Automatic cooking machine and control method thereof

Abstract

The present invention belongs to the field of automatic cooking machines and discloses an automatic cooking machine and a control method thereof. The automatic cooking machine includes a stirrer and a pot, the stirrer including: a stirring component including a rotating shaft and a stirring assembly connected to the rotating shaft, the stirring assembly including a first stirring member, a second stirring member, and a third stirring member, the first stirring member is used to stir the ingredients in the first inner wall area, the second stirring member is used to stir the ingredients in the first inner wall area and the second inner wall area, and the third stirring member is used to stir the ingredients in the second inner wall area and the third inner wall area, wherein the first stirring member, the second stirring member, and the third stirring member are spaced apart along the rotating shaft; a driving component is connected to the top of the rotating shaft and is used to drive the rotating shaft and the stirring assembly to rotate. The use of this application can maximize the guarantee that the ingredients are fully stir-fried and avoid the problem of undercooked ingredients.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic cooking machines, and in particular to an automatic cooking machine and a control method thereof. Background Art

[0002] As consumption levels rise, demand for automated home cooking products is growing. This has led to the emergence of home cooking machines, driven by market demand. To better accommodate automated cooking, these machines often use custom pots. These pots differ significantly in size, depth, and outer diameter from traditional pots, requiring specialized stirrers for stirring and cooking.

[0003] Currently, the stirrers in household cooking machines are either fixed-axis twin-paddle or roller-shaped fixed-axis single-paddle configurations. These have a small contact area with the cookware, a narrow stirring range, and incomplete and uneven stirring. This results in undercooked ingredients and granular ingredients clumping together, resulting in poor quality. Therefore, a stirrer with more complete stirring is urgently needed. Summary of the Invention

[0004] Based on this, it is necessary to provide an automatic cooking machine and a control method thereof to address the above technical problems.

[0005] In a first aspect, an automatic cooking machine is provided, characterized in that the automatic cooking machine includes a stirrer and a pot, the stirrer is used to stir the ingredients inside the pot, the inner wall of the pot is sequentially provided with a first inner wall area, a second inner wall area, and a third inner wall area from the inside to the outside, and the stirrer includes:

[0006] a stirring member, comprising a rotating shaft and a stirring assembly connected to the rotating shaft, the stirring assembly comprising a first stirring member, a second stirring member, and a third stirring member, the first stirring member being used to stir the food in the first inner wall area, the second stirring member being used to stir the food in the first inner wall area and the second inner wall area, and the third stirring member being used to stir the food in the second inner wall area and the third inner wall area, wherein the first stirring member, the second stirring member, and the third stirring member are spaced apart along the rotating shaft;

[0007] a driving component connected to the top of the rotating shaft and used for driving the rotating shaft and the stirring assembly to rotate;

[0008] Wherein, the first stirring member, the second stirring member and the third stirring member are driven by the driving component to rotate forward or reverse.

[0009] As an optional embodiment, the first stirring member includes a first connecting rod and a first stirring portion, the first connecting rod is connected between the rotating shaft and the first stirring portion, the first connecting rod is L-shaped, and the first stirring portion is spherical;

[0010] The second stirring member includes a second connecting rod and a second stirring portion, the second connecting rod is connected between the rotating shaft and the second stirring portion, the second connecting rod is L-shaped, and the second stirring portion is a stirring shovel;

[0011] The third stirring member includes a third connecting rod and a third stirring portion. The third connecting rod is connected between the rotating shaft and the third stirring portion. The third connecting rod is L-shaped. The third stirring portion is a scraper.

[0012] As an optional embodiment, the end of the scraper away from the second connecting rod is arc-shaped;

[0013] The longitudinal section of the stirring shovel is an arc convex downward, the width of the side of the stirring shovel close to the center of the pot is a, and the width of the side of the stirring shovel away from the center of the pot is b, wherein a <b。

[0014] As an optional embodiment, the third connecting rod includes a horizontal section and an inclined section perpendicular to the rotating shaft, and the horizontal section and the inclined section are connected by an arc section;

[0015] The included angle between the projections of the horizontal section and the inclined section on the horizontal plane is α, wherein 40°≤α≤75°.

[0016] As an optional embodiment, the stirrer further comprises an anti-sticking component, and the anti-sticking component (12) comprises:

[0017] The first anti-sticking structure is a first hemispherical protrusion, and the outer surfaces of the second stirring part and the third stirring part are both provided with a plurality of the first anti-sticking structures;

[0018] The second anti-sticking structure is a second protrusion, which is provided on the upper surface of the second stirring part;

[0019] There is at least one second anti-sticking structure, and the second anti-sticking structure is conical or cylindrical.

[0020] As an optional implementation manner, the included angles between any two of the first connecting rod, the second connecting rod and the third connecting rod are equal.

[0021] As an optional embodiment, the first connecting rod is located at the rear side of the second connecting rod in the clockwise rotation direction, and the third connecting rod is located at the front side of the second connecting rod in the clockwise rotation direction;

[0022] The first connecting rod, the second connecting rod and the third connecting rod are arranged from bottom to top along the rotating shaft.

[0023] As an optional embodiment, outer surfaces of the first stirring part, the second stirring part and the third stirring part are provided with a silica gel layer.

