Cooking device and cooking robot

Abstract

The invention provides a cooking device and a cooking robot, the cooking device comprises a rack, a shovel body, a shovel handle, a first driving mechanism, a crank and a restraining unit, the shovel handle comprises a first connecting rod and a second connecting rod which are fixedly connected or integrally formed, and the first driving mechanism is installed on the rack; one end of the crank is rotationally connected to the joint of the first connecting rod and the second connecting rod around a first rotating axis, the other end of the crank is connected with the output end of the first driving mechanism, the output end of the first driving mechanism rotates around a second rotating axis, and the first connecting rod is movably connected with the restraining unit. According to the frying device, when the shovel body moves to the highest point from the tail end of the frying stroke, the relative speed of the shovel end of the shovel body and the pan surface can be reduced to zero on the movement plane of the shovel body, and fried objects are not prone to being thrown out of a pan by inertia.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cooking robots, in particular to a cooking device and a cooking robot. BACKGROUND

[0002] The existing swing arm rotary cooking machine is driven by a motor to rotate the swing arm, and the swing arm drives the shovel handle and the shovel body to move while sliding up and down, and the shovel body performs a combined motion of circumferential motion and up-and-down motion. Although the shovel body can be attached to the pot surface to stir-fry, the shovel body will not slow down at the moment of disengaging from the pot surface, and the cooked food will be thrown out of the pot by inertia. SUMMARY

[0003] The present application provides a cooking device and a cooking robot, aiming to improve the problem that the existing swing arm rotary cooking machine is easy to throw the cooked food out of the pot by inertia.

[0004] To solve the above problems, on the one hand, the present application provides a cooking device, which comprises a rack, a shovel body, a shovel handle, a first driving mechanism, a crank and a constraint unit, the shovel handle comprises a first connecting rod and a second connecting rod which are fixedly connected or integrally formed, the first driving mechanism is installed on the rack, one end of the crank is rotatably connected to the joint of the first connecting rod and the second connecting rod around a first rotation axis, the other end of the crank is connected to the output end of the first driving mechanism, the output end of the first driving mechanism rotates around a second rotation axis, and the first connecting rod is movably connected with the constraint unit. The end of the first connecting rod away from the second connecting rod is defined as a distal end, the end of the second connecting rod away from the first connecting rod is defined as a proximal end, and the shovel body is rotatably connected to the proximal end around a third rotation axis; at any moment, the distal end is located above the proximal end. When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the constraint unit can constrain the movement trajectory of the distal end, so that the movement trajectory of the proximal end forms a closed curve, and further so that the shovel body can repeatedly stir-fry the cooked food. Wherein, the closed curve has a convex arc segment convexly away from the second rotation axis, the length Lb of the first connecting rod is greater than the length La of the crank, and the length Lc of the second connecting rod is greater than the length La of the crank.

[0005] The cooking device of the embodiment of the present application, the shovel handle includes a first connecting rod and a second connecting rod, the end of the first connecting rod away from the second connecting rod is defined as a distal end, and the end of the second connecting rod away from the first connecting rod is defined as a proximal end. When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the constraint unit can constrain the movement track of the distal end, so that the movement track of the proximal end forms a closed curve. By setting the length Lb of the first connecting rod to be greater than the length La of the crank, the crank can complete a full rotation, so that the closed curve track of the movement of the proximal end has a convex arc segment that protrudes away from the second rotation axis. By setting the length Lc of the second connecting rod to be greater than the length La of the crank, the development range of the closed curve track along the circumference of the first rotation axis is large enough. In this way, the convex arc segment and the pot surface form a convex-concave shape cooperation, and there is a gap, so that the proximal end moves along the pot surface with a relatively close gap and does not interfere with the pot surface. The shovel body is rotationally connected to the proximal end around the third rotation axis, so that the shovel body can change the angle posture according to the distance between the proximal end and the pot body, the curvature change of the pot surface, and the length of the shovel body during the stir-frying working stroke, and always maintains contact with the pot surface. At the same time, under the action of the gravity of the stir-fried object, the contact pressure on the pot surface is maintained to avoid the pot from being burnt. Compared with the fixed connection mode of the shovel body and the shovel handle, the present application has a smaller movement pressure angle and a smaller movement resistance. During the stir-frying working stroke, the shovel body contacts the pot surface at a small angle, which is beneficial to the shovel body to shovel the stir-fried object from the pot surface and push it forward. The rear space of the shovel body is filled by the downward movement of the stir-fried object on both sides. At the end of the stir-frying working stroke and the retreat stage of the shovel end along the pot surface, the proximal end is lifted and gradually moves away from the pot surface. The shovel body rotates around the third rotation axis under the action of gravity and gradually suspends downward to separate from the pot surface. The stir-fried object falls down, completing the horizontal and vertical position change of the stir-fried object.

[0006] In addition, due to the change of the angle between the crank and the second connecting rod, the shovel body can be stretched to a relatively far position during the cooking stroke, so that a relatively long cooking stroke and a larger pot body can be obtained by a small movement mechanism, which is beneficial to the miniaturization of the cooking device.

[0007] In addition, the rotation of the pot body around its axis and the sweeping action of the shovel body on the pot surface enable the shovel body to shovel different parts of the pot surface. The rotational connection of the shovel body and the proximal end can also avoid the accidental jamming of the shovel body when the end of the shovel body abuts against a hard object (such as a bone) when the shovel body and the shovel handle are fixedly connected.

[0008] In addition, in the view of those skilled in the art, it is difficult to transfer the power of the spatula and to lift the fried food when the spatula body is rotationally connected with the spatula handle. In the present application, the proximal end moves along the closed curve track which is embedded with the convex and concave of the pot surface. In the frying work stroke, the proximal end always keeps a small gap with the pot surface and does not interfere with the pot surface. The spatula body can move along the pot surface with a small movement pressure angle and a small resistance. The spatula end is simultaneously subjected to the vertical pot surface gravity component of the fried food and the support force in the opposite direction of the pot surface. The spatula end can only move along the pot surface with a single degree of freedom, so as to lift the fried food. Thus, the present application also overcomes the technical prejudice that it is difficult to transfer the power of the spatula when the spatula body is rotationally connected with the spatula handle.

[0009] Optionally, the first rotation axis, the second rotation axis are parallel and not collinear.

[0010] The first rotation axis, the second rotation axis are parallel and not collinear, so that the crank and the spatula handle move in parallel planes, and the movement is smooth.

[0011] Optionally, the first rotation axis, the second rotation axis, the third rotation axis are pairwise parallel and not collinear.

[0012] The first rotation axis, the second rotation axis, the third rotation axis are pairwise parallel and not collinear, so that the crank, the spatula handle, and the spatula body move in parallel planes, and the movement is smooth.

[0013] Optionally, the included angle between the first connecting rod and the second connecting rod is 150-210 degrees.

[0014] The included angle between the first connecting rod and the second connecting rod will affect the deformation degree of the movement track of the proximal end. When the included angle between the first connecting rod and the second connecting rod approaches 180°, the movement track of the proximal end is relatively smooth and full, the movement mechanism (the spatula handle and the crank) and the spatula body run smoothly and the frying stroke swept is long, and the movement mechanism is also more compact. The greater the deviation from 180°, the greater the deformation of one end of the movement track of the proximal end, and eventually tends to form a twisted deformation of “∞” shape. The included angle between the first connecting rod and the second connecting rod is adjusted to adjust the shape of the movement track of the proximal end, so as to avoid the formation of the twisted deformation of “∞” shape. Through simulation analysis, when the included angle between the first connecting rod and the second connecting rod is 150-210 degrees, the movement track of the proximal end is better.

[0015] Optionally, 1.1La<Lb<2.5La.

[0016] If the length of the first connecting rod is shortened, the straight-line distance between the two farthest points of the movement trajectory of the proximal end will increase under the same conditions, and a longer cooking stroke can be achieved. However, the movement trajectory of the proximal end will tend to be crescent-shaped, resulting in a small transition curvature between the upper trajectory curve and the lower trajectory curve of the movement trajectory of the proximal end, and the cooking device will have an impact when it is running. At the same time, the moment of the first connecting rod and the pressure on the constraint unit will also increase. If the length of the first connecting rod is lengthened, the movement mechanism will run more smoothly, but the movement trajectory of the proximal end will expand along the circumference with the second rotation axis as the center, and the effective cooking stroke will be too short, which will not bring the potential of the second connecting rod into play, resulting in a large movement mechanism. Through simulation analysis, the preferred 1.1a<b<2.5a can ensure that the movement trajectory of the proximal end does not produce large distortion while reducing the volume of the movement mechanism.

[0017] Optionally, the length Lc of the second connecting rod is greater than the length Lb of the first connecting rod.

[0018] When the length Lc of the second connecting rod increases, the expansion range of the movement trajectory of the proximal end increases, which is beneficial to obtain a larger spatula movement range and can match a larger pot. This is beneficial to reduce the volume of the movement mechanism, but the stress on the first connecting rod and the constraint unit will also be greater. Therefore, preferably, the length Lc of the second connecting rod is greater than the length Lb of the first connecting rod.

[0019] Optionally, the constraint unit is a smooth track that is not closed at its two ends in the extension direction, and the first connecting rod is connected with a movable part at the distal end. When the first driving mechanism drives the crank to rotate and drives the spatula handle to move, the movable part can reciprocate along the extension direction of the track to constrain the movement trajectory of the distal end of the first connecting rod, so that the movement trajectory of the proximal end of the second connecting rod forms a closed curve. The movable part and the track are in sliding contact or rolling contact. The end point of the track close to the second rotation axis is defined as the track proximal end point, and the end point of the track away from the second rotation axis is defined as the track distal end point. The distance between the track proximal end point and the second rotation axis is L1, and the distance between the track distal end point and the second rotation axis is L2. Then we have: L1≤Lb-La, L2≥Lb+La.

[0020] The constraint unit is a smooth track that is not closed at its two ends in the extension direction. When it is running, the pressure on the track is small, the moment on the first connecting rod is small, the movable part can move smoothly along the track, and the inertial impact is reduced. At the same time, the phenomenon that the linear speed of the spatula is faster in the cooking stroke than in the return stroke (the spatula enters quickly and returns slowly) is avoided when the track is located between the second connecting rod and the spatula, and the running efficiency of the cooking device is improved.

[0021] The track is non-closed, and impact and vibration caused by excessively large pressure angle when passing through the pole point in a closed track can be avoided.

[0022] The distance L2 between the track distal end point and the second rotation axis is greater than or equal to the sum of the first connecting rod and the crank, and the distance L1 between the track proximal end point and the second rotation axis is less than or equal to the difference between the first connecting rod and the crank, so that the first driving mechanism can drive the crank to complete a full rotation, and the movement mechanism will not be stuck.

[0023] Optionally, the track comprises one of a straight track, a circular arc track and a non-circular arc curve track in the extension direction of the track. The track is a combined track smoothly connected by at least two of a straight track, a circular arc track and a non-circular arc curve track in the extension direction of the track.

[0024] Optionally, the track is a guide slot provided on the rack or a guide slot fixed on a guide base plate of the rack, and the movable member can reciprocate along the extension direction of the guide slot when the first driving mechanism drives the crank to rotate and drives the shovel handle to move.

[0025] The track is a guide slot provided on the rack, which can save the guide base plate.

[0026] The track is a guide slot fixed on a guide base plate of the rack, which can avoid slotting on the rack.

[0027] Optionally, the track is a guide rail fixed on the rack, and the movable member is clamped between the guide rails, and the movable member can reciprocate along the extension direction of the guide rail when the first driving mechanism drives the crank to rotate and drives the shovel handle to move.

[0028] The track is a guide rail fixed on the rack, and the movable member reciprocates along the extension direction of the guide rail, so that the frictional resistance is small and the movement is more smooth.

[0029] Optionally, the track is a non-circular arc curve track, the curvature of the non-circular arc curve track continuously changes from the track proximal end point to the track distal end point, and the non-circular arc curve track has at least an arched curve segment. The length of the line connecting the track proximal end point and the track distal end point is defined as L3, the vertical distance from the vertex of the arched curve segment to the line connecting the track proximal end point and the track distal end point is defined as L4, and the arch height chord length ratio k is defined as L4 / L3, and the following relationship is obtained: K<0.5.

[0030] Through simulation analysis, when the arch height chord length ratio K is less than 0.5, the movement trajectory of the proximal end is better.

[0031] Optionally, the track is a circular arc track or a part of the track is a circular arc track. The length of the line connecting the proximal end point of the track and the distal end point of the track is defined as L3, the vertical distance from the vertex of the circular arc track to the line connecting the proximal end point of the track and the distal end point of the track is defined as L4, and L4 / L3 is defined as the arch height chord length ratio k, then: K < 0.5.

[0032] Through simulation analysis, when the arch height chord length ratio K < 0.5, the motion track of the proximal end is better.

[0033] Optionally, the movable member includes a follower, the follower includes a base plate and two contact members, the distal end of the first connecting rod is rotationally connected to the base plate, and the two contact members are connected to opposite ends of the base plate. The contact members extend into the guide groove, and the contact members have a cylindrical surface or a circular arc surface capable of contacting the two side walls in the width direction of the guide groove. The guide groove is a straight line guide groove or a circular arc guide groove, and the base plate is located outside the guide groove or a part of the base plate extends into the guide groove. Alternatively, the guide groove is a curved guide groove with continuously changing curvature, and the base plate is located outside the guide groove. When the first driving mechanism drives the rotation of the crank and the movement of the shovel handle, the follower can reciprocate along the extension direction of the guide groove. The contact member is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected to the base plate, and the cylindrical pin shaft is in sliding contact with the guide groove. Alternatively, the contact member is a cylindrical pin shaft, the cylindrical pin shaft is rotationally connected to the base plate, and the cylindrical pin shaft is in rolling contact with the guide groove. Alternatively, the contact member is a cylindrical roller, the cylindrical roller is rotationally connected to the base plate through a rotating shaft, and the cylindrical roller is in rolling contact with the guide groove.

[0034] Corresponding to the embodiment in which the track is a guide groove, the movable member can include a follower, the follower includes a base plate and two contact members, the distal end of the first connecting rod is rotationally connected to the base plate, and the two contact members are connected to opposite ends of the base plate. The contact members extend into the guide groove, and the contact members have a cylindrical surface or a circular arc surface capable of contacting the two side walls in the width direction of the guide groove. When the first driving mechanism drives the rotation of the crank and the movement of the shovel handle, the follower can reciprocate along the extension direction of the guide groove. The contact between the contact member of the follower and the guide groove is smooth, and there is no motion dead point, which ensures smooth movement of the movement mechanism and avoids the movement mechanism from being stuck.

[0035] Optionally, the movable element comprises a connecting element and two followers, each of the followers comprises a base plate and two contact elements, the two contact elements of each of the followers are connected to opposite ends of the base plate, the two ends of the connecting element are rotatably connected to the base plates of the two followers, the distal end of the first connecting rod is rotatably connected to the connecting element, the contact elements extend into the guide slot, and the contact elements have a cylindrical surface or a circular arc surface capable of contacting two side walls in the width direction of the guide slot. The guide slot is a straight guide slot or a circular arc guide slot, the base plate is located outside the guide slot or a part of the base plate extends into the guide slot; or the guide slot is a curved guide slot with continuously changing curvature, and the base plate is located outside the guide slot. When the first driving mechanism drives the rotation of the crank and the movement of the shovel handle, the two followers can reciprocate along the extension direction of the guide slot. The contact element is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected to the base plate, and the cylindrical pin shaft is in sliding contact with the guide slot; or the contact element is a cylindrical pin shaft, the cylindrical pin shaft is rotatably connected to the base plate, and the cylindrical pin shaft is in rolling contact with the guide slot; or the contact element is a cylindrical roller, the cylindrical roller is rotatably connected to the base plate through a rotating shaft, and the cylindrical roller is in rolling contact with the guide slot.

[0036] Corresponding to the embodiment in which the track is a guide slot, the movable element can comprise a connecting element and two followers, each of the followers comprises a base plate and two contact elements, the two contact elements of each of the followers are connected to opposite ends of the base plate, the two ends of the connecting element are rotatably connected to the base plates of the two followers, the distal end of the first connecting rod is rotatably connected to the connecting element, the contact elements extend into the guide slot, and the contact elements have a cylindrical surface or a circular arc surface capable of contacting two side walls in the width direction of the guide slot. When the first driving mechanism drives the rotation of the crank and the movement of the shovel handle, the two followers can reciprocate along the extension direction of the guide slot. The contact of the contact elements of the two followers with the guide slot is smooth, and no motion dead point is generated, which ensures smooth movement of the movement mechanism and avoids the jamming of the movement mechanism. Moreover, the two followers are provided, and two places are formed for cooperation with the guide slot, so that the movement is more stable.

[0037] Optionally, the moving part comprises a connecting piece, a follower and a guide piece, the follower comprises a base plate and two contact pieces, the two contact pieces are connected to opposite ends of the base plate, one end of the connecting piece is rotatably connected to the base plate of the follower, the other end of the connecting piece is connected to the guide piece, the distal end of the first connecting rod is rotatably connected to the connecting piece, the base plate and the connecting piece are located outside the guide groove, the contact piece has a cylindrical surface or an arc surface capable of contacting the two side walls in the width direction of the guide groove, the guide piece has a cylindrical surface or an arc surface capable of contacting the two side walls in the width direction of the guide groove. The guide groove is a straight guide groove or a circular arc guide groove, the base plate is located outside the guide groove or part of the base plate extends into the guide groove; or the guide groove is a curved guide groove with continuously changing curvature, and the base plate is located outside the guide groove. When the first driving mechanism drives the rotation of the crank and drives the movement of the shovel handle, the follower and the guide piece can reciprocate along the extension direction of the guide groove. The contact piece is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected to the base plate, and the cylindrical pin shaft is in sliding contact with the guide groove; or the contact piece is a cylindrical pin shaft, the cylindrical pin shaft is rotatably connected to the base plate, and the cylindrical pin shaft is in rolling contact with the guide groove; or the contact piece is a cylindrical roller, the cylindrical roller is rotatably connected to the base plate through a rotating shaft, and the cylindrical roller is in rolling contact with the guide groove. The guide piece is a cylindrical shaft, the cylindrical shaft is fixedly connected to the connecting piece, and the cylindrical shaft is in sliding contact with the guide groove; or the guide piece is a cylindrical shaft, the cylindrical shaft is rotatably connected to the connecting piece, and the cylindrical shaft is in rolling contact with the guide groove; or the guide piece is a roller, the roller is rotatably connected to the connecting piece through a rotating shaft, and the roller is in rolling contact with the guide groove.

