult to implement. Furthermore, the motion mechanism is bulky, easily contaminated, and difficult to clean.

[0007] The simplest solution currently available is to add a horizontal stirrer to the bottom of the rice cooker to create a cooking pot. This cooking pot offers poor stirring, and therefore, unsatisfactory cooking results. Furthermore, the stirrer moves horizontally, driving the cooking ingredients in horizontal motion. This horizontal motion generates centrifugal force, which can easily cause the ingredients to aggregate toward the side walls of the pot, severely interfering with cooking. Furthermore, the primary cooking area is near the bottom center of the pot, and installing a stirrer there significantly impacts the pot's operation. Some cooking machines simply do not stir, relying on controlling the heating time of the rice cooker to prepare braised dishes. While these methods can indeed produce some braised dishes, they clearly fail to meet the basic requirements of Chinese cooking. For example, simple stir-fries of vegetables are difficult to prepare effectively. These cooking methods also make it difficult to serve the cooked food.

[0008] To realize the intelligent Chinese cooking machine, the first thing to do is to solve the stir-frying problem in cooking. Unfortunately, up to now, the stir-frying problem of Chinese household cooking machines has not been well solved. The inventor carefully analyzed the stir-frying of Chinese cooking and found that the stir-frying of Chinese cooking needs to meet two key conditions. The first one is an obvious condition: the raw materials in the cooking pot can be stir-fried and heated evenly. The second condition is more hidden, that is: under the premise that the raw materials are fully stirred and evenly heated, the raw materials must always be gathered in the bottom heating area of ​​the pot. The second requirement is common in Chinese cooking. A specific analysis of its necessity is probably due to the following reasons:

[0009] 1. Heating Requirements: The essence of Chinese cooking lies in stir-frying, not boiling. This necessitates using minimal oil and water to "fry" ingredients. This means relying on high-temperature "oil and water" to stir-fry food in the shortest possible time. Therefore, Chinese cooking pots have a small bottom area and are angled, with the center lower and the rest higher. Due to gravity, cooking oil and water naturally gather toward the bottom, resulting in the optimal heating zone. Pushing ingredients beyond the center for the sole purpose of stir-frying is undoubtedly inconsistent with Chinese cooking requirements.

[0010] 2. Cooking Requirements: Many Chinese dishes require minimal water. However, powdered seasonings such as salt, sugar, MSG, and Sichuan peppercorns often require broth to dissolve before being evenly dispersed into the ingredients. This requires concentrating the limited water or broth to dissolve and mix the seasonings. Furthermore, Chinese cooking emphasizes high heat, quick stir-frying, and minimal water. If the broth is not concentrated, the dish can easily become dry, mushy, or burnt, directly impacting the quality of the dish.

[0011] 3. Serving Size Requirements: Cooking machines typically must accommodate a certain range of serving sizes, especially for home cookers, where the range of serving sizes varies significantly. For example, the largest serving size must accommodate five people, while the smallest serves only one person, a five-fold difference. To accommodate this range of serving sizes and to ensure adequate operating space, the cooking pot cannot be made too small. The solution to the problem of a large pot with insufficient ingredients is to require that home cookers always concentrate ingredients as much as possible in the bottom heating area of ​​the cooking pot when stir-frying. This way, despite the larger pot, smaller portions can still be prepared. However, serving sizes for group cooking are relatively stable, with a smaller range of variation. This demonstrates the differences in the requirements for home and group cooking machines.

[0012] 4. Saving requirements: Cooking generally requires grease, seasonings, etc. If grease and seasonings are left everywhere, additional oil must be added during cooking, resulting in waste. It also wastes cleaning materials such as detergent and water, especially some coked raw materials, which will be more time-consuming and water-consuming to clean.

[0013] 5. Health requirements: Chinese cooking mainly relies on high-temperature cooking oil to heat food quickly. If the cooking oil is always in the heating area at the bottom of the pot when stir-frying, less cooking oil will be used to achieve the same heating effect, thus achieving the requirements of deliciousness and health.

[0014] 6. Compact structure and near-term commercialization requirements: The cooking machine of this invention is intended for home use, so it requires a compact, rational, and aesthetically pleasing structure. Furthermore, it must be cleverly designed to solve complex cooking problems based on technical requirements. For example, developing a highly intelligent robot would undoubtedly solve cooking problems once and for all, but such a robot would likely take a decade or more to realize. Furthermore, intelligent cooking robots might fall into the trap of anthropomorphism or objectification. For example, designing an airplane to flap its wings like a bird or a car to run on all fours might not be the right choice, as efficiency would be significantly compromised.

[0015] The inventor's patents CN2448232 and CN1364436 use a blender solution, which has the advantages of relatively uniform stirring and frying, relatively easy intelligent control, small size, and energy saving. However, in the process of implementing the embodiments of the present invention, the inventor found that due to some inherent shortcomings of existing blenders, their application in household cooking machines is affected. The main shortcomings of the existing inventions are:

[0016] 1. The impact of inherent structural defects in the agitator. All agitators share a common characteristic: as they rotate from the edge of the pot toward the center, they push the ingredients toward the center of the pot. However, as they continue to rotate beyond the bottom of the pot, they push the ingredients away from the bottom. This prevents the ingredients from being consistently kept in the bottom heating zone of the cooking pot during the agitation process.

[0017] 2. Inconvenient serving. The cooking pot opening in the aforementioned invention is located on the side, in the direction of the stirrer's axis of rotation. This makes it difficult to add ingredients to the pot or remove already cooked food. An improvement is to position the cooking pot opening perpendicular to the stirrer's axis, solving this problem. However, this approach still suffers from the inherent drawbacks of the stirrer structure: a larger opening makes it easy for the stirrer to carry ingredients out of the container; a smaller opening makes it difficult to add or remove ingredients from the pot. Summary of the Invention

[0018] The embodiment of the present invention provides a stirrer stir-frying device of an intelligent cooking machine, a cooking machine and a stir-frying cooking method thereof, so as to achieve stir-frying of cooked food, thereby effectively solving the stir-frying problem of the intelligent cooking machine.

[0019] An embodiment of the present invention provides a stirrer stir-frying device for an intelligent cooking machine, comprising a stirring shovel system, the stirring shovel system including a stirring shovel auxiliary module and a stirring shovel. The stirring shovel auxiliary module and the stirring shovel cooperate to realize two or more independent motion modes for stir-frying food in a pot of the intelligent cooking machine. The final result of the motion modes includes causing the front end of the stirring shovel to leave the pot surface at a desired position and to approach the pot surface at a desired position. The pot body includes an envelope formed by the stirring of the front end of the stirring shovel.

[0020] and / or,

[0021] The stirring shovel system stirs or stirs cooking ingredients, including using a "left-right stir-frying method" or a "rotational dislocation left-right stir-frying method" or a "rotational eccentric left-right stir-frying method" or a "straight line dislocation left-right stir-frying method" or a "deformed straight line dislocation left-right stir-frying method" or an "earth magnetic field left-right stir-frying method" to stir-fry food in a cooking pot.

[0022] Optionally, the stirring spatula includes a stirring spatula vertical rod and a stirring spatula horizontal rod, the stirring spatula vertical rod including the electric function mechanism is called a vertical rod module, the stirring spatula horizontal rod including the electric function mechanism is called a horizontal rod module, and the stirring spatula auxiliary module is used to assist the stirring spatula in achieving stir-frying;

[0023] And / or, the stirring shovel auxiliary module also includes a vertical arm.

[0024] Optionally, the stirring shovel auxiliary module and the stirring shovel cooperate to perform controlled motion to complete the stir-frying of food in the cooking machine, and the controlled motion includes:

[0025] The stirring shovel moves as a whole and rotates around its own rotation axis; or the stirring shovel system moves in a circle around the pot body and stir-fries according to the stir-frying method;

[0026] The overall movement of the stirring shovel includes translation or rotation, or repetition and / or combination of translation or rotation.

[0027] Optionally, the stirring shovel auxiliary module drives the stirring shovel to move as a whole and drives the stirring shovel to rotate around its rotation axis;

[0028] and / or, the stirring shovel can traverse the pot body, or the stirring shovel can traverse the vertical projection area of ​​the pot body opening;

[0029] And / or, the pot body includes an envelope surface formed by the stirring shovel using the "left-right stir-frying method" or the "rotational dislocation left-right stir-frying method" or the "rotational eccentric left-right stir-frying method" or the "straight line dislocation left-right stir-frying method" or the "deformed straight line dislocation left-right stir-frying method" or the "earth magnetic field left-right stir-frying method";

[0030] and / or, the shovel surface and the front edge of the stirring shovel are in shape consistent with the pot body;

[0031] And / or, the rotation of the stirring blade around its own rotation axis and the overall movement of the stirring blade are independently controllable;

[0032] And / or, the stirring shovel is mounted on a cooking machine support, or on the pot body, or on a pot cover, or on a base that moves around the pot body / feeding box;

[0033] and / or, the overall movement of the stirring shovel includes three-dimensional translational movement or rotational movement of the stirring shovel;

[0034] And / or, the vertical rod of the stirring shovel can also be bent in a controlled manner when the stirring shovel moves as a whole;

[0035] And / or, the vertical rod of the mixing shovel can be controllably extended and retracted;

[0036] And / or, when the mixing shovel is significantly smaller than the pot body and the mixing shovel as a whole can only move up and down and horizontally, and the vertical rod module is installed in the pot body, the mixing shovel cross bar can rotate in a controlled manner;

[0037] and / or, the stirring shovel rotates around the vertical center line of the pot body;

[0038] and / or, the stirring shovel system performs a circular motion around the plane of the pot opening or an overall translational motion along the side of the pot;

[0039] and / or, the stirring blade moves translationally along its own rotation axis;

[0040] And / or, the stirring shovel system performs angular lifting and angular downward rotation around a horizontal axis perpendicular to its own rotation axis or the horizontal axis of the center of the pot body, so that the front end of the stirring shovel always matches the curved surface of the pot body;

[0041] And / or, when the pot lid is closed, the stirring shovel can still stir-fry the food in the pot, that is, the stirring shovel can be located in the space surrounded by the pot body and the pot lid.

[0042] Optionally, the main body of the pot is an envelope surface formed by the movement of the front end of the stirring shovel;

[0043] and / or, a stirring shovel spanning across both ends of the pot;

[0044] And / or, the rotating shaft of the stirring shovel passes through the upward projected cylindrical surface of the pot opening and extends outward, so that the stirring shovel is not affected by the oil smoke of the pot;

[0045] And / or, a stirring spatula is assisted on the cooking machine pot body or pot cover.

[0046] Optionally, the stirring shovel system includes one or more linear motion devices, the basic type of which is composed of three linear motion devices connected in series, which are set to move along the horizontal X, Y and vertical Z directions respectively, and the Y axis is the axis direction of the stirring shovel shaft. One of the linear motion devices is installed on the cooking machine bracket or the pot cover or the pot body, and the other two linear motion devices are respectively installed on the moving end of the previous linear motion device, and the moving end of the last linear motion device is connected to the stirring shovel shaft through a vertical arm; the stirring shovel is driven to rotate by the driving device, and the moving end of the last linear motion device drives the stirring shovel to move parallel as a whole.

[0047] Optionally, the vertical arm has no restriction on direction and has a certain length or a length of zero;

[0048] And / or, the driving device is installed on the moving end of the last linear motion device, and drives the mixing shovel to rotate around its own rotation axis through a mechanical transmission device across the vertical arm, or the driving device is installed at the connection end of the vertical arm and the mixing shovel rotation axis, and drives the mixing shovel to rotate nearby;

[0049] Alternatively, when the stirring shovel is smaller than the pot body, the stirring shovel can translate in three dimensions; or, the stirring shovel spans the pot body, in which case there are only two linear motion devices, one in the X and one in the Z directions, and the moving end of the last linear motion device translates in the X-Z two-dimensional plane, which is perpendicular to the axis of the stirring shovel's rotating shaft; or, if there is only horizontal or vertical movement, in which case only one Y-axis vertical linear motion device or one X-axis horizontal linear motion device is required.

[0050] Optionally, the vertical arm can also be extended and retracted to drive the stirring shovel to move as a whole, or the vertical arm can also swing or rotate or bend from the middle, and the axis of the swing or rotation or bending is parallel to the stirring shovel.

[0051] Optionally, the mixing shovel system also includes a polar coordinate translation device, which includes a power device, and the power device drives the swinging or rotational movement of the vertical arm. The axis of the swinging or rotation of the vertical arm is parallel to the axis of the rotating shaft of the mixing shovel itself. The common axis position of the vertical arm is directly above the axis of the rotating shaft of the mixing shovel; the swinging or rotation of the vertical arm drives the mixing shovel to move as a whole.

[0052] Optionally, the middle of the vertical arm auxiliary to the stirring shovel can be bent; or, the vertical arm can be extended and retracted; the power device is on the outer side of the pot cover or on the outer side of the pot body, and the power device drives the vertical arm shaft to rotate through the transmission device, and the axis of the shaft is parallel to the rotation axis of the stirring shovel; the vertical arm shaft passes through the side of the pot cover or the side of the pot body, driving the vertical arm in the pot body to swing or rotate; the shaft of the stirring shovel rotation motor passes through the axis of the vertical arm shaft, drives the transmission device in the vertical arm, and drives the stirring shovel to rotate around its own shaft.

[0053] Optionally, the stirring shovel system rotates as a whole around the plane of the pot body, and / or the stirring shovel system is fixed to a ring, and the ring performs circular motion, and / or the ring is driven to perform circular motion by a gear, and / or the ring is seamlessly connected to the pot body and becomes a part of the pot body; or the stirring shovel system moves as a whole beside the pot body;

[0054] and / or, the vertical rod module includes multiple motion arms connected by joints, and / or, the vertical rod module is capable of horizontally rotating about a vertical axis, and / or, the motion arms are capable of rotating about their extension axes, and / or, the crossbar has two mutually perpendicular rotation axes, and / or, the vertical rod module rotates through the joints so that the base of the vertical rod module remains stationary, thereby enabling left-right stir-frying, rotationally offset left-right stir-frying, linearly offset left-right stir-frying, and random movement of pressing a stirring spatula onto food, and / or, the base of the vertical rod module is capable of movement other than circular or linear motion;

[0055] And / or, common cooking utensils such as spatulas, strainers, and soup spoons are placed in fixed positions, and a gripping clamp or manipulator is provided at the front end of the vertical rod module, which can pick up the common cooking tools separately. The working range can reach the pot body and / or the feeding box, and the cooking tools are put back to their original place after the work is completed.

[0056] Optionally, the auxiliary stirring shovel and the stirring shovel cooperate to perform controlled movement to complete the stir-frying of the food in the cooking machine, and the controlled movement further includes:

[0057] The mixing shovel rotates around its own rotation axis and the mixing shovel vertical rod is bent. The mixing shovel vertical rod is divided into "vertical rod upper rod" and "vertical rod lower rod" at the bending part. The "vertical rod upper rod" is connected to the mixing shovel rotation axis, and the "vertical rod lower rod" is connected to the mixing shovel horizontal rod. The mixing shovel bending includes two bending devices: the "vertical rod upper rod" is rod-shaped and the "vertical rod upper rod" is disc-shaped, which are respectively called "rod-type bending" of the mixing shovel vertical rod or "disc-type bending" of the mixing shovel vertical rod;

[0058] And / or, the mixing shovel crossbar can be rotated in a controlled manner.

[0059] Optionally, the stirring shovel assists in driving the stirring shovel to rotate around its rotation axis and drives the stirring shovel vertical rod to bend;

[0060] And / or, the rotation of the stirring shovel around its own rotation axis and the bending of the stirring shovel vertical rod are independently controllable;

[0061] And / or, the stirring shovel is installed on the cooking machine support and / or installed on the cooking machine pot cover or installed on the pot body.

[0062] Optionally, the main body of the pot is an envelope surface formed by the movement of the front end of the stirring shovel; and / or, the stirring shovel spans both ends of the pot body; and / or, the rotating axis of the stirring shovel passes through the upward projected cylinder of the pot body opening and extends outward, so that the stirring shovel is not affected by the oil smoke of the pot body.

[0063] Optionally, the stirrer stir-frying device includes: a stirring shovel integral rotation drive motor, a stirring shovel vertical rod bending motor and / or a stirring shovel horizontal rod rotation motor,

[0064] And / or, the stirring shovel integral rotating motor drives the stirring shovel to rotate around its own rotating shaft, and drives the stirring shovel vertical rod bending motor to follow the rotation and / or the stirring shovel horizontal rod rotating motor to follow the rotation,

[0065] And / or, the mixing shovel vertical rod bending motor drives the vertical rod to bend, or the mixing shovel vertical rod bending motor drives the rotating shaft of the "lower rod of the vertical rod" to rotate, and drives the mixing shovel horizontal rod rotating motor to rotate along with the rotating shaft, and / or, the mixing shovel horizontal rod rotating motor drives the mixing shovel horizontal rod to rotate,

[0066] And / or, the rotating shaft and transmission device of the mixing shovel vertical rod bending motor drive the mixing shovel "vertical rod lower rod" to rotate through the mixing shovel rotating shaft and the inside of the "vertical rod upper rod" to complete the bending of the mixing shovel vertical rod; or, the mixing shovel vertical rod bending motor is in the mixing shovel "vertical rod upper rod", drives the mixing shovel "vertical rod lower rod" to rotate through the transmission device to complete the bending of the mixing shovel vertical rod; or, the mixing shovel vertical rod bending motor is in the mixing shovel "vertical rod lower rod", drives the mixing shovel "vertical rod lower rod" to rotate through the transmission device to complete the bending of the mixing shovel vertical rod; or, the mixing shovel vertical rod bending motor is in the mixing shovel cross bar, drives the mixing shovel "vertical rod lower rod" to rotate through the transmission device to complete the bending of the mixing shovel vertical rod,

[0067] And / or, the mixing shovel's overall rotating motor rotates, driving the mixing shovel's rotating shaft to rotate, and finally driving the mixing shovel as a whole to rotate around the mixing shovel's own rotating axis. At the same time, the mixing shovel's rotating shaft also drives the mixing shovel's crossbar bending driving motor to rotate synchronously. The rotating shaft of the crossbar rotating motor is inside the mixing shovel's rotating shaft. When the mixing shovel's crossbar needs to be bent, the rotating shaft of the mixing shovel's crossbar bending motor rotates, and finally drives the mixing shovel's crossbar to rotate through the mechanical transmission device inside the mixing shovel's rotating shaft and the mechanical transmission device inside the mixing shovel's vertical rod.

[0068] And / or, the rotating shaft and transmission device of the mixing shovel cross bar rotating motor pass through the rotating shaft of the mixing shovel vertical rod and the inside of the "lower rod of the vertical rod" to finally complete the rotation of the mixing shovel cross bar; or, the micro-mixing shovel cross bar rotating motor is placed in the rotating shaft of the mixing shovel vertical rod and drives the mixing shovel cross bar to rotate through the transmission device in the bent vertical rod; or, the micro-mixing shovel cross bar rotating motor is placed in the mixing shovel vertical rod and drives the mixing shovel cross bar to rotate through the transmission device in the vertical rod; or, the micro-mixing shovel cross bar rotating motor is placed in the mixing shovel cross bar and directly drives the mixing shovel cross bar to rotate.

[0069] Optionally, the mixing shovel bending motor and the mixing shovel driving motor adopt a nested driving structure, and the bending motor drives the mixing shovel vertical rod to bend through a mechanical transmission device.

[0070] And / or, the mixing shovel bending motor and the mixing shovel driving motor adopt a follower structure, that is, the bending motor rotates with the rotation of the mixing shovel, and the bending motor drives the mixing shovel vertical rod to bend through a mechanical transmission device,

[0071] And / or, the cross-bar rotating motor adopts a follower structure and / or a nested drive structure combination, including the cross-bar rotating motor moving as a whole with the mixing shovel, and / or the cross-bar rotating motor rotating with the bending shaft of the mixing shovel, and / or the cross-bar rotating motor and the vertical rod bending shaft are nested and driven, and / or the cross-bar motor rotates with the vertical rod, and the cross-bar rotating motor drives the cross-bar to rotate through a mechanical transmission device.

[0072] Optionally, the mixing shovel horizontal rod rotates so that the mixing shovel vertical rod bends with a bending point at the mixing shovel horizontal rod rotation axis.

[0073] Optionally, the stirring shovel auxiliary module cooperates with the stirring shovel to perform controlled movement to complete the stir-frying of food in the cooking machine, and the controlled movement includes: the stirring shovel rotating around its own rotation axis and the stirring shovel vertical rod extending and retracting.

[0074] Optionally, a combination of a nested drive structure and a follower structure is used in the order of overall movement of the stirring shovel, rotation of the stirring shovel, bending of the stirring shovel vertical rod / extension of the stirring shovel vertical rod, and rotation of the stirring shovel horizontal rod to achieve various stir-frying forms of the stirring shovel.

[0075] Optionally, different combinations of the overall movement of the stirring shovel, the rotation of the stirring shovel, the bending / extension of the vertical rod of the stirring shovel, and the rotation of the horizontal rod of the stirring shovel are implemented at both ends of the stirring shovel.

[0076] Optionally, different stirring shovels can be rotated or moved in coordination through a synchronous transmission device; and / or the corresponding rotating shafts at both ends of the same stirring shovel can be rotated and / or supported synchronously; and / or, through a synchronous support device, different stirring shovels can be moved synchronously or the left and right rotating shafts of the same stirring shovel can be moved synchronously.

[0077] Optionally, the synchronous transmission device / synchronous support device can be installed not only on the outside of the pot body / pot cover, but also on the inside of the pot body / pot cover, and / or, a stirring shovel spanning both ends of the pot body is used as the synchronous transmission device / synchronous support device.

[0078] Optionally, the transmission device is a pulley system, and the stirring shovel spans the left and right sides of the pot body. On the right side of the pot body, the driving motor rotates, and the rotation axis is parallel to the stirring shovel shaft, and the right end shaft is driven to rotate through the pulley system; the driving motor also drives the transmission shaft to rotate, and the transmission shaft spans from the right side of the pot body to the left side of the pot body, driving the pulley system on the left side of the pot body, and driving the stirring shovel shaft on the left side of the pot body to rotate synchronously; the pulley system can also be replaced with a worm system accordingly.

[0079] An embodiment of the present invention also discloses a cooking machine, comprising a stirrer stir-frying device as described in any one of the above items, wherein a pot cover is used to complete part of the auxiliary function of the stirring shovel, and the pot cover can move up and down and / or rotate around the pot cover rotation axis, driving the stirring shovel to move as a whole or driving the rectangular coordinate translation device or polar coordinate translation device on the pot cover.

[0080] Optionally, when the stirring shovel is translated as a whole, the stirring shovel can also rotate around the vertical axis of the center of the pot body;

[0081] And / or, the vertical rod of the stirring shovel can be bent or the vertical rod can be extended and / or the horizontal rod of the stirring shovel can be rotated;

[0082] And / or, when the vertical rod of the stirring shovel is bent or the vertical rod is extended and / or the horizontal rod of the stirring shovel is rotated, the vertical arm in the stirring shovel auxiliary can be simplified to zero length.

[0083] Optionally, there are holes or slots on the enclosing surface of the pot body / pot cover, allowing the transmission device to pass through the holes or slots to drive the stirring shovel in the pot body to rotate and move.

[0084] Optionally, the stirring shovel spans across both ends of the pot body or is smaller than the pot body; and / or, a crossbar shovel is installed on the stirring shovel crossbar or a vertical bar close to the crossbar;

[0085] And / or, the intersection of the horizontal shovel and the vertical rod is nearly perpendicular to the vertical rod, so that the mixing shovel is shaped like a hoe when viewed from the side; the horizontal shovel is shaped like a widened spatula when viewed from the top, including a thin piece in the middle;

[0086] and / or, having slightly raised edges on both sides and a slightly raised curved edge in the middle;

[0087] and / or, the horizontal shovel is mirror-symmetrical to the vertical shovel of the mixing shovel;

[0088] and / or, installing a rotating shaft with a rebound function on the vertical rod;

[0089] and / or, installing a rotating shaft with a rebound function at the rotating shaft of the crossbar shovel;

[0090] And / or, a rotating device is installed in the mixing shovel to drive the horizontal bar shovel to rotate, and the driving power is transmitted in the mixing shovel or in the vertical bar or through a transmission device in the vertical bar;

[0091] And / or, a rotating shaft is installed between the vertical rod rebound device and the horizontal rod shovel, and the horizontal rod shovel is driven to rotate around the device to achieve stir-frying.

[0092] and / or, the rotating shaft coincides with the rotating shaft of the crossbar shovel, so that the crossbar shovel can be driven by the transmission device and also has a rebound function;

[0093] and / or, shifting the equilibrium position of the stirring shovel with a rebound function from a position perpendicular to the vertical rod to a direction close to the pot body by an angle;

[0094] and / or, installing a blocking device to limit the range of motion of the mixing shovel,

[0095] and / or, the inclined edges and the vertical bars form a blocking structure,

[0096] And / or, the middle edge of the stirring spatula is inclined.

[0097] Optionally, a pipeline design is adopted, and various mechanical transmission devices in the stirring shovel that are exposed to the oil smoke of the pot, including gears, belts and pulleys, chains, universal joints and rotating shafts, are sealed and installed in the pipeline to avoid contamination by oil smoke and water vapor; and / or, the vertical arm is made into a disc shape to reduce the accumulation of dirt and grime.

[0098] Optionally, a heating device is provided at the bottom of the cooking machine pot body, and the heating device includes an electric heating device or a gas heating device, and the electric heating device is fitted with the curved surface of the pot body or is directly installed on the pot body.

[0099] Optionally, the opening surface of the cooking machine pot body is horizontal or has an angle of 0 to 90 degrees with the horizontal plane, and / or a conductive slip ring is installed at the pot body shaft so that when the pot body rotates, the electrical signal can be smoothly sent from the pot body shaft to the heating device at the bottom of the pot body without being affected by the rotation of the pot body, and / or the pot lid opens to the rear.

[0100] Optionally, the mixing shovel shaft is horizontal or has an angle of 0 to 90° with the horizontal plane, and / or, when the mixing shovel is installed on the pot body, a rotary joint is installed at the mixing shovel shaft so that external water, air / steam can be delivered to the mixing shovel through the rotary joint without being affected by the rotation of the mixing shovel, and there is a nozzle at the mixing shovel shaft / mixing shovel vertical rod / mixing shovel horizontal rod; and / or, a conductive slip ring is installed on the mixing shovel so that the electrical signal of the cooking machine can be interconnected with the electronic components of the mixing shovel vertical rod / cross rod, and / or, a rotating nozzle is installed at the shaft at one end of the mixing shovel in the pot body.

[0101] Optionally, the stirring shovel and the opening plane of the pot body form different combinations, including: the opening plane of the pot body is parallel to the rotating axis of the stirring shovel, in which case the rotating axis of the pot body is consistent with the rotating axis of the stirring shovel; or, the opening plane of the pot body is perpendicular to the rotating axis of the stirring shovel, in which case the rotating axis of the pot body is perpendicular to the rotating axis of the stirring shovel.

[0102] Optionally, the cooking machine pot body rotates around its rotating axis so that the pot body is tilted, and the dishes, cooking ingredients or waste water and waste residue are sent out of the pot body in combination with the rotation of the stirring shovel and / or the weight of the cooking ingredients themselves.

[0103] Optionally, the cooking machine includes a feeding device for irregular cooking ingredients, wherein the irregular cooking ingredients are placed in a feeding box, and the feeding box is connected to a multi-link device. The multi-link device rotates, driving the feeding box to rotate rapidly, and the opening of the feeding box is turned toward the opening of the pot body, and the irregular cooking ingredients in the feeding box are fed into the pot body; and / or, the positions of multiple feeding devices for irregular cooking ingredients are selected on one side and / or the left and right sides and / or the front of the pot body.

[0104] Optionally, the cooking machine includes an irregular cooking ingredient feeding device, the feeding box of the feeding device is located in the pot cover, the cooking ingredients are placed in the feeding box, and when feeding is needed, the bottom of the feeding box is opened and the cooking ingredients are put into the pot body.

[0105] Optionally, the cooking machine further comprises a device for feeding granular and powdered cooking ingredients.

[0106] Optionally, an opening for adding liquid food is installed on the pot lid and / or the pot body, and / or a nozzle is installed on the stirring shovel / pot body / pot lid for cleaning the pot body, pot lid and stirring shovel, and / or a heating device is installed on the pot lid to form top heating, and / or a ventilation / filtering device is installed on the pot lid to replenish fresh air in the pot body, prevent foam from forming and growing, or extract / filter the oil smoke in the pot body / pot lid.

[0107] Optionally, a bottom leakage spray device is installed at the bottom of the pot body, and the bottom leakage spray device is used to grind food, filter food, discharge food waste, or clean the pot body, pot cover, the stirring shovel itself and all devices surrounded by the pot body and lid; and / or, the pot body is installed with a side wall rotary spray device, and / or, the pot lid is installed with a top rotary spray device.

[0108] Optionally, a food collecting funnel is provided under the pot body of the cooking machine, which can collect the food coming out of the pot body and make the food leak out from the smaller holes into the bowl below the funnel.

[0109] Optionally, a dish serving device is installed at the bottom of the pot body, and a bowl holder is provided on the dish serving device, which can place bowls and drive the placed bowls to move in and out; when the bowl holder moves out of the cooking machine, the bowls on the bowl holder are removed or bowls for dishes are placed on the empty bowl holder; when the bowls are transported to the bottom of the pot body by the moving device, the bowls are used to receive the fried ingredients in the pot body. After the ingredients are received, the bowls can be sent out of the cooking machine by the bowl holder to facilitate picking up the fried dishes, and / or the pot body is rotated to pour the dishes, and combined with the stirring spatula, the dishes are poured into the bowls on the bowl holder.

[0110] Optionally, there are a water box and a dish serving device under the pot body; and / or, the water box receives waste water and waste residue poured out or dropped from the pot body, the waste water and waste residue enter the filtering device, and the waste water is discharged from the opening on the water box; and / or, the pot body rotates to pour water, and combined with the stirring shovel, the waste water and waste residue in the pot body are poured into the waste water tank; and / or, the dish serving device is used to receive dishes, and the water box is located under the dish serving device; and / or, when receiving waste water from the pot body, the bowl holder of the dish serving device is not in the bottom area of ​​the pot body, and there is no obstruction between the pot body and the water tank to avoid hindering the waste water from entering the water tank.