[0024] As an optional implementation, it also includes:

[0025] The lifting component is connected to the driving component and the rotating shaft, and is used to drive the stirring component to move up and down to achieve lifting stirring.

[0026] As an optional embodiment, a temperature measuring component is provided at the bottom of the cookware for detecting the temperature of the cookware.

[0027] In a second aspect, a control method for an automatic cooking machine is provided, wherein the control method is applied to the automatic cooking machine described in the first aspect, and comprises:

[0028] Get the name of the dish to be cooked input by the user;

[0029] According to the name of the dish, determining the stirring time of the blender, the preset maximum forward stirring speed, the preset maximum reverse stirring speed, the stirring mode, and the forward stirring duty cycle within the preset stirring cycle;

[0030] When it is detected that the ingredients of the dish to be cooked enter the pot, the stirrer is controlled to stir according to the preset maximum forward stirring speed, the preset maximum reverse stirring speed, the stirring mode and the forward stirring duty cycle within the preset stirring cycle, and stops after the stirring time is reached.

[0031] As an optional embodiment, determining the stirring time of the blender, the preset maximum forward stirring speed, the preset maximum reverse stirring speed, the stirring mode, and the forward stirring duty cycle within the preset stirring cycle according to the dish name includes:

[0032] Determining, according to the dish name, the stirring time, the state of the ingredients, the stickiness of the ingredients, and the clumping ability of the ingredients of the dish to be cooked;

[0033] Inquiring the preset maximum forward stirring speed and the preset maximum reverse stirring speed of the blender corresponding to the food state of the food to be cooked from the pre-stored correspondence between the food state, the preset maximum forward stirring speed, and the preset maximum reverse stirring speed of the blender;

[0034] In the pre-stored correspondence between the stickiness of the food and the stirring mode of the stirrer, querying the stirring mode of the stirrer corresponding to the stickiness of the food to be cooked;

[0035] In the pre-stored correspondence between the food material's clumping ability and the forward stirring duty cycle of the stirrer within a preset stirring cycle, the forward stirring duty cycle of the stirrer within the preset stirring cycle corresponding to the food material's clumping ability is queried.

[0036] As an optional implementation, the method further includes:

[0037] Obtaining the cooking temperature in the pot;

[0038] If the cooking temperature is greater than or equal to a preset cooking temperature threshold, controlling the stirrer to stir in a single-circle alternating lifting and lowering stirring manner;

[0039] If the cooking temperature is lower than the preset cooking temperature threshold, the stirrer is controlled to stir the food by sticking to the inner wall of the pot.

[0040] The present application provides an automatic cooking machine and a control method thereof. The technical solution provided by the embodiments of the present application brings at least the following beneficial effects: three stirring members are provided on the stirrer of the automatic cooking machine, and the contact areas between the three stirring members and the inner wall of the pot are different, so that different spans of stirring areas can be achieved during the stirring process. The three stirring members are driven by a driving component to rotate forward and reverse, so that the ingredients in the pot are gradually pressed from the ingredients near the edge of the pot to the center of the pot bottom for stir-frying and gathering, or the ingredients in the center of the pot bottom are gradually pressed and moved to the vicinity of the pot edge. In this way, the three stirring members can cover most of the area inside the pot, and can ensure that the ingredients are fully and freely rolled to the greatest extent, avoiding the problems of undercooked ingredients and granular ingredients easily clumping and poor quality.

[0041] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 A schematic structural diagram of an automatic cooking machine provided in an embodiment of the present application;

[0044] Figure 2 A schematic structural diagram of a front view of an agitator provided in an embodiment of the present application;

[0045] Figure 3 A schematic structural diagram of an agitator provided in an embodiment of the present application;

[0046] Figure 4 A top view of an agitator provided in an embodiment of the present application;

[0047] Figure 5 A flow chart of a control method for an automatic cooking machine provided in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of a stirring method provided in an embodiment of the present application.

[0049] The description of the accompanying drawings is as follows:

[0050] 1. Agitator; 11. Stirring component; 111. Rotating shaft; 112. Stirring assembly; 1121. First stirring member; 11211. First connecting rod; 11212. First stirring portion; 1122. Second stirring member; 11221. Second connecting rod; 11222. Second stirring portion; 1123. Third stirring member; 11231. Third connecting rod; 112311. Horizontal section; 112312. Inclined section; 112313. Arc section; 11232. Third stirring portion; 12. Anti-sticking assembly; 121. First anti-sticking structure; 122. Second anti-sticking structure; 2. Cookware. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0052] The terms "a", "an", "the", and "said" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may be present in addition to the listed elements / components / etc.

[0053] Figure 1 This is a schematic diagram of the structure of an automatic cooking machine provided in an embodiment of the present application. Figure 1 As shown, the automatic cooking machine includes a stirrer 1 and a pot 2. The stirrer 1 is used to stir the ingredients inside the pot 2. The inner wall of the pot 2 is sequentially provided with a first inner wall area, a second inner wall area, and a third inner wall area from the inside to the outside. The first inner wall area, the second inner wall area, and the third inner wall area can cover 3 / 4 of the inner wall area of the pot 2. This can ensure that the ingredients in the pot 2 are fully stirred to the greatest extent possible.