[0038] Corresponding to the embodiment that the track is a guide groove, the movable member can include a connecting member, a follower and a guide member, the follower includes a base plate and two contact members connected to opposite ends of the base plate, one end of the connecting member is rotatably connected to the base plate of the follower, the other end of the connecting member is connected to the guide member, the distal end of the first connecting rod is rotatably connected to the connecting member, the base plate and the connecting member are located outside the guide groove, the contact members have cylindrical surfaces or arc surfaces capable of contacting the two side walls in the width direction of the guide groove, and the guide member has cylindrical surfaces or arc surfaces capable of contacting the two side walls in the width direction of the guide groove. When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the follower and the guide member can reciprocate along the extension direction of the guide groove. The contact between the contact members of the follower, the guide member and the guide groove is smooth, and no motion dead point is generated, so that the movement of the movement mechanism is smooth, and the movement mechanism is prevented from being stuck. Moreover, the follower and the guide member are arranged to form two cooperations with the guide groove, and the movement is more stable.

[0039] Optionally, the movable member includes a guide member, the distal end of the first connecting rod is connected to the guide member, the guide member extends into the guide groove, and the guide member has cylindrical surfaces or arc surfaces capable of contacting the two side walls in the width direction of the guide groove. When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the guide member can reciprocate along the extension direction of the guide groove. The guide member is a cylindrical shaft fixedly connected to the distal end of the first connecting rod, and the cylindrical shaft is in sliding contact with the guide groove; or the guide member is a cylindrical shaft rotatably connected to the distal end of the first connecting rod, and the cylindrical shaft is in rolling contact with the guide groove; or the guide member is a roller rotatably connected to the distal end of the first connecting rod through a rotating shaft, and the roller is in rolling contact with the guide groove.

[0040] Optionally, the movable member includes a sliding block and a rolling body, the distal end of the first connecting rod is rotatably connected to the sliding block, at least one rolling body is arranged on one side of the sliding block, the rolling body is located in the guide groove, and the rolling body is in rolling contact with one side wall in the width direction of the guide groove; the sliding block is located in the guide groove, and the side of the sliding block without the rolling body is in sliding contact with the other side wall in the width direction of the guide groove; the sliding block is a square sliding block, and the guide groove is a straight-line sliding groove; or the sliding block is an arc-shaped sliding block, and the guide groove is a circular-arc sliding groove. The rolling body is a cylindrical roller rotatably connected to the sliding block through a rotating shaft, and the cylindrical roller is in rolling contact with one side wall of the guide groove; or the rolling body is a ball and a ball retainer, the ball retainer is detachably connected to the sliding block, and the ball is in rolling contact with one side wall of the guide groove. When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the slider can reciprocate along the extension direction of the guide slot.

[0041] Corresponding to the embodiment in which the track is a guide slot, the movable member can include a slider and at least three rolling bodies, the distal end of the first connecting rod being rotatably connected to the slider, opposite sides of the slider being provided with the rolling bodies, the rolling bodies being located in the guide slot, the slider being located in the guide slot or outside the guide slot, and the rolling bodies being in rolling contact with one side wall of the guide slot in the width direction.

[0042] Optionally, the movable member includes a slider and at least three rolling bodies, the distal end of the first connecting rod being rotatably connected to the slider, opposite sides of the slider being provided with the rolling bodies, the rolling bodies being located in the guide slot, the slider being located in the guide slot or outside the guide slot, and the rolling bodies being in rolling contact with one side wall of the guide slot in the width direction. The rolling body is a cylindrical roller rotatably connected to the slider through a rotating shaft, and the cylindrical roller is in rolling contact with one side wall of the guide slot. When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the slider can reciprocate along the extension direction of the guide slot.

[0043] Corresponding to the embodiment in which the track is a guide slot, the movable member can include a slider and at least three rolling bodies, the distal end of the first connecting rod being rotatably connected to the slider, opposite sides of the slider being provided with the rolling bodies, the rolling bodies being located in the guide slot, the slider being located in the guide slot or outside the guide slot, and the rolling bodies being in rolling contact with one side wall of the guide slot in the width direction.

[0044] Optionally, the moving element is a slider, the distal end of the first connecting rod is rotatably connected to the slider, and the slider is in sliding contact with the two side walls of the guide slot in the width direction of the guide slot; the slider is a square slider, and the guide slot is a straight sliding slot; or the slider is an arc-shaped slider, and the guide slot is a circular arc sliding slot. When the first driving mechanism drives the rotation of the crank and the movement of the shoveling handle, the slider can reciprocate along the extension direction of the guide slot.

[0045] Corresponding to the embodiment in which the track is a guide slot, the moving element can include a slider, the distal end of the first connecting rod is rotatably connected to the slider, and the slider is in sliding contact with the two side walls of the guide slot in the width direction of the guide slot. When the first driving mechanism drives the rotation of the crank and the movement of the shoveling handle, the slider can reciprocate along the extension direction of the guide slot. The contact between the slider and the guide slot is smooth, and no motion dead point is generated, which ensures smooth movement of the movement mechanism and avoids the movement mechanism from being stuck.

[0046] Optionally, the moving element includes a follower, the follower includes a base plate and two contact elements, the distal end of the first connecting rod is rotatably connected to the base plate, the two contact elements are connected to opposite ends of the base plate, and the two contact elements are clamped to opposite sides of the guide rail in the thickness direction of the guide rail. The contact element has a cylindrical surface or a circular arc surface capable of being in contact with the side wall of the guide rail. When the first driving mechanism drives the rotation of the crank and the movement of the shoveling handle, the follower can reciprocate along the extension direction of the guide rail. The contact element is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected to the base plate, and the cylindrical pin shaft is in sliding contact with the guide rail; or the contact element is a cylindrical pin shaft, the cylindrical pin shaft is rotatably connected to the base plate, and the cylindrical pin shaft is in rolling contact with the guide rail; or the contact element is a cylindrical roller, the cylindrical roller is rotatably connected to the base plate through a rotating shaft, and the cylindrical roller is in rolling contact with the guide rail.

[0047] Corresponding to the embodiment in which the track is a guide rail, the moving element can include a follower, the follower includes a base plate and two contact elements, the distal end of the first connecting rod is rotatably connected to the base plate, the two contact elements are connected to opposite ends of the base plate, and the two contact elements are clamped to opposite sides of the guide rail in the thickness direction of the guide rail. The contact element has a cylindrical surface or a circular arc surface capable of being in contact with the side wall of the guide rail. When the first driving mechanism drives the rotation of the crank and the movement of the shoveling handle, the follower can reciprocate along the extension direction of the guide rail. The contact between the contact element of the follower and the guide rail is smooth, and no motion dead point is generated, which ensures smooth movement of the movement mechanism and avoids the movement mechanism from being stuck.

[0048] Optionally, the movable member comprises a connecting member and two followers, each of the followers comprises a base plate and two contact members, the two contact members of each of the followers are connected to opposite ends of the base plate, the connecting member is rotatably connected to the base plates of the two followers at opposite ends, the distal end of the first connecting rod is rotatably connected to the connecting member, and the two contact members of each of the followers are clamped to opposite sides of the guide rail, and the contact members have a cylindrical surface or an arc surface capable of being in contact with the side wall of the guide rail. When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the two followers can reciprocate along the extension direction of the guide rail. The contact members are cylindrical pins, the cylindrical pins are fixedly connected to the base plates, and the cylindrical pins are in sliding contact with the guide rail; or the contact members are cylindrical pins, the cylindrical pins are rotatably connected to the base plates, and the cylindrical pins are in rolling contact with the guide rail; or the contact members are cylindrical rollers, the cylindrical rollers are rotatably connected to the base plates through rotating shafts, and the cylindrical rollers are in rolling contact with the guide rail.

[0049] Corresponding to the embodiment in which the track is a guide rail, the movable member can comprise a connecting member and two followers, each of the followers comprises a base plate and two contact members, the two contact members of each of the followers are connected to opposite ends of the base plate, the connecting member is rotatably connected to the base plates of the two followers at opposite ends, the distal end of the first connecting rod is rotatably connected to the connecting member, and the two contact members of each of the followers are clamped to opposite sides of the guide rail, and the contact members have a cylindrical surface or an arc surface capable of being in contact with the side wall of the guide rail. When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the two followers can reciprocate along the extension direction of the guide rail. The contact of the contact members of the two followers with the guide rail is smooth, and no motion dead point is generated, so that the motion of the motion mechanism is smooth, and the motion mechanism is prevented from being stuck. Moreover, the two followers are arranged, and two places of the guide rail are matched, so that the motion is more stable.

[0050] Optionally, the movable member comprises a sliding block and at least one rolling body, the sliding block is provided with a guide groove matched with the guide rail, the inner side of the guide groove has at least two matching wall surfaces matched with the guide rail, the distal end of the first connecting rod is rotatably connected to the sliding block, and at least one of the matching wall surfaces of the sliding block is provided with at least one rolling body, so that the rolling body is in rolling contact with the guide rail. When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the sliding block can reciprocate along the extension direction of the guide rail. The guide rail is a linear guide rail, and the guide groove is a linear groove; or the guide rail is an arc guide rail, and the guide groove is an arc groove. The rolling body has a cylindrical surface or an arc surface capable of being in contact with the matching wall surface of the guide rail. The rolling body is a cylindrical roller, which is rotatably connected to the sliding block through a rotating shaft, and rolls with the guide rail; or the rolling body comprises a ball and a ball cage, the ball is arranged in the ball cage, the ball cage is detachably connected with the sliding block, and the ball rolls with the guide rail.

[0051] Corresponding to the embodiment in which the track is a guide rail, the movable part can comprise a sliding block and at least one rolling body, the sliding block is provided with a guide groove matched with the guide rail, the inner side of the guide groove has at least two matching wall surfaces matched with the guide rail; the distal end of the first connecting rod is rotatably connected to the sliding block, at least one rolling body is arranged on at least one matching wall surface of the sliding block, so that the rolling body rolls with the guide rail. When the first driving mechanism drives the rotation of the crank and the movement of the shoveling handle, the sliding block can reciprocate along the extension direction of the guide rail. The contact between the rolling body and the guide rail is smooth, and no motion dead point is generated, which ensures the smooth movement of the movement mechanism and avoids the jamming of the movement mechanism.

[0052] Optionally, the movable part comprises a sliding table and at least three contact pieces, the distal end of the first connecting rod is rotatably connected to the sliding table, at least one contact piece is arranged on the opposite sides of the sliding table along the thickness direction of the guide rail, the sliding table is clamped on the opposite sides of the guide rail in the thickness direction through the contact pieces, and the contact pieces have a cylindrical surface or a circular arc surface capable of contacting the side wall of the guide rail. When the first driving mechanism drives the rotation of the crank and the movement of the shoveling handle, the sliding table can reciprocate along the extension direction of the guide rail. The contact piece is a cylindrical pin shaft, which is fixedly connected with the sliding table and slides with the guide rail; or the contact piece is a cylindrical pin shaft, which is rotatably connected with the sliding table and rolls with the guide rail; or the contact piece is a cylindrical roller, which is rotatably connected to the sliding table through a rotating shaft and rolls with the guide rail. The guide rail is a linear guide rail; or the guide rail is a circular arc guide rail.

[0053] Corresponding to the embodiment in which the track is a guide rail, the movable part can comprise a sliding table and at least three contact pieces, the distal end of the first connecting rod is rotatably connected to the sliding table, at least one contact piece is arranged on the opposite sides of the sliding table along the thickness direction of the guide rail, the sliding table is clamped on the opposite sides of the guide rail in the thickness direction through the contact pieces, and the contact pieces have a cylindrical surface or a circular arc surface capable of contacting the side wall of the guide rail. When the first driving mechanism drives the rotation of the crank and the movement of the shoveling handle, the sliding table can reciprocate along the extension direction of the guide rail. The contact between the contact piece and the guide rail is smooth, and no motion dead point is generated, which ensures the smooth movement of the movement mechanism and avoids the jamming of the movement mechanism.

[0054] Optionally, the movable element is a slider, the distal end of the first connecting rod is rotationally connected to the slider, the slider has a guide groove adapted to the guide rail, the slider is arranged across the guide rail, and the slider is in sliding contact with the guide rail through the guide groove. When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the slider can reciprocate along the extension direction of the guide rail. The guide groove is a straight groove, and the guide rail is a straight guide rail; or the guide groove is a circular arc groove, and the guide rail is a circular arc guide rail.

[0055] Corresponding to the embodiment in which the track is a guide rail, the movable element can include a slider, the distal end of the first connecting rod is rotationally connected to the slider, the slider has a guide groove adapted to the guide rail, the slider is arranged across the guide rail, and the slider is in sliding contact with the guide rail through the guide groove. When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the slider can reciprocate along the extension direction of the guide rail. The contact between the slider and the guide rail is smooth, and no motion dead point is generated, which ensures smooth movement of the movement mechanism and avoids the movement mechanism from being stuck.

[0056] Optionally, the guide rail is a cylindrical linear guide rail, and the movable element includes a sliding plate and a linear bearing, the linear bearing includes balls, a ball retainer, and a bearing outer ring. The linear bearing is loosely sleeved on the cylindrical linear guide rail, the sliding plate is fixedly connected to the bearing outer ring of the linear bearing, the sliding plate is rotationally connected to the distal end of the first connecting rod, and the balls are in rolling contact with the guide rail. When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the sliding plate can reciprocate along the extension direction of the guide rail.

[0057] Optionally, the constraint unit is a sliding ring, the sliding ring is rotationally connected to the rack, and the first connecting rod is slidingly inserted into the sliding ring. When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the first connecting rod can reciprocate along the axial direction of the sliding ring. The distance between the geometric center of the sliding ring and the second rotation axis is defined as L5, and the following relationship is obtained: Lc>L5>La, and Lb>La+L5.

[0058] The distance between the joint of the first connecting rod and the second connecting rod and the geometric center of the sliding ring is longer during the stir-frying working stroke and shorter during the return stroke from the initial pot-entering position of the stir-frying working stroke. The linear speed of the shoveling body during the stir-frying working stroke is smaller than that during the return stroke, which has a quick-return effect and improves the operation efficiency of the cooking device. Lb>La+L5 is set to prevent the first connecting rod from being pulled out of the sliding ring, and Lc>L5 is set to make the proximal end of the closed curve motion track have a larger unfolding amplitude.

[0059] Optionally, L5 / La>1.3.

[0060] If the distance between the sliding ring and the second rotation axis is too short, the joint of the first connecting rod and the second connecting rod is too close to the sliding ring in motion, which causes the sliding ring and the shovel handle to bear too much force, resulting in motion instability. In addition, in the return stroke after the frying stroke of the shovel body, the position of the shovel body is too low, which is easy to collide with the fried object, resulting in a large return resistance. Therefore, through simulation analysis, L5 / La>1.3 can solve the above problems.

[0061] Optionally, the constraint unit comprises a constraint connecting rod, one end of the constraint connecting rod is rotationally connected to the distal end around a fourth rotation axis, and the other end of the constraint connecting rod is rotationally connected to the rack around a fifth rotation axis; wherein the first rotation axis, the second rotation axis, the fourth rotation axis and the fifth rotation axis are parallel to each other and not collinear. Define the length of the constraint connecting rod as Ld, and the distance between the fifth rotation axis and the second rotation axis as Lm, then: Among La, Lb, Ld and Lm, La is the smallest; The sum of one of Lb, Ld and Lm and La is less than the sum of the other two of Lb, Ld and Lm.

[0062] By setting, among La, Lb, Ld and Lm, La is the smallest, and the sum of one of Lb, Ld and Lm and La is less than the sum of the other two of Lb, Ld and Lm, so that the first driving mechanism can drive the crank to complete a full rotation, and the motion mechanism will not be stuck.

[0063] Optionally, the first rotation axis, the second rotation axis, the third rotation axis, the fourth rotation axis and the fifth rotation axis are parallel to each other and not collinear.

[0064] The first rotation axis, the second rotation axis, the fourth rotation axis and the fifth rotation axis are parallel to each other and not collinear, so that the crank, the shovel handle, the shovel body and the constraint connecting rod move in parallel planes, and the movement is smooth.

[0065] Optionally, the constraint unit comprises a planar multi-connecting rod constraint mechanism, the planar multi-connecting rod constraint mechanism comprises a rack connecting rod, a first connecting rod, an intermediate rod, a second connecting rod and an extension rod, the rack connecting rod is part of the rack or the rack connecting rod is independently provided and fixed to the rack, one end of the first connecting rod is rotationally connected to one end of the rack connecting rod, the other end of the first connecting rod is rotationally connected to one end of the intermediate rod, the other end of the intermediate rod is rotationally connected to one end of the second connecting rod, and the other end of the second connecting rod is rotationally connected to the other end of the rack connecting rod. The intermediate rod is rotationally connected with the distal end of the first connecting rod; or, the intermediate rod and one end of the extension rod are fixedly connected, and the other end of the extension rod is rotationally connected with the distal end of the first connecting rod. The minimum distance between the distal end of the first connecting rod and the second rotation axis in the cooking stroke is Lb-La, and the maximum distance between the distal end of the first connecting rod and the second rotation axis in the cooking stroke is Lb+La.

[0066] By setting, the minimum distance between the distal end of the first connecting rod and the second rotation axis in the cooking stroke is Lb-La, and the maximum distance between the distal end of the first connecting rod and the second rotation axis in the cooking stroke is Lb+La, so that the first driving mechanism can drive the crank to complete a full rotation, and the movement mechanism will not be stuck.