[0111] Optionally, the cooking machine is equipped with a manual control system, so that the cooking machine can be manually controlled to cook, including starting and stopping the cooking machine, controlling the size and start and stop of the heating power, opening and closing the pot lid, adding cooking ingredients at different times, stirring with a stirring spatula at different speeds and amplitudes, serving food, washing the pot, and pouring out waste water in the pot. The entire cooking process is completed through manual operation; and / or, a transparent observation port is installed on the pot lid to observe the manual stirring situation.

[0112] Optionally, the pot body includes a main body and a jigsaw puzzle, the bottom of the main body is provided with an opening, the jigsaw puzzle is adapted to the opening, and the jigsaw puzzle is installed at the opening;

[0113] When the panels close the opening, the panels and the main body are completely assembled to form the pot body; when the panels open the opening, the food in the pot body can fall out of the opening;

[0114] The panels can be rotated or translated relative to the main body, or a combination of rotation and translation. When the panels are rotated or translated relative to the main body, or a combination of rotation and translation, the opening can be closed or opened.

[0115] Optionally, the pot body further includes an auxiliary plate, which is arranged at the periphery of the opening and / or the junction of the panels to restrain food falling from the opening or prevent water vapor from escaping.

[0116] Optionally, the auxiliary plate includes a side auxiliary plate, and when the splicing plate opens the opening, the splicing plate and the side auxiliary plate jointly restrain food falling from the opening, and the splicing plate is always in close contact with the side auxiliary plate;

[0117] Alternatively, the auxiliary plate includes a side auxiliary plate and a panel auxiliary plate, the side auxiliary plate is arranged on the outer periphery of the opening, and the panel auxiliary plate is arranged at the junction of the panel, when the panel opens the opening, the panel, the side auxiliary plate and the panel auxiliary plate jointly restrain the food falling from the opening, and the panel and / or the panel auxiliary plate are always in close contact with the side auxiliary plate.

[0118] An embodiment of the present invention also discloses a "left-right" stir-fry cooking method for an intelligent cooking machine, called the "RL" stir-fry method, which is applied to a cooking machine as described in any of the above items, wherein the cooking machine includes a stirring shovel system and a pot body, and the method includes: the stirring shovel rotates, and the front end of the stirring shovel adheres to the pot body near the right end edge of the pot body and rotates toward the center area of ​​the pot body, stirring the cooking ingredients and pushing them toward the center area. When the stirring shovel reaches the center area of ​​the pot body, the front end of the stirring shovel gradually separates from the surface of the pot body, and at the same time gradually brings the cooked food on the stirring shovel upward and away from the surface of the pot body, and then turns the food over and puts it down, and the stirring shovel continues to rotate to reach the left end edge of the pot body; then, and / or, the stirring shovel adheres to the pot body near the left end edge of the pot body and rotates from the left end toward the center area of ​​the pot body. When the stirring shovel reaches the center area of ​​the pot body, the front end of the stirring shovel gradually separates from the surface of the pot body, turns the food over, and the stirring shovel continues to rotate to reach the right end edge of the pot body.

[0119] Optionally, stir the food by using a stirring spatula,

[0120] And / or, by bending the vertical rod and / or rotating the horizontal rod of the stirring shovel, the front end of the stirring shovel is downward, and the food is dumped forward in the direction of movement, which is called "front throwing", or the "front throwing" is evolved into the "snowball throwing"; and / or, by bending the vertical rod and / or rotating the horizontal rod of the stirring shovel significantly, the front end of the horizontal rod of the stirring shovel is rotated backward, and the food is dumped backward in the direction of movement, which is called "back throwing"; and / or, the horizontal rod of the stirring shovel is rotated about the axis of the extension direction of the vertical rod of the stirring shovel, and the food is turned over and dropped, which is called "side throwing".

[0121] And / or, when the stirring spatula is stirred left and right, the food is stirred on the way out and not on the way back, or the food is brought to the center of the pot on the way back;

[0122] And / or, the stirring spatula is placed on the food to scatter the food in up and down, left and right, diagonally up / down, and random directions and trajectories.

[0123] And / or, the stirring shovel is only used for stir-frying back and forth, and / or, the stirring shovel is only used for stir-frying back and forth, but the stirring path not only passes through the center of the pot body, but also deviates from the center of the pot body, which is called "Earth magnetic field type left-right stir-frying", and / or, the stirring shovel is stirred while moving horizontally, which is called "straight line dislocation type left-right stir-frying method", and / or, the stirring shovel is stirred while being straight line dislocated and slowly rotated around the horizontal axis so that the stirring shovel fits the curved pot body, which is called "deformed straight line dislocation type left-right stir-frying method", and / or, the stirring shovel is stirred while rotating around the center of the pot body, which is called "rotational dislocation type left-right stir-frying method", and / or, the stirring shovel is stirred while rotating around the center of the pot body, and the stirring shovel is slightly deviated from the center of the pot body, which is called "rotational eccentric type left-right stir-frying method".

[0124] Optionally, the number of times the stirring shovel stirs toward the "left" end is substantially equal to the number of times the stirring shovel stirs toward the "right" end;

[0125] and / or, when the stirring shovel passes through the center or near the center of the pot while stirring left-right, the stirring shovel flips the food forward or backward in the direction of motion; or, when the stirring shovel deviates from the center of the pot while stirring left-right, the stirring shovel flips the food toward one side of the direction of motion and toward the center of the pot;

[0126] And / or, the stirring spatula is lowered from above the food to contact the food, and then moves left-right or randomly to break up the food locally.

[0127] The stir-frying device included in the intelligent cooking machine of the present invention not only retains the advantages of conventional stirrers, such as good stirring effect and simplicity and practicality, but also overcomes the inherent shortcomings of existing stirrers. This allows the ingredients to be fully stir-fried and evenly heated during cooking, while also ensuring that the ingredients remain in the heating zone near the bottom of the cooking pot.

[0128] The intelligent cooking machine of this invention solves the problem of food stir-frying while also facilitating food dispensing with a simple solution. The intelligent cooking machine of this invention utilizes a novel stir-frying device as its core. This device can be combined into a novel cooking stirrer, a novel cooking pot, and an intelligent cooking machine. This invention provides a simple overall structure for the intelligent cooking machine, enabling timed feeding and automatic dishing and cleaning after cooking, demonstrating a high level of intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0129] Figure 1A It is a structural diagram of a universal agitator;

[0130] Figure 1B A schematic structural diagram of a mixing shovel provided in an embodiment of the present invention;

[0131] Figures 2A to 2F Schematic diagram of the inherent problems of the mixing shovel;

[0132] Figures 3A to 3D It is a structural diagram of a drum-type cooking pot;

[0133] Figure 3E and Figure 3F This is a schematic diagram of the mixing shovel shaft in a vertical position and the pot cover feeding;

[0134] Figures 4A to 4D It is a structural diagram of a common linear motion device and transmission device;

[0135] Figures 4E to 4G A schematic structural diagram of a sports device provided by an embodiment of the present invention;

[0136] Figures 5A to 5CA schematic diagram of a nested drive mechanical structure provided by an embodiment of the present invention;

[0137] Figures 6A to 6M This is a schematic diagram illustrating the working principles of the stirring spatula and the cooking pot;

[0138] 7A to 7D This is a schematic diagram of the stir-frying principle of the new stirring shovel;

[0139] Figure 8 Schematic diagram of the stirring and frying method and motion trajectory;

[0140] Figure 9 Schematic diagram for serving food;

[0141] Figures 10A to 10D It is a schematic diagram of a movable baffle and multiple mixing shovels;

[0142] Figures 11A to 11Q Schematic diagram of a stir-frying device with an integrally movable stirring shovel provided in an embodiment of the present invention;

[0143] 12A to 12F Schematic diagrams of several improved mixing shovels;

[0144] Figure 13A and Figure 13B Schematic diagram of the cooking pot system composed of the stirring shovel system;

[0145] Figure 14A and Figure 14B A schematic diagram of an intelligent cooking machine with a cooking pot as the core and manual buttons;

[0146] Figure 15 This is a schematic diagram of a new cooking machine;

[0147] Figures 16A to 16J A schematic diagram of another stir-fry device with a stirring shovel that moves as a whole, provided by an embodiment of the present invention;

[0148] Figure 17 This is an illustration of the robot arm with a stirring shovel (device), a stirring shovel (device), and a stirring shovel (device) auxiliary module of the present invention;

[0149] Figure 18 This is a schematic structural diagram of a panel-structured pot body of an intelligent cooking machine provided by an embodiment of the present invention;

[0150] Figure 19 This is a schematic structural diagram of a second type of jigsaw puzzle pot body of the intelligent cooking machine provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0151] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0152] The present invention is a related patent of the inventor's patents on stirrers for cooking machines and cooking machines, and further discloses a cooking machine using the new stirrer.

[0153] The inventors previously disclosed a novel stirrer for a stir-fry machine, effectively resolving the stir-frying problem encountered in the aforementioned intelligent cooking machine. This present invention is a related patent to the aforementioned invention, specifically a method and device for achieving the overall motion of the stirrer. Building on this, the present invention also discloses the overall structure of an intelligent stir-fry machine, comprising a feeding device adapted to the pot body, stir-frying device, and lid, as well as a dish and water receiving device, a manual operating button, and a bottom spray device.

[0154] In addition, the present invention also improves the stirrer by making the stirrer crossbar flat and combining the stirrer with the stirring shovel, thus expanding the connotation of the stirrer. For the purpose of highlighting its characteristics, this stirrer is referred to as a stirring shovel. Similarly, the present invention also expands the vertical rod or vertical rod module of the stirring shovel into a generalized intelligent robotic arm, which can more clearly demonstrate the essence of the cooking machine of the present invention. In other words, a very complex problem is solved by a simple method of butchering and matching, and an efficient solution is found. The cooking machine invented based on this solution has efficient and reasonable characteristics. For example, the present invention can be regarded as finding a suitable stir-frying method, which is achieved through the robotic arm area. The robotic arm is cleverly combined with the pot body and pot lid to form a distributed robotic arm. This cleverly solves the problems of robotic arm movement and miniaturization of the robotic arm within the pot body, the problem that the robotic arm can achieve stir-frying by bending, rotating, etc., while being resistant to oil smoke and water vapor pollution and high temperature working environment, the problem of where to properly place the robotic arm when not stir-frying, and the problem of combining stir-frying with serving. Subsequent patents will show that in a cooking machine where every inch of space is valuable, it takes a hundredfold effort to achieve the beauty of efficiency, reliability, and simplicity. For example, the inventors have noticed that at the world's top exhibitions, there are demonstrations of cooking robots. The product logic is to first install many motion sensors on a famous chef's body to sense the chef's arm stirring and body movement when making a certain dish, forming the overall or final arm movement, and then use a robotic arm to replicate the final movement of the chef's arm. This is quite technically difficult and is similar to recording the washing movements of a laundry expert and then replicating them with a robotic arm. In contrast, the concept of the present invention is somewhat similar to the invention of a drum washing machine (of course, the present invention does not use a drum for cooking), and the product is designed based on the principles of determinism (that is, ensuring that the clothes are washed clean) and the principles of efficiency and simplicity.

[0155] The inventor also disclosed earlier a bottom leakage spray device, a granular and powdered cooking ingredient feeding device, a top rotary spray device and a side rotary spray device, which can also be used in the above-mentioned cooking machine. The present invention can be combined with other patents of the inventor, and adopts a bottom rotary spray device, a top rotary spray device, a side rotary spray device and a granular / powdery cooking ingredient feeding device to provide a new type of cooking machine such as a cooking machine, an electric rice cooker and a bread maker, further enriching and improving the performance of the cooking machine, or forming other cooking machines, such as an electric rice cooker.

[0156] It should be noted that, due to the rich implementation content of the present invention and the large length of each relatively independent section, it is completed in two or more times, each time sharing the same independent claim but different, relatively independent dependent claims.

[0157] For the sake of brevity, some simplifications may occur in the description of the present invention, for example:

[0158] 1. In the schematic diagrams of the present invention, numbers such as component 611a, 611b or 1ba, 1bb often represent the same type of component 611 or 1b. Taking the agitator shaft as an example, in some cases there may be two agitator shafts 611. To distinguish them, one is designated 611a and the other 611b. In other cases, there is only one agitator shaft, or the agitator shaft is referred to as a general term, in which case it is also referred to as agitator shaft 611.

[0159] 2. The front end of the mixing shovel refers to the place where the mixing shovel and the pot body meet. In many practical problems, the front end of the mixing shovel mainly focuses on the place where the mixing shovel is farthest from the rotation axis of the mixing shovel, that is, the outermost part of the mixing shovel.

[0160] 3. Use “ / ” to express “and / or”, for example, “A / B” means “A and / or B”.

[0161] It should be noted that the present invention is related to the inventor's previously published patents, including patent application numbers CN201610906781.X, CN201610173576.7, CN201610078229.6, CN201610235041.8, CN201610913557.3, and 201611067429.8, as well as patent numbers CN2448232 and CN1364436. Therefore, for the sake of brevity, relevant statements such as the bottom leakage spraying device are not described in this patent application. The contents of each patent are connected, and relevant content can be referred to the related patents.

[0162] To facilitate understanding of the present invention, the following embodiments of the present invention are specifically described:

[0163] An embodiment of the present invention provides a stirrer stir-fry device for an intelligent cooking machine, including a stirring shovel system, wherein the stirring shovel system includes a stirring shovel auxiliary module and a stirring shovel. The stirring shovel auxiliary module drives the stirring shovel to realize two or more independent motion modes to stir-fry food in the pot of the intelligent cooking machine. One of the motion modes is to make the front end of the stirring shovel leave the pot surface at a desired position, or

[0164] The stirring shovel system includes a stirring shovel auxiliary module and a stirring shovel. The stirring shovel auxiliary module drives the stirring shovel to realize two or more independent motion modes to stir the food in the pot of the smart cooking machine. One of the motion modes is to make the front end of the stirring shovel leave the surface of the pot at the required position.

[0165] and / or,

[0166] The robotic arm or the stirring shovel auxiliary module drives the stirring shovel to stir the food in the pot of the intelligent cooking machine using a left-right stirring method;

[0167] Among them, the stirring shovel is also called a stirring shovel module.

[0168] In practical applications, robotic arms encompass a wide range of functions. Some powerful robotic arms even include a manipulator. These arms, combined with a simple spatula, can perform complex stir-fries. However, for some simple robotic arms, a powerful stirring spatula is essential for stir-frying. Considering that a spatula is also a type of stirring spatula, for simplicity, we will collectively refer to them as robotic arms combined with stirring spatulas. In some cases, for a more descriptive description, the stirring spatula can be referred to as a spatula or a blade.

[0169] The mixing shovel includes a mixing shovel vertical rod and a mixing shovel horizontal rod. The mixing shovel vertical rod including the electric function mechanism is called a vertical rod module, and the mixing shovel horizontal rod including the electric function mechanism is called a horizontal rod module. In this case, the mixing shovel includes the vertical rod module and the horizontal rod module, and the mixing shovel is called a mixing shovel module. The mixing shovel auxiliary module is used to assist the mixing shovel module in obtaining the electric function; and / or,

[0170] The robotic arm holds the mixing shovel, or the robotic arm and the mixing shovel are connected as one body, and the robotic arm and the mixing shovel vertical rod together form a composite robotic arm, the composite robotic arm includes an electric function mechanism, and the composite robotic arm and the mixing shovel horizontal rod are combined to form a mixing shovel module or a mixing shovel system;

[0171] The mixing shovel auxiliary module also includes a vertical arm, and the minimum length of the vertical arm is zero.

[0172] The robotic arm and the stirring shovel, or the stirring shovel auxiliary module and the stirring shovel, cooperate to perform controlled motion to complete the stir-frying of food in the cooking machine, and the controlled motion includes:

[0173] The overall motion of the stirring shovel and the rotational motion of the stirring shovel around its own rotation axis;

[0174] The overall movement of the stirring shovel includes translation or rotation, or repetition and / or combination of translation or rotation.

[0175] A stirring shovel in an embodiment of the present invention is shaped like a bow without a chord and comprises a stirring shovel rotating shaft and blades. The blades comprise a vertical rod and a horizontal rod. Generally, the vertical rod can be straight or curved, but its overall orientation is away from the stirring shovel's rotating axis. The horizontal rod can also be straight or curved, but its overall orientation is horizontal and is the primary contributor to the distance across the pot.

[0176] The stirring shovel spans both ends of the pot, allowing it to sweep across the entire pot surface in a single rotation. Furthermore, to prevent food from being lost during the stirring process, the stirring shovel conforms to the pot's inner surface. Alternatively, the pot forms part of the envelope created by the stirring shovel's rotation, or simply, the pot's main body forms the envelope formed by the movement of the stirring shovel's front end. Alternatively, the stirring shovel's rotating axis passes through the upward-projected cylindrical surface of the pot's opening, minimizing or eliminating the impact of pot fumes on the robotic arm. Alternatively, the stirring shovel can stir and cook food within the pot when the robotic arm is positioned on the pot itself, the lid, or the lid is closed.

[0177] The motion of the stirring blade of an intelligent cooking machine according to an embodiment of the present invention is characterized by its ability to both independently rotate along the surface of the pot and automatically move away from the pot surface as needed. For example, the front end of the stirring blade can rotate along the pot surface at the outer edge of the pot, thereby pushing food toward the center of the pot. However, once the stirring blade reaches the center, the front end can move away from the pot surface, thus preventing food from being pulled away from the center. The stirring blade of the present invention is hollow, and stirring is primarily performed by the stirring blade's horizontal bar, while the vertical bar primarily supports the stirring blade's horizontal bar.

[0178] The embodiment of the present invention provides a "left-right" stir-fry cooking method for an intelligent cooking machine, which can realize stir-frying with a stirring spatula of the intelligent cooking machine: the stirring spatula rotates, and the front end of the stirring spatula rotates toward the center of the pot body near the edge of the right end of the pot body, such as point R, where there is no cooking material, to stir the cooking material and push it toward the center area. When it reaches the center area of ​​the pot body, the front end of the stirring spatula gradually separates from the surface of the pot body, and at the same time, the front end of the stirring spatula gradually brings the cooked food on the stirring spatula upward and away from the surface of the pot body. Then, by bending the vertical rod of the stirring spatula and / or rotating the horizontal rod of the stirring spatula, the stirring spatula is tilted downward, and the food is rolled and put down in the front of the movement direction. Or by bending the vertical rod of the stirring spatula and / or rotating the horizontal rod of the stirring spatula, the stirring spatula is turned upward significantly or turned one or more times, and the food is turned over and put down backward in the direction of movement. The stirring spatula continues to rotate and can reach the left edge of the pot body, for example, point L; then, and / or, the stirring spatula is re-attached to the pot body at the place without cooking ingredients near the left edge of the pot body (point L), and starts to rotate in the opposite direction toward the center area of ​​the pot body. When reaching the center area of ​​the pot body, the front end of the stirring spatula gradually separates from the surface of the pot body, and the stirring spatula continues to rotate to reach the right edge of the pot body (point R), thereby completing a complete classic "stirring process" or "stir-frying process".

[0179] A non-classical stirring or stir-frying method can be to stir-fry from point R at one end of the pot to point L at the other end, then continue to rotate, and stick to the pot near point R again, repeat several times, and for the last time stick to the pot near point L, then stir-fry from point L to point R, and repeat several times.

[0180] Through repeated cycles of these classic or unconventional "stirring" or "flipping" processes, the food is ultimately evenly heated and maintained in the center of the wok. A single cooking session can involve hundreds of flipping cycles. Generally speaking, absent any specific reason, the number of flips from point R to point L is roughly equal to the number from point L to point R. In principle, the flipping motion of the stirring spatula from point R to point L is equivalent to the flipping motion from point L to point R. Each flipping process is both a stirring process and a return of ingredients pushed away from the center by the previous flipping, resulting in a perfect balance. We refer to this flipping method as the "RL" method.

[0181] How to make the stirring spatula achieve the above-mentioned movement or stir-frying? The embodiments of the present invention propose four basic solutions.

[0182] The first option is to use the stirring shovel to move as a whole. For example:

[0183] 1. Rotate the stirring shovel clockwise from the right edge of the pot, close to the surface, toward the center, pushing the food on the right side toward the center. Once it reaches the center, lift the stirring shovel upward, freeing the stirring shovel bar from the food. This allows the stirring shovel to continue rotating clockwise, but it will not push the food further to the left.

[0184] 2. When the stirring shovel continues to rotate to the left edge, it lowers as a whole, restoring it to the pot. Then, it rotates counterclockwise, pushing the food on the left side of the pot toward the center. Then, it lifts up as a whole, freeing the stirring bar from the food. This prevents the food from being pushed away from the center when the stirring shovel continues to rotate counterclockwise. When it continues to rotate to the right edge, it lowers as a whole, restoring it to the pot.

[0185] 3. Repeat steps 1 and 2 to complete the stir-frying effect.

[0186] The difficulty in designing a stirring shovel is to prevent oil smoke from contaminating the stirring shovel motor and other drive components and transmission devices, and to ensure that the stirring shovel is small and has a simple structure without affecting the function of the pot lid. The inventor previously focused on the overall movement scheme of the stirring shovel, and the present invention focuses on the implementation device.

[0187] The second solution is to make the vertical rod of the mixing shovel retractable. For example:

[0188] 1. The stirring shovel rotates clockwise from the right edge of the pot, close to the pot surface, toward the center, pushing the food on the right side toward the center. Once it reaches the center, the vertical rod of the stirring shovel retracts, shortening it. This causes the horizontal rod of the stirring shovel to lift up and away from the food surface. Although the stirring shovel continues to rotate clockwise, it will not push the food forward any further.

[0189] 2. As the mixing shovel continues to rotate to the left edge, the vertical rod extends, causing the horizontal rod to descend and reattach to the pot. The shovel then rotates counterclockwise, pushing the food on the left side of the pot toward the center. At this point, the vertical rod retracts, shortening it. The horizontal rod lifts away from the pot surface and then lifts, freeing it from the food. This prevents the food from being pushed away from the center when the shovel continues to rotate counterclockwise. As the mixing shovel continues to rotate to the right edge, the vertical rod extends, causing the horizontal rod to descend and reattach to the pot.

[0190] 3. Repeat steps 1 and 2 to complete the stir-frying effect.

[0191] The third solution is that the vertical rod of the mixing shovel can be bent. For example:

[0192] 1. The stirring shovel rotates clockwise from the right edge of the pot, close to the pot surface, toward the center, pushing the food on the right side toward the center. Once it reaches the center, the vertical rod of the stirring shovel bends, shortening it. This causes the horizontal rod of the stirring shovel to lift upward from the pot surface, freeing it from the food. This allows the stirring shovel to continue rotating clockwise, but it will not push the food forward any further.

[0193] 2. As the mixing shovel continues to rotate to the left edge, the vertical rod straightens and lengthens again, allowing the horizontal rod to rest firmly against the pot. The shovel then rotates counterclockwise, pushing the food on the left side of the pot toward the center. At this point, the vertical rod contracts, shortening, and the horizontal rod lifts away from the pot surface, freeing it from the food. This prevents the food from being pushed away from the center when the shovel continues to rotate counterclockwise. As the mixing shovel continues to rotate to the right edge, the vertical rod straightens and lengthens again, allowing the horizontal rod to descend and rest firmly against the pot.

[0194] 3. Repeat steps 1 and 2 to complete the stir-frying effect.

[0195] The fourth solution is that the mixing shovel crossbar can rotate. For example:

[0196] 1. The stirring shovel's crossbar is thin and flat. The stirring shovel rotates clockwise from the right edge of the pot, close to the pot surface, toward the center, pushing the food on the right side toward the center. Once in the center, the stirring shovel's crossbar rotates, lifting the front end off the pot surface and away from the food. This allows the stirring shovel to continue rotating clockwise, but it will not push the food forward.

[0197] 2. When the mixing shovel continues to rotate to the left edge, the mixing shovel crossbar rotates, allowing it to re-attach to the pot body. The mixing shovel then rotates counterclockwise, pushing the food on the left side of the pot toward the center. At this point, the mixing shovel crossbar rotates, lifting it off the pot surface again and separating it from the food. This prevents the mixing shovel from pushing the food away from the center when it continues to rotate counterclockwise. When the mixing shovel continues to rotate to the right edge, the mixing shovel rotates back to its original shape, allowing the mixing shovel crossbar to descend and re-attach to the pot body.

[0198] 3. Repeat steps 1 and 2 to complete the stir-frying effect.

[0199] Obviously, in order to complete the above functions, the stirring shovel of the present invention will not be a simple stirring device, but will be much more complicated than a conventional stirring device. For the purpose of better description, the complex stirring shovel of the present invention is referred to as a stirring shovel module or a stirring shovel system. The stirring shovel system may include two parts: a stirring shovel and a stirring shovel auxiliary module (or a stirring shovel driving device). The stirring shovel includes a stirring shovel vertical rod and a stirring shovel horizontal rod. The stirring shovel vertical rod with an electric function mechanism is called a vertical rod module, and the stirring shovel horizontal rod with an electric function mechanism is called a horizontal rod module. In this case, the stirring shovel includes a vertical rod module and a horizontal rod module. In this case, the stirring shovel is called a stirring shovel module. The stirring shovel and the stirring shovel auxiliary module are closely related, and sometimes there is no strict boundary (just as there is no strict boundary between the stirring shovel vertical rod and the stirring shovel horizontal rod, or just as there is no strict boundary between the pot body heating area). However, the unpowered part is usually called the stirring shovel, and the powered part that drives the stirring shovel is called the stirring shovel auxiliary module. However, in some general descriptions, the term "mixing shovel" is still used instead of "mixing shovel module" or "mixing shovel system" to avoid being redundant but not causing ambiguity. Moreover, when the mixing shovel does not include the mixing shovel auxiliary module, the mixing shovel module or "mixing shovel system" is degenerated into a mixing shovel.

[0200] Later on Figure 6I When describing the working principle of the stirring shovel and the driving module in detail, in order to avoid ambiguity, the present invention sometimes uses stirring shovel blades, stirring shovel vertical rods and stirring shovel horizontal rods to concretely represent the stirring shovel in the pot body.

[0201] Obviously, various combinations of the four schemes can also achieve the purpose of stir-frying, such as the combination of the first and second schemes, the combination of the first and third schemes, the combination of the first and fourth schemes, and the combination of the first, second, third, and fourth schemes, and so on. A specific example is the first and third combination: the overall movement of the stirring shovel is combined with the bending of the vertical rod of the stirring shovel. The stirring shovel can also repeatedly apply the same scheme, such as bending the vertical rod of the stirring shovel twice. But for the sake of simplicity, the present invention summarizes the multiple bending of the stirring shovel into the bending of the stirring shovel. Similarly, the multiple overall movements of the stirring shovel are summarized into the overall movement; the multiple extension and retraction of the stirring shovel blades are summarized into the extension and retraction of the stirring shovel, and the multiple rotations of the stirring shovel are summarized into the rotation of the stirring shovel. These situations have been taken into consideration in the present invention.

[0202] As will be seen later, the mixing shovel horizontal bar rotation and the mixing shovel vertical bar bending can be classified into the same category, and there is no essential difference between the two. Therefore, when not otherwise specified in this invention, the mixing shovel blade horizontal bar rotation is included in the mixing shovel blade bending. Therefore, the mixing shovel blade bending plus the mixing shovel blade horizontal bar rotation is also considered as the category of multiple mixing shovel bending.

[0203] The edges of the mixing blades can be lined with a high-temperature-resistant soft material. This ensures a closer fit between the blade and the pot, preventing scratches and allowing for a certain margin of tolerance. The soft material can be staggered with rows of serrations, allowing some liquid to flow through but preventing the cooking ingredients from passing through. This allows some grease to remain on the pot surface, providing lubrication and heat dissipation. The most commonly used high-temperature-resistant, non-toxic soft material is silicone.

[0204] The redundancy of the mixing blades can also be achieved by allowing the vertical rod or the horizontal rod or the blades perpendicular to the horizontal rod to be able to perform a certain degree of elastic bending.

[0205] The stirring spatula can be mounted on the pot body, the pot lid, or outside the pot body or pot lid, and then moved back into the pot when needed. A cooking machine can be equipped with one or more stirring spatulas, for example, two stirring spatulas mounted orthogonally on the pot body, or a stirring spatula mounted on the pot body and a stirring spatula mounted on the pot lid.

[0206] The method of the present invention has nothing to do with the specific shape of the stirring spatula. For example, the extension and retraction of the vertical rod of the stirring spatula can be extended to the extension and retraction of the stirring spatula, the bending of the vertical rod of the stirring spatula can be extended to the bending of the stirring spatula, and the rotation of the horizontal rod of the stirring spatula can also be regarded as the rotation of the front end part of the stirring spatula (the part close to the pot body), which are all within the scope of protection of this patent. However, in order to illustrate the content of the present invention, a specific stirring spatula must be selected for demonstration. In particular, a stirring spatula used in the intelligent cooking machine of the present invention has a prototype in the shape of a bow without a string. The cross-sectional wire diameter of the stirring spatula is small, like a "stick-shaped" shape, and the structure is simple. However, it has been analyzed and explained in the background technology section that it is impossible to achieve an excellent stir-frying function by directly using such a stirring spatula. According to the stir-frying method invented by this patent, a revolutionary breakthrough innovation is made in the stirring spatula, which for the first time relatively perfectly solves the stir-frying problem that has plagued intelligent cooking machines, and is of great significance to the development of intelligent cooking worldwide. The stirring spatula of the present invention not only meets the stir-frying requirements of intelligent cooking machines but also retains the simple and compact characteristics of general stirring spatulas. The stirring spatula device has the following outstanding advantages:

[0207] 1. The stirring shovel and the cooking machine thereof are not easy to harbor dirt and grime during operation and are easy to clean.

[0208] 2. The characteristic of the stirring shovel of the present invention is that its blades span the surface of the pot body. When the stirring shovel rotates along the pot body, the raw materials in the pot body that are in contact with the stirring shovel can be driven at the same time, so the efficiency is high and the driving mechanism of the stirring shovel is simple.