[0054] The blender 1 includes a stirring component 11 and a driving component. The stirring component 11 includes a rotating shaft 111 and a stirring assembly 112 connected to the rotating shaft 111. The stirring assembly 112 includes a first stirring member 1121, a second stirring member 1122 and a third stirring member 1123. The first stirring member 1121 is used to stir the ingredients in the first inner wall area, the second stirring member 1122 is used to stir the ingredients in the first inner wall area and the second inner wall area, and the third stirring member 1123 is used to stir the ingredients in the second inner wall area and the third inner wall area, wherein the first stirring member 1121, the second stirring member 1122 and the third stirring member 1123 are spaced apart along the rotating shaft 111; the driving component is connected to the top of the rotating shaft 111, and is used to drive the rotating shaft 111 and the stirring assembly 112 to rotate.

[0055] like Figure 1-4 The first stirring member 1121 , the second stirring member 1122 and the third stirring member 1123 shown rotate forward or reversely under the drive of the driving component.

[0056] In the present application, the stirrer 1 of the automatic cooking machine is provided with three stirring elements, each of which has different contact areas with the inner wall of the pot 2, thereby achieving different spans of stirring area during the stirring process. Furthermore, the three stirring elements are driven by a driving component to rotate forward and reverse, thereby gradually pressing the ingredients in the pot 2 from the rim of the pot 2 toward the center of the pot bottom for stir-frying and gathering, or gradually pressing the ingredients in the center of the pot bottom toward the rim. In this way, the three stirring elements can cover most of the area inside the pot 2, ensuring that the ingredients can be fully and freely rolled, thus avoiding the problems of undercooked ingredients and granular ingredients easily clumping and poor quality.

[0057] Figure 2 This is a schematic diagram of the front view of a stirrer provided in an embodiment of the present application. Figure 2 As shown, the agitator 1 includes a stirring member 11, including a rotating shaft 111 and a stirring assembly 112 connected to the rotating shaft 111. The stirring assembly 112 includes a first stirring member 1121, a second stirring member 1122, and a third stirring member 1123. A driving member is connected to the top of the rotating shaft 111. The driving member can be a power component such as a motor or a cylinder. The top of the rotating shaft 111 is a drive port for the motor to drive the rotating shaft 111.

[0058] The driving component can drive the stirrer 1 to rotate on a fixed axis inside the pot 2 in two directions: clockwise when viewed from above is forward rotation, and counterclockwise when viewed from above is reverse rotation.

[0059] Figure 3 This is a schematic diagram of the structure of a stirrer provided in an embodiment of the present application. Figure 3As shown, the first stirring member 1121 includes a first connecting rod 11211 and a first stirring portion 11212. The first connecting rod 11211 is connected between the rotating shaft 111 and the first stirring portion 11212. The first connecting rod 11211 is L-shaped, and the first stirring portion 11212 is spherical. In this way, the spherical first stirring portion 11212 can fully stir the ingredients in the first inner wall area, and during the rotation process, there can also be a tendency to move the ingredients in the first inner wall area to the second inner wall area, so that the ingredients can be evenly stir-fried throughout the pot 2. Furthermore, when the ingredients to be cooked are more vegetables, because the vegetables are relatively fluffy, in order to fully stir the vegetables during stirring, the first connecting rod 11211 is L-shaped, so that during the stirring process, the first connecting rod 11211 can also drive the vegetables to move.

[0060] The second stirring member 1122 includes a second connecting rod 11221 and a second stirring portion 11222. The second connecting rod 11221 is connected between the rotating shaft 111 and the second stirring portion 11222. The second connecting rod 11221 is L-shaped, and the second stirring portion 11222 serves as a stirring shovel. This ensures that the stirring shovel can fully stir the ingredients during the stirring process. When cooking a large number of vegetables, the L-shaped second connecting rod 11221 can rotate the relatively fluffy vegetables, preventing them from sticking or burning the pan.

[0061] The third stirring member 1123 includes a third connecting rod 11231 and a third stirring portion 11232. The third connecting rod 11231 is connected between the rotating shaft 111 and the third stirring portion 11232. The third connecting rod 11231 is L-shaped, and the third stirring portion 11232 is a scraper. During the stirring process, the scraper-like third stirring portion 11232 can scrape off any food adhering to the inner wall of the cookware 2, thoroughly stirring the food. The L-shaped third connecting rod 11231 can rotate the fluffy vegetables when cooking a large amount of vegetables, preventing them from sticking or burning the pot.

[0062] Figure 4The top view of the agitator 1 is shown, wherein the axial projection of the rotating shaft 111 is circular, and the first connecting rod 11211, the second connecting rod 11221, and the third connecting rod 11231 are spaced apart along the circle. The first connecting rod 11211, the second connecting rod 11221, and the third connecting rod 11231 are evenly distributed along the circle, i.e., the angle between any two of the first connecting rod 11211, the second connecting rod 11221, and the third connecting rod 11231 can be 120 degrees. Of course, the first connecting rod 11211, the second connecting rod 11221, and the third connecting rod 11231 can also be unevenly distributed along the circle, i.e., the angle between any two of the first connecting rod 11211, the second connecting rod 11221, and the third connecting rod 11231 is different, as long as the projections of the first connecting rod 11211, the second connecting rod 11221, and the third connecting rod 11231 do not overlap, to ensure sufficient agitation.