[0067] Optionally, the first driving mechanism is a motor, a shell of the motor is fixed on the rack, a motor shaft of the motor is an output end of the first driving mechanism, and the motor shaft penetrates through the rack and is fixedly connected with one end of the crank; or, The first driving mechanism includes a motor and a speed reducer, a shell of the motor is fixed on the rack, a motor shaft of the motor is connected with an input shaft of the speed reducer, an output shaft of the speed reducer is an output end of the first driving mechanism, and the output shaft of the speed reducer penetrates through the rack and is fixedly connected with one end of the crank.

[0068] The motor drives the crank to rotate, and the structure is simple.

[0069] Optionally, the device further comprises a blocking plate, the blocking plate is arranged on the second connecting rod and close to the proximal end, and when the spatula body stirs, the blocking plate can block the cooked objects in front of the movement direction of the blocking plate.

[0070] The blocking plate can prevent the cooked objects from sliding from above the spatula body, and can better push the cooked objects to stir.

[0071] Optionally, the device further comprises an elastic component, the elastic component is connected between the second connecting rod and the spatula body; and / or, The side edge of the spatula body away from the proximal end is in a convex arc shape or a comb shape.

[0072] The elastic component can increase the pressure between the spatula body and the pot surface, generate a downward pressure, better lift the cooked objects from the bottom, and avoid burning the pot.

[0073] The side edge of the spatula body away from the proximal end is in a convex arc shape, which facilitates lifting the cooked objects and avoids burning the pot.

[0074] The side edge of the spatula body away from the proximal end is in a comb shape, which facilitates uniformly stirring the cooked objects.

[0075] In another aspect, the application provides a cooking robot, comprising a pot body, a base, a heating device and the cooking device of the above embodiments, the pot body is arranged on the base, the heating device is located below the pot body, the pot body can rotate relative to the base, the convex arc segment and the pot surface of the pot body have a gap, the length of the shovel body is L6, the minimum distance between the convex arc segment and the pot surface of the pot body is L7, and L6≥1.4L7. The heating device is used for heating the pot body.

[0076] The cooking robot of the application has all the advantages of the cooking device of the above embodiments.

[0077] In addition, the length L6 of the shovel body is more than 1.4 times the minimum distance L7 between the convex arc segment and the pot surface of the pot body, so that the motion pressure angle between the shovel body and the pot surface is small, the motion resistance is reduced, and the stirring is easier to perform.

[0078] Optionally, the shovel body has a pot-entering position and a highest-contact position, the pot-entering position is a position where the shovel body moves downward from above the pot body to just contact the pot surface of the pot body, and the highest-contact position is a position of the shovel body when the shovel end of the shovel body moves to the highest point of the pot surface along the pot surface of the pot body. In the pot-entering position, the proximal end of the second connecting rod is in a first position, and in the highest-contact position, the proximal end of the second connecting rod is in a second position, and the first position is higher than the second position.

[0079] In the pot-entering position, the proximal end of the second connecting rod is in a first position, and in the highest-contact position, the proximal end of the second connecting rod is in a second position, and the first position is higher than the second position.

[0080] Optionally, the convex arc segment and the inner side of the pot surface cross section of the pot body are complementary and adaptively matched; wherein the pot surface cross section refers to a cross section obtained by cutting the pot body along the vertical direction and passing through the lowest point of the pot surface.

[0081] The convex arc segment and the inner side of the pot surface cross section of the pot body are complementary and adaptively matched, so that the proximal end does not interfere with the pot surface of the pot body, avoiding the shovel body from being stuck, and also avoiding the gap between the proximal end and the pot surface being too large, thereby increasing the motion pressure angle and the motion resistance.

[0082] Optionally, a part of the closed curve is located above the pot opening plane of the pot body, and another part is located below the pot opening plane of the pot body; or, The closed curve is entirely below the pot mouth plane of the pot body.

[0083] The closed curve is a motion trajectory of the spatula body, and a part of the closed curve is above the pot mouth plane of the pot body, another part of the closed curve is below the pot mouth plane of the pot body, or the entire closed curve is below the pot mouth plane, so that a convex arc segment of the closed curve can extend into the pot, approach the pot face, and form a convex-concave cooperation with the pot face.

[0084] Optionally, the base comprises a base and a pot rack, the pot body is mounted on the pot rack and is stationary relative to the pot rack, and the pot rack is rotationally connected to the base. Further comprising a second driving mechanism for driving the pot body and the pot rack to rotate around a vertical axis.

[0085] The second driving mechanism is arranged to drive the pot body and the pot rack to rotate relative to each other, so as to fully stir the stir-fried objects. The relative rotation of the pot body and the pot rack can be that the pot rack and the frame are stationary, and the pot body rotates. Alternatively, the pot rack and the frame rotate, and the pot body is stationary.

[0086] Optionally, the base and the frame are fixedly connected.

[0087] Optionally, further comprising a controller mounted on the frame, and the controller is electrically connected with the first driving mechanism and the second driving mechanism respectively. The controller can control the operation of the first driving mechanism to control the stir-frying period of the spatula body, wherein the stir-frying period of the spatula body is the time taken for the proximal end to move one circle along the closed curve. The controller can also control the operation of the second driving mechanism to control the rotation period of the pot body, wherein the rotation period of the pot body is the time taken for the pot body to rotate one circle. Defining the stir-frying period of the spatula body as t1 and the rotation period of the pot body as t2, then: t1 < t2, and t2 is not an integer multiple of t1.

[0088] The stir-frying period t1 of the spatula body is set to be less than the rotation period t2 of the pot body, and t2 is not an integer multiple of t1, so as to avoid the spatula body repeatedly stirring at the same position.

[0089] Optionally, further comprising a pot edge shovel, which is downwardly inclinedly mounted on the frame, and the bottom of the pot edge shovel extends into the pot mouth of the pot body and closely abuts the pot face of the pot body. When the spatula body stirs the stir-fried objects in the pot body, the pot edge shovel can scrape the surface of the pot face of the pot body at the pot mouth and push the stir-fried objects to the contact area between the spatula body and the pot face.

[0090] The pot edge shovel can scrape the surface of the pot mouth of the pot body and push the stir-fried objects to the contact area of the shovel body and the pot surface, thereby avoiding the pot sticking.

[0091] Optionally, the second driving mechanism comprises a driving motor and a transmission device, the driving motor is installed on the base; The transmission device comprises a driving gear and a gear ring, the gear ring is arranged outside the pot rack, the pot rack is rotationally connected with the base through a bearing, the driving gear is engaged with the outside of the gear ring, and the driving motor is used to drive the driving gear to rotate, so that the gear ring, the pot rack and the pot body rotate together.

[0092] The bearing can reduce the transfer resistance. In addition, the bearing can be replaced by a plurality of uniformly distributed rollers.

[0093] By controlling the rotating speed and rotating direction of the first motor and the second motor through the controller, the intelligent stirring of the cooking robot can be realized. The pot body can be controlled to rotate continuously or intermittently, and the pot body can be controlled to rotate forward or reversely.

[0094] Optionally, a position sensor is further included for detecting the position of the crank; The controller controls the start and stop of the second driving mechanism based on the position of the crank detected by the position sensor.

[0095] The controller controls the start and stop of the second driving mechanism based on the position of the crank detected by the position sensor, so that the rotation and stop of the pot body can be realized, and intermittent stirring can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0096] Figure 1 is a structure diagram of the cooking device provided by the embodiment one of the present application Figure 1 ; Figure 2 is a structure diagram of the cooking device provided by the embodiment one of the present application Figure 1 ; Figure 3 is a movement process diagram of the cooking device provided by the embodiment one of the present application Figure 1 ; Figure 4 is a movement limit position diagram of the cooking device provided by the embodiment one of the present application Figure 5 is a simulation analysis diagram of the cooking device provided by the embodiment one of the present application Figure 1 ; Figure 6 is a simulation analysis diagram of the cooking device provided by the embodiment one of the present application Figure 2 ; Figure 7 is a simulation analysis schematic diagram of the cooking device provided in Embodiment One of the present application Figure 3 ; Figure 8 is a simulation analysis schematic diagram of the cooking device provided in Embodiment One of the present application Figure 4 ; Figure 9 is a schematic diagram of the cooking device provided in Embodiment Five of the present application Figure 10 is a schematic diagram of the cooking device provided in Embodiment Eight of the present application Figure 11 is a structural diagram of the cooking device provided in Embodiment One of the present application Figure 2 ; Figure 12 is a simulation analysis schematic diagram of the cooking device provided in Embodiment One of the present application Figure 5 ; Figure 13 is a partial structural schematic diagram of the cooking device provided in Embodiment Two of the present application Figure 1 ; Figure 14 is a partial structural schematic diagram of the cooking device provided in Embodiment Two of the present application Figure 2 ; Figure 15 is a partial structural schematic diagram of the cooking device provided in Embodiment Five of the present application Figure 1 ; Figure 16 is a partial structural schematic diagram of the cooking device provided in Embodiment Five of the present application Figure 2 ; Figure 17 is a partial structural schematic diagram of the cooking device provided in Embodiment Nine of the present application Figure 1 ; Figure 18 is a partial structural schematic diagram of the cooking device provided in Embodiment Nine of the present application Figure 2 ; Figure 19 is a partial structural schematic diagram of the cooking device provided in Embodiment Ten of the present application Figure 1 ; Figure 20 is a partial structural schematic diagram of the cooking device provided in Embodiment Ten of the present application Figure 2 ; Figure 21 is a schematic diagram of the cooking device provided in Embodiment Fourteen of the present application Figure 22 is a simulation analysis schematic diagram of the cooking device provided in Embodiment Fourteen of the present application Figure 23 is a schematic diagram of the cooking device provided in Embodiment Fifteen of the present application Figure 24is a movement process schematic of the frying device provided by the embodiment one of the present application Figure 2 ; Figure 25 is a movement process schematic of the frying device provided by the embodiment one of the present application Figure 3 .

[0097] The reference signs in the specification are as follows: 100-frying device, 110-stand, 120-shovel body, 130-shovel handle, 131-first connecting rod, 132-second connecting rod, 140-first driving mechanism, 150-crank, 160-restraint unit, 161-guide groove, 162-guide rail, 163-moving part, 164-sliding ring, 165-restraint connecting rod, 166-follower, 167-base plate, 168-contact part, 169-guiding part, 170-connecting part, 180-ingredient blocking plate, 200-pot body, 300-base, 310-base, 320-pot rack, 400-heating device, 500-pot edge shovel, A-first rotation axis, B-second rotation axis, C-third rotation axis, P-pot entering position, Q-highest contact position, W-pot leaving position. DETAILED DESCRIPTION

[0098] In order to make the technical problems solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0099] Embodiment one Please refer to Figure 1 、 Figure 2 , the present application provides a frying device 100, which comprises a stand 110, a shovel body 120, a shovel handle 130, a first driving mechanism 140, a crank 150 and a restraint unit 160. The shovel handle 130 comprises a first connecting rod 131 and a second connecting rod 132 which are fixedly connected or integrally formed. The first driving mechanism 140 is installed on the stand 110. One end of the crank 150 is rotatably connected to the joint of the first connecting rod 131 and the second connecting rod 132 about a first rotation axis A. The other end of the crank 150 is connected to the output end of the first driving mechanism 140. The output end of the first driving mechanism 140 rotates about a second rotation axis B. The first connecting rod 131 is movably connected to the restraint unit 160.

[0100] The end of the first connecting rod 131 away from the second connecting rod 132 is defined as a distal end. The end of the second connecting rod 132 away from the first connecting rod 131 is defined as a proximal end. The shovel body 120 is rotatably connected to the proximal end about a third rotation axis C. At any time, the distal end is located above the proximal end. When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the constraint unit 160 can constrain the movement track of the far end, so that the movement track of the near end forms a closed curve, and then the shovel body 120 can repeatedly stir the stir-fried objects.

[0101] Please refer to Figure 2 and Figure 3 、 Figure 24 、 Figure 25 , the closed curve has a convex arc segment convexly away from the second rotation axis B, the length Lb of the first connecting rod 131 is greater than the length La of the crank 150, and the length Lc of the second connecting rod 132 is greater than the length La of the crank 150.

[0102] The length Lb of the first connecting rod 131 is greater than the length La of the crank 150, so that the crank 150 can complete a full rotation under the drive of the first driving mechanism 140, and then drive the shovel handle 130 and the shovel body 120 to complete a complete stirring and shovel body 120 reset cycle. The length Lc of the second connecting rod 132 is greater than the length La of the crank 150, which can increase the unfolding amplitude of the near end closed curve track, so that the shovel 120 obtains a larger movement range, so as to adapt to a larger size pot 200, and make the mechanism more compact.

[0103] Specifically, the mechanism stirring action of the embodiment is composed of four steps of entering the pot, stirring working stroke, shovel end retreating along the pot surface, and shovel body 120 resetting, which is explained as follows: Initially enter the pot. Please refer to Figure 3 , the crank 150 drives the shovel handle 130 to move, the far end of the first connecting rod 131 is limited by the constraint unit 160 to reciprocate along a fixed path, resulting in that the near end of the second connecting rod 132 moves along the closed curve track clockwise in a cycle. In one cycle, when the shovel body 120 is gradually brought close to the right side of the pot surface and descends under the drive of the near end, until the shovel body 120 starts to contact the pot surface with a hanging downward posture, the entering pot action of the shovel body 120 is completed, and the position of the shovel body 120 at this time is the entering pot position P. Since the shovel body 120 and the second connecting rod 132 are rotationally connected at the near end, under the action of gravity, the shovel body 120 starts to contact the pot surface with a small movement pressure angle, the movement resistance is small, the contact impact is small, and it is easier to shovel the stir-fried objects.

[0104] Stirring working stroke. Please refer to Figure 3 , the shovel body 120 starts from the entering pot position P under the drive of the near end of the second connecting rod 132, and as the near end continues to move clockwise along the closed curve track, the shovel end is pushed to slide along the pot surface in the direction indicated by the arrow in the figure to the left side, and then moves to the highest limit position contacting the pot surface, and the position of the shovel body 120 at this time is the highest position Q contacting the pot surface.

[0105] In the process of shovel body 120 from entering position P to contacting the highest position Q, due to the rotational connection of shovel body 120 and second connecting rod 132 at the proximal end, shovel body 120 can adaptively adjust the angle according to the change of the distance between the proximal end and the pot surface, the length of shovel body 120 itself and the change of the curvature of the pot surface, and keep the continuous and seamless contact between the shovel end and the pot surface, while having a small motion pressure angle, so that the motion resistance of shovel body 120 is small, the fried food is pushed forward by shovel body 120, and when shovel body 120 approaches the highest contact position Q, the fried food is scooped up, at the same time, the fried food on the side of shovel body 120 continuously falls to fill the space left by the forward movement of shovel body 120, so as to realize the transposition of the fried food. In the process of shovel body 120 approaching the highest contact position Q, as the ascending speed of the proximal end of second connecting rod 132 slows down and the distance between the proximal end and the pot surface gradually increases, in the motion plane of shovel body 120, the tangential relative speed of the end of shovel body 120 to the pot surface gradually decreases and finally becomes 0, so that shovel body 120 slows down to avoid the fried food being thrown out of the pot due to inertia.

[0106] The shovel end retreats along the pot surface. Please refer to Figure 24 , the proximal end starts to move clockwise along the closed curve to the right side from the highest contact position Q, and as the distance between the proximal end and the pot surface increases, under the action of gravity, due to the rotational connection of shovel body 120 and second connecting rod 132 at the proximal end, shovel body 120 starts to rotate counterclockwise around the third rotation axis C, and the shovel end turns around and slides down along the pot surface in the direction of the arrow in the figure, retreats to the right and down, until it reaches the retreat limit position of shovel body 120 perpendicular to the pot surface, at this time, the position of shovel body 120 is defined as the out-of-pot position W, and after that, the shovel end starts to separate from the contact with the pot surface. As the proximal end is lifted and the counterclockwise rotation of shovel body 120 gradually descends, the scooped fried food slides back into the pot, further realizing the up-down transposition of the fried food.

[0107] The shovel body 120 resets. Please refer to Figure 25 , the proximal end continues to move clockwise along the closed curve trajectory to the right side, and shovel body 120 has separated from the contact with the pot surface after leaving the out-of-pot position W, and under the action of gravity, it remains in a downward suspended state and is brought back to the entering position P on the right side of pot body 200 by the proximal end, realizing a complete working cycle.

[0108] In this embodiment, the movement trajectory of the distal end of first connecting rod 131 is constrained by constraint unit 160, so that the movement trajectory of the proximal end of second connecting rod 132 forms a closed curve with a convex arc segment, which is designed so that at the end of the frying work stroke, the tangential speed of the shovel end relative to the pot surface naturally decays in the motion plane of shovel body 120, and the fried food slows down with it, avoiding being thrown out of the pot due to inertia.

[0109] In the stir-frying working stroke, the convex arc segment and the pot surface of the pot body 200 form a convex-concave shape cooperation, and keep a gap, so that the proximal end keeps a close gap movement along the pot surface without interference with the pot surface, the shovel body 120 is rotationally connected to the proximal end around the third rotation axis C, so that the shovel body 120 can adaptively change the angle posture according to the length of the shovel body 120, the distance change between the proximal end and the pot surface, and the curvature change of the pot surface, so as to keep continuous contact with the pot surface, keep the contact pressure with the pot surface under the action of the gravity of the stir-fried objects, and generate scraping effect on the pot surface, so as to shovel the stir-fried objects and avoid paste pot. Compared with the fixed connection mode of the shovel body 120 and the shovel handle 130, in the stir-frying working stroke, the shovel body 120 contacts the pot surface at a smaller angle, has a smaller movement pressure angle and a smaller movement resistance, which is beneficial to shovel the stir-fried objects from the pot surface and push them forward. The rear space of the shovel body 120 is filled by the downward movement of the stir-fried objects on both sides. At the end of the stir-frying working stroke, the proximal end is lifted, the shovel body 120 rotates and gradually suspends downward to separate from the pot surface, and the stir-fried objects fall down, so as to realize horizontal and vertical displacement of the stir-fried objects. Since the end of the shovel body 120 moves to the highest point at the end of the cooking stroke, the speed relative to the pot surface on the movement plane of the shovel body 120 can be reduced to 0 and then turned around downward, so that the stir-fried objects are not easily thrown out of the pot by inertia.