[0209] 3. The stirring shovel of the present invention still retains the characteristics of being simple and compact and can be closely attached to the surface of the pot body. In addition, the cross-sectional diameter of the stirring shovel can be made smaller. Therefore, even if the stirring shovel is inside the pot body, it will not affect the addition of cooking ingredients into the pot body.

[0210] 4. The stirring shovel of the present invention can be mounted on the pot body or the pot lid. It can still operate even with the pot lid closed, eliminating the need to move the pot lid back and forth and the stirring shovel in and out, greatly simplifying the overall structure of the cooking machine. It also prevents cooking fumes from contaminating the stirring shovel and pot lid drive mechanisms.

[0211] 5. The stirring shovel of the present invention can stir-fry well and also makes the opening of the cooking pot very large, which is convenient for adding materials.

[0212] 6. The stirring shovel of the present invention is cleverly combined with the cooking pot to scoop out the cooking ingredients, giving full play to the coordination function of the stirring shovel and the pot body.

[0213] 7. The stirring shovel of the present invention retains the rod-like characteristics of conventional stirrers while achieving the stir-fry function. Therefore, the stirring shovel can be hollow and perforated with small holes. This allows water and air to be sprayed through the stirring shovel to achieve purposes such as cleaning the pot or draining rice water from the rice cooker. While the stirring shovel is considered a string when discussing the principles of the present invention, in actual use, it can be constructed as a hollow pipe.

[0214] 8. A stringless mixing shovel module structure can well take into account both feeding and mixing.

[0215] When using a stirring spatula for stir-frying, the shape of the pot body is also constrained by the stirring spatula. That is, the envelope formed by the pot body and the stirring spatula rotating about their axis are similar. Of course, the actual pot body must take into account factors such as friction, manufacturing tolerances, and functional design. Therefore, there may be some minor differences between the theoretical pot body and the actual pot body. For example, installing a flexible material at the front end of the stirring spatula's crossbar can make the pot body shape slightly deviate from the stirring spatula's rotation envelope. These differences do not affect the rights of this patent.

[0216] The novel blender of the present invention, combined with a pot body and a pot lid, yields a novel blender, such as a dough mixer or salad blender. This blender, combined with a heating device, becomes a novel cooking pot, such as a simple frying pan, rice cooker, bread maker, soymilk maker, coffee maker, and the like. This cooking pot, combined with a time-sharing feeding device, an automatic dispensing device, an Internet of Things (IoT) identification device, an operating system, and an Internet module, becomes an intelligent cooking machine. Conversely, if this intelligent cooking machine is considered a complete set, some subsets of it can be taken to constitute a blender (such as a dough kneader), a cooking pot, a bread maker, and the like. When referring generally, these can also be referred to simply as a cooking machine. The mixing shovel of the present invention can also be used as a cleaning machine, for example, for washing vegetables and clothing.

[0217] The new stirrer of the present invention can perfectly stir and stir-fry the food in the pot. The new stirrer combined with the pot body becomes a new mixer. The pot body of the mixer is equipped with a heating device to become a cooking pot with stir-frying function. When combined with various feeding equipment, it is called an intelligent cooking machine.

[0218] The pot can be heated by installing a heating wire or an induction coil in an electromagnetic cooker at the bottom. The heating element can be shaped into a curved surface on the bottom of the pot. A heating device can also be installed on the pot lid or even on the stirring spatula. The heating device can be an electric heater or a gas heater, and the electric heater can be laminated to the curved surface of the pot or mounted directly on the pot. Obviously, in addition to electric heating devices such as heating wires and electromagnetic cookers, cooking machines can also use other heating devices such as light wave heating and microwave heating.

[0219] To take out the food from the pot or pour out the washing water, the pot needs to be rotated about 90° to 120°. With the help of the gravity of the food itself and the push of the stirring spatula, the food falls out of the pot from the opening and is placed in the bowl at the bottom of the pot.

[0220] The following are some key points of the present invention:

[0221] 1. In order to achieve perfect stirring and stir-frying of the food in the pot by the stirring shovel, the rotation of the stirring shovel module around the module rotation axis 61 and the overall movement of the stirring shovel should be completed by two independent drive devices. Only in this way can the full set of stirring and stir-frying modes be obtained, which is why it is called "perfect" stirring and stir-frying. In some actual non-perfect drives, there may be a structure with only one drive device to complete two actions (the rotation of the stirring shovel module around the module rotation axis 61 and the overall movement of the stirring shovel). Such a stir-frying mode must be a subset of stir-frying and cannot achieve perfect stirring and stir-frying. By the same token, in order to achieve perfect stirring and stir-frying of the food in the pot by the stirring shovel, the rotation of the stirring shovel module around the module rotation axis 61 and the extension and retraction of the stirring shovel vertical rod should be completed by two independent drive devices, the rotation of the stirring shovel module around the module rotation axis 61 and the bending of the stirring shovel vertical rod should be completed by two independent drive devices, and the rotation of the stirring shovel module around the module rotation axis 61 and the rotation of the stirring shovel horizontal rod should be completed by two independent drive devices.

[0222] 2. This patent invents a method to solve the problem of stir-frying during cooking. The essence of this stir-frying method is to be able to independently control the front end of the stirring spatula to contact or leave the pot body at any desired position. For example, the front end of the stirring spatula of the present invention can always contact the surface of the pot body; it can also contact the pot body at a desired position, and the length of contact time can also be controlled, and then leave the pot body at a desired position. The contact and separation of the stirring spatula from the pot body are based on the quantity, characteristics and cooking technology requirements of the cooking ingredients. The front end of the stirring spatula contacts the pot body at the same position and leaves the pot body at the same position, but the rotation rate of the stirring spatula is different or the rate of bending the vertical rod of the stirring spatula (rotating the horizontal rod, etc.) is different, and the movement trajectory of the front end of the stirring spatula is also different. Although the stirrer before the present invention can also make the stirrer contact or leave the surface of the pot body, the contact point or departure point is uncontrolled. Regardless of the stirrer rotation rate, the trajectory of the front end of the stirring spatula is the same. Therefore, the external stir-frying method of the present invention points the way for finding other types of stirrers. If other types of stirrers use the stir-frying method of the present invention, they are also within the scope of protection of the present invention.

[0223] 3. The claims of the present invention are directed to the movement of the stirring shovel relative to the pot body (the pot body is stationary). These movements can also be achieved by the movement of the pot body relative to the stirring shovel. The two are essentially the same and are both within the scope of protection of the present invention.

[0224] 4. The present invention fully utilizes the principle of gravity. Therefore, the external stir-fry stirring shovel system, consisting of the stirring shovel 6 and stirring shovel auxiliary module 7, can have its stirring shovel module rotation axis 61 positioned between 0° and 90°, with a more effective angle between 0° and 60°. However, the stirring shovel axis of the present invention is preferably horizontal. Furthermore, while the opening plane of the pot body of the present invention can generally be positioned between parallel and perpendicular to the stirring shovel module rotation axis 61, that is, between 0° and 90°, the opening plane of the pot body of the present invention is also preferably horizontal or near horizontal.

[0225] In contrast, the rotating shaft of the existing cooking machine (blender with heating function) is located in the vertical direction, so when the stirring spatula rotates, the food will be thrown to the edge of the pot, which seriously affects the stirring effect of the food. In addition, the stirring spatula only passes across the bottom of the pot and cannot fully turn over the cooking ingredients, so the stirring effect is poor.

[0226] In principle, if a conventional blender is used with its rotating shaft in a horizontal position, and if the opening plane of the pot body is also horizontal, such a blender or cooking machine will not work properly because the blender will push the food out of the pot body when working. Therefore, only the cooking machine of the present invention can use a mixing shovel with a horizontal rotating shaft and a cooking pot with a horizontal opening.

[0227] In actual application, the stirring shovel module shaft and the pot body opening are preferably horizontal, and a slight tilt is not a problem. For example, there is basically no difference within the tilt angle of 30°, and it can still be used between 30° and 60°. The stirring effect gradually deteriorates when the stirring shovel shaft is greater than 60°, and transitions to Figure 2F and Figure 3B (θ=90°) case. Figures 3A to 3F Instructions.

[0228] 5. The stirring shovel system of the present invention (including the stirring shovel and the stirring shovel auxiliary module) preferably uses a stirring shovel crossbar (or the part of the stirring shovel blade opposite to the stirring shovel module rotation axis) for stirring.

[0229] 6. Because smart cooking machines are designed to replace manual cooking, if a cooking machine cannot simulate the human process of stir-frying food, it cannot be considered a good smart cooking machine solution. In other words, simulating manual stir-frying is the key and core issue in realizing a smart cooking machine.

[0230] It should be noted that the patents of the inventor / right holder regarding the stirring spatula and the cooking machine are interrelated, so that subsequent improved patents can save some descriptions of the same parts - especially considering that multiple patents are applied for almost at the same time.

[0231] The specific implementation of this patent is described below with reference to the accompanying drawings.

[0232] First according to Figure 1A 、 Figure 1B A schematic diagram of a general-purpose stirrer and a stirring shovel according to an embodiment of the present invention is briefly described.

[0233] like Figure 1A This is a schematic diagram of a universal agitator. It consists of a rotating shaft J1 and blades J2. To enhance the stability of the agitator's rotation, the shaft J1 typically has two terminals, J1a and J1b, though in special cases, only one may be used. Blades J2 are mounted on the shaft J1, which drives the blades J2 in rotation, with the axis of rotation being J5. Figure 1A The solid line shows one blade J2, and usually the stirrer may have multiple blades, such as the blade J2v shown by the dotted line.

[0234] The cross section of the container corresponding to the agitator axis J1 (i.e., the cross section perpendicular to the agitator axis) is a circle or a portion of a circle. The tip J3 of the agitator blade J2 is aligned with the agitator container. Therefore, the distance from the agitator axis J5 to the tip J3 is the distance from the agitator axis J5 to the container, and is also the radius of the container at this cross section. The length of the agitator spans the ends of the container, and its edge J4 is aligned with the end surface of the container.

[0235] Figure 1B This is a schematic diagram of a stirring shovel according to an embodiment of the present invention. Figure 1A Simplification: The central part of the agitator shaft Q1 and the blades near the shaft are removed, leaving only the shaft terminals Q1a and Q1b at both ends. The remaining blades Q2 are divided into three parts, namely Q2a and Q2b at the left and right ends, and the horizontal blade Q2c. Sometimes, for the sake of image, the blades Q2a and Q2b on the left and right sides of the mixing shovel are called mixing shovel vertical rods, and the horizontal blade Q2c is called mixing shovel horizontal rod. At least one of the mixing shovel vertical rods Q2a and Q2b on the left and right sides exists to support the mixing shovel horizontal rod Q2c. In special cases, the mixing shovel vertical rods Q2a / Q2b are in the middle, see later Figure 6G and Figure 6I The blade front end Q3 mates with the front end of the pot; the outer sides Q4a and Q4b of the stirring shovel vertical rods Q2a and Q2b mate with the two end surfaces of the container. In a typical schematic, the stirring shovel horizontal rod spans both sides of the pot. In atypical applications, multiple stirring shovels can be used to cover both sides of the pot (for example, two stirring shovels on the left and right sides can cover the pot cross section).

[0236] The following Figure 2A 、 Figure 2B 、 Figure 2C 、 Figure 2D 、 Figure 2E and Figure 2F Explain the inherent problems of mixing spatulas.

[0237] like Figure 2AThe diagram of the "blender" is a diagram of a mixing shovel 6 and a cooking pot 1. Generally speaking, the mixing shovel includes a rotating shaft and blades, and the front end of the blade contacts the surface of the container. Figure 1A 、 Figure 1B The stirring shovel 6 is shaped like a curved bow without a chord. The blades are composed of parallel vertical rods 612a and 612b and a horizontal rod 613 at the front end of the blades. Support shafts 611a and 611b are located on either side (at least one of them should be supported). The stirring shovel rotates around axis 61. Point B is the bottom center of the pot body 1. Obviously, in actual use, the envelopes generated by the rotation of the pot body 1 and the stirring shovel 6 are consistent, and the two fit together. The area where the horizontal rod 613 is located is the main heating zone of the pot body.

[0238] Figure 2A The outer edge 613a of the stirring blade 6, where it contacts the pot body, can be non-metallic, such as elastic, heat-resistant, and non-toxic silicone. This has the advantage of reducing the machining accuracy of related components (such as the stirring blade 6) and the installation tolerance between the stirring blade 6 and the pot body 1, while ensuring a tight and smooth contact between the stirring blade 6 and the pot body 1.

[0239] Figure 2B This is a cross-sectional view perpendicular to the stirring blade axis 61. Observe the stirring blade 6 rotating clockwise from point A toward point BCD, stirring food 18. According to cooking requirements, the heating zone for the ingredients is primarily between points A and B. Therefore, during the cooking and stirring process, the ingredients 8 should be kept in the middle area between points A and B. Areas CD and AF are the further edge areas.

[0240] Figure 2C It can be seen that when the stirring shovel 6 rotates from point A to point B, it does push the food 18 toward the center point B. However, when it rotates from point B to point C, it pushes the food away from the center point B to point C. When the stirring shovel is at point C, the food will be scattered to the left and right sides. Therefore, the problem of the stirring shovel 6 being pushed away from the center point cannot be solved by rotating the stirring shovel 6 in the opposite direction from point C. Figure 2C The figure also shows that even if the pot body 1 has a semicircular cross-section, using a stirring shovel will not work properly. This is because if the stirring shovel 6 continues to rotate clockwise from point C to point D, while some food, such as 18c, may fall into the pot body 1, other food, such as 18a and 18b, will leak out. The stirring shovel pushes the cooked food out of the area where the oil and water 18w are located, which is detrimental to cooking.

[0241] Figure 2D To solve Figure 2CRegarding the problem of food overflow, raising the opening of the cooking pot from point D to point S significantly improves the problem (but does not completely solve it). However, this introduces a new problem: cooking ingredients can remain in the area between points C, D, and S, resulting in suboptimal cooking. Furthermore, the small opening 21 at point S makes it difficult to put ingredients in or out of the cooking pot. Another issue is the increased size of the cooking pot.

[0242] How about expanding the upper part of pot body 1? Figure 2E By increasing the edges of 1xa1 and 1xa2, it is hoped that the upper part of the cooking pot will be enlarged to solve the overflow problem. Figure 2E It can be seen that although the overflow problem can be solved, the raw materials are brought to a higher position, and the retained raw materials 181 and 182 cannot be reached by the stirring shovel 6. Therefore, the raw materials 181 and 182 cannot be cooked normally, and cannot be moved to the dish by the stirring shovel 6.

[0243] There are various combinations and improvements of stirring shovels and cooking pots, but all of them suffer from the inherent drawbacks of the stirring shovel structure described above, which are not listed here. This reason limits the application of stirring shovels in smart cooking machines. It can be seen that the stirring shovel solution has many problems that are difficult to reconcile, which are called the inherent problems of stirring shovels.

[0244] What will happen if the axis of the stirring shovel is changed from horizontal to vertical? At present, most of the simple cooking machines on the market have this structure, and the stirring shovel moves horizontally. Figure 2F This schematic diagram includes a pot body 1h and a stirring blade 6h, which rotate about a vertical axis TB and cook ingredients 18. While the pot body 1h and stirring blade 6h can be designed in various shapes, the biggest problem with this stirring blade is that due to centrifugal force, the cooking ingredients 18 tend to move away from the axis TB and accumulate on the outer wall of the pot body 1h, resulting in poor stirring. To avoid the influence of centrifugal force, the pot body is typically steep, typically in the shape of a pressure cooker, making it difficult to pour out the food. Another major drawback of a horizontal stirring blade is that it cannot fully turn the food. This makes it difficult to stir most foods or large amounts of food, except for lumpy foods or small amounts.

[0245] Figure 3A 、 Figure 3B 、 Figure 3C 、 Figure 3D 、 Figure 3E 、 Figure 3F This diagram illustrates food sticking to a drum-type cooking pot, the angle between the stirring shovel's rotating shaft and the horizontal plane, and the tilt between the pot opening and the horizontal plane, as well as a diagram of the pot lid feeder.

[0246] Figure 3AThe pot body is a simplified version of the drum-shaped design of patent CN2448232 (the pot's corners transition from arcs to right angles), but it also incorporates a rotating shaft 21 integral to the pot body to facilitate food placement and removal. The pot body 1, stirring shovel 6, and pot opening 11 are positioned to the side, with the stirring shovel 6 having only a single rotating shaft 611, or axis of rotation 61. As mentioned above, this design has two major drawbacks: 1) food 183 can stick to the pot body, and 2) it makes pouring and removing ingredients inconvenient.

[0247] like Figure 3B , tilting the pot body around the rotating shaft 21 at an angle θ can partially reduce the sticking of food 183 on the side of the pot body 1. The disadvantage is that there is still a lot of food leaving the heating zone 18w.

[0248] Figure 3C To pour out the food, the pot body needs to be rotated downward around the rotation axis 21 by an angle φ, so that the opening 11 tilts downward to pour out the food. Since the direction of movement of the food is not the same as the direction of rotation of the stirring shovel, the force of the stirring shovel is not used when pouring out the food. In addition, in order to pour out the food in the pot, the pot body swings at a much larger angle than the current household woks, so it takes up more working space. Figure 9 .

[0249] It can be seen that the above solution still fails to solve the problem of stir-frying cooking ingredients in a household cooking machine, and the inherent disadvantages of the stirring spatula still exist. It can be seen that the chronic disease of the stirring spatula is very stubborn.

[0250] It will be seen later that the present invention can solve Figure 3A to Figure 3C The stirring problem (the problem of pouring / pouring food still exists) is shown in the figure. Figure 3D The stirring shovel system now consists of a stirring shovel 6e and a stirring shovel auxiliary device 7e, referred to as a stirring shovel system or stirring shovel module. The stirring shovel shaft 611e, its axis 61e, the pot body opening 11e, the pot body tilting shaft 21e, and the pot body heater 101e are also included. The stirring shovel auxiliary device 7e enables the stirring shovel, which is composed of solid material (i.e., a passive device), to acquire motion properties (i.e., an active device), and this motion property is independent, controllable, and repeatable. This is one of the core elements of the present invention.

[0251] Figure 3E and Figure 3F right Figure 3D and Figure 2F A further improvement is made, that is, the situation when the angle between the stirring shovel shaft 611 and the horizontal plane is at the extreme position of 90°. Figure 3EIn the embodiment of the invention, the pot body 1 and the pot lid 2 are provided. A feeding box 14k can be mounted on the pot lid 2. Ingredients are placed in the feeding box 14k. When ingredients are needed, the bottom plate 14k1 at the bottom of the feeding box is opened, and the ingredients fall into the pot body. This feeding method is mainly used for feeding irregular ingredients. Of course, other ingredients such as liquid egg can also be added. The bottom plate 14K1 can be opened in various ways, with the opening method being the most representative. This feeding method is also disclosed in patents CN2448232 and CN1364436, but for different stirring shovels.

[0252] Figure 3E The stirring shovel is on the pot cover 2, and includes a stirring shovel rotating shaft 611a, a stirring shovel vertical rod 612a1 / 612a2 and a stirring shovel horizontal rod 613a.

[0253] Figure 3F The stirring shovel is on the pot body 1, with a stirring shovel rotating shaft 611b, a stirring shovel vertical rod 612b and a stirring shovel horizontal rod 613b. Figure 3F Too Figure 3D When the stirring shovel shaft is perpendicular to the horizontal.

[0254] Obviously, if Figure 3E and Figure 3F The stirring shovels shown can achieve stirring, but because they fail to fully remove the cooking ingredients from the bottom of the pot, the stirring effect is not ideal. Figure 17 The advantages and disadvantages of both can be seen from the embodiments of the present invention.

[0255] In addition, the convenience is also reduced. For example, Figure 3E If the cooking ingredients are added to the pot body 1 first, the stirring shovel vertical rod 612a2 may press on the cooking ingredients, causing the pot lid 2 to not close tightly. This defect also makes the stirring shovel less convenient. A second-best solution is to place the feeding box 14k on the pot lid 2 and add the ingredients after closing the pot lid 2. Figure 3F Although there is no problem with feeding, there is a problem with preventing water from leaking at the bottom of the pot, which also makes it less convenient.

[0256] Figure 3A-3F The example further explains Figure 2F , that is, with the stirring shovel of the present invention as the core, different pot bodies and pot covers can be selected. Therefore, the stirring shovel of the present invention and its cooking pot can be used for Figure 2A-2F 、 Figure 3A-3F and other application scenarios. Simply put, regardless of whether the agitator blade shaft and the pot body opening of the present invention are horizontal, inclined, or vertical, the relevant claims of the present invention remain valid. The agitator blade shaft and the pot lid opening can be combined with each other, such as horizontal-horizontal, inclined-inclined, horizontal-vertical, vertical-horizontal, and vertical-vertical. However, generally, the agitator blade module shaft / pot body opening plane of the present invention is selected to be horizontal.

[0257] Figures 4A-4D This is a schematic diagram of a common linear motion device and transmission mechanism. Motor 725 drives coupling 726, which in turn rotates worm a, driving linear motion of movable end b. In practical applications, worm a can be used to realize the upper half of the mixing shovel vertical rod 612x, while movable end b can be used to realize the lower half of the mixing shovel vertical rod 612y. The telescopic motion of movable end b also corresponds to the telescopic motion of the mixing shovel vertical rod 612.

[0258] like Figure 4A It is a worm linear motion device. The moving end b is supported by a frame, so it can withstand large gravity and run stably, but it is large in size. Figures 4B to 4D It is a telescopic rod linear motion device with a simple structure but not as strong and stable as Figure 4A The worm linear motion device shown.

[0259] exist Figure 4B In the telescopic rod linear motion device shown, the drive motor 725a and the worm a are on the same straight line.

[0260] exist Figure 4C In the telescopic rod linear motion device shown, the drive motor 725b is perpendicular to the worm a, and the motion is transmitted through the gears k1 and k2 of the motion device. As can be seen, 90° rotation and steering can be achieved through the gears.

[0261] exist Figure 4D In the telescopic rod linear motion device shown, the drive motor 725c is parallel to the worm a, and the motion is transmitted through the pulley system k3, k4 and k5. To prevent dust intrusion, a housing T1 is added. The pulley system k3, k4 and k5 can also be replaced with a gear drive (not shown). Figures 4B to 4D , indicating that the drive motor and worm can be driven in opposite, perpendicular, or parallel directions, and motion can be transmitted through gears or belt systems. Other transmission devices such as chains, cables, and universal joints are also possible, and can be protected by a housing. All of these are within the scope of the present invention.

[0262] Figure 4E 、 Figure 4F and Figure 4G This is a schematic diagram of a two-dimensional or three-dimensional motion device composed of multiple linear motion devices, with the moving end b1 of the linear motion device M1, the moving end b2 of the linear motion device M2, and the moving end b3 of the linear motion device M3. Without loss of generality, Figure 4E, a worm linear motion device M1 is located in the X-axis direction, and another worm linear motion device M2 is installed on the moving end b1 of the motion device M1 and placed vertically along the Z axis. The moving end b2 of M2 is also called the "terminal moving end", and its motion plane is the "X-Z" plane, which is obviously perpendicular to the Y axis of the rectangular coordinate (not drawn). Figure 4F In the embodiment, the linear motion device M2 is replaced by a telescopic rod. In many cases of the present invention, the axis of the stirring shovel shaft is perpendicular to the "X-Z" plane, that is, parallel to the Y axis. The same method can be used to add a linear motion device to form a "three-dimensional terminal mobile end", such as Figure 4G As shown, the stirring shovel rotates along the Y-axis direction, and the moving end b3 is called the "terminal moving end" of the three-dimensional linear motion device.

[0263] Figures 5A to 5C A nested drive mechanism structure is provided in an embodiment of the present invention. The nested drive mechanism structure includes: motor A drives shaft C and motor B through a transmission device, with the shaft of motor B passing through the centerline of shaft C; alternatively, motor A drives shaft C by driving motor B, with the shaft of motor B passing through the center of shaft C; alternatively, motor A drives shaft C and motor B, with motor B passing through the center of both the shaft of motor B and the center of shaft C.

[0264] exist Figure 5A In the nested drive mechanical structure shown, the drive motor 711 drives the pulley 7112, the belt 7113 and the pulley 7115 (other transmission methods can be used), driving the "drive shaft" 7116 to rotate. The "drive shaft" passes through the partition (commonly the pot cover or pot body) 121, driving the rotating arm (vertical arm or vertical rod, etc.) 712 to rotate.

[0265] Another "nested motor" 713 rotates synchronously with pulley 7115 via a fixing device 7131. The motor's shaft 7132 passes through pulley 7115 and "drive shaft" 7116, driving pulley 7134 in arm 712 to rotate, with the rotation axis being 198. This further drives shaft 611 (e.g., the stirring blade shaft) via belt 7135 and pulley 7136. Shaft 611g passes through the support housing of arm 712, driving another device 6123 to rotate.

[0266] Figure 5B The nested drive mechanism shown is similar to Figure 5A The difference between the illustrated nesting drive mechanisms lies in the drive method: the drive motor 711 directly drives the "nesting motor" 713 (via a coupling 7114), which rotates the fixture 7131, which in turn rotates the pivot arm 712. The rotation of the "nesting motor" shaft 7132 drives the shaft 611g in the pivot arm 712.

[0267] Figure 5C This is another "nested drive" method. The drive motor 711 directly drives the fixing device 7131 to rotate, which in turn drives the rotating arm 712 to rotate. The rotating shaft 7132 of the "nested motor" 713 passes through the center of the rotating shaft of the "drive motor" 711, driving the rotating shaft 611g in the rotating arm 712 to rotate.

[0268] In all cases of the present invention, it can be applied without further explanation Figures 4A to 4G and Figures 5A to 5C The structure shown.

[0269] Figures 6A to 6L This is a schematic diagram illustrating the working principles of the stirring spatula and cooking pot. Figures 6A to 6L In the figure: cooking pot 1, pot cover 2, stirring shovel 6. The stirring shovel 6 moves around its rotation axis 61. Although the method of the present invention is not related to the shape of the stirring shovel, as a device for implementing the stir-frying method of the present invention, a specific stirring shovel is still needed for description. A basic model of a stirring shovel of the present invention is shown in FIG. Figure 6B , with the rotating shafts at both ends being 611a and 611b respectively, or in some cases there being only one rotating shaft 611a or 611b, which are often collectively referred to as rotating shaft 611. The rotation of the stirring shovel rotating shaft 611 drives the stirring shovel blades to rotate. The stirring shovel blades are divided into a vertical rod 612 and a horizontal rod 613, and without loss of generality, the stirring shovel 6 can be regarded as bilaterally symmetrical in the description and schematic diagrams. Therefore, the pot body 1 and pot cover 2 corresponding to the stirring shovel are also bilaterally symmetrical, with the center point B of the lower part of the pot body and the center of symmetry of the upper part of the pot cover 2 being point T. An asymmetric stirring shovel does not affect the principles and claims of the present invention.

[0270] Figure 6A The middle stirring shovel 6 is an abstract model. The vertical rods 612a / 612b and the horizontal rod 613 of the stirring shovel are both close to the inner surface of the pot body 1. The stirring shovel 6 and the pot body 1 are separated only for clear viewing.

[0271] Figures 6A to 6L The vertical rods 612a / 612b and horizontal rod 613 of the central stirring shovel 6 are clearly defined. The vertical rods 612a and 612b are perpendicular to the axis 61, and the pot body sides 112a and 112b corresponding to the vertical rods 612 are also vertical. This prevents the cooking ingredients from accumulating on the pot body sides and allows them to easily fall into the pot body bottom 113. The horizontal rod 613 is parallel to the axis 61 and spans across the pot body 1, allowing all the cooking ingredients to be stirred at once, resulting in higher efficiency. Because the stirring shovel horizontal rod 613 is in close contact with the pot body bottom 113, the bottom cross-section 113 of the pot body 1 is also a straight line.

[0272] Figure 6A The height of the middle pot cover 2 is lower than that of the pot body 1, which can be considered as a miniaturized design.

[0273] Figure 6A The figure also shows a method of feeding irregular cooking ingredients. The irregular cooking ingredients 142 are placed in the ingredient box 141 , and the multi-link system 143 rotates to pour the cooking ingredients in the ingredient box 141 into the pot body 1 .

[0274] Figure 6B The boundary between the middle vertical rod 612a / 612b and the horizontal rod 613 is not very clear. Generally, the vertical rod 612a / 612b of the stirring shovel can be straight or curved, but its overall direction is away from the rotation axis of the stirring shovel; the horizontal rod 613 of the stirring shovel can also be straight or curved, but its overall direction is horizontal. The vertical rod and the horizontal rod together span the pot body 1. In real life, the main food gathering area and heating area of ​​the cooking pot are within the range of the horizontal rod 613. This rule can roughly determine the boundary between the vertical rod and the horizontal rod. The corresponding points of the intersection of the vertical rod and the horizontal rod on the pot body are points J and K. The angle between the intersection of point J or point K and the pot body rotation axis is β. In the design of the pot body 1, β is generally selected to be greater than 60°. This makes it difficult for the cooking ingredients to stay on the side of the pot body, but to slide to the central heating area near point B at the bottom of the pot body.

[0275] Figure 6B The middle pot cover 2 can be different from Figure 6A The present invention is not an ordinary pot cover 2, but an extension of the pot body 1. Figure 6B The pot body 1, pot lid 2, and pot lid 11 are constructed as follows: when the stirring shovel 6 rotates one circle, the front end of the stirring shovel 6 forms a closed envelope surface, and the pot body 1, pot lid 2, and pot lid 11 can each take a portion of this envelope surface. When the pot lids 2 and 11 are closed, the pot body 1, pot lid 2, and pot lid 11 can be sealed. The pot body 1, pot lid 2, and pot lid 11 can rotate together around the stirring shovel rotation axis 61, and the pot lid 2 and pot lid 11 can also be opened separately. The pot body 1 and pot lid 2 can also rotate around other axes, such as around the pot body rotation axis 21, which is horizontal and perpendicular to the stirring shovel axis 61. This pot body and pot lid structure breaks the boundary between the pot body and the pot lid, making the description of the present invention more concise and requiring fewer schematic diagrams. The opening plane of the pot body and the stirring shovel rotation axis form different combinations, the most typical of which is that the pot body opening plane is parallel to the stirring shovel rotation axis, or the pot body opening plane is perpendicular to the stirring shovel. In other situations, the plane of the pot body opening and the stirring shovel are between parallel and perpendicular, so we only consider the two situations with the greatest difference. It can be seen that while the present invention focuses on the use of pot lid 2, which provides the cooking machine with more advantages, other pot lids are also covered by the protection scope of the new stirring shovel of this patent. Furthermore, the pot body rotating shaft 21 and other factors do not affect the protection scope of the new stirring shovel of this patent.