[0063] The first connecting rod 11211 is located behind the second connecting rod 11221 in the clockwise rotation direction, and the third connecting rod 11231 is located in front of the second connecting rod 11221 in the clockwise rotation direction. In this way, when the blender 1 is blending in the forward direction, the food in the third inner wall area can pass through the second inner wall area and be gathered towards the first inner wall area located in the center of the cookware 2.

[0064] The first connecting rod 11211, the second connecting rod 11221, and the third connecting rod 11231 are arranged from bottom to top along the rotating shaft 111. This ensures that the ingredients are not only thoroughly stirred during the stirring process, but also tend to be gradually pressed toward the center of the pot bottom during forward rotation, and toward the pot bottom during reverse rotation, thereby optimizing the stir-frying effect. As the ingredients continuously tumble, they absorb heat from the pot 2 at the tumbling point, preventing the sidewalls of the pot 2 from overheating. Furthermore, the L-shaped first connecting rod 11211, the sub-L-shaped second connecting rod 11221, and the sub-L-shaped third connecting rod 11231 are arranged at different heights. During the stirring process, the heights of the vegetables being moved also differ, thereby enabling the movement of most of the vegetables within the pot 2.

[0065] like Figure 3 As shown, the third connecting rod 11231 includes a horizontal section 112311 and an inclined section 112312 perpendicular to the rotating shaft 111 , and the horizontal section 112311 and the inclined section 112312 are connected by an arc section 112313 .

[0066] Figure 4 This is a top view of a stirrer provided in an embodiment of the present application. Figure 4As shown, the included angle between the horizontal section 112311 and the inclined section 112312 of the third connecting rod 11231 in the projection on the horizontal plane is α, where 40° ≤ α ≤ 75°. That is to say, the scraper is not parallel to the horizontal section 112311, and there is a certain included angle between the scraper and the horizontal section 112311. In this way, when the scraper is stirring, it can not only achieve the purpose of stir-frying the food materials, but also move the food materials from the third inner wall area to the second inner wall area.

[0067] Silicone layers are provided on the outer surfaces of the first stirring part 11212, the second stirring part 11222 and the third stirring part 11232. That is to say, the outer surfaces of the sphere, the stirring shovel and the scraper are coated with a layer of food-grade high-temperature-resistant silicone, which can realize good iron pot characteristics and the scraping function while eliminating the abnormal noise of scraping the pot.

[0068] The end of the scraper far from the second connecting rod 11221 is arc-shaped. In this way, the scraper can fit the curvature of the second inner wall area of the cooking utensil 2 and stir the food materials better.

[0069] The longitudinal section of the stirring shovel is an arc protruding downward. The width of the side of the stirring shovel close to the center of the cooking utensil 2 is a, and the width of the side of the stirring shovel far from the center of the cooking utensil 2 is b, where a < b. In this way, the stirring shovel can fit the curvature of the second inner wall area of the cooking utensil 2 and stir the food materials better.

[0070] As Figure 4 shown, the stirrer 1 further includes an anti-sticking component 12, and the anti-sticking component 12 includes:

[0071] The first anti-sticking structure 121 is a first protrusion in the shape of a hemisphere, and a plurality of first anti-sticking structures 31 are provided on the outer surfaces of the second stirring part 11222 and the third stirring part 11232. In this way, during the stirring process of the stirrer, the first anti-sticking structure 121 in the shape of a hemisphere can prevent the food materials from sticking to the outer surfaces of the second stirring part 11222 and the third stirring part 11232.

[0072] The second anti-sticking structure 122 is a second protrusion, which is provided on the upper surface of the second stirring part 11222. It is a conical spike-shaped protrusion protruding upward from the upper surface of the second stirring part 11222. In this way, it can not only prevent the food materials from adhering, but also separate the agglomerated food materials during the stirring process.

[0073] Among them, there is at least 1 second anti-sticking structure 122, and the second anti-sticking structure 32 is conical or cylindrical.

[0074] Furthermore, the lifting component connects the driving component and the rotating shaft 111, and is used to drive the stirring component 11 to lift, so as to realize lifting stirring. Among them, the lifting stroke is about 10 mm - 30 mm.

[0075] The lifting assembly may be a cylinder lifting platform or a robotic arm. For example, a driving component is connected to the robotic arm, which is connected to the rotating shaft 111. The driving component drives the robotic arm to drive the stirring component 11 to move upward or downward, thereby achieving lifting stirring.

[0076] like Figure 3 As shown, a temperature measuring component 21 is provided at the bottom of the pot 2 for detecting the temperature of the pot 2. The temperature measuring component 21 can be an embedded temperature detecting thermocouple or a temperature sensor.

[0077] Furthermore, since the outer surfaces of the first stirring portion 11212, the second stirring portion 11222, and the third stirring portion 11232 are provided with a silicone layer, if the temperature of the cookware 2 is too high, the silicone layer may melt and deform under the high temperature. Therefore, the lifting assembly can also be controlled to drive the stirring member 11 to rise and fall according to the temperature detected by the temperature measuring assembly 21 in the cookware 2, thereby achieving lifting stirring.