[0110] In addition, the pot body 200 is horizontally arranged and rotates around the vertical center axis, and cooperates with the sweeping action of the cooking device 100 on the pot surface, so that the shovel body 120 can scrape different parts of the pot surface. The rotational connection of the shovel body 120 and the second connecting rod 132 can also avoid the accidental jamming of the shovel body 120 when the end of the shovel body 120 abuts against a hard object (such as a bone) due to the inability of the shovel body 120 to change direction.

[0111] In addition, in the view of those skilled in the art, it is difficult to transmit the cooking power when the shovel body 120 is rotationally connected to the shovel handle 130. The present application designs that, in the stir-frying working stroke, the shovel body 120 simultaneously bears the vertical pressure component of the stir-fried objects relative to the pot surface and the lifting support force of the pot surface, so that the movement freedom of the end of the shovel body 120 is limited, and under the pushing of the proximal end of the second connecting rod 132, the shovel body 120 can only move along the surface of the pot body 200, so as to push and shovel the stir-fried objects forward. Thus, the present application overcomes the technical prejudice that it is difficult to transmit the cooking power when the shovel body 120 and the shovel handle 130 are rotationally connected.

[0112] Please refer to Figure 4the left picture of FIG. 1, when the first connecting rod 131, the second connecting rod 132 and the crank 150 move to the dotted line position at the same time, the first connecting rod 131 is collinear with the crank 150, the end point of the first connecting rod 131 reaches the pole position M, and the straight line distance between M and the second rotation axis B of the output end of the first driving mechanism 140 is La+Lb. Please refer to Figure 4 the right picture of FIG. 1, when the first connecting rod 131, the second connecting rod 132 and the crank 150 move to the dotted line position at the same time, the first connecting rod 131 is collinear with the crank 150, the end point of the first connecting rod 131 reaches the pole position N, and the straight line distance between N and the rotation axis of the output end of the first driving mechanism 140 is Lb-La.

[0113] The rack 110 is provided as a basic support structure, and the first driving mechanism 140 is installed on the rack 110. The shovel handle 130 is fixedly connected or integrally formed by the first connecting rod 131 and the second connecting rod 132, which enhances the rigidity of motion transmission and avoids trajectory deviation caused by loose connection.

[0114] The first rotation axis A and the second rotation axis B are parallel and not collinear.

[0115] The first driving mechanism 140 is fixedly installed on the rack 110, and the central axis of the output shaft thereof serves as the second rotation axis B; the other end of the crank 150 is connected to the joint of the first connecting rod 131 and the second connecting rod 132 of the shovel handle 130 through a bearing, and the central axis of the bearing serves as the first rotation axis A. The parallelism of the first rotation axis A and the second rotation axis B means that the directions of the two axes are consistent but the spatial positions are separated, and the non-collinearity means that the two axes do not coincide and maintain a fixed distance.

[0116] Please refer to Figure 2 to Figure 3 More preferably, the first rotation axis A, the second rotation axis B and the third rotation axis C are pairwise parallel and not collinear.

[0117] The parallelism of the first rotation axis A and the second rotation axis B strictly restricts the motion of the shovel handle 130 and the crank 150 in a single plane, avoids trajectory deviation of the motion mechanism caused by non-parallel axes, prevents the connecting rod from being subjected to force and torque perpendicular to its motion plane, prevents mechanism vibration and improves motion stability. The design of the pairwise parallelism and non-collinearity of the first rotation axis A, the second rotation axis B and the third rotation axis C aims to ensure that the motion of the motion mechanism (the shovel body 120, the shovel handle 130 and the crank 150) is strictly restricted in a single plane, avoids trajectory deviation of the motion mechanism and mechanism vibration caused by non-parallel axes, and ensures stable contact between the shovel body 120 and the pot surface.

[0118] Please refer to Figure 2The first connecting rod 131 and the second connecting rod 132 form an angle of 150-210 degrees. The angle of the first connecting rod 131 and the second connecting rod 132 refers to the angle of the two connecting rods on the side close to the crank 150.

[0119] The angle of the first connecting rod 131 and the second connecting rod 132 affects the deformation degree of the closed curve trajectory of the proximal end. When the angle of the first connecting rod 131 and the second connecting rod 132 approaches 180°, the movement trajectory of the proximal end is relatively smooth and full, the movement mechanism (shovel handle 130, crank 150) and the shovel body 120 run smoothly and the frying travel is long, and the movement mechanism is more compact. The greater the deviation from 180°, the greater the deformation of one end of the movement trajectory of the proximal end, and eventually tends to form an “∞” shape of the kink deformation, causing poor convex-concave matching of the closed curve trajectory and the pot surface. Adjust the angle of the first connecting rod 131 and the second connecting rod 132 to adjust the shape of the movement trajectory of the proximal end to avoid forming an “∞” shape of the kink deformation. Through simulation analysis, when the angle of the first connecting rod 131 and the second connecting rod 132 is 150-210 degrees, the movement trajectory of the proximal end is better.

[0120] Please refer to Figure 5 From the left side of the figure, counterclockwise is the closed curve position and kink distortion sequence diagram of the movement trajectory of the proximal end when the angle α of the first connecting rod 131 and the second connecting rod 132 is 85°, 95°, 120°, 150°, 180°, 210°, 240°, 270°, 285° and 295°, respectively.

[0121] In this embodiment, the angle of the first connecting rod 131 and the second connecting rod 132 is limited to the range of 150 to 210 degrees. When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the angle range ensures that the constraint effect of the constraint unit 160 on the movement trajectory of the distal end can be effectively transmitted to the proximal end, so that the movement trajectory of the proximal end is stably formed as a closed curve with a convex arc segment that protrudes away from the second rotation axis B. When the shovel body 120 moves to the convex arc segment region and approaches the end of the stir-frying working stroke, the tangential velocity of the shovel body 120 relative to the pot surface naturally decays, significantly reducing the risk of the fried object being thrown away from the pot surface; at the same time, the angle range enables the shovel body 120 to dynamically fit the curvature change of the pot body 200 throughout the stir-frying process, maintaining continuous and seamless contact with the pot surface, and ensuring the uniformity of the up-and-down displacement of the fried object.

[0122] This embodiment further proposes 1.1La<Lb<2.5La.

[0123] If the length of the first link 131 is shortened, the straight-line distance between the two farthest points of the movement locus of the proximal end will increase, and a longer cooking stroke can be achieved, but the movement locus of the proximal end will tend to be distorted into a crescent shape, resulting in too small a transition curvature radius between the upper and lower locus curves of the movement locus of the proximal end, and the cooking device 100 will have an impact when in operation. Meanwhile, the torque of the first link 131 and the force acting on the constraint unit 160 will also increase. If the length of the first link 131 is increased, the movement mechanism will run more smoothly, but the movement locus of the proximal end will expand less along the circumference centered on the second rotation axis B, and the effective cooking stroke will be too short, failing to bring the potential of the second link 132 into play, and the mechanism structure will not be compact.

[0124] Referring to Figure 6 , the proximal end closed curve movement locus shapes when Lc / La = 3 and Lb / La = 1.1, 1.5, 2, 2.5, and 3.4 are shown in the figure. Preferably, 1.1La < Lb < 2.5La.

[0125] The embodiment further proposes that the length Lc of the second link 132 be greater than the length Lb of the first link 131.

[0126] When the length Lc of the second link 132 is increased, the expansion amplitude of the movement locus of the proximal end will increase, which is conducive to obtaining a larger movement range of the shovel body 120 and matching a larger pot body 200, and is conducive to reducing the volume of the movement mechanism, but the forces acting on the first link 131 and the constraint unit 160 will also be greater. Referring to Figure 7 , the locus shapes when Lb / La = 2 and Lc / La = 1.5, 2, 3.5, and 5 are shown in the figure. Thus, preferably, the length Lc of the second link 132 is greater than the length Lb of the first link 131.

[0127] The embodiment further proposes that the constraint unit 160 be a smooth track that is not closed at its two ends in the extension direction thereof, and the first link 131 has a movable piece 163 connected at the distal end thereof; when the first driving mechanism 140 drives the crank 150 to rotate and move the shovel handle 130, the movable piece 163 can reciprocate along the extension direction of the track to constrain the movement locus of the distal end of the first link 131, so that the movement locus of the proximal end of the second link 132 forms a closed curve; wherein the movable piece 163 is in sliding contact or rolling contact with the track; the end point of the track close to the second rotation axis B is defined as the proximal end point of the track, and the end point of the track away from the second rotation axis B is defined as the distal end point of the track, the distance between the proximal end point of the track and the second rotation axis B is L1, and the distance between the distal end point of the track and the second rotation axis B is L2, and there is: L1 ≤ Lb - La, and L2 ≥ Lb + La.

[0128] Please refer to Figure 8 When the constraint path is a closed curve, the remote end will produce jitter or even cause jamming when passing through the track near end point and track far end point. The track is not closed, which can avoid the impact and vibration and movement jam caused by too large pressure angle when passing through the track near end point and track far end point.

[0129] The constraint unit 160 is a smooth track that is not closed at the beginning and end in the extension direction. The smoother the constraint track and the smaller the curvature, the better the smoothness of the mechanism movement, the smaller the impact of the mechanism movement during operation, and the smaller the torque borne by the first connecting rod 131, which can effectively avoid the jamming and jitter phenomenon.

[0130] The movable part 163 is connected to the far end of the first connecting rod 131, which can avoid the phenomenon that the near end of the track and the second connecting rod connection and the linear speed of the shovel body 120 are faster in the stir-frying work stroke than in the return stroke (shovel body 120 rapid entry and slow return phenomenon), thereby improving the operation efficiency of the cooking device 100.

[0131] In this embodiment, the far end of the first connecting rod 131 is strictly limited to move on the preset track through the cooperation of the track constraint unit 160 and the movable part 163. When the first driving mechanism 140 drives the crank 150 to rotate, the crank 150 drives the shovel handle 130 to move, and the movable part 163 slides or rolls along the track, thereby constraining the trajectory of the far end of the first connecting rod 131. Since the track is not closed at the beginning and end and is smooth, its shape can be customized according to the curvature of the pot surface of the pot 200, and a natural deceleration section is formed at the end of the stir-frying work stroke. The setting of L1≤Lb-La and L2≥Lb+La enables the first driving mechanism 140 to drive the crank 150 to complete a full rotation, and the movable part 163 has no risk of derailing in the entire movement cycle.

[0132] The track is a circular arc track. The length of the line connecting the track near end point and the track far end point is defined as L3, the vertical distance from the vertex of the circular arc track to the line connecting the track near end point and the track far end point is defined as L4, and L4 / L3 is defined as the arch height chord length ratio k, then K<0.5.

[0133] Please refer to Figure 12 From left to right are the trajectory images when the arch height ratio is 0.15, 0.3, and 0.5, respectively (taking the circular arc constraint path as an example). Through simulation analysis, when the arch height chord length ratio K<0.5, the near end movement trajectory is better. The limitation of the arch height chord length ratio k<0.5 ensures that the arch-shaped curve is smoothly transitioned, avoids the mechanism jamming and jamming caused by too large movement pressure angle due to steep curve, and maintains seamless contact between the shovel body 120 and the pot surface to ensure the stir-frying effect.

[0134] In the embodiment, the track is a guide groove 161 arranged on the frame 110 or the track is a guide groove 161 fixed on a guide base plate 167 of the frame 110, and the movable piece 163 can reciprocate along the extension direction of the guide groove 161 when the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move.

[0135] Specifically, the track is a guide groove 161 arranged on the frame 110, which can save the guide base plate. The track is a guide groove fixed on a guide base plate of the frame 110, which can avoid slotting on the frame.

[0136] In the embodiment, the guide groove 161 exerts bidirectional limiting action on the movable piece 163, forces the movable piece 163 to move only along the extension direction of the groove, eliminates the lateral freedom of the movable piece 163, ensures that the distal end of the first connecting rod 131 can only reciprocate along the extension direction of the guide groove 161, and makes the movement trajectory of the proximal end of the second connecting rod 132 form a precise closed curve, so that the end of the shovel body 120 can keep seamless contact with the pot surface of the pot body 200 and naturally realize the linear speed attenuation of the shovel end at the end of the stir-frying working stroke. The smooth groove wall design of the guide groove 161 cooperates with the contact surface of the movable piece 163, so that there is no sudden resistance in the movement process, and the movement of the movable piece 163 is smooth.

[0137] Please refer to Figure 1 , the movable piece 163 is a sliding block, the distal end of the first connecting rod 131 is rotationally connected to the sliding block, and the sliding block is in sliding contact with the two side walls of the guide groove 161 in the width direction; the guide groove 161 is a circular arc sliding groove, and the sliding block is an arc-shaped sliding block. When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the arc-shaped sliding block can reciprocate along the extension direction of the circular arc guide groove 161.

[0138] In some alternative embodiments of the first embodiment, when the guide groove 161 is a straight line sliding groove, the sliding block is a square sliding block.

[0139] The sliding contact of the sliding block with the two side walls of the guide groove 161 in the width direction means that the side surface of the sliding block forms a surface contact sliding pair with the side wall of the guide groove 161, which can be achieved by using a plane-plane contact or a curved surface-curved surface contact. The purpose is to strictly constrain the sliding block to move only along the extension direction of the groove by the rigid limiting action of the two side walls, so as to eliminate the risk of lateral deviation. It can be achieved by using different implementation ways of the combination of a square sliding block and a straight line sliding groove or the combination of an arc-shaped sliding block and a circular arc sliding groove, and the purpose is to ensure that the sliding block closely contacts during the movement to reduce the shaking caused by the gap.

[0140] Specifically, the rotation connection between the distal end of the first connecting rod 131 and the slider enables the shovel handle 130 to change its position on the guide groove 161 along with the movement of the movable piece 163 during the movement process. When the first driving mechanism 140 drives the crank 150 to rotate and moves the shovel handle 130, the slider moves smoothly along the extension direction of the guide groove 161 through the lever transmission action of the shovel handle 130, thereby accurately constraining the movement trajectory of the distal end of the first connecting rod 131, so that the movement trajectory of the proximal end of the second connecting rod 132 forms a closed curve.

[0141] Specifically, in the frying device 100 of the embodiment, the first driving mechanism 140 is a motor, the shell of the motor is fixed on the rack 110, the motor shaft is the output end of the first driving mechanism 140, and the motor shaft penetrates through the rack 110 and is fixedly connected with one end of the crank 150.

[0142] The motor can be a direct current brush motor, a brushless direct current motor, or an alternating current induction motor, which aims to provide stable and reliable driving force. The motor shell is fixed on the rack 110, which means that the shell of the motor is stably installed on the rack 110 by fasteners or welding. It can be achieved by elastic support or rigid connection, which aims to suppress operation vibration and ensure the accuracy of power transmission. The motor shaft penetrates through the rack 110, which means that the output shaft of the motor extends to the outside through the reserved hole of the rack 110. It can be achieved by using a sealed bearing or a protective sleeve, which aims to realize reliable connection between the internal power source and the external actuator.

[0143] Please refer to Figure 1 The frying device 100 further comprises a blocking plate 180, which is arranged on the second connecting rod 132 and close to the proximal end. The blocking plate 180 can be realized by using a flat plate, an arc-shaped plate, or a comb-shaped metal plate or a heat-resistant engineering plastic piece. The connection between the blocking plate 180 and the second connecting rod 132 can be welding, bolt fixing, or an integral structure, which aims to ensure firmness during the frying process. When the shovel body 120 is frying, the blocking plate 180 can block and push the fried objects in front of the movement direction of the blocking plate 180, thereby reducing the fried objects from passing through the upper space of the shovel body 120 and improving the frying and positioning efficiency.

[0144] The cooking device 100 further comprises an elastic component connected between the second connecting rod 132 and the spatula body 120; and / or the edge of the spatula end of the spatula body 120 away from the proximal end is in a convex arc shape or a comb shape. The elastic component can reduce the shaking range of the spatula body 120 after the spatula body 120 is suspended away from the pot surface, can increase the pressure of the spatula end of the spatula body 120 on the pot surface, can better scoop the cooked food from the bottom, and can avoid the pot being burnt. The elastic component is specifically a coil spring such as a torsion spring, one end of the coil spring is connected to the proximal end of the second connecting rod 132, the other end is fixedly connected to a mounting bracket on the back of the spatula body 120, and the torsion spring axis is parallel to the third rotation axis C; the edge of the spatula body 120 away from the proximal end is integrally processed in a convex arc shape, the curvature of the convex arc shape is matched with the local curvature of the pot surface of the pot body 200, the convex arc-shaped edge can better scrape the pot surface, eliminate the blind area of the stir-frying, and improve the stir-frying effect.

[0145] The structure of the spatula body 120 along the third rotation axis C to the spatula end can be in an arc shape as shown in Figure 2 or a straight line shape as shown in Figure 3 , or other shapes that can realize the function of scooping the cooked food.

[0146] Embodiment Two The main difference from Embodiment One is that the movable part 163 has a different structure. Please refer to Figure 13 and Figure 14 , the movable part 163 comprises a follower 166, the follower 166 comprises a base plate 167 and two contact pieces 168, the distal end of the first connecting rod 131 is rotationally connected to the base plate 167, the two contact pieces 168 are connected to opposite ends of the base plate 167, the contact pieces 168 extend into the guide slot 161, and the contact pieces 168 have a cylindrical surface or a circular arc surface capable of contacting the two side walls in the width direction of the guide slot 161.

[0147] In this embodiment, the constraint unit is still a smooth track that is not closed at its extension direction.

[0148] Due to the use of the follower 166, the track can be one of a straight line track, a circular arc track and a non-circular arc curve track in the extension direction of the track. The track can also be a combined track smoothly connected by at least two of the straight line track, the circular arc track and the non-circular arc curve track in the extension direction of the track.

[0149] In this embodiment, the track is the guide slot 161 provided on the rack 110.