[0276] Figure 6BIt can also be seen that when the stirring shovel shaft 611a / 611b is outward, and the stirring shovel module is fixed or driven by the shafts at both ends or one end of the stirring shovel module, the stirring shovel module is a "bow type" without strings, regardless of whether the stirring shovel is supported on the pot body, the pot cover or outside the pot body.

[0277] Figure 6C The cross section is perpendicular to the stirring spatula axis 61 and includes the center point B of the pot body and the center point T of the pot lid. Cooking ingredients, or simply food 18, are generally circular or partially circular. However, the pot body cross section corresponding to the novel stirring spatula of the present invention can have other shapes, such as an elliptical shape. For simplicity, the present invention illustrates a circular cross section. A and C are two points on the pot body. Based on common experience, the heating zone of a cooking pot and the cooking ingredients are primarily concentrated between A and C.

[0278] Figure 6C The middle pot cover 2 can be opened and closed, and its rotating shaft 20 can be parallel to the axis 61 of the stirring shovel. The pot cover 2n can also be lifted and opened. The pot cover 11 is located at the axis of one end of the stirring shovel 6. When the pot cover 11 is opened, an opening appears in the pot body, and the cooking materials can enter and exit the pot body 1 through this opening. This is the case with the side opening of the pot body. Figure 6B , including the special case of side opening.

[0279] As mentioned above, when the pot lids 2 and 11 are closed, although they can be sealed with the pot body 1, the stirring shovel 6 will still cause the cooking ingredients 18 to stick to the pot lid 2 when stirring, so it is still not a perfect solution.

[0280] Figure 6D It is shown that the rotating shafts 611p and 611q of the stirring shovel 6 of the present invention may also be inward, for example, they can be attached to the pot cover 2 or to other mechanisms, and the relevant designs of the outward rotating shaft of the stirring shovel can be copied, which does not affect the adaptability of the present invention.

[0281] Obviously, as described in the background technology, directly using Figures 6A to 6DA stirring spatula cannot achieve perfect stir-frying. The solution is the innovation of the present invention, such as inventing a new stirring spatula and introducing a stirring spatula auxiliary module. Among them, the stirring spatula auxiliary module also includes one or more linear motion devices, the basic type of which is composed of three linear motion devices connected in series, which are set to move along the horizontal X, Y and vertical Z directions respectively, and the Y axis is the axis direction of the stirring spatula shaft. One of the linear motion devices is installed on the cooking machine bracket or the pot cover or the pot body, and the other two linear motion devices are respectively installed on the moving end of the previous linear motion device, and the moving end of the last linear motion device is connected to the stirring spatula shaft through a vertical arm; the stirring spatula is driven to rotate by the driving device, and the moving end of the last linear motion device drives the stirring spatula to move in parallel as a whole. The direction of the vertical arm is not limited, and it has a certain length or zero length; and / or, the driving device is installed on the moving end of the last linear motion device, and crosses the vertical arm through a mechanical transmission device to drive the stirring shovel to rotate around its own rotating shaft, or, the driving device is installed at the connecting end of the vertical arm and the stirring shovel rotating shaft to drive the stirring shovel to rotate nearby; or, when the stirring shovel is smaller than the pot body, the stirring shovel can be translated in three dimensions; or, the stirring shovel spans the pot body, at this time there are only two linear motion devices, respectively along the X and Z directions, and the moving end of the last linear motion device translates in the X-Z two-dimensional plane, which is perpendicular to the axis of the stirring shovel rotating shaft; or, there is only horizontal or vertical movement, at this time only one Y-axis vertical linear motion device or one X-axis horizontal linear motion device is required. In addition, in some other embodiments, the stirring shovel auxiliary module further includes a polar coordinate translation device, and the polar coordinate translation device includes a power device, and the power device drives the swinging or rotating movement of the vertical arm, and the axis of the swinging or rotating of the vertical arm is parallel to the axis of the stirring shovel's own rotating shaft, and the common axis position of the vertical arm is directly above the axis of the stirring shovel's rotating shaft; the swinging or rotating of the vertical arm drives the stirring shovel to move as a whole. Wherein, the middle of the vertical arm of the stirring shovel auxiliary module can also be bent; or, the vertical arm can also be retracted. The power device is on the outer side of the pot cover or on the outer side of the pot body, and the power device drives the vertical arm's rotating shaft to rotate through the transmission device, and the axis of the rotating shaft is parallel to the rotating axis of the stirring shovel; the vertical arm's rotating shaft passes through the side of the pot cover or the side of the pot body, driving the vertical arm in the pot body to swing or rotate; the rotating shaft of the stirring shovel rotating motor passes through the axis of the vertical arm's rotating shaft, drives the transmission device in the vertical arm, and drives the stirring shovel to rotate around its own rotating shaft.

[0282] Figure 6E and Figure 6F This is a block diagram of the mixing shovel of the present invention, including the improved mixing shovel 6 and the mixing shovel auxiliary module 7. The individual components of the mixing shovel 6 may also be upgraded to modules, namely the mixing shovel shaft module 611, the vertical rod modules 612a / 612b, and the horizontal rod module 613. However, for simplicity, we sometimes omit the word "module" and still refer to the components by their names. For example, the mixing shovel shaft module will still be referred to as the mixing shovel shaft.

[0283] exist Figure 6E In the embodiment, the stirring shovel shafts 611a and 611b face outward, and the corresponding stirring shovel auxiliary module 7 is generally located outside the space enclosed by the pot body 1 and the pot lid 2. The stirring shovel 6 is connected to the auxiliary module 7 via the shafts 611a and 611b, and the auxiliary module 7 drives the stirring shovel 6 to rotate about the axis 61. The present invention refers to the rotation axis 61 as the stirring shovel module (6, 7) rotation axis. The connection points between the vertical rods 612a / 612b and the horizontal rod 613 are J1 and K1, respectively. The stirring shovel module (6, 7) can be installed on the pot body, the pot lid, or the cooking machine.

[0284] exist Figure 6F In the embodiment, the stirring shovel shafts 611p and 611q face inward. The stirring shovel auxiliary module 7 of the present invention can generally be installed within the space enclosed by the pot body 1 and the pot lid 2, for example, on the pot lid 2. This also provides a novel and compact structure. The stirring shovel 6 is connected to the auxiliary module 7 via shafts 611a and 611b. The auxiliary module 7 drives the stirring shovel 6 to rotate about axis 61. The present invention refers to the rotation axis 61 as the stirring shovel module (6, 7) rotation axis. The vertical rods 612a / 612b and the horizontal rod 613 are connected at the points J1 and K1, respectively.

[0285] exist Figure 6G In the embodiment, the stirring shovel 6 and the stirring shovel rotating shaft 611c are fixed and driven by the stirring shovel auxiliary module 7. The auxiliary module 7 drives the stirring shovel 6 to rotate about the axis 61. The stirring shovel vertical rod can be considered to have moved from the vertical rods 612a / 612b on both sides to the center. The stirring shovel auxiliary module 7 of the present invention can generally be installed inside the space enclosed by the pot body 1 and the pot lid 2, for example, on the pot lid 2. This also provides a novel and compact structure. The present invention refers to the rotation axis 61 as the rotation axis of the stirring shovel module (6, 7).

[0286] Figure 6H for Figure 6F In a schematic diagram of an embodiment, the stirring shovel auxiliary module 7 is connected to the pot cover 2, and the stirring shovel 6 is connected to the auxiliary module 7 via the rotating shafts 611p and 611q. The auxiliary module 7 drives the stirring shovel 6 to rotate around the axis 61. Obviously, the stirring shovel modules (6, 7) can also rotate around the vertical center line 199 of the pot body.

[0287] Figure 6I for Figure 6G An example diagram, the stirring shovel auxiliary module 7 is connected to the pot cover 2, and there is no inward rotating shaft at both ends of the stirring shovel 6. The stirring shovel auxiliary module 7 directly drives the stirring shovel middle rotating shaft 611, so that the stirring shovel 6 rotates around the stirring shovel module axis 61. The stirring shovel auxiliary module 7 also enables the stirring shovel module to complete the stir-frying. The stir-frying method is shown in FIG. Figures 7A to 7D, that is, the stirring shovel moves as a whole, the blades extend and retract, the blades rotate or the front end of the blades rotates (and their combination). Obviously, the stirring shovel module can also rotate around the vertical center line 199 of the pot body.

[0288] Figure 6J and Figure 6F and Figure 6I The stirring principle is similar. The stirring shovel auxiliary module 7 is connected to the pot cover 2. The stirring shovel 6 includes a stirring shovel shaft 611, a stirring shovel vertical rod 612 and a stirring shovel horizontal rod 613. The stirring shovel vertical rod 612 connects the stirring shovel shaft 611 and the stirring shovel horizontal rod 613. The stirring shovel auxiliary module 7 drives the stirring shovel intermediate shaft 611, so that the stirring shovel 6 rotates around the stirring shovel module axis 61. The stirring shovel auxiliary module 7 also enables the stirring shovel module to complete the stir-frying. The stir-frying method is shown in FIG. Figures 7A to 7D , that is, the stirring shovel moves as a whole, the blades extend and retract, the blades rotate, or the front ends of the blades rotate (or a combination thereof). Obviously, the stirring shovel module can also rotate 360 ​​degrees around the vertical center line 199 of the pot body. In this case, the stirring shovel 6 does not need to span across the two ends of the pot body.

[0289] Figure 6K and Figure 6H and Figure 6I The stirring principle is similar, and the stirring shovel 6 includes a stirring shovel shaft 611a / 611b, a stirring shovel vertical rod 612a / 612b and a stirring shovel horizontal rod 613. The stirring shovel auxiliary module 7 drives the stirring shovel shaft 611a / 611b, so that the stirring shovel 6 rotates around the stirring shovel module axis 61. The stirring shovel auxiliary module 7 also enables the stirring shovel module to complete the stir-frying. The stir-frying method is shown in FIG. Figures 7A to 7D , that is, the stirring shovel moves as a whole, the blades extend and retract, the blades rotate, or the front ends of the blades rotate (or any combination thereof). The stirring shovel 6 does not span the ends of the pot body. Therefore, the stirring shovel module must translate left and right along the rotation axis 61 to achieve seamless stir-frying. To simplify the design, the stirring shovel can be mounted on the pot lid 2.

[0290] from Figure 6J and Figure 6K The examples can be seen:

[0291] 1. The pot body 1 matched with the stirring shovel can be hemispherical. Figure 6A — Figure 6I The reason for not choosing a hemispherical shape is to distinguish the two cross-sections of the pot body and to give a general shape. When the stirring blade rotates about axis 61 and also about vertical axis 199 (vertical axis 199: when the pot body opening is horizontal, it is an axis perpendicular to the horizontal plane; or an axis perpendicular to the stirring blade rotation axis, or a central axis perpendicular to the pot body opening), the pot body opening is generally circular and the pot body is a portion of a hemisphere.

[0292] 2. The stirring shovel moves horizontally along the axis 61 during the process of rotating around the axis 61. Usually, the opening of the pot body is not circular, and the pot body is not hemispherical.

[0293] 3. The stirring shovel does not have to strictly cross the two ends of the pot body during actual use. Sometimes, the stirring shovel crossbar does not completely cross the two ends of the stirring shovel, but by rotating the stirring shovel around the vertical axis 199 or translating along the rotation axis 61, stir-frying without dead angles can also be completed. However, whether from a rigorous theoretical analysis or from improving the efficiency of each rotation of the stirring shovel, even if the stirring shovel rotates around the vertical axis 199, the stirring shovel should cross the two ends of the pot body. At this time, only alternating stir-frying in two orthogonal directions can achieve a very perfect stir-fry. Therefore, the stirring shovel spanning the two ends of the pot body turns a two-dimensional plane problem into a one-dimensional problem (similar to turning a robot simulating human hands and vision to wash clothes into a drum washing machine for uniform blind washing), which greatly improves the stir-frying efficiency, solves the problem of difficult stir-frying, and simplifies the design of the stirring shovel module. At the same time, the stir-frying method of scooping up and pouring food with the stirring shovel is converted into a stirring method (R-L stir-frying method) but with both scooping up / pouring methods. Combined with the "bow-shaped" stirring shovel, Figures 7A to 7D The stirrer stir-frying device / method and the matching pot body (the pot body is the envelope surface formed by the rotation of the stirring spatula, thereby achieving relatively perfect stir-frying. When the stirring spatula spans both ends of the pot body, the pot body can be taken from the envelope surface formed by one rotation of the stirring spatula; otherwise, the pot body is taken from the envelope surface formed after the stirring spatula rotates without dead angles).

[0294] 4. The stirring shovel auxiliary module itself can also translate, telescope, bend, rotate the vertical arm and rotate around the vertical axis, so that the stirring shovel can complete the function of stir-frying. For example, the motor 71 can drive the vertical arm 712 to rotate around the vertical axis 199, and the motor 72 can drive the vertical arm 712 to rotate around the horizontal axis 198. The vertical arm 712 itself can be telescoped or bent in the middle (or rotated in the middle, similar to the bending / rotation of the stirring shovel vertical rod). The motor 71 / 72 and the vertical arm 712 all belong to the stirring shovel auxiliary module 7. These characteristics of the stirring shovel auxiliary module 7 can ultimately be attributed to the overall movement of the stirring shovel (translation and / or rotation). The stirring shovel 6 and the stirring shovel auxiliary module 7 can also be folded and placed in the pot cover. For example, the horizontal motor 72 drives the vertical arm 712 to a horizontal position, and the stirring shovel auxiliary module 7 drives the stirring shovel 6 to a horizontal position.

[0295] 5. The three greatest advantages of installing the stirring shovel on the pot lid via the stirring shovel auxiliary module 7 are: 1. Installation on the pot lid 2 eliminates the need for the stirring shovel module support device 28, simplifying the stirring shovel design. Otherwise, the support device 28 would need to be installed on the cooking machine to allow the stirring shovel 6 and stirring shovel auxiliary module to "take root." 2. The stirring shovel continues to function normally when the pot lid is closed; it also functions normally when the pot lid is partially open. Let's look at the issue this way: the stirring shovel 6 and stirring shovel auxiliary module 7 can be installed either on the cooking machine or on the pot lid (or other object). The former is the general case, while the latter is more innovative. Therefore, we consider the former the default. It should be noted that an important condition is that the pot body is defined by the envelope formed by the stirring shovel rotating about its axis, and the stirring shovel spans the pot body. When the stirring shovel clearly does not span the pot body, it must rotate about a vertical axis.

[0296] 6. Obviously, Figure 6J and Figure 6K If a stirring shovel cannot span across the pot body and needs to rotate to achieve seamless stir-frying, then installing it on the pot body or a cooking machine will result in a very cumbersome structure, occupying a large amount of space and being susceptible to contamination and interference. In contrast, installing it on the pot lid is simpler. Without loss of generality, the present invention applies to applications where it is installed on the pot lid, and the claims are the same.

[0297] 7. In theory, a stir-fry machine capable of a wide range of cooking needs a pot and a lid. While a hood could replace the lid, we still consider this a broadly defined lid. A stirring spatula could also be attached to the lid. While it's possible to cook a certain number of dishes without a lid, generally speaking, a complete stir-fry machine requires a lid, including any of the broadly defined lids.

[0298] 8. The exact length and relative length of the stirring shovel across the pot body. The exact length of the stirring shovel across the pot body is equal to the width of the pot body. In the actual process, except Figure 6J and Figure 6K In this way, in addition to rotating the stirring shovel around the vertical axis 199 and translating along the horizontal axis 61, the stirring shovel sweeps the same interval when rotating once and rotating multiple times around the rotating axis 61. Therefore, the relative length of the stirring shovel should ensure that the cooking area can be swept in one scan.

[0299] 9. Figure 6J Take the stirring shovel, stirring shovel module and stirring shovel auxiliary module as examples.

[0300] The stirring blade 6 rotates around its own rotation shaft 611, the rotation shaft center axis 61, and the axis 61 is called the rotation axis of the stirring blade 6. The stirring blade 6 includes a rotation shaft 611, a vertical rod 612 and a horizontal rod 613.

[0301] If the stirring shovel 6 needs to be given a stir-frying function, a stirring shovel auxiliary module 7 is required. Figure 6J In this example, the stirring shovel auxiliary module 7 includes a vertical rotation motor 71, a horizontal rotation motor 72, and a vertical arm 712. The stirring shovel = (stirring shovel 6 + stirring shovel auxiliary module 7), and the two sides are bounded by the stirring shovel rotating shaft 611. At this time, we call the axis 61 the rotation axis of the stirring shovel module. It can be seen that calling the axis 61 the stirring shovel axis or the axis of the stirring shovel module will not cause misunderstanding. Similarly, "the stirring shovel rotates around the axis of the stirring shovel module" can be simply referred to as "the stirring shovel rotates around its axis" or "the stirring shovel rotates around its rotating shaft", which will not cause ambiguity, but the latter description is simpler. "Using Figure 6J Stir fry with a stirring spatula, Figure 6J Stir-fry with the stirring shovel module" and " Figure 6J The three sentences "stir-frying with the stirring shovel 6 and the stirring shovel auxiliary module 7" have the same meaning, and the first sentence uses "stirring shovel" to refer to "stirring shovel module" or "stirring shovel 6 + stirring shovel auxiliary module 7", which will not cause ambiguity but is more concise.

[0302] From another perspective, to achieve the requirements of the present invention, in addition to rotating about the rotation axis 611, the mixing shovel 6 must also have a motorized vertical rod and / or horizontal rod. This motorized function is implemented by the mixing shovel auxiliary module. For the sake of convenience, the motorized vertical rod of the mixing shovel can be referred to as a vertical rod module, and the motorized horizontal rod of the mixing shovel can be referred to as a horizontal rod module. In this case, the mixing shovel is also referred to as a mixing shovel module.

[0303] Figure 6L for Figures 6A to 6K Extensions ( Figure 6L For unspecified numbers, see Figures 6A to 6K ), that is, the stirring shovel auxiliary module 7, the stirring shovel shaft 611: 611a / 611b, the stirring shovel vertical rod 612: 612a / 612b as a general form of mechanical arm, driving the stirring shovel crossbar 613 (or crossbar shovel, see Figures 12A to 12E ) and stir-fry.

[0304] From a certain perspective, the function of the stirring shovel auxiliary module 7 can be considered to transform a simple, unpowered stirring shovel (or agitator) into a powered, complex stirring shovel (or agitator), thereby realizing complex functions such as bending the stirring shovel vertical rod. From another perspective, for a complex stirring shovel, called a stirring shovel module or still simply a stirring shovel, the larger components of the stirring shovel module are as much as possible outside or on the side of the outside of the pot body to reduce the space occupied by the pot body, and to protect some components of the stirring shovel module from oil smoke contamination from the pot body, especially electromechanical components such as the motor from adverse factors such as moisture and high temperature. At the same time, the stirring shovel auxiliary module makes the stirring shovel module slimmer, and the stirring shovel module can be protected by an outer shell.

[0305] Figure 6M yes Figure 6L Further explanation: the pot body 1, pot lid 2, and robotic arm are composed of a motion device 6111 and a gripping device 6121, which together perform complex movements. The robotic arm includes a gripping device or connecting device that can hold a spatula handle 6122. The front end of the spatula handle is a spatula blade 6131, and the spatula handle can be as short as zero.

[0306] The robot arm combined with the blade and the mixing shovel module can be compared to each other. For example, the motion device 6111 in the robot arm can be degenerated into Figures 6A to 6K The stirring shovel shaft 611 in the robot arm 6121 can be degenerated into Figures 6A to 6K The stirring shovel vertical rod 612 in the stirring shovel, and the stirring shovel handle 6122 and the shovel blade 6131 can correspond to the stirring shovel horizontal rod 613, and the minimum length of the shovel handle 6122 can be zero; or, the mechanical arm 6121 and the shovel handle 6122 are combined to correspond to Figures 6A to 6K The vertical rod 612 of the stirring shovel and the blade 6131 correspond to the horizontal rod 613 of the stirring shovel (in this case, a practical example is that the blade 6131 corresponds to the horizontal rod shovel 613 in Figure 12 below). A more complex blade is also called a blade module, which corresponds to the horizontal rod module. Considering that the application scenario of the robot arm of the present invention is a cooking machine, it can also be compared with the vertical rod / horizontal rod type blender shovel and stirring shovel auxiliary module. The robot arm can also have an auxiliary module 7. The function of the robot arm auxiliary module 7 is the same as that of the stirring shovel auxiliary module, which is to make the larger parts of the robot arm and the blade as much as possible outside the pot body or on the outer side to reduce the space occupied in the pot body, or to protect some parts of the robot arm / shovel module from the oil smoke pollution of the pot body, especially to protect electromechanical components such as motors from adverse factors such as water vapor and high temperature. At the same time, the auxiliary module of the robot arm / shovel module makes the stirring shovel module slimmer, and the robot arm / shovel module can be protected with an outer shell.

[0307] When the robotic arm is on the pot body or pot cover, the robotic arm combined with the stirring blade can be completely equivalent to a special form of stirrer. That is, the robotic arms 6121 and 6122 and the blade 6131 are equivalent to Figure 6L The vertical rod 612 (including 612a / 612b), the horizontal rod 613, and the connecting part 623 (including 623a / 623b) of the vertical rod and the horizontal rod. That is, Figure 7: the mechanical arm (6121+6122) + the scraper (6131) = Figure 6: the vertical rod (612) + the horizontal rod (613) + the vertical rod and the horizontal rod connecting part (623). The first rotating device 6111 of the mechanical arm can be compared with the rotating shaft 611 of the stirring shovel in Figure 6. In this way, Figure 7: the mechanical arm (6121+6122) + the scraper (6131) + the rotating device 6111 = Figure 6: the vertical rod (612) + the horizontal rod (613) + the vertical rod and the horizontal rod connecting part (623) + the rotating shaft 611 = Figure 6: the stirring shovel. Therefore, the present invention does not distinguish between a mixing shovel formed by a vertical / horizontal rod or a mixing shovel formed by a robotic arm / blade, nor does it distinguish between auxiliary modules for the vertical / horizontal rod or auxiliary modules for the robotic arm / blade. A mixing shovel system = a mixing shovel auxiliary module + a mixing shovel module (or a mixing shovel).

[0308] Figure 6L The middle stirring spatula is obviously on the pot body or the pot lid. Figure 6M The robot arm combined with the scraper can Figure 6L The stirring shovel is on the pot body / pot cover, and can also be extended to objects not on the pot body or pot cover, such as on the cooking machine or on objects around the cooking machine. Figure 7 can generate patent claims, and its sources include Figure 6LThe characteristics of the mixing spatula can be transferred to the robotic arm / shovel. For example, the overall translation characteristics of the mixing spatula, and the characteristics of the pot body as the envelope formed by the mixing spatula's stirring, including the stirring method of the mixing spatula, such as the "left-right stir-fry method." Because the current use of a robotic arm combined with visual recognition for stir-frying is very difficult, the difficulty can be reduced by applying certain restrictions. For example, scooping up a wide variety of cooked foods and inverting them somewhere in the pot, while the cooking machine must also identify the shape and distribution of the inverted food, is still very difficult for current machines to recognize. However, the "left-right stir-fry method" is much simpler because it focuses on stirring and can meet the needs of most food stir-frying, while also preserving hardware for future artificial intelligence and visual recognition. For example, the horizontal spatula can be used as future hardware preparation and can also be partially used at this stage: when the stirring spatula stirs from the "left" to the "right", some food is left that has not been scooped up by the horizontal spatula. These foods are accumulated on the "right" edge of the pot, but it doesn't matter. The "left-right stir-frying method" has a stir-frying process from the "right" to the "left". These foods accumulated on the "right" edge of the pot will be scooped up or returned to the center of the pot, or a very small part will be brought to the "left" edge of the pot; by repeatedly using the "left-right stir-frying method", these problems will be solved; during the cooking process, each piece of food will be spinning near the center of the pot most of the time, thus achieving a relatively perfect stir-fry.

[0309] Figure 6L and Figure 6M In this cooking machine, all the power devices required for stir-frying can be located on the stirring shovel, in which case the stirring shovel auxiliary module is empty, that is, the stirring shovel auxiliary module does not exist; alternatively, all the power devices required for stir-frying can be located on the stirring shovel auxiliary module, in which case there is no power device on the stirring shovel, and the driving force of the stirring shovel auxiliary module is transmitted to the stirring shovel through a mechanical device; or, alternatively, part of the power devices required for stir-frying can be located on the auxiliary module and part on the stirring shovel. For example, the motor for rotating the stirring shovel as a whole is located on the stirring shovel auxiliary module, while a small rod-shaped motor is used to rotate the stirring shovel crossbar. These are also the key points of the cooking machine of the present invention.

[0310] Figure 6M This also explains the patent claim of the present invention. Using a universal robotic arm combined with a stirring spatula, combined with artificial vision, it is certainly possible to complete cooking and stir-frying, but it is very complicated to implement. It is currently difficult to implement, or the cost is too high, or the stability is insufficient, or the machine is too large. Just as current washing machines or dishwashers are blind washing without visual recognition, the first step of the cooking machine is also based on "blind frying" without vision. The present invention reveals the need for the following solution elements:

[0311] The robotic arm combined with the blade can be classified as a mixing shovel module or simply a mixing shovel;

[0312] Two or more independently controllable stirring actions are required so that the front end of the stirring spatula (e.g., 613 in this figure) in contact with the pot body can leave the pot body surface or contact the pot body surface as needed;

[0313] The left-right stir-fry method reduces the difficulty of stir-frying, avoids food entanglement and allows for smooth stir-frying.

[0314] The robotic arm is on the pot body, or on the pot cover, or the robotic arm can stir-fry inside the pot body when the pot cover is closed, which can make the stir-frying structure of the cooking machine more compact, prevent oil smoke from escaping, and maintain high temperature inside the pot;

[0315] The pot body includes an envelope surface formed by the rotation of the stirring shovel;

[0316] The stirring spatula or stirring spatula is placed across the pot body to improve the stir-frying efficiency and eliminate visual recognition; or the stirring spatula is rotated around the central axis of the pot body to stir-fry and eliminate visual recognition;

[0317] Combining the robotic arm or stirring shovel module with the pot body or pot cover changes the centralized structure into a distributed structure, reducing the volume occupied by the robotic arm / stirring shovel module inside the pot body, which helps prevent moisture from entering the various joints of the robotic arm / stirring shovel module, avoids contamination, and makes it easier to clean.

[0318] Figures 7A to 7D This is a schematic diagram of the stir-frying principle of the stirring shovel of the present invention. Figures 7A to 7D The cooking pot 1 includes a pot cover 2, a stirring shovel 6 with a stirring shovel vertical rod 612, a stirring shovel horizontal rod 613, a stirring shovel rotation axis 61, and cooking ingredients 18. Assuming that the pot body 1 has a semicircular cross section, the pot body 1 has a bottom low point B, and the pot cover 2 has a vertex T.

[0319] Figure 7AThis diagram illustrates the stir-frying effect achieved by the movement of the stirring shovel 6. The stirring shovel's crossbar 613 rotates clockwise from point A on the right edge R, against the surface of the pot body, toward the center of the pot body, pushing the cooking ingredients or food 18 on the right side of the pot body toward the center of the pot body, near point B. The stirring shovel 6 continues to rotate until it reaches point C on the left edge of the center, also pushing some of the cooking ingredients toward point C. The stirring shovel is now lifted upward, its rotation axis moving to point 61a. This allows the stirring shovel's bottom crossbar 613 to separate from the food and reach a sufficiently high point, point D. As the stirring shovel continues to rotate clockwise, the cooking ingredients 181 remain at point C and are not pushed further toward the left edge L of the pot body. The stirring shovel 6 then continues to rotate clockwise about axis 61a to point E near the left edge L. The stirring shovel 6 then moves as a whole, causing axis 61a to align with axis 61, and the stirring shovel 6 re-engages with point F on the pot body 1. The stirring shovel 6 then rotates counterclockwise about axis 61, contacting the cooking ingredients 181 at point G. It then continues to rotate counterclockwise until it reaches point C. Point C and point A are equivalent to the center TB segment of the pot body 1, so by repeating the similar process starting from point A counterclockwise, you can reach point A again and complete a stir-fry cycle.

[0320] Figure 7A In the figure, the stirring blade 6 rotates from point B to point C, and then the stirring blade 6 moves as a whole to point D. In fact, the movement of the stirring blade 6 as a whole and the rotation of the stirring blade 6 about its own rotation axis 61 can be performed simultaneously, so that the movement trajectory of the stirring blade cross bar 613 is a smooth curved trajectory 19. Of course, the stirring blade 6 can also leave the pot body at other positions, forming a trajectory such as 191.

[0321] Figure 7B This diagram illustrates how the vertical rod 612 of the stirring shovel 6 extends and retracts to achieve stir-frying. The stirring shovel 6 rotates clockwise from point A on the right edge R, against the surface of the pot body 1, toward the center of the pot body, pushing the food 18 on the right side of the pot body toward point B in the center. The stirring shovel 6 continues to rotate until it reaches point C on the left edge of the center, also pushing some of the cooking ingredients toward point C. At this point, the vertical rod 612 retracts, allowing the stirring shovel's bottom crossbar 613 to separate from the food 181 and reach a sufficiently high point, point D. As the stirring shovel 6 continues to rotate clockwise, the cooking ingredients 181 remain at point C and are not pushed further toward the left edge L of the pot body. The stirring shovel 6 then continues to rotate clockwise about the rotation axis 61 to point E near the left edge L. The vertical rod 612 then extends and rotates counterclockwise, allowing the stirring shovel's crossbar 613 to re-adhere to point F on the pot body 1. The stirring shovel 6 then continues to rotate counterclockwise about the axis 61, contacting the cooking ingredients 181 at point G. It then continues to rotate counterclockwise until it reaches point C. Point C and point A are equal to the center TB segment of the pot body 1. Therefore, by repeating the similar process starting from point A counterclockwise, point A can be reached again to complete a stir-fry cycle.

