CN115670249A

CN115670249A - Stirrer stir-frying device of intelligent cooking machine, cooking machine and cooking method of intelligent cooking machine

Info

Publication number: CN115670249A
Application number: CN202110450361.6A
Authority: CN
Inventors: 李亚锐
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-08-04
Filing date: 2018-01-19
Publication date: 2023-02-03
Also published as: CN109381032A; CN115644703A; CN109381032B

Abstract

The invention discloses a stirrer stir-frying device of an intelligent cooking machine, the cooking machine and a stir-frying cooking method thereof, wherein the stirrer stir-frying device comprises: the stirring shovel system, the stirring shovel system includes stirring shovel auxiliary module and stirring shovel, stirring shovel auxiliary module helps the stirring shovel to turn over the internal food of stir-fry intelligent cooking machine pot, should turn over the stir-fry device and make the stirring shovel can accomplish the independent motion more than two kinds or two kinds, the intelligent cooking machine pot body is including the envelope that the motion of stirring shovel formed, and/or, the stirring shovel auxiliary module drives the stirring shovel and adopts left-right to turn over the stir-fry method or the left-right stir-fry method that turns over of deformation to turn over the internal food of stir-fry intelligent cooking machine pot. The invention better solves the stir-frying problem of the intelligent cooking machine.

Description

Stirrer stir-frying device of intelligent cooking machine, cooking machine and cooking method of intelligent cooking machine

The invention is a division of patent application publication No. CN 109381032A.

Technical Field

The invention relates to the technical field of intelligent household appliances, in particular to a stirrer stir-frying device of an intelligent cooking machine, the cooking machine and a stir-frying cooking method of the stirrer stir-frying device.

Background

In the field of intelligent cooking machines, the most difficult is an intelligent cooker, in particular a Chinese style cooker. Compared with the cooking mode mainly based on water boiling or frying in some countries, the essence of Chinese cooking in the world of good reputation is stir-frying, which makes Chinese cooking have unparalleled taste and color, but also makes Chinese cooking machines have high difficulty. There are hundreds of machine stir-fry schemes for chinese style cooking, for example, robot simulated hand cooking, simulated cook top pan, stir-fry schemes using similar drum washing machines, simulated slice stir-fry, or, the simplest scheme at present: a horizontal stirrer is added at the bottom of the electric cooker, and the like, but the frying problems can not be well solved by the schemes.

For example, the robot is too complex to simulate manual cooking and cannot be realized in a short period, a cook is simulated to overturn a pan, and food needs to be thrown, so that the control difficulty is high, the machine is large in size and high in cost, the food is easy to fall out of the pan, and many dishes (such as dishes with soup) cannot be realized by overturning the pan. It is obviously not appropriate for the household cooking machine to adopt the jolt pan technology.

The problem with the solution of using a drum-type pan in combination with a stirrer, such as the present inventor's 2000 patent CN2448232 and 2001 patent CN1364436, is that the cooking ingredients stick around the pan wall, and therefore, is more suitable for cooking in a corporate canteen, and less suitable for a household cooker. In order to solve the problem, the roller-shaped stirrer can be changed into an inclined mode, but the problem that cooking raw materials are stuck to the periphery of the pot is partially improved, but the structure is not compact, and the food is not convenient to contain.

The simulation of the movement of the slice for cooking is far from practical, because the prior 'machine slice' is far away from the flexibility and the accuracy of human arms, and the 'machine eyes' are lacked for carrying out visual identification on cooking raw materials, the realization is still very difficult. In addition, the movement mechanism is large in size, easy to pollute and inconvenient to clean.

And the simplest scheme at present: a horizontal stirrer is added at the bottom of the electric cooker to form a cooking pot. Such a cooking pan has an unsatisfactory stirring effect, and therefore, the cooking effect is naturally unsatisfactory. In addition, such a stirrer is horizontally moved, which moves the cooking material horizontally, and the horizontal movement generates a centrifugal force, so that the cooking pan is liable to cause a problem that the cooking material is gathered toward the side wall of the pan body, thereby causing a serious disturbance in cooking. In addition, the main area for cooking is near the center of the bottom of the pot body, and the installation of a stirrer at the center of the bottom of the pot body itself affects the operation of the cooking pot. Some cooking machines do not stir, and rely on controlling the heating time of the electric cooker to cook some braised dishes, although some braised dishes can be cooked in red, the cooking machines obviously do not have the basic requirements of Chinese cooking, for example, simple stir-frying of green vegetables is difficult to be well finished. In the above cooking methods, it is not convenient enough to contain the cooked food.

To realize that the intelligent Chinese style cooking machine firstly solves the problem of stir-frying of cooking, unfortunately, the problem of stir-frying of the Chinese style household cooking machine has not been solved well so far. The inventor carefully analyzes the stir-frying of the Chinese style cooking, and finds that the Chinese style cooking stir-frying needs to meet two key conditions, the first one is an obviously easy condition: the raw materials in the cooking pot can be evenly stir-fried and heated. The second condition is that the concealment is deeper, that is: on the premise that the raw materials are fully stirred and uniformly heated, the raw materials are required to be always gathered in a heating area at the bottom of the pot. The second requirement is common in Chinese cooking, and the necessity is specifically analyzed for the following reasons:

1. the heating requirement is as follows: the essence of Chinese cooking is "frying" rather than "boiling", which determines that Chinese cooking requires the least amount of oil and water to "fry" the raw materials, i.e., the food is "fried" in as short a time as possible by means of high temperature "oil and water". Therefore, the Chinese cooking pot has small bottom area, the pot body is inclined, the middle is low, the other places are high, cooking oil and water naturally gather towards the bottom area by the gravity of the earth, therefore, the optimal heating area of the cooking pot is in the bottom area, and if only the stir-frying effect is illustrated to push the cooking raw materials out of the central area, the Chinese cooking requirement is definitely not met.

2. Cooking requirements are as follows: when a lot of Chinese style cooks, water is little, but some powdery seasonings such as salt, sugar, monosodium glutamate, paprika powder and the like are dissolved and then uniformly dispersed in raw materials, so that limited water or soup is required to be concentrated so as to dissolve and uniformly mix the seasonings. On the other hand, chinese style cooking is characterized by strong fire, quick frying and little water, and if soup is not gathered when the pot is full, the phenomenon of dry burning and scorching easily occurs, and the cooking quality is directly influenced.

3. The parts are as follows: generally, a range of portions is to be taken into account in the cooking machine, and in particular, the range of portion variations in the household cooking machine is large, for example, a maximum of five people is to be served, and a minimum of only one person is to be served, which are different by 5 times. In order to take account of the change of the quantity, and to reserve a certain space for operation, the cooking pot cannot be made too small, and the method for solving the problem that the food in the large pot is not cooked is to always concentrate the raw materials in the bottom heating area of the cooking pot as much as possible when the household cooking machine is used for stir-frying, so that the food with small quantity can be cooked although the pot body is larger. The group cooking quantity is basically stable, and the variation range is small. It is seen that there are different requirements for a domestic cooking machine and a dough cooking machine.

4. Saving requirements: grease, seasonings and the like are generally needed for cooking, and if the grease and the seasonings are stained everywhere, additional oil and the like must be poured for supplement during cooking, which causes waste. Cleaning materials such as detergents and water, especially some of the coked materials, are also wasted and are more time consuming and water consuming to clean.

5. The health requirements are as follows: the Chinese cooking mainly depends on high-temperature frying oil to heat food quickly, if the frying oil is always in a heating area of the pot bottom when the frying is carried out, the frying oil is less used when the same heating effect is achieved in the frying, and the requirements of being delicious and healthy are met.

6. Compact structure and recent productization requirements: the dish frying machine of the invention is required to be used at home, so that the dish frying machine is required to be compact, reasonable and beautiful in structure. At the same time, it is required to be able to solve complex cooking problems by skillful conception, enabling the technical conditions to be based. For example, developing a robot with altitude only will certainly solve the cooking problem once and for all, but such a robot may still take ten years or more to achieve, and smart robot cooking may also be into anthropomorphic or anthropomorphic mishaps, for example, if an airplane is designed to fly like a bird, an automobile is designed to run with limbs, and perhaps not the right choice, such as a great discount on efficiency.

The scheme of adopting the stirrer in the patent CN2448232 and the patent CN1364436 of the inventor has the advantages of uniform stirring and stir-frying, easy intelligent control, small volume, energy conservation and the like. In carrying out embodiments of the present invention, however, the inventors have discovered that their use in home cooking machines is compromised due to some of the inherent disadvantages of prior art mixers. The main defects of the prior invention are as follows:

1. there is an effect of the inherent drawbacks of the stirrer structure. All stirrers have the common feature that during the rotational movement from the edge of the pot to the centre of the bottom, the raw material is pushed towards the central area of the pot, but when the bottom area of the pot is rotated further, the raw material is pushed away from the bottom area of the pot, so that the raw material is not kept in the bottom heating area of the cooking pot all the time during stirring.

2. The dish is not convenient to be contained. The above invention, in which the opening of the cooking pan is at the side, i.e., in the direction of the rotational axis of the stirrer, is inconvenient in pouring the ingredients to be cooked or pouring the cooked food. The improvement measure is that the opening of the cooking pot is arranged above the rotating shaft vertical to the stirrer, thus solving the problem of containing dishes. But this is still affected by the inherent drawbacks of the stirrer structure: the raw materials are easily taken out of the container by the stirrer when the opening of the cooking pan is larger; the feeding and discharging of the cooking pot are inconvenient when the opening is small.

Disclosure of Invention

The embodiment of the invention provides a stirrer stir-frying device of an intelligent cooking machine, the cooking machine and a stir-frying cooking method of the stirrer stir-frying device, which are used for stir-frying cooked food and well solve the stir-frying problem of the intelligent cooking machine.

The embodiment of the invention provides a stirrer stir-frying device of an intelligent cooking machine, which comprises a stirring shovel system, wherein the stirring shovel system comprises a stirring shovel auxiliary module and a stirring shovel, the stirring shovel auxiliary module and the stirring shovel are cooperated to realize two or more independent motion modes to stir-fry food in a pan body of the intelligent cooking machine, the final synthetic result of the motion modes comprises that the front end of the stirring shovel leaves the surface of the pan body at a required position and is close to the surface of the pan body at the required position, and the pan body comprises an envelope surface formed by stir-frying the front end of the stirring shovel;

and/or the presence of a gas in the atmosphere,

the stirring shovel system stir-fry or stir-fry the cooking raw materials, wherein, the stirring shovel system adopts a left-right stir-fry method, a rotary offset left-right stir-fry method, a linear offset left-right stir-fry method, a deformed linear offset left-right stir-fry method or an earth magnetic field left-right stir-fry method to stir-fry the food in the cooker.

Optionally, the stirring shovel comprises a stirring shovel vertical rod and a stirring shovel transverse rod, the stirring shovel vertical rod with the electric function mechanism is called a vertical rod module, the stirring shovel transverse rod with the electric function mechanism is called a transverse rod module, and the stirring shovel auxiliary module is used for assisting the stirring shovel in stir-frying;

and/or the stirring shovel auxiliary module also comprises a vertical arm.

Optionally, the blending scoop auxiliary module cooperates with the blending scoop in a controlled motion to accomplish the stir-frying of the food in the cooking machine, the controlled motion comprising:

the stirring shovel moves integrally and rotates around a rotating shaft of the stirring shovel; or the stirring shovel system moves around the circumference of the pot body and stir-fry according to the stir-fry method;

wherein, the overall movement of the stirring shovel comprises translation or rotation, or repetition and/or combination of translation or rotation.

Optionally, the stirring shovel auxiliary module drives the stirring shovel to move integrally and drives the stirring shovel to rotate around a rotating shaft of the stirring shovel;

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

and/or the pan body comprises an enveloping surface formed by a stirring shovel by adopting a left-right stir-frying method, a rotary offset left-right stir-frying method, a rotary eccentric left-right stir-frying method, a linear offset left-right stir-frying method, a deformed linear offset left-right stir-frying method or an earth magnetic field left-right stir-frying method;

and/or the edge shapes of the shovel surface of the stirring shovel and the front end of the stirring shovel are matched with the pot body;

and/or the stirring shovel rotates around a rotating shaft of the stirring shovel and the stirring shovel integrally moves, and the rotation and the integral movement of the stirring shovel are respectively independently controllable;

and/or the stirring shovel is arranged on a bracket of the cooking machine or on the pot body or the pot cover or on a base moving around the pot body/feeding box;

and/or the whole motion of the stirring shovel comprises three-dimensional translation motion or rotation motion of the stirring shovel;

and/or the vertical rod of the stirring shovel can be controlled to bend when the stirring shovel integrally moves;

and/or the vertical rod of the stirring shovel can be controlled to stretch out and draw back;

and/or when the scale of the stirring shovel is obviously smaller than that of the pot body, the stirring shovel only moves up and down and horizontally integrally and the vertical rod module is arranged in the pot body, and the transverse rod of the stirring shovel can be controlled to rotate;

and/or the stirring shovel rotates around the vertical center line of the pot body;

and/or the stirring shovel system does circular motion around the opening plane of the pot body or does integral translation motion along the side of the pot body;

and/or the stirring shovel moves in a translation way along the rotation axis of the stirring shovel;

and/or the stirring shovel system carries out angular lifting and angular rotating motion around a certain horizontal axis perpendicular to the rotation axis of the stirring shovel system or the central horizontal axis of the pot body, so that the front end of the stirring shovel is always matched with the curved surface of the pot body;

and/or when the pot cover is covered, the stirring shovel still can stir and fry food in the pot body, namely the stirring shovel can be positioned in the space surrounded by the pot body and the pot cover.

Optionally, the pan body is an envelope surface formed by the motion of the front end of the stirring shovel;

and/or the stirring shovel spans two ends of the pot body;

and/or a rotating shaft of the stirring shovel penetrates through the upward projection cylindrical surface of the opening of the pot body and extends outwards, so that the auxiliary action of the stirring shovel is not influenced by oil smoke of the pot body;

and/or the stirring shovel is assisted on the cooker body or the cooker cover.

Optionally, the stirring shovel system comprises one or more linear motion devices, the basic model of the stirring shovel system is formed by connecting three linear motion devices in series, the linear motion devices are set to move along the horizontal plane X, Y and vertical Z directions respectively, the Y axis is the axial direction of the stirring shovel rotating shaft, one of the linear motion devices is installed on a cooking machine bracket or a pot cover or a pot body, the other two linear motion devices are installed on the moving end of the previous linear motion device respectively, and the moving end of the last linear motion device is connected with the stirring shovel rotating shaft through a hanging arm; the stirring shovel is driven to rotate by the driving device, and the moving end of the last linear motion device drives the stirring shovel to move integrally and parallelly.

Optionally, the direction of the vertical arm is not limited, and the vertical arm has a certain length or the length is zero;

and/or the driving device is arranged on the moving end of the last linear motion device, crosses over the vertical arm through the mechanical transmission device and drives the stirring shovel to rotate around the rotating shaft of the driving device, or the driving device is arranged at the connecting end of the vertical arm and the rotating shaft of the stirring shovel and drives the stirring shovel to rotate nearby;

or when the size of the stirring shovel is smaller than that of the pot body, the stirring shovel can translate in three dimensions; or the stirring shovel spans the pot body, only two linear motion devices respectively move along the X direction and the Z direction, the moving end of the last linear motion device moves horizontally on an X-Z two-dimensional plane, and the plane is vertical to the axis of the rotating shaft of the stirring shovel; or only horizontal or vertical motion is needed, and only one Y-axis vertical linear moving device or one X-axis horizontal linear moving device is needed.

Optionally, the hanging arm can also be stretched and retracted to drive the stirring shovel to move integrally, or the hanging arm can also swing or rotate or bend from the middle, and the axis of the swing or rotation or bending is parallel to the stirring shovel.

Optionally, the stirring shovel system further comprises a polar coordinate translation device, wherein the polar coordinate translation device comprises a power device, the power device drives the vertical arm to swing or rotate, the axis of the vertical arm swing or rotate is parallel to the axis of the stirring shovel shaft, and the common axis of the vertical arm is positioned right above the axis of the stirring shovel shaft; the vertical arm swings or rotates to drive the stirring shovel to move integrally.

Optionally, the middle of the vertical arm assisted by the stirring shovel can also be bent; alternatively, the drop arm can also be telescopic; the power device is arranged on the outer side surface of the pot cover or on the outer side surface of the pot body, the power device drives the vertical arm rotating shaft to rotate through the transmission device, and the axis of the rotating shaft is parallel to the rotating axis of the stirring shovel; the vertical arm rotating shaft penetrates through the side surface of the pot cover or the side surface of the pot body to drive the vertical arm in the pot body to swing or rotate; and a rotating shaft of a rotating motor of the stirring shovel penetrates through the axis of the rotating shaft of the vertical arm to drive a transmission device in the vertical arm to drive the stirring shovel to rotate around the rotating shaft of the stirring shovel.

Optionally, the stirring shovel system performs integral rotation motion around the plane of the pot body, and/or the stirring shovel system is fixed on a circular ring, and the circular ring performs circular motion, and/or the circular ring is driven by a gear to perform circular motion, and/or the circular ring is in seamless butt joint with the pot body to form a part of the pot body; or the stirring shovel system moves integrally beside the pot body;

and/or, the vertical rod module comprises a plurality of sections of moving arms which are connected by joints, and/or the vertical rod module can horizontally rotate around a vertical shaft, and/or the moving arms can rotate around the extending axis of the moving arms, and/or the cross rod is provided with two mutually vertical rotating shafts, and/or the vertical rod module can rotate through the joints, so that the base of the vertical rod module can finish left-right stir-frying or rotary staggered left-right stir-frying or linear staggered left-right stir-frying and random movement for pressing the stirring shovel on food without moving, and/or the base of the vertical rod module can move out of circular or linear movement;

and/or common cooking tools such as a scraper knife, a filter screen and a soup ladle are placed at fixed positions, the front end of the vertical rod module is provided with a holding clamp or a manipulator which can respectively pick up the common cooking tools, the working range can reach the pot body and/or the feeding box, and the cooking tools are put back to the original position after the work is finished.

Optionally, the blending shovel assists in cooperating with the blending shovel in performing a controlled motion to accomplish the stir-frying of the food in the cooking machine, the controlled motion further comprising:

the stirring shovel is rotated around its self pivot and is bent with the stirring shovel montant, the stirring shovel montant is in order to bend the department boundary, divide into "montant upper boom" and "montant lower beam", "the montant upper boom" meets with the stirring shovel pivot, "the montant lower beam" meets with the stirring shovel horizontal pole, the stirring shovel is bent and is contained "montant upper boom" and be two kinds of bending device of discoid, be called respectively "rod-type of stirring shovel montant bend" or the "disk of stirring shovel montant is bent";

and/or the stirring shovel cross bar can be controlled to rotate.

Optionally, the stirring shovel assists in driving the stirring shovel to rotate around a rotating shaft of the stirring shovel and drives a vertical rod of the stirring shovel to bend;

and/or the stirring shovel rotates around the rotating shaft of the stirring shovel and the stirring shovel vertical rod is bent independently and controllably;

and/or the stirring shovel is arranged on the bracket of the cooking machine and/or arranged on the cover of the cooking machine or arranged on the pot body.

Optionally, the pan body is an envelope surface formed by the motion of the front end of the stirring shovel; and/or the stirring shovel spans two ends of the pot body; and/or the rotating shaft of the stirring shovel penetrates through the upward projection cylindrical surface of the opening of the pot body and extends outwards, so that the stirring shovel is assisted to be free from the influence of oil smoke of the pot body.

Optionally, the agitator stir-fry apparatus comprises: a stirring shovel integral rotation driving motor, a stirring shovel vertical rod bending motor and/or a stirring shovel transverse rod rotating motor,

and/or the stirring shovel integral rotating motor drives the stirring shovel to rotate around a self rotating shaft and drives the stirring shovel vertical rod bending motor to rotate along with the stirring shovel vertical rod bending motor and/or the stirring shovel transverse rod rotating motor to rotate along with the stirring shovel transverse rod bending motor,

and/or the stirring shovel vertical rod bending motor drives the vertical rod to bend, or the stirring shovel vertical rod bending motor drives a rotating shaft of a lower rod of the vertical rod to rotate and drives a stirring shovel transverse rod rotating motor to rotate along with the rotating shaft, and/or the stirring shovel transverse rod rotating motor drives a stirring shovel transverse rod to rotate,

and/or the rotating shaft and the transmission device of the stirring shovel vertical rod bending motor drive the stirring shovel 'lower rod of the vertical rod' to rotate through the stirring shovel rotating shaft and the inside of the 'upper rod of the vertical rod', so that the stirring shovel vertical rod bending is completed; or the stirring shovel vertical rod bending motor is arranged in the stirring shovel vertical rod upper rod, and the stirring shovel vertical rod lower rod is driven to rotate through the transmission device, so that the stirring shovel vertical rod bending is completed; or the stirring shovel vertical rod bending motor is arranged in the lower rod of the stirring shovel vertical rod, and the stirring shovel vertical rod bending motor drives the lower rod of the stirring shovel vertical rod to rotate through the transmission device, so that the stirring shovel vertical rod bending is completed; or the stirring shovel vertical rod bending motor is arranged in the stirring shovel transverse rod and drives the stirring shovel 'lower rod of the vertical rod' to rotate through the transmission device so as to bend the stirring shovel vertical rod,

and/or the stirring shovel integrally rotates through a rotating motor to drive a stirring shovel rotating shaft to rotate, and finally drives the stirring shovel integrally to rotate around the self rotating axis of the stirring shovel, meanwhile, the stirring shovel rotating shaft also drives a stirring shovel transverse rod bending driving motor to synchronously rotate, the rotating shaft of a transverse rod rotating motor is arranged in the stirring shovel rotating shaft, when the stirring shovel transverse rod is required to be bent, the rotating shaft of the stirring shovel transverse rod bending motor rotates, and the stirring shovel transverse rod is finally driven to rotate through a mechanical transmission device in the stirring shovel rotating shaft and a mechanical transmission device in a stirring shovel vertical rod,

and/or the rotating shaft and the transmission device of the stirring shovel transverse rod rotating motor finally complete the rotation of the stirring shovel transverse rod through the rotating shaft of the stirring shovel vertical rod and the inner part of the 'lower rod of the vertical rod'; or a micro stirring shovel transverse rod rotating motor is placed in a stirring shovel vertical rod rotating shaft and drives the stirring shovel transverse rod to rotate through a transmission device in the bending vertical rod; or a micro stirring shovel cross rod rotating motor is placed in the stirring shovel vertical rod and drives the stirring shovel cross rod to rotate through a transmission device in the vertical rod; or a miniature stirring shovel cross rod rotating motor is placed in the stirring shovel cross rod and directly drives the stirring shovel cross rod to rotate.

Optionally, the stirring shovel bending motor and the stirring shovel driving motor adopt a nested driving structure, the bending motor drives the stirring shovel vertical rod to bend through a mechanical transmission device,

and/or the stirring shovel bending motor and the stirring shovel driving motor adopt a follow-up structure, namely the bending motor rotates along with the rotation of the stirring shovel, the bending motor drives the stirring shovel vertical rod to bend through a mechanical transmission device,

and/or the cross rod rotating motor adopts a follow-up structure and/or a nested driving structure combination, and comprises a cross rod rotating motor which moves integrally along with the stirring shovel, and/or the cross rod rotating motor rotates along with the bending rotating shaft of the stirring shovel, and/or the cross rod rotating motor and the bending rotating shaft of the vertical rod are driven in a nested mode, and/or the cross rod motor rotates along with the vertical rod, and the cross rod rotating motor drives the cross rod to rotate through a mechanical transmission device.

Optionally, the stirring shovel horizontal pole rotates to the stirring shovel montant bending point and bends at the stirring shovel montant of the horizontal pole pivot department of stirring shovel.

Optionally, the blending shovel assistance module cooperates with the blending shovel to perform a controlled motion to accomplish the stir-frying of the food in the cooking machine, the controlled motion comprising: the stirring shovel rotates around a rotating shaft of the stirring shovel and the stirring shovel vertical rod stretches.

Optionally, according to the sequence of overall motion of the stirring shovel, rotation of the stirring shovel, bending of the vertical rod of the stirring shovel/stretching of the vertical rod of the stirring shovel and rotation of the horizontal rod of the stirring shovel, the combination of a nested driving structure and a follow-up structure is adopted, and various stirring and frying forms of the stirring shovel are realized.

Optionally, with stirring shovel bulk motion, stirring shovel is rotatory, the stirring shovel montant is bent/the stirring shovel montant is flexible, the stirring shovel horizontal pole is rotatory to carry out different combinations, realize respectively at stirring shovel both ends.

Optionally, different stirring shovels are enabled to rotate or move in a coordinated manner through a synchronous transmission device; and/or the corresponding rotating shafts at two ends of the same stirring shovel synchronously rotate and/or synchronously support; and/or, through the synchronous supporting device, the different stirring shovels synchronously move or the left and right rotating shafts of the same stirring shovel synchronously move.

Alternatively, the synchrodrive/synchrosupport can be mounted inside the pot/lid in addition to outside the pot/lid and/or a stirring shovel spanning both ends of the pot can be used as the synchrodrive/synchrosupport.

Optionally, the transmission device is a belt pulley system, the stirring shovel stretches across the left side and the right side of the pot body, the right side of the pot body drives the motor to rotate, a rotation axis of the stirring shovel is parallel to a rotation shaft of the stirring shovel, and the right rotation shaft is driven to rotate through the belt pulley system; the driving motor simultaneously drives the transmission rotating shaft to rotate, the transmission rotating shaft stretches across from the right side of the pot body to the left side of the pot body to drive the belt pulley system at the left side of the pot body and drive the stirring shovel rotating shaft at the left side of the pot body to synchronously rotate; the pulley system can also be exchanged for a worm system.

The embodiment of the invention also discloses a cooking machine which comprises the stirrer stir-frying device, wherein a part of stirring shovel auxiliary functions are completed by the pot cover, and the pot cover can move up and down and/or rotate around a pot cover rotating shaft to drive the stirring shovel to move integrally or drive a rectangular coordinate translation device or a polar coordinate translation device on the pot cover.