[0150] Due to the adoption of the follower 166, the guide groove 161 can be a straight guide groove or a circular arc guide groove, the base plate 167 is located outside the guide groove 161 or the base plate 167 partially extends into the guide groove 161 and contacts with the side wall of the guide groove 161. Alternatively, the guide groove 161 is a curve guide groove with continuously changing curvature, and the base plate 167 is located outside the guide groove 161. Alternatively, the guide groove 161 is a combination guide groove of at least two kinds of smooth connection among the straight guide groove, the circular arc guide groove and the non-circular arc curve guide groove.

[0151] When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the follower 166 can reciprocate along the extension direction of the guide groove 161. The distal end of the first connecting rod 131 can only reciprocate along the extension direction of the guide groove 161; the proximal end of the second connecting rod 132 drives the shovel body 120 to move along a closed curve trajectory, so as to realize the functions of stirring and deceleration at the end of the stirring stroke.

[0152] Please refer to Figure 13 The contact member 168 is a cylindrical pin shaft, which is fixedly connected with the base plate 167 and is in sliding contact with the guide groove 161.

[0153] Please refer to Figure 14 As a modification of the follower 166, the contact member 168 is a cylindrical pin shaft, which is rotatably connected with the base plate 167 and is in rolling contact with the guide groove 161.

[0154] As another modification of the follower 166, the contact member 168 is a cylindrical roller, which is rotatably connected with the base plate 167 through a rotating shaft and is in rolling contact with the guide groove 161.

[0155] Specifically, the structure design of the follower 166 and the rotatable connection between the follower 166 and the first connecting rod 131 enable the first connecting rod 131 to adjust the angle in real time to adapt to the position change of the follower 166 on the guide groove 161 and the curvature change of the guide groove 161 during the movement. When the first driving mechanism 140 drives the crank 150 to rotate, the follower 166 reciprocates along the guide groove 161, and the contact member 168 acts symmetrically on both sides of the groove wall and is uniformly stressed to prevent deflection. The cylindrical surface or the arc surface of the contact member 168 forms continuous contact with the groove wall, realizes smooth transition at the curvature change position, avoids movement jamming, and ensures the stability of the movement process.

[0156] Please refer to Figure 11, the track is further a non-circular curve track (non-circular curve guide groove), the curvature of the non-circular curve track continuously changes from the track proximal end point to the track distal end point, and the non-circular curve track has at least an arch curve segment; the length of the line connecting the track proximal end point and the track distal end point is defined as L3, the vertical distance from the vertex of the arch curve segment to the line connecting the track proximal end point and the track distal end point is defined as L4, and the arch height chord length ratio k is defined as L4 / L3, then k < 0.5.

[0157] The limitation of the arch height chord length ratio k < 0.5 ensures a smooth transition of the arch curve, avoids motion instability and motion impact caused by steep curves, and at the same time maintains seamless contact between the shovel body 120 and the pot surface to ensure the stir-frying effect. The design of the curve track is to adapt to the special shape change requirements of the pot surface.

[0158] Embodiment three The difference between the embodiment two and the embodiment three mainly lies in the structure of the movable piece 163. The movable piece 163 comprises a connecting piece and two followers 166, each follower 166 comprises a base plate 167 and two contact pieces 168, the two contact pieces 168 of each follower 166 are connected to the opposite ends of the base plate 167, the two ends of the connecting piece are rotationally connected to the base plates 167 of the two followers 166, the distal end of the first connecting rod 131 is rotationally connected to the connecting piece, the contact pieces 168 extend into the guide groove 161, and the contact pieces 168 have a cylindrical surface or an arc surface capable of contacting the two side walls in the width direction of the guide groove 161.

[0159] When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the two followers 166 can reciprocate along the extension direction of the guide groove 161.

[0160] The two followers 166 are rigidly connected by the connecting piece to form a double-point constraint mechanism redundancy structure; when the first driving mechanism 140 drives the crank 150 to rotate, the crank 150 drives the shovel handle 130 to move, and the movement is transmitted to the connecting piece through the first connecting rod 131, and the connecting piece synchronously distributes the movement to the two followers 166; the base plate 167 of the follower 166 keeps in contact with the two side walls in the width direction of the guide groove 161 through the contact pieces 168 at the opposite ends, and since the contact pieces 168 have a cylindrical surface or a circular arc surface, they can roll or slide along the side walls to reduce friction; in the process of continuous change of the curvature of the guide groove 161, the two followers 166 jointly share the guiding function to ensure the stable reciprocating movement of the movable piece 163 along the guide groove 161; the double-point constraint mechanism maintains the continuity and stability of the movement trajectory of the far end of the first connecting rod 131, and makes the movement trajectory of the near end of the second connecting rod 132 accurately form a closed curve, so as to drive the shovel body 120 to repeatedly stir the fried objects. The two followers can bear greater load; the rotational connection of the base plate 167 and the connecting piece and the rotational connection of the connecting piece and the first connecting rod 131 enable the shovel handle 130, the connecting piece and the base plate to adaptively adjust the deflection angle during the movement according to the change of the curvature of the guide groove 161.

[0161] Embodiment Four The main difference from Embodiment Two is that the movable piece 163 has a different structure. The movable piece 163 comprises a connecting piece, a follower 166 and a guide piece 169, the follower 166 comprises a base plate 167 and two contact pieces 168 connected to the opposite ends of the base plate 167, one end of the connecting piece is rotationally connected to the base plate 167 of the follower 166, the other end of the connecting piece is connected to the guide piece 169, the far end of the first connecting rod 131 is rotationally connected to the connecting piece, the base plate 167 and the connecting piece are located outside the guide groove 161, the contact pieces 168 have a cylindrical surface or a circular arc surface capable of contacting the two side walls in the width direction of the guide groove 161, and the guide piece 169 has a cylindrical surface or a circular arc surface capable of contacting the two side walls in the width direction of the guide groove 161.

[0162] When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the follower 166 and the guide piece 169 can reciprocate along the extension direction of the guide groove 161, the far end of the first connecting rod 131 reciprocates along the guide groove 161, the near end of the second connecting rod 132 drives the shovel body 120 to move along the closed curve trajectory, and the speed reduction function at the end of the stirring work stroke is realized.

[0163] In one scheme, the guide 169 is a cylindrical shaft fixedly connected to the connecting member, and in sliding contact with the guide groove 161. In another modified scheme, the guide 169 is a cylindrical shaft rotatably connected to the connecting member, and in rolling contact with the guide groove 161. In another modified scheme, the guide 169 is a roller rotatably connected to the connecting member via a rotating shaft, and in rolling contact with the guide groove 161.

[0164] The cylindrical or arc surface of the guide 169 is the geometric shape of the contact surface between the guide 169 and the guide groove 161, which can be designed as a standard cylindrical surface or a customized arc surface, with the purpose of ensuring stable contact with the two side walls of the guide groove 161 in the width direction, and achieving automatic centering during movement to prevent derailment or deviation.

[0165] In the connection mode of the guide 169, fixed connection means that the guide 169 has no relative movement with the connecting member, which can be achieved by welding or bolt fixation; and rotating connection means that the guide 169 has a relative rotational freedom with the connecting member, which can be achieved by a rotating shaft cooperating with a bearing structure, with the purpose of adapting to different working conditions, reducing frictional resistance and wear.

[0166] When the first driving mechanism 140 drives the crank 150 to rotate and moves the shovel handle 130, the two contact members 168 and the guide 169 of the follower 166 are in contact with the two side walls of the guide groove 161 in the width direction, forming a symmetrical constraint mechanism, so that the contact pressure is uniformly distributed on both sides of the groove wall; one end of the connecting member is rotatably connected to the follower base plate 167, and the other end is connected to the guide 169, and this rotating connection allows the follower 166 to automatically adjust the angle to adapt to the curvature change of the guide groove 161 and the position change of the movable member 163 in the guide groove 161; the rotating connection between the connecting member and the first connecting rod 131 allows the first connecting rod 131 to adaptively change the angle to adapt to the curvature change of the guide groove 161 during movement. At the same time, the guide 169 is in contact with the side wall of the guide groove 161, and moves along the guide groove 161 together with the follower 166, dispersing the movement load; the base plate 167 and the connecting member are located outside the guide groove 161, avoiding the space interference caused by embedding the components into the groove; the cylindrical or arc surface design of the contact member 168 and the guide 169 forms linear or point contact with the side wall of the guide groove 161, significantly reducing the frictional resistance, especially in the curve segment for smooth transition; this structure combination ensures that the shovel body 120 closely fits the curvature change of the pot surface during the stirring process, and achieves speed reduction at the end of the stirring working stroke, avoiding the throwing of the fried objects.

[0167] Example Five The difference between this example and Example Four is that the structure of the movable member 163 is different. Please refer to Figure 9 , Figure 15 and Figure 16The movable member 163 comprises a guide member 169 (see Figure 15 , 16 The distal end of the first connecting rod 131 is connected to the guide member 169, and the guide member 169 extends into the guide groove 161. The guide member 169 has a cylindrical surface or an arc surface which can be in contact with the two side walls of the guide groove 161 in the width direction. When the crank 150 is driven to rotate by the first driving mechanism 140 and the shovel handle 130 is driven to move, the guide member 169 can reciprocate along the extension direction of the guide groove 161.

[0168] The cylindrical surface or the arc surface of the guide member 169 is the geometric shape of the contact surface between the guide member 169 and the guide groove 161. The cylindrical surface or the arc surface can be a standard cylindrical surface or a customized arc surface. The purpose is to ensure stable contact with the two side walls of the guide groove 161 in the width direction, realize automatic centering during movement, prevent derailment or deviation, and enable the first connecting rod 131 to adaptively adjust the included angle with the guide groove 161 to avoid structural interference.

[0169] In the connection mode of the guide member 169, the fixed connection is that the guide member 169 and the distal end of the first connecting rod 131 have no relative movement. The fixed connection can be achieved by welding or bolt fixation. The rotary connection is that the guide member 169 and the distal end of the first connecting rod 131 have a relative rotation freedom. The rotary connection can be achieved by a rotating shaft cooperating with a bearing structure. The purpose is to adapt to different working conditions, reduce friction resistance, and reduce wear.

[0170] Please refer to Figure 9 The guide groove 161 further comprises two arc guide grooves which are smoothly and transitionally connected. The guide member 169 extends into the guide groove 161. When the crank 150 is driven to rotate by the first driving mechanism 140 and the shovel handle 130 is driven to move, the guide member 169 can reciprocate along the extension direction of the guide groove 161. At the same time, the distal end of the first connecting rod 131 reciprocates along the guide groove 161. The proximal end of the second connecting rod 132 drives the shovel body 120 to move along a closed curve trajectory. The reciprocating movement realizes the functions of stir-frying and speed reduction at the end of the stir-frying working stroke to avoid the fried objects from being thrown out.

[0171] Embodiment Six The main difference between the embodiment six and the embodiment one is that the structure of the movable member 163 is different. The movable member 163 comprises a sliding block and a rolling body. The distal end of the first connecting rod 131 is rotatably connected to the sliding block. At least one rolling body is arranged on one side of the sliding block. The rolling body is located in the guide groove 161 and is in rolling contact with one side wall of the guide groove 161 in the width direction. The sliding block is located in the guide groove 161. The side of the sliding block which is not provided with the rolling body is in sliding contact with the other side wall of the guide groove 161 in the width direction. The sliding block is a square sliding block, and the guide groove 161 is a straight sliding groove. Alternatively, the sliding block is an arc-shaped sliding block, and the guide groove 161 is a circular arc sliding groove.

[0172] In one scheme, the rolling body is a cylindrical roller, which is rotatably connected to the sliding block through a rotating shaft, and the cylindrical roller is in rolling contact with one side wall of the guide groove 161. In another scheme, the rolling body is a ball and a ball retainer, and the ball retainer is detachably connected to the sliding block, and the ball is in rolling contact with one side wall of the guide groove 161.

[0173] When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the sliding block can reciprocate along the extension direction of the guide groove 161, and the distal end of the first connecting rod 131 reciprocates along the guide groove 161, and the proximal end of the second connecting rod 132 drives the shovel body 120 to move along a closed curve trajectory, so that the speed of the shovel body 120 is reduced at the end of the working stroke, and the fried food is prevented from being thrown out.

[0174] The rolling body provided on one side of the sliding block is in rolling contact with the side wall of the guide groove 161, which replaces the pure sliding contact mode and greatly reduces the friction resistance. Meanwhile, the other side of the sliding block, which is not provided with the rolling body, is in sliding contact with the other side wall of the guide groove 161, which provides necessary lateral constraint to prevent deviation and increase the stability of movement. The rotating connection of the distal end of the first connecting rod 131 with the sliding block allows the shovel handle 130 to naturally adjust the angle along the trajectory of the guide groove 161 during movement, so as to avoid structural interference. When the first driving mechanism 140 drives the crank 150 to rotate, the sliding block reciprocates along the guide groove 161, and the proximal end accurately executes the closed curve trajectory, so as to ensure that the movement of the shovel body 120 is smooth and fluent, and the trajectory deviation and the throwing phenomenon of the fried food caused by jamming are avoided.

[0175] Embodiment Seven The main difference between the embodiment and embodiment six is that the structure of the movable part is different. The movable part 163 includes a sliding block and at least three rolling bodies, and the distal end of the first connecting rod 131 is rotatably connected to the sliding block. The opposite sides of the sliding block are provided with the rolling bodies, and the rolling bodies are located in the guide groove 161. The sliding block is located inside the guide groove 161 or outside the guide groove 161, and the rolling bodies are in rolling contact with one side wall of the guide groove 161 in the width direction. The sliding block is a square sliding block, and the guide groove 161 is a straight sliding groove. Alternatively, the sliding block is an arc-shaped sliding block, and the guide groove 161 is a circular arc sliding groove. The sliding block can be in contact with the side wall of the guide groove 161 to enhance the rigidity of the movement mechanism, or the sliding block can not be in contact with the side wall of the guide groove 161 to reduce the resistance during movement. The rolling body is a cylindrical roller, which is rotatably connected to the sliding block through a rotating shaft, and the cylindrical roller is in rolling contact with one side wall of the guide groove 161. Alternatively, the rolling body is a ball and a ball retainer, and the ball retainer is detachably connected to the sliding block, and the ball is in rolling contact with one side wall of the guide groove 161.

[0176] When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the slider can reciprocate along the extension direction of the guide groove 161, and the distal end of the first connecting rod 131 reciprocates along the guide groove 161, and the proximal end of the second connecting rod 132 drives the shovel body 120 to move along a closed curve trajectory, realizes the functions of stirring and reducing the speed at the end of stirring, and avoids throwing the objects to be stirred.

[0177] Through the combination structure of the slider and the rolling body, when the slider reciprocates in the guide groove 161, the rolling body is in continuous rolling contact with the groove wall, thereby reducing the movement resistance; the slider is provided with rolling bodies on the opposite sides, which ensures that the stress is evenly distributed during movement, effectively inhibiting unilateral deviation or shaking; the distal end of the first connecting rod 131 is rotationally connected with the slider, which allows the shovel handle 130 to naturally adjust the angle along the track of the guide groove 161 during movement, avoiding structural interference and movement jamming.

[0178] Embodiment eight Please refer to Figure 10 The main difference between this embodiment and embodiment one is that the structure of the track is different. The track is a guide rail 162 fixed to the frame 110, and the movable part 163 is clamped between the guide rail 162. When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the movable part 163 can reciprocate along the extension direction of the guide rail 162.

[0179] In this embodiment, the movable part 163 is a slider, and the distal end of the first connecting rod 131 is rotationally connected to the slider. The slider has a guide groove matched with the cross-sectional shape of the guide rail 162, and the slider is arranged across the guide rail 162. The slider is in sliding contact with the guide rail 162 through the guide groove. The guide groove improves the reliability of the track constraint of the guide rail 162. When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the slider can reciprocate along the extension direction of the guide rail 162.

[0180] In this embodiment, the guide groove is a circular arc groove, and the guide rail 162 is a circular arc guide rail.

[0181] In some alternative embodiments of embodiment eight, when the guide groove is a straight groove, the guide rail 162 is a straight rail. Through the matching relationship between the slider and the guide rail 162, the distal end of the first connecting rod 131 is constrained on the predetermined track of the guide rail 162. When the first driving mechanism 140 drives the crank 150 to rotate, the shovel handle 130 is driven to move, and the slider reciprocates along the extension direction of the guide rail 162, so as to ensure that the proximal end of the second connecting rod 132 forms a closed curve, realizes the repeated stirring action of the shovel body 120 on the stir-fried object and the speed reduction of the shovel end at the stirring end; this matching mechanism optimizes the sliding contact interface between the guide groove and the guide rail 162, simplifies the structure while maintaining low-resistance movement, avoids the phenomenon of jamming, and ensures that the distal end of the shovel handle 130 is reliably constrained on the predetermined path, so that the shovel body 120 can adapt to the curvature change of the pot body 200 and maintain seamless contact with the pot surface.

[0182] Embodiment nine The main difference from embodiment eight is that the structure of the movable part 163 is different. Please refer to Figure 17 and Figure 18 The movable part 163 includes a follower 166, and the follower 166 includes a base plate 167 and two contact pieces 168. The distal end of the first connecting rod 131 is rotatably connected to the base plate 167, and the two contact pieces 168 are connected to opposite ends of the base plate 167. The two contact pieces 168 are clamped on opposite sides of the thickness direction of the guide rail 162, and the contact piece 168 has a cylindrical surface or a circular arc surface capable of contacting the side wall of the guide rail 162.

[0183] When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the follower 166 can reciprocate along the extension direction of the guide rail 162.

[0184] Because the follower 166 is adopted, the guide rail can be one of a straight rail, a circular arc rail and a non-circular arc curve rail in the extension direction of the guide rail. The guide rail can also be a combined guide rail smoothly connected by at least two of the straight rail, the circular arc rail and the non-circular arc curve rail in the extension direction of the guide rail.