[0078] The following will describe in detail a control method for an automatic cooking machine provided in an embodiment of the present application in conjunction with a specific implementation method. The control method is applied to the above-mentioned automatic cooking machine. Figure 5 This is a flow chart of a control method for an automatic cooking machine provided in an embodiment of the present application, such as Figure 5 The specific steps are as follows:

[0079] Step 501: Obtain the name of the dish to be cooked input by the user.

[0080] In practice, with the upgrading of people's consumption level, household automatic cooking machines have emerged under the trend of time demand. The automatic cooking machine includes a blender and a pot, and the operating parameters of the blender are different for cooking different dishes. Therefore, when the user uses the automatic cooking machine to cook ingredients, he needs to first input the name of the dish to be cooked into the automatic cooking machine. The automatic cooking machine obtains the name of the dish to be cooked input by the user, and then controls the blender of the automatic cooking machine according to the name of the dish to be cooked selected by the user, and determines the operating parameters of the blender according to the dish to be cooked. In this way, the stir-frying process of the user in the actual cooking process can be as close as possible to achieving an effect close to manual cooking.

[0081] Step 502, according to the name of the dish, determine the stirring time of the stirrer, the preset maximum forward stirring speed, the preset maximum reverse stirring speed, the stirring mode and the forward stirring duty cycle within the preset stirring cycle.

[0082] In practice, the operating parameters of the blender vary depending on the dish being cooked. The blender operating parameters can be determined based on the dish being cooked. The blender operating parameters can include blending time, a preset maximum forward blending speed, a preset maximum reverse blending speed, a blending method, and a preset forward blending duty cycle within a blending cycle. Therefore, based on the dish name, the blender's blending time, a preset maximum forward blending speed, a preset maximum reverse blending speed, a blending method, and a preset forward blending duty cycle within a blending cycle can be determined.

[0083] Specifically, the execution steps are as follows: according to the name of the dish, determining the stirring time of the blender, the preset maximum forward stirring speed, the preset maximum reverse stirring speed, the stirring method and the forward stirring duty cycle within the preset stirring cycle.

[0084] Step 1: According to the name of the dish, determine the stirring time, ingredient state, ingredient adhesion, and ingredient clumping ability of the ingredients to be cooked.

[0085] In practice, different dishes have their own stirring times, so the stirring time for the ingredients to be cooked needs to be determined based on the dish name. Different dish names correspond to different ingredients. Different ingredients also have different characteristics. These characteristics can include ingredient state, stickiness, and clumping ability. Different ingredient characteristics require different blender operating parameters during the cooking process. Therefore, different ingredients require different blender operating parameters during the cooking process. For example, if the ingredient to be cooked is tofu, the blender's stirring speed should not be too fast, and continuous stirring is not necessary. Therefore, to determine the blender's stirring time, preset maximum forward stirring speed, preset maximum reverse stirring speed, stirring mode, and preset forward stirring duty cycle based on the dish name, it is necessary to first determine the characteristics of the ingredients to be cooked. Different dish names correspond to different ingredients to be cooked. The ingredients to be cooked vary in their state, stickiness, and clumping ability. Therefore, according to the name of the dish, determine the stirring time of the ingredients to be cooked, the state of the ingredients, the adhesion of the ingredients, and the ease of forming a clumping of the ingredients.

[0086] Step 2: In the pre-stored correspondence between the food status, the preset maximum forward stirring speed of the blender, and the preset maximum reverse stirring speed, query the preset maximum forward stirring speed and the preset maximum reverse stirring speed of the blender corresponding to the food status of the food to be cooked.

[0087] In practice, a blender is used to stir the ingredients during cooking, achieving a manual stir-frying effect. To prevent the ingredients from being damaged by excessively high blender speeds during the stirring process, and from being insufficiently stir-fried and sticking to the bottom of the pot, the blender speed varies depending on the state of the ingredients. To further improve the uniformity of the ingredients and reduce adhesion to the spatula, the blender performs both forward and reverse stirring. Because the blender's side scraper and main scraper have a certain inclination angle, forward rotation tends to gradually push ingredients near the edge of the pot toward the center of the pot; reverse rotation, on the other hand, tends to push ingredients near the bottom of the pot toward the edge. Therefore, the reverse stirring speed should be lower than the forward stirring speed to prevent the side scraper from moving too fast, causing the ingredients to stick to the pot above the stirring zone, and to accumulate near the outer edge above the stirring zone, damaging the integrity of the ingredients. Therefore, the reverse stirring speed should be lower than the forward stirring speed. Among them, the speed of reverse stirring can be the speed of forward stirring with a preset proportional coefficient, and the preset proportional coefficient can be 0.8. The technicians determine the preset maximum forward stirring speed and the preset maximum reverse stirring speed of the stirrer corresponding to each ingredient in the cooking process according to the food state of each ingredient in advance, and store the correspondence between the food state, the preset maximum forward stirring speed of the stirrer and the preset maximum reverse stirring speed in the automatic cooking machine. In this way, in the above correspondence, the preset maximum forward stirring speed and the preset maximum reverse stirring speed of the stirrer corresponding to the food state of the food to be cooked can be queried according to the food state of the food to be cooked. Among them, the food state can be a fluid state, a colloidal state and a solid state.