Optionally, when the stirring shovel integrally translates, the stirring shovel can also rotate around the central vertical axis of the pot body;

and/or the vertical rod of the stirring shovel can be bent or the vertical rod can be stretched and/or the transverse rod of the stirring shovel can be rotated;

and/or when the vertical rod of the stirring shovel is bent or the vertical rod stretches and/or the transverse rod of the stirring shovel rotates, the vertical arm in the auxiliary stirring shovel can be simplified to be zero in length.

Optionally, the surrounding surface of the pan body/cover is provided with a hole or a slotted hole, and a transmission device is allowed to pass through the hole or the slotted hole to drive the stirring shovel in the pan body to rotate and move.

Optionally, the stirring shovel spans two ends of the pot body or is smaller than the pot body in size; and/or a cross rod shovel is additionally arranged at the position of a cross rod of the stirring shovel or a vertical rod close to the cross rod;

and/or the junction of the cross rod shovel and the vertical rod is approximately vertical to the vertical rod, so that the stirring shovel is in a hoe shape when viewed from the side; the cross-bar shovel is in a shape of a widened pancake turner seen from the top, and the middle of the cross-bar shovel comprises a thin slice;

and/or, both sides have slightly convex arrises and slightly convex middle arc arrises;

and/or the cross rod shovel is in mirror symmetry with the vertical rod of the stirring shovel;

and/or, a rotating shaft with a rebound function is arranged on the vertical rod;

and/or a rotating shaft with a rebounding function is arranged at the rotating shaft of the cross bar shovel;

and/or a rotating device is arranged in the stirring shovel to drive the cross rod shovel to rotate, and the driving power is transmitted in the stirring shovel or in the vertical rod or through a transmission device in the vertical rod;

and/or a rotating shaft is arranged between the vertical rod rebounding device and the cross rod shovel to drive the cross rod shovel to rotate around the device to stir,

and/or the rotating shaft is superposed with the rotating shaft of the cross bar shovel, so that the cross bar shovel can be driven by the transmission device and has a rebounding function;

and/or shifting the balance position of the stirring shovel with the rebounding function from a position vertical to the vertical rod to a direction close to the pot body by an angle;

and/or, installing a refusing device to limit the moving range of the stirring shovel,

and/or the inclined edge and the vertical rod form a rejection structure,

and/or the middle edge of the stirring shovel is inclined.

Optionally, by adopting a pipeline design, various mechanical transmission devices which are exposed in the oil smoke of the pot body in the auxiliary stirring shovel comprise a gear, a belt and a belt pulley, a chain, a universal shaft and a rotating shaft which are hermetically arranged in the pipeline so as to avoid the pollution of the oil smoke and the water vapor; and/or, the vertical arm is made into a disc shape to reduce the dirt storage and collection.

Optionally, a heating device is arranged at the bottom of the pot body of the cooking machine, the heating device comprises an electric heating device or a gas heating device, and the electric heating device is attached to the curved surface of the pot body or directly mounted on the pot body.

Optionally, the opening surface of the cooker body of the cooking machine is horizontal or has an included angle of 0-90 degrees with the horizontal plane, and/or the rotating shaft of the cooker body is provided with a conductive slip ring, so that when the cooker body rotates, an electric signal can be smoothly sent to the heating device at the bottom of the cooker body from the rotating shaft of the cooker body without being influenced by the rotation of the cooker body, and/or the cover of the cooker body is opened backwards.

Optionally, the stirring shovel rotating shaft is horizontal or has an included angle of 0-90 degrees with the horizontal plane, and/or when the stirring shovel is installed on the pot body, a rotating joint is installed at the stirring shovel rotating shaft, so that external water, gas or steam can be sent into the stirring shovel through the rotating joint without being influenced by the rotation of the stirring shovel, and a nozzle is arranged at the stirring shovel rotating shaft/the stirring shovel vertical rod/the stirring shovel transverse rod; and/or, install the slip ring that conducts electricity on the stirring shovel for the signal of telecommunication of cooking machine can communicate with each other with the electron device of stirring shovel montant/horizontal pole, and/or, install rotatory nozzle in the stirring shovel one end pivot department of the pot body.

Optionally, the stirring shovel and the pan body opening plane form different combinations, including: the opening plane of the pot body is parallel to the stirring shovel rotating shaft, and the pot body rotating shaft is consistent with the stirring shovel rotating shaft at the moment; or the opening plane of the pot body is vertical to the stirring shovel rotating shaft, and the pot body rotating shaft is vertical to the stirring shovel rotating shaft at the moment.

Optionally, the cooking machine pan is rotated about its axis of rotation such that the pan tilts, in conjunction with the rotation of the stirring shovel and/or the use of the weight of the cooking ingredients themselves, to transport the dishes, cooking ingredients or waste water waste residues out of the pan.

Optionally, the cooking machine comprises an irregular cooking raw material feeding device, wherein irregular cooking raw materials are placed in a feeding box, the feeding box is connected with a multi-link device, the multi-link device rotates to drive the feeding box to rotate rapidly, the opening of the feeding box is inverted to the opening of the pot body, and the irregular cooking raw materials in the feeding box are fed into the pot body; and/or the positions of the plurality of irregular cooking material feeding devices are selected at one side and/or the left and right sides and/or the front of the pan body.

Optionally, the cooking machine comprises an irregular cooking raw material feeding device, a feeding box of the feeding device is positioned in the pot cover, the cooking raw materials are placed in the feeding box, and when feeding is needed, the bottom of the feeding box is opened, and the cooking raw materials are fed into the pot body.

Optionally, the cooking machine further comprises a particulate and powdered cooking material feeding device.

Optionally, the pot cover and/or the pot body is provided with an opening for inputting liquid food materials, and/or the stirring shovel/the pot body/the pot cover is provided with a spray head for cleaning the pot body, the pot cover and the stirring shovel, and/or the pot cover is provided with a heating device for heating the top, and/or the pot cover is provided with a ventilation/filtration device for supplementing fresh air into the pot body, preventing foam from forming and growing, or pumping away/filtering oil smoke in the pot body/the pot cover.

Optionally, a bottom-leaking spray device is installed at the bottom of the pan body, and is used for stirring and grinding food, filtering food, discharging food waste residues, or cleaning the pan body, the pan cover, the stirring shovel and all devices in the enclosure of the pan body and the pan cover; and/or the pot body is provided with a side wall rotary spraying device, and/or the pot cover is provided with a top rotary spraying device.

Optionally, a food collection funnel is provided below the pot of the cooking machine to collect food from the pot and allow the food to leak out of the smaller opening into the bowl below the funnel.

Optionally, a dish containing device is arranged at the bottom of the pot body, and a bowl support is arranged on the dish containing device, so that bowls can be placed on the dish containing device and the bowls can be driven to move inside and outside the dish containing device; when the bowl support moves out of the cooking machine, taking the bowls on the bowl support or placing the bowls for containing dishes on the empty bowl support; when the bowl is conveyed to the bottom of the pot body by the movement device, the bowl can contain the fried food materials in the pot body, and the bowl can be conveyed out of the cooking machine by the bowl support after the food materials are contained, so that the fried dish can be picked up conveniently, and/or the dish can be poured by the pot body in a rotating mode and poured into the bowl on the bowl support in combination with stirring of the stirring shovel.

Optionally, a water containing box and a vegetable containing device are arranged below the pot body; and/or the water containing box contains waste water and waste residue poured or fallen from the pot body, the waste water and the waste residue enter the filtering device, and the waste water is discharged from an opening on the water containing box; and/or the pot body rotates to pour water, and the waste water and the waste residue in the pot body are poured into the waste water tank by combining stirring of the stirring shovel; and/or the dish containing device is used for containing dishes, and the water containing box is positioned below the dish containing device; and/or when the waste water of the pot body is received, the bowl support of the dish containing device is not positioned in the bottom area of the pot body, and no shielding object is arranged between the pot body and the water containing groove, so that the waste water is prevented from entering the water containing groove.

Optionally, the cooking machine is provided with a manual control system, so that a worker can control the cooking machine to cook, the manual control system comprises starting and stopping of the cooking machine, control of heating power and starting and stopping, opening and closing of a pot cover, time-sharing feeding of cooking raw materials, turning and frying of a stirring shovel with different speeds and amplitudes, containing of food, washing of the pot body and pouring of waste water in the pot body, and the whole process of cooking is completed through manual operation; and/or, a transparent viewing port is arranged on the cooker cover to observe the manual stir-frying condition.

Optionally, the pot body comprises a main body part and a jointed board, an opening is formed in the bottom of the main body part, the jointed board is matched with the opening, and the jointed board is mounted at the opening;

when the opening is closed by the jointed board, the jointed board and the main body part are completely spliced to form the pot body; when the split plates open the opening, food in the pot body can fall out of the opening;

the jointed board can rotate or translate relative to the main body part or a combination of rotation and translation, and when the jointed board rotates or translates relative to the main body part or rotates and translates, the jointed board can be closed or opened with the opening.

Optionally, the pan body further comprises a subsidiary plate, which is arranged at the periphery of the opening and/or at the joint of the jointed plates, and is used for restraining food falling from the opening or preventing water vapor from escaping.

Optionally, the auxiliary plates include a side auxiliary plate, the jigsaw and the side auxiliary plate jointly restrain food falling from the opening when the jigsaw opens the opening, and the jigsaw is always in close contact with the side auxiliary plate;

or the auxiliary plate comprises a side auxiliary plate and a jointed plate auxiliary plate, the side auxiliary plate is arranged on the periphery of the opening, the jointed plate auxiliary plate is arranged at the joint of the jointed plate, when the opening is opened by the jointed plate, the side auxiliary plate and the jointed plate auxiliary plate jointly restrain food falling from the opening, and the jointed plate and/or the jointed plate auxiliary plate are/is always in close contact with the side auxiliary plate.

The embodiment of the invention also discloses a left-right stir-frying cooking method of the intelligent cooking machine, which is called as an R-L stir-frying method and is applied to the cooking machine, wherein the cooking machine comprises a stirring shovel system and a pot body, and the method comprises the following steps: the stirring shovel rotates, the front end of the stirring shovel is close to the edge of the right end of the pot body and rotates towards the central area of the pot body along with the pot body, cooking raw materials are stirred and pushed to the central area, the front end of the stirring shovel is gradually separated from the surface of the pot body when the front end of the stirring shovel reaches the vicinity of the central area of the pot body, meanwhile, cooking food on the stirring shovel is upwards and gradually taken away from the surface of the pot body, and then the food is turned over and put down, and the stirring shovel continues to rotate to reach the vicinity of the edge of the left end of the pot body; then, and/or the stirring shovel is attached to the pot body near the left end edge of the pot body and rotates from the left end to the central area of the pot body, when the stirring shovel reaches the central area of the pot body, the front end of the stirring shovel is gradually separated from the surface of the pot body, food is overturned, and the stirring shovel continues to rotate to reach the right end edge of the pot body.

Alternatively, the food is stir-fried by a stir shovel,

and/or the vertical rod is bent and/or the transverse rod of the stirring shovel rotates, so that the front end of the stirring shovel faces downwards, and food is toppled and put down towards the front of the motion direction, which is called as a front throwing type or a front throwing type is converted into a snowball type; and/or the vertical rod is bent and/or the stirring shovel cross rod is greatly rotated, so that the front end of the stirring shovel cross rod is rotated backwards, and the food is toppled and put down backwards in the motion direction, namely in a rear throwing mode; and/or the transverse rod of the stirring shovel rotates along the axis of the extending direction of the vertical rod of the stirring shovel to turn over and put down the food, which is called as a side throwing type,

and/or when the stirring shovel stir-fries left-right, the food is not stir-fried in the return stroke of the left stir-fry or is taken near the center of the pan body in the return stroke;

and/or, the stirring shovel is placed on the food, the food is dispersed in the modes of up-down, left-right, oblique up/oblique down, random direction and random track,

and/or the stirring shovel only carries out back-and-forth stir-frying, but the stir-frying path not only passes through the center of the pot body, but also has a path deviating from the center of the pot body, which is called 'earth magnetic field type left-and-right stir-frying', and/or the stirring shovel carries out translation while carrying out stir-frying, which is called 'linear dislocation type left-and-right stir-frying method', and/or the pot body which carries out linear dislocation while carrying out stir-frying and slowly rotates around a horizontal axis so that the stirring shovel is jointed with the bending is called 'deformation linear dislocation type left-and-right stir-frying method', and/or the stirring shovel carries out rotation around the center of the pot body while carrying out stir-frying, which slightly deviates from the center of the pot body is called 'rotation dislocation type left-and-right stir-frying method'.

Optionally, the stir-frying times of the stirring shovel towards the left end are approximately equal to the stir-frying times of the stirring shovel towards the right end;

and/or when the stirring shovel turns left-right to stir and fry through the center of the pot body or the vicinity of the center, the stirring shovel turns over the food to the front or the back of the moving direction, or when the stirring shovel turns left-right to stir and fry to deviate from the center of the pot body, the stirring shovel turns over the food to one side of the moving direction and points to the center of the pot body;

and/or the stirring shovel descends from the upper part of the food to contact the food and then performs left-right movement or random movement to disperse the local food.

The stirrer stir-frying device of the intelligent cooking machine not only keeps the advantages of good stirring effect, simplicity and practicability of a common stirrer, but also overcomes the inherent defects of the existing stirrer. Therefore, the cooking raw materials can be fully stir-fried and uniformly heated in the cooking process, and meanwhile, the cooking raw materials are always positioned in the heating area near the bottom of the cooking pan.

The intelligent cooking machine solves the problem of food stir-frying, simultaneously takes food out into consideration, and has a simple scheme. The intelligent cooking machine of the invention takes the novel stirrer stir-frying device as a core, wherein the novel stirrer stir-frying device can form a novel cooking stirrer, a novel cooking pot and the intelligent cooking machine. The invention provides a simple intelligent cooking machine overall structure, which can feed materials in a time-sharing manner, can automatically hold a tray and automatically clean after cooking is finished, and has higher intelligent level.

Drawings

FIG. 1A is a schematic structural view of a universal mixer;

fig. 1B is a schematic structural diagram of a stirring shovel provided in the embodiment of the present invention;

FIGS. 2A to 2F are schematic views showing problems inherent to a stirring blade;

FIGS. 3A to 3D are schematic structural views of a drum-type cooking pan;

FIGS. 3E and 3F are schematic views of the stirring shovel shaft in a vertical position and the feeding of the pot cover;

fig. 4A to 4D are schematic structural views of a conventional linear motion device and a transmission device;

fig. 4E to fig. 4G are schematic structural diagrams of the exercise device according to the embodiment of the invention;

fig. 5A to fig. 5C are schematic structural diagrams of a nested driving mechanism according to an embodiment of the present invention;

FIGS. 6A to 6M are schematic views illustrating the operation principle of the stirring shovel and the cooking pan;

FIGS. 7A to 7D are schematic views of the stir-frying principle of the novel stirring shovel;

FIG. 8 is a schematic view of the stirring and stir-frying method and the motion trajectory;

FIG. 9 is a schematic view of the food contents;

FIGS. 10A to 10D are schematic views of a movable baffle and a plurality of stirring shovels;

fig. 11A to 11Q are schematic views of an overall moving stir-frying device of a stirring shovel according to an embodiment of the present invention;

FIGS. 12A to 12F are schematic views of several modified stirring shovels;

FIGS. 13A and 13B are schematic views of a mixing shovel system forming a cooking pan system;

FIGS. 14A and 14B are schematic diagrams of an intelligent cooking machine with a cooking pan as a core and a manual button;

FIG. 15 is a schematic view of a novel cooking machine;

fig. 16A to 16J are schematic views of another stirring shovel overall moving stir-frying device according to an embodiment of the present invention;

FIG. 17 is an illustration of the mechanical arm with a stirring blade, and an auxiliary module for the stirring blade in accordance with the present invention;

fig. 18 is a schematic structural view of a pan body with a jigsaw structure of the intelligent cooking machine according to the embodiment of the present invention;

fig. 19 is a schematic structural view of a pan body with a second jigsaw structure of the intelligent cooking machine according to the embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention. In addition, the technical features involved in the respective embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The invention relates to a patent relating to a stirrer of a cooker and a cooker of the inventor, and further discloses a cooker adopting the novel stirrer.

The inventor previously discloses a novel stirrer for a cooking machine, and the stirring and frying problem of the intelligent cooking machine is well solved. The invention relates to a related patent of the invention, namely a method and a device for realizing the integral motion of a stirrer. On the basis, the invention also discloses an overall structure of the intelligent cooker, which comprises a feeding device, a vegetable containing device, a water containing device, a manual operation button, a bottom leakage spraying device and the like, wherein the feeding device, the vegetable containing device, the water containing device, the manual operation button, the bottom leakage spraying device and the like are matched with the cooker body, the stirrer stir-frying device and the cooker cover.

In addition, the invention also improves the stirrer, the cross rod of the stirrer is made into a flat shape, the stirrer and the stirring shovel are combined, the content of the stirrer is expanded, and the stirrer is called as the stirring shovel for showing the characteristics. Similarly, the invention also expands the vertical rod or the vertical rod module of the stirring shovel into a generalized intelligent mechanical arm, so that the essence of the cooker can be more clearly shown, namely, a very complicated problem is bridged through the pustular jie and the guy wire, an efficient problem solving way is found, and the cooker invented by the way has efficient and reasonable characteristics. For example, the invention can be regarded as finding a suitable stir-frying mode, and the stir-frying mode is realized through the mechanical arm area, and the mechanical arm is ingeniously combined with the pot body and the pot cover to form a distributed mechanical arm, so that the problems of mechanical arm movement, mechanical arm volume miniaturization in the pot body, mechanical arm bending, rotation and the like can be ingeniously solved, the stir-frying mode has the problems of oil smoke and water pollution resistance and high-temperature working environment resistance, the mechanical arm is reasonably placed when the stir-frying mode is not used, and the stir-frying mode is combined with the dish holding mode. It will be seen in subsequent patents that in "earth-gold" cooking machines, hundreds of times of effort is required to achieve an efficient, reliable and compact appearance. For example, the inventor also noticed that at the top-level exhibition, there is a cooking robot product demonstration, which has a product logic that a plurality of motion sensors are installed on the body of a famous cook to sense the arm stirring motion and body movement when the cook makes a certain dish, so as to form a total or final arm motion, and then the final motion of the cook's arm is copied by the mechanical arm. The technical difficulty is quite large, and the operation is similar to the operation of recording the washing action of a washing expert for washing a certain clothes and then copying the operation by a mechanical arm; in contrast, the inventive concept is somewhat similar to the inventive drum washing machine (the invention does not use a drum to cook dishes, of course), and the product is designed based on a deterministic principle (i.e., to ensure that the laundry is clean) and an efficient and compact principle.

The inventor discloses a bottom missing spraying device, a granular and powdery cooking raw material feeding device, a top rotary spraying device and a side rotary spraying device which can also be used in the cooking machine earlier, the invention can be combined with other patents of the inventor, adopts the bottom rotary spraying device, the top rotary spraying device, the side rotary spraying device and the granular/powdery cooking raw material feeding device, provides a novel cooking machine such as the cooking machine, an electric cooker and a bread maker, and further enriches and improves the performance of the cooking machine or forms other cooking machines such as an electric cooker.

It should be noted that the present invention is implemented in a rich manner, and each relatively independent space is relatively large, and therefore, the present invention is divided into two or more times, each time sharing the same independent claim, but different, relatively independent dependent claims.

For the sake of brevity, some simplifications may appear in the description, for example:

1. the numbering of the

components

611a, 611b or 1ba, 1bb in the schematic drawings of the present invention is intended to indicate the same type of

component

611 or 1b. Taking the stirring shovel rotating shaft as an example, there may be two stirring shovel rotating shafts 611 in some cases, and one of the two stirring shovel rotating shafts is designated as 611a, and the other stirring shovel rotating shaft is designated as 611b for the sake of distinction. In some cases, only one stirring blade rotating shaft is provided, or the stirring blade rotating shafts are generally described in some cases, and the like, which is also referred to as a stirring blade rotating shaft 611.

2. The front end of the stirring shovel refers to the place where the stirring shovel is attached to the pot body. Among many practical problems, the leading end of the stirring blade is primarily concerned with the place where the stirring blade is farthest from the axis of rotation of the stirring blade, i.e., the outermost side of the stirring blade.

3. "and/or" such as "A/B" is represented by "/" corresponds to "A and/or" B ".

It should be noted that the patent of the present invention is related to the patent published by the inventor, including the patent application numbers: CN201610173576.7, CN201610078229.6, CN201610235041.8, CN201610913557.3 and 201611067429.8, and CN2448232 and CN1364436. Therefore, for the sake of brevity, the relevant statements such as bottom-leaking device are not described in this patent application, and the contents of each patent are appended and related contents may be referred to in the relevant patent.

To facilitate an understanding of the present invention, the following embodiments of the present invention are specifically set forth:

the stirrer stir-frying device of the intelligent cooking machine comprises a stirring shovel system, wherein the stirring shovel system comprises a stirring shovel auxiliary module and a stirring shovel, the stirring shovel auxiliary module drives the stirring shovel to realize two or more independent motion modes to stir-fry food in a pan body of the intelligent cooking machine, one motion mode is that the front end of the stirring shovel leaves the surface of the pan body at a required position, or,

the stirring shovel system comprises a stirring shovel auxiliary module and a stirring shovel, the stirring shovel auxiliary module drives the stirring shovel to realize two or more independent motion modes to stir and fry food in the pan body of the intelligent cooking machine, wherein one motion mode is to enable the front end of the stirring shovel to leave the surface of the pan body at a required position,

and/or the presence of a gas in the gas,

the mechanical arm or the stirring shovel auxiliary module drives the stirring shovel to stir and fry the food in the pan body of the intelligent cooking machine by adopting a left-right stir-frying method;

wherein, the stirring shovel is also called as stirring shovel module.

In practical application, the mechanical arm range is very wide, some powerful mechanical arms even contain the manipulator, and complicated stir-frying can be realized through the combination of the mechanical arm and a very simple turner. For some simple mechanical arms, a powerful stirring shovel must be matched for stir-frying. Considering that a turner also belongs to one of the stirring shovels, for the sake of simplicity, the turner is collectively referred to as a mechanical arm combined with the stirring shovel. In individual cases, the mixing shovel may be referred to as a slice or blade for better visualization.

The stirring shovel comprises a stirring shovel vertical rod and a stirring shovel transverse rod, the stirring shovel vertical rod with an electric function mechanism is called a vertical rod module, the stirring shovel transverse rod with the electric function mechanism is called a transverse rod module, at the moment, the stirring shovel comprises a vertical rod module and a transverse rod module, the stirring shovel is called a stirring shovel module, and the stirring shovel auxiliary module is used for assisting the stirring shovel module to obtain an electric function; and/or the presence of a gas in the gas,

the mechanical arm holds the stirring shovel, or the mechanical arm and the stirring shovel are connected into a whole, the mechanical arm and the stirring shovel vertical rod jointly form a composite mechanical arm, the composite mechanical arm comprises a mechanism with an electric function, and the composite mechanical arm and a stirring shovel transverse rod are combined to form a stirring shovel module or a stirring shovel system;

the stirring shovel auxiliary module also comprises a vertical arm, and the minimum length of the vertical arm is zero.

The mechanical arm and the stirring shovel, or the auxiliary module of the stirring shovel and the stirring shovel, cooperate to perform controlled movement to complete the stir-frying of food in the cooking machine, wherein the controlled movement comprises:

the stirring shovel moves integrally and rotates around a rotating shaft of the stirring shovel;

The stirring shovel provided by the embodiment of the invention is in a bowstring-free shape and comprises a stirring shovel rotating shaft and blades, wherein each blade comprises a stirring shovel vertical rod and a stirring shovel transverse rod. In general, the stirring blade vertical rod can be a straight line or a curve, but the general trend is far away from the rotation axis of the stirring blade; the stirring shovel cross bar can also be a straight line or a curve, but the overall trend is transverse, and the stirring shovel cross bar is a main contributor to the distance across the two ends of the pot body.

The stirring shovel stretches across two ends of the pan body, so that the stirring shovel can rotate to sweep the surface of the pan body at one time. In addition, in order to prevent food from leaking in the stirring process, the stirring shovel is matched with the inner surface of the pot body, or the pot body is a part of an envelope surface generated by the rotation of the stirring shovel, or simply, the main body of the pot body is an envelope surface formed by the front end movement of the stirring shovel. And/or a rotating shaft of the stirring shovel penetrates through the upward projection cylindrical surface of the opening of the pot body, so that the mechanical arm is not or less affected by oil smoke of the pot body, and/or the mechanical arm is arranged on the pot body of the intelligent cooking machine, or the mechanical arm is arranged on a pot cover of the intelligent cooking machine, or when the pot cover is closed, the stirring shovel can stir and cook food in the pot body.

The movement mode of the stirring shovel of the intelligent cooking machine provided by the embodiment of the invention is characterized in that the stirring shovel can independently rotate along the surface of a pot body and can automatically leave the surface of the pot body according to the requirement. For example, the front end of the stirring shovel blade in the far edge area of the pan body can rotate along the surface of the pan body, so that food can be pushed to the central area of the pan body; but the front end of the stirring shovel blade can leave the surface of the pan body after the stirring shovel blade moves to the central area, so that the food is prevented from being taken away from the central area again. The stirring shovel blades are hollow, the stirring shovel blades mainly stir through the stirring shovel cross rods, and the stirring shovel vertical rods mainly play a role in supporting the stirring shovel cross rods.

The embodiment of the invention provides a left-right stir-frying cooking method of an intelligent cooking machine, which can realize stir-frying of a stirring shovel of the intelligent cooking machine: the stirring shovel rotates, the position, without cooking materials, near the edge of the front end of the stirring shovel, such as a point R, at the right end of the pot body is attached to the pot body and rotates towards the central area of the pot body, the cooking materials are stirred and pushed towards the central area, when the position reaches the vicinity of the central area of the pot body, the front end of the stirring shovel gradually breaks away from the surface of the pot body, the front end of the stirring shovel simultaneously upwards and gradually takes the cooking food on the stirring shovel away from the surface of the pot body, then the stirring shovel downwards inclines downwards and rolls over the food towards the front of the moving direction, or the stirring shovel upwards and greatly turns over or turns over for one circle or more circles through the bending of the vertical rod of the stirring shovel and/or the rotation of the horizontal rod of the stirring shovel, the food is turned over and falls down towards the back of the moving direction, and the stirring shovel continues to rotate to reach the vicinity of the edge of the left end of the pot body, such as a point L; and/or the stirring shovel is attached to the pot body again at the position without cooking raw materials near the left end edge (point L) of the pot body and starts to rotate towards the central area of the pot body in the opposite direction, when the stirring shovel reaches the position near the central area of the pot body, the front end of the stirring shovel is gradually separated from the surface of the pot body, and the stirring shovel continues to rotate to the position near the right end edge (point R) of the pot body, so that a complete classical stirring process or a complete stirring and frying process is completed.