[0185] Please refer to Figure 17 The contact piece 168 is a cylindrical pin shaft, which is fixedly connected to the base plate 167 and in sliding contact with the guide rail 162; or please refer to Figure 18 The contact piece 168 is a cylindrical pin shaft, which is rotatably connected to the base plate 167 and in rolling contact with the guide rail 162; or the contact piece 168 is a cylindrical roller, which is rotatably connected to the base plate 167 through a rotating shaft and in rolling contact with the guide rail 162.

[0186] The base plate 167 of the follower 166 cooperates with the contact 168, when the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the distal end of the first connecting rod 131 pushes the base plate 167 to reciprocate along the extension direction of the guide rail 162, the proximal end of the second connecting rod 132 drives the shovel body 120 to move along the closed curve track, the functions of the turning and the speed reduction at the end of the turning are realized; the two contacts 168 form the bidirectional clamping force on the opposite sides of the guide rail 162 in the thickness direction, which prevents the movable part 163 from deviating or derailing; the cylindrical surface or the arc surface of the contact 168 contacts with the side wall of the guide rail 162, which dynamically adjusts the contact point according to the direction during the movement, and realizes the smooth movement; when the contact 168 is rotationally connected or a cylindrical roller, the sliding friction is converted into the rolling friction, the rotational degree of freedom of the shaft is used to reduce the friction coefficient, the movement is more stable and the wear accumulation is inhibited, so that the constraint unit 160 can keep the reliable track control in the complex movement. The rotational connection of the base plate 167 and the first connecting rod 131 enables the first connecting rod 131 to adaptively deflect with the position change of the follower 166 on the guide rail 162 during the movement, which prevents the structural interference and the movement jamming.

[0187] Example Ten Please refer to Figure 19 、 Figure 20 The difference between the example nine and the example ten is that the structure of the movable part 163 is different. The movable part 163 includes a connecting piece 170 and two followers 166, the follower 166 includes a base plate 167 and two contacts 168, the two contacts 168 of each follower 166 are connected to the opposite ends of the base plate 167, the two ends of the connecting piece 170 are rotationally connected to the base plates 167 of the two followers 166, the distal end of the first connecting rod 131 is rotationally connected to the connecting piece 170, the two contacts 168 of each follower 166 are clamped on the opposite sides of the guide rail 162, and the contact 168 has a cylindrical surface or an arc surface capable of contacting with the side wall of the guide rail 162; when the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the two followers 166 can reciprocate along the extension direction of the guide rail 162.

[0188] The contact 168 is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected with the base plate 167, and the cylindrical pin shaft is in sliding contact with the guide rail 162; or the contact 168 is a cylindrical pin shaft, the cylindrical pin shaft is rotationally connected with the base plate 167, and the cylindrical pin shaft is in rolling contact with the guide rail 162; or the contact 168 is a cylindrical roller, the cylindrical roller is rotationally connected with the base plate 167 through a shaft, and the cylindrical roller is in rolling contact with the guide rail 162.

[0189] The two followers 166 are connected by the two ends of the connecting piece 170, so that the two followers 166 work cooperatively during the movement of the shovel handle 130, and instability caused by single-point contact is avoided; the two contact pieces 168 of the follower 166 are distributed on the opposite ends of the base plate 167 and clamp the opposite sides of the guide rail 162, so that the follower 166 reciprocates along the extension direction of the guide rail 162 and avoids lateral deviation; the rotational connection between the connecting piece and the base plate 167 of the follower 166 / the rotational connection between the connecting piece and the distal end of the first connecting rod 131 are designed, so that the base plate 167 / the connecting piece / the shovel handle 130 can adaptively deflect with the position and curvature of the follower 166 relative to the guide rail 162 during the movement, and structural interference and movement jamming are avoided.

[0190] The rotational connection between the distal end of the first connecting rod 131 and the connecting piece 170 stably transmits the movement of the shovel handle 130 to the movable piece 163. The structure that the contact pieces 168 clamp the opposite sides of the guide rail 162 completely eliminates the gap between the guide rail 162, and ensures that the reciprocating movement is not loose; under the drive of the first driving mechanism 140, the two followers 166 reciprocate along the extension direction of the guide rail 162, accurately constrain the movement trajectory of the distal end of the first connecting rod 131, so that the movement trajectory of the proximal end of the second connecting rod 132 forms a closed curve, and then the repeated stirring of the stir-fried object by the shovel body 120 and the deceleration of the stirring working stroke at the end of the shovel end are realized.

[0191] Embodiment eleven The main difference from the embodiment eight is that the structure of the movable piece 163 is different. The movable piece 163 comprises a sliding block and at least one rolling body, the sliding block is provided with a guide groove matched with the guide rail 162, and the inner side of the guide groove has at least two matching wall surfaces matched with the guide rail 162; the distal end of the first connecting rod 131 is rotationally connected to the sliding block, and at least one matching wall surface of the sliding block is provided with at least one rolling body, so that the rolling body is in rolling contact with the guide rail 162.

[0192] When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the sliding block can reciprocate along the extension direction of the guide rail 162.

[0193] The guide rail 162 is a linear guide rail 162, and the guide groove is a linear groove; or, the guide rail 162 is a circular arc guide rail 162, and the guide groove is a circular arc groove.

[0194] The rolling body has a cylindrical surface or a circular arc surface capable of contacting the matching wall surface of the guide rail 162.

[0195] The rolling body is a cylindrical roller, the cylindrical roller is rotationally connected to the sliding block through a rotating shaft, and the cylindrical roller is in rolling contact with the guide rail 162; or, the rolling body comprises a ball and a ball retainer, the ball is arranged in the ball retainer, the ball retainer is detachably connected with the sliding block, and the ball is in rolling contact with the guide rail 162.

[0196] By the combination structure of the slider and the rolling body, the guide groove of the slider is accurately fitted with the guide rail 162, ensuring that the movement direction is strictly limited to the extension path of the guide rail 162; at least two matching wall surfaces inside the guide groove form a bidirectional constraint with the guide rail 162, preventing the slider from being laterally deflected during reciprocating motion. The rotary connection of the distal end of the first connecting rod 131 with the slider enables the shovel handle 130 to adapt to the trajectory and curvature changes of the guide rail 162, maintaining the fitting accuracy of the shovel body 120 with the pot surface. The rolling body converts sliding contact into rolling contact, significantly reducing frictional resistance, making the slider movement more smooth, avoiding jamming or vibration, thereby ensuring the continuity and accuracy of the movement trajectory of the shovel body 120.

[0197] Embodiment Twelve The main difference from Embodiment Eight is that the structure of the movable part 163 is different. The movable part 163 includes a sliding table and at least three contact pieces 168, the distal end of the first connecting rod 131 is rotatably connected to the sliding table, and at least one contact piece 168 is arranged on each of the opposite sides of the sliding table along the thickness direction of the guide rail 162. The sliding table is clamped to the opposite sides of the guide rail 162 in the thickness direction through the contact pieces 168, and the contact pieces 168 have a cylindrical surface or a circular arc surface capable of contacting the side wall of the guide rail 162.

[0198] When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the sliding table can reciprocate along the extension direction of the guide rail 162.

[0199] The contact piece 168 is a cylindrical pin shaft fixedly connected with the sliding table and in sliding contact with the guide rail 162; or the contact piece 168 is a cylindrical pin shaft rotatably connected with the sliding table and in rolling contact with the guide rail 162; or the contact piece 168 is a cylindrical roller rotatably connected with the sliding table through a rotating shaft and in rolling contact with the guide rail 162.

[0200] The guide rail 162 is a linear guide rail 162; or the guide rail 162 is a circular arc guide rail 162.

[0201] By distributing at least three contact pieces 168 on both sides of the sliding table in the thickness direction of the guide rail 162, a multi-point clamping constraint system is formed, effectively limiting the freedom of the sliding table perpendicular to the extension direction of the guide rail 162, and avoiding tilting or shaking caused by unilateral stress; the cylindrical surface or the circular arc surface of the contact piece 168 cooperates with the side wall of the guide rail 162, dynamically adapts to the shape changes of the guide rail 162 by utilizing the geometric characteristics of curved surface contact, reduces local stress concentration and maintains low friction movement; when the first driving mechanism 140 drives the crank 150 to rotate, the sliding table reciprocates along the guide rail 162, accurately guiding the trajectory of the distal end of the first connecting rod 131, and further controlling the proximal end of the shovel handle 130 to form a closed curve, realizing the natural deceleration of the shovel end at the end of the stir-frying working stroke, and preventing the cooked food from being thrown out of the pot due to inertia.

[0202] Example XIII The main difference between the example and example eight is that the guide rail 162 and the movable part 163 are different in structure. The guide rail 162 is a cylindrical linear guide rail 162; the movable part 163 includes a sliding plate and a linear bearing, and the linear bearing includes a ball, a ball retainer and a bearing outer ring.

[0203] The linear bearing is sleeved on the cylindrical linear guide rail 162, the sliding plate is fixedly connected to the bearing outer ring of the linear bearing, the sliding plate is rotatably connected to the distal end of the first connecting rod 131, and the ball and the guide rail 162 are in rolling contact.

[0204] When the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the sliding plate can reciprocate along the extension direction of the guide rail 162.

[0205] The cylindrical linear guide rail 162 provides a stable basic guide path, the linear bearing is sleeved on the guide rail 162 to form an assembly relationship without additional constraints, the internal ball is in continuous rolling contact with the surface of the guide rail 162 under the constraint of the retainer, and the original sliding friction is converted into low-resistance rolling friction; the sliding plate is fixedly connected to the bearing outer ring to ensure synchronous transmission of movement, and the rotatable connection of the sliding plate to the distal end of the first connecting rod 131 adapts to the angle change of the shovel handle 130 in movement, avoiding movement jamming; when the first driving mechanism 140 drives the crank 150 to rotate, the reciprocating movement of the sliding plate along the guide rail 162 is more stable and smooth, effectively constraining the movement trajectory of the distal end of the first connecting rod 131, so that the closed curve formed by the proximal end of the second connecting rod 132 remains stable, thereby ensuring that the shovel body 120 can smoothly decelerate at the end of movement on the pot surface, preventing the fried objects from being thrown out due to inertia, and realizing long-stroke stir-frying under a small-size mechanism.

[0206] Example XIV Please refer to Figure 21 The main difference between the example and example one is that the structure of the constraint unit 160 is different, and the movable part does not need to be set. The constraint unit 160 is a sliding ring 164, the sliding ring 164 is rotatably connected to the rack 110, and the first connecting rod 131 is slidably inserted into the sliding ring 164; when the first driving mechanism 140 drives the crank 150 to rotate and drives the shovel handle 130 to move, the first connecting rod 131 can reciprocate along the axial direction of the sliding ring 164; the distance between the geometric center of the sliding ring 164 and the second rotation axis B is defined as L5, then Lc>L5>La, and Lb>La+L5.

[0207] The composite motion mechanism is formed by the rotational connection of the sliding ring 164 and the frame 110 and the sliding insertion with the first connecting rod 131. The free rotation of the sliding ring 164 relative to the frame 110 eliminates the angle conflict caused by the rigid constraint, so that the shovel handle 130 can automatically adjust the posture during the movement according to the curvature of the pot body 200; the axial sliding of the first connecting rod 131 along the sliding ring 164 compensates for the radial position difference caused by the curvature change of the pot body 200, so as to ensure that the edge of the shovel body 120 is always closely attached to the pot surface; when the first driving mechanism 140 drives the crank 150 to rotate, the axial sliding and rotational motion of the first connecting rod 131 at the sliding ring 164 are superimposed, so that the linear velocity of the shovel body 120 naturally attenuates in the movement plane of the shovel body 120 when the shovel body 120 moves to the end of the stroke, thereby avoiding that the fried objects are thrown out due to inertia; at the same time, the L5 parameter satisfies the limiting relationship of Lc>L5>La and Lb>La+L5, so as to ensure that the position of the sliding ring 164 and the lengths of the crank 150 and the two connecting rods are within a reasonable range. Lb>La+L5 ensures that the first connecting rod 131 has sufficient length, so as to ensure that the first connecting rod 131 will not slip off the sliding ring 164 during the stir-frying movement; L5>La ensures that the second connecting rod 132 and the first rotation axis A will not interfere with the sliding ring 164 due to the setting of the distance between the sliding ring 164 and the second rotation axis B being too close during the stir-frying movement; and Lc>L5 ensures that the unfolding amplitude of the proximal end movement closed curve trajectory is large, so as to match a larger pot body 200 while significantly reducing the size of the mechanism.

[0208] The distance between the joint of the first connecting rod 131 and the second connecting rod 132 and the geometric center of the sliding ring 164 is longer during the stir-frying working stroke and shorter during the return stroke of the shovel body 120, so that the linear velocity of the shovel body 120 during the stir-frying working stroke is smaller than the linear velocity during the return stroke, which has a quick return effect and improves the operation efficiency of the cooking device.

[0209] The present application further proposes L5 / La>1.3.

[0210] L5 / La>1.3 means that the ratio of the distance L5 between the geometric center of the sliding ring 164 and the second rotation axis B to the length La of the crank 150 is greater than 1.3, and the purpose is to ensure that the motion trajectory under the constraint of the sliding ring 164 has sufficient convex arc segment characteristics, so as to reduce the linear velocity relative to the pot surface when the shovel body 120 moves to the end of the cooking stroke, thereby avoiding that the fried objects are thrown out of the pot.

[0211] Please refer to Figure 22 The proximal end trajectory of the second connecting rod 132 when the ratio of the distance L5 between the geometric center of the sliding ring 164 and the second rotation axis B to the length La of the crank 150 is 1.3, 1.5, 1.8, 2.2 and 2.5 from outside to inside.

[0212] If the distance between the sliding ring 164 and the second rotation axis B is too short, the joint of the first connecting rod 131 and the second connecting rod 132 is too close to the sliding ring 164 during movement, causing excessive force on the sliding ring 164 and excessive torque on the first connecting rod 131. In addition, during the return stroke after the frying stroke of the spatula body 120, the spatula body 120 is too low and is likely to collide with the fried object, resulting in a large return resistance.

[0213] In the present embodiment, the first driving mechanism 140 drives the crank 150 to rotate, causing the first rotation axis A to move around the circumference with the second rotation axis B as the center, driving the first connecting rod 131 to slide relative to the sliding ring 164 and rotate synchronously with the sliding ring 164. At any moment, the positions of the first rotation axis A and the two points of the sliding ring 164 together determine the position and angle (pose) of the spatula handle 130 and the first connecting rod 131 in the movement plane, so that at any moment during the entire rotation of the crank 150, there is a determined position of the first connecting rod 131 corresponding thereto, that is, at any moment during the entire rotation of the crank 150, there is a determined position of the distal end of the first connecting rod 131 corresponding thereto, and the above-mentioned corresponding relationship does not change in different rotation periods of the crank 150, causing the distal end of the first connecting rod 131 to always move along a fixed trajectory repeatedly in different rotation periods of the crank 150, achieving the effect of the distal end of the first connecting rod 131 moving back and forth along a fixed path determined by the constraint unit 160 along an invisible track. In the above process, the second connecting rod 132 drives the spatula body 120 to move along a closed curve trajectory, achieving the effect of frying and turning the fried object and reducing the speed of the spatula end at the end of the frying and turning work stroke to avoid the fried object being thrown out of the pot body 200.

[0214] Embodiment Fifteen Please refer to Figure 23 The main difference between the present embodiment and the first embodiment is that the structure of the constraint unit 160 is different, and no movable part is needed. The constraint unit 160 includes a constraint connecting rod 165, one end of the constraint connecting rod 165 is rotatably connected to the distal end around a fourth rotation axis, and the other end of the constraint connecting rod 165 is rotatably connected to the frame 110 around a fifth rotation axis; wherein the first rotation axis A, the second rotation axis B, the fourth rotation axis and the fifth rotation axis are parallel to each other and not collinear.

[0215] The length of the constraint connecting rod 165 is defined as Ld, and the distance between the fifth rotation axis and the second rotation axis B is Lm, then La, Lb, Ld and Lm, La is the smallest; the sum of one of Lb, Ld and Lm and La is less than the sum of the other two of Lb, Ld and Lm.

[0216] The first connecting rod 131, the crank 150, the constraint connecting rod 165 and the frame 110 constitute a four-bar mechanism; all the rotation axes remain parallel and non-collinear, so that all the connecting rod movement planes of the four-bar mechanism are parallel to each other, the connecting rod movement interference is eliminated, and the shovel body 120 movement is strictly limited in a single plane, ensuring that the shovel body 120 and the pot surface contact are always in the design plane; when the first driving mechanism 140 drives the crank 150 to rotate around the second rotation axis B, the crank 150 drives the joint of the first connecting rod 131 and the second connecting rod 132 to move, the constraint connecting rod 165 is connected through the rotation of the fourth rotation axis and the fifth rotation axis, and cooperates to constrain the far end of the first connecting rod 131 to move along a circular arc track with the fifth rotation axis as the center and the length Ld of the constraint connecting rod 165 as the radius, the constraint connecting rod 165 plays the same role as the circular arc track constraint unit 160, so that the near end of the second connecting rod 132 forms a closed curve with a convex arc segment away from the second rotation axis B; in particular, La is the minimum length and satisfies the condition that the sum of any one length of Lb, Ld and Lm and La is less than the sum of the other two, which ensures that the mechanism can continuously complete a full rotation and avoids the movement dead point, so that the closed curve contains a convex arc segment, the near end of the second connecting rod 132 moves along the closed curve track, drives the shovel body 120 to realize the stir-frying and the shovel end speed reduction at the end of the stir-frying, and avoids that the fried food is thrown out of the pot body 200.

[0217] The application further provides the above-mentioned cooking device 100, and the first rotation axis A, the second rotation axis B, the third rotation axis C, the fourth rotation axis and the fifth rotation axis are parallel to each other and non-collinear.