[0322] Figure 7B In the figure, the mixing shovel 6 rotates from point B to point C, and then the mixing shovel vertical rod 612 retracts, causing the horizontal rod 613 to move to point D. In practice, the retraction of the mixing shovel vertical rod 612 and the rotation of the mixing shovel 6 about its own axis 61 can occur simultaneously, so that the motion trajectory of the mixing shovel horizontal rod 613 forms a smooth curved trajectory 19. Of course, the mixing shovel 6 can also leave the pot body at other positions, forming a trajectory such as 191.

[0323] Figure 7C This diagram illustrates how stir-frying is achieved by bending the vertical rod 612 of the stirring shovel 6. The stirring shovel 6 rotates clockwise from point A on the right edge R, against the surface of the pot body 1, toward the center of the pot body, pushing the food 18 on the right side of the pot body toward point B near the center of the pot body. The stirring shovel 6 continues to rotate until it reaches point C on the left edge L of the center area, also pushing a portion of the cooking ingredients 181 toward point C. At this point, the vertical rod 612 of the stirring shovel bends, allowing the stirring shovel's bottom crossbar 613 to separate from the food 181 and reach a sufficiently high point D. As the stirring shovel continues to rotate clockwise, the cooking ingredients 181 remain at point C and are not pushed further toward the pot body edge L. The stirring shovel 6 then continues to rotate clockwise about the rotation axis 61, while the vertical rod 612 gradually straightens, allowing the stirring shovel's crossbar 613 to re-attach to point F near the left edge L of the pot body 1. The stirring shovel 6 then rotates counterclockwise about the axis 61, contacting the cooking ingredients 181 at point G, and continues to rotate counterclockwise until it reaches point C. Point C and point A are equivalent to the TB line segment of the pot body 1, so by repeating the similar process starting from point A counterclockwise, you can reach point A again and complete a stir-fry cycle.

[0324] Figure 7C In the embodiment, the mixing shovel 6 rotates from point B to point C, and then the mixing shovel vertical rod 612 bends, causing the cross bar 613 to move to point D. In fact, the bending of the mixing shovel vertical rod 612 and the rotation of the mixing shovel 6 around its own axis 61 can be performed simultaneously, so that the movement trajectory of the mixing shovel cross bar 613 is a smooth curved trajectory 19.

[0325] If the mixing shovel rotates from point A and the mixing shovel vertical rod begins to fold and bend from point A, the mixing shovel horizontal rod 613 generates a motion trajectory 191. Trajectories 19a and 191a are the trajectories generated by the mixing shovel 6 rotating counterclockwise from point C.

[0326] Figure 7C The mixing shovel vertical rod 612 is shown bent toward the rear of the moving direction, but can actually be bent toward the front of the moving direction.

[0327] The crossbar of the stirring shovel 6 can be approximately semicircular or wedge-shaped (see Figure 7D ), the stirring shovel cross bar can also be a rotatable cylindrical bar, such as the stirring shovel cross bar stopped at point B at the bottom of the pot body.

[0328] Figure 7D This is a diagram of the mixing shovel bar rotation. Figures 7A to 7C , Figure 7D This is easy to understand. The stirring shovel 6 rotates around axis 61. Its crossbar 613, shaped like a spatula, can rotate around axis 613g. When crossbar 613 rotates, its front end moves away from the surface of the pot 1. When crossbar 613 returns to its original shape, its front end reappears, allowing the stirring shovel 6 to stir-fry.

[0329] Figure 7D The combination of bending the vertical rod of the mixing shovel and rotating the horizontal rod of the mixing shovel is also demonstrated. Figure 7D The vertical rod 612 of the middle stirring shovel 6 can be as follows Figure 7C The present invention also regards the rotation of the mixing shovel horizontal rod as a special case of the bending of the mixing shovel vertical rod, so Figures 7A to 7D The embodiment shown can also be regarded as a double bend of the mixing shovel.

[0330] Figure 7D In the figure, it can be seen that the stirring shovel crossbar can be of various wedge-shaped types and is symmetrical to the vertical plane. However, this is different from the stirring shovel commonly used by humans at present because the stirring shovel is asymmetrical. Of course, the asymmetrical stirring shovel 613f can also be used in the cooking machine of the present invention, except that the software design of the return stirring and the forward stirring is slightly adjusted. The asymmetrical stirring shovel 613f can be used for Figures 12A to 12E A mixing shovel, such as Figure 12E Mixing shovel crossbar 6133.

[0331] Summarize Figures 7A to 7D As can be seen, the present invention utilizes gravity to force cooking ingredients such as water, oil, and vegetables to flow or fall toward the heating zone at the bottom of the pot. Therefore, the axis of the stirring shovel's rotating shaft is, in principle, horizontal during operation. This allows the pot bottom, the direction of gravity, the heating zone, and the stirring shovel's crossbar to all point in the same direction. It's acceptable for the stirring shovel's rotating shaft to have an angle with the horizontal plane during operation, especially when the angle is relatively small, for example, less than 45 degrees. As a stir-fry machine, although this angle ranges from 0° to 90°, the stir-frying effect decreases as the angle increases.

[0332] Figures 7A to 7D It can also be seen that the four movements of the mixing shovel can be used individually or in combination. For example, the mixing shovel can be moved as a whole, the mixing shovel vertical rod can be bent, or the mixing shovel can be moved as a whole and the vertical rod can be bent. However, for simplicity, the mixing shovel vertical rod bending can be used without the need for the mixing shovel moving as a whole; or the mixing shovel vertical rod bending can be used without the need for the mixing shovel moving as a whole.

[0333] Figure 8 This is a schematic diagram of the trajectory of the mixing shovel crossbar 613. Figure 8 It includes: a pot body 1, a pot cover 2 and the axis of the stirring shovel shaft 61. When the stirring shovel shaft or blade is fixed, no matter how the stirring shovel rotates, the stirring shovel cross bar has only one trajectory, that is, a circle. The present invention utilizes the overall movement of the stirring shovel 6, the extension and contraction of the stirring shovel vertical rod 612, the bending of the stirring shovel vertical rod 612 and the rotation of the stirring shovel cross bar 613 to form a rich family of stirring shovel trajectories, which are infinite and sufficient for stir-frying. The characteristics of these trajectories are: they are both rich and controllable; they are both variable and repeatable. Taking the bending of the stirring shovel 6 as an example, when the stirring shovel 6 rotates at different rotation rates, the vertical rod 612 bends at different positions, the vertical rod 612 has different bending rates and the vertical rod 612 has different bending degrees, the cross bar 613 can produce different stirring trajectory families 19. In addition, from Figure 8 It can also be seen that the cross section of the pot body 1 can also be other shapes, such as an ellipse.

[0334] Figures 6A to 6M 、 Figures 7A to 7D as well as Figure 8 The stirring shovel module and the pot body can form a new type of blender, which changes the stirring shovel used for stir-frying and turning the dishes into controlled stirring. This blender is essentially different from all the current blenders. The current blenders stir randomly, and the stirring shovel shaft is vertical or inclined. The blender of the present invention can also achieve random stirring. In addition to random stirring, the blender of the present invention can achieve controlled and much richer stirring. As analyzed in the background technology, this is the key to realizing a cooking machine that can meet the requirements of different dishes and portions. From a mathematical analysis, the present invention transforms the one-dimensional stirring function into a two-dimensional stirring function, so that the stirring mode (curve) is nearly infinitely rich, and the stirring mode (curve) is completely controllable (selectable). Therefore, each stirring can select the optimal stirring, can stir to the "tickliest spot", and ensure that the oil, water and cooking ingredients are always near the recessed heating zone at the bottom of the pot body. Another preferred embodiment of the present invention is dough kneading. The present invention makes it possible to simulate manual dough kneading. In this case, the mixing shovel crossbar may be circular, preferably rotatable, or the front end of the mixing shovel crossbar may be approximately semicircular (for simplicity, we will call it semicircular). These features are unprecedented in existing mixers.

[0335] Figure 9 This is a schematic diagram of the new pot body and the cooking dishes of the present invention. Point B is the marking point on the bottom of the pot body 1. Figure 9 The container includes: a pot body 1s, a stirring shovel 6s, a stirring shovel auxiliary module 7s, a stirring shovel rotation axis 61s, a stirring shovel cross bar 613s, and food 18s.

[0336] like Figure 9The diagram shows how food is served by rotating the pot (1s) and tilting it, combined with stirring the food with a stirring shovel (6s). When the pot (1s) tilts approximately 90°, the dish (18s) slides toward the edge of the pot (1s) by inertia, with some falling directly into the bowl (172s). The remaining food is then moved by the stirring shovels (6s) and (7s) rotating around the axis (61s) and driving the horizontal bar (613s) to transfer the dish (18s) into the bowl (172s). Clearly, the pot wash water can also be discarded in this manner.

[0337] Obviously, after cooking the food, you can move the pot 1s to an empty bowl and pour out the food. Alternatively, you can move the pot to a wastewater sink and discard the washing water. However, the present invention's method of pouring out the food and pouring out the washing water is much simpler. The heating source for the pot 1s can be natural gas, an electric stove, or an induction cooker. Using a curved induction cooker, the stovetop fits snugly against the bottom of the pot 1s.

[0338] induction Figures 6A to 6M 、 Figures 7A to 7D 、 Figure 8 as well as Figure 9 It can be seen that the stirring shovel module of the present invention includes a stirring shovel auxiliary module 7 and a cooperative stir-fry stirring shovel 6 (also referred to as stirring shovel 6). The stirring shovel auxiliary module 7 drives the stirring shovel shaft 611, so that the cooperative stirring shovel 6 rotates around the axis 61 of the stirring shovel module (6, 7). When the vertical rod of the stirring shovel 6 blade is bent, there is also an axis at the bend. When the horizontal rod of the stirring shovel 6 rotates, there is also a horizontal rod rotation axis. In the example of the present invention, the stirring shovel 6 spans across the two ends of the pot body, and these axes are parallel to each other. In actual examples, due to the complexity of realizing the stirring shovel of the present invention, there is a situation where the stirring shovel auxiliary module and the cooperative stirring shovel module penetrate each other, and there is a certain degree of uncertainty in the boundary between the two, just as the vertical rod and the horizontal rod of the stirring shovel are not strictly defined to some extent.

[0339] In an embodiment of the present invention, the driving device is preferably a motor, including two types of functional motors: one is a motor that drives the stirring shovel to rotate, referred to as the stirring shovel module rotation motor; the other is a motor that drives the stirring shovel to coordinate the stir-frying function, referred to as the stirring shovel stir-fry motor. The stirring shovel stir-fry motor can be further refined according to different stir-frying schemes, for example, the stirring shovel overall movement motor, the stirring shovel vertical rod telescopic motor, the stirring shovel vertical rod bending motor, and the stirring shovel horizontal rod rotation motor. It can be seen that the stirring shovel of the present invention is essentially equipped with two independently operating motors, which is a very important feature of the present invention.

[0340] Another feature of the present invention is that the axis 61 of the stirring shovel shaft is preferably horizontal, although the advantages still exist when the axis 61 of rotation of the stirring shovel module (6, 7) of the present invention is tilted at a small angle. Figure 1A 、 Figure 1BThis improvement, made after addressing shortcomings, is a continuation and improvement of the inventor's previously published patents CN2448232 and CN1364436. It not only solves the problem of a stirring shovel, but also addresses the need for a cooking pot that can still meet the stir-fry requirements of a home cooker without rotating. Furthermore, the lid opening can be opened upright, and the "bow-shaped" stirring shovel can be installed on the pot body or lid, making it very convenient to add ingredients to the pot. Since the pot body does not need to rotate, the lid can be easily installed. The lack of protruding stirring bars within the pot body not only simplifies the pot body, but also makes it easy to manually pour food. The stirring shovel also provides a helpful aid when pouring food.

[0341] induction Figures 6A to 6M 、 Figures 7A to 7D 、 Figure 8 as well as Figure 9 It can also be seen that the stirring shovel module of the present invention can also scoop out food very conveniently and efficiently. This is mainly due to the fact that the pot body of the present invention is the envelope line of the rotation of the stirring shovel, so that the shape of the front end of the stirring shovel is highly fitted with the pot body, the pot body can rotate and does not fight with the stirring shovel during rotation, and the stirring shovel spans both ends of the pot body, making it efficient and convenient to scoop out food.

[0342] Figure 10A It is a schematic diagram of the integral movable mixing shovel of the present invention using a disc to seal the rotating shaft hole. Figure 10A The stirring shovel 6 includes: a pot body 1, a pot cover 2, a stirring shovel 6, a stirring shovel auxiliary module 7, a stirring shovel shaft 611 and a stirring shovel rotation axis 61. For the stirring shovel 6 with the shaft 611 (611a and 611b) facing outward, when the stirring shovel 6 is translated as a whole during stir-frying, the stirring shovel can also rotate around the vertical axis of the center of the pot body, and a hole 6111 will be generated in the stirring shovel shaft 611. In order to prevent the water vapor in the pot body from escaping from the hole 6111, a sealing plate 6112 can be used. The sealing plate 6112 is usually disc-shaped, and the stirring shovel shaft 611 passes through the sealing plate 6112. When the stirring shovel 6 moves as a whole, it drives the sealing plate 6112 to move, but the sealing plate 6112 always blocks the hole 6111.

[0343] At the same time, external water 7P or gas 7F and external electrical signals 7V can be input into the mixing shovel through the rotating shaft of the mixing shovel 6. Water or gas is ejected from the nozzles 601a / 601b on the mixing shovel. The electrical signal can drive the electromechanical components in the mixing shovel 6, as well as supply the heating components in the mixing shovel 6. It is worth noting that the nozzles 601a / 601b at the mixing shovel module are easier to implement than the nozzles 601a at the vertical and horizontal rods of the mixing shovel. Alternatively, the left end rotating shaft 611b of the mixing shovel is disconnected from the mixing shovel, and the mixing shovel 6 is only driven by the right end rotating shaft 611a. At this time, the left end rotating shaft 611b becomes a rotating nozzle, which can clean the mixing shovel, pot body and pot cover, etc.

[0344] from Figure 10AYou can also explain what a stirring spatula is on the pot body, pot lid or cooking machine. Figure 5A When the pot lid is closed or the pot body moves a few millimeters up and down or left and right, the stirring shovel 6 does not follow the movement. Therefore, it is believed that the stirring shovel 6 is not fixed on the pot lid or the pot body, but is supported or "rooted" on the cooking machine, so it is called Figure 10A The stirring shovel is mounted on the cooking machine. It is worth noting that, although the stirring shovel 6 is "rooted" in the cooking machine, the stirring shovel auxiliary module 7 is outside the pot body. This prevents the stirring shovel auxiliary module from being contaminated by food and oil smoke inside the pot body, and the stirring shovel module does not affect the opening and closing of the pot lid 2. These are two outstanding advantages of the stirring shovel 6 spanning both ends of the pot body of the present invention.

[0345] Figures 10B to 10D Schematic diagram of a cooking machine with multiple stirring spatulas installed and a schematic diagram of stirring spatulas installed on different components. Figures 10B to 10D The invention comprises: a pot body 1, a pot cover 2, a stirring shovel 6, and a stirring shovel auxiliary module 7.

[0346] Figure 10B Two stirring shovel systems 6a / 7a and 6b / 7b are installed on the middle pot body 1, and the rotation axes of the stirring shovels are 61a and 61b respectively. In the figure, the rotation axes 61a and 61b are perpendicular.

[0347] Figure 10C This is a schematic diagram of another cooking machine equipped with multiple stirring spatulas. In the figure, a stirring spatula system 6c / 7c is installed on the pot body 1, and a stirring spatula system 6d / 7d is installed on the pot cover 2. The rotation axes of the two stirring spatulas are 61c and 61d respectively. In the figure, the rotation axes 61c and 61d are perpendicular.

[0348] Figure 10D This diagram shows another dual-shovel system. The shovel systems 6a and 7a, and the shovel systems 6b and 7b, are positioned relative to each other on the pot body 1 or pot lid 2, with their rotational axes 61a coinciding. To ensure the two shovels do not collide during operation, a series of avoidance modes can be employed. For example, one shovel, such as 6a, is positioned close to the edge of the pot body 1. When the other shovel, such as 6b, approaches shovel 6a, it is lifted off the surface of the pot body 1 by shovel 6b, thus avoiding collision with shovel 6a and providing a clear path for shovel 6a to stir.

[0349] Figure 10DThe diagram also shows a schematic diagram of different mixing shovels coordinated and synchronized using a transmission device. The drive motor 713 rotates, driving the belt 7131 through the coupling 7130, which in turn drives the mixing shovel 6b. Simultaneously, the drive motor 713 also drives the rotating shaft 7132, which in turn drives the belt 7133, which in turn drives the mixing shovel 6. Clearly, the same method can be used to drive the left and right rotating shafts of the same mixing shovel 6 to rotate synchronously. This also provides support at both ends of the vertical rod, creating a good foundation for bending the vertical rod or rotating the horizontal rod.

[0350] And / or, the rigid connectors 7131, 7132, and 7133 support different stirring shovels or various corresponding rotating shafts on the left and right ends of a stirring shovel, so that the different stirring shovels move synchronously or the corresponding rotating shafts on the left and right ends of the stirring shovel move synchronously. The rigid connectors 7131, 7132, and 7133 can be installed outside the pot body / pot lid as shown in the figure, or inside the pot body / pot lid. The rotating shafts that need to be synchronized include the rotating shaft of the vertical arm, the stirring shovel rotating shaft, and the stirring shovel vertical rod bending rotating shaft and the stirring shovel horizontal rod rotating rotating shaft shown in Figure 16 below.

[0351] Dual stirring spatulas help increase the stir-frying speed of the stir-fry machine, making it suitable for cooking dishes that require rapid stirring. Obviously, more than two stirring spatulas can be used, and these stirring spatulas can be arranged in various combinations, such as with the stirring spatulas attached to the pot body or lid, and with their rotation axes parallel or orthogonal in space. The present invention fully contemplates various combinations of multiple stirring spatulas, and all such combinations are within the scope of protection of the present invention.

[0352] Obviously, the effect of overall movement of the stirring shovel can be achieved by the overall movement of the pot body. The present invention classifies this relative movement into the category of overall movement of the stirring shovel, and its claims include it in the overall movement of the stirring shovel.

[0353] Figures 11A to 11N Schematic diagram of the stirring shovel integral moving stir-frying device provided by an embodiment of the present invention. Pot body 1, pot cover 2, stirring shovel 6 (including stirring shovel shaft 611, stirring shovel shaft axis 61, stirring shovel vertical rod 612, stirring shovel horizontal rod 613), stirring shovel auxiliary module 7 (the stirring shovel auxiliary module 7 is not shown, see Figures 10A to 10D Etc., including one or more linear motion devices 708, vertical motor 710, horizontal motor 711, vertical arm 712, stirring shovel drive motor 713, stirring shovel crossbar drive motor 714. Rotary joint and conductive slip ring 7PFV, water pump 7P, fan 7F and electrical signal 7V.

[0354] Figure 11A It is a basic stirring shovel integral moving stir-frying device. The stirring shovel stir-frying process is shown in Figure 7A. The horizontal motor 711a or 711b is above the vertical axis of symmetry of the pot body, without loss of generality, and is located directly above the central axis 61 of the stirring shovel, and the axis 198a / 198b of the horizontal motor 711a / 711b is parallel to the axis 61 of the stirring shovel. The rotating shaft of the horizontal motor 711a / 711b is connected to the stirring shovel 6a / 6b through the vertical arm 712 / 712a / 712b, driving the stirring shovel 6a / 6b to move as a whole. The position of the horizontal motor 711a is near the half height of the pot body, so that the length of the vertical arm is half the length of the vertical rod of the stirring shovel. In practice, the deviation can be within ±30%. In order to reduce the accumulation of dirt in the vertical arm, the vertical arm can be changed into a disc 712a1, which is called a disc-type vertical arm, and the vertical arm 712a is called a rod-type vertical arm. Figure 11E The vertical arm 712 also has two types: rod type and disc type.

[0355] The horizontal motor 711b may also be positioned at a higher position, for example, near the top of the pot cover 2 .

[0356] Figure 11B The middle support device 28 is used to support the stirring shovel auxiliary module. The support device is installed on the cooking machine, the pot cover 2 or the pot body 1. Figure 6B , which is the extended form. Figure 11B Give a comparison Figure 11A A more complex way of moving the stirring shovel as a whole is that the stirring shovel rotates around the vertical axis 199 in the center of the pot body. For example, the vertical motor 710 drives the horizontal motor 711 to rotate around the central axis 199 of the pot body, and the horizontal motor 711 drives the vertical arm 712a / 712b to swing, driving the stirring shovel drive motor 713 and the stirring shovel 6 to move, and the stirring shovel drive motor 713 drives the stirring shovel shaft 611 to rotate, driving the stirring shovel 6 to rotate. A motor can also be installed at the stirring shovel shaft 611, and through the "nested drive" method, the stirring shovel vertical rod can be bent (bending axis 62) or the horizontal rod 613 can be rotated. The vertical rod 612 can be in the middle of the horizontal rod 613, or it can be at both ends of the horizontal rod (not shown, see Figure 11C Figure 11D ).

[0357] The vertical arm of the mixing shovel auxiliary module can also be made into a telescopic type, such as the vertical arm upper part 712a is fixed and the vertical arm lower part 712b is telescopic. Alternatively, it can be made into a bending type. In this case, a drive motor needs to be added.

[0358] Considering the situation where the pot body opens upward, it can be seen that the various motors in the above-mentioned stirring shovel auxiliary module are all located on the pot body opening plane 102 and the pot body opening upward cylindrical area 103, and therefore, are all subject to the problem of being disturbed by the pot body's oil smoke and high temperature.

[0359] exist Figure 11CIn the embodiment, the stirring shovel rotates around the center of the pot body 199, the bending motor 7121 of the vertical arm 712a / 712b and the stirring shovel vertical rod 612 are on both sides of the horizontal rod 613. Obviously, the bending motor 7121 can also be used to drive the stirring shovel 6 to rotate (not shown, see Figure 11D Schematic diagram), to replace the stirring shovel rotation motor 713, or retain the motor 713, adopt a "nested drive" structure, so that the motor 713 can drive the stirring shovel cross bar 613 to rotate.

[0360] exist Figure 11D In the figure, the bending motor 7121 drives the stirring shovel 6 to rotate through the transmission devices 7122 and 7123, which means that the stirring shovel drive motor 713 can be in different positions, or the stirring shovel drive motor 713 is still at the stirring shovel shaft, and drives the stirring shovel cross bar 613 to rotate through the "nested drive". Alternatively, the stirring shovel cross bar drive motor 714 is installed at the shaft at the other end of the stirring shovel to drive the stirring shovel cross bar 613 to rotate. In order to make the vertical rods 612a and 612b completely synchronized and better able to bear force, the transmission device 7131 across the two ends of the pot body can be used to synchronously drive and support the vertical rods 612a / 612b. The transmission device outside the pot body is used to synchronously drive and support the vertical rods on the left and right ends of the stirring shovel or the two alternating stirring shovels. Figure 10D .

[0361] Obviously, as mentioned above, the rotation of the horizontal bar can be regarded as a special case of the bending of the vertical bar. Therefore, if the horizontal bar 613 can be driven to rotate, the mixing shovel vertical bar 612 can also be driven to bend or rotate. The rotation of the horizontal bar can be regarded as a special case of the bending of the vertical bar.

[0362] Figures 11A to 11D This is a schematic diagram showing various solutions for the overall movement of the mixing shovel, but the drive motors of the mixing shovel auxiliary modules are affected by oil smoke and high temperature.

[0363] exist Figure 11E The motor for the stirring shovel auxiliary module is located outside the closed surface formed by the pot body and the lid, greatly reducing the impact of oil smoke and high temperature on the motor. Horizontal motor 711 drives shaft 7116 through transmission devices 7112 / 7113 / 7115, which in turn drives vertical arm 712. Transmission device 7115 drives stirring shovel drive motor 713. Through a "nested drive," shaft 7132 of motor 713 drives transmission devices 7134 / 7135 / 7136 in vertical arm 712, driving stirring shovel shaft 611 and, in turn, stirring shovel 6.

[0364] Reference Figure 6B and Figures 3A to 3D The pot cover 11 of the pot body can also be selected at other positions, such as at the axis position, in which case the pot body is drum-shaped.

[0365] The vertical arm 712 can also be made into a disc shape ( Figure 11E The vertical arm 712 and the dotted line portion, refer to Figure 11A The disc-type vertical arm 712a1) reduces the generation of bends and corners, thereby achieving the purpose of reducing the accumulation of dirt and grime, while enhancing the strength of the vertical arm.

[0366] Figures 11A to 11E The device includes a rotatable vertical arm 712, which is called a polar coordinate translation device.

[0367] Figure 11F The mixing shovel auxiliary module consists of a linear motion device, called a rectangular coordinate translation device. The linear motion device and the rectangular coordinate can be referred to Figures 4A to 4G The Y-axis is parallel to the axis of the stirring blade's rotating shaft, and the X-Z plane is perpendicular to the Y-axis. When the stirring blade spans across the pot body, the linear motion device 709 drives the stirring blade drive motor 713 and the stirring blade 6 through the vertical arm 712 to move as a whole. At the same time, the stirring blade drive motor 713 drives the stirring blade's rotating shaft 611, causing the stirring blade to rotate about the axis 61.

[0368] The length of the vertical arm 712 can also be zero. Figure 10A as well as Figure 11I 、 Figure 11J and Figure 11K The simplest overall movement is only horizontal X-direction translation or vertical Z-direction translation, in which case there is only one linear motion device. Figure 6K Stir-frying requires translation along the Y axis, and three linear motion devices are needed to form a three-dimensional rectangular coordinate translation device. Figure 11F You can also refer to Figures 11A to 11E Various deformation moving devices and moving devices that make the cross bar rotate.

[0369] Figure 11G This means that when the stirring shovel is smaller than the pot, the stirring shovel can be translated along its axis to achieve stir-frying, and the pot is the envelope formed by the stirring shovel's rotation. If the pot 1 does not use an envelope for the stirring shovel's rotation, the stirring shovel 6a may clash with the pot 1. Perhaps rotating the stirring shovel through an angle θ is a solution. That is, the stirring shovel system gradually rises / rotates (or lowers) through an angle θ (or swings / rotates through an angle θ) around the horizontal axis (or a certain horizontal axis) at the center of the pot, with the central horizontal axis perpendicular to the stirring shovel's own rotation axis.

[0370] Combine Figure 11G and Figure 6K The linear dislocation stir-frying method can be used to obtain a new stir-frying method, which is called the "deformed linear dislocation stir-frying method", that is, when the linear dislocation stir-frying method is used (see Figure 11N The stirring shovel slowly rotates an angle θ to adapt to the curved surface of the pot.

[0371] Figure 11H In order to utilize the pot cover 2 for stir-frying, the pot cover 2 device 22 is installed on the linear vertical motion device 709. The pot cover 2 is lifted by an angle β and / or the vertical motion device 709 moves the pot cover up and down by a height H, driving the stirring shovel 6 to move as a whole.

[0372] Cartesian coordinate motion can also be combined with polar coordinate motion. For example, a horizontal motor can be placed at the terminal end of the Cartesian coordinate motion device to drive the vertical arm to rotate around its axis. However, this combination makes the mixing shovel auxiliary module too complex and is usually not considered.

[0373] Figure 11I It is a rectangular coordinate integral moving device. A vertical axis moving device 709b is installed at the moving end of the horizontal linear motion device 709a. The motor 713 drives the mixing shovel to rotate, and the motor 714 drives the mixing shovel crossbar to rotate.

[0374] An embodiment of driving the "crossbar shovel" 613 to rotate is as follows: the motor 714 rotates and moves with the stirring shovel 6, and the motor shaft 7141 drives the internal gear 6121 of the vertical rod 612 to rotate through the gear 7142, and then drives the universal shaft transmission device 6123 to rotate through the universal shaft 6122, and finally drives the "crossbar shovel" 613 to rotate. A "nested drive" device can also be used to achieve the above function, see Figure 11K Example.

[0375] Figure 11I It is also shown that water 7P / gas 7F / electricity 7V are introduced into the mixing shovel 6 through the rotary joint and the conductive slip ring 7PFV, and water and gas are ejected from the mixing shovel nozzle 601.

[0376] Figure 11J This is a polar coordinate drive device. Horizontal motor 711 and vertical arm 712 drive motor 713 and the mixing shovel 6 to move as a whole. Motor 713 rotates the mixing shovel via shaft 611a. Motor 714 also drives the transmission device in the mixing shovel shaft 611b via its shaft 7141, driving the mixing shovel crossbar 613 to rotate. Horizontal motor 711 can also be mounted on the axis moving device 709, but this is generally too complicated and difficult to implement. However, such arrangements are within the scope of the present invention.

[0377] Figure 11K by Figure 11H For reference, the pot lid 2 is integrated into the stirring shovel auxiliary module. Specifically, the stirring shovel 6 is mounted on the pot lid 2, and the rotation and up and down movement of the pot lid drive the entire stirring shovel. One solution is to keep the stirring shovel crossbar 613 stationary, while the stirring shovel is driven by a motor. The drive motor 713a can be oriented perpendicular to the rotating shaft 611a, with the drive being transmitted via a transmission 761a. This reduces the lateral dimensions of the stirring shovel auxiliary module.

[0378] Another solution is that the stirring shovel drive motor 713b and the crossbar drive motor 714 drive the stirring shovel 6 and the crossbar 613 to rotate through "nested drive".

[0379] Figure 11K It is also shown that the stirring blade 6 is moved as a whole by the linear moving device 709.