The non-classical stirring or stir-frying may be from one end of the pan body to the other end L, followed by continued rotation, and again, the pan body near the point R, repeated several times, and finally, the pan body near the point L, and then stir-frying from the point L to the point R, and repeated several times.

Through many such classic or non-classic "stirring" or "stir-frying" processes, a uniform heating and maintenance of the food in the central region of the pan is finally achieved. A cooking may have hundreds of stir-frying processes. In general, the number of times from the point R to the point L is substantially equal to the number of times from the point L to the point R without any particular cause. In principle, the stir-frying state of the stirring shovel from the point R to the point L is equivalent to the stir-frying state of the stirring shovel from the point L to the point R, each stir-frying process is a stirring process, and meanwhile, the raw materials which are pushed away from the central area by the stir-frying in the last time are pushed back to the central area again, so that perfect matching is formed. We refer to this stir-frying method as "R-L" stir-frying method for short.

How to the stirring shovel to realize the above movement mode or stir-frying? The embodiment of the invention provides four basic schemes.

The first scheme is that the stirring shovel moves integrally. For example:

1. the stirring shovel rotates clockwise from the right edge area of the pan body to the center area of the pan body by clinging to the surface of the pan body, and pushes the food on the right side of the pan body to the center area of the pan body. After reaching the central area, the stirring shovel is lifted upwards, so that the transverse rod of the stirring shovel is separated from the food. Thus, although the stirring shovel continues to rotate clockwise, the food is not pushed to the left.

2. As the stirring shovel continues to rotate to the edge region on the left, the stirring shovel descends entirely, causing the stirring shovel to cling to the pan body again, and then the stirring shovel rotates counterclockwise pushing the food on the left of the pan body toward the central region. Then, the mixing shovel is lifted up again to make the mixing shovel cross bar break away from the food, so that the food can not be pushed away from the central area when the mixing shovel continues to rotate anticlockwise. When the stirring shovel continuously rotates to the edge area on the right side, the stirring shovel integrally moves downwards, so that the stirring shovel is tightly attached to the pot body again.

3. Repeating the

steps

1 and 2 to complete the stirring effect of stir-frying.

The design of the stirring shovel has the difficulties of avoiding the oil smoke from polluting driving devices and transmission devices such as a stirring shovel motor and the like, along with small volume, simple structure and no influence on the function of a pot cover. The inventor mainly discloses a scheme for integrally moving the stirring shovel, and the invention mainly discloses a realizing device.

The second scheme is that stirring shovel montant can stretch out and draw back. For example:

1. the stirring shovel rotates clockwise from the right edge area of the pan body to the center area of the pan body by clinging to the surface of the pan body, and pushes the food on the right side of the pan body to the center area of the pan body. After reaching the central area, the stirring shovel vertical rod contracts to shorten the vertical rod, so that the stirring shovel transverse rod leaves the surface of the pot body and is lifted upwards, and the stirring shovel transverse rod is separated from food. Thus, the stirring shovel continues to rotate clockwise, but does not push the food forward.

2. When the stirring shovel continues to rotate to the edge area on the left, the vertical rod of the stirring shovel extends, so that the horizontal rod of the stirring shovel descends and is attached to the pot body again, and then the stirring shovel rotates anticlockwise to push food on the left of the pot body to the central area. At this moment, the stirring shovel montant contracts for the montant shortens, lifts after the stirring shovel horizontal pole leaves the pot body surface again, makes the stirring shovel horizontal pole break away from food, just can not push away food from central zone when the stirring shovel continues anticlockwise rotation like this. When the stirring shovel continues to rotate to the edge area on the right side, the vertical rod of the stirring shovel extends, so that the horizontal rod of the stirring shovel moves downwards and is tightly attached to the pot body again.

3. Repeating the

steps

1 and 2 to complete the stir-frying effect.

The third scheme is that the vertical rod of the stirring shovel can be bent. For example:

1. the stirring shovel rotates clockwise from the right edge area of the pan body to the center area of the pan body by clinging to the surface of the pan body, and pushes the food on the right side of the pan body to the center area of the pan body. After the food reaches the central area, the vertical rod of the stirring shovel is bent, so that the vertical rod is shortened, the horizontal rod of the stirring shovel leaves the surface of the pot body and is lifted upwards, and the horizontal rod of the stirring shovel is separated from the food. Thus, the stirring shovel continues to rotate clockwise, but does not push the food forward.

2. When the stirring shovel continues to rotate to the edge area on the left side, the stirring shovel vertical rod is straightened again and lengthened by bending, so that the stirring shovel transverse rod is tightly attached to the pot body again, then the stirring shovel rotates anticlockwise, and food on the left side of the pot body is pushed to the central area. At this moment, the stirring shovel montant contracts for the montant shortens, and the stirring shovel horizontal pole leaves the pot body surface again and lifts, makes the stirring shovel horizontal pole break away from food, just can not push away food from central zone like this when the stirring shovel continues anticlockwise rotation. When the stirring shovel continues to rotate to the edge area on the right side, the vertical rod of the stirring shovel is straightened again and lengthened by bending, so that the horizontal rod of the stirring shovel moves downwards and is tightly attached to the pot body again.

3. Repeating the

steps

1 and 2 to complete the stirring effect of stir-frying.

The fourth solution is that the stirring shovel cross bar can rotate. For example:

1. the cross rod of the stirring shovel is in a sheet shape. The stirring shovel rotates clockwise from the right edge area of the pan body to the center area of the pan body by clinging to the surface of the pan body, and pushes the food on the right side of the pan body to the center area of the pan body. After reaching the central area, the stirring shovel cross rod rotates to form that the front end of the cross rod leaves the surface of the pot body and is lifted upwards, so that the stirring shovel cross rod is separated from food. Thus, the stirring shovel continues to rotate clockwise, but does not push the food forward.

2. As the stirring shovel continues to rotate to the edge region on the left, the stirring shovel cross bar rotates so that the stirring shovel cross bar is again snug against the pan body, and then the stirring shovel rotates counter-clockwise pushing the food to the left of the pan body toward the center region. At this moment, the stirring shovel horizontal pole is rotatory for the stirring shovel horizontal pole leaves the pot body surface again and lifts, and the stirring shovel horizontal pole breaks away from food, just can not push away food from central zone like this when the stirring shovel continues anticlockwise rotation. When the stirring shovel continuously rotates to the edge area on the right side, the stirring shovel rotates to return to the original shape, so that the transverse rod of the stirring shovel descends and is tightly attached to the pot body again.

3. Repeating the

steps

1 and 2 to complete the stirring effect of stir-frying.

Obviously, to accomplish the above function, the mixing blade of the present invention would not be a simple mixing device, which would be more complex than conventional mixing devices. For better description, the complex stirring shovel of the present invention is referred to as a stirring shovel module or a stirring shovel system, and the stirring shovel system may include two parts, namely a stirring shovel vertical rod and a stirring shovel horizontal rod, a stirring shovel vertical rod including a mechanism with an electric function is referred to as a vertical rod module, and a stirring shovel horizontal rod including a mechanism with an electric function is referred to as a horizontal rod module, and at this time, the stirring shovel includes a vertical rod module and a horizontal rod module, and at this time, the stirring shovel is referred to as a stirring shovel module, and the stirring shovel auxiliary module are closely related and sometimes have no strict limit (as if the stirring shovel vertical rod and the stirring shovel horizontal rod have no strict limit, or as if the pan body heating area has no strict limit), but generally, the unpowered part is referred to as a stirring shovel, and the power part for driving the stirring shovel is referred to as a stirring shovel auxiliary module. However, in some general descriptions, the stirring blade module or the stirring blade system is still replaced by the stirring blade so as to avoid tremble but not to cause ambiguity, and when the stirring blade does not include the stirring blade auxiliary module, the stirring blade module or the stirring blade system is also degraded into the stirring blade.

This will be explained in detail later by taking fig. 6I as an example. In order to avoid ambiguity when describing the working principle of the stirring shovel and the driving module in detail, the stirring shovel in the pot body is sometimes embodied by using a stirring shovel blade, a stirring shovel vertical rod, a stirring shovel horizontal rod and the like.

It is obvious that various combinations of the four schemes can also achieve the purpose of stir-frying, such as the combination of the first scheme and the second scheme, the combination of the first scheme and the third scheme, the combination of the first scheme and the fourth scheme, and the combination of the first scheme, the second scheme, the third scheme and the fourth scheme, etc. One specific example is the first and third combinations: the stirring shovel overall motion combines the stirring shovel montant to bend. The same scheme can also be repeatedly applied to the stirring shovel, for example, the vertical rod of the stirring shovel is bent twice. For simplicity, the invention summarizes the repeated bending of the stirring shovel into the bending of the stirring shovel. In the same way, the stirring shovel integrally moves for multiple times to integrally move; the stirring shovel blade stretches out and draws back many times to the stirring shovel is flexible, and the stirring shovel is rotatory to the rotatory many times of stirring shovel. In all of these cases, the present invention has been considered.

It can be seen behind that the rotation of stirring shovel horizontal pole and the bending of stirring shovel montant can be returned to same class, and both do not have the essence different. Therefore, when the invention is not explained, the rotation of the blade cross bar of the stirring shovel is summarized to the bending of the blade of the stirring shovel, so that the bending of the blade of the stirring shovel and the rotation of the blade cross bar of the stirring shovel are also used as the category of the multiple bending of the stirring shovel.

The soft material of high temperature resistance can be installed at the blade edge of stirring shovel, makes like this to laminate more between the stirring shovel and the pot body, and the difficult fish tail pot body of stirring shovel, reserves certain tolerance redundancy. Several rows of sawteeth can be arranged on the soft material in a staggered way, so that part of liquid can flow through the sawteeth, but cooking raw materials can not pass through the sawteeth, and part of grease is reserved on the surface of the pot body, thereby playing roles of lubrication and heat dissipation. The most common soft material that is resistant to high temperatures and non-toxic is silica gel.

The redundancy of the mixing shovel can also be achieved by allowing the vertical or horizontal bars or the blades perpendicular to the horizontal bars to be able to bend elastically to some extent.

The stirring shovel can be arranged on the pot body and the pot cover. Or is arranged outside the pot body/the pot cover and then transferred into the pot body when needed. A cooking machine can be equipped with one or more stirring shovels, for example two orthogonal stirring shovels on the body or stirring shovels on the body and lid, respectively.

The method is irrelevant to the specific shape of the stirring shovel, for example, the stretching of the vertical rod of the stirring shovel can be popularized to the stretching of the stirring shovel, the bending of the vertical rod of the stirring shovel can be popularized to the bending of the stirring shovel, and the rotation of the transverse rod of the stirring shovel can also be regarded as the rotation of the front end part (the part close to the pot body) of the stirring shovel, so that the method is in the protection range of the patent. However, for purposes of illustrating the present disclosure, a specific mixing blade must be selected for display. In particular, a stirring shovel in an intelligent cooking machine incorporating the present invention is prototype in the shape of a bowless bow. The stirring shovel has smaller section line diameter, is shaped like a rod and has simple structure. However, it has been analyzed in the background section that the stirring shovel cannot be used directly to achieve an excellent stir-frying function. According to the stir-frying method disclosed by the invention, revolutionary breakthrough innovation is carried out on the stirring shovel, the stir-frying problem troubling the intelligent cooking machine is perfectly solved for the first time, and the stir-frying method has great significance for the development of intelligent cooking all over the world. The stirring shovel device not only meets the stir-frying requirement of the intelligent cooking machine, but also keeps the characteristics of simplicity and small and exquisite of a common stirring shovel, and has the following outstanding advantages:

1. the stirring shovel and the cooking machine thereof are not easy to store dirt and facilitate cleaning during working.

2. The stirring shovel is characterized in that the blades of the stirring shovel span the surface of the pot body, and when the stirring shovel rotates along with the pot body, raw materials in the pot body, which are in contact with the stirring shovel, can be simultaneously driven, so that the efficiency is high, and a driving mechanism of the stirring shovel is simple.

3. The stirring shovel still keeps the characteristics of simplicity and smallness of the stirring shovel and can be tightly attached to the surface of the pot body, and the line diameter of the cross section of the stirring shovel can be made smaller, so that the feeding of cooking raw materials into the pot body cannot be influenced even if the stirring shovel is arranged in the pot body.

4. The stirring shovel can be arranged on the cooker body or the cooker cover, and the cooker cover can still work when being covered, so that the cooker cover is prevented from moving back, and the stirring shovel is prevented from moving back, and the structure of the whole cooking machine is greatly simplified. Meanwhile, the pollution of cooking oil smoke to the auxiliary driving mechanism of the stirring shovel and the auxiliary driving mechanism of the cooker cover is avoided.

5. The stirring shovel can stir and fry well, enables the opening of the cooking pot to be large, and is convenient for feeding.

6. The stirring shovel of the invention is skillfully combined with the cooking pot to realize the holding of cooking raw materials, and the matching function of the stirring shovel and the pot body is fully exerted.

7. The stirring shovel still keeps the rod-shaped characteristic of the conventional stirrer on the premise of realizing the stir-frying function. Therefore, the stirring shovel can be made into a hollow shape and provided with small holes, so that the stirring shovel is used for spraying water and gas to achieve the purposes of cleaning the pot body and the like, or discharging rice washing water in the electric cooker out of the cooking pot. The stirring shovel can be regarded as a line during the discussion of the principle of the invention, and the stirring shovel can be made into a hollow pipeline in practical application.

8. A string-free stirring shovel module structure can well give consideration to feeding and stirring.

By adopting the scheme of stirring and stir-frying by the stirring shovel, the shape of the pan body is also restricted by the stirring shovel, namely the pan body and the stirring shovel rotate around the axis to form an enveloping surface which is similar. Of course, the actual pan body needs to consider factors such as friction, machining tolerance and functional design, so that the theoretical pan body and the actual pan body have local differences, for example, the pan body is slightly deviated from the rotating envelope line of the stirring shovel due to the fact that a flexible material is arranged at the front end of the transverse rod of the stirring shovel. None of which affect the benefit of this patent.

The novel stirrer can be matched with the pot body and the pot cover to obtain a novel stirrer, such as a dough mixer and a salad stirrer. The mixer is matched with a heating device to form a novel cooking pot, such as a simple frying pot, an electric cooker, a bread maker, a soybean milk machine, a coffee machine and the like. The cooking pot is matched with a time-sharing feeding device, an automatic containing device, an Internet of things recognition device, an operating system and an Internet module to form an intelligent cooking machine. Conversely, such intelligent cooking machines are considered to be a complete set, some of which may constitute a blender (e.g., dough mixer), a cooking pan, a bread maker, etc., respectively, and when so indicated, these may be referred to simply as cooking machines. The stirring shovel of the invention can also be used as a washing machine, for example for washing vegetables, clothes and the like.

The novel stirrer can perfectly stir and stir the food in the pot body, the novel stirrer becomes a novel stirrer by combining the pot body, the pot body of the stirrer becomes a cooking pot with a stir-frying function by being provided with the heating device, and the novel stirrer is called an intelligent cooking machine by being matched with various feeding devices.

The heating of the pot body can be realized by installing an electric heating wire at the bottom or installing an induction coil of an induction cooker for heating, and the heating body can be made into a curved surface shape at the bottom of the pot body. The pot cover can also be provided with a heating device, and even the stirring shovel can also be provided with a heating device. The heating device can comprise an electric heating device or a gas heating device, and the electric heating device is attached to the curved surface of the pot body or directly arranged on the pot body. It is apparent that the cooking machine can employ other heating devices such as light wave heating, microwave heating, etc., in addition to the heating wire and the electric heating device such as the induction cooker.

The food in the pot body is contained or the water for washing the pot is poured out, the pot body is required to rotate about 90-120 degrees, and the food falls out of the pot body from the opening and is contained in a bowl at the lower part of the pot body by means of the gravity of the food and the pushing of the stirring shovel.

The following are some important descriptions of the present invention:

1. in order to realize perfect stirring and stir-frying of food in the pan body by the stirring shovel, the rotation of the stirring shovel module around the module rotating shaft 61 and the integral movement of the stirring shovel should be completed by two independent driving devices, and only then can a complete set of stirring and stir-frying modes be obtained, which is the reason called perfect stirring and stir-frying. In some practical imperfect driving, there may be a structure in which only one driving device completes two actions (rotation of the stirring shovel module around the module rotating shaft 61 and integral movement of the stirring shovel), and such stir-frying mode must be a stir-frying subset, and perfect stirring and stir-frying cannot be performed. The same reason, in order to realize that the stirring shovel perfectly stirs and turns over the stir-fry to the internal food of pot, the stirring shovel module should be accomplished by two independent drive arrangement around the rotation of module pivot 61 and the flexible with stirring shovel montant, the stirring shovel module should be accomplished by two independent drive arrangement around the rotation of module pivot 61 and the bending of stirring shovel montant, the stirring shovel module should be accomplished by two independent drive arrangement around the rotation of module pivot 61 and the rotation of stirring shovel horizontal pole.

2. The invention discloses a mode for solving the problem of cooking stir-frying, which is essentially capable of independently controlling the front end of a stirring shovel to be in contact with or away from a pot body at any required position, for example, the front end of the stirring shovel can be always in contact with the surface of the pot body; the pot body can be contacted at a required position, the contact time can be controlled, and then the pot body is separated from the required position. The contact and separation of the stirring blade from the pan body is based on the quantity, characteristics and cooking specifications of the cooking ingredients. The front end of the stirring shovel contacts the pot body at the same position and leaves the pot body at the same position, but the rotation rates of the stirring shovel are different or the bending rates of the vertical rod (the rotation of the cross rod and the like) of the stirring shovel are different, and the movement tracks of the front end of the stirring shovel are also different. The stirrer prior to the present invention, although it was also possible to have the stirrer contact or leave the surface of the pan, the point of contact or point of departure was uncontrolled, and the trajectory of the front end of the stirrer was the same whether the stirrer was rotating at a fast or slow rate. Therefore, the external stir-frying mode of the invention indicates the direction for searching other types of stirrers, and if other types of stirrers adopt the stir-frying method of the invention, the invention is also within the protection scope of the invention.

3. The claims of the present invention are directed to the movement of the stirring blade to the pan body (the pan body is stationary), and these movements can also be achieved by the movement of the pan body relative to the stirring blade, both of which are essentially the same, and are within the scope of the present invention.

4. The invention fully applies the gravity principle, so that the stirring shovel module of the external stir-frying stirring shovel system consisting of the stirring shovel 6 and the stirring shovel auxiliary module 7 has the rotation axis 61 of 0-90 degrees and better effect of 0-60 degrees, but the rotation axis of the stirring shovel is preferably in the horizontal direction. On the other hand, generally, although the opening plane of the pot body of the present invention can be in a range from parallel to vertical to the rotation shaft 61 of the stirring shovel module, that is, in a range of 0 ° to 90 °, the opening plane of the pot body of the present invention is also preferably horizontal or near horizontal.

In contrast, the rotating shaft of the existing cooking machine (stirrer with heating function) is positioned in the vertical direction, so that the stirring shovel can throw food to the edge of the pot body when rotating, the food stirring effect is seriously affected, and the stirring shovel only slides over the bottom of the pot body and cannot turn over the cooking raw materials fully, so that the stirring effect is poor.

In principle, if a traditional stirrer is used, the rotating shaft of the stirrer is in a horizontal position, and if the opening plane of the pot body is also horizontal, the stirrer or the cooking machine cannot work normally, because the stirrer pushes food out of the pot body when working, so that only the cooking machine of the invention can use the stirring shovel of the horizontal rotating shaft to stir the cooking pot with the opening plane.

In practical application, the rotating shaft of the stirring shovel module and the opening of the pot body are preferably horizontal and have no influence even if inclined a little, for example, the inclination angle is basically not different within 30 degrees and can still be used between 30 degrees and 60 degrees. A stirring blade rotation axis larger than 60 ° gradually worsens the stirring effect, and when it is equal to 90 °, the transition is made to the case of fig. 2F and fig. 3B (θ =90 °). Details are illustrated in fig. 3A to 3F.

5. The stirring shovel system (comprising the stirring shovel and the stirring shovel auxiliary module) preferably uses a stirring shovel cross bar (or a part of a stirring shovel blade opposite to a stirring shovel module rotating shaft) for stirring.

6. Because the intelligent cooking machine is used for replacing manual cooking, if the cooking machine cannot solve the problem of simulating manual food stir-frying, the scheme of the cooking machine cannot become a better scheme of the intelligent cooking machine. That is to say, simulating manual stir-frying is a key and core problem for realizing the intelligent cooking machine.

It should be noted that the subsequent patents relating to stirring shovels and cooking machines by the present inventor/claimant are related to each other so as to save some description of the same parts, especially considering the case where a plurality of patents are applied almost simultaneously.

The following describes embodiments of the present patent with reference to the drawings.

First, a general stirrer and a schematic diagram of a stirring shovel according to an embodiment of the present invention will be briefly described with reference to fig. 1A and 1B.

FIG. 1A is a schematic view of a universal mixer. The stirrer consists of a rotating shaft J1 and blades J2. To increase the rotational stability of the agitator, the agitator shaft J1 typically has two shaft terminals J1a, J1b, and in particular cases may have only one. The blade J2 is arranged on the rotating shaft J1, the rotating shaft J1 drives the blade J2 to rotate, and the rotating axis is J5. FIG. 1A shows a blade J2 in solid line, and typically the agitator may have multiple blades, such as blade J2v shown in dashed line.

The cross-section of the vessel corresponding to agitator shaft J1 (i.e., the section perpendicular to the agitator axis) is a circle or a portion of a circle, and the leading end J3 of agitator blade J2 is attached to the vessel of the agitator, so that the distance from the agitator axis J5 to the leading end J3 is the distance from the agitator axis J5 to the vessel, and is the radius of the vessel at that cross-section. The length of the stirrer extends across both ends of the vessel with its edge J4 abutting the end faces of the vessel.

FIG. 1B is a schematic view of a stirring shovel according to an embodiment of the present invention, which is a simplification of FIG. 1A: the central part of the stirrer, namely the rotating shaft Q1 and blades near the rotating shaft are removed, and only the rotating shaft terminals Q1a and Q1b at two ends are left. The remaining blade Q2 is divided into 3 pieces, i.e., left and right end blades Q2a and Q2b, and a transverse blade Q2c. Sometimes, for the sake of image, the blades Q2a and Q2b on the left and right sides of the stirring shovel are called stirring shovel vertical rods, and the transverse blade Q2c is called stirring shovel transverse rods. At least one of the stirring shovel vertical rods Q2a and Q2b on the left side and the right side exists to support a stirring shovel cross rod Q2c. In special cases, the stirring shovel vertical rods Q2a/Q2b are in the middle, and see later fig. 6G and 6I. The front end Q3 of the blade is attached to the front end of the pot body; the outer sides Q4a and Q4b of the stirring shovel vertical rods Q2a and Q2b are attached to two end faces of the container. In a typical schematic, the stirring shovel cross bar spans two sides of the pan body. In atypical applications, there may be a plurality of stirring shovels covering both sides of the pan (e.g. two stirring shovels on the left and right are used to cover the cross section of the pan).

The problems inherent in the stirring shovel will be described below with reference to fig. 2A, 2B, 2C, 2D, 2E, and 2F.

Fig. 2A is a schematic view of a "stirrer" composed of the stirring shovel 6 and the cooking pan 1. Generally, the stirring blade includes a rotating shaft and a blade, and the front end of the blade is in contact with the surface of the vessel. Referring to fig. 1A and 1B, the stirring blade 6 is in the shape of a bowstring-free bow, and the blade is composed of parallel vertical rods 612a and 612B and a front end cross bar 613 of the blade, and has support shafts 611A and 611B (at least one support shaft 611A or 611B) on both sides, and rotates around the axis 61. Point B is the central point of the bottom of the pan body 1. Obviously, in practical application, the enveloping surfaces generated by the rotation of the pot body 1 and the stirring shovel 6 are consistent, and the two are mutually attached. The area where the cross bar 613 is located is the main heating zone of the pan body.

Fig. 2A also shows that the outer edge 613a of the stirring blade 6, which is in contact with the pan body, may be non-metallic, such as a silicone rubber with elasticity, high temperature resistance and no toxicity. The advantage is that the processing precision of the related parts (such as the stirring shovel 6) can be reduced, the assembly of the installation tolerance between the stirring shovel 6 and the pot body 1 is reduced, and the effect that the stirring shovel 6 can be closely and smoothly contacted with the pot body 1 is obtained.

Fig. 2B is a cross-sectional view perpendicular to the stirring blade axis 61. The stirring blade 6 is observed to rotate the stirring food 18 clockwise from point a to B-C-D. Depending on cooking requirements, the heating zone of the material is primarily between ABC, and therefore, it is required that the material 8 should remain in the middle region between ABC during cooking and stirring. Whereas the CD and AF areas are the more distant edge areas.

As can be seen in fig. 2C, the stirring blade 6 does push the food 18 toward the center area, point B, as the stirring blade 6 rotates from point a to point B. But when rotated from point B to point C, pushes the food from point B away from the center area from point B to point C. When the stirring shovel is at point C, the food can be scattered from the left and right sides of the stirring shovel, so that the problem that the food is pushed away from the central point cannot be solved by reversely rotating the stirring shovel 6 from the point C. Fig. 2C also shows that even if the cross section of the pan body 1 is semicircular, the stirring shovel still cannot work normally. Because if the mixing blade 6 continues to rotate clockwise at point C to point D, some food items such as 18C may fall into the pan body 1, but some other food items such as 18a, 18b may leak out of the pan. The stirring shovel pushes the cooked food out of the area where the oil and water 18w are located, which is detrimental to cooking.

Fig. 2D in order to solve the problem of overflowing of ingredients in fig. 2C, the opening of the cooking pan is raised to move from point D to point S, so that the problem of overflowing of food is greatly improved (but not completely solved), and a new problem is brought about in that cooking ingredients are stuck in the region from points C, D, and S, which makes cooking undesirable. In addition, the opening 21 at the point S is small, which causes inconvenience in pouring or pouring the cooking materials into or out of the cooking pan. There is also a problem in that the volume of the cooking pot becomes large.