[0218] The first rotation axis A, the second rotation axis B, the third rotation axis C, the fourth rotation axis and the fifth rotation axis are parallel to each other, that is, all the rotation axes are parallel to each other and have the same direction, which is to ensure that the movement parts connected with the shovel handle 130 strictly move in parallel planes; and the rotation axes are non-collinear in space, which can be realized in a staggered installation manner, which is to realize the function of the connecting rod mechanism, make the crank 150 rotate a full circle, make the constraint connecting rod 165 swing around the fifth rotation axis as the center, make the far end of the first connecting rod 131 reciprocate along a circular arc track under the constraint of the constraint connecting rod 165, make the near end of the second connecting rod 132 move along a closed curve track, and make the shovel body 120 complete the stir-frying action by adhering to the pot surface, and realize speed reduction at the end of the stir-frying stroke to prevent the fried food from being thrown away from the pot body 200.

[0219] Embodiment sixteen The main difference between the embodiment fifteen and the embodiment fourteen is that the structure of the constraint unit 160 is different, and the movable part is not required to be arranged. The constraint unit 160 comprises a planar multi-link constraint mechanism, which comprises a rack link, a first link, an intermediate link, a second link and an extension link. The rack link is a part of the rack 110 or is arranged independently of the rack 110 and is fixed to the rack 110. One end of the first link is rotatably connected to one end of the rack link. The other end of the first link is rotatably connected to one end of the intermediate link. The other end of the intermediate link is rotatably connected to one end of the second link. The other end of the second link is rotatably connected to the other end of the rack link.

[0220] The intermediate link is rotatably connected to the distal end of the first link 131, or the intermediate link and one end of the extension link are fixedly connected, and the other end of the extension link and the distal end of the first link 131 are rotatably connected.

[0221] The minimum distance between the distal end of the first link 131 and the second rotation axis B in the frying stroke is Lb-La, and the maximum distance between the distal end of the first link 131 and the second rotation axis B in the frying stroke is Lb+La.

[0222] By taking the rack link as a fixed reference, the first link and the second link are rotatable around the two ends of the rack link, respectively, to drive the intermediate link to generate a compound swing motion. The motion is converted into a controllable trajectory of the distal end of the first link 131 through the direct connection of the intermediate link to the distal end of the first link 131 or the indirect transmission of the extension link, so as to convert the rotary motion of the first driving mechanism 140 into the controllable trajectory of the distal end of the first link 131. In the frying stroke, the movement range of the distal end of the first link 131 is constrained in the interval of Lb-La to Lb+La. The constraint is based on the geometric relationship between the length La of the crank 150 and the length Lb of the first link 131, so that the proximal end movement trajectory forms a closed curve with a convex arc segment that protrudes away from the second rotation axis B. The spatula body 120 performs a flipping action under the driving of the proximal end of the second link 132 and realizes deceleration and turning at the end of the flipping stroke, thereby preventing the fried objects from being thrown away from the pot body 200.

[0223] The embodiment of the present application also discloses a frying robot, which comprises a pot body 200, a base 300, a heating device 400 and the frying device 100 of any of the above-mentioned embodiments. The pot body 200 is arranged on the base 300, the heating device 400 is located below the pot body 200, the pot body 200 can rotate relative to the rack 110, there is a gap between the convex arc segment of the closed curve and the pot surface of the pot body 200, the length of the spatula body 120 is L6, the minimum distance between the convex arc segment and the pot surface of the pot body 200 is L7, and L6≥1.4L7. The heating device 400 is used for heating the pot body 200.

[0224] The frying robot of the embodiment of the present application has the structure common to the frying device 100 of any of the above-mentioned embodiments.

[0225] By the geometric design of the convex arc segment and the gap between the spatula body 120 and the pot surface of the pot body 200, and the optimized combination of the length ratio L6≥1.4L7 of the spatula body 120, the spatula body 120 can dynamically adapt to the curvature change of the pot body 200 and maintain seamless contact with the pot surface during the cooking process, reducing the motion pressure angle and the motion resistance. By the convex-concave matching of the convex arc segment and the pot body 200, the ratio relationship of L6≥1.4L7 ensures that the spatula body 120 fully covers the effective area of the pot surface during the whole movement, and even if there is a gap between the proximal end and the pot surface, it can still continuously contact the cooked food, achieving thorough stir-frying and significantly improving the up-down positioning effect. In addition, the mechanism of the rotation of the pot body 200 relative to the frame 110 cooperates with the cooking device 100, further enhancing the spiral circulation flow of the cooked food in the pot, avoiding local accumulation. The present application further proposes that the spatula body 120 has an entry pot position P and a contact highest position Q, the entry pot position P is the position of the spatula body 120 moving from above the pot body 200 to just starting to contact the pot surface, and the contact highest position Q is the position of the spatula body 120 when the spatula end moves to the highest point of the pot surface that can be reached. At the entry pot position P, the proximal end of the second connecting rod 132 is at the first position, and at the contact highest position Q, the proximal end of the second connecting rod 132 is at the second position, the first position is higher than the second position. The above design is to place the spatula end at about the same height as the pot surface at the beginning and end of the stir-frying working stroke, so that the cooking stroke covers the area with higher heat distribution in the pot, and the heat exchange efficiency of the cooked food is high.

[0226] The present embodiment further proposes that the convex arc segment and the inner side of the pot surface cross section of the pot body 200 are complementarily matched (the pot surface cross section refers to the cross section obtained by cutting the pot body 200 along the vertical direction and passing through the lowest point of the pot surface), so that when the spatula body 120 moves along the closed curve, the profile of the convex arc segment matches the profile of the inner side of the pot surface cross section accurately. The definition of the pot surface cross section ensures that the cutting position can accurately reflect the actual curvature characteristics of the pot body 200, so that the convex-concave structure forms a mutually embedded relationship during movement. This matching avoids the contact of the spatula body 120 from being disconnected due to the change of the curvature of the pot body 200, ensures that the spatula body 120 always closely contacts the pot surface for seamless stir-frying and makes the spatula end pass through the lowest point of the pot surface. At the same time, due to the specific shape of the convex arc segment and the combined design of the spatula body 120 and the proximal end rotation connection, the spatula end naturally produces a deceleration effect at the end of the stir-frying stroke, reducing the risk of food being thrown out due to inertia and improving the stability and uniformity of the stir-frying process.

[0227] The present embodiment further proposes that part of the closed curve is located above the pot opening plane of the pot body 200, and the other part is located below the pot opening plane of the pot body 200; or the whole closed curve is located below the pot opening plane of the pot body 200. The purpose of this design is to ensure that the convex arc segment can be close to the pot surface and maintain a small gap, so that the proximal end and the pot surface form a concave-convex matching embedded relationship.

[0228] The base 300 comprises a base 310 and a pot rack 320, the pot body 200 is installed on the pot rack 320 and is stationary relative to the pot rack 320, and the pot rack 320 is rotationally connected to the base 310. A second driving mechanism is further included, which is used to drive the pot body 200 and the pot rack 320 to rotate around a vertical axis. The base 300 can be fixedly connected with the rack 110 or can be independently and stationary arranged on a workbench. The second driving mechanism is arranged to facilitate the rotation of the pot body 200 and the pot rack 320 relative to the cooking device 100, so that the end of the shovel body 120 can sweep different areas of the pot surface without leaving any dead angle. In another alternative embodiment of the present embodiment, the second driving mechanism can not be arranged, and the first driving mechanism 140 drives the pot rack 320 and the pot body 200 to rotate while driving the cooking device 100 to stir-fry through a transmission chain, which can also achieve the effect of stirring the end of the shovel to different areas of the pot surface.

[0229] In order to be able to fully stir-fry the stir-fried objects, the pot body 200 and the pot rack 320 rotate relative to the cooking device 100. It should be understood that, among the combination assembly of the pot body 200 and the pot rack 320 and the combination assembly of the cooking device 100, only one assembly rotates around the vertical axis of the pot body 200 while the other assembly does not rotate.

[0230] The present embodiment further proposes that the base 310 and the rack 110 are fixedly connected, and the reinforcing mechanism is rigid.

[0231] The present application further proposes that a controller is further included, which is installed on the rack 110 and is electrically connected with the first driving mechanism 140 and the second driving mechanism, respectively. The controller can control the operation of the first driving mechanism 140 to control the stir-frying period of the shovel body 120; wherein the stir-frying period of the shovel body 120 is the time used for the proximal end to move along a closed curve for one circle. The controller can also control the operation of the second driving mechanism to control the rotation period of the pot body 200; wherein the rotation period of the pot body 200 is the time used for the pot body 200 to rotate for one circle. Defining the stir-frying period of the shovel body 120 as t1 and the rotation period of the pot body 200 as t2, it is obtained that: t1 < t2, and t2 is not an integer multiple of t1.

[0232] The turnover period of the shovel body 120 is set to be t1, which is less than the rotation period of the pot body, that is, t2, and t2 is a non-integer multiple of t1. Through the above scheme, when the pot body 200 self-rotates for a period T2 which is an integer multiple (for example, 2 times) of the turnover period T1 of the shovel body 120, the shovel body 120 will repeat the track of the last period on the pot surface in the next pot body 200 self-rotation period, leaving a turnover dead angle. The t2 is a non-integer multiple of t1, which makes the turnover action evenly distributed in the whole pot body 200, eliminates the problem of local excessive or insufficient turnover, and improves the uniformity of the up-down position change of the fried objects and the overall frying quality.

[0233] The application further proposes that the pot edge shovel 500 is further included, the pot edge shovel 500 is downwardly inclinedly installed on the rack 110, the bottom of the pot edge shovel 500 extends into the pot opening of the pot body 200 and closely abuts the pot surface of the pot body 200, and when the shovel body 120 turns over the fried objects in the pot body 200, the pot edge shovel 500 can scrape the surface of the pot surface of the pot body 200 located at the pot opening and push the fried objects downward to the contact area of the shovel body 120 and the pot surface.

[0234] Through the above scheme, the pot edge shovel 500 can scrape the surface of the pot surface of the pot body 200 located at the pot opening and push the fried objects downward to the contact area of the shovel body 120 and the pot surface, avoiding the pot opening area being pasted.

[0235] The application further proposes that the second driving mechanism includes a driving motor and a transmission device, the driving motor is installed on the base 310, the transmission device includes a driving gear and a gear ring, the gear ring is arranged outside the pot rack 320, the pot rack 320 is rotationally connected with the base 310 through a bearing, and the driving gear is engaged outside the gear ring, and the driving motor is used to drive the driving gear to rotate, so as to drive the gear ring, the pot rack 320 and the pot body 200 to rotate together.

[0236] The bearing can reduce the transfer resistance. In addition, the bearing can be replaced by a plurality of rollers which are uniformly distributed along the circumference of the pot rack 320.

[0237] By controlling the rotation speed and rotation direction of the first motor and the second motor through the controller, intelligent turnover of the cooking robot can be realized. The pot body 200 can be controlled to rotate continuously or intermittently, and the pot body 200 can be controlled to rotate forward or reverse, so as to support different cooking modes in cooperation with the control system.

[0238] The application further proposes that a position sensor is further included, which is used to detect the position of the crank 150, and the controller controls the start and stop of the second driving mechanism based on the position of the crank 150 detected by the position sensor.

[0239] The controller controls the start and stop of the second driving mechanism based on the position of the crank detected by the position sensor, so as to realize the rotation and stop of the pot body 200, and intermittent stirring can be realized. For example, when the shovel body 120 is detected to be separated from the pot surface, the pot body 200 rotates; when the shovel body 120 contacts the pot surface for stirring, the pot body 200 stops rotating, so as to realize the energy-saving effect.

[0240] In the present application, the function implementation mode of the constraint unit 160 includes two kinds. One is to directly constrain the reciprocating motion path of the far end of the first connecting rod 131 through the track. The other is to indirectly control the position of the far end of the first connecting rod 131 by controlling the pose of the first connecting rod 131 at any time when the crank 150 drives the first connecting rod 131 to move, so that the far end still only reciprocates along the fixed path trajectory in different stirring action periods, which has the same effect that the far end of the first connecting rod 131 is controlled by the track and can only reciprocate along the pre-set constraint path.

[0241] The directional phrases used in the present application, such as clockwise, counterclockwise, left, right, up, down, upward, downward, left side, right side and their derivatives, are related to the direction of the elements shown in the drawings, and do not limit the claims unless explicitly stated herein.

[0242] The above is only the preferred embodiment of the present application, and does not limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cooking apparatus, characterized by comprising: The shoveling machine comprises a frame, a shovel body, a shovel handle, a first driving mechanism, a crank and a constraint unit, the shovel handle comprises a first connecting rod and a second connecting rod fixedly connected or integrally formed, the first driving mechanism is installed on the frame, one end of the crank is rotatably connected to the joint of the first connecting rod and the second connecting rod about a first rotation axis, the other end of the crank is connected to the output end of the first driving mechanism, the output end of the first driving mechanism rotates about a second rotation axis, and the first connecting rod is movably connected to the constraint unit. The end of the first connecting rod away from the second connecting rod is defined as a distal end, the end of the second connecting rod away from the first connecting rod is defined as a proximal end, and the shovel body is rotatably connected to the proximal end about a third rotation axis; at any time, the distal end is located above the proximal end. When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the constraint unit can constrain the movement track of the distal end, so that the movement track of the proximal end forms a closed curve, and thus the shovel body can repeatedly stir the stir-fried objects. The closed curve has a convex arc segment convexly away from the second rotation axis, the length Lb of the first connecting rod is greater than the length La of the crank, and the length Lc of the second connecting rod is greater than the length La of the crank.

2. The cooking apparatus according to claim 1, characterized in that, The first rotation axis and the second rotation axis are parallel and not collinear.

3. The cooking apparatus according to claim 1, wherein The first rotation axis, the second rotation axis and the third rotation axis are parallel and not collinear in pairs.

4. The cooking apparatus according to claim 2, wherein The included angle between the first connecting rod and the second connecting rod is 150-210 degrees.

5. The cooking apparatus according to claim 2, wherein 1.1 La < Lb < 2.5 La.

6. The cooking apparatus according to claim 2, wherein The length Lc of the second connecting rod is greater than the length Lb of the first connecting rod.

7. The cooking apparatus according to any one of claims 1 to 6, characterized in that, The constraint unit is a smooth track with an open end in the extension direction, and the first connecting rod is movably connected to the movable element at the distal end. When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the movable element can reciprocate along the extension direction of the track to constrain the movement track of the distal end of the first connecting rod, so that the movement track of the proximal end of the second connecting rod forms a closed curve; wherein the movable element and the track are in sliding contact or rolling contact. The end point of the track close to the second rotation axis is defined as a track proximal end point, and the end point of the track away from the second rotation axis is defined as a track distal end point, the distance between the track proximal end point and the second rotation axis is L1, the distance between the track distal end point and the second rotation axis is L2, and L1 ≤ Lb - La and L2 ≥ Lb + La. The track comprises one of a straight track, a circular arc track and a non-circular arc curve track in the extension direction of the track; or, 8. The cooking apparatus according to claim 7, characterized in that, The track is a combined track smoothly connected by at least two of a straight track, a circular arc track and a non-circular arc curve track in the extension direction of the track. The track is a guide groove arranged on the frame, or the track is a guide groove fixed on a guide base plate of the frame, and the movable element can reciprocate along the extension direction of the guide groove when the first driving mechanism drives the crank to rotate and drives the shovel handle to move.

9. The cooking apparatus according to claim 7, wherein ​ 10. The cooking apparatus according to claim 7, wherein The track is a guide rail fixed to the frame, and the movable element is clamped in the guide rail. When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the movable element can reciprocate along the extension direction of the guide rail.

11. The cooking apparatus according to claim 7, wherein The track is a non-circular arc curve track. From the proximal end point of the track to the distal end point of the track, the curvature of the non-circular arc curve track continuously changes, and the non-circular arc curve track has at least an arched curve segment. The length of the line connecting the proximal end point of the track and the distal end point of the track is defined as L3, the vertical distance from the vertex of the arched curve segment to the line connecting the proximal end point of the track and the distal end point of the track is defined as L4, and L4 / L3 is defined as the arch height chord length ratio k, then: K<0.5。 12. The cooking apparatus according to claim 7, wherein The track is a circular arc track or part of the track is a circular arc track. The length of the line connecting the proximal end point of the track and the distal end point of the track is defined as L3, the vertical distance from the vertex of the circular arc track to the line connecting the proximal end point of the track and the distal end point of the track is defined as L4, and L4 / L3 is defined as the arch height chord length ratio k, then: K<0.5。 13. The cooking apparatus according to claim 9, wherein The movable element includes a follower, the follower includes a base plate and two contact elements, the distal end of the first connecting rod is rotationally connected to the base plate, and the two contact elements are connected to opposite ends of the base plate. The contact elements extend into the guide groove, and the contact elements have a cylindrical surface or a circular arc surface capable of contacting the two side walls in the width direction of the guide groove. The guide groove is a straight line guide groove or a circular arc guide groove, and the base plate is located outside the guide groove or part of the base plate extends into the guide groove. Alternatively, the guide groove is a curve guide groove with continuously changing curvature, and the base plate is located outside the guide groove. When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the follower can reciprocate along the extension direction of the guide groove. The contact element is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected with the base plate, and the cylindrical pin shaft is in sliding contact with the guide groove. Alternatively, the contact element is a cylindrical pin shaft, the cylindrical pin shaft is rotationally connected with the base plate, and the cylindrical pin shaft is in rolling contact with the guide groove. Alternatively, the contact element is a cylindrical roller, the cylindrical roller is rotationally connected to the base plate through a rotating shaft, and the cylindrical roller is in rolling contact with the guide groove.

14. The cooking apparatus according to claim 9, wherein The movable element includes a connecting element and two followers, the follower includes a base plate and two contact elements, the two contact elements of each follower are connected to opposite ends of the base plate, the two ends of the connecting element are rotationally connected to the base plates of the two followers, the distal end of the first connecting rod is rotationally connected to the connecting element, the contact elements extend into the guide groove, and the contact elements have a cylindrical surface or a circular arc surface capable of contacting the two side walls in the width direction of the guide groove. The guide groove is a straight line guide groove or a circular arc guide groove, and the base plate is located outside the guide groove or part of the base plate extends into the guide groove. Alternatively, the guide groove is a curve guide groove with continuously changing curvature, and the base plate is located outside the guide groove. When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the two followers can reciprocate along the extension direction of the guide groove; The contact piece is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected with the base plate, and the cylindrical pin shaft is in sliding contact with the guide groove; or the contact piece is a cylindrical pin shaft, the cylindrical pin shaft is rotatably connected with the base plate, and the cylindrical pin shaft is in rolling contact with the guide groove; or the contact piece is a cylindrical roller, the cylindrical roller is rotatably connected to the base plate through a rotating shaft, and the cylindrical roller is in rolling contact with the guide groove.