[0380] Figure 11L This is a schematic diagram of the stirring spatula's trajectory of stirring back and forth at both ends of the pot, respectively Figure 10B 、 Figure 10C and Figure 10D correspond. Figure 11L The two stirring spatulas are perpendicular to each other, and the stirring spatulas rotate on axes 61a and 61b. Combined with the "R-L stir-fry method", most of the stir-frying required for cooking can be achieved. With the rotation of the stirring spatula crossbar, all stir-frying needs can be met. When rotating in a single direction for stir-frying, the stirring spatula is usually required to span across the two ends of the pot; when two perpendicular directions are selected for stir-frying, the complexity increases, but the stir-frying effect is better, and the stirring spatula does not need to span across the two ends of the pot. For the stirring spatula that moves as a whole, its rotating shaft axis is constantly changing. Figure 11L The axis is set at the middle position for exemplary purposes only.

[0381] Figure 11M This is a schematic diagram of the path of the stirring spatula moving back and forth at both ends of the pot body and rotating around the vertical axis in the center of the pot body. Combined with the "R-L stir-fry method" or "left-right" stir-fry method, most cooking requirements can be achieved. Figure 11M and Figures 11I to 11K , it can be seen that there is another way of moving the stirring shovel system, that is, the stirring shovel auxiliary module drives the stirring shovel to move in a circular motion along the opening plane of the pot body, and at the same time the stirring shovel performs stir-frying. The core of this stir-frying method is still the "left-right" stir-frying method, which is called "offset left-right stir-frying method" or "rotational offset left-right stir-frying method". There are also some minor variations of "rotational offset left-right stir-frying method", for example, the reciprocating stir-frying does not strictly pass through the center of the pot body (such as Figure 11P2 ), but rather slightly off. Alternatively, stir-frying on the way out but not on the way back is less efficient, requiring a full rotation to complete the stir-fry. In contrast, stirring both the way out and back only requires half a full rotation. These minor deviations fall within the scope of the "rotationally offset left-right stir-frying method."

[0382] Figure 11N yes Figure 11K In this case, the stirring shovel stirs at both ends of the pot body and the stirring shovel moves horizontally along the axis 61 of the rotating shaft. Combined with the "R-L stir-fry method", the stir-fry required for most cooking can be achieved. For the overall translation of the stirrer, the axis 61 of the stirrer rotating shaft is constantly changing. Figure 11L The axis is set in the middle position for illustrative purposes only. The core of this method is still the "left-right" method, which is also a type of "offset left-right method" and is called "straight line offset left-right method".

[0383] Figure 11O yes Figure 11G The schematic diagram shows the trajectory of the stirring spatula. The stirring spatula shifts and tilts while stirring back and forth, forming an arc-shaped stirring trajectory. This trajectory is similar to the earth's magnetic field, and is referred to as "earth magnetic field left-right stirring". Figure 11P1 yes Figure 11L 、 Figure 11M and Figure 11N The supplement of food is to separate the food. Most of the existing cooking machines use Figure 2F The method of stir-frying, mixing and breaking up is a centrifugal method, which throws the food to the edge of the pot. At the same time, the food is above the stirring spatula. Figure 11P1 The mixing spatula is placed on the food and spreads the food by moving it forward and backward, left and right, diagonally up and down, in circles, and in some random movements. This spreading method allows for better control of the food's movement.

[0384] Figure 11P2 yes Figure 11M One of the modified forms is to rotate the stirring spatula slightly off the center of the pot to stir-fry, which is referred to as "rotating eccentric left-right stir-frying". Because the stirring spatula has a certain width, the food in the center of the pot can also be stir-fried. Figure 11M There are also some minor corrections, such as the stirring spatula stirs from one end to the other, does not stir on the return, only stirs in one direction, then rotates an angle and stirs in one direction again, only stirs once a week. These minor modifications do not change Figure 11M The essence of stir-fry is all in Figure 11M the scope of the claims.

[0385] Figure 11P3 It is for Figure 7 (especially Figure 7D )and Figure 11L 、 Figure 11M 、 Figure 11N and Figure 11O Supplementary explanation, taking the stirring shovel system with a bent vertical rod (refer to the stirring shovel in Figure 12) as an example, the pot body 1, the rotating shaft 61 of the stirring shovel system 6, the vertical rod bending rotating shaft 612h, and the horizontal rod rotating rotating shaft 613h. Initially, the horizontal rod shovel 6131 is located at the edge of the pot body and moves toward the center of the pot body, pushing the food 181 toward the center of the pot body. After running a distance, the stirring shovel 6131a reaches near the center of the pot body, and a portion of the food 182 is loaded into the stirring shovel 6131a. The stirring shovel 6131a continues to move forward, and the stirring shovel vertical rod cooperates to bend so that the stirring shovel gradually separates from the surface of the pot body. At this time, the stirring shovel has three ways to overturn the food:

[0386] One approach involves significantly rotating the stirring shovel 6131b backward, for example, by more than 180°, tossing the food 182 backward (based on the direction of movement). Alternatively, the stirring shovel's vertical shaft 612h rotates significantly, tossing the food 182 backward. This stir-frying method best aligns with people's intuitive perception of stir-frying. Its advantage is the most thorough stir-frying, with the food spread over the largest area after stir-frying. Its disadvantage is that the food spreads over a large area, creating significant uncertainty and increasing the uncertainty and difficulty of subsequent stir-frying. Furthermore, the food can easily become entangled on the stirring shovel shaft 613h or the vertical shaft 612h. This method is referred to as the "backward throw" method.

[0387] The second way to stir-fry is to tilt the stirring shovel 6131c downward, so that the food 183 is dumped forward in the direction of movement. In this way, most of the food in the pot is biased to the left side of the center point of the pot (in the front of the direction of movement), which is referred to as "forward throwing". Or use a "snowball" method to roll the food, which is referred to as "snowball". Next time, do a reverse stir-fry (such as Figure 11L ), you can make most of the food lean to the right side of the center of the pot, and when the stir-fry is finished, push the food to the center of the pot; or, like Figure 11M Doing a rotary stir-fry like that will both stir the food and keep it near the center of the pan.

[0388] The third type of stir-fry is to rotate the stirring shovel along the vertical rod extension direction shaft 6z6 to turn the food over in the pot. In order to turn the food over to the side near the center of the pot, the stirring shovel can be used. Figure 11P2 Refer to the diagram and description in Figure 11P. It is referred to as "side-throwing type". Typical applications include Figure 11O .

[0389] The stirring shovel can be asymmetrical, that is, there is only a stirring shovel 6131, or it can be symmetrical, that is, there is also a stirring shovel 6132, see Figure 12 for explanation. Figure 11Q Yes Figure 11L 、 Figure 11M 、 Figure 11N 、 Figure 11O , Figure 11P1 、 Figure 11P2 、 Figure 11P3 as well as Figure 6M Schematic diagram of another mechanical structure example. Pot body 1. The mechanical arm 6 is combined with the stirring shovel 613 to form a stirring shovel system, and its base shaft (referred to as the base) 611 can realize horizontal rotation, axis 6z1. The mechanical arm is composed of multiple sections, with Figure 11QFor example, the robotic arm consists of three sections 6121 / 6122 / 6123, of which the third section 6123 is connected to the stirring spatula blade 613. Note that the stirring spatula 613 can also rotate about its axis 6124 to flip the food, or repeatedly flip the stirring spatula 613 180 degrees during the reciprocating stir-frying process to adjust the posture of the stirring spatula 613 so that the front of the spatula 613 is aligned with the direction of movement (it should be noted that stirring can also be performed with the back of the spatula aligned with the direction of movement).

[0390] The base rotates one circle or half a circle to stir-fry the food in the pot in all directions.

[0391] If the position of the stirring shovel system shaft 611 is fixed or the base of the robot arm is fixed, the typical pot body 1 is a cylinder, and the movement trajectory of the stirring shovel is as follows: Figure 11L If the stirring shovel system shaft 611 moves around the circular track 611h, the typical pot body 1 is bowl-shaped, and the stirring shovel movement track is as follows: Figure 11M If the position of the stirring shovel system shaft 611 moves along a straight line, the typical pot body 1 is cylindrical, and the stirring shovel movement trajectory is as follows: Figure 11N or Figure 11O . Use a relatively complete robotic arm, such as this Figure 11Q The six-axis robot arm can be realized without moving the robot arm base. Figure 11L In all stir-frying operations shown in Figure 11P, the pot body is cylindrical or bowl-shaped. Figure 11L Only three axes are needed, which greatly reduces the difficulty.

[0392] The basic stir-fry method is the "RL stir-fry method" or the "left-right stir-fry method" (or the "RL stir-fry method" is called the "reciprocating stir-fry method"), and various variations such as the "rotational offset left-right stir-fry method", the "rotational eccentric left-right stir-fry method", the "earth magnetic field left-right stir-fry method" and the "linear offset left-right stir-fry method", see Figure 11L 、 Figure 11M 、 Figure 11N and Figure 11O The stir-fry mode of the stirring spatula also includes Figure 11P1 The dispersion and Figure 11P2 Obviously, a combination of the above stir-fry methods can also be used.

[0393] The stirring shovel system performs integral rotational motion, linear motion or general movement around the plane of the pot body. The stirring shovel system can also be fixed on a ring 611d, and a support bearing 611e is installed under the ring. The ring 611d performs circular motion, driving the stirring shovel system 6 to perform annular motion. The gear 611c can be engaged with the gear on the ring to drive the ring 611d to rotate, thereby driving the mechanical arm 6 and the stirring shovel 613 to perform annular rotation. The opening of the ring and the pot body 1 can also be seamlessly connected to become a part of the pot body. The ring only needs to be rotated at least 180° to complete the Figure 11M When the robotic arm 6 moves in a circle around the pot body 1, it can also stir-fry the feeding boxes A1a / A1b at both ends of the pot body. More generally, a motion mechanism can be designed so that the base 611 can move around the pot body 1, driving the robotic arm 6 to move as a whole, thereby realizing the stir-frying of the pot body 1 and the feeding boxes A1a / A1b. In order to fully utilize the potential of the robotic arm 6, common cooking utensils such as the spatula 613 and the filter A22 can be placed in a fixed position. The front end of the robotic arm has a gripping clamp or a robotic arm, which can pick up the common cooking tools respectively. The working range can reach the pot body and / or the feeding box, and the cooking tools can be put back to their original place after the work is completed.

[0394] Typically, the robotic arm comprises three sections or more than three sections of motion arms, and the motion arms are connected by joints. The robotic arm and the motion arm can rotate, for example, the base shaft 611 rotates around the vertical axis 6z1, driving the entire robotic arm 6 to rotate horizontally, the motion arm 6121 can rotate around the horizontal axis 6z2, and drive the subsequent motion arm to rotate around the motion arm extension direction axis 6z3, the connecting joints 6z4 and 6z5 between the motion arms can rotate, and the spatula can rotate around the extension direction axis 6z6. Therefore, the multi-axis (such as the 6-axis in the figure) robotic arm is combined by rotation so that the robotic arm base 611 is fixed in a certain position, and left-right stir-frying or rotational dislocation left-right stir-frying or linear dislocation left-right stir-frying can be completed. At this time, the pot body can be cylindrical or bowl-shaped.

[0395] It can also be seen from FIG. 11P that the mixing shovel 613 has two mutually perpendicular rotation axes, one being the rotation axis 6z5 perpendicular to the handle, and the other being the rotation axis 6z6 along the direction of the mixing shovel handle.

[0396] The basic stir-frying technique remains the "RL stir-frying method," also known as the left-right stir-frying method or the "reciprocating stir-frying method," including its variations: the "rotational offset RL stir-frying method" and the "linear translation RL stir-frying method." These stir-frying methods of the present invention enable efficient stir-frying without complex visual recognition, much like a washing machine that requires no visual recognition, effectively solving the complex stir-frying problem.

[0397] All of the stir-frying methods above can be used to loosen the food. To loosen the food, the stirring spatula doesn't need to be placed close to the edge of the pan where there's no food. Instead, gradually contact the food from above, stirring left and right, or using a random motion. This loosening technique can help evenly distribute the food in a specific area of ​​the pan.

[0398] Figures 12A to 12E These are schematic diagrams of several improved mixing shovels.

[0399] Figure 12A It is a side view of an improved stirring shovel, a stirring shovel 6, a stirring shovel rotating shaft 611a / 611b, a rotating axis 61, a stirring shovel vertical rod 612, a stirring shovel horizontal rod 613, dividing points K1 and J1 between the vertical rod and the horizontal rod, and a stirring shovel nozzle 601.

[0400] The rotation of the horizontal bar or the bending of the vertical bar of the mixing shovel 6 can also be achieved by the rotating device 605. When the rotating device 605 is on the horizontal bar 613, it can drive the horizontal bar 613 to rotate around the axis of symmetry 603. When the rotating device 605 is at the vertical bar 612, it can make the vertical bar bend or rotate (the present invention regards bending and rotation as the same concept), and the axis of the vertical bar bending or rotation is 603. When the mixing shovel 6 is bilaterally symmetrical, the axis of symmetry 603 is parallel to the axis of rotation 61 of the mixing shovel. The rotating device 605 can be directly driven by an electric motor or a pneumatic motor, and the power supply or compressed air is introduced from the rotary joint at the mixing shovel shaft 611. Or it can be driven by a pulley or gear transmitted from the mixing shovel shaft 611, and its principle refers to the scheme of Figure 10. It will be seen in the subsequent description that the bending of the mixing shovel 6 can be subdivided into the bending of the mixing shovel vertical bar 612 and the rotation of the mixing shovel horizontal bar 613. To avoid too many combinations, in some cases where there is no special explanation, the present invention regards bending and rotation as the same concept, and classifies the bending of the vertical rod 612 of the mixing shovel and the rotation of the horizontal rod 613 of the mixing shovel as the bending of the vertical rod of the mixing shovel, because the bending or rotation of the horizontal rod of the mixing shovel can be regarded as a special case of the bending or rotation of the vertical rod. If the mixing shovel has both the bending of the vertical rod 612 and the rotation of the horizontal rod 613, it can be regarded as a secondary bending or rotation of the vertical rod 612 of the mixing shovel. In fact, the bending or rotation of the horizontal rod of the mixing shovel can occur in all types of mixing shovels (for example, the overall movement of the mixing shovel plus the rotation of the mixing shovel horizontal rod; the telescopic movement of the vertical rod of the mixing shovel plus the rotation of the mixing shovel horizontal rod, etc.), and can be directly driven by an electric motor or a pneumatic motor. For this reason, it is explained separately in Figure 7 to emphasize that these solutions are all within the scope of the present invention. Since the vertical rod and the horizontal rod of the mixing shovel are both mixing shovel blades, the bending or rotation of the vertical rod of the mixing shovel and the rotation or bending of the mixing horizontal rod can be classified as the bending or rotation of the mixing shovel blade, including multiple bending or rotations. In addition to completing the important function of stir-frying, the bending or rotating blades of the stirring spatula can also shake off the food stuck to the blades of the stirring spatula.

[0401] A soft material 666a is installed on the outer edge of the stirring shovel 6. Furthermore, the edge of the material can be made into several rows of serrations, and each row is staggered with each other, so that the cooking ingredients cannot pass through the gaps in the serrations, but the liquid oil and water will not be completely taken away by the stirring shovel 6, ensuring that the surface of the pot body 1 is moist.

[0402] Figure 12B and Figure 12C This is a top and side view of a larger, improved mixing shovel, featuring a pot body 1 and a mixing shovel shaft 61. The mixing shovel consists of a vertical bar and a horizontal bar. A "crossbar shovel" similar to the mixing shovel is attached to or near the horizontal bar. If the vertical bar is at either end, the shaft is designated 611a / 611b, and the vertical bar is designated 612a / 612b. If the vertical bar is in the center, the vertical bar is designated 612ab. For clarity and distinction, this type of mixing shovel, with the horizontal bar replaced with a "crossbar shovel," will be referred to as a "mixing shovel."

[0403] From the side Figure 12C It can be seen that the intersection of the "horizontal shovel" and the vertical bar is almost perpendicular to the vertical bar, and its angle is similar to the shape of a "hoe", and does not require a very strict angle. Figure 12B It can be seen that the "stirring shovel" is in the shape of a widened spatula, including a thin piece 6131 in the middle, with slightly raised edges 6132 on both sides and slightly raised middle arc-shaped edges 6133. The edges or folded edges can gather food and improve the strength of the "crossbar shovel". In addition to having the function of a stirring shovel, the "stirring shovel" also has functions similar to those of a stirring shovel, which can scoop up food. The width of the crossbar has been increased to reduce food entanglement. In particular, when combined with the "R-L" stir-fry method of the stirring shovel, cooked food is less likely to be entangled on the stirring shovel or the "stirring shovel". Point P at the front end of the "crossbar shovel" is similar to Figure 7A The front end of the middle stirring spatula is at point P, and the "R-L stir-fry method" can still be completed, and because the "horizontal spatula" is thin, the stir-frying effect is better.

[0404] The "horizontal bar shovel" 6131 / 6132 can be made into a mirror-symmetrical form with the vertical bar of the mixing shovel, such as Figure 12C The dotted line "crossbar shovel" 6131 / 6132.

[0405] A rotating shaft 612h with a certain rebound function can be installed on the vertical rod, such as at the bend of the vertical rod. A rotating shaft 613h with a certain rebound function can also be installed on the "crossbar shovel". This can eliminate processing / assembly / operation tolerances, allowing the front end of the "crossbar shovel" to fit closely to the pot body without getting stuck or damaged. Alternatively, a biased design can be used to offset the equilibrium position of the "crossbar shovel" with a rebound function from a position perpendicular to the vertical rod to a direction close to the pot body by an angle θ, see Figure 12C .

[0406] Similar to Figure 12A, a rotating device 605 can be added to drive the "crossbar shovel" to rotate (or drive the vertical rod to bend, see Figure 16). The driving rotation range is greater than 180°, which can turn the food over and add a stir-frying method. The "crossbar shovel" can generally rotate 360°. The driving power can be inside the "crossbar shovel" (for example, by installing a motor), or it can be transmitted in or through the vertical rod, see Figures 11A to 11N Various solutions are available, especially the "nested drive" solution. The "crossbar shovel" with an electric drive can still have a rebound device added to its rotating shaft 613h, or the rotating shaft 612h1 of the "crossbar shovel" can be located near the rebound device 613h. It should be emphasized that the stirring shovel (or stirring shovel) of the present invention can achieve a good cooking and stir-frying effect in combination with the R-L stir-frying method of the present invention, without the stirring shovel crossbar 613 having to be able to flip. Flipping the crossbar 613 only makes stir-frying more flexible, but it will increase the difficulty and cost.

[0407] The vertical rod 612a / 612b can be on the outside of the "crossbar shovel" (such as Figure 12C ), or on the inside. The edge 6133 can be used to prevent: the vertical rod is on the inside, and the middle edge 6133 ( Figure 12C ) is tilted backward. When the "crossbar shovel" rotates a certain angle, edge 6133 hits vertical bar 612 and cannot rotate further. To limit the range of motion of the "mixing shovel," those skilled in the art may also install other blocking devices in conjunction with the embodiments of the present invention, which will not be described in detail here. The backward tilt of the edge also helps increase the surface area of ​​the "mixing shovel" (without affecting the feeding process) and makes the "mixing shovel" easier to clean.

[0408] Figures 6 to 12 summarize this. Traditional cooking uses a stirring spatula, which is much smaller than the pot and has no strict shape correspondence with the pot. To ensure even heating, the food must first be turned over with the stirring spatula, moving the heated food at the bottom upward to prevent it from burning, and moving the unheated food at the top downward to allow it to contact the pot and heat. Thorough stirring is also required to mix the food in the middle with the food above and below. Secondly, the food must be stirred from all sides to ensure that every piece of food is stir-fried and that any food that has fallen onto the edges of the pot is gathered in the center. Thirdly, any food that is entangled with the stirring spatula must be removed. Therefore, this process is extremely complex and requires visual recognition. Using both machine vision and mechanical devices to achieve stirring is extremely difficult, which is the fundamental reason why high-performance smart cooking systems for home use have not yet been launched.

[0409] As can be seen from Figures 6 to 12, first, by using the stirring shovel and stir-frying method of the present invention, for most cooking, the stir-frying of food can be completed without turning the food upside down completely. The typical stir-frying trajectory is shown in FIG. Figure 8 , Figure 8The flipping angle of the "crossbar shovel" is less than 180°. The stirring shovel itself has the characteristic of stirring food evenly. The stirring shovel of the present invention can also ensure that the food remains near the bottom of the pot during stirring, and the stirring trajectory curve of the present invention is very rich, which ensures uniform stirring and can meet the requirements of different cooking varieties and portions. Secondly, the present invention can simplify the three-dimensional problem into a one-dimensional problem, and the stirring shovel only stirs back and forth, which greatly simplifies the stirring problem. Third, the R-L stirring method of the present invention does not require turning the food over, which can avoid food entangled on the stirring shovel. Fourth, there are special cooking programs for different dishes and portions to achieve optimized stir-frying. Different forms of intelligent cooking machines can be realized using this patent.

[0410] Figure 12D 、 Figure 12E and Figure 12F middle Figure 12D The "horizontal bar shovel" is symmetrical to the vertical bar of the mixing shovel. Figure 12E The "crossbar shovel" is tilted to one side, which is asymmetrical. Figure 12F Shows the relationship between the shape of the stirring surface 6131 and the pot body 1. Figure 12D 、 Figure 12E and Figure 12F The curve 6131b: 6131b1 / 6131b2 of the stirring shovel edge should match the surface of the pot body, and the curve 6131a of the stirring shovel surface 6131 should also match the surface of the pot body, that is, match 6131b: 6131b1 / 6131b2. When the stirring shovel is to scoop up food, the stirring shovel surface 6131 must match the curved surface of the pot body 1. When the stirring shovel is to move food, the front edge 6131b: 6131b1 / 6131b2 of the stirring shovel needs to contact the pot body. Figure 12E When using the "left-right stir-fry method" with such an asymmetric stirring spatula, the edge 6131b of the stirring spatula must be used to push the food back during its return stroke, so the curve of the edge 6131b of the stirring spatula must match the surface of the pot body 1.

[0411] It should also be noted that according to Figure 6L and Figure 6M Expanding on this concept, the vertical bar of the stirring spatula can be likened to a robotic arm, and the horizontal bar of the spatula can be likened to a spatula. In the specific scenario of stir-frying, to prevent the robotic arm from taking up too much space in the pot, to minimize the number of robotic arm parts that are contaminated by pot fumes, and to protect the fragile parts of the motor from moisture and heat, a portion of the robotic arm's power unit is placed outside the pot where it is not contaminated. Therefore, the robotic arm can also be equipped with a robotic arm auxiliary module. The spatula held by the robotic arm includes a spatula head and a spatula handle, and the spatula handle can be as short as zero length.

[0412] In an embodiment of the present invention, the mixing shovel includes a mixing shovel vertical rod and a mixing shovel horizontal rod. The mixing shovel vertical rod including the electric function mechanism is called a vertical rod module, and the mixing shovel horizontal rod including the electric function mechanism is called a horizontal rod module. In this case, the mixing shovel includes the vertical rod module and the horizontal rod module, and the mixing shovel is called a mixing shovel module or simply a mixing shovel. The mixing shovel auxiliary module is used to complete the stir-frying function; and / or,

[0413] The robotic arm holds the shovel, or the robotic arm and the shovel are combined to form a mixing shovel system. The robotic arm also includes a vertical arm, and the minimum length of the vertical arm is zero.

[0414] The mixing shovel system = mixing shovel auxiliary module + mixing shovel = mixing shovel auxiliary module + mixing shovel vertical rod + mixing shovel horizontal rod = robotic arm + shovel blade. Therefore, robotic arm + shovel blade = mixing shovel system. When a motorized device is attached to the mixing shovel, the shovel and motorized device together are called a mixing shovel module or a composite mixing shovel.

[0415] FIG13 is a schematic diagram of a cooking pot system 8 composed of a stirring shovel system according to the present invention. Figure 13A The opening plane of the pot body is parallel to the rotating axis of the stirring shovel. Figure 13B The opening plane of the pot body is perpendicular to the stirring shovel. The opening plane of the pot body and the stirring shovel are at the same level. Figure 13A and Figure 13B Therefore, we only consider the two cases with the largest difference. Figures 2A to 2F From the analysis, we can see that Figure 13A Significantly better than Figure 13B , so Figure 13A Schematic diagram for focused discussion, all common conclusions are applicable Figure 13B .

[0416] like Figure 13A As shown, it includes: a pot body 1, a pot cover 2 or a pot cover 11. The pot cover 2 is used when the pot body opening plane is parallel to the stirring shovel, and the pot cover 11 is used when the pot body opening plane is perpendicular to the stirring shovel. For details, see Figure 6B and Figures 2A to 2F Stirring shovels 6 and 7, with the stirring shovel 6 rotating around axis 61. Water pump (or water) 7P, air pump (or air) 7F, electrical signal 7V, stirring shovel shaft 611, pot shaft 103 and conductive slip ring 104. Stirring shovel nozzle 601.

[0417] Water pump 7P and air pump 7F exchange water and air with pot body 1 through stirring shovel auxiliary module 7. For simplicity of description, 7P and 7F will also represent high-temperature water and air. Water 7P and air 7F communicate with stirring shovel shaft 611 through stirring shovel auxiliary module 7, enter stirring shovel 6 through stirring shovel shaft 611, and are then ejected from a series of nozzles 601. Of course, reverse suction is also possible, that is, fluid is sucked in through nozzles 601 (such as rice washing water), and then delivered to pot body 1 through stirring shovel 6, stirring shovel shaft 611, and stirring shovel auxiliary module 7.

[0418] The electrical signal 7V includes power supply and control signals, and is transmitted to the stirring shovel 6 through the stirring shovel auxiliary module 7.

[0419] A heating module 101 is installed at the bottom of the pot body 1.

[0420] The pot cover 2 is provided with a pot cover integrated module 2s, comprising: a top heating module 2TH, a fluid raw material feeding module 3T, an air exchange module 3f and a rotating nozzle 31.

[0421] The top heating module 2TH is installed on the lid 2. When a radiant heat source such as a heating tube, light wave, or infrared is selected for heating, the cooker also has a grilling function, which is useful for preparing Western dishes that require grilling. The top heating module 2TH also includes a microwave heater, providing a new heating method.

[0422] A portion of the fluid ingredient delivery module 3T can be placed on the pot lid 2, allowing fluid cooking ingredients to be delivered into the pot body 1 via a pump. For example, fluid delivery ports 301, 302, 303, and 304 can be used to deliver fluids such as water, cooking oil, soy sauce, and vinegar, respectively. The fluid ingredient delivery module 3T includes a rotating nozzle 31 that cleans the pot body 1, pot lid 2, and stirring shovels 6 and 7.

[0423] The air exchange module 3f exhausts cooking fumes from the pot body 1 and lid 2 or introduces fresh air into the pot body / lid, breaking up the foam inside the pot body / lid to prevent it from growing and overflowing. Cooking fumes within the pot body are extracted and filtered by the air exchange module 3f before being either exhausted or reintroduced into the pot body. The rotating nozzle 31 cleans all components within the pot body 1 and lid 2, and can be self-cleaned using multiple rotating nozzles 31. For more information on the rotating nozzle 31, please refer to the related patents of this invention.

[0424] The pot body 1 is provided with a nozzle 305 for adding cooking materials, or for cleaning a stirring shovel, or for air exchange between the inside and outside of the pot body to avoid foaming.

[0425] A water overflow hole 306 is installed on the pot body. Obviously, this hole needs to be connected to a pipe to prevent overflow and turbulence. Typically, the overflow is directed to a sink, drain, or outside the pot body. A valve is also required on the water overflow hole / pipe to prevent abnormal leakage when cooking in a cooking machine or rice cooker, especially to prevent abnormal gas leakage. Obviously, multiple water overflow holes can be installed on the pot body.

[0426] Irregular cooking ingredients 142 are fed by multiple feeders 14, which are preferably placed on both sides of the pot body 1, such as 14a and 14b, but can also be placed adjacent to each other around the pot body 1. The feeding box 141 opens upward, making it convenient to put the cooking ingredients 142 into the feeding box 141. The feeding box 141 is connected to the multi-link 143, which is rotated to turn the feeding box 141 upside down in the pot body 1, so that the cooking ingredients 142 in the feeding box 141 can be fed into the pot body 1. Irregular cooking ingredients can also be fed into the pot body through the feeding box 14K on the pot lid, see Figure 3E / Figure 3F .

[0427] The pot body 1 has a rotating bearing 103 and a conductive slip ring module 104 to ensure that the heating power and control signal 102 of the heater 101 at the bottom of the pot body 1 are not affected by the rotation of the pot body 1. There are many ways to rotate the pot body 1. Obviously, the motor can be used to directly drive the pot body. Considering that space is left for the stirring spatula to stir-fry when driving the pot body to rotate, other ways of driving the pot body need to be considered. For example, the motor 105 drives the transmission device 106 (such as a gear), and the transmission device 106 drives the pot body 1 shaft 103, so that the pot body 1 rotates. Alternatively, the motor 107 drives the transmission device 108 (gear), and the transmission device 108 drives the transmission device 109 (such as a gear) on the pot body 1, thereby driving the pot body 1 to rotate. Similar methods are also applicable to Figures 2A to 2F The pot body is driven.

[0428] Figure 13B , as mentioned above, is Figure 13A The situation that adopts pot cover 11 (reference Figure 6B and Figures 2A to 2F ), giving Figure 13B It is for the purpose of being more intuitive. The pot body 1 together with the stirring shovel 6 and the stirring shovel auxiliary module 7 can rotate around the pot body shaft 21. The stirring shovel rotates around the axis 61. One end of the support 102 is mounted on the cooking machine, and the other end supports the bearing 212. The rotating shaft 21 is mounted in the bearing 212, and its axis 211. Optionally, the water pump 7P, the air pump 7F and the electrical signal 7V can be communicated with the pot body / stirring shovel through the rotating shaft 21. As described in patent numbers CN2448232 and CN1364436, the pot body can also rotate, which is also protected by the present invention. The integrated system 2s and the feeding device 14k and the feeding device 14a / 14b on the pot cover 2 are all connected. Figure 13AThe pot body rotates around the rotating shaft 21, and when the opening is facing upwards, materials can be added, when the opening is facing downwards, dishes can be placed, and when the pot body is tilted, dishes can be fried.