How does the upper part of the pot body 1 expand? FIG. 2E adds 1xa1 and 1xa2 skirts and it is desirable to make the upper portion of the cook pot larger to solve the overflow problem. As can be seen in fig. 2E, although the overflow problem is solved, the ingredients are brought to a higher position and the remaining

ingredients

181 and 182 are not accessible to the stirring shovel 6, so that the

ingredients

181, 182 cannot be cooked properly and cannot be stirred into the dish by the stirring shovel 6.

There are also a number of combinations and improvements of stirring shovels and cooking pots, but all suffer from the inherent disadvantages of the stirring shovel structure described above, not to mention here. For this reason, the use of stirring shovels in smart cookers is limited. It can be seen that the scheme of adopting the stirring shovel has a plurality of problems which are difficult to be coordinated and are called as inherent problems of the stirring shovel.

How will the axis of the mixing blade change from horizontal to vertical? The simple cooker of the present market is of such a structure, the stirring shovel is horizontal motion, and fig. 2F is a schematic diagram and comprises: the pot body 1h and the stirring shovel 6h rotate around the vertical axis TB, and the raw materials are cooked 18. Although the pan body 1h and the stirring shovel 6h can be designed in various shapes, the greatest problem with such stirring shovels is that due to centrifugal force, the cooking raw material 18 tends to gather at the outer side wall of the pan body 1h away from the axis TB, and thus the stirring effect is not good. To avoid centrifugal forces, the pot edge is usually very steep, typically in the shape of a pressure cooker, making it difficult to pour out the food. Another significant drawback of horizontal mixing shovels is the inability to adequately turn the food, and most food items or food items are more difficult to mix, except for smaller pieces or food items.

Fig. 3A, 3B, 3C, 3D, 3E and 3F are explanatory views of food stuck on the pot body of the drum-type cooking pot, explanatory views of an angle between a rotating shaft of the stirring shovel and a horizontal plane, an inclination angle between an opening of the pot body and the horizontal plane, and a schematic view of a pot cover feeder.

The pan body in figure 3A is a simplified scheme of a roller type in patent CN2448232 (the edge of the pan body is changed into a right angle from arc transition), but the integral rotating shaft 21 of the pan body is added so as to be convenient for putting and pouring food. The pan 1, the stirring blade 6, the pan opening 11 are placed on the side, the stirring blade 6 has only one shaft 611, the axis of rotation 61. The main disadvantages of this form are as described above two-fold: 1) The food 183 will stick around the pot body, 2) the pouring and the discharging of the raw materials are inconvenient.

As shown in FIG. 3B, the inclination of the pot body about the rotary shaft 21 is made at an angle θ, which partially reduces the sticking of the food 183 to the side of the pot body 1. The disadvantage is that there is still a lot of food leaving the heating zone 18w.

Fig. 3C shows a food-pouring mode, in which the pot is rotated downward by a rotation angle phi about the rotation axis 21 so that the opening 11 is inclined downward to pour out the food. Because the motion direction that the food was poured and stirring shovel rotary motion direction are not the same direction, consequently borrow the power of not going up stirring shovel when pouring the food. In addition, in order to pour out the food in the pan body, the swing angle of the pan body is far larger than that of the existing domestic frying pan, so that more working space is occupied. Reference alignment is followed in figure 9.

Therefore, the problem of stir-frying cooking raw materials in the household cooker cannot be solved well by the scheme, the inherent defects of the stirring shovel still exist, and the aeipathia of the stirring shovel is persistent.

As will be seen later, the stirring problem of fig. 3A to 3C (the problem of pouring in/out food still exists) can be solved by applying the present invention, and the schematic diagram is shown in fig. 3D, where the stirring blade system is composed of a stirring blade 6e and a stirring blade auxiliary device 7e, and is called a stirring blade system or a stirring blade module. A stirring shovel rotating shaft 611e, an axis 61e thereof, an opening 11e of the pan body 1e, a pan body inclined rotating shaft 21e, and a pan body heater 101e. The stirring blade assist device 7e allows the stirring blade composed of a solid material (i.e., a passive device) to obtain a motion performance (i.e., an active device) that is independent, controlled, and repeatable. This is one of the cores of the present invention.

Fig. 3E and 3F are further modified from fig. 3D and 2F, namely in the case of the extreme position in which the stirring blade shaft 611 forms an angle of 90 ° with the horizontal plane. In the figure 3E/3F, a pot body 1 and a pot cover 2. The feeding box 14k can be arranged on the pot cover 2, cooking raw materials are placed in the feeding box 14k, when the feeding is needed, the bottom plate 14k1 at the lower part of the feeding box is opened, and the cooking raw materials fall into the pot body. The feeding mode is mainly used for feeding irregular cooking raw materials. Of course, other cooking ingredients such as egg liquids can be dosed as well. The bottom plate 14K1 also has various modes, and is represented by a bottom plate opening mode. Such feeding means are also disclosed in patent nos. CN2448232 and CN1364436, but are different for the stirring blade.

Fig. 3E shows a stirring shovel attached to the lid 2, a stirring shovel shaft 611a, stirring shovel vertical bars 612a1/612a2, and a stirring shovel rail 613a.

FIG. 3F shows a stirring blade on pan 1, stirring blade shaft 611b, stirring blade vertical rod 612b and stirring blade cross rod 613b. Fig. 3F is also the case of fig. 3D when the stirring blade rotation axis is perpendicular to the horizontal.

It is obvious that the stirring shovels shown in fig. 3E and 3F can achieve stirring, but the cooking materials cannot be sufficiently carried away from the bottom of the pot body, so that the stirring effect is not good. Comparing with the embodiments of fig. 6-17, the two are better.

In addition, convenience is also deteriorated. For example, in fig. 3E, if the cooking material is first put into the pot body 1, the stirring shovel vertical rod 612a2 may press on the cooking material, which may cause the pot cover 2 to be untight. This drawback causes the stirring blade to be relatively poor in convenience. The solution to the problem is to set the feeding box 14k on the pot cover 2 and to feed the material after closing the pot cover 2. Although the feeding problem does not exist in the figure 3F, the water leakage problem at the bottom of the pot body exists, and the convenience is also poor.

Fig. 3A-3F illustrate further fig. 2F, that is, different pan bodies and pan covers can be selected with the stirring shovel of the present invention as a core. The stirring shovel and the cooking pan thereof of the present invention can be used in fig. 2A to 2F, fig. 3A to 3F and other application scenarios. In short, the related claims of the invention still work no matter whether the rotating shaft of the stirring shovel and the opening surface of the pot body of the stirring shovel are horizontal, inclined or vertical. The stirring shovel shaft and the opening surface of the pot cover are mutually combined, such as horizontal-horizontal, inclined-inclined, horizontal-vertical, vertical-horizontal and vertical-vertical. However, in general, the rotating shaft/pot opening plane of the stirring shovel module of the invention is in a horizontal position.

Fig. 4A-4D are schematic views of a conventional linear motion device and transmission. The motor 725 drives the coupling 726 to rotate, and drives the worm a to rotate, and drives the moving end b to move linearly. In an actual application scenario, the worm a may be used to implement the upper half 612x of the vertical rod of the stirring shovel, and the moving end b may be used to implement the lower half 612y of the vertical rod of the stirring shovel. The telescopic motion of the moving end b is also the telescopic motion of the stirring shovel vertical rod 612.

As shown in fig. 4A, the moving end b is supported by a frame, so that the worm linear motion device can bear heavy gravity and operate stably, but has a large volume. Fig. 4B to 4D illustrate a linear motion device of a telescopic rod, which has a simpler structure but is inferior in strength and stability to the linear motion device of a worm shown in fig. 4A.

In the telescopic rod linear motion device shown in fig. 4B, the driving motor 725a is in the same straight line with the worm a.

In the telescopic linear motion device shown in fig. 4C, a driving motor 725b is perpendicular to the worm a, and performs motion transmission through the motion device gears k1 and k 2. It can be seen that 90 ° rotational steering can be achieved by means of the gears.

In the telescopic rod linear motion device shown in fig. 4D, a driving motor 725c is parallel to the worm a, and performs motion transmission through a pulley system k3, k4 and k 5. In order to avoid dust invasion, a shell T1 is added. The pulley systems k3, k4 and k5 can also be exchanged for a gear drive (not shown). Fig. 4B to 4D illustrate that the driving motor and the worm may have opposite, vertical and parallel driving modes, and the motion transmission may be through a gear and belt system. There are other transmission means such as chains, cables, cardan shafts, etc., which can be protected by the casing. All of which are intended to be encompassed by the present invention.

Fig. 4E, 4F, and 4G are schematic structural views of a two-dimensional or three-dimensional moving device configured by using a plurality of linear motion devices, i.e., a moving end b1 of the linear motion device M1, a moving end b2 of the linear motion device M2, and a moving end b3 of the linear motion device M3. Without loss of generality, as shown in fig. 4E, one worm linear motion device M1 is located in the X-axis direction, and the other worm linear motion device M2 is mounted on the moving end b1 of the motion device M1 and vertically placed along the Z-axis. The moving end b2 of M2 is also called "terminal moving end", and its moving plane is "X-Z" plane, obviously perpendicular to the Y-axis of rectangular coordinates (not shown). In fig. 4F, the linear motion device M2 is replaced with a telescopic rod. In many cases, the axis of the stirring shovel shaft is perpendicular to the X-Z plane, namely parallel to the Y axis. The same method is used to add a linear motion device, and a "three-dimensional terminal moving end" can be formed, as shown in fig. 4G, the rotation shaft of the stirring shovel is along the Y-axis direction, and the moving end b3 is called the "terminal moving end" of the three-dimensional linear motion device.

Fig. 5A to 5C are views illustrating a nested driving mechanism according to an embodiment of the present invention. The nested drive mechanism comprises: the motor A drives the rotating shaft C to rotate and the motor B to rotate through a transmission device, and the rotating shaft of the motor B passes through the center line of the rotating shaft C; or the motor A drives the rotating shaft C to rotate by driving the motor B to rotate, and the rotating shaft of the motor B penetrates through the center of the rotating shaft C; alternatively, the motor a drives the rotating shaft C to rotate and the motor B to rotate, and the motor B passes through the center of the rotating shaft of the motor B and the center of the rotating shaft C.

In the nested driving mechanism shown in fig. 5A, a driving motor 711 drives a belt pulley 7112, a belt 7113, and a belt pulley 7115 (other transmission methods may be used), so as to drive a "driving rotating shaft" 7116 to rotate, and the "driving rotating shaft" passes through a partition plate (usually a pot cover or a pot body) 121, so as to drive a rotating arm (a vertical arm or a vertical rod, etc.) 712 to rotate.

Another "nested motor" 713 rotates synchronously with pulley 7115 via a fixed device 7131, the motor shaft 7132 passes through pulley 7115 and "drive shaft" 7116, which drives pulley 7134 in rotating arm 712 to rotate, the rotating shaft is 198. The shaft 611 (e.g., a stirring blade shaft) is further rotated by a belt 7135 and a belt pulley 7136. The rotating shaft 611g passes through the supporting housing of the rotating arm 712, and drives another device 6123 to rotate.

The nested driving mechanism shown in fig. 5B is different from the nested driving mechanism shown in fig. 5A in that the driving motor 711 directly drives the "nested motor" 713 (via the shaft coupling 7114), so as to drive the fixing device 7131 to rotate, and further drive the rotating arm 712 to rotate. The rotating shaft 7132 of the "nested motor" rotates, which drives the rotating shaft 611g in the rotating arm 712 to rotate.

Fig. 5C is another "nested drive" approach. The driving motor 711 directly drives the fixing device 7131 to rotate, and further drives the rotating arm 712 to rotate. The rotating shaft 7132 of the "nested motor" 713 passes through the center of the rotating shaft of the "driving motor" 711, and drives the rotating shaft 611g in the rotating arm 712 to rotate.

The structures shown in fig. 4A to 4G and fig. 5A to 5C can be applied to all the cases of the present invention without illustration.

Fig. 6A to 6L are schematic diagrams illustrating the operation principle of the stirring shovel and the cooking pan. In fig. 6A to 6L: a cooking pan 1, a pan cover 2 and a stirring shovel 6. The stirring blade 6 moves about its axis of rotation 61. Although the method of the present invention is not related to the shape of the stirring shovel, a specific stirring shovel is still needed for description as an implementation device of the stir-frying method of the present invention. The basic model of the stirring shovel of the present invention is shown in fig. 6B, and the rotating shafts at both ends are 611a and 611B, respectively, or in some cases, only one rotating shaft 611a or 611B, which is also referred to as the rotating shaft 611. The stirring blade rotating shaft 611 rotates to drive the stirring blade to rotate. The stirring shovel blade is divided into a vertical rod 612 and a horizontal rod 613, and the stirring shovel 6 can be regarded as bilaterally symmetrical in the description and the schematic drawing without losing generality, so that the pot body 1 and the pot cover 2 corresponding to the stirring shovel are also bilaterally symmetrical, the central point B of the lower part of the pot body and the symmetrical center of the upper part of the pot cover 2 are points T. The asymmetric stirring shovel does not affect the principle and the claims of the invention.

In fig. 6A, the stirring shovel 6 is an abstract model, and the vertical rods 612a/612b and the cross rod 613 of the stirring shovel are tightly attached to the inner surface of the pan body 1, so that the stirring shovel 6 is separated from the pan body 1 only for the sake of clarity.

In fig. 6A to 6L, the vertical rods 612a/612b and the cross rod 613 of the stirring shovel 6 are clearly defined, the

vertical rods

612a and 612b are perpendicular to the axis 61, and the

side surfaces

112a and 112b of the pot body corresponding to the vertical rods 612 are also vertical surfaces, so that the cooking raw materials can not stay on the side surfaces of the pot body and can easily fall into the bottom 113 of the pot body; the cross bar 613 is parallel to the axis 61 and crosses both ends of the pan body 1, so that all the ingredients can be stirred at one time, and therefore the efficiency is high. Because the stirring shovel rail 613 is attached to the pan body bottom 113, the bottom section 113 of the pan body 1 is also a straight line.

The height of the lid 2 in fig. 6A is lower than that of the body 1, which can be considered for a miniaturized design.

Fig. 6A also shows the manner of feeding the irregular cooking material, irregular cooking material 142 is placed in magazine 141, and multi-link system 143 is rotated to pour the cooking material in magazine 141 into pan 1.

The vertical bars 612a/612B and cross bar 613 in fig. 6B are not well defined. In general, stir blade vertical posts 612a/612b may be straight or curved, but generally run away from the stir blade axis of rotation; the stirring blade cross bar 613 may also be straight or curved, but generally oriented transversely. The vertical rods and the horizontal rods are added to span the pot body 1. In real life, the main food gathering area and the heating area of the cooking pan are within the range of the cross bar 613, and the rule can roughly determine the limits of the vertical bar and the cross bar. The corresponding points of the junction points of the vertical rods and the transverse rods on the pot body are J points and K points, the angle of the connecting line of the J points or the K points and the intersection point of the rotating shaft of the pot body is beta, and in the design of the pot body 1, the beta is generally selected to be more than 60 degrees, so that the cooking raw materials are not easy to stay on the side surface of the pot body but slide to a central heating area near the B point at the bottom of the pot body.

The pot cover 2 in fig. 6B may be different from the general pot cover 2 of fig. 6A, but is an extension of the pot body 1. In fig. 6B of the present invention, the pot body 1, the pot cover 2 and the pot cover 11 are constructed as follows: when the stirring shovel 6 rotates for a circle, a closed enveloping surface is formed at the front end of the stirring shovel 6, the pot body 1, the pot cover 2 and the pot cover 11 can respectively take a part of the enveloping surface, and when the pot covers 2 and 11 are covered, sealing can be achieved among the pot body 1, the pot cover 2 and the pot cover 11. The pot body 1, the pot cover 2 and the pot cover 11 can rotate together around the axis 61 of the rotation shaft of the stirring shovel, and the pot cover 2 and the pot cover 11 can be opened independently. The pan body 1 and the pan cover 2 can also rotate around other axes, such as the pan body rotating shaft 21, and the pan body rotating shaft 21 is horizontal and vertical to the stirring shovel axis 61. The structure of the pot body and the pot cover breaks the boundary of the pot body and the pot cover, so that the invention is simpler in description and can omit some schematic drawings. The opening plane of the pan body and the stirring shovel rotating shaft form different combinations, and most typically, the opening plane of the pan body is parallel to the stirring shovel rotating shaft, or the opening plane of the pan body is perpendicular to the stirring shovel. The plane of the opening of the pan body and the other conditions of the stirring shovel are between parallel and vertical, so that only the two conditions of the parallel condition and the vertical condition are considered to be the most different. It can be seen that although the focus of the present invention is on the selection of the lid 2, this provides further advantages to the cooking apparatus of the present invention. However, other pot covers in various forms are within the protection scope of the novel stirring shovel. In addition, the pan body rotating shaft 21 and the like do not influence the protection content of the novel stirring shovel.

Fig. 6B also shows that when stir blade shafts 611a/611B are outward and the stir blade module is fixed or driven by the shafts at either end or ends of the stir blade module, the stir blade module is "bowless" regardless of whether the stir blade is supported on the pan body, the pan lid, or the pan body.

Fig. 6C is a cross-section perpendicular to stirring blade axis 61 and containing pan body center point B and pan lid center point T. Cooking ingredients or simply food 18. With the former conventional stirring shovel, the cross section of the corresponding pot 1 is a circle or a part of a circle. But the cross section of the pot body corresponding to the novel stirring shovel can be in other shapes, such as an oval shape. For simplicity, the invention is illustrated with a circular cross-section. A and C are two points on the pot body respectively, and according to daily experience, a heating area of the cooking pot and cooking raw materials are mainly concentrated between A and C.

In fig. 6C, the lid 2 can be opened and closed, and the shaft 20 can be parallel to the shaft axis 61 of the stirring shovel. The lid 2n can also be lifted and opened upward. The pot cover 11 is positioned at the axial line position of one end of the stirring shovel 6, an opening is formed in the pot body after the pot cover 11 is opened, cooking raw materials can enter and exit the pot body 1 from the opening, and the side surface of the pot body is opened. It can be seen from fig. 6B that a special case of a side opening is included.

As mentioned above, when the

pot cover

2, 11 is covered, although the pot body 1 can be sealed, the stirring shovel 6 still can cause the cooking materials 18 to stick on the pot cover 2 during stirring, and thus is still not a perfect solution.

Fig. 6D shows that the rotation shafts 611p and 611q of the stirring blade 6 of the present invention may also be inward, for example, they may be attached to the lid 2 or attached to other mechanisms, and the relative design of the outward rotation shafts of the stirring blade may be changed without affecting the adaptability of the present invention.

Obviously, as described in the background, perfect stir-frying cannot be achieved directly with the stirring shovel of fig. 6A to 6D. The solution is innovation of the invention, such as inventing a new stirring shovel and introducing an auxiliary stirring shovel module and the like. The stirring shovel auxiliary module also comprises one or more linear motion devices, the basic type of the stirring shovel auxiliary module is formed by connecting three linear motion devices in series, the three linear motion devices are set to move along the X direction, the Y direction and the vertical Z direction of a horizontal plane respectively, the Y axis is the axial direction of a stirring shovel rotating shaft, one linear motion device is installed on a cooking machine bracket or a pot cover or a pot body, the other two linear motion devices are installed on the moving end of the previous linear motion device respectively, and the moving end of the last linear motion device is connected with the stirring shovel rotating shaft through a vertical arm; the stirring shovel is driven to rotate by the driving device, and the moving end of the last linear motion device drives the stirring shovel to move integrally and parallelly. The vertical arm has no limit on the direction and has a certain length or the length is zero; and/or the driving device is arranged on the moving end of the last linear motion device, crosses over the vertical arm through the mechanical transmission device, and drives the stirring shovel to rotate around the rotating shaft of the driving device, or the driving device is arranged at the connecting end of the vertical arm and the rotating shaft of the stirring shovel and drives the stirring shovel to rotate nearby; or when the size of the stirring shovel is smaller than that of the pot body, the stirring shovel can translate in three dimensions; or the stirring shovel spans the pot body, only two linear motion devices are arranged at the moment, the motion end of the last linear motion device translates on an X-Z two-dimensional plane along the X direction and the Z direction respectively, and the plane is vertical to the axis of the rotating shaft of the stirring shovel; or only horizontal or vertical movement, only one Y-axis vertical linear motion device or one X-axis horizontal linear motion device is needed. In addition, in other embodiments, the stirring blade auxiliary module further comprises a polar coordinate translation device, wherein the polar coordinate translation device comprises a power device, the power device drives the vertical arm to swing or rotate, the axis of the vertical arm swing or rotate is parallel to the axis of the stirring blade rotating shaft, and the common axis of the vertical arm is positioned right above the axis of the stirring blade rotating shaft; the vertical arm swings or rotates to drive the stirring shovel to move integrally. The middle of a vertical arm of the stirring shovel auxiliary module can be bent; alternatively, the drop arm can also be telescopic. The power device is arranged on the outer side surface of the pot cover or on the outer side surface of the pot body, the power device drives the vertical arm rotating shaft to rotate through the transmission device, and the axis of the rotating shaft is parallel to the rotating axis of the stirring shovel; the vertical arm rotating shaft penetrates through the side surface of the pot cover or the side surface of the pot body to drive the vertical arm in the pot body to swing or rotate; and a rotating shaft of a rotating motor of the stirring shovel penetrates through the axis of the rotating shaft of the vertical arm to drive a transmission device in the vertical arm to drive the stirring shovel to rotate around the rotating shaft of the stirring shovel.

Fig. 6E and 6F are block diagrams of the stirring blade of the present invention, including the improved stirring blade 6 and the stirring blade auxiliary module 7. The various components of the mixing blade 6 may also be upgraded to modules, namely a mixing blade shaft module 611, a vertical post module 612a/612b and a cross bar module 613. For simplicity, however, we sometimes remove the module two word and still call it. For example, the stirring blade rotating shaft module is still called stirring blade rotating shaft for short.

In fig. 6E, stirring

blade shafts

611a and 611b are outward, and corresponding stirring blade auxiliary module 7 is generally outside the space enclosed by pot body 1 and pot cover 2. The stirring blade 6 is connected to the auxiliary module 7 via the

shafts

611a and 611b, and the auxiliary module 7 drives the stirring blade 6 to rotate about the axis 61. The invention refers to the rotation axis 61 as the rotation axis of the stirring shovel module (6, 7). The vertical bars 612a/612b are joined to the cross bar 613 at J1 and K1, respectively. The stirring shovel modules (6, 7) can be arranged on the pan body, the pan cover or the cooking machine.

In fig. 6F, the stirring shovel rotation shafts 611p and 611q are inward, and the stirring shovel auxiliary module 7 of the present invention can be installed inside the space surrounded by the pot body 1 and the pot cover 2, for example, on the pot cover 2, which is also a novel and compact structure. The stirring blade 6 is connected to the auxiliary module 7 via the

shafts

611a and 611b, and the auxiliary module 7 drives the stirring blade 6 to rotate about the axis 61. The invention refers to the rotation axis 61 as the rotation axis of the stirring shovel module (6, 7). The connecting points between the vertical rods 612a/612b and the cross bar 613 are J1 and K1, respectively.

In fig. 6G, the stirring blade 6 and the stirring blade shaft 611c are fixed and driven by the stirring blade auxiliary module 7, the auxiliary module 7 drives the stirring blade 6 to rotate around the axis 61, and the stirring blade vertical rod can be regarded as moving from the two side vertical rods 612a/612b to the middle. The invention enables the stirring shovel auxiliary module 7 to be installed in the space surrounded by the pan body 1 and the pan cover 2, for example, on the pan cover 2, and also has a novel and compact structure. The invention refers to the rotation axis 61 as the rotation axis of the stirring shovel module (6, 7).

Fig. 6H is a schematic view of an example of fig. 6F, in which the stirring blade auxiliary module 7 is connected to the pan lid 2, the stirring blade 6 is connected to the auxiliary module 7 through the rotating shafts 611p and 611q, and the auxiliary module 7 drives the stirring blade 6 to rotate around the axis 61. Obviously, the stirring shovel modules (6, 7) can also rotate around the vertical center line 199 of the pan body.

Fig. 6I is an example schematic diagram of fig. 6G, the stirring shovel auxiliary module 7 is connected to the pot cover 2, there is no inward rotating shaft at both ends of the stirring shovel 6, the stirring shovel auxiliary module 7 directly drives the rotating shaft 611 in the middle of the stirring shovel, so that the stirring shovel 6 rotates around the axis 61 of the stirring shovel module, the stirring shovel auxiliary module 7 also makes the stirring shovel module complete stir-frying at the same time, and the stir-frying manner is shown in fig. 7A to 7D, that is, the stirring shovel moves integrally, the blade stretches, the blade rotates or the blade front end rotates (and the combination thereof). Obviously, the stirring shovel module can also move rotationally about the vertical center line 199 of the pan body.

Fig. 6J is similar to the stirring principle of fig. 6F and 6I, the stirring shovel auxiliary module 7 is connected to the pot cover 2, and the stirring shovel 6 includes a stirring shovel rotation shaft 611, a stirring shovel vertical rod 612 and a stirring shovel horizontal rod 613. Stirring blade vertical rod 612 connects stirring blade rotating shaft 611 and stirring blade cross rod 613. The stirring shovel auxiliary module 7 drives the middle rotating shaft 611 of the stirring shovel, so that the stirring shovel 6 rotates around the axis 61 of the stirring shovel module, the stirring shovel auxiliary module 7 also enables the stirring shovel module to complete stir-frying, and the stir-frying mode is shown in fig. 7A-7D, namely, the stirring shovel moves integrally, the blade stretches, the blade rotates or the front end of the blade rotates (and the combination thereof). Obviously, the stirring shovel module can also rotate 360 degrees around the vertical center line 199 of the pan body, and at the moment, the stirring shovel 6 can not cross two ends of the pan body.