[0088] For example, when the state of the ingredients to be cooked of the dish to be cooked is a fluid state, the preset maximum forward stirring speed of the blender is 18r / min, and the preset maximum reverse stirring speed is 0.8*18r / min; when the state of the ingredients to be cooked of the dish to be cooked is a colloidal state, the preset maximum forward stirring speed of the blender is 48r / min, and the preset maximum reverse stirring speed is 0.8*48r / min; when the state of the ingredients to be cooked of the dish to be cooked is a solid state, the preset maximum forward stirring speed of the blender is 72r / min, and the preset maximum reverse stirring speed is 0.8*72r / min.

[0089] Step three: query the stirring mode of the stirrer corresponding to the stickiness of the food to be cooked from the pre-stored correspondence between the stickiness of the food and the stirring mode of the stirrer.

[0090] In practice, different cooking ingredients have different degrees of food adhesion. The higher the starch content in the ingredients, the greater the food adhesion. In order to prevent the ingredients from sticking together and to achieve a more thorough stirring effect, different food adhesions can correspond to different stirring methods of the stirrer. Among them, the stirring methods can be sinusoidal pulse stirring and continuous uniform stirring. Sinusoidal pulse stirring can provide greater acceleration than uniform speed, that is, the impact of sinusoidal pulse stirring is greater, which is more conducive to the tumbling and mixing of ingredients. Among them, the food adhesion can be high starch content and low starch content. The technicians determine the stirring method of the stirrer corresponding to each ingredient in the cooking process based on the food adhesion of each cooking ingredient in advance, and store the correspondence between the food adhesion and the stirring method of the stirrer in the automatic cooking machine. In this way, in the above correspondence, the stirring method of the stirrer corresponding to the food adhesion of the ingredients to be cooked can be queried according to the food adhesion of the ingredients to be cooked. Figure 6 This is a schematic diagram of a stirring method provided in an embodiment of the present application. Figure 6 As shown, the maximum speed of sinusoidal pulse stirring is the speed of continuous uniform stirring. That is, the maximum angular velocity of sinusoidal pulse stirring is the angular velocity of continuous uniform stirring.

[0091] For example, when the adhesion of the ingredients of the dish to be cooked is high in starch content, the stirring mode of the blender is sinusoidal pulse stirring; when the adhesion of the ingredients of the dish to be cooked is low in starch content, the stirring mode of the blender is continuous uniform speed stirring.

[0092] Step 4: In the pre-stored correspondence between the food material's clumping ability and the stirrer's forward stirring duty cycle within the preset stirring cycle, query the stirrer's forward stirring duty cycle within the preset stirring cycle corresponding to the food material's clumping ability.

[0093] During implementation, in order to improve the uniformity of mixing the ingredients and reduce the adhesion of the ingredients to the spatula, the blender has forward stirring and reverse stirring during the stirring process. Since the pot-side scraper and the main scraper of the blender have a certain inclination angle, during the forward rotation, there is a tendency to gradually press the ingredients near the edge of the pot toward the center of the pot bottom; during the reverse rotation, there is a tendency to gradually press the ingredients in the center of the pot bottom toward the edge of the pot. Therefore, in order to avoid the reverse speed being lower than the forward rotation, it is mainly to avoid the high reverse speed of the pot-side scraper bringing the ingredients to the edge of the pot and adhering to a position above the stirring area, and the accumulation of ingredients near the outer edge above the stirring area to destroy the integrity of the ingredients. Therefore, the duration of reverse stirring should be shorter than that of forward stirring. At the same time, for ingredients to be cooked that are more prone to clumping, the forward stirring occupancy rate within the preset stirring cycle is relatively small; for ingredients to be cooked that are less prone to clumping, the forward stirring occupancy rate within the preset stirring cycle is relatively large. The technicians determine in advance the corresponding relationship between the forward stirring duty cycle of the stirrer during the cooking process and the corresponding relationship between the easy agglomeration of the ingredients and the forward stirring duty cycle of the stirrer during the preset stirring cycle according to the easy agglomeration of the ingredients, and store the corresponding relationship between the easy agglomeration of the ingredients and the forward stirring duty cycle of the stirrer during the preset stirring cycle in the automatic cooking machine. In this way, in the above-mentioned corresponding relationship, the forward stirring duty cycle of the stirrer during the preset stirring cycle corresponding to the easy agglomeration of the ingredients to be cooked can be queried based on the easy agglomeration of the ingredients to be cooked. Among them, the easy agglomeration of the ingredients can be high agglomeration, medium agglomeration and low agglomeration. The forward stirring duty cycle of the stirrer during the preset stirring cycle is 2 / 3, 5 / 6 and 1.

[0094] For example, when the ingredients of the dish to be cooked are highly clumping, the forward stirring duty cycle of the blender within the preset stirring cycle is 2 / 3; when the ingredients of the dish to be cooked are medium clumping, the forward stirring duty cycle of the blender within the preset stirring cycle is 5 / 6; when the ingredients of the dish to be cooked are low clumping, the forward stirring duty cycle of the blender within the preset stirring cycle is 1.