[0429] Figure 14A 、 Figure 14B The diagram is a schematic diagram of the composition and layout of the intelligent cooking machine of the present invention. The cooking machine includes: a cooking pot system 8, a control system 9 and a dish serving auxiliary system 17.

[0430] Figure 14A : is a schematic diagram of the top surface of the intelligent cooking machine of the present invention. There is a pot lid integrated unit 2s on the pot lid 2. A plurality of irregular cooking ingredient feeders 14a, 14b, and 14c are arranged on both sides and the front end of the pot body. There can be multiple irregular cooking ingredient feeders 14, which can mainly feed cooking ingredients such as meat, vegetables, fruits, and pasta, or semi-solid and semi-liquid ingredients such as sauces, and even ingredients such as broth, but commonly used standardized liquid ingredients such as water, soy sauce, vinegar, and cooking oil are usually fed in other more convenient ways. The concept of the irregular cooking ingredient feeder 14 can be expanded, that is, the scope is expanded to a feeder that feeds ingredients (usually excluding standardized fluids such as water, soy sauce, and cooking oil) into the cooking pot 1.

[0431] The pot cover 2 is preferably opened backwards, but can also be opened sideways.

[0432] At the front end of the cooking machine is an operating unit 9, which includes an Internet of Things barcode, QR code or electronic tag recognition unit 91 and a handheld Internet of Things barcode, QR code or electronic tag identifier 92, which can recognize the name or code of the dish. The display window 93 can display the cooking status and progress. For example, the display content 95 shows the name of the cooking dish "Stir-fried Shrimp with Broccoli".

[0433] Buttons 94 represent various manual operations, such as turning the cooking machine's power on and off, reading a dish code, starting and stopping heating, determining the duration and power of heating, opening and closing the pot lid, adding ingredients at different times, stirring with a stirring spatula at different frequencies and amplitudes, filtering food, discharging food, washing the pot, draining wastewater from the pot, and removing residue. The buttons are used here as a representative of various manual operations; other manual control tools, such as the joystick and dial, can also be used as manual control tools, as long as the dish can be cooked manually. Considering that the cooking machine may coexist with ordinary household woks for a period of time, users have four options: using the intelligent cooking machine to cook automatically, using a traditional wok to cook, manually cooking with the intelligent cooking machine's pot (the intelligent cooking machine is equivalent to an induction cooker and an induction cooker wok), and manually operating the intelligent cooking machine to cook. To facilitate manual cooking, an observation window 2w is provided on the pot lid.

[0434] Other components, such as the microcomputer central processing unit (MCU), are responsible for intelligent control. The internet access module (internet) enables the cooking machine to access the internet via wireless or wired connections.

[0435] Figure 14B This is a front view of an intelligent cooking machine composed of the cooking pot of the present invention as a core component. Figure 14A Introduced Figure 11A Cooking pot system 8: The pot body 1 has a heating module 101 at the bottom, the pot lid 2 has a pot lid integrated unit 2s, a feeding device 14k, and stirring shovels 6 and 7 for stir-frying the ingredients in the pot body 1. Water 7P, gas 7F, and electrical signals 7V are delivered to the stirring shovel 6 via the stirring shovel auxiliary module 7. Irregular cooking ingredient feeding devices 14b and 14a are preferably located on the left and right sides of the cooking machine, but can also be placed adjacent to the pot body 1. The pot body 1 has a heater 101. Drive motors 105 or 107 drive pot body shafts 103 and 109 through transmission mechanisms 106 and 108, respectively, to rotate the pot body 1. A conductive slip ring 104 transmits electrical signals to the pot body 1. The pot lid 2 can be opened or closed as needed. The stirring shovel 6, combined with the stirring shovel auxiliary unit 7, forms a novel stirring shovel capable of stir-frying food.

[0436] Serving system 17 can refer to Figure 9 The food is poured out by tilting the pot 1 and pushing with the stirring shovel 6. A funnel-shaped collecting plate 171 collects the food and drops it into the bowl 172 below. The bowl 172 rests on a bowl carrier (or wrist rest) 173, connected to a slide 174 driven by a worm 175. Once the food is served, the slide 174 moves forward, driving the carrier 173 to eject the filled bowl 172.

[0437] The water box or water tank or water storage tank or waste water tank 176 is used to receive, filter and drain waste water or pot washing water. This waste water can be poured out by tipping the pot, or accidentally leaked from the bowl of the dish holding system, or waste water from other sources. The funnel-shaped bottom of the water tank 1171 can collect waste water into the filter 1772 to filter out larger particles and drain it through the drain 177. The drain can be vertically downward or horizontally. Some details can refer to the design of the kitchen sink or dishwasher. For example, the filter can be made into a cylindrical shape and easy to pull out to pour out garbage.

[0438] Figure 15This is a new type of cooking machine, mainly used as a complex cooking machine, rice cooker, bread maker, soy milk maker, etc. The cooking machine consists of a pot body 1, a pot cover 2, a top heating system 2TH, a stirring shovel 6 of the present invention, a stirring shovel auxiliary module 7 of the present invention, a heater 101, a rice or flour feeder 10, a pot cover material box feeder 14k, various complex feeders 14, a bottom leakage spraying system 508, a top rotary spraying system 3, and a pot body side rotary spraying system 4. For details about the bottom leakage spraying system 508, the top rotary spraying system 3, the pot body side rotary spraying system 4, and the "rice / flour feeder" 10, please refer to the relevant patents of the present inventor. Water 7P, gas 7F, and electrical signals 7V can reach the stirring shovel 6 through the stirring shovel auxiliary module 7, where the water 7P, gas 7F, and the stirring shovel 6 nozzle 601 are connected, and the water and gas inside and outside the pot body 1 can be completed.

[0439] Various types of feeders 14 have different forms, such as when feeding irregular food, Figure 13A 、 Figure 13B and Figure 14A 、 Figure 14B The material box plus multi-link delivery system 14a, 14b mentioned in, or simply the material box system.

[0440] Figure 15 When the new cooking machine is used as an electric rice cooker, the rice dispenser 10 automatically feeds rice into the pot 1. The stirring shovel 6 and auxiliary stirring shovel module 7 wash the rice. The bottom drip spray system 508 rinses the rice and drains the washing water. While the heater 101 is cooking, the stirring shovel 6 stirs the rice to enhance its texture. Finally, the stirring shovel 6, bottom drip spray system 508, top rotary spray system 3, and side rotary spray system 4 work together to clean the pot 1, lid 2, and the cleaning system itself.

[0441] Figure 15 When used as a bread maker, the dough dispenser 10 automatically adds flour to the cooker 1, the mixing shovel 6 and auxiliary mixing shovel module 7 knead the dough, and the bottom heater 101 and top heating system 2TH bake the bread. Finally, the mixing shovel 6, bottom spray system 508, top rotary spray system 3, and side rotary spray system 4 work together to clean the cooker 1, lid 2, and the cleaning system itself.

[0442] For details about the bottom leakage spraying system 508, the top rotary spraying system 3 and the side rotary spraying system 4, please refer to the relevant patents of the present invention.

[0443] Figures 16A to 16FSchematic diagram of another stirring shovel integrally movable stir-frying device provided by an embodiment of the present invention. Pot body 1, pot cover 2, stirring shovel 6, including stirring shovel rotating shaft 611, stirring shovel rotating shaft axis 61, stirring shovel vertical rod 612 (including rod-shaped vertical rod upper rod 612ag, rod-shaped vertical rod lower rod 612bg, disc-shaped vertical rod upper rod 612ap, disc-shaped vertical rod lower rod 612bp, vertical rod bending axis 62), stirring shovel cross rod 613, stirring shovel nozzle 601. Stirring shovel auxiliary module, including stirring shovel drive motor 731, stirring shovel vertical rod bending motor / cross rod drive motor 735, stirring shovel vertical rod telescopic motor 725, cross rod drive motor 733, transmission device (belt drive and worm drive), rotary joint and conductive slip ring 7pfc. Heating device 101. Water pump 7P, fan 7F and electrical signal 7V.

[0444] Figure 16A This is a basic type of mixing shovel vertical rod bending and stir-frying device, called a mixing shovel rod-shaped vertical rod bending device, because the upper rod of the mixing shovel vertical rod is in the shape of a rod in principle. Figure 7C The mixing shovel drive motor 731a / 731b rotates, driving the rotating shaft 611a / 611b of the mixing shovel 6 through the belt drive devices 732a / 732b, 733a / 733b, and 734a / 734b, thereby driving the mixing shovel 6 to rotate about its own rotating shaft 61. The vertical rod of the mixing shovel 6 is bent at the axis 62a, dividing the vertical rod into two parts, the upper part being the upper rod 612ag1 / 612ag2 and the lower rod 612bg1 / 612bg2. The mixing shovel horizontal rod 613.

[0445] When the mixing shovel drive motor 631a / 631b drives the mixing shovel shaft 611a / 611b to rotate, it drives the mixing shovel bending motor 735a / 735b to rotate synchronously around the mixing shovel axis 61 through the connecting device 611af / 611bf. The rotation of the bending motor 735a / 735b shaft drives the transmission devices such as the shafts 736a / 736b, 737a / 737b, and 738a / 738b to rotate (the transmission devices 736a / 736b, 737a / 737b, and 738a / 738b are located inside the mixing shovel shaft 611a / 611b and the mixing shovel vertical rod 612ag1 / 612ag2), which in turn drives the mixing shovel vertical rod shaft 639a / 639b to rotate, ultimately driving the mixing shovel vertical rod lower rod 612bg1 / 612bg2 and the mixing shovel horizontal rod 613 to rotate. Figure 16A In the figure, the mechanical transmission device 736a / 736b is a rotating shaft, passing through the pulley 734a / 734b, the transmission devices 736a, 737a, and 738a constitute a belt transmission system, and the transmission devices 736b, 737b, and 738b constitute a screw transmission system.

[0446] By driving the mixing blade bending motors 735a / 735b to rotate synchronously about the mixing blade axis 61 via the connecting devices 611af / 611bf, the bending of the mixing blade vertical rod can be easily controlled. However, the disadvantage is that the bending motors 735a / 735b rotate with it. Synchronous rotation is not required, but it greatly improves control complexity and accuracy. For example, when the mixing blade rotates without bending the mixing blade vertical rod, the mixing blade bending motor shaft can counteract the effect of the mixing blade rotation by rotating with the mixing blade shaft.

[0447] refer to Figures 5A to 5C visible, Figure 16A The middle stirring shovel 6 rotates around its own axis and the stirring shovel vertical rod is bent into a "nested structure", and the bending transmission device (such as the bending shaft 736) is inside the stirring shovel shaft 611. Similarly, another structure can also be realized, that is, the stirring shovel shaft 611 is inside the bending device 736 (this structure is not drawn). Figure 10D It can be seen that the rotation of the mixing shovel 6 around its own rotation axis and the bending of the mixing shovel vertical rod can also be achieved using a non-"nested structure", that is, at the mixing shovel A rotation axis, a mixing shovel drive motor is used to drive the rotation axis of one end of the mixing shovel (for the convenience of description, called the A end) to rotate, and a synchronous drive device is used to synchronously drive the rotation axis of the other end of the mixing shovel (for the convenience of description, called the B end) to rotate, and then the mixing shovel vertical rod is driven to bend through the mixing shovel B end rotation axis. Obviously, it is also possible to drive the mixing shovel to rotate and the vertical rod to bend at the mixing shovel A end through a "nested structure" and a synchronous drive device, and then drive the mixing shovel horizontal rod to rotate at the mixing shovel B end. These will be explained later.

[0448] There is a small detail. Figure 16A On the right side, the upper vertical rod 612ag1 of the mixing shovel and the lower vertical rod 612bg1 of the mixing shovel are in a straight line. At this time, the bending angle of the lower vertical rod 612bg1 of the mixing shovel is difficult to reach 360 degrees. Figure 16A On the left side, the upper vertical rod 612ag2 and the lower vertical rod 612bg2 of the mixing shovel are staggered, allowing the lower vertical rod 612bg2 to bend 360 degrees. To achieve this, the pot body or pot lid has a bulge 720 degrees. The staggered structure of the mixing shovel vertical rods lays the foundation for the upper vertical rod of the mixing shovel to evolve into a disc shape (although the upper vertical rod of the mixing shovel can also be disc-shaped when the mixing shovel vertical rod is in a straight line, this further limits the range of motion of the lower vertical rod of the mixing shovel).

[0449] Figure 16B The principle of the mixing shovel rotating around its own axis and the bending of the mixing shovel vertical rod is similar to Figure 16AThe mixing shovel drive motor 731b rotates, driving the mixing shovel shaft 611b through the belt drive devices 732b, 733b, and 734b, which in turn drives the mixing shovel around its own shaft 61. The mixing shovel vertical rod is bent at axis 62b, dividing the mixing shovel vertical rod into two parts, the upper part being called the mixing shovel vertical rod upper rod 612ag2 and the mixing shovel vertical rod lower rod 612bg2.

[0450] When the mixing shovel drive motor 631b drives the mixing shovel shaft 611b to rotate, it drives the mixing shovel bending motor 735b, through the connecting device, to rotate synchronously around the mixing shovel axis 61. The rotation of the bending motor 735b drives the transmission devices such as the shafts 736b, 737b, and 738b to rotate (the transmission devices 736b, 737b, and 738b are inside the mixing shovel shaft 611b and the mixing shovel vertical rod 612ag2), which in turn drives the mixing shovel vertical rod shaft 639b to rotate, and ultimately drives the mixing shovel vertical rod lower rod 612bg2 and the mixing shovel horizontal rod to rotate. Figure 16B In the figure, the mechanical transmission device 736b is a rotating shaft, which passes through the pulley 734b, and the transmission devices 736b, 737b, and 738b form a belt transmission system.

[0451] Water spray 7P, air jet 7F, and electrical signal 7V are connected to the axis of the rotating shaft of bending motor 735b through a rotary joint and conductive slip ring 740b. Then, they are transmitted through the rotary joint and conductive slip ring 742b at the mixing shovel's rotating shaft, a connecting conduit, and a conductive wire 743b (connecting conduit 743b can be a rigid conduit) to the rotary joint and conductive slip ring 744b at the bending shaft, and then into the lower vertical pipe 612bg2 and crossbar of the mixing shovel. Water vapor is then ejected from nozzle 601. One function of electrical signal 7V is to transmit information measured by the temperature sensor on the mixing shovel to the cooking machine.

[0452] Figure 16B It is also shown that the upper rod 612ag2 of the mixing shovel vertical rod can be expanded into a disc shape 768b, so that the rod-shaped vertical rod becomes a disc-shaped vertical rod. The circle formed by the upper rod 612ag2 of the mixing shovel vertical rod rotating around the mixing shovel shaft 61 for one circle is the diameter of the disc. Usually, the upper rod and the lower rod of the rod-shaped vertical rod are in a straight line, while the upper rod and the lower rod of the disc-shaped vertical rod are staggered. The advantage of the disc-shaped vertical rod is that it increases the space for the installation of the mixing shovel auxiliary module, increases the strength of the mixing shovel, enables the lower rod of the mixing shovel vertical rod to rotate 360°, and eliminates the sanitary dead corner of the rod-shaped vertical rod. Note: The disc-shaped vertical rod refers to the upper rod of the vertical rod and has nothing to do with the lower rod of the vertical rod. The guard plate 720b serves to prevent water vapor from overflowing from the pot body.

[0453] Figure 16C It will Figure 16A and Figure 16BThe principle of the mixing shovel rotating around its own axis and the bending of the mixing shovel vertical rod is similar to Figure 16A and Figure 16B The mixing shovel drive motor 731b rotates, driving the mixing shovel shaft 611b through the belt drive devices 732b, 733b, and 734b, which in turn drives the disc-shaped vertical rod 612ap2 / 768b, thereby driving the mixing shovel to rotate around its own rotation axis 61. The mixing shovel vertical rod is bent at axis 62c, dividing the mixing shovel vertical rod into two parts, the upper part being called the mixing shovel disc-shaped vertical rod upper rod 612ap2 and the mixing shovel vertical rod lower rod 612bp2.

[0454] When the mixing shovel drive motor 631b drives the mixing shovel shaft 611b to rotate, it drives the mixing shovel bending motor 735b to rotate synchronously around the mixing shovel axis 61 through the connecting device 736b. The rotation of the bending motor 735b drives the transmission devices such as the shafts 736b, 737b, and 738b to rotate (the transmission devices 736b, 737b, and 738b are inside the mixing shovel shaft 611b and the mixing shovel vertical rod 612ap2), which in turn drives the mixing shovel vertical rod shaft 639b to rotate, and ultimately drives the mixing shovel vertical rod lower rod 612bp2 and the mixing shovel horizontal rod to rotate. Figure 16B In the embodiment, the mechanical transmission device 736b is a rotating shaft, which passes through the pulley 734b, and the transmission devices 736b, 737b, and 738b form a belt transmission system. The guard plate 720 plays a role in preventing the water vapor in the pot from overflowing.

[0455] Figure 16D and Figure 16C The difference is that the horizontal rod 613 is driven to rotate by driving the transmission device 7731 in the vertical rod shaft 739b and the transmission device 7732 in the vertical rod 612bp2. Figure 16D The rest of Figure 16C Same, no further details. Figure 16C and Figure 16B , can be applied at one end of the pot Figure 16C The stirring shovel vertical rod is bent, and the stirring shovel horizontal rod at the other end of the pot body is rotated. In addition, to facilitate the rotation of the horizontal rod, the pot body 1 and the stirring shovel vertical rod 613bp2 are not curved, but are selected to be flat. At this time, the vertical rod bending motor 735b also becomes the horizontal rod rotation motor 771b.

[0456] Figure 16E and Figure 16C and Figure 16C It is basically the same, with one addition, that is, the horizontal bar rotation motor 771b drives the transmission device 7731 in the vertical bar shaft 739b and the transmission device 7732 in the vertical bar 612bp2, and finally drives the horizontal bar 613 to rotate. Figure 16E The rest of Figure 16C Same, no further details. Figure 16E In the illustration, the hard connection device 772b is selected to drive the horizontal rod rotation motor 731B to rotate along with the mixing shovel vertical rod bending shaft 739b. Figure 16E It can make the stirring shovel rotate as a whole, the stirring shovel vertical rod bend and the stirring shovel horizontal rod rotate. In addition, in order to facilitate the rotation of the horizontal rod, the pot body 1 and the stirring shovel vertical rod 613bp2 are not curved, but a flat shape is selected. If a flexible transmission device is selected, a curved stirring shovel vertical rod and a curved pot body side can still be used. Obviously, in order to realize the rotation of the horizontal rod 613, the micro horizontal rod rotation motor 771b can also be placed in the transmission device 7731 in the stirring shovel vertical rod rotating shaft or in the transmission device 7732 of the bent vertical rod 612bp2 or in the horizontal rod 613. Similarly, refer to the following Figure 16F and Figure 16G , it can be seen that the micro-mixing shovel bending motor can be placed in the "upper rod of the vertical rod" of the mixing shovel, driving the lower rod of the vertical rod of the mixing shovel to rotate, thereby realizing the bending of the vertical rod of the mixing shovel; or, the micro-mixing shovel bending motor can be placed in the "lower rod of the vertical rod" of the mixing shovel, driving the lower rod of the vertical rod of the mixing shovel to rotate, thereby realizing the bending of the vertical rod of the mixing shovel; or, the micro-mixing shovel bending motor can be placed in the horizontal rod of the mixing shovel, driving the lower rod of the vertical rod of the mixing shovel to rotate, thereby realizing the bending of the vertical rod of the mixing shovel.

[0457] Figure 16C 、 Figure 16D and Figure 16E All adopted Figure 5A 、 Figure 5B and Figure 5C Nested driver structure.

[0458] exist Figures 16A to 16E In the illustration, the motor for the vertical bending stirrer rotates with the stirrer shaft, and its axis of rotation coincides with the stirrer's axis of rotation. The motor for rotating the horizontal stirring stirrer rotates with the stirrer and the bending stirrer shaft, and its axis of rotation coincides with the axis of rotation of the vertical bending stirrer shaft. These technologies of this invention can be applied to the stir-frying mechanism of any intelligent cooking machine.

[0459] Compare Figure 16C 、 Figure 16D 、 Figure 16E and Figure 16A 、 Figure 16B , which can be seen as an example of replacing a centralized "rod-type" robotic arm with a distributed disk-type robotic arm.

[0460] Figure 16F and Figure 16G A new disc-type vertical rod structure is shown, that is, the mixing shovel bending motor is directly installed in the vertical rod disc 612ap, driving the mixing shovel vertical rod lower rod to bend / rotate.

[0461] like Figure 16F or Figure 16G As shown on the right side of the diagram, the mixing shovel drive motor 731d drives the upper disc-shaped vertical rod 612ap1 via the rotating shaft 611d, thereby rotating the mixing shovel 6. A conductive slip ring 79 connects the input electrical signal 791 with the output electrical signal 792, and the output electrical signal is connected to the mixing shovel bending motor 735d. The bending motor 735d drives the lower vertical rod 612bp1 of the mixing shovel via the rotating shaft 739d.

[0462] like Figure 16F or Figure 16G As shown on the left side of the figure, the mixing shovel drive motor 731e drives the upper disc-shaped vertical rod 612ap2 to rotate through the rotating shaft 611e, driving the mixing shovel 6 to rotate. The bending motor 735e rotates along with the disc 612ap2 and drives the lower mixing shovel vertical rod 612bp2 to rotate through the belt system 732e, 733e, 734e and the rotating shaft 739e.

[0463] Figure 16F The right end also shows that the pot cover 11 (or pot body opening) can also be on the axis of the stirring shovel 6, or in other words, the pot cover 11 is on the side of the pot body 1 (see Figures 3A to 3D ).

[0464] The protective plate 720 prevents the water vapor in the pot from overflowing.

[0465] The rotation of the mixing shovel crossbar is considered as a special case of the bending of the vertical bar, so Figures 16A to 16G All mechanical structures can also realize the rotation of the mixing shovel crossbar.

[0466] Alternatively, the mixing shovel auxiliary module on the left drives the mixing shovel 6 to rotate and bend the vertical rod, and the motor 735d on the right drives the crossbar 613 to rotate through the mechanical transmission device, thereby achieving the bending of the vertical rod and the rotation of the crossbar. Figure 10D The mixing shovel crossbar can also be rotated by the crossbar extension motor 6131.

[0467] Or, as Figure 16G On the left side, the vertical rod bending motor 741e and the mixing shovel driving motor 731e form a "nested structure". The vertical rod bending motor 741e rotates with the bending shaft 739, and its shaft penetrates deep into the shaft 739, and drives the lower rod of the vertical rod to bend or the horizontal rod 613 to rotate through the mechanical transmission device.

[0468] It should be emphasized that the reason for using a disc-type vertical rod is that the motor is relatively large. If a micro motor (assisted by non-principle devices such as a reducer, brake, etc.) is used, then Figure 16F and Figure 16GCan also be used for pole type "upper pole of vertical pole". Figure 16D 、 Figure 16E and Figure 16F 、 Figure 16G It is easy for those skilled in the art to generalize and find that placing a micro motor (such as a pen-shaped motor) on the "lower rod" of the stirring shovel can also realize the rotation of the lower rod of the stirring shovel vertical rod and the bending of the stirring shovel vertical rod. Figure 16G , installing a pen-shaped micro motor in the "lower rod of the vertical rod" of the mixing shovel 6a (see the mixing shovel in Figure 12 and the electromechanical device 605 in the mixing shovel crossbar) can achieve the bending of the mixing shovel vertical rod. Installing a micro motor in the mixing shovel crossbar to achieve the bending of the mixing shovel vertical rod is also theoretically feasible. Figure 16F and Figure 16G Two motors 6131 are installed in the crossbar or crossbar shovel 613. One motor bends the mixing shovel vertical rod 612bp1 / 612bp2, and the other motor rotates the mixing shovel vertical rod crossbar / crossbar shovel 613. The power supply and control signal of the motor in the crossbar / crossbar shovel are input through the mixing shovel vertical rod. Figures 16A to 16G The structure can realize the bending of the vertical rod of the mixing shovel and / or the rotation of the horizontal rod.

[0469] Figures 16A to 16E In the mixing shovel, the mixing shovel rotating motor drives the mixing shovel to rotate as a whole, and the bending motor 735a / 735b adopts a nested structure, that is, it passes through the mixing shovel shaft and drives the mixing shovel vertical rod to bend. Figure 16F and Figure 16G, it can also be seen that the vertical rod bending motor 735b can rotate with the stirring spatula's "upper vertical rod" and drive the stirring spatula's "lower vertical rod" to bend. We call this technology a follower structure. For example, the bending motor rotates with the stirring spatula (or stirring spatula shaft), or the vertical rod bending motor rotates with the stirring spatula's "upper vertical rod." The follower structure greatly simplifies the motion control algorithm. The control algorithm of a non-follower structure or even a reverse follower structure (such as the stirring spatula rotating motor rotating with the stirring spatula vertical rod bending motor) is more complex. The present invention utilizes a stirring spatula and a stirring spatula auxiliary module to achieve the function of a robotic arm combined with a spatula (or stirring spatula). For intelligent cooking machines, one of the implicit constraints is to minimize the size of the stirring spatula within the pot while achieving the stir-fry function. Taking the robotic arm as an example, the main factors affecting the robotic arm's size are the size of electromechanical components such as the motor, reducer, and coupling. The longer the robotic arm, the thicker it needs to be. The larger the robotic arm's range of motion, the larger the intelligent cooking machine, and the lower the positioning accuracy of the movement. At the same time, the high temperature, moisture, and oil contamination inside the pot also significantly impact components such as the motor in the robotic arm. Therefore, the motor should be placed outside the pot whenever possible. The nested and follower structures of the present invention reduce the size of the stirring shovel within the pot, reduce the complexity of the stir-fry algorithm, and allow some larger components to be placed outside the pot. The reduced length of the moving parts also reduces the size and strength of the stirring shovel's vertical rod, allowing for greater positioning accuracy.

[0470] Figure 16F and Figure 16G The example shows that for the bending of the vertical bar, in addition to using Figures 16A to 16E The nested structure can also use a bending motor to rotate with the "upper rod of the vertical rod" of the mixing shovel and drive the "lower rod of the vertical rod" of the mixing shovel to bend. Figure 16F and Figure 16G It can also be used to illustrate other vertical bar bending forms and horizontal bar rotation forms. For example, Figure 16E 、 Figure 16F and Figure 16E Combined, the mixing shovel can rotate as a whole, the bending motor rotates with the "upper rod of the vertical rod" of the mixing shovel and drives the vertical rod to bend, and the crossbar motor rotates with the vertical rod of the mixing shovel and drives the crossbar to rotate. Various technologies of the present invention, such as nested drive structure, motor follow-up (vertical rod bending motor rotates with the mixing shovel, crossbar rotation motor rotates with the vertical rod of the mixing shovel), embedded motor structure (vertical rod bending motor / crossbar rotation motor is embedded in the agitator shaft or vertical rod or crossbar), left and right synchronization technology, can be used to achieve the rotation of the mixing shovel, bending of the vertical rod and rotation of the crossbar, and can be used in Figures 1 to Figure 15 Due to space limitations, these technical combinations are not exhaustively illustrated.

[0471] Obviously, if the transmission device in the vertical rod 612 is replaced with a telescopic rod, a new stir-frying method can be formed, that is, the stirring shovel rotates around its own rotation axis and the stirring shovel vertical rod can be controlled to extend and retract, see below Figure 16H .

[0472] Figure 16H The diagram shows the vertical extension of the mixing shovel using a "nested structure". The mixing shovel drive motor 721 drives the rotating shaft 611 through the belt mechanical transmission devices 722, 723, and 724, which drives the upper and lower vertical rods 612as and 612bs to rotate, and the horizontal rod 613 to rotate, thereby driving the mixing shovel 6 to rotate.

[0473] The bending motor 725 rotates along with the rotating shaft 611 and the vertical rod 612as. The rotating shaft 626 of the telescopic motor 625 passes through the pulley 724 and drives the lower rod 612bs of the mixing shovel vertical rod to extend and retract through the telescopic rod system 727, 728, 729 and 730.

[0474] Obviously, you can Figure 10D The synchronization device synchronizes the movement of the left and right ends of the stirring shovel 6.

[0475] Figure 16H The shape of the pot Figures 16A to 16G Although they are different in form, they are all envelope surfaces formed by the rotation of the mixing shovel. Figures 16A to 16H The shapes of the middle pot are only schematic diagrams.

[0476] Figure 16I It can be seen as a direct description of the overall rotation of the stirring spatula and the bending of the stirring spatula crossbar to stir the food, or it can be seen as Figure 16A The bending point of the middle mixing shovel vertical rod just moves down to the axis of the horizontal rod, which can also be seen as Figure 16E Simplification (that is, Figure 16E Remove the vertical bend).

[0477] Figure 16I In the process, the stirring shovel integral rotating motor 731b rotates, driving the pulley 732b to rotate and driving the belt 733b to rotate, driving the pulley 734b to rotate, driving the stirring shovel shaft 611b to rotate, and finally driving the stirring shovel vertical rod 612b and the stirrer horizontal rod 613 to rotate around the stirring shovel rotation axis 61.

[0478] At the same time, the mixing shovel shaft 611b also drives the mixing shovel crossbar bending drive motor 735b to rotate synchronously. When the mixing shovel crossbar needs to be bent, the shaft 736b of the mixing shovel crossbar bending drive motor 735b rotates. The motor shaft 736b passes through the pulley 734b, driving the horizontal gear 7731 in the mixing shovel shaft to rotate, which in turn drives the vertical gear 7732 in the mixing shovel vertical rod 612b to rotate, which in turn drives the mixing shovel crossbar gear 7734 to rotate, and finally drives the mixing shovel crossbar 613 to rotate.