In FIG. 6K, the stirring principle is similar to that of FIGS. 6H and 6I, and the stirring blade 6 includes a stirring blade rotating shaft 611a/611b, stirring blade vertical rods 612a/612b, and a stirring blade cross rod 613. The stirring shovel auxiliary module 7 drives the stirring shovel rotating shaft 611a/611b, so that the stirring shovel 6 rotates around the stirring shovel module axis 61, the stirring shovel auxiliary module 7 also enables the stirring shovel module to complete stir-frying, and stir-frying modes are shown in fig. 7A to 7D, namely stirring shovel overall movement, blade stretching, blade rotation or blade front end rotation (and combination thereof). The stirring shovel 6 does not cross two ends of the pan body, so the stirring shovel module needs to move in a left-right translation mode along the rotation axis 61, and no dead angle is formed in stir-frying. To simplify the design, a stirring shovel may be mounted on the lid 2.

As can be seen from the fig. 6J and 6K embodiments:

1. the pan body 1 associated with the stirring shovel may be hemispherical, and the hemispherical shape is not chosen in fig. 6A-6I to distinguish the two sections of the pan body and give a general shape. When the mixing blade rotates about axis 61 and also rotates about vertical axis 199 (vertical axis 199: an axis perpendicular to the horizontal when the pot opening is horizontal; or an axis perpendicular to the mixing blade axis of rotation, or a central axis perpendicular to the pot opening), typically the pot opening is circular and the pot is part of a hemisphere.

2. The mixing blade translates along the mixing blade axis 61 during rotation about the axis 61, and typically the pan opening is not circular nor hemispherical.

3. The stirring shovel does not need to strictly span two ends of the pot body when in actual use. Sometimes, the stirring shovel cross bar does not completely span the two ends of the stirring shovel, but the stirring shovel can rotate around the vertical axis 199 or translate along the rotation axis 61, so that the stir-frying without dead angles can be completed. However, from a strict analysis of theory, or from increasing the efficiency of each rotation of the stirring blade, the stirring blade should span both ends of the pan body even if the stirring blade rotates about the vertical axis 199. In this case, a very perfect stir-fry can be obtained by only alternately stir-frying in two orthogonal directions. Therefore, the stirring shovel stretches across two ends of the pot body to change the two-dimensional plane problem into a one-dimensional problem (similar to the way that a robot simulates hands and vision to wash clothes and becomes a drum type washing machine to uniformly wash the clothes in a blind mode), so that the stir-frying efficiency is greatly improved, the problem of difficulty in stir-frying is solved, and the design of a stirring shovel module is simplified. Meanwhile, the stir-frying mode of shoveling and pouring food by a stir-frying shovel is converted into a stirring mode (R-L stir-frying method) but the shoveling/pouring mode can be realized. And then combining the arched stirring shovel, the stirrer stirring and frying device/method in the figures 7A-7D and the matched pan body (the pan body is an enveloping surface formed by the rotation of the stirring shovel, so that perfect stirring and frying are realized.

4. The stirring shovel auxiliary module can also translate, stretch, bend, rotate the vertical arm and rotate around the vertical shaft, so that the stirring shovel can complete the stir-frying function. For example, the motor 71 can rotate the drop arm 712 about the vertical axis 199, the motor 72 can rotate the drop arm 712 about the horizontal axis 198, and the drop arm 712 can itself flex or bend in the middle (or rotate in the middle, similar to bending/rotating a vertical stick of a stir shovel). The motors 71/72 and the vertical arm 712 belong to the stirring blade auxiliary module 7. These characteristics of the stirring blade auxiliary module 7 can be finally attributed to the stirring blade moving as a whole (translation and/or rotation). The stirring shovel 6 and the stirring shovel auxiliary module 7 can also be folded and placed in the pot cover, for example, the horizontal motor 72 drives the vertical arm 712 to be in a horizontal position, and the stirring shovel auxiliary module 7 drives the stirring shovel 6 to be in a horizontal position.

5. The stirring shovel is installed on the pot cover through the stirring shovel auxiliary module 7 for the biggest three benefits: 1. the mounting on the lid 2 can leave out the stirring shovel module support 28 for the design of the stirring shovel is simplified. Otherwise, a support device 28 is required to be mounted on the cooking machine in order for the stirring blade 6 and the stirring blade auxiliary module to "root". 2. When the stirring pot is covered, the stirring shovel can still work normally; when the pot cover is partially opened, the stirring shovel can also work normally. We treat the problem as follows: the stirring blade 6, which is the normal case, and the stirring blade auxiliary module 7, which is more innovative, are mounted either on the cooking machine or on the lid (or other object). Therefore, we consider the former as the default. It is noted that an important condition is that the pan body is taken from the envelope formed by the rotation of the stirring blade about its axis of rotation, the stirring blade spanning the pan body. When the stirring shovel obviously does not cross the pan body, the stirring shovel needs to rotate around the vertical shaft.

6. Obviously, if the stirring shovels in the forms of fig. 6J and 6K cannot span two ends of the pot body and need to rotate to realize no-dead-angle stir-frying, the structures installed on the pot body or the cooking machine are too bulky, occupy a large amount of space and are easily interfered by pollution. Relatively speaking, the mounting on the pot cover is simple. Without loss of generality, the invention resides in its application to a pot lid, as claimed.

7. Theoretically, a pan body and a pan cover are certainly needed for a frying machine capable of cooking widely. It is not excluded to replace the lid with a hood, but we will consider this case as a broad lid, to which a stirring shovel can also be mounted. It is not excluded that a certain number of dishes can be cooked without using a pan cover, but in a general sense, a complete cooking machine needs a pan cover, including various pan covers in a broad sense.

8. The stirring shovel spans the strict length and the relative length of the pan body. The stirring shovel spans the strict length of the pan body and has the same width with the pan body. In practice, the interval between one and multiple revolutions of the blade about the axis of rotation 61 is the same, except that the blade rotates about the vertical axis 199 and translates along the horizontal axis 61 as in FIGS. 6J and 6K, so the relative length of the blade is such that a single sweep is possible across the cooking area.

9. The stirring blade, the stirring blade module, and the stirring blade auxiliary module will be described with reference to fig. 6J as an example.

The stirring blade 6 rotates about its own axis of rotation 611, the axis of rotation 61, this axis 61 being referred to as the axis of rotation of the stirring blade 6. The stirring blade 6 includes a rotating shaft 611, a vertical rod 612, and a cross rod 613.

If the stirring shovel 6 needs to be endowed with a stir-frying function, the stirring shovel auxiliary module 7 is needed. In the example of fig. 6J, the stirring blade auxiliary module 7 includes a vertical rotating motor 71, a horizontal rotating motor 72, and a vertical arm 712. Stirring blade = (stirring blade 6+ stirring blade auxiliary module 7), both of which are bounded by stirring blade rotation shaft 611. We refer to axis 61 as the axis of rotation of the stirring shovel module at this time. It can be seen that the designation of axis 61 as the stir blade axis or the axis of the stir blade module does not cause misunderstanding. Similarly, "the stirring blade rotates around the axis of the stirring blade module" may be referred to as "the stirring blade rotates around the axis" or "the stirring blade rotates around the rotating shaft", which does not cause ambiguity, but the latter description is simpler. The three phrases "stir-fry with the stirring shovel of fig. 6J", "stir-fry with the stirring shovel module of fig. 6J" and "stir-fry with the stirring shovel 6 and the stirring shovel auxiliary module 7 of fig. 6J" have the same meaning, and the first phrase "stir shovel" refers to the "stirring shovel module" or "stirring shovel 6+ stirring shovel auxiliary module 7" in a broad sense, which does not cause ambiguity, but is more concise.

From another point of view, in order to achieve the requirements of the present invention, the stirring blade 6, besides rotating around the rotating shaft 611, needs to have an electric function, i.e. realized by the stirring blade auxiliary module, of the stirring blade vertical rod and/or the transverse rod. For convenience of description, the stirring shovel vertical rod with electric function can be called a vertical rod module, the stirring shovel transverse rod with electric function can be called a transverse rod module, and the stirring shovel at the moment is also called a stirring shovel module.

Fig. 6L is an extension of fig. 6A to 6K (no description mark in fig. 6L is shown in fig. 6A to 6K), that is, the stirring shovel auxiliary module 7, the stirring shovel rotating shaft 611a/611b, and the vertical rod 612 612a/612b of the stirring shovel are used as a mechanical arm in a general form to drive the stirring shovel cross rod 613 (or cross rod shovel, see fig. 12A to 12E) to stir and fry.

The function of the stirring blade auxiliary module 7 may be considered to be, in a certain sense, that a simple and unpowered stirring blade (or stirrer) is changed into a powered and complex stirring blade (or stirrer) to realize complex functions such as bending of a stirring blade vertical rod. From another perspective, for complicated stirring shovel, be called stirring shovel module or still call for stirring shovel for short, the bigger part of volume in this stirring shovel module is outside the pot body or outside side as far as possible to reduce and occupy the space in the pot body, or make in the stirring shovel module some parts avoid the oil smoke pollution of pot body, especially make such electromechanical part of motor avoid the influence of adverse factor such as steam and high temperature, simultaneously, after stirring shovel auxiliary module made stirring shovel module slim, stirring shovel module can add the shell and protect.

Fig. 6M is a further illustration of fig. 6L, in which the pot body 1, the pot cover 2, and the mechanical arm are composed of a moving device 6111 and a grasping device 6121, and together complete complex movements. The mechanical arm comprises a gripping device or a connecting device and can hold a slice handle 6122 of the slice, the front end of the slice handle is a slice knife 6131 of the slice, and the shortest slice handle can be zero.

The mechanical arm in combination with the blade and the stirring blade module can be analogized to each other, for example, the motion device 6111 in the mechanical arm can be reduced to the stirring blade rotating shaft 611 in fig. 6A to 6K. The mechanical arm 6121 can be retreated to the stirring shovel vertical rod 612 in fig. 6A to 6K, while the stirring shovel handle 6122 and the shovel blade 6131 can correspond to the stirring shovel cross rod 613, and the minimum length of the handle 6122 can be zero; alternatively, the mechanical arm 6121 is combined with a handle 6122, and the blade 6131 corresponds to the stirring shovel vertical rod 612 in fig. 6A to 6K, and the blade 6131 corresponds to the stirring shovel horizontal rod 613 (in this case, the blade 6131 corresponds to the horizontal rod shovel 613 in fig. 12 later). The more complex blade, also called blade module, corresponds to the crossbar module. Considering that the application scene of the mechanical arm of the invention is a cooking machine, the mechanical arm can be similar to a vertical rod/horizontal rod type stirrer shovel and a stirring shovel auxiliary module, the mechanical arm can also be provided with an auxiliary module 7, the function of the mechanical arm auxiliary module 7 is the same as that of the stirring shovel auxiliary module, the mechanical arm and the shovel are large in volume and are arranged on the outer side or the outer side surface of a pot body as far as possible, so that the occupied space in the pot body is reduced, or part of parts in the mechanical arm/shovel module are prevented from being polluted by oil smoke of the pot body, particularly, electromechanical parts such as a motor are prevented from being influenced by adverse factors such as water vapor, high temperature and the like, and meanwhile, the mechanical arm/shovel module can be protected by a shell after the stirring shovel module is slimmed.

When the mechanical arm is arranged on the pot body or the pot cover, the mechanical arm and the stirring shovel can be completely equivalent to a special stirrer. I.e. the

mechanical arms

6121 and 6122 and the blade 6131, are equivalent to the vertical rod 612 (including 612a/612 b), the cross rod 613, and the combination component 623 (including 623a/623 b) of the vertical rod and the cross rod in fig. 6L. That is, fig. 7: mechanical arm (6121 + 6122) + shovel blade (6131) = fig. 6: the vertical rod (612), the cross rod (613), and the vertical rod and cross rod combining part (623). The first rotation device 6111 of the mechanical arm can be similar to the rotation shaft 611 of the stirring shovel in FIG. 6. Thus, FIG. 7: mechanical arm (6121 + 6122) + shovel blade (6131) + rotating device 6111= fig. 6: vertical rod (612) + cross rod (613) + vertical rod and cross rod combining component (623) + rotating shaft 611= fig. 6: stirring and shoveling. Therefore, in the description of the invention, the stirring shovel formed by the vertical rod/the horizontal rod or the stirring shovel formed by the mechanical arm/the shovel blade or the auxiliary module of the vertical rod/the horizontal rod or the auxiliary module of the mechanical arm/the shovel blade may not be distinguished. Stirring shovel system = stirring shovel auxiliary module + stirring shovel module (or stirring shovel).

In fig. 6L the stirring shovel is obviously on the pan body or the pan cover. The robotic arm of fig. 6M in combination with a scraper blade may be on the pan/lid as the stirring blade of fig. 6L, or may be generalized to not be on the pan or lid, such as on the cooking machine or on objects around the cooking machine. Figure 7 can also be patented as a source of claims including transferring the features of the stir shovel of figure 6L to a robotic arm/blade, such as the stir shovel overall translation feature, the pan body being the envelope feature formed by stir frying of the stir shovel; the stir-frying method including stirring shovel is as "left-right stir-frying method". Because the mechanical arm is combined with the visual recognition to stir and fry in the current stage, the difficulty is high, and the difficulty can be reduced through certain limiting conditions. For example, a great variety of cooked food is shoveled and is reversely buckled at a certain position in a pot body, meanwhile, the cooking machine also needs to identify the shape and distribution of the reversely buckled food, the identification difficulty of the current machine is still high, and the left-right stir-frying method is much simpler, because the left-right stir-frying method is based on stirring, the stir-frying of most food can be met, and hardware preparation is reserved for future artificial intelligence and visual identification. For example, the cross-arm shovel can be used as a future hardware preparation, and can be used partially at present: when the stirring shovel is used for stirring and frying from 'left' to 'right', a part of food is left to be not shoveled by the cross bar, the food is accumulated on the 'right' edge of the pan body, but the 'left-right stirring and frying method' has a stirring and frying process from 'right' to 'left', and the food accumulated on the 'right' edge of the pan body is shoveled or returns to the vicinity of the center of the pan body or a little part of the food is brought to the 'left' edge of the pan body; the left-right stir-frying method is repeatedly used, and the problems are solved; in the cooking process, each piece of food is mostly rotated near the center of the pan body, so that the perfect stir-frying is realized.

In fig. 6L and 6M, all power devices required for stir-frying by the stirring shovel may be on the stirring shovel, and at this time, the stirring shovel auxiliary module is empty, that is, the stirring shovel auxiliary module does not exist; or all power devices required by the stirring shovel for stir-frying are arranged on the stirring shovel auxiliary module, a power-free device is arranged on the stirring shovel, and the driving force of the stirring shovel auxiliary module is transmitted to the stirring shovel through a mechanical device; or, a part of the power device required by the stirring shovel for stir-frying is arranged on the auxiliary module, and a part of the power device is arranged on the stirring shovel, for example, a motor for integrally rotating the stirring shovel is arranged on the stirring shovel auxiliary module, and a thin rod-shaped motor is adopted for rotating the transverse rod of the stirring shovel. These are also the focus of the cooking machine of the invention.

Fig. 6M also illustrates the patent appeal of the present invention. The universal mechanical arm is combined with the stirring shovel, artificial vision is combined, the stir-frying of cooking can be finished, but the stir-frying is very complex to realize, and the stir-frying is difficult to realize at present, or the cost is too high, or the stability is insufficient, or the volume of a machine is too large. Just as current washing machines or dishwashers are blind washing without visual identification, the first step of the fryer is also based on blind frying without visual condition. The present invention reveals some of the necessary resolution factors:

the mechanical arm is combined with a shovel blade and can be classified as a stirring shovel module or a stirring shovel for short;

more than two independently controllable stirring actions are required, so that the front end (such as 613 in the figure) of the stirring shovel, which is in contact with the pot body, can leave the surface of the pot body or be in contact with the surface of the pot body as required;

the left-right stir-frying method is adopted to reduce the stir-frying difficulty, avoid food from winding and stir-fry food stably;

the mechanical arm is arranged on the pan body, or the mechanical arm pan cover, or the mechanical arm can stir-fry in the pan body when the pan cover is closed, so that the stir-frying structure of the cooking machine is more compact, no oil smoke escapes, and high temperature in the pan body is kept;

the pan body comprises an envelope surface formed by the rotation of the stirring shovel;

the stirring shovel or the stirring shovel spans the pot body, so that the stir-frying efficiency is improved, and visual identification is avoided; or the stirring shovel rotates around the central shaft of the pan body to stir and fry so as to avoid visual identification;

combine arm or stirring shovel module and pot body or pot cover, become the distributed structure with centralized structure, reduce arm/stirring shovel module and occupy the internal volume of pot, be favorable to preventing that aqueous vapor from getting into the various joints of arm/stirring shovel module, also avoid polluting, make it to be convenient for wash.

FIGS. 7A to 7D are schematic views of the stir-frying principle of the stirring shovel of the present invention. Fig. 7A to 7D include: cooking pan 1, pan cover 2, stirring shovel 6, stirring shovel vertical post 612, stirring shovel horizontal post 613, stirring shovel axis of rotation 61, cooking raw materials 18, assuming that the cross section of pan body 1 is semicircular. The bottom low point B of the cooker body 1 and the top point T of the cooker cover 2.

Fig. 7A is a schematic view illustrating the stir-frying by the movement of the stirring shovel 6 as a whole, and the cross bar 613 of the stirring shovel 6 rotates clockwise from point a on the right edge R against the surface of the pan body toward the center region of the pan body to push the cooking ingredients or food 18 on the right side of the pan body toward the vicinity of point B on the center region of the pan body. Stirring blade 6 continues to rotate to point C at the left edge of the central region while also pushing a portion of the cooking ingredients to point C. At this point the stirring blade is raised upward as a whole and its axis of rotation is moved to position 61a and causes stirring blade bottom rail 613 to be lifted off the food to a point D high enough so that as the stirring blade continues to rotate clockwise, the cooking material 181 remains at point C and is not pushed further toward the left edge L of the pan. The stirring blade 6 then continues to rotate clockwise about the axis of rotation 61a to point E near the left edge L, after which the stirring blade 6 moves as a whole so that the axis 61a coincides with the axis 61, the stirring blade 6 again abutting point F of the pan 1. The stirring shovel 6 rotates counterclockwise about the axis 61, contacts the cooking material 181 at point G, continues to rotate counterclockwise, and reaches point C. The points C and A are equal to each other by the central TB line segment of the pan body 1, so that the point A can be reached again by repeating the similar process from the point A counterclockwise, and a stir-frying cycle is completed.

In fig. 7A, the stirring blade 6 rotates from point B to point C, and then the stirring blade 6 moves as a whole to point D. In practice the entire movement of the mixing blade 6 and the rotation of the mixing blade 6 about its own axis of rotation 61 may be simultaneous, so that the mixing blade cross bar 613 follows a smooth curved path 19. Of course, the stirring shovel 6 can also leave the pan body from other positions, and the formed track is 191 and the like.

Fig. 7B is a schematic diagram illustrating that the vertical rod 612 of the stirring shovel 6 stretches and retracts to stir, and the stirring shovel 6 rotates clockwise towards the central area of the pot body from the point a on the right edge R, clinging to the surface of the pot body 1, and pushes the food 18 on the right side of the pot body to the vicinity of the point B on the central area of the pot body. Stirring blade 6 continues to rotate to point C at the left edge of the central region while also pushing a portion of the cooking ingredients to point C. At this point the stirring blade vertical rods 612 are retracted so that the stirring blade bottom cross bar 613 disengages the food 181 to a point D high enough that the cooking material 181 will remain at point C and will not be pushed further toward the left edge L of the pan body as the stirring blade 6 continues to rotate clockwise. Stirring blade 6 then continues to rotate clockwise about axis of rotation 61 to point E near left edge L, after which stirring blade vertical post 612 extends and rotates counterclockwise so that stirring blade cross-bar 613 again abuts point F of pan 1. The stirring shovel 6 then continues to rotate counterclockwise about axis 61, contacts the cooking material 181 at point G, continues to rotate counterclockwise, and reaches point C. The points C and A are equal to each other by the central TB line segment of the pan body 1, so that the similar process from the point A is repeated anticlockwise, the point A can be reached again, and a stir-frying cycle is completed.

In fig. 7B, the stirring blade 6 is rotated from point B to point C, and then the stirring blade vertical rod 612 is contracted so that the cross bar 613 moves to point D. In practice, the retraction of stirring blade vertical rod 612 and the rotation of stirring blade 6 about its own axis 61 may be simultaneous, so that the motion trajectory of stirring blade cross rod 613 is a smooth curved trajectory 19. Of course, the stirring shovel 6 can also leave the pan body from other positions, and the formed track is 191 and the like.

Fig. 7C is a schematic diagram illustrating stir-frying by bending the vertical rod 612 of the stirring shovel 6, wherein the stirring shovel 6 rotates clockwise from the point a on the right edge R to the central area of the pan body by clinging to the surface of the pan body 1, and pushes the food 18 on the right side of the pan body to the vicinity of the point B on the central area of the pan body. The stirring blade 6 continues to rotate to point C at the left edge L of the central region while also pushing a portion of the cooking material 181 to point C. The stirring blade vertical rods 612 are now bent so that the stirring blade bottom cross bar 613 is away from the food 181 to a point D high enough so that as the stirring blade continues to rotate clockwise, the cooking material 181 remains at point C and is not pushed further towards the pan body edge L. Stirring blade 6 then continues to rotate clockwise about rotation axis 61 and stirring blade vertical rod 612 straightens out gradually so that stirring blade cross-bar 613 again abuts against point F of pan 1 in the vicinity of left edge L. The stirring shovel 6 rotates counterclockwise about the axis 61, contacts the cooking material 181 at point G, continues to rotate counterclockwise, and reaches point C. The points C and A are equal to each other by the TB line segment of the pan body 1, so that the similar process from the point A is repeated anticlockwise, the point A can be reached again, and a stir-frying cycle is completed.

In fig. 7C, the stirring blade 6 is rotated from point B to point C, and then the stirring blade vertical rod 612 is bent, so that the cross rod 613 moves to point D. In practice, bending of the vertical stirring blade rod 612 and rotation of the stirring blade 6 about its own axis 61 may be performed simultaneously, so that the motion trajectory of the stirring blade cross bar 613 is a smooth curved trajectory 19.

If the stir blade rotates from point a and the stir blade vertical post begins to fold and bend from point a, the stir blade cross bar 613 creates a motion trajectory 191. Trajectories 19a and 191a are trajectories generated by counterclockwise rotation of the stirring blade 6 from point C.

Fig. 7C shows that the stirring blade vertical rod 612 is bent backward in the moving direction, and may be bent forward in the moving direction. The curved path 600 formed by the bending point of the vertical rod 612.

The cross bar of the stirring shovel 6 can be approximately semicircular or wedge-shaped (see fig. 7D), and the cross bar of the stirring shovel can also be a rotatable cylinder, such as a cross bar of the stirring shovel stopped at a point B at the bottom of the pot body.

Fig. 7D is a schematic view of the rotation of the stirring blade cross bar. With fig. 7A to 7C, fig. 7D is easily understood. The stirring blade 6 rotates about the axis 61, and the cross bar 613 of the stirring blade 6 may be shaped like a pancake turner and may rotate about the rotation axis 613 g. When the cross bar 613 rotates, the front end thereof leaves the surface of the pot body 1; when the cross bar 613 returns to its original shape, the front end of the cross bar is close to the surface of the pot 1. Thus, the stirring shovel 6 can stir and fry.

Fig. 7D also shows the combination of bending of the vertical rods of the stirring shovel and rotation of the horizontal rods of the stirring shovel. In fig. 7D, the vertical rod 612 of the stirring shovel 6 can be bent like fig. 7C, and the movement locus 600 of the bent part is shown. In the present invention, the rotation of the stirring blade cross bar is also regarded as a special case of the bending of the stirring blade vertical bar, so the embodiment shown in fig. 7A to 7D can also be regarded as the double bending of the stirring blade.

In fig. 7D, it can be seen that the stirring blade cross bar can be of various wedge shapes and is symmetrical about the vertical plane, but this is different from the stirring blade commonly used by the man at present because the stirring blade is asymmetrical. Of course, the asymmetric stirring blade 613f can also be used in the cooking machine of the present invention, only the return stirring and the forward stirring are slightly adjusted in software design. The asymmetric stirring blade 613f can be used for the stirring blade of fig. 12A to 12E, for example, the stirring blade cross bar 6133 of fig. 12E.

Summarizing fig. 7A to 7D, it can be seen that the present invention utilizes gravity to cause cooking materials such as water, oil, dishes, etc. to flow or fall to the heating zone at the bottom of the pan body, so that the axis of the stirring shovel rotating shaft is selected to be horizontal in principle during operation, and thus the bottom of the pan body, the gravity direction, the heating zone and the stirring shovel cross bar are all in the same direction. During operation, an included angle between the axis of the stirring shovel rotating shaft and the horizontal plane is also acceptable, especially when the included angle is small, for example, the included angle is smaller than 45 degrees. As a dish frying machine, although the included angle ranges from 0 to 90 degrees, the stir-frying effect is reduced along with the increase of the angle.

Fig. 7A-7D also show that the four motions of the stirring blade can be used alone or in combination. For example, not only can the stirring shovel wholly move, but also the stirring shovel vertical rod can bend, or the stirring shovel wholly moves and the vertical rod bends. But for simplicity, the stirring shovel does not need to move integrally when the vertical rod of the stirring shovel is bent; or the stirring shovel moves integrally, and the vertical rod of the stirring shovel is not required to be bent.

Fig. 8 is a schematic diagram of the trajectory of the stirring blade cross bar 613, and fig. 8 includes: the pot body 1, the pot cover 2 and the stirring shovel rotating shaft 61. When the rotating shaft or the blade of the stirring shovel is fixed, no matter what way the stirring shovel rotates, only one track of the cross rod of the stirring shovel is, namely, a circle. According to the invention, by utilizing the integral movement of the stirring shovel 6, the stretching of the vertical stirring shovel rod 612, the bending of the vertical stirring shovel rod 612 and the rotation of the horizontal stirring shovel rod 613, rich track families of the stirring shovel can be formed, and the stirring shovel can be stir-fried enough in various strips. These trajectories are characterized by: the device is abundant and controllable; both variable and repeatable. Taking the bending of the stirring shovel 6 as an example, when the stirring shovel 6 rotates at different rotation rates, the vertical rod 612 bends at different positions, the vertical rod 612 bends at different bending rates, and the vertical rod 612 bends at different degrees, the cross bar 613 can generate different stirring track groups 19. Furthermore, it can be seen from fig. 8 that the cross-section of the pan body 1 can also be of other shapes, such as oval or the like.