[0095] Step 503, when it is detected that the ingredients of the dish to be cooked have entered the pot, the stirrer is controlled to stir according to the preset maximum forward stirring speed, the preset maximum reverse stirring speed, the stirring mode and the forward stirring duty cycle within the preset stirring cycle until the stirring time is reached and the stirrer stops.

[0096] In practice, upon detecting that ingredients of a dish to be cooked have entered the pot, the stirrer is controlled to stir according to a preset maximum forward stirring speed, a preset maximum reverse stirring speed, a stirring mode, and a preset forward stirring duty cycle within a stirring cycle, and the stirring operation time is timed. When the stirring operation time reaches the stirring time, stirring is stopped.

[0097] Furthermore, the stirrer's stirring ball, main scraper, and side scraper can be placed in contact with the inner wall of the pot. These components are coated with a layer of food-grade, high-temperature-resistant silicone. To prevent the silicone from melting and deforming due to excessive cooking temperatures, the stirrer can be raised and lowered according to the cooking temperature of the pot. The specific process is as follows.

[0098] Step A, obtaining the cooking temperature in the pot.

[0099] In practice, an embedded thermocouple with a sampling frequency of 10 Hz is located in the bottom area of the pot. This allows for no metal precipitation during high-temperature cooking. The cooking temperature inside the pot is obtained through the embedded thermocouple.

[0100] Step B: If the cooking temperature is greater than or equal to the preset cooking temperature threshold, the stirrer is controlled to stir in a single-circle alternating lifting and lowering manner.

[0101] In practice, the agitator is driven by a lifting assembly to move up and down, with a range of approximately 10mm-30mm. When the agitator is lowered, the stirring ball, main scraper, and side scraper contact the inner wall of the pot. These components are coated with a layer of food-grade, high-temperature-resistant silicone. This outer layer of silicone allows the agitator to form a perfect bond with the inner wall of the pot, providing excellent scraping performance and preventing food from sticking to the pot and burning. When the agitator is raised, the stirring ball, main scraper, and side scraper separate from the inner wall of the pot, preventing the outer silicone layer from melting and deforming due to excessive temperatures. The agitator also maintains a low height to ensure continuous stirring. The cooking temperature inside the pot is measured by an embedded thermocouple and compared with a preset cooking temperature threshold. If the cooking temperature is greater than or equal to the preset cooking temperature threshold, the agitator is controlled to stir in a single-circle alternating lifting and lowering pattern. The preset cooking temperature threshold can be 250°C. Single-turn alternating lift stirring: one turn is a descending stirring, the next turn is a rising stirring, and the next turn is a descending stirring, and so on. This ensures continuous stirring while the stirrer rises and falls, and also prevents the outer silicone layer from melting and deforming due to excessive temperatures.

[0102] Step C: If the cooking temperature is lower than the preset cooking temperature threshold, the stirrer is controlled to stir the food by sticking to the inner wall of the pot.

[0103] During implementation, the cooking temperature is compared with a preset cooking temperature threshold. If the cooking temperature is lower than the preset cooking temperature threshold, the stirrer is controlled to stir the inner wall of the pot to ensure that the stirrer can fully stir and fry the cooking ingredients.

[0104] The embodiment of the present application provides a control method for an automatic cooking machine, wherein three stirring members are provided on the stirrer of the automatic cooking machine, and the contact areas between the three stirring members and the inner wall of the pot are different, so that different spans of stirring areas can be achieved during the stirring process. The three stirring members are driven by a driving component to rotate forward and reverse, so that the ingredients in the pot are gradually pressed from the ingredients near the edge of the pot to the center of the pot bottom for stir-frying and gathering, or the ingredients in the center of the pot bottom are gradually pressed and moved near the pot edge. In this way, the three stirring members can cover most of the area inside the pot, and can ensure that the ingredients are fully and freely rolled to the greatest extent, avoiding the problems of undercooked ingredients and granular ingredients easily clumping and poor quality.

[0105] It should be understood that although Figure 5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 5 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0106] It can be understood that the same / similar parts between the various embodiments of the above method in this specification can be referred to each other, and each embodiment focuses on the differences from other embodiments. For related parts, please refer to the description of other method embodiments.

[0107] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0108] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0109] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