[0479] Figure 16I In the embodiment, the mixing shovel 6 includes a mixing shovel shaft 611b, a mixing shovel vertical rod 612b, and a mixing shovel horizontal rod 613. The mixing shovel module includes the mixing shovel shaft 611b, the mixing shovel vertical rod 612b, a transmission device 7732, the mixing shovel horizontal rod 613, and a rotation shaft 7734. The mixing shovel vertical rod 612b and the transmission device 7732 constitute the vertical rod module, while the mixing shovel horizontal rod 613 and the rotation shaft 7734 constitute the horizontal rod module. The mixing shovel auxiliary module includes a horizontal rod bending motor 735b, a horizontal rod bending motor shaft 736b, a transmission device 7731, a transmission device 7732, and a transmission device 7734.

[0480] Figure 16J is with Figure 16E Schematic diagram for comparison, used to illustrate the stirring shovel auxiliary module and the stirring shovel, as well as the stirring shovel module (robotic arm plus shovel). Pot body 1, pot cover 2. Figure 16J and Figure 16I The functions are the bending of the mixing shovel vertical rod module (also called the robotic arm) and the rotation of the mixing shovel horizontal rod module (also called the blade including the electric device), but the implementation methods are different. Figure 16J The central mixing shovel integral rotation motor 731b drives the mixing shovel module shaft 611b to rotate about the horizontal axis 61. The mixing shovel upper vertical rod 612ap2 and the mixing shovel lower vertical rod 612bp2 each contain a vertical rod bending motor 735b. The motor's shaft 736b rotates, driving the mixing shovel lower vertical rod 612bp2 to bend. Similarly, the mixing shovel horizontal rod 613 contains a horizontal rod bending motor 771b. The shaft 771b1 of this motor 771b rotates, driving the mixing shovel horizontal rod 613 to rotate.

[0481] Figure 16J In the mixing shovel vertical rod lower rod 612bp2, there is a motor 735b, and the two together constitute the vertical rod lower rod module; the mixing shovel horizontal rod 613 has a motor 771b, and the two together constitute the mixing shovel horizontal rod module. The vertical rod bending motor 735b and the horizontal rod rotation motor 771b both belong to the mixing shovel auxiliary module. From another perspective, Figure 16J The mixing shovel modules in the system: 612ap2, (612bp2+735b), (613+771b) are regarded as the robotic arm combined with the shovel.

[0482] It can be seen that the stirring shovel auxiliary module, the stirring shovel and the stirring shovel module are related to each other. The stirring shovel module includes the stirring shovel and a part of the stirring shovel auxiliary module. For example, the stirring shovel module includes the stirring shovel and the mechanical transmission device, such as Figure 16E Alternatively, the mixing shovel module includes a mixing shovel, a mechanical transmission device and a crossbar motor, such as Figure 16F Or, in an extreme case, the stirring shovel module includes a stirring shovel and all auxiliary modules, such as Figure 16J Alternatively, the stirring shovel system is not on the pot body or the pot cover, but is installed in other positions of the cooking machine. In this case, the left-right stir-fry method or the modified left-right stir-fry method (such as Figure 11L to Figure 11P2 ) for stir-frying, the pot body includes an envelope surface formed by the stirring shovel system for stir-frying.

[0483] Therefore, in summary, the stirring shovel system includes a stirring shovel and a stirring shovel auxiliary module. The stirring shovel includes a stirring shovel vertical rod and a stirring shovel horizontal rod. The stirring shovel vertical rod with an electric function structure is called a vertical rod module or a robotic arm, and the stirring shovel horizontal rod with an electric function structure is called a horizontal rod module or a blade. The vertical rod module and the horizontal rod module constitute a stirring shovel module (or a combination of a robotic arm and a blade). The stirring shovel system is installed on the pot body or the pot cover or other positions of the cooking machine. The pot body is the envelope surface formed by the movement of the stirring shovel; or the stirring shovel system includes Figure 11L to Figure 11P2 Stir fry mode.

[0484] Figure 17 The invention is a mechanical arm with a stirring shovel (device), a stirring shovel (device) and a stirring shovel (device) auxiliary module illustration, which is also for Figure 6L and Figure 6M Further explanation is that the robotic arm and the spatula, the stirring shovel (device) and the stirring shovel (device) auxiliary module are different ways of expressing the same device.

[0485] Furthermore, in order to solve the problem that existing intelligent cooking machines are inconvenient to serve food and occupy a large space, an embodiment of the present invention also provides a pot body with a puzzle structure. Applying the pot body with the puzzle structure to the above-mentioned cooking machine can provide great convenience for serving food.

[0486] Figure 18This is a schematic diagram of the structure of a panel-structured pot body of an intelligent cooking machine provided by an embodiment of the present invention. In this embodiment, the pot body 1 includes a main body 11 and panels 1a, i.e., pot body = main body + panels. Therefore, the main body 11 is the portion remaining after panel 1a is removed from the pot body 1. From the perspective of the main body, the main body 11 is provided with an opening 111, and the panels 1a are adapted to the opening 111 and are movably mounted at the opening 111. When the panels 1a close the opening 111, the panels 1a and the main body 11 are completely assembled to form the pot body 1. When the panels 1a open the opening 111, the food in the pot body 1 can fall out of the opening 111. In addition, to ensure that the contents of the pot can fall out smoothly, the panels are typically mounted at the bottom of the pot body. That is, the opening 111 is typically provided at the bottom of the main body 11. When not distinguishing, the descriptions of the contents falling out of the opening and the contents falling out of the pot body are the same.

[0487] The pot body includes two panels (double panels): a first panel 1a and a second panel 1b. The first panel 1a and the second panel 1b rotate about rotation axes 1za and 1zb, respectively, to open an opening 111, allowing food to fall into a bowl 172 below. To control the food from falling out of the pot body, side auxiliary panels 1w are installed on either side of the double panels 1a and 1b. When the double panels 1a and 1b (i.e., the first and second panels 1a and 1b) open the opening 111, the side auxiliary panels 1w and the double panels 1a and 1b form a guide channel to restrain food falling from the opening 111. It should be noted that in this embodiment, since there are only two panels, when the double panels 1a and 1b open the opening 111, the double panels 1a and 1b and the side auxiliary panels 1w form a guide channel to restrain food falling from the opening 111, thereby further reducing the number of auxiliary panels (i.e., the end auxiliary panels can be omitted).

[0488] In addition to sealing strips and other sealing devices, auxiliary panels 1wp1 and 1wp2 can also be installed at the joints to further restrict food from falling. The auxiliary panels 1wp1 / 1wp2 can be made of elastic material, so that the auxiliary panels can restrict food from falling without affecting the closure of the panels.

[0489] Figure 18 The embodiment is that the panels 1a / 1b rotate to open the bottom opening 111 of the pot body. Obviously, the panels 1a / 1b can also be translated left and right to open the bottom opening 111 of the pot body, see Figure 19 .

[0490] Figure 19It is a structural schematic diagram of the second type of panel structure pot body of the intelligent cooking machine provided by an embodiment of the present invention. In the pot body shown in Figure 16, the panel movement method (translation method) is used to open or close the opening 111. Agitator (or a robotic arm combined with a spatula) 6. The pot body 1 includes a main body 11 and panels 1ay and 1by. The bottom of the main body 11 is provided with an opening 111, and the opening 111 is adapted to the panels 1ay and 1by. The panels 1ay and 1by can open or close the opening 111 by translation. When the panels 1ay and 1by move open, the food in the pot body falls into the bowl under the pot body through the opening 111. In order to restrain the food from falling, an auxiliary plate 1wg is set on the periphery of the opening 111 of the main body. In order to better restrain the food, a panel auxiliary plate 1wp can also be installed at the junction of the panels 1ay and 1by.

[0491] Generally, during the rotation / movement process, the panels and auxiliary panels can always be in close contact with auxiliary panels (also called side auxiliary panels) arranged at the outer periphery of the opening. To prevent moisture from escaping through the small gaps at the contact point, rubber sealing strips or metal sealing strips similar to those used in automobile cylinders can be used.

[0492] It should also be noted that, in the embodiments of the present invention, a single panel structure and a double panel structure are used as examples for detailed description. In actual applications, the pot body may also include a larger number of panels and / or a larger or smaller number of auxiliary panels.

[0493] Furthermore, the technical features involved in the different embodiments of the present invention described above can be combined with each other as long as they do not conflict with each other.

[0494] From the perspective of the blender, traditional blenders only have one non-independent motion, but the present invention expands this to two or more independent motions. To achieve two or more independent motions, some of the blender's joints need to be movable from fixed to movable. This is called a blender auxiliary module, which transforms fixed joints into movable ones. At this point, the blender is no longer a simple blender; it's called a blender module. For example, the blender's vertical rod is originally a simple stick. When the vertical rod can be independently bent and a vertical rod bending module is added, the blender vertical rod becomes a blender vertical rod module. Note that sometimes, for the sake of brevity, the word "module" is omitted. Just as white horses, black horses, Mongolian horses, and European horses are sometimes collectively referred to as horses, as in the question "How many horses do you have at home?" From the perspective of a robotic arm, the functions of a blender plus a blender auxiliary module can be fully realized by a robotic arm and a spatula. Therefore, the two are the same thing. However, achieving perfect stir-frying with a robotic arm is currently difficult. However, a robotic arm that mimics the blender module of the present invention can achieve an effective stir-frying technique. This involves the characteristics of the stirrer. For example, the pot body is the envelope surface formed by the rotation of the stirrer. Figure 11L and Figure 11N Very obvious, yes Figure 11M This is also true. The pot body is also the envelope formed by the overall rotation of the stirrer and the rotation of the stirrer around its own axis. Usually, in the direction of movement, the envelope is designed to be as smooth as possible, without singular points where the curvature suddenly changes greatly, so as to facilitate the movement of the stirring shovel. There is another subtle point. When the robotic arm is combined with the spatula, the blade of the spatula is usually in the direction of the extension of the robotic arm (such as Figure 11M ), but the robot arm is combined with a spatula to simulate the operation of a stirrer, and the direction of the spatula blade is often perpendicular to the extension direction of the robot arm (such as Figure 11L and Figure 11N ). In addition, after the pot is covered, the robotic arm and spatula are inside the pot body, which can achieve high-temperature stir-frying, which is also an important point of the robotic arm of the present invention.

[0495] The "left-right stir-frying method" is a key measure that further reduces the difficulty of stir-frying. In many cases, the stirring spatula no longer needs to scoop up food from the pot and toss it backwards. Instead, it can stir-fry food simply by stirring and mixing. Furthermore, machine vision is largely unnecessary for complex stir-frying. Simply place the stirring spatula at the edge of the pot, where there's no food, and then move it toward the center. This also significantly reduces the chance of food becoming entangled in the stirring spatula.

[0496] Theoretically, the pot body forms the envelope of the stirring spatula. In actual engineering practice, some minor deviations between the pot body and the stirring spatula's envelope are acceptable, and this is within the scope of the present claims. Theoretically, the present invention's analysis and requirements for the stirring spatula spanning both ends of the pot body may not be strictly met in actual engineering practice, but this is also within the scope of the present claims.

[0497] It should be noted that the preferred embodiments of the present invention are given in the specification of the present invention and its drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. These embodiments are not intended to be additional limitations on the content of the present invention. The purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. In addition, the above-mentioned technical features continue to be combined with each other to form various embodiments not listed above, which are all considered to be within the scope of the description of the present invention; further, for ordinary technicians in this field, they can be improved or transformed according to the above description, and all these improvements and transformations should fall within the scope of protection of the claims attached to the present invention. The patents of the inventor / right holder are related to each other so that the patent description is more concise and repetition is avoided.

Claims

1. An intelligent cooking machine, characterized in that: The invention comprises a stirrer stir-frying device, a pot cover, and a pot body with a puzzle structure; the stirrer stir-frying device comprises a stirring shovel system, the stirring shovel system comprising a stirring shovel auxiliary module and a stirring shovel, the stirring shovel auxiliary module and the stirring shovel cooperating to form a stirring shovel system or a stirring shovel module, the stirring shovel module being capable of realizing two or more independent motion modes for stirring food in the pot of the intelligent cooking machine; the angle between the rotation axis of the stirring shovel module and the horizontal plane is 0°≤θ<90°, and the stirring effect is inversely proportional to the angle; the cooking machine comprises one or more stirring shovels, and when the cooking machine comprises multiple stirring shovels, the rotation axes of the multiple stirring shovels are parallel or spatially orthogonal; The pot body with the panel structure is used for serving food in the intelligent cooking machine, and the food in the pot body is poured into a bowl; the pot body includes a main body and a panel, and the bottom of the main body is provided with an opening, and the panel is adapted to the opening and installed at the opening; When the panels close the opening, the panels and the main body can be completely assembled to form the pot body; when the panels open the opening, an opening is formed at the bottom of the pot body, and food in the pot body can fall out of the opening; The main body and the jigsaw puzzle include an envelope surface formed by the front end of the stirring shovel module when stir-frying, and the main body and the jigsaw puzzle are consistent with the envelope surface; the stirring shovel can cover the main body and the jigsaw puzzle, so as to achieve stir-frying without dead angles; when the jigsaw puzzle and the main body are spliced ​​into a complete pot body, the front end of the stirring shovel module can be controlled to fit onto the main body and the jigsaw puzzle surface at a desired position or to leave the main body and the jigsaw puzzle surface at a desired position; The mixing shovel includes blades and a rotating shaft connected to the blades, and the rotating shaft rotates to drive the blades to rotate; the mixing shovel includes a vertical rod, a horizontal rod and a rotating shaft, the horizontal rod is connected to the vertical rod, and the vertical rod is connected to the rotating shaft, and the rotating shaft rotates to drive the vertical rod and the horizontal rod to rotate; the vertical rod, the horizontal rod and the rotating shaft can also be respectively combined with the mixing shovel auxiliary module to form a vertical rod module, a horizontal rod module and a rotating shaft module; the intelligent cooking machine also includes at least one of the following characteristics (1) to (5): (1) The one or more stirring shovel modules span across both ends of the pot body, the rotating part in the pot body is the stirring shovel, and the remaining part that drives the stirring shovel is the stirring shovel auxiliary module, the pot body includes an envelope surface formed by the rotating motion of the blades of the stirring shovel module, and when the stirring shovel rotates, the motion of the stirring shovel includes the front end of the blade being controlled to fit to the surface of the pot body at a desired position and being controlled to leave the surface of the pot body at a desired position, wherein, during the rotation of the stirring shovel module around its rotating shaft, the controlled stir-frying motion mode of the stirring shovel module also includes the following two independent motions at the same time, the first independent motion of the stirring shovel is the rotation of the stirring shovel around its own rotating shaft axis, and the second independent motion of the stirring shovel includes at least one of the following motions: the stirring shovel as a whole is controlled to translate, the stirring shovel vertical rod is controlled to bend, the stirring shovel vertical rod is controlled to extend and retract, and the stirring shovel horizontal rod is controlled to rotate, so as to achieve stirring and stir-frying of the cooking ingredients in the pot body, and the rotation of the stirring shovel module around the rotating shaft and the controlled motion of the stirring shovel module are driven by two independent driving devices; (2) The transverse dimension of the blade is smaller than the transverse width of the pot body. When the blade rotates around the rotating shaft, it rotates around the vertical axis of the pot body center or translates along the axis of the rotating shaft when the blade rotates around the rotating shaft to achieve stir-frying without dead angles. The blade can rotate around the rotating shaft; the stirring shovel can also implement any one of the following or a combination of at least two of them, and can be arbitrarily combined with the rotation of the blade around the rotating shaft to achieve stirring and stir-frying of the cooking ingredients: the controlled translation of the stirring shovel as a whole perpendicular to the rotating axis, the controlled extension and contraction of the blade, the controlled bending of the blade, and the controlled rotation of the front end of the blade; the pot body includes an envelope surface formed by the rotating movement of the blade, and the pot body is consistent with the envelope surface formed by the rotation of the blade. The movement of the blade includes the front end of the blade contacting or leaving the surface of the pot body at any desired position; (3) The first independent motion of the mixing shovel is the rotation of the mixing shovel around its own rotation axis, and the second independent motion of the mixing shovel includes at least one of the following motions: the overall controlled translation of the mixing shovel, the controlled bending of the vertical rod of the mixing shovel, the controlled extension and retraction of the vertical rod of the mixing shovel, and the controlled rotation of the horizontal rod of the mixing shovel; The stir-frying device of the cooking machine includes at least one of the following mechanical structures: The cooking machine includes a structure in which a stirring spatula moves as a whole: the stirring spatula is on the pot cover of the cooking machine, the stirring spatula auxiliary module includes the pot cover, and the stirring spatula and the pot cover form a stirring spatula module. When the cooking machine is stir-frying, the stirring spatula rotates around its rotating shaft, and the pot cover as an auxiliary module can be controlled to tilt and rotate around the pot cover rotating shaft and / or the pot cover moves up and down; and / or the cooking machine includes a nested driving mechanical structure for the stirring spatula: the stirring spatula rotating shaft passes through the side surface of the cooking machine pot body or the side surface of the pot cover from the inside to the outside, and a mechanical transmission device J is provided in the stirring spatula rotating shaft and the stirring spatula vertical rod; motor A is a stirring spatula integral rotation driving motor, and the motor A drives the stirring spatula rotating shaft to rotate; motor B is a stirring spatula vertical rod telescopic motor or a vertical rod bending motor or a stirring spatula horizontal rod rotating motor, and the motor B drives the stirring spatula The mechanical device in the rotating shaft and the mechanical device J in the vertical rod of the mixing shovel; the nested drive mechanical structure specifically includes the following four structures: first, the mechanical transmission device J is in the rotating shaft of the mixing shovel and the upper rod of the vertical rod, and the motor B drives the mechanical transmission device J to drive the rotating shaft of the lower rod of the vertical rod to rotate; second, the mechanical transmission device J is in the rotating shaft of the mixing shovel and the upper rod of the vertical rod, and the motor B drives the mechanical transmission device J to drive the lower rod of the vertical rod to extend and retract; third, the mechanical transmission device J is in the rotating shaft of the mixing shovel and the entire vertical rod, and the motor B drives the mechanical transmission device J to drive the rotating shaft of the cross bar shovel; fourth, the mechanical transmission device J is in the rotating shaft of the mixing shovel and the upper rod of the vertical rod, and the motor B drives the mechanical transmission device J to drive the rotating shaft of the lower rod of the vertical rod to rotate, and the motor C is installed on the upper rod of the vertical rod, and drives the rotating shaft of the lower rod of the vertical rod and the mechanical transmission device E in the lower rod of the vertical rod to drive the cross bar shovel to rotate; or, The cooking machine includes a first built-in motor mechanical structure: the stirring shovel is rotated as a whole by a driving motor A to drive the stirring shovel as a whole to rotate around the stirring shovel's own rotation axis; the stirring shovel vertical rod upper rod has a built-in motor B; the first built-in motor mechanical structure includes the following three situations: first, the motor B drives the vertical rod lower rod rotating shaft to drive the vertical rod lower rod to rotate; second, the motor B drives the mechanical transmission device E in the vertical rod lower rod to drive the horizontal bar shovel to rotate; third, the motor B drives the vertical rod lower rod rotating shaft to drive the vertical rod lower rod to rotate, the motor C is installed on the vertical rod upper rod, and the motor C drives the mechanical transmission device K in the vertical rod lower rod rotating shaft to drive the horizontal bar shovel to rotate; or, The cooking machine includes a second built-in motor mechanical structure: the stirring shovel integral rotation motor A drives the stirring shovel as a whole to rotate around the stirring shovel's own rotation axis; the stirring shovel vertical rod lower rod has a built-in motor B; the second built-in motor mechanical structure includes the following four situations: first, motor B drives the vertical rod lower rod rotating shaft to drive the vertical rod lower rod to rotate; second, motor B drives the horizontal bar shovel rotating shaft to drive the horizontal bar shovel to rotate; third, motor B drives the vertical rod lower rod rotating shaft to drive the vertical rod lower rod to rotate, motor C is installed on the vertical rod upper rod, motor C drives the mechanical transmission device K in the vertical rod lower rod rotating shaft and the vertical rod lower rod to rotate the horizontal bar shovel; fourth, motor B drives the vertical rod lower rod rotating shaft to drive the vertical rod lower rod to rotate, motor D is installed on the horizontal bar shovel, motor D drives the horizontal bar shovel rotating shaft to drive the horizontal bar shovel to rotate; or, The cooking machine includes a third type of built-in motor mechanical structure: the stirring shovel integral rotation drive motor A drives the stirring shovel as a whole to rotate around the stirring shovel's own rotation axis; the crossbar shovel has a built-in motor D, which drives the crossbar shovel shaft to drive the crossbar shovel to rotate; (4) The stirring shovel is mounted on the pot body or the pot cover; and / or, when the pot cover is closed, the stirring shovel is located in the space enclosed by the pot body and the pot cover, and the stirring shovel can stir-fry the food in the pot; The cooking machine uses a plurality of left and right stirring shovels to cover both ends of the pot body; the blades are capable of rotating about the rotating shaft, and the stirring shovels can also implement any one of the following or a combination of at least two of the following, and any combination thereof with the rotation of the blades about the rotating shaft to achieve stirring and stir-frying of the cooking ingredients: the stirring shovel has controlled overall translation, the blades have controlled extension and contraction, the blades have controlled bending, and the front end of the blades has controlled rotation; and / or the stirring shovel module includes a stir-frying method, called RL stir-frying method or LR stir-frying method, and the following stir-frying steps a to f: a. The front end of the stirring shovel is near the R end or L end edge of one end of the pot body and is close to the pot body where there is no cooking material; b. The stirring shovel rotates at the R end or the L end toward the center of the pot body, stirring and pushing the cooking ingredients toward the center area. c. When the stirring shovel reaches the center of the pot, the front end of the stirring shovel gradually separates from the surface of the pot; d. The stirring shovel continues to rotate and reaches the edge of the other end L or R of the pot body, completing one RL stir-fry or LR stir-fry; e. The stirring shovel stir-fries the RL immediately after the stirring shovel stir-fries the LR, or the stirring shovel stir-fries the LR immediately after the stirring shovel stir-fries the RL, thereby completing a classic stirring or stir-frying; or f. After the stirring shovel performs RL stir-fry, it returns to the R end, stirs the RL several times, and then stirs the LR several times; or, after the stirring shovel performs LR stir-fry, it returns to the L end, stirs the LR several times, and then stirs the R end to the L end several times; thereby completing a non-classical stirring or stir-frying; The pot body includes an envelope surface formed by the rotational movement of the front end of the blade of the stirring shovel module; when the stirring shovel rotates, the movement of the stirring shovel includes the front end of the blade being controlled to fit against the pot body surface at a desired position or being controlled to leave the pot body surface at a desired position; (5) The stirring shovel is on the pot body or the pot cover; and / or, when the pot cover is closed, the stirring shovel is located in the space enclosed by the pot body and the pot cover, and the stirring shovel can stir-fry the food in the pot; The stirring shovel has two or more independent driving devices, and the stirring shovel can realize two or more independent movement modes to stir the food in the pot; the pot body includes an envelope surface formed by the rotational movement of the front end of the stirring shovel module, and the pot body and the envelope surface are consistent; the stirring shovel can cover the pot body to achieve stir-frying without dead angles; when the stirring shovel module rotates, the movement of the stirring shovel module includes the front end being controlled to fit the pot body surface at a desired position or to leave the pot body surface at a desired position; The stirring shovel can also implement any one of the following a, b, c, d or a combination of at least two thereof, and can be combined with the blade rotating around the rotating shaft to achieve stirring and stir-frying of the cooking ingredients: a. The stirring shovel is controlled to move in a translation perpendicular to the rotation axis; b. Controlled extension and retraction of the blades; c. controlled bending of the blades; d. Controlled rotation of the front end of the blade.

2. The intelligent cooking machine according to claim 1, characterized in that: The structure of the overall movement of the stirring shovel: the stirring shovel auxiliary module includes a vertical arm, one end of the vertical arm is on the pot body or the pot cover, and the other end is connected to the stirring shovel shaft. The stirring shovel can be driven by a driving device to rotate around its own shaft. The vertical arm can also be extended and / or rotated and / or bent from the middle, and the rotation axis and / or bending axis of the vertical arm are parallel to the axis of the stirring shovel.

3. The intelligent cooking machine according to claim 1, characterized in that The mixing shovel includes the vertical rod being bent, and the axis of the vertical rod being bent is parallel to the axis of the mixing shovel shaft; and / or, the mixing shovel includes the horizontal rod being rotated, and the rotation axis is parallel to the axis of the mixing shovel shaft.

4. The intelligent cooking machine according to claim 1, characterized in that The upper rod of the vertical rod of the mixing shovel adopts a disc-type bending method.

5. The intelligent cooking machine according to claim 1, characterized in that: The intersection of the horizontal shovel and the vertical rod is almost perpendicular to the vertical rod, so that the mixing shovel looks like a hoe from the side; the horizontal shovel looks like a widened spatula from the top, with a thin piece in the middle; and / or, the crossbar shovel has slightly raised edges on both sides and a slightly raised curved edge in the middle; and / or, the horizontal shovel is mirror-symmetrical to the vertical shovel of the mixing shovel; and / or, installing a rotating shaft with a rebound function on the vertical rod; and / or, installing a rotating shaft with a rebound function at the rotating shaft of the crossbar shovel; And / or, a rotating shaft A is installed between the vertical rod rebound shaft and the horizontal rod shovel, and the horizontal rod shovel is driven to rotate around the rotating shaft A to achieve stir-frying. and / or, the rotating shaft coincides with the rotating shaft of the crossbar shovel, so that the crossbar shovel can be driven by the transmission device and also has a rebound function; and / or, shifting the equilibrium position of the stirring shovel with a rebound function from a position perpendicular to the vertical rod to a direction close to the pot body by an angle; And / or, the mixing shovel modules include two, and the axes of the rotating shafts of the two mixing shovel modules are perpendicular or parallel to each other; And / or, a heating device is installed on the stirring shovel; And / or, the blade edge of the stirring shovel has serrations, so that liquid can flow through the serrations but cooking ingredients cannot pass through.

6. The intelligent cooking machine according to claim 1, characterized in that: A pipeline design or a disc-shaped design is adopted, and various mechanical transmission devices in the stirring shovel auxiliary module that are exposed to the oil smoke of the pot body are sealed and installed in the pipeline or the disc.

7. The intelligent cooking machine according to claim 1, characterized in that: A conductive slip ring is installed at the pot body shaft so that when the pot body rotates, the electrical signal can be smoothly sent from the pot body shaft to the heating device at the bottom of the pot body without being affected by the rotation of the pot body.

8. The intelligent cooking machine according to claim 1, characterized in that: External water, air / steam can be delivered to the mixing shovel through the mixing shovel shaft and can be ejected from the mixing shovel nozzle; and / or, electrical signals can be interconnected with electronic devices of the mixing shovel vertical rod / horizontal rod through the mixing shovel shaft.

9. The intelligent cooking machine according to claim 1, characterized in that: The stirring shovel and the opening plane of the pot body form different combinations, including: the opening plane of the pot body is parallel to the rotating axis of the stirring shovel, in which case the rotating axis of the pot body is consistent with the rotating axis of the stirring shovel; or, the opening plane of the pot body is perpendicular to the rotating axis of the stirring shovel, in which case the rotating axis of the pot body is perpendicular to the rotating axis of the stirring shovel.

10. The intelligent cooking machine according to claim 1, characterized in that: The stirring shovel is equipped with a driving device, which drives the stirring shovel to rotate, and the driving device is inside the stirring shovel or in the vertical rod or transmitted through the vertical rod; and / or, the stirring shovel includes different combinations of its own rotation rate and the bending rate of the vertical rod or the rotation rate of the horizontal rod, and obtains different motion trajectories of the front end of the stirring shovel; and / or, the front end of the vertical rod module has a gripping clamp or a manipulator, which can pick up commonly used cooking tools separately and put the cooking tools back after the work is completed; and / or, the stirring shovel has multiple blades.

11. The intelligent cooking machine according to claim 1, characterized in that: The cooking machine comprises an irregular cooking ingredient feeding device, wherein a feeding box of the feeding device is located in a pot cover, and the cooking ingredients are placed in the feeding box. When feeding is required, the bottom of the feeding box is opened and the cooking ingredients are fed into the pot body.

12. The intelligent cooking machine according to claim 1, characterized in that: An opening for adding liquid food is installed on the pot lid and / or the pot body, and / or a nozzle is installed on the stirring spatula / pot body / pot lid for cleaning the pot body, pot lid and stirring spatula, and / or a heating device is installed on the pot lid to form top heating, and / or a ventilation / filtering device is installed on the pot lid to replenish fresh air in the pot body, prevent foam from forming and growing, or extract / filter the oil smoke in the pot body / pot lid.

13. The intelligent cooking machine according to claim 1, characterized in that: A bottom leakage spray device is installed at the bottom of the pot body, and the bottom leakage spray device is used for grinding food, filtering food, discharging food waste, or cleaning the pot body, pot cover, the stirring shovel itself and all devices surrounded by the pot body and pot cover.

14. The intelligent cooking machine according to claim 1, characterized in that The cooking machine is equipped with a manual control system, so that the cooking machine can be manually controlled to cook, including starting and stopping the cooking machine, controlling the size and start and stop of the heating power, opening and closing the pot cover, adding cooking ingredients at different times, stirring with a stirring spatula at different speeds and amplitudes, serving food, washing the pot, and pouring out waste water in the pot. The entire cooking process is completed through manual operation.

15. The intelligent cooking machine according to claim 1, characterized in that: The panels can be rotated or translated relative to the main body, or a combination of rotation and translation. When the panels are rotated or translated relative to the main body, or a combination of rotation and translation, the opening can be closed or opened.

16. The intelligent cooking machine according to claim 1, characterized in that The pot body further comprises an auxiliary plate, which is arranged at the periphery of the opening and / or at the junction of the panels to restrain food falling from the opening or prevent water vapor from escaping.

17. The intelligent cooking machine according to claim 16, characterized in that: The auxiliary plate includes a side auxiliary plate. When the splicing plate opens the opening, the splicing plate and the side auxiliary plate jointly restrain food falling from the opening, and the splicing plate is in close contact with the side auxiliary plate.

18. The intelligent cooking machine according to claim 16, characterized in that: The auxiliary plate includes a splicing plate auxiliary plate, which is arranged at the junction of the splicing plates. When the splicing plates open the opening, the splicing plates and the splicing plate auxiliary plate jointly restrain food falling from the opening.

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