The stirring shovel module and the pan body illustrated in fig. 6A to 6M, 7A to 7D, and 8 can constitute a new stirrer, and the stirring shovel for stir-frying and the stir-frying are changed into controlled stirring. This mixer is fundamentally different from all current mixers. The existing stirrer can stir randomly, and the stirring shovel rotating shaft is vertical or inclined. In addition to random stirring, the mixer of the invention allows a much controlled and richer stirring, which, as analyzed in the background, is the key to realizing a cooker able to meet the requirements of different dishes and portions. From mathematical analysis, the invention changes the one-dimensional stirring function into the two-dimensional stirring function, so that the stirring mode (curve) is nearly infinite and rich, and the stirring mode (curve) is completely controllable (selectable), therefore, the optimal stirring can be selected for each stirring, the most itching position can be stirred, and the oil water and the cooking raw materials are ensured to be always positioned near the sunken heating area at the bottom of the pot body. Another preferred embodiment of the invention is dough kneading, which makes it possible to simulate artificial dough kneading, where the mixing blade bar may be circular, preferably also rotatable, or where the front end of the mixing blade bar is approximately semicircular (called semicircular for simplicity of description). These characteristics are never available in current blenders.

Fig. 9 is a schematic view of the novel pot body and the pot for containing cooked food, point B is a mark point at the bottom of the pot body 1, and fig. 9 includes: pan body 1s, stirring shovel 6s, stirring shovel auxiliary module 7s, stirring shovel rotation axis 61s, stirring shovel cross bar 613s, food 18s.

As shown in the dish containing schematic diagram of fig. 9, the dish is contained by rotating and dumping the pot body 1s and stirring the food by combining with the stirring shovel 6 s. When the pan body 1s is inclined by about 90 degrees, the dishes 18s slide to the edge of the pan body 1s by means of inertia, a part of the dishes directly fall into the bowl 172s, and the rest dishes are stirred by the stirring shovels 6s and 7s rotating around the rotating shaft 61s to drive the cross rod 613s, so that the dishes 18s can be loaded into the bowl 172 s. It is obvious that the boiler washing water can also be poured off in this way.

Obviously, the pan body 1s can be moved to an empty bowl after the food is fried to be cooked, and the food is poured out. Or the pot body is transferred to a waste water tank to pour the water for washing the pot. But the invention has much simpler and more convenient ways of holding food and pouring out water from the boiler. The heating source of the pot body 1s can be natural gas, an electric furnace or an induction cooker. Adopts a curved surface-shaped induction cooker, and the surface of the induction cooker is attached to the bottom of the cooker body 1 s.

Summarizing fig. 6A to 6M, fig. 7A to 7D, fig. 8 and fig. 9, it can be seen that the stirring shovel module of the present invention includes a stirring shovel auxiliary module 7 and a co-stirring and stirring shovel 6 (also referred to as a stirring shovel 6 for short), and the stirring shovel auxiliary module 7 drives a stirring shovel rotating shaft 611, so that the co-stirring shovel 6 rotates around an axis 61 of the stirring shovel module (6, 7). When the vertical rod of the blade of the stirring shovel 6 is bent, an axis is also arranged at the bent position. The mixing blade 6 also has a rotation axis of the cross bar when the cross bar is rotated. In the present example, the stirring shovel 6 spans the two ends of the pan body, and the axes are parallel to each other. In practical examples, due to the complexity of implementing the stirring shovel of the present invention, there are situations where the auxiliary stirring shovel module and the cooperative stirring shovel module interpenetrate each other, and there is some degree of uncertainty in the boundary between the two, just as the vertical stirring shovel rod and the horizontal stirring shovel rod are not strictly defined to some extent.

In the embodiment of the present invention, the driving device is preferably a motor, and includes two types of functional motors: one is a motor for driving the stirring shovel to rotate, which is called a stirring shovel module rotating motor for short; the other type is that a stirring shovel is driven to cooperatively complete the stir-frying function, which is called a stirring shovel stir-frying motor for short. The stirring shovel stir-fry motor can further refine the nomenclature according to stir-fry scheme difference, for example, stirring shovel moving as a whole motor, stirring shovel montant flexible motor, stirring shovel montant motor of bending and stirring shovel horizontal pole rotating electrical machines. It can be seen that the stirring shovel of the present invention has two motors operating independently in principle, which is a very important feature of the present invention.

Another feature of the invention is that the axis 61 of the stirring blade shaft is preferably horizontal, although the advantages of the invention are still present when the axis 61 of rotation of the stirring blade module (6, 7) is inclined at a small angle. The stirring shovel of the invention is an improvement after analyzing the defects of the drawing figures 1A and 1B, and is also an improvement of the inventor on the inheritance and the improvement of the prior published patents CN2448232 and CN1364436, thereby not only solving the problem of the stirring shovel, but also solving the problem that the cooking pan can still meet the stir-frying requirement of a household cooking machine without rotating, and simultaneously, the opening of the pan cover can be upright upwards and the stirring shovel with a bent shape is arranged on the pan body or the pan cover, thereby being very convenient for feeding materials into the pan body. The pot body does not need to rotate, so that the pot cover is convenient to mount. The pot body is not provided with the raised stirring bar blocks, so that the pot body is simple and convenient, and people can hold food conveniently. When the food is poured out, the stirring shovel can also help with force.

It can be seen from the conclusion of fig. 6A to 6M, fig. 7A to 7D, fig. 8 and fig. 9 that the stirring shovel module of the present invention can also conveniently and efficiently contain food, which is mainly due to the fact that the pan body of the present invention is a rotating envelope of the stirring shovel so that the shape of the front end of the stirring shovel fits the height of the pan body, the pan body can rotate without getting put on a shelf with the stirring shovel, the stirring shovel spans across the two ends of the pan body so that the food can be contained efficiently and conveniently, and the like.

FIG. 10A is a schematic view of the hole of the rotating shaft sealed by the circular plate of the integrally moving stirring shovel. Fig. 10A includes: the pot body 1, the pot cover 2, the stirring shovel 6, the stirring shovel auxiliary module 7, the stirring shovel rotating shaft 611 and the stirring shovel rotating shaft 61. With respect to the stirring shovel 6 with the outward rotating shafts 611 (611 a and 611 b), when the stirring shovel 6 integrally translates during stir-frying, the stirring shovel can also rotate around the central vertical axis of the pan body, and the rotating shaft 611 of the stirring shovel generates a hole 6111. To prevent water vapor in the pot from escaping through the holes 6111, a sealing plate 6112 may be used. The sealing plate 6112 is generally disc-shaped, the rotation shaft 611 of the stirring shovel penetrates through the sealing plate 6112, and when the stirring shovel 6 moves integrally, the sealing plate 6112 is driven to move, but the hole 6111 is always blocked by the sealing plate 6112.

Meanwhile, external water 7P or gas 7F and external electric signal 7V may be input into the stirring blade through the rotation shaft of the stirring blade 6. The water or gas is ejected from the nozzles 601a/601b on the stirring shovel. The electrical signal may then drive electromechanical components within the stirring blade 6, as well as supply heating components within the stirring blade 6. Of interest are the spouts 601a/601b at the stirring shovel module, which are easier to implement than spouts 601a at the stirring shovel vertical bars and cross bars. Alternatively, the stirring blade left end rotating shaft 611b is disconnected from the stirring blade, and the stirring blade 6 is driven only by the right end rotating shaft 611a, and at this time, the left end rotating shaft 611b becomes a rotary nozzle, and the stirring blade, the pot body, the pot cover, and the like can be cleaned.

It can be explained from fig. 10A what is called stirring shovel on the pan body, the pan cover or the cooking machine. In the stirring blade 6 of fig. 5a, when the lid is closed or the pan body is moved in translation up and down and left and right by several millimeters, the stirring blade 6 does not follow the movement, so that the stirring blade 6 is not considered to be fixed on the lid or the pan body, but to be supported or "rooted" on the cooking machine, and thus the stirring blade of fig. 10A is referred to as being mounted on the cooking machine. It is worth noting that although the stirring shovel 6 takes root on the cooker, the auxiliary stirring shovel module 7 is outside the cooker body, so that the auxiliary stirring shovel module is prevented from being polluted by food and oil smoke in the cooker body, and the opening and closing of the cooker cover 2 are not influenced by the auxiliary stirring shovel module, which is two outstanding advantages obtained by the fact that the stirring shovel 6 spans two ends of the cooker body.

Fig. 10B to 10D are schematic views of a cooking machine in which a plurality of stirring shovels are installed and schematic views in which the stirring shovels are installed on different components, and in fig. 10B to 10D, the cooking machine includes: the pot body 1, the pot cover 2, the stirring shovel 6 and the stirring shovel auxiliary module 7.

In FIG. 10B, two stirring blade systems 6a/7a and 6B/7B are mounted on the pan body 1, the rotation axes of the stirring blades are 61a and 61B respectively, and the rotation axes 61a and 61B are perpendicular.

FIG. 10C is a schematic view of another cooking machine equipped with a plurality of stirring shovels, in which a stirring shovel system 6C/7C is installed on the pan body 1, a stirring shovel system 6d/7d is installed on the pan cover 2, the rotation axes of the two stirring shovels are 61C and 61d, respectively, and the rotation axes 61C and 61d are perpendicular to each other.

Fig. 10D is a schematic view of another double stirring shovel system, wherein the stirring shovel systems 6a and 7a and the stirring

shovel systems

6b and 7b are oppositely arranged on the pot body 1 or the pot cover 2, and the rotation axes 61a of the two stirring shovel systems coincide. In order to ensure that two stirring shovels do not get into a shelf during operation, a series of evading operation modes can be adopted, for example, one stirring shovel, such as 6a, is tightly attached to the edge of the pot body 1, and when the other stirring shovel, such as 6b, runs to the vicinity of the stirring shovel 6a, the other stirring shovel leaves the surface of the pot body 1by virtue of the stirring shovel 6b, so that the other stirring shovel is prevented from colliding with the stirring shovel 6a, and meanwhile, a smooth passage is provided for the stirring shovel 6a to stir.

Fig. 10D also shows a schematic diagram of a stirring blade coordinated and synchronized by a transmission device, wherein a driving motor 713 rotates to drive a belt 7131 to rotate through a shaft coupling 7130 to drive the stirring blade 6b to rotate; meanwhile, the driving motor 713 drives the rotating shaft 7132 to rotate, so as to drive the belt 7133 to rotate and drive the stirring shovel 6 to rotate. Obviously, the same mode can be adopted to drive the left rotating shaft and the right rotating shaft of the same stirring shovel 6 to synchronously rotate, two-end support is further provided for the vertical rod, and a good foundation is provided for the vertical rod to be bent or the cross rod to rotate.

And/or the rigid connecting

pieces

7131, 7132 and 7133 support different stirring shovels or various corresponding rotating shafts at the left end and the right end of one stirring shovel, so that the different stirring shovels synchronously move or the corresponding rotating shafts at the left end and the right end of the stirring shovel synchronously move. The

rigid connectors

7131, 7132 and 7133 can be either outside the body/lid as shown or inside the body/lid. The rotating shafts required to be synchronized comprise rotating shafts such as a vertical arm, a stirring shovel rotating shaft, a stirring shovel vertical rod bending rotating shaft and a stirring shovel transverse rod rotating shaft in the following figure 16.

The double stirring shovels are beneficial to improving the stirring speed of the cooker so as to adapt to cooking needing to stir dishes quickly. Obviously, more than two stirring shovels may be used, which may be in different combinations, such as on the pan body or on the pan cover, with stirring shovel rotation axes parallel or rotation axes spatially orthogonal. The invention fully considers different combinations of a plurality of stirring shovels, and the combinations are all in the protection scope of the invention.

Obviously, the effect of the overall movement of the stirring shovel can be achieved through the overall movement of the pot body, the relative movement is classified into the overall movement of the stirring shovel, and the claims of the invention include the overall movement of the stirring shovel.

Fig. 11A to 11N are schematic views of the stirring shovel overall moving stir-frying device according to the embodiment of the present invention. The pot body 1, the pot cover 2, the stirring shovel 6 (comprising a stirring shovel rotating shaft 611, a stirring shovel rotating shaft axis 61, a stirring shovel vertical rod 612 and a stirring shovel transverse rod 613), the stirring shovel auxiliary module 7 (the stirring shovel auxiliary module 7 is not shown, see fig. 10A-10D and the like), and the stirring shovel auxiliary module comprises one or more linear motion devices 708, a vertical motor 710, a horizontal motor 711, a vertical arm 712, a stirring shovel driving motor 713, a stirring shovel transverse rod driving motor 714, a rotary joint, a conductive slip ring 7PFV, a water pump 7P, a fan 7F and an electric signal 7V.

Fig. 11A shows a basic stirring shovel integral moving stir-frying device, and the stirring shovel stir-frying process is shown in fig. 7A. The

horizontal motor

711a or 711b is arranged on the symmetrical vertical axis of the pot body, is positioned right above the central axis 61 of the stirring shovel without loss of generality, and the axis 198a/198b of the horizontal motor 711a/711b is parallel to the axis 61 of the stirring shovel. The rotating shaft of the horizontal motor 711a/711b is connected with the stirring shovel 6a/6b through the vertical arm 712/712a/712b, and drives the stirring shovel 6a/6b to integrally move. The horizontal motor 711a is positioned near the half height of the pan body, so that the length of the vertical arm is half of the length of the vertical rod of the stirring shovel. In practice, a deviation of ± 30% may be taken. To reduce fouling of the drop arm, the drop arm can be changed to a disc 712a1, referred to as a disc drop arm, and the drop arm 712a can be referred to as a bar drop arm. The depending arm 712 in FIG. 11E also has both a rod and a disk form.

The position of the horizontal motor 711b may also be at a higher position, for example, near the top of the lid 2.

In fig. 11B, the supporting device 28 is used to support the stirring blade auxiliary module, and the supporting device is installed on the cooking machine, the lid 2 or the body 1, and the body is shown in fig. 6B in an expanded form. Fig. 11B shows a more complex overall movement of the mixing blade than fig. 11A, i.e. the mixing blade rotates about the pan central vertical axis 199. For example, the vertical motor 710 drives the horizontal motor 711 to rotate around the central shaft 199 of the pot body, the horizontal motor 711 drives the hanging arms 712a/712b to swing, and drives the stirring blade driving motor 713 and the stirring blade 6 to move, and the stirring blade driving motor 713 drives the stirring blade rotating shaft 611 to rotate, and drives the stirring blade 6 to rotate. A motor can be further installed at the rotating shaft 611 of the stirring shovel, and the vertical rod of the stirring shovel is bent (the bending axis 62) or the cross rod 613 is rotated in a nesting driving mode. The vertical rod 612 may be located in the middle of the cross-bar 613 or at both ends of the cross-bar (not shown, see fig. 11C and 11D).

The vertical arm of the stirring blade auxiliary module may be of a telescopic type, for example, the vertical arm upper part 712a may be fixed and the vertical arm lower part 712b may be telescopic. Or, the arm bending type is made. In this case, a driving motor is also required.

Consider the situation where the pot opening is up. It can be seen that the various motors in the stirring shovel auxiliary module are all located in the plane 102 of the pot opening and in the cylindrical area 103 with the pot opening facing upwards, and therefore, the problems of pot fume and high temperature are all involved.

In fig. 11C, the stirring blade rotates about the center of the pan body 199, and the bending motor 7121 of the vertical arm 712a/712b and the stirring blade vertical rod 612 are on both sides of the cross bar 613. Obviously, it is also possible to make the bending motor 7121 drive the rotation of the stirring blade 6 (not shown, see fig. 11D), instead of the stirring blade rotation motor 713, or to keep the motor 713 and adopt a "nested drive" structure, so that the motor 713 can drive the stirring blade cross bar 613 to rotate.

In fig. 11D, the bending motor 7121 drives the stirring blade 6 to rotate via

transmission devices

7122 and 7123, which illustrates that the stirring blade driving motor 713 may be in a different position, or the stirring blade driving motor 713 may still be at the stirring blade shaft, driving the stirring blade cross bar 613 to rotate via "nested driving". Alternatively, a stirring shovel cross bar driving motor 714 is installed at the other end of the stirring shovel for driving the stirring shovel cross bar 613 to rotate. In order to make the

vertical rods

612a and 612b fully synchronized and better stressed, the vertical rods 612a/612b can be synchronously driven and supported by a transmission 7131 across the two ends of the pot body. Vertical rods at the left end and the right end of the stirring shovel or two stirring shovels working alternately are synchronously driven and supported by a transmission device outside the pot body as shown in a figure 10D.

Obviously, as mentioned above, the rotation of the cross bar can be regarded as a special case of the bending of the vertical bar, so that the cross bar 613 can be driven to rotate, and the stirring shovel vertical bar 612 can also be driven to bend or rotate. The rotation of the cross rod can be regarded as the special condition that the vertical rod is bent.

Fig. 11A to 11D are schematic views showing various schemes of the overall movement of the stirring shovel, but the driving motor of the stirring shovel auxiliary module is affected by oil smoke and high temperature.

In fig. 11E, the motor of the stirring shovel auxiliary module is outside the closed surface formed by the pot body and the pot cover, so that the influence of oil smoke/high temperature on the motor is greatly reduced. The horizontal motor 711 drives the rotating shaft 7116 to rotate and drives the hanging arm 712 to rotate through the transmission device 7112/7113/7115, the transmission device 7115 drives the stirring blade driving motor 713 to rotate, and through the nested driving, the rotating shaft 7132 of the motor 713 drives the transmission device 7134/7135/7136 in the hanging arm 712 to rotate the stirring blade rotating shaft 611 to drive the stirring blade 6 to rotate.

Referring to fig. 6B and fig. 3A to 3D, the lid 11 of the pot can also be selected in other positions, for example in the axial position, in which case the pot is drum-shaped.

The hanging arm 712 can also be made into a disk shape (see the hanging arm 712 and the dotted line in fig. 11E, refer to the disk hanging arm 712a1 in fig. 11A), so as to reduce the generation of corner fillet, achieve the purpose of reducing the dirt collection and the dirt holding, and enhance the strength of the hanging arm.

Fig. 11A to 11E include a pivotable suspension arm 712, which is referred to as a polar translation device.

The mixing blade auxiliary module of fig. 11F consists of a linear motion device, called cartesian translation device, a linear motion device and cartesian components, which can be referred to in fig. 4A-4 g, with the Y-axis parallel to the axis of the mixing blade's rotation axis and the X-Z plane perpendicular to the Y-axis. When the stirring blade crosses the two ends of the pot body, the linear motion device 709 drives the stirring blade driving motor 713 and the stirring blade 6 to move integrally through the hanging arm 712, and meanwhile, the stirring blade driving motor 713 drives the stirring blade rotating shaft 611, so that the stirring blade rotates around the axis 61.

The depending arm 712 may also be zero length. Some specific examples are schematically shown in fig. 10A and fig. 11I, 11J, and 11K. The simplest overall movement is only horizontal X-direction translation or vertical Z-direction translation, and only one linear motion device is arranged at the moment. The Y-axis translation is needed for completing the stir-frying of the figure 6K, and at the moment, three linear motion devices are needed to form a three-dimensional rectangular coordinate translation device. Fig. 11F can also refer to the various modifications of the moving means and the moving means for rotating the cross bar of fig. 11A to 11E.

Fig. 11G illustrates that when the size of the stirring shovel is smaller than that of the pan body, the stirring shovel can be translated along the axis of the rotating shaft of the stirring shovel to stir, and when the pan body is an envelope formed by rotation of the stirring shovel, the stirring shovel 6a may get out of the way of the pan body 1 when the pan body 1 does not adopt the envelope formed by rotation of the stirring shovel. Perhaps, rotating the stirring blade by an angle θ is a solution, that is, the stirring blade system is gradually lifted/rotated (or rotated) by an angle θ (or swung/rotated by an angle θ) around a horizontal axis (or a certain horizontal axis) at the center of the pot body, and the central horizontal axis is perpendicular to the rotation axis of the stirring blade.

By combining the linear dislocation stir-frying method shown in fig. 11G and fig. 6K, a new stir-frying method can be obtained, which is called a deformed linear dislocation stir-frying method, that is, when the linear dislocation stir-frying method (see the track of fig. 11N) is used, the stirring shovel slowly rotates by an angle θ to adapt to the curved surface of the pan body.

Fig. 11H is a schematic view of stir-frying with the pan lid 2, and the pan lid 2 device 22 is mounted on the linear vertical motion device 709, and the pan lid 2 is lifted by an angle β and/or the vertical motion device 709 moves the pan lid up and down to drive the stirring shovel 6 to move integrally.

Cartesian integral movement can also be combined with polar integral movement, for example, a horizontal motor is mounted at the terminal moving end of the Cartesian movement apparatus, driving the plumbing arm to rotate about an axis. However, such a combination makes the stirring blade auxiliary module too complex and is not usually considered.

Fig. 11I shows a rectangular coordinate moving apparatus, in which a vertical axis moving apparatus 709b is installed at the moving end of a horizontal linear motion apparatus 709a, a stirring blade is driven by a motor 713 to rotate, and a stirring blade cross bar is driven by a motor 714 to rotate.

One embodiment of the rotation of the drive "cross-bar shovel" 613 is as follows: the motor 714 rotates and moves along with the stirring shovel 6, the rotating shaft 7141 of the motor drives the inner gear 6121 of the vertical rod 612 to rotate through the gear 7142, and then drives the universal shaft transmission 6123 to rotate through the universal shaft 6122, and finally drives the cross rod shovel 613 to rotate. A "nested drive" arrangement may also be employed to accomplish this, see fig. 11K embodiment.

Fig. 11I also shows the introduction of water 7P/gas 7F/electricity 7V into the stirring blade 6 through the swivel and conductive slip ring 7PFV, the water vapor being ejected from the stirring blade nozzle 601.

Fig. 11J shows a polar coordinate driving device, in which a horizontal motor 711 and a vertical arm 712 drive a motor 713 and a stirring blade 6 to move integrally, and the motor 713 drives the stirring blade to rotate via a rotating shaft 611 a. The motor 714 may also drive a transmission in the stirring blade shaft 611b through its shaft 7141, causing the stirring blade cross bar 613 to rotate. The horizontal motor 711 may also be mounted on the axis shifter 709, but this is usually too complicated and difficult to use. But these are all within the scope of the invention.

Fig. 11K is a reference diagram of fig. 11H, and the pot cover 2 is involved in the stirring shovel auxiliary module, that is, the stirring shovel 6 is installed on the pot cover 2, and the rotation and up-and-down movement of the pot cover are utilized to drive the stirring shovel to move integrally. One solution is that the stirring blade cross bar 613 does not rotate and the stirring blade is driven to rotate by a motor. The bright driving motor 713a may be driven by a driving device 761a in a direction perpendicular to the rotation shaft 611 a. This makes the stirring blade auxiliary module small in lateral dimension.

Alternatively, the stirring blade drive motor 713b and the cross bar drive motor 714 drive the rotation of the stirring blade 6 and the rotation of the cross bar 613 by "nested driving".

Fig. 11K also shows that the stirring blade 6 is moved integrally by the linear movement device 709.

Fig. 11L is a schematic diagram of the stir-frying track of the stirring shovel reciprocating at the two ends of the pan body, which corresponds to fig. 10B, 10C and 10D, respectively. Fig. 11L shows two stirring blades perpendicular to each other, the stirring blade rotation axes 61a and 61b. The R-L stir-frying method is combined, most stir-frying required by cooking can be realized, and the stirring shovel cross rod rotates to meet all stir-frying requirements. When the stir-frying pan is rotated in a single direction, the stirring shovel usually needs to stretch across two ends of the pan body; when two vertical directions are selected for stir-frying, the complexity is improved, but the stir-frying effect is better, and the stirring shovel does not need to span two ends of the pot body. For a stirring blade moving integrally, the axis of the rotating shaft is changed continuously, and the axis is set at the middle position in fig. 11L only for exemplary illustration.

FIG. 11M is a schematic diagram of the track of the stirring shovel which is used for stir-frying back and forth at the two ends of the pan body and rotates around the central vertical rotating shaft of the pan body, and the stirring shovel can realize most stir-frying needed by cooking by combining an R-L stir-frying method or a left-right stir-frying method. Referring to fig. 11M and fig. 11I to 11K, it can be seen that there is also a movement mode of the stirring shovel system, that is, the stirring shovel auxiliary module drives the stirring shovel to make circular motion along the opening plane of the pot body, and the stirring shovel performs stir-frying motion. The core of this stir-frying method is still left-right stir-frying, which is called "staggered left-right stir-frying" or "rotary staggered left-right stir-frying". There are also small variations of "rotational offset left-right stir-fry" such as reciprocating stir-fry which does not pass strictly through the center of the pan (see fig. 11P 2) but is slightly offset. Or the stir-frying is carried out in the course of removing, and the stir-frying is not carried out in the return course, because the stir-frying is not carried out in the return course, the stir-frying efficiency is low, and the stir-frying can be completed for one time only by rotating one circle; in contrast, stir-frying is carried out in both round and round modes, and the stir-frying can be carried out only by rotating for half a circle. These small deformations are all within the scope of "rotational dislocation left-right stir-fry".

FIG. 11N is a schematic diagram of the track of the stirring shovel at both ends of the pan body and the stirring shovel translating along the axis 61 of the rotating shaft in the case of FIG. 11K, which combines with the "R-L stir-frying method" to realize most of the stir-frying required for cooking. The agitator shaft axis 61 is constantly changing for the agitator overall translation, and the setting of the axis at the intermediate position in fig. 11L is merely an exemplary illustration. The core of the stir-frying method is still left-right stir-frying method, and is also one of staggered left-right stir-frying methods, which is called as straight staggered left-right stir-frying method.

Fig. 11O is a schematic diagram of the track of the stir-frying pan in fig. 11G, in which the stir-frying pan shifts and tilts while performing the stir-frying in a reciprocating manner to form an arc stir-frying track, which is similar to the earth magnetic field and is referred to as "earth magnetic field type left-right stir-frying" for short. Fig. 11P1 is a supplement to fig. 11L, 11M and 11N, i.e., the food is being spread. Most existing cooking machines stir, and spread in the manner of fig. 2F, which is a centrifugal manner to throw the food toward the edge of the pan body. While the food is above the mixing shovel. Fig. 11P1 shows the food being spread by placing the mixing spatula above the food, back and forth, side to side, obliquely up/down, circular and some random movements. This type of dispersion allows for better control of the movement of the food.