[0110] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. An automatic cooking machine, characterized in that: The automatic cooking machine comprises a stirrer (1) and a pot (2), wherein the stirrer (1) is used to stir the ingredients inside the pot (2), and the inner wall of the pot (2) is provided with a first inner wall area, a second inner wall area and a third inner wall area in sequence from the inside to the outside, and the stirrer (1) comprises: A stirring component (11) comprises a rotating shaft (111) and a stirring assembly (112) connected to the rotating shaft (111), wherein the stirring assembly (112) comprises a first stirring member (1121), a second stirring member (1122) and a third stirring member (1123), wherein the first stirring member (1121) is used to stir the food in the first inner wall area, the second stirring member (1122) is used to stir the food in the first inner wall area and the second inner wall area, and the third stirring member (1123) is used to stir the food in the second inner wall area and the third inner wall area, wherein the first stirring member (1121), the second stirring member (1122) and the third stirring member (1123) are spaced apart along the rotating shaft (111); the first stirring member (1121) comprises a first connecting rod (11211) and a first stirring portion (11212), and the first connecting rod (112 11) is connected between the rotating shaft (111) and the first stirring part (11212), the first connecting rod (11211) is L-shaped, and the first stirring part (11212) is spherical; the second stirring member (1122) includes a second connecting rod (11221) and a second stirring part (11222), the second connecting rod (11221) is connected between the rotating shaft (111) and the second stirring part (11222), the second connecting rod (11221) is L-shaped, and the second stirring part (11222) is a stirring shovel; the third stirring member (1123) includes a third connecting rod (11231) and a third stirring part (11232), the third connecting rod (11231) is L-shaped, and the third stirring part (11232) is a scraper; a driving component connected to the top of the rotating shaft (111) and used for driving the rotating shaft (111) and the stirring assembly (112) to rotate; Wherein, the first stirring member (1121), the second stirring member (1122) and the third stirring member (1123) rotate forward or reverse under the drive of the driving component; A lifting assembly, connected to the driving component and the rotating shaft (111), for driving the stirring component (11) to move up and down, thereby achieving lifting stirring; A temperature measuring component (21) is provided at the bottom of the pot (2) for detecting the temperature of the pot (2); Obtaining the cooking temperature in the pot; If the cooking temperature is greater than or equal to a preset cooking temperature threshold, controlling the stirrer to stir in a single-circle alternating lifting and lowering stirring manner; If the cooking temperature is lower than the preset cooking temperature threshold, the stirrer is controlled to stir the food by sticking to the inner wall of the pot.

2. The automatic cooking machine according to claim 1, characterized in that: One end of the scraper away from the second connecting rod (11221) is arc-shaped; The longitudinal section of the stirring shovel is a downwardly convex arc, the width of the side of the stirring shovel close to the center of the pot (2) is a, and the width of the side of the stirring shovel away from the center of the pot (2) is b, wherein a <b。 3. The automatic cooking machine according to claim 1, characterized in that: The third connecting rod (11231) comprises a horizontal section (112311) and an inclined section (112312) perpendicular to the rotating shaft (111); the horizontal section (112311) and the inclined section (112312) are connected via an arc section (112313); The included angle between the projections of the horizontal section (112311) and the inclined section (112312) on the horizontal plane is α, wherein 40°≤α≤75°.

4. The automatic cooking machine according to claim 1, characterized in that: The stirrer (1) further comprises an anti-sticking component (12), wherein the anti-sticking component (12) comprises: The first anti-sticking structure (121) is a first hemispherical protrusion, and the outer surfaces of the second stirring portion (11222) and the third stirring portion (11232) are both provided with a plurality of the first anti-sticking structures (121); The second anti-sticking structure (122) is a second protrusion, which is provided on the upper surface of the second stirring portion (11222); There is at least one second anti-adhesion structure (122), and the second anti-adhesion structure (122) is conical or cylindrical.

5. The automatic cooking machine according to claim 1, characterized in that: The included angles of any two of the first connecting rod (11211), the second connecting rod (11221) and the third connecting rod (11231) are equal.

6. The automatic cooking machine according to claim 1, characterized in that: The first connecting rod (11211) is located at the rear side of the second connecting rod (11221) in the clockwise rotation direction, and the third connecting rod (11231) is located at the front side of the second connecting rod (11221) in the clockwise rotation direction; The first connecting rod (11211), the second connecting rod (11221) and the third connecting rod (11231) are arranged from bottom to top along the rotating shaft (111).

7. The automatic cooking machine according to claim 1, characterized in that: The outer surfaces of the first stirring part (11212), the second stirring part (11222) and the third stirring part (11232) are provided with a silicone layer.

8. A control method for an automatic cooking machine, characterized in that: The control method is applied to the automatic cooking machine according to claims 1 to 7, comprising: Get the name of the dish to be cooked input by the user; According to the dish name, determining the stirring time of the blender, the preset maximum forward stirring speed, the preset maximum reverse stirring speed, the stirring mode, and the forward stirring duty cycle within the preset stirring cycle; When it is detected that the ingredients of the dish to be cooked enter the pot, the stirrer is controlled to stir according to the preset maximum forward stirring speed, the preset maximum reverse stirring speed, the stirring mode and the forward stirring duty cycle within the preset stirring cycle, and stops after the stirring time is reached.

9. The control method according to claim 8, characterized in that: The step of determining the stirring time, the preset maximum forward stirring speed, the preset maximum reverse stirring speed, the stirring mode, and the forward stirring duty cycle within the preset stirring cycle of the stirrer according to the dish name includes: Determining, according to the dish name, the stirring time, the state of the ingredients, the adhesion of the ingredients, and the clumping ability of the ingredients of the dish to be cooked; Inquiring the preset maximum forward stirring speed and the preset maximum reverse stirring speed of the blender corresponding to the food state of the food to be cooked from the pre-stored correspondence between the food state, the preset maximum forward stirring speed, and the preset maximum reverse stirring speed of the blender; Inquiring the stirring mode of the stirrer corresponding to the stickiness of the food to be cooked from the pre-stored correspondence between the stickiness of the food and the stirring mode of the stirrer; In the pre-stored correspondence between the food material's clumping ability and the forward stirring duty cycle of the stirrer within a preset stirring cycle, the forward stirring duty cycle of the stirrer within the preset stirring cycle corresponding to the food material's clumping ability is queried.

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