15. The cooking apparatus according to claim 9, wherein The movable piece comprises a connecting piece, a follower and a guide piece, the follower comprises a base plate and two contact pieces, the two contact pieces are connected to opposite ends of the base plate, one end of the connecting piece is rotatably connected to the base plate of the follower, the other end of the connecting piece is connected to the guide piece, the distal end of the first connecting rod is rotatably connected to the connecting piece, the base plate and the connecting piece are located outside the guide groove, the contact piece has a cylindrical surface or a circular arc surface capable of being in contact with the two side walls in the width direction of the guide groove, and the guide piece has a cylindrical surface or a circular arc surface capable of being in contact with the two side walls in the width direction of the guide groove; The guide groove is a straight guide groove or a circular arc guide groove, the base plate is located outside the guide groove or part of the base plate extends into the guide groove; or the guide groove is a curved guide groove with continuously changing curvature, and the base plate is located outside the guide groove; When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the follower and the guide piece can reciprocate along the extension direction of the guide groove; The contact piece is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected with the base plate, and the cylindrical pin shaft is in sliding contact with the guide groove; or the contact piece is a cylindrical pin shaft, the cylindrical pin shaft is rotatably connected with the base plate, and the cylindrical pin shaft is in rolling contact with the guide groove; or the contact piece is a cylindrical roller, the cylindrical roller is rotatably connected to the base plate through a rotating shaft, and the cylindrical roller is in rolling contact with the guide groove; The guide piece is a cylindrical shaft, the cylindrical shaft is fixedly connected to the connecting piece, and the cylindrical shaft is in sliding contact with the guide groove; or the guide piece is a cylindrical shaft, the cylindrical shaft is rotatably connected to the connecting piece, and the cylindrical shaft is in rolling contact with the guide groove; or the guide piece is a roller, the roller is rotatably connected to the connecting piece through a rotating shaft, and the roller is in rolling contact with the guide groove.

16. The cooking apparatus according to claim 9, wherein The movable piece comprises a guide piece, the distal end of the first connecting rod is connected to the guide piece, the guide piece extends into the guide groove, and the guide piece has a cylindrical surface or a circular arc surface capable of being in contact with the two side walls in the width direction of the guide groove; When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the guide piece can reciprocate along the extension direction of the guide groove; The guide is a cylindrical shaft, which is fixedly connected to the distal end of the first connecting rod, and is in sliding contact with the guide groove; or the guide is a cylindrical shaft, which is rotatably connected to the distal end of the first connecting rod, and is in rolling contact with the guide groove; or the guide is a roller, which is rotatably connected to the distal end of the first connecting rod through a rotating shaft, and is in rolling contact with the guide groove.

17. The cooking apparatus according to claim 9, wherein The movable element comprises a sliding block and a rolling body, the distal end of the first connecting rod is rotatably connected to the sliding block, at least one rolling body is arranged on one side of the sliding block, the rolling body is located in the guide groove, and the rolling body is in rolling contact with one side wall of the guide groove in the width direction; the sliding block is located in the guide groove, and one side of the sliding block, on which no rolling body is arranged, is in sliding contact with the other side wall of the guide groove in the width direction; the sliding block is a square sliding block, and the guide groove is a straight sliding groove; or the sliding block is an arc-shaped sliding block, and the guide groove is a circular arc sliding groove; The rolling body is a cylindrical roller, which is rotatably connected to the sliding block through a rotating shaft, and is in rolling contact with one side wall of the guide groove; or the rolling body is a ball and a ball retainer, the ball retainer is detachably connected to the sliding block, and the ball is in rolling contact with one side wall of the guide groove. When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the sliding block can reciprocate along the extension direction of the guide groove.

18. The cooking apparatus according to claim 9, wherein The movable element comprises a sliding block and at least three rolling bodies, the distal end of the first connecting rod is rotatably connected to the sliding block, the sliding block is provided with the rolling bodies on opposite sides thereof, the rolling bodies are located in the guide groove, and the sliding block is located in the guide groove or outside the guide groove, and the rolling bodies are in rolling contact with one side wall of the guide groove in the width direction; the sliding block is a square sliding block, and the guide groove is a straight sliding groove; or the sliding block is an arc-shaped sliding block, and the guide groove is a circular arc sliding groove; The rolling body is a cylindrical roller, which is rotatably connected to the sliding block through a rotating shaft, and is in rolling contact with one side wall of the guide groove; or the rolling body is a ball and a ball retainer, the ball retainer is detachably connected to the sliding block, and the ball is in rolling contact with one side wall of the guide groove; When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the sliding block can reciprocate along the extension direction of the guide groove.

19. The cooking apparatus according to claim 9, wherein The movable element is a sliding block, the distal end of the first connecting rod is rotatably connected to the sliding block, and the sliding block is in sliding contact with two side walls of the guide groove in the width direction; the sliding block is a square sliding block, and the guide groove is a straight sliding groove; or the sliding block is an arc-shaped sliding block, and the guide groove is a circular arc sliding groove; When the first driving mechanism drives the crank to rotate and drives the shovel handle to move, the sliding block can reciprocate along the extension direction of the guide groove.

20. The cooking apparatus according to claim 10, wherein The movable element comprises a follower, the follower comprises a base plate and two contact elements, the distal end of the first connecting rod is rotationally connected to the base plate, the two contact elements are connected to opposite ends of the base plate, the two contact elements are clamped to opposite sides of the thickness direction of the guide rail, and the contact elements have a cylindrical surface or an arc surface capable of being in contact with the side wall of the guide rail; When the first driving mechanism drives the rotation of the crank and the movement of the shovel handle, the follower can reciprocate along the extension direction of the guide rail; The contact element is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected to the base plate, and the cylindrical pin shaft is in sliding contact with the guide rail; or the contact element is a cylindrical pin shaft, the cylindrical pin shaft is rotationally connected to the base plate, and the cylindrical pin shaft is in rolling contact with the guide rail; or the contact element is a cylindrical roller, the cylindrical roller is rotationally connected to the base plate through a rotating shaft, and the cylindrical roller is in rolling contact with the guide rail.

21. The cooking apparatus according to claim 10, wherein The movable element comprises a connecting element and two followers, the follower comprises a base plate and two contact elements, the two contact elements of each follower are connected to opposite ends of the base plate, the base plates of the two followers are rotationally connected at two ends of the connecting element, the distal end of the first connecting rod is rotationally connected to the connecting element, and the two contact elements of each follower are clamped to opposite sides of the guide rail, and the contact elements have a cylindrical surface or an arc surface capable of being in contact with the side wall of the guide rail; When the first driving mechanism drives the rotation of the crank and the movement of the shovel handle, the two followers can reciprocate along the extension direction of the guide rail; The contact element is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected to the base plate, and the cylindrical pin shaft is in sliding contact with the guide rail; or the contact element is a cylindrical pin shaft, the cylindrical pin shaft is rotationally connected to the base plate, and the cylindrical pin shaft is in rolling contact with the guide rail; or the contact element is a cylindrical roller, the cylindrical roller is rotationally connected to the base plate through a rotating shaft, and the cylindrical roller is in rolling contact with the guide rail.

22. The cooking apparatus according to claim 10, wherein The movable element comprises a sliding block and at least one rolling body, the sliding block is provided with a guide groove matched with the guide rail, the inner side of the guide groove has at least two matching wall surfaces matched with the guide rail, the distal end of the first connecting rod is rotationally connected to the sliding block, and at least one matching wall surface of the sliding block is provided with at least one rolling body, so that the rolling body is in rolling contact with the guide rail; When the first driving mechanism drives the rotation of the crank and the movement of the shovel handle, the sliding block can reciprocate along the extension direction of the guide rail; The guide rail is a linear guide rail, and the guide groove is a linear groove; or the guide rail is an arc guide rail, and the guide groove is an arc groove; The rolling body has a cylindrical surface or an arc surface capable of being in contact with the matching wall surface of the guide rail; The rolling body is a cylindrical roller, the cylindrical roller is rotationally connected to the sliding block through a rotating shaft, and the cylindrical roller is in rolling contact with the guide rail; or the rolling body includes a ball and a ball retainer, the ball is arranged in the ball retainer, the ball retainer is detachably connected to the sliding block, and the ball is in rolling contact with the guide rail.

23. The cooking apparatus of claim 10, wherein, The movable element includes a sliding table and at least three contact elements, the distal end of the first connecting rod is rotationally connected to the sliding table, at least one contact element is arranged on each of opposite sides of the sliding table in the thickness direction of the guide rail, the sliding table is clamped on the opposite sides of the guide rail in the thickness direction through the contact elements, and the contact element has a cylindrical surface or a circular arc surface capable of being in contact with the side wall of the guide rail; When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the sliding table can reciprocate along the extension direction of the guide rail; The contact element is a cylindrical pin shaft, the cylindrical pin shaft is fixedly connected to the sliding table, and the cylindrical pin shaft is in sliding contact with the guide rail; or the contact element is a cylindrical pin shaft, the cylindrical pin shaft is rotationally connected to the sliding table, and the cylindrical pin shaft is in rolling contact with the guide rail; or the contact element is a cylindrical roller, the cylindrical roller is rotationally connected to the sliding table through a rotating shaft, and the cylindrical roller is in rolling contact with the guide rail; The guide rail is a linear guide rail; or the guide rail is a circular arc guide rail.

24. The cooking apparatus of claim 10, wherein, The movable element is a sliding block, the distal end of the first connecting rod is rotationally connected to the sliding block, the sliding block has a guide groove matched with the guide rail, the sliding block is arranged on the guide rail, and the sliding block is in sliding contact with the guide rail through the guide groove; When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the sliding block can reciprocate along the extension direction of the guide rail; The guide groove is a linear groove, and the guide rail is a linear guide rail; or the guide groove is a circular arc groove, and the guide rail is a circular arc guide rail.

25. The cooking apparatus of claim 10, wherein, The guide rail is a cylindrical linear guide rail; the movable element includes a sliding plate and a linear bearing, and the linear bearing includes a ball, a ball retainer and a bearing outer ring; The linear bearing is sleeved on the cylindrical linear guide rail, the sliding plate is fixedly connected to the bearing outer ring of the linear bearing, the sliding plate is rotationally connected to the distal end of the first connecting rod, and the ball is in rolling contact with the guide rail; When the first driving mechanism drives the crank to rotate and the shoveling handle to move, the sliding plate can reciprocate along the extension direction of the guide rail.

26. The cooking apparatus according to any one of claims 1 to 4, wherein The constraint unit is a sliding ring, the sliding ring is rotationally connected to the rack, and the first connecting rod is slidably inserted into the sliding ring; when the first driving mechanism drives the crank to rotate and the shoveling handle to move, the first connecting rod can reciprocate along the axial direction of the sliding ring; The distance between the geometric center of the sliding ring and the second rotating shaft is defined as L5, and the following relationship is obtained: Lc > L5 > La, and Lb > La + L5.

27. The cooking apparatus of claim 26, wherein L5 / La > 1.

3.

28. The cooking apparatus of claim 1, 2, 4, 5, or 6, wherein, The constraint unit comprises a constraint connecting rod, one end of the constraint connecting rod is rotationally connected to the distal end around a fourth rotation axis, and the other end of the constraint connecting rod is rotationally connected to the rack around a fifth rotation axis; wherein the first rotation axis, the second rotation axis, the fourth rotation axis and the fifth rotation axis are parallel and not collinear in pairs; The length of the constraint connecting rod is defined as Ld, and the distance between the fifth rotation axis and the second rotation axis is Lm, then: Among La, Lb, Ld and Lm, La is the smallest; The sum of one of Lb, Ld and Lm and La is less than the sum of the other two of Lb, Ld and Lm.

29. The cooking device according to claim 28, wherein the first rotation axis, the second rotation axis, the third rotation axis, the fourth rotation axis and the fifth rotation axis are parallel and not collinear in pairs.

30. The cooking apparatus according to any one of claims 1 to 6, wherein The constraint unit comprises a planar multi-connecting rod constraint mechanism, the planar multi-connecting rod constraint mechanism comprises a rack connecting rod, a first connecting rod, an intermediate rod, a second connecting rod and an extension rod, the rack connecting rod is part of the rack or the rack connecting rod is independently arranged on the rack and fixed to the rack, one end of the first connecting rod is rotationally connected to one end of the rack connecting rod, the other end of the first connecting rod is rotationally connected to one end of the intermediate rod, the other end of the intermediate rod is rotationally connected to one end of the second connecting rod, and the other end of the second connecting rod is rotationally connected to the other end of the rack connecting rod; The intermediate rod is rotationally connected to the distal end of the first connecting rod; or, the intermediate rod and one end of the extension rod are fixedly connected, and the other end of the extension rod is rotationally connected to the distal end of the first connecting rod; The minimum distance between the distal end of the first connecting rod and the second rotation axis in the cooking stroke is Lb-La, and the maximum distance between the distal end of the first connecting rod and the second rotation axis in the cooking stroke is Lb+La.

31. The cooking apparatus according to any one of claims 1 to 6, wherein The first driving mechanism is a motor, the shell of the motor is fixed on the rack, the motor shaft of the motor is the output end of the first driving mechanism, and the motor shaft penetrates through the rack and is fixedly connected to one end of the crank; or, The first driving mechanism comprises a motor and a speed reducer, the shell of the motor is fixed on the rack, the motor shaft of the motor is connected to the input shaft of the speed reducer, the output shaft of the speed reducer is the output end of the first driving mechanism, and the output shaft of the speed reducer penetrates through the rack and is fixedly connected to one end of the crank.

32. The cooking apparatus according to any one of claims 1 to 6, characterized in that, Further comprising a food blocking plate, the food blocking plate is arranged on the second connecting rod and close to the proximal end, and the food blocking plate can block the food to be cooked in front of the movement direction of the food blocking plate during the turning and frying of the shovel body.

33. The cooking apparatus according to any one of claims 1 to 6, wherein Further comprising an elastic component, the elastic component is connected between the second connecting rod and the shovel body; and / or, The side edge of the shovel body away from the proximal end is in the shape of a convex arc or a comb tooth.

34. A cooking robot, characterized by The cooking device comprises a pot body, a base, a heating device and the cooking device of any one of claims 1-33, the pot body is arranged on the base, the heating device is located below the pot body, the pot body can rotate relative to the rack, the convex arc segment and the pot surface of the pot body have a gap, the length of the shovel body is L6, the minimum distance between the convex arc segment and the pot surface of the pot body is L7, and L6≥1.4L7. The heating device is used for heating the pot body.

35. The robotic cooking machine of claim 34, wherein, The shovel body has a pot-entering position and a highest-contact position, the pot-entering position is the position of the shovel body moving downward from above the pot body to just contact the pot surface of the pot body, and the highest-contact position is the position of the shovel end of the shovel body moving along the pot surface of the pot body to the highest point of the pot surface that can be reached. In the pot-entering position, the proximal end of the second connecting rod is in a first position, and in the highest-contact position, the proximal end of the second connecting rod is in a second position, and the first position is higher than the second position.

36. The robotic cooking machine of claim 35, wherein, The convex arc segment and the inner side of the pot surface cross section of the pot body are complementary and matched; wherein the pot surface cross section refers to the cross section obtained by cutting the pot body along the vertical direction and passing through the lowest point of the pot surface.

37. The robotic cooking machine of claim 36, wherein, Part of the closed curve is above the pot opening plane of the pot body, and the other part is below the pot opening plane of the pot body; or, The closed curve is entirely below the pot opening plane of the pot body.

38. The robotic cooking machine of claim 36, wherein, The base comprises a base and a pot rack, the pot body is mounted on the pot rack and is stationary relative to the pot rack, and the pot rack is rotationally connected to the base. Further comprising a second driving mechanism, the second driving mechanism is used for driving the pot body and the pot rack to rotate around a vertical axis.

39. The robotic cooking machine of claim 38, wherein, The base and the rack are fixedly connected.

40. The cooking robot according to claim 38, characterized by, Further comprising a controller, the controller is mounted on the rack, and the controller is electrically connected with the first driving mechanism and the second driving mechanism respectively; The controller can control the operation of the first driving mechanism to control the stirring period of the shovel body; wherein the stirring period of the shovel body is the time taken by the proximal end to move along the closed curve for one circle; The controller can also control the operation of the second driving mechanism to control the rotation period of the pot body; wherein the rotation period of the pot body is the time taken by the pot body to rotate for one circle; Defining the stirring period of the shovel body as t1 and the rotation period of the pot body as t2, then: t1 < t2, and t2 is not an integer multiple of t1.

41. The cooking robot according to claim 37, characterized by, Further comprising a pot edge shovel, the pot edge shovel is downwardly inclined and mounted on the rack, the bottom of the pot edge shovel extends into the pot opening of the pot body and closely abuts the pot surface of the pot body, and when the shovel body stirs the stirred objects in the pot body, the pot edge shovel can scrape the surface of the pot surface of the pot body located at the pot opening and push the stirred objects to the contact area between the shovel body and the pot surface.

42. The cooking robot according to claim 38, characterized by, The second driving mechanism comprises a driving motor and a transmission device, and the driving motor is mounted on the base. The transmission device comprises a driving gear and a gear ring, the gear ring is arranged outside the pot rack, the pot rack is rotatably connected with the base through a bearing, the driving gear is engaged with the outside of the gear ring, and the driving motor is used for driving the driving gear to rotate, so as to drive the gear ring, the pot rack and the pot body to rotate together.

43. The cooking robot according to claim 38, characterized by, A position sensor is further included for detecting the position of the crank. The controller controls the starting and stopping of the second driving mechanism based on the position of the crank detected by the position sensor.

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