Fig. 11P2 is one of the modified forms of fig. 11M, namely, the stirring shovel performs the rotational stir-frying in a manner slightly deviating from the center of the pan body, which is simply referred to as "rotational eccentric left-right stir-frying". Because the stirring shovel has a certain width, the food at the center of the pan body can be stir-fried. Fig. 11M has some minor modifications, such as stir-frying from one end to the other with the stir-spatula on the return stroke without stir-frying, but with stir-frying in a single pass, and then rotating an angle and stir-frying in a single pass for only one round of stir-frying. These minor modifications do not alter the stir-fry nature of fig. 11M, and are within the scope of the claims of fig. 11M.

Fig. 11P3 is a supplementary explanation of fig. 7 (particularly fig. 7D), fig. 11L, fig. 11M, fig. 11N and fig. 11O, and takes a stirring shovel system with a vertical rod bent (refer to fig. 12) as an example, in which the pan body 1, the rotating shaft 61 of the stirring shovel system 6, the vertical rod bending rotating shaft 612h, and the horizontal rod rotating shaft 613h are provided. Horizontal pole shovel 6131 is located the edge of pot body and moves to pot body center during initial, pushes food 181 to pot body center, through one section distance operation, near stirring shovel 6131a reachs pot body center, and in partly food 182 was packed into stirring shovel 6131a, stirring shovel 6131a continued to move ahead to stirring shovel montant cooperation is bent and is made stirring shovel progressively break away from pot body surface. At this time, the stirring shovel has three modes of overturning food:

firstly, the stirring shovel 6131b rotates backward greatly, for example, over 180 degrees is selected to throw the food 182 backward (with the moving direction as a reference), or the stirring shovel vertical rod rotating shaft 612h rotates backward greatly to throw the food 182 backward. The stir-frying mode is most suitable for the intuitive imagination of people on stir-frying, and has the advantages of most thorough stir-frying and largest food spreading area after stir-frying. The disadvantage is that the food spreading area is too large, which has great uncertainty, and the uncertainty of the following stir-frying is increased, thereby increasing the difficulty of the following stir-frying. Meanwhile, the food is also easily wound on the stirring shovel rotating shaft 613h or the vertical rod rotating shaft 612h. This mode is called "rear-throw mode" for short.

The second type of stir-frying is that the stirring shovel 6131c inclines downwards to make the food 183 incline forwards in the moving direction, so that most of the food in the pan body deviates to the left side of the center point of the pan body (forwards in the moving direction), which is called as a front throwing type for short. Or the food is rolled in a mode similar to a snowball, which is called the snowball for short. When the reverse stir-frying is carried out for the next time (as shown in fig. 11L), most of the food can be deviated to the right side of the central point of the pan body, and the food is pushed to the central point of the pan body after the stir-frying is finished; alternatively, rotary stir-frying is performed as in FIG. 11M, so that the food can be stir-fried while being kept near the center of the pan body all the time.

The third stir-frying mode is that the stirring shovel rotates along the rotating shaft 6z6 in the extending direction of the vertical rod to turn over the food in the pan body. In order to turn the food over to the side close to the center of the pan body, the stirring shovel can adopt an eccentric mode in the figure 11P 2. See illustration and description in fig. 11P. For short, side-throwing, a typical application is as shown in fig. 11O.

The stirring blade may be asymmetric, i.e. only stirring blade 6131, or symmetric, i.e. also stirring blade 6132, as illustrated in fig. 12. Fig. 11Q is a schematic view of another mechanical configuration example of fig. 11L, 11M, 11N, 11O, 11P1, 11P2, 11P3, and 6M. A pan body 1. The mechanical arm 6 forms a stirring blade system in combination with the stirring blade 613, and a base rotating shaft (referred to as a base for short) 611 of the stirring blade system can horizontally rotate along an axis 6z1. The mechanical arm is composed of multiple segments, for example, as shown in fig. 11Q, the mechanical arm is composed of three segments 6121/6122/6123, wherein the third segment 6123 is connected with the stirring shovel blade 613. Note that the stirring shovel 613 can also rotate around its axis 6124 to overturn the food, or the posture of the stirring shovel 613 is continuously adjusted by 180 ° during the reciprocating stir-frying process, so that the front surface of the shovel blade 613 is aligned with the moving direction (it should be noted that the back surface of the shovel blade is aligned with the moving direction, and the stir-frying is also possible).

The base rotates for a circle or a half circle, and then the food in the pan body can be stir-fried in all directions.

If the position of the rotating shaft 611 of the stirring shovel system is fixed or called the mechanical arm base is fixed, the typical pot 1 is a cylindrical surface, and the motion track of the stirring shovel is as shown in fig. 11L. If the position of the shaft 611 of the mixing blade system moves around the circular track 611h, the typical pan body 1 is bowl-shaped, and the movement track of the mixing blade is as shown in fig. 11M. If the position of the rotating shaft 611 of the stirring shovel system moves along a straight line, the typical pan body 1 is columnar, and the motion track of the stirring shovel is as shown in fig. 11N or fig. 11O. With the use of a robot arm with relatively complete functions, such as the six-axis robot arm shown in fig. 11Q, all the stir-frying operations shown in fig. 11L to 11P can be realized without moving the robot arm base, and the pot body is cylindrical or bowl-shaped. In contrast, only three axes are required to implement fig. 11L, which greatly reduces the difficulty.

The basic actions of stir-frying are "R-L stir-frying method" or "left-right stir-frying method" (or "R-L stir-frying method" or "forward-backward stir-frying method"), and various modifications such as "rotational offset left-right stir-frying method", "rotational eccentric left-right stir-frying method", "earth magnetic field left-right stir-frying method", and "linear offset left-right stir-frying method", see the stir-frying modes of fig. 11L, 11M, 11N, and 11O. Stir-frying with the stir shovel also includes the raking of fig. 11P1 and the eccentric stir-frying of fig. 11P 2. Obviously, a combination of the above stir-frying methods may also be employed.

The stirring shovel system makes integral rotation motion or linear motion or general movement around the plane of the pot body. The stirring shovel system can also be fixed on a ring 611d, and a supporting bearing 611e is arranged below the ring. The ring 611d performs a circular motion to drive the stirring shovel system 6 to perform a circular motion, and the gear 611c may be engaged with a gear on the ring to drive the ring 611d to rotate, so as to drive the mechanical arm 6 and the stirring shovel 613 to perform a circular rotation. The circular ring and the opening of the pan body 1 can also be in seamless butt joint to form a part of the pan body. The ring can complete the integral rotary stir-frying in the mode of fig. 11M only by rotating 180 degrees at least. When the mechanical arm 6 moves around the circumference of the pan body 1, the material feeding boxes A1a/A1b at the two ends of the pan body can be stir-fried. More generally, a motion mechanism can be designed, so that the base 611 can move around the pot body 1 to drive the mechanical arm 6 to move integrally, and the pot body 1 and the feeding box A1a/A1b can be stir-fried. In order to fully utilize the potential of the mechanical arm 6, common cooking tools such as the scraper knife 613 and the filter screen a22 can be placed at fixed positions, a holding clamp or a mechanical arm is arranged at the front end of the mechanical arm and can be respectively picked up, the working range can reach the pot body and/or the feeding box, and the cooking tools are put back after the work is finished.

Usually, a mechanical arm includes three or more moving arms, and the moving arms are connected by joints. The robot arm and the moving arm can rotate, for example, the base rotating shaft 611 rotates around the vertical axis 6z1, which drives the whole robot arm 6 to rotate horizontally, the moving arm 6121 can rotate around the horizontal axis 6z2, and drives the subsequent moving arm to rotate around the moving arm extending direction axis 6z3, the connecting joints 6z4 and 6z5 between the moving arms can rotate, and the scraper knife can rotate around the extending direction axis 6z6. Therefore, the multi-axis (e.g. 6 axes in the figure) mechanical arm can complete left-right stir-frying or rotation-staggered left-right stir-frying or straight-staggered left-right stir-frying by rotating the combination to fix the mechanical arm base 611 at a certain position. At this time, the pan body can be a cylinder or a bowl.

As can also be seen in fig. 11P, the stirring blade 613 has two mutually perpendicular rotation axes, one rotation axis 6z5 perpendicular to the handle and the other rotation axis 6z6 along the direction of the handle of the stirring blade.

The basic actions of stir-frying are still the "R-L stir-frying method", which can also be called the "left-right stir-frying method" or the "forward-repeat stir-frying method", including its variants "rotation dislocation R-L stir-frying method" and "linear translation R-L stir-frying method". The stir-frying methods of the invention can realize good stir-frying without complex visual identification, like a washing machine without the visual identification, thereby better solving the problem of complex stir-frying.

All the stir-frying modes can be used for dispersing food. When the food is scratched, the stirring shovel does not need to be close to the edge of the pot body without food, the stirring shovel gradually contacts the food from the upper side of the food, and then the food is scratched in a left-right scratching mode or in a random motion mode. The food in a certain part of the pot body can be more uniform by the scattering.

Fig. 12A to 12E are schematic views of several modified stirring shovels.

Fig. 12A is a side view of an improved stirring blade, stirring blade 6, stirring blade rotating shafts 611a/611b, rotating axis 61, stirring blade vertical rods 612, stirring blade cross rods 613, vertical rod and cross rod dividing points K1, J1, and stirring blade spout 601.

The rotation of the cross bar or the bending of the vertical bar of the stirring shovel 6 can also be realized by a rotating device 605, and when the rotating device 605 is arranged on the cross bar 613, the cross bar 613 can be driven to rotate around the symmetry axis 603. When the rotating device 605 is at the vertical rod 612, the vertical rod can be bent or rotated (the invention considers bending and rotating as the same concept), and the vertical rod bends or rotates the axis 603. When the stirring blade 6 is bilaterally symmetric, the axis of symmetry 603 is parallel to the stirring blade rotation axis 61. The rotary device 605 may be directly driven by an electric motor or a pneumatic motor, and power or compressed air is introduced from a rotary joint at the rotary shaft 611 of the stirring blade. Or a pulley or a gear driven by the stirring shovel rotating shaft 611, and the principle of the stirring shovel is shown in the scheme of fig. 10. As will be seen in the following description, the bending of the stirring blade 6 can be subdivided into bending of the stirring blade vertical rods 612 and rotation of the stirring blade cross rods 613. In order to avoid excessive combination, in some occasions without special description, the bending and rotation can be regarded as the same concept, and the bending of the stirring shovel vertical rod 612 and the rotation of the stirring shovel transverse rod 613 are divided into the bending of the stirring shovel vertical rod, because the bending or rotation of the stirring shovel transverse rod can be regarded as a special case of the bending or rotation of the vertical rod. If the stirring shovel is not only bent by the vertical rod 612 but also rotated by the cross rod 613, the stirring shovel can be used as a stirring shovel vertical rod 612 to be bent or rotated for the second time. Bending or rotation of the stirring blade cross rod can occur in virtually all types of stirring blades (e.g., stirring blade moving as a whole with stirring blade cross rod rotating; stirring blade vertical rod telescoping with stirring blade cross rod rotating, etc.), and can be driven directly by a motor or pneumatic motor. For this reason, it is illustrated separately in FIG. 7 for emphasis, indicating that these aspects are within the scope of the invention. Because the montant and the stirring shovel horizontal pole of stirring shovel all belong to stirring shovel blade, consequently the stirring shovel montant is bent or is rotatory, the rotation of stirring horizontal pole or bend and all can return to the bending or the rotation of stirring shovel blade, contain to bend or rotate many times. The bending or rotation of the blade of the stirring shovel not only can finish the important function of stir-frying, but also can throw off the food adhered to the blade of the stirring shovel.

Soft material 666a of stirring shovel 6 outward flange installation, it is further, can make several rows of sawtooth shape with the edge of material, crisscross each other between every row for the cooking raw materials can't pass through the gap of sawtooth, but liquid profit can not taken away by stirring shovel 6 completely, guarantees that pot body 1 surface is moist.

Fig. 12B and 12C are top and side views of a much improved stirring blade, pan body 1, stirring blade shaft 61. The stirring shovel comprises a vertical rod and a transverse rod, and a transverse rod shovel similar to a stirring shovel is additionally arranged at the position of the transverse rod of the stirring shovel or near the transverse rod. If the vertical rod of the stirring shovel is arranged at two ends, the rotating shaft is 611a/611b, and the vertical rod is 612a/612b; if the vertical rod of the stirring shovel is in the middle, the vertical rod is 612ab. After the cross bar of the stirring shovel is replaced by a cross bar shovel, the stirring shovel is called as a stirring shovel for the sake of image and distinction.

As seen in side view 12C, the intersection of the cross bar shovel with the vertical post is nearly perpendicular to the vertical post, at an angle similar to that of a "hoe" and not necessarily at a strict angle. As seen in top view FIG. 12B, the "mixing spatula" is in the shape of a widened spatula, and includes a thin sheet 6131 in the middle, slightly convex edges 6132 on both sides, and slightly convex middle arc-shaped edge 6133. The edge edges or the folded edges can gather food and improve the strength of the cross-bar shovel. "stirring shovel" has the function of similar stirring shovel except possessing the stirring shovel function concurrently, can shovel food, and the horizontal pole width has increased, reducible food winding. Particularly, the food to be cooked is not easy to wind on the stirring shovel or the stirring shovel by combining the stirring shovel R-L stir-frying method. The point P at the front end of the cross rod shovel is similar to the point P at the front end of the stirring shovel in the figure 7A, the R-L stir-frying method can still be completed, and the stir-frying effect is better because the cross rod shovel is a thin sheet.

The "cross shovel" 6131/6132 can be made in a form of mirror symmetry with the vertical rods of the stirring shovel, as shown in the dotted line "cross shovel" 6131/6132 in fig. 12C.

A rotating shaft 612h with a certain resilience function can be installed on the vertical rod, for example, a bending part of the vertical rod. A rotating shaft 613h having a certain resilience function may be installed on the "cross blade". In this way, machining/assembly/operating tolerances can be eliminated, so that the front end of the "cross-bar shovel" can be fitted to the pan body without getting stuck or damaged. Or a deviation design is adopted, and the balance position of the 'cross rod shovel' with the rebound function is deviated from the position vertical to the vertical rod to the direction close to the pot body by an angle theta, which is shown in figure 12C.

Similar to fig. 12A, a rotation device 605 may be added to drive the "cross-bar shovel" to rotate (or to drive the vertical bar to bend, see fig. 16). The driving rotation range is more than 180 degrees, the food can be turned over, and a stir-frying mode is added. "Cross-arm shovels" typically achieve 360 ° rotation. The driving power can be either in the "cross-bar shovel" (e.g. mounted with a motor) or in or through the vertical bar, see the various solutions in fig. 11A-11N, especially with the "nested driving" solution. The rotation shaft 613h of the electrically driven "cross-bar shovel" can still be added with a rebounding device at the rotation shaft, or the rotation shaft 612h1 of the "cross-bar shovel" is near the rebounding device 613h. It is emphasized that the stir shovel (or stir shovel) of the present invention in combination with the R-L stir fry method of the present invention provides good cooking results without the need for the stir shovel bar 613 to be reversible. The turning of the cross bar 613 is only to make the stir-frying more flexible, but the difficulty and cost are increased.

The vertical rods 612a/612b may be on the outside of the "cross-shovel" (see FIG. 12C) or on the inside. The edge 6133 can be used for rejection: the middle edge 6133 (fig. 12C) is inclined backward on the inner side of the vertical rod, and when the cross-rod shovel rotates a certain angle, the edge 6133 touches the vertical rod 612 and cannot rotate continuously. In order to limit the moving range of the stirring shovel, other rejecting devices can be installed by those skilled in the art in combination with the embodiment of the present invention, and will not be described in detail herein. The backward inclination of the edge also helps to increase the area of the stirring shovel (without affecting the feeding) and to make the stirring shovel easier to clean.

Fig. 6 to 12 are summarized. A stirring shovel is used in traditional cooking, the stirring shovel is much smaller than a pot body in size, and the stirring shovel and the pot body do not have strict corresponding relation in shape. In order to achieve uniform heating, the food is firstly turned over by the stirring shovel, the food heated below is turned over to avoid burning the food, and the food not heated above is turned over to be heated in contact with the pot body. The food in the middle layer is mixed with the food in the upper and lower layers by fully stirring. And secondly, the food is stir-fried from all sides of the pan, so that each food can be stir-fried, and the food leaked at the edge of the pan body is gathered in the middle of the pan body. And thirdly, the food wound on the stirring shovel is scraped off. Thus. The process is very complex, needs visual identification, and is very difficult to realize stir-frying by adopting machine vision and mechanical devices, which is the root cause that the domestic intelligent cooking with excellent performance cannot be deduced later.

It can also be seen from fig. 6-12 that, first, with the stir shovel and stir fry method of the present invention, for most cooks, the stir fry of the food is completed without the food bottom being completely turned over all the day, and the typical stir fry trajectory is shown in fig. 8, where the "cross bar shovel" is turned over at an angle of less than 180 °. The stirring shovel has the characteristic of uniformly stirring food, can ensure that the food is kept near the bottom of the pot body during stirring, has rich stirring track curves, ensures uniform stirring and can meet the requirements of different cooking varieties and quantities. Secondly, the invention can simplify the three-dimensional problem into a one-dimensional problem, and the stirring shovel only stirs one by one, so that the stirring problem is greatly simplified. Thirdly, the R-L stirring mode of the invention does not need to turn over the food, and can avoid the food from winding on the stirring shovel. Fourthly, special frying programs are provided for different dishes and portions, and optimal frying is achieved. Utilize this patent can realize the intelligent cooking machine of different forms.

In fig. 12D, 12E and 12F, the "cross shovel" in fig. 12D is symmetrical to the stirring shovel vertical rod, and in fig. 12E, the "cross shovel" is deviated to one side and is asymmetrical, and fig. 12F shows the relationship between the shape of the stirring surface 6131 and the pan 1. Fig. 12D, 12E, and 12F show a curve 6131b of the stirring blade edge: 6131b1/6131b2 should be matched with the surface of the pan body, and the curve 6131a of the shovel surface 6131 of the stirring shovel should be matched with the surface of the pan body, namely, the curve 6131b is matched with the curve 6131b:6131b1/6131b 2. When the food will be shoveled to the stirring shovel, stirring shovel face 6131 must coincide with the curved surface of the pot body 1, stir food when the stirring shovel goes on, then need use the front edge 6131b of stirring shovel: 6131b1/6131b2 contacts with the pan body. Especially, in the case of the asymmetric stirring shovel as shown in fig. 12E, when the left-right stir-frying method is adopted, the food must be stirred back by the stirring shovel edge 6131b on the return stroke, so that the curve of the stirring shovel edge 6131b must be matched with the surface of the pan body 1.

It should be further noted that, according to the concept extension of fig. 6L and 6M, the vertical rod of the stirring shovel may be similar to a mechanical arm, and the "horizontal rod shovel" may be similar to a shovel blade, in a special scenario of stir-frying food, in order to avoid the mechanical arm occupying too much pan body space, or in order to reduce the number of parts of the mechanical arm contaminated by oil smoke of the pan body as much as possible, or in order to avoid the fragile parts of the main parts of the motor not being affected by hot and humid, a part of the power device of the mechanical arm is placed outside the pan body and is not contaminated, so the mechanical arm may also be provided with a mechanical arm auxiliary module. The shovel blade that arm was held, including shovel tool bit and shovel blade handle, the shortest length of shovel blade handle can be for zero.

In the embodiment of the invention, the stirring shovel comprises a stirring shovel vertical rod and a stirring shovel transverse rod, the stirring shovel vertical rod with an electric function mechanism is called a vertical rod module, the stirring shovel transverse rod with an electric function mechanism is called a transverse rod module, at the moment, the stirring shovel comprises a vertical rod module and a transverse rod module, the stirring shovel is called a stirring shovel module or a stirring shovel for short, and the stirring shovel auxiliary module is used for completing a stir-frying function; and/or the presence of a gas in the gas,

the mechanical arm holds the scraper knife, or the mechanical arm and the scraper knife are combined to form a stirring and shoveling system, the mechanical arm further comprises a vertical arm, and the minimum length of the vertical arm is zero.

Stirring shovel system = stirring shovel auxiliary module + stirring shovel montant + stirring shovel horizontal pole = arm + spiller, consequently, arm + spiller = stirring shovel system. After the electric device is additionally arranged on the stirring shovel, the stirring shovel and the electric device are called as a stirring shovel module or a composite stirring shovel.

Fig. 13 is a schematic view of the mixing blade system of the present invention constituting a cooking pan system 8, fig. 13A is a view in which the plane of the pan body opening is parallel to the rotation axis of the mixing blade, fig. 13B is a view in which the plane of the pan body opening is perpendicular to the mixing blade, and other cases of the pan body opening plane and the mixing blade are between fig. 13A and fig. 13B, so we only consider the two cases where the difference is the largest. As can be seen from the analysis of fig. 2A to 2F, fig. 13A is significantly better than fig. 13B, and thus the focus is on the schematic diagram of fig. 13A, and all general conclusions are applicable to fig. 13B.

As shown in fig. 13A, includes: the pot body 1, the pot cover 2 or the pot cover 11, the pot cover 2 is used for the condition that the opening plane of the pot body is parallel to the stirring shovel, and the pot cover 11 is used for the condition that the opening plane of the pot body is perpendicular to the stirring shovel, which is shown in detail in fig. 6B and fig. 2A-2F. The

stirring blades

6,7, the stirring blade 6 rotating around the axis 61. A water pump (or water) 7P, an air pump (or air) 7F, an electric signal 7V, a stirring shovel rotating shaft 611, a pot body rotating shaft 103 and a conductive slip ring 104. The mixing shovel spout 601.

The water pump 7P and the air pump 7F exchange water and air with the pot body 1 through the stirring shovel auxiliary module 7, and for the sake of simplicity of description, the water pump 7P and the air pump 7F also represent high-temperature water and air. The water 7P and the gas 7F are communicated with the stirring blade rotating shaft 611 through the stirring blade auxiliary module 7, enter the stirring blade 6 through the stirring blade rotating shaft 611, and are then ejected from a series of nozzles 601. Of course, the reverse pumping is also possible, i.e. the fluid is sucked in from the nozzle 601 (e.g. rice washing water) and then is sent out of the pot 1 through the stirring shovel 6, the stirring shovel rotating shaft 611 and the stirring shovel auxiliary module 7.

The electric signal 7V includes a power supply and a control signal, and goes through the stirring shovel auxiliary module 7 to the stirring shovel 6.

The bottom of the pot body 1 is provided with a heating module 101.

There is the pot cover to synthesize module 2s on the pot cover 2, include: a top heating module 2TH, a fluid raw material feeding module 3T, an air exchange module 3f and a rotary spray head 31.

The top heating module 2TH is arranged on the cooker cover 2, and when the heating selection heating tube, the light wave, the infrared and other radiation type heat sources are used for heating, the cooking machine has a barbecue function and is beneficial to making western food which needs to be barbecued and cooked. The top heating module 2TH also includes a microwave heater, providing a new heating means.

A part of the fluid raw material feeding module 3T can be placed on the cooker cover 2, and the fluid cooking raw materials can be fed into the cooker body 1by a pump. For example, the

fluid inlets

301, 302, 303, 304 may be filled with fluids such as water, edible oil, soy sauce, vinegar, etc., respectively. The fluid raw material feeding module 3T is provided with a rotary nozzle 31 which can clean the pot body 1, the pot cover 2 and the stirring

shovels

6 and 7.

The air exchange module 3f can exhaust oil smoke in the pot body 1 and the pot cover 2 or send fresh air into the pot body/the pot cover to puncture foam in the pot body/the pot cover so as to prevent the foam from being enlarged and overflowing. The oil smoke in the pot body is extracted and filtered by the air exchange module 3f and then is discharged or sent into the pot body again. The rotary spray head 31 can clean all the components in the pot body 1 and the pot cover 2 and can be self-cleaned by means of a plurality of rotary spray heads 31. For the rotary nozzle 31, reference is made to the related patent of the present invention.

The spout 305 is arranged on the pot body 1, cooking raw materials can be put in, or the spout is used for cleaning a stirring shovel, or the spout is used for exchanging air inside and outside the pot body, so that foam is avoided.

The pot body is additionally provided with the water overflow preventing hole 306, obviously, the water overflow preventing hole needs to be connected with a pipeline to avoid water overflow turbulence, and the water overflow is usually guided to a water containing groove or a sewer or outside the pot body. The valve is also required to be arranged on the water overflow preventing hole/pipeline so as to prevent abnormal leakage when the cooking machine cooks dishes or the electric cooker cooks rice, and the key point is to prevent abnormal leakage of gas. Obviously, a plurality of anti-overflow holes can be additionally arranged on the pot body.

Irregular cooking ingredients 142 are fed by a plurality of feeders 14. The feeders 14 are preferably arranged on two sides of the pan body 1, such as 14a and 14b, but may alternatively be positioned adjacent to each other around the pan body 1. The feeding box 141 has an upward opening to facilitate the cooking material 142 to be put into the feeding box 141. The feeding box 141 is connected with the multi-link 143, and the feeding box 141 is turned upside down in the pot body 1by the rotation of the multi-link 143, so that the cooking materials 142 in the feeding box 141 are fed into the pot body 1. Irregular cooking ingredients can also be fed into the pot body through the cartridge 14K on the pot cover, see fig. 3E/3F.

The pan body 1 is provided with a rotating bearing 103 and a conductive slip ring module 104, so that the heating power and the control signal 102 of the heater 101 at the bottom of the pan body 1 are not influenced by the rotation of the pan body 1. The pot body 1 rotates and has multiple modes, obviously, can utilize the motor direct drive pot body, consider that stir the stir-fry for the stirring shovel when the drive pot body is rotatory and reserve the space, still need consider other drive pot body modes, for example through motor 105 drive transmission 106 (like the gear), by transmission 106 drive pot body 1 pivot 103 for pot body 1 is rotatory. Alternatively, the motor 107 drives the transmission device 108 (gear), and the transmission device 108 drives the transmission device 109 (such as gear) on the pot body 1, so as to drive the pot body 1 to rotate. A similar approach is also applicable to the pan drive of fig. 2A-2F.

Fig. 13B, as described above, is the case of using the pot lid 11 in fig. 13A (refer to fig. 6B and fig. 2A to 2F), and fig. 13B is given for more intuition. The pan body 1 together with the stirring shovel 6 and the stirring shovel auxiliary module 7 can rotate around a pan body rotating shaft 21. The stirring blade rotates about axis 61. The support 102 is mounted on the cooking machine at one end and supports a bearing 212 at the other end, and the shaft 21 is mounted in the bearing 212 at its axis 211. Alternatively, the water pump 7P, the air pump 7F and the electric signal 7V may be communicated with the pan/stirring shovel through the rotating shaft 21. The pan body can also be rotated, as described in patent numbers CN2448232 and CN1364436, which are also covered by the present invention. The integrated system 2s and the

feeding devices

14k and 14a/14b on the pot lid 2 are the same as those in fig. 13A. The pot body rotates around the rotating shaft 21, the material can be fed when the opening faces upwards, the dish can be contained when the opening faces downwards, and the dish can be fried when the pot body inclines.

Fig. 14A and 14B are schematic views of the components and layout of the intelligent cooker of the present invention. The cooking machine includes: a cooking pan system 8, a control system 9 and a dish holding auxiliary system 17.

Fig. 14A is a schematic top view of the intelligent cooking machine of the present invention. The pot cover 2 is provided with a pot cover integrated unit 2s. A plurality of irregular

cooking material feeders

14a, 14b, 14c are arranged at both sides and the front end of the pot body. There may be a plurality of irregular cooking raw material feeders 14, which may mainly feed cooking food materials such as meat, vegetables, melons, fruits, wheaten foods, etc., or semi-solid semi-liquid food materials such as sauces, even including soup stock, etc., but common standardized liquid food materials such as water, soy sauce, vinegar, edible oil, etc., are usually fed in other more convenient ways. The concept of irregular cooking ingredients feeder 14 can be extended, i.e. to a range of feeders that feed ingredients (normally excluding standardized fluids such as water, soy sauce, cooking oil, etc.) into the cooking pan 1.

The lid 2 is preferably opened backwards and may be opened sideways.

At the front end of the cooking machine is an operating unit 9, which includes an internet of things barcode, two-dimensional code or electronic tag identification unit 91 and a handheld internet of things barcode, two-dimensional code or electronic tag identifier 92, and can identify the name or code of a dish, and a display window 93 can display the cooking status and progress, and display an example of a content 95, such as the cooking dish name "fried shelled shrimp with broccoli".

The buttons 94 represent various manual operations such as turning on and off the power supply of the cooker, reading the dish codes, starting and stopping the heating, duration and power of the heating, turning on and off the lid, time-sharing feeding, stir-frying with different frequencies and amplitudes, filtering the food, carrying out the food, washing the pot, pouring out the waste water in the pot and discharging the residue, etc. The keys are only taken as representatives of various manual operations, other tools such as operating rods and turntables can be taken as tools for manual control, and the dishes can be cooked through the manual operation. Considering that the cooking machine may coexist with a common wok in a home for a while, the user has four options: adopt intelligent cooking machine automatic to do the dish, adopt traditional frying pan to do the dish, with the pot body manual work of intelligent cooking machine do the dish (intelligent cooking machine is equivalent to electromagnetism stove and electromagnetism stove frying pan) and do the dish through manual button operation intelligent cooking machine. In order to facilitate manual operation of cooking, the pot cover is provided with an observation window 2w.

Other devices such as a microcomputer central processing unit MCU are responsible for intelligent control work. The internet is connected to the module internet, so that the cooking machine can be connected to the internet wirelessly or by wire.

Fig. 14B is a front view of the intelligent cooker with the cooking pan of the present invention as the core. The cooking pan system 8 of fig. 11A is introduced in fig. 14A: the bottom of the pot body 1 is provided with a heating module 101, the pot cover 2 is provided with a pot cover comprehensive unit 2s, a feeding device 14k, stirring

shovels

6 and 7 can stir and fry cooking raw materials in the pot body 1, water 7P, gas 7F and an electric signal 7V are sent to the stirring shovel 6 through the stirring shovel auxiliary module 7, and the irregular cooking raw

material feeding devices

14b, 14a and the like are preferably arranged on the left side and the right side of the split cooking machine and can be adjacently arranged on the periphery of the pot body 1. The pot body 1 is provided with a heater 101. The driving

motor

105 or 107 drives the pan

body rotating shaft

103 or 109 through the

transmission mechanism

106 or 108, respectively, so that the pan body 1 rotates. Conductive slip ring 104 is capable of transmitting electrical signals to pan body 1. The pot cover 2 is opened or closed as required. The stirring shovel 6 is combined with the stirring shovel auxiliary unit 7 to form a novel stirring shovel which can stir and fry food.

The dish holding system 17 can refer to fig. 9: the food is poured out by the tilting of the pan body 1 and the pushing of the stirring shovel 6. The lower funnel-shaped convergence plate 171 causes the food to bunch up and fall into the underlying bowl 172. The bowl 172 is placed on a bowl carrier 173 and connected to a slide 174, which is driven by a worm 175. After the dish is filled, the sliding table 174 moves forward to drive the carrier 173 to discharge the dish 172 filled with the dish.

The water containing box or tank or reservoir or waste water tank 176 is used to receive, filter and drain waste water or boiler wash water that may be dumped by dumping the boiler, or that may inadvertently leak from the dishes of the food system, or that may otherwise be wasted water. The basin bottom funnel shape 1171 focuses the waste water onto a screen 1772 to filter out larger particles and drain through the drain opening 177. The water outlet can be vertically downward or transversely. Some details may refer to the design of a kitchen sink or dishwasher, for example the sieve may be cylindrical and may be easily pulled out to pour out the waste.

Fig. 15 is a novel cooking machine, which is mainly used as a complicated cooking machine, an electric cooker, a bread maker, a soybean milk maker and the like. The cooking machine comprises a pot body 1, a pot cover 2, a top heating system 2TH, a stirring shovel 6, an auxiliary module 7, a heater 101, a rice or flour feeding machine 10, a pot cover material box feeding machine 14k, various complex feeding machines 14, a bottom leakage spraying system 508, a top rotary spraying system 3 and a pot body side rotary spraying system 4. For the bottom leakage spraying system 508, the top rotary spraying system 3, the pan side rotary spraying system 4 and the rice/flour batch feeder 10, reference can be made to the related patents of the inventor. The water 7P, the gas 7F and the electric signal 7V can reach the stirring shovel 6 through the stirring shovel auxiliary module 7, wherein the water 7P, the gas 7F and a nozzle 601 of the stirring shovel 6 are communicated, and the exchange of the water and the gas inside and outside the pot body 1 can be completed.

The various forms of feeder 14 have different forms, for example, using the magazine plus multi-link delivery system 14A, 14B, or simply magazine system, referred to in fig. 13A, 13B and 14A, 14B for delivering irregular food.

When the novel cooking machine of fig. 15 is used as an electric cooker, the rice feeder 10 can automatically feed rice into the cooker body 1, the stirring shovel 6 and the auxiliary stirring shovel module 7 can complete rice washing, the bottom leaking and spraying system 508 can clean the rice and wash away the rice water, and the stirring shovel 6 can stir to increase the taste of the rice during the cooking process of the heater 101. And finally, the stirring shovel 6, the bottom missing spraying system 508, the top rotary spraying system 3 and the side rotary spraying system 4 can clean the pot body 1, the pot cover 2 and the cleaning system together.

When the novel cooking machine shown in fig. 15 is used as a bread maker, the dough throwing machine 10 can automatically throw flour into the pan body 1, the stirring shovel 6 and the auxiliary stirring shovel module 7 can complete dough kneading, and the bottom heater 101 and the top heating system 2TH can bake bread. And finally, the stirring shovel 6, the bottom missing spraying system 508, the top rotary spraying system 3 and the side rotary spraying system 4 can clean the pot body 1, the pot cover 2 and the cleaning system together.

For the bottom-leakage spraying system 508, the top-rotary spraying system 3 and the side-rotary spraying system 4, the related patents of the present invention can be referred to.

Fig. 16A to 16F are schematic views of another stirring shovel overall moving stir-frying device according to an embodiment of the present invention. The pot body 1, the pot cover 2 and the stirring shovel 6 comprise a stirring shovel rotating shaft 611, a stirring shovel rotating shaft axis 61, a stirring shovel vertical rod 612 (comprising a rod-shaped vertical rod upper rod 612ag, a rod-shaped vertical rod lower rod 612bg, a disc-shaped vertical rod upper rod 612ap, a disc-shaped vertical rod lower rod 612bp and a vertical rod bending axis 62), a stirring shovel cross rod 613 and a stirring shovel nozzle 601. Stirring shovel auxiliary module, including stirring shovel driving motor 731, stirring shovel montant bending motor/horizontal pole driving motor 735, stirring shovel montant telescopic motor 725, horizontal pole driving motor 733 carries out transmission (belt drive and worm drive), rotary joint and the slip ring 7pfc that conducts. The device 101 is heated. Water pump 7P, fan 7F and electrical signal 7V.

Fig. 16A is a basic stirring shovel vertical rod bending and stir-frying device, which is called a stirring shovel rod-shaped vertical rod bending device, because the upper rod of the vertical rod of the stirring shovel is in a rod shape in principle. The stir-frying process of the stirring shovel is shown in fig. 7C. The stirring shovel driving motor 731a/731b rotates to drive the rotation shaft 611a/611b of the stirring shovel 6 to rotate through the belt transmission devices 732a/732b, 733a/733b, 734a/734b, and drives the stirring shovel 6 to rotate around the rotation shaft 61. The vertical rod of the stirring shovel 6 is bent at the axis 62a, and the stirring shovel vertical rod is divided into an upper part and a lower part, wherein the upper part is called as an upper stirring shovel vertical rod 612ag1/612ag2 and a lower stirring shovel vertical rod 612bg1/612bg2. A stirring shovel rail 613.

When stirring blade driving motors 631a/631b drive stirring blade rotating shafts 611a/611b to rotate, stirring blade bending motors 735a/735b are driven to synchronously rotate around stirring blade axis 61 through connecting devices 611af/611 bf. The rotating shafts of the bending motors 735a/735b rotate to drive transmission devices such as rotating shafts 736a/736b, 737a/737b and 738a/738b to rotate (the transmission devices 736a/736b, 737a/737b and 738a/738b are arranged inside the stirring shovel rotating shafts 611a/611b and the stirring shovel vertical rods 612ag1/612ag 2), so as to drive the stirring shovel vertical rod rotating shafts 639a/639b to rotate, and finally drive the stirring shovel vertical rod lower rods 612bg1/612bg2 and the stirring shovel transverse rod 613 to rotate. In fig. 16A, the mechanical transmission devices 736A/736b are rotating shafts, which pass through the pulleys 734a/734b, the transmission devices 736A, 737a, 738a constitute a belt transmission system, and the

transmission devices

736b, 737b, 738b constitute a screw transmission system.

The connecting device 611af/611bf drives the stirring shovel bending motor 735a/735b to synchronously rotate around the stirring shovel axis 61, so that the stirring shovel vertical rod bending becomes easy to control, and the defect is that the bending motor 735a/735b rotates along with the stirring shovel. Synchronous rotation is not necessary, but control complexity and accuracy greatly improve, for example, at this moment, when stirring shovel rotates and need not to stir shovel montant and bend, stirring shovel bending motor shaft can offset the rotatory influence that brings of stirring shovel through accompanying the rotation of stirring shovel pivot.

Referring to fig. 5A-5C, it can be seen that in fig. 16A, the stirring blade 6 rotates around its own rotation axis and the stirring blade vertical rod is bent into a "nested structure", and a bending transmission device (such as a bending rotation shaft 736) is arranged in the stirring blade rotation axis 611. Similarly, another structure may be implemented, that is, the stirring blade shaft 611 is located inside the bending device 736 (the structure is not shown). It can be known through fig. 10D that stirring shovel 6 is rotatory around self pivot and the stirring shovel montant is bent and also can be realized with non "nested structure", also be exactly in stirring shovel A pivot department, it is rotatory to use the pivot of stirring shovel driving motor drive stirring shovel one end (for narration conveniently called A end), utilize synchronous drive device, the pivot of the synchronous drive stirring shovel other end (for narration conveniently called B end) is rotatory, then through stirring shovel B end pivot, drive stirring shovel montant is bent. Obviously, also can be at stirring shovel A end, through "nested structure" and synchronous drive device, the rotation of drive stirring shovel and montant are bent, then at stirring shovel B end, the rotation of drive stirring shovel horizontal pole. These will be explained later.

With a small detail. On the right side of fig. 16A, the stirring shovel vertical rod upper rod 612ag1 and the stirring shovel vertical rod lower rod 612bg1 are on the same straight line, and at this time, the bending angle of the stirring shovel vertical rod lower rod 612bg1 is difficult to reach 360 °. On the left side of fig. 16A, stirring shovel vertical rod upper rod 612ag2 and stirring shovel vertical rod lower rod 612bg2 are staggered, and at this time, the bending angle of stirring shovel vertical rod lower rod 612bg2 can reach 360 °. For this purpose, the pot or lid bulges with a piece 720. Stirring shovel montant staggered structure develops into the disc for stirring shovel montant upper boom and establishes the basis (although stirring shovel montant upper boom also can become the disc when on the straight line, nevertheless limits the home range of stirring shovel montant lower beam more seriously).

Fig. 16B is a schematic view of stirring blade spraying water or air. The principle of rotation of the stirring shovel around the rotating shaft of the stirring shovel and bending of the vertical rod of the stirring shovel are completely the same as those in the figure 16A. The stirring blade driving motor 731b rotates to drive the stirring blade rotating shaft 611b to rotate through

belt transmission devices

732b, 733b, 734b, thereby driving the stirring blade to rotate around its rotating shaft 61. The vertical stirring shovel rod is bent at the axis 62b, and is divided into an upper part and a lower part, wherein the upper part is called an upper stirring shovel rod 612ag2 and a lower stirring shovel rod 612bg2.

When the stirring blade driving motor 631b drives the stirring blade rotating shaft 611b to rotate, the connecting device drives the stirring blade bending motor 735b to synchronously rotate around the stirring blade axis 61. The rotation shaft of the bending motor 735b rotates to drive the transmission devices such as the

rotation shafts

736b, 737b and 738b to rotate (the

transmission devices

736b, 737b and 738b are arranged inside the stirring shovel rotation shaft 611b and the stirring shovel vertical rod 612ag 2), so as to drive the stirring shovel vertical rod rotation shaft 639b to rotate, and finally drive the stirring shovel vertical rod lower rod 612bg2 and the stirring shovel cross rod to rotate. In fig. 16B, a mechanical transmission device 736B is a rotating shaft and passes through a pulley 734B, and transmission devices 736B, 737B and 738B form a belt transmission system.

The water spray 7P, the air spray 7F and the electric signal 7V are connected to the axis of the rotating shaft of the bending motor 735b through the rotary joint and the conductive slip ring 740b, and then transmitted to the rotary joint and the conductive slip ring 744b at the bending rotating shaft through the rotary joint and the conductive slip ring 742b at the rotating shaft of the stirring shovel, the connecting conduit and the conductive wire 743b (the connecting conduit 743b can be a hard conduit), and sent to the lower vertical pipe 612bg2 and the cross bar of the stirring shovel, and the water vapor is sprayed out from the nozzle 601. One function of the electrical signal 7V is to transmit the information measured by the temperature sensor on the stirring blade to the cooking machine.

Fig. 16B also shows that the upper rod 612ag2 of the stirring blade vertical rod can be expanded into a disk shape 768B, so that the rod-shaped vertical rod becomes a disk-shaped vertical rod. The diameter of the circle formed by the upper rod 612ag2 of the vertical rod of the stirring blade rotating around the rotating shaft 61 of the stirring blade is the diameter of the disc. Usually, the upper and lower bars of a rod-shaped vertical bar are in line, while the upper and lower bars of a disk-shaped vertical bar are offset. The advantage of disk montant is the space that increases the installation of stirring shovel auxiliary module, increases the intensity of stirring shovel for stirring shovel montant lower beam can 360 rotations and eliminate the health dead angle of shaft-like montant. Note that: the disc-shaped vertical rod is relative to the upper rod of the vertical rod and is not related to the lower rod of the vertical rod. The guard plate 720b serves to prevent the water and air in the pot from overflowing.

Fig. 16C is a schematic view of the rod-shaped vertical rods of fig. 16A and 16B expanded into disc-shaped vertical rods. The principle of rotation of the stirring shovel around the rotating shaft of the stirring shovel and bending of the vertical rod of the stirring shovel are completely the same as those in the images 16A and 16B. The stirring blade driving motor 731b rotates, and drives the stirring blade rotating shaft 611b to rotate through the

belt transmission devices

732b, 733b, 734b, and drives the disk-shaped vertical rod 612ap2/768b to rotate, thereby driving the stirring blade to rotate around the rotating shaft 61. The stirring shovel vertical rod is bent at the position of the axis 62c, and is divided into an upper part and a lower part, wherein the upper part is called as a stirring shovel disc-shaped vertical rod upper rod 612ap2 and a stirring shovel vertical rod lower rod 612bp2.

When the stirring blade driving motor 631b drives the stirring blade rotating shaft 611b to rotate, the connecting device 736b drives the stirring blade bending motor 735b to synchronously rotate around the stirring blade axis 61. The rotation shaft of the bending motor 735b rotates to drive the transmission devices such as the

rotation shafts

736b, 737b and 738b to rotate (the

transmission devices

736b, 737b and 738b are arranged inside the stirring shovel rotation shaft 611b and the stirring shovel vertical rod 612ap 2), so as to drive the stirring shovel vertical rod rotation shaft 639b to rotate, and finally drive the stirring shovel vertical rod lower rod 612bp2 and the stirring shovel cross rod to rotate. In fig. 16B, a mechanical transmission device 736B is a rotating shaft and passes through a pulley 734B, and transmission devices 736B, 737B and 738B form a belt transmission system. The guard plate 720 plays a role in preventing water and air in the pot body from overflowing.

Fig. 16D differs from fig. 16C in that the cross bar 613 is driven to rotate by driving the transmission 7731 in the spindle 739b of the vertical bar and the transmission 7732 in the vertical bar 612bp2. The rest of fig. 16D is the same as fig. 16C and is not described in detail. With reference to fig. 16C and 16B, fig. 16C may be applied to one end of the pan body to bend the vertical stirring shovel rod, and the other end of the pan body to rotate the horizontal stirring shovel rod. In addition, in order to be matched with the rotation of the cross rod, the pan body 1 and the 613bp2 illustration of the stirring shovel vertical rod are not bent, but are selected to be in a plane shape. At this time, the vertical bar bending motor 735b also becomes the horizontal bar rotating motor 771b.

Fig. 16E and 16C are substantially the same as fig. 16C, but with the addition of a point that the cross bar 613 is finally driven to rotate by the cross bar rotating motor 771b, driving the transmission 7731 in the rotating shaft 739b of the vertical bar and the transmission 7732 in the vertical bar 612bp2. The rest of fig. 16E is the same as fig. 16C and is not described in detail. In the illustration of fig. 16E, the cross bar rotating motor 731B is driven to rotate along with the bending rotating shaft 739B of the vertical rod of the stirring shovel by a hard connecting device 772B. Fig. 16E enables the stirring blade to rotate as a whole, the stirring blade vertical rods to bend, and the stirring blade cross rods to rotate. In addition, in order to be matched with the rotation of the cross rod, the pot body 1 and the 613bp2 illustration of the stirring shovel vertical rod are not bent, and the plane shape is selected. By selecting a flexible transmission device, the bent stirring shovel vertical rod and the bent pot body side surface can still be adopted. Obviously, to realize the rotation of the cross bar 613, the micro cross bar rotating motor 771b can also be placed in the transmission 7731 in the rotating shaft of the vertical bar of the stirring shovel or in the transmission 7732 of the bending vertical bar 612bp2 or in the cross bar 613. Similarly, referring to fig. 16F and 16G below, it can be seen that the micro stirring shovel bending motor can be placed in the "upper rod of the vertical rod" of the stirring shovel to drive the lower rod of the vertical rod of the stirring shovel to rotate, so as to bend the vertical rod of the stirring shovel; or the miniature stirring shovel bending motor is arranged in the lower rod of the vertical rod of the stirring shovel to drive the lower rod of the vertical rod of the stirring shovel to rotate, so that the vertical rod of the stirring shovel is bent; or, the miniature stirring shovel bending motor is arranged in the stirring shovel cross rod, the lower rod of the stirring shovel vertical rod is driven to rotate, and the stirring shovel vertical rod is bent.

Fig. 16C, 16D, and 16E all employ the nested driving structure of fig. 5A, 5B, and 5C.

In the illustrations of fig. 16A to 16E, the stirring blade vertical rod bending motor rotates along with the stirring blade rotating shaft, and the rotating shaft axis of the stirring blade vertical rod bending motor coincides with the stirring blade rotating axis. Stirring shovel horizontal pole rotating electrical machines rotates along with stirring shovel and the stirring shovel pivot of bending, and the pivot axis of stirring shovel horizontal pole rotating electrical machines coincides with the pivot axis that the stirring shovel montant was bent. The technology of the invention can be used in the stir-frying mechanical structure of all intelligent cooking machines.

Comparing fig. 16C, 16D, 16E and 16A, 16B, one can see an example where a distributed disk robot arm is substituted for a centralized "stick" robot arm.

Fig. 16F and 16G show a new disc-type vertical rod structure, i.e. the stirring shovel bending motor is directly mounted in the vertical rod disc 612ap to drive the stirring shovel vertical rod lower rod to bend/rotate.

As shown in fig. 16F or the right side of fig. 16G, the stirring blade driving motor 731d drives the disk-shaped vertical rod upper rod 612ap1 to rotate through the rotating shaft 611d, so as to drive the stirring blade 6 to rotate. The conductive slip ring 79 communicates the input electrical signal 791 with the output electrical signal 792, and the output electrical signal is connected with the stirring shovel bending motor 735d. Bending motor 735d drives stirring shovel vertical rod lower rod 612bp1 to rotate through rotating shaft 739 d.

As shown in fig. 16F or the left side of fig. 16G, the stirring blade driving motor 731e drives the disc-shaped vertical rod upper rod 612ap2 to rotate through the rotating shaft 611e, so as to drive the stirring blade 6 to rotate. The bending motor 735e follows the rotation of the disc 612ap2, and drives the stirring shovel vertical rod lower rod 612bp2 to rotate through the

belt systems

732e, 733e and 734e and the rotating shaft 739 e.

Fig. 16F also shows that the cover 11 (or the opening of the pot body) can be arranged on the axis of the stirring shovel 6, or the cover 11 is arranged on the side of the pot body 1 (see fig. 3A to 3D).

The guard plate 720 plays a role in preventing water and air in the pot body from overflowing.

The rotation of the stirring shovel cross bar is considered as a special case of bending the vertical bar, so that the rotation of the stirring shovel cross bar can be realized by all the mechanical structures of fig. 16A to 16G.

Or, the stirring shovel auxiliary module at the left end drives the stirring shovel 6 to rotate and bend the vertical rod, and the motor 735d at the right end drives the transverse rod 613 to rotate through the mechanical transmission device, so that the vertical rod of the stirring shovel is bent and the transverse rod is rotated. The left and right end shafts 611D/611e of the stirring blade 6 are driven synchronously in the manner shown in FIG. 10D. The stirring shovel cross bar can also rotate through the long motor 6131 at the cross bar.

Or, as shown in fig. 16G, the montant bending motor 741e and the stirring blade driving motor 731e form a "nested structure", the montant bending motor 741e rotates along with the bending rotating shaft 739, and the rotating shaft extends into the rotating shaft 739, and drives the lower rod of the montant to bend or the cross rod 613 to rotate through a mechanical transmission device.

It should be emphasized that the disk-type vertical rod is adopted because the motor has a large volume. Fig. 16F and 16G can also be used for rod-type "rod-up of a vertical rod" if a micro-motor is used (to assist with non-principle devices such as reducers, brakes, etc.). With reference to fig. 16D, 16E, 16F, and 16G, those skilled in the art can easily obtain the bending result by placing a micro motor (such as a pen-shaped motor) on the "lower rod" of the vertical rod of the stirring shovel, and the rotation of the lower rod of the vertical rod of the stirring shovel can also be realized, so as to bend the vertical rod of the stirring shovel. For example, referring to fig. 16G, a pen-like micro motor (see the electromechanical device 605 in the stirring blade and the stirring blade cross bar in fig. 12) is mounted in the "lower bar of the vertical bar" of the stirring blade 6a, and the stirring blade vertical bar can be bent. A micro motor is arranged in the transverse rod of the stirring shovel to realize bending of the vertical rod of the stirring shovel, and the stirring shovel is theoretically feasible. Referring to fig. 16F and 16G, two motors 6131 are installed in the cross bar or cross bar shovel 613, one motor bends the vertical bars 612bp1/612bp2 of the stirring shovel, and one motor rotates the vertical bar/cross bar shovel 613 of the stirring shovel. The power supply and control signals of the motor in the transverse rod/transverse rod shovel are transmitted through the vertical rod of the stirring shovel. In summary, the structure of fig. 16A to 16G can be used to bend the vertical rod of the stirring shovel or/and rotate the cross rod.

In fig. 16A to 16E, the stirring blade rotating motor drives the stirring blade to rotate integrally, and the bending motor 735a/735b adopts a nested structure, that is, penetrates through the stirring blade rotating shaft to drive the stirring blade vertical rod to bend. As can be seen from the subsequent fig. 16F and 16G, the vertical rod bending motor 735b can rotate with the upper rod of the vertical rod of the stirring shovel and drive the lower rod of the vertical rod of the stirring shovel to bend. The technology is called as a follow-up structure, such as that a bending motor rotates along with a stirring shovel (or a stirring shovel rotating shaft), or a vertical rod bending motor rotates along with an upper rod of a vertical rod of the stirring shovel. The follow-up structure greatly simplifies the motion control algorithm. The control algorithm of the non-follow-up structure and even the inverse follow-up structure (such as the rotation of the stirring shovel rotating motor along with the stirring shovel vertical rod bending motor) is complex. The invention utilizes the stirring shovel and the stirring shovel auxiliary module to realize the function of combining the mechanical arm with the turner (or the stirring shovel). For the intelligent cooking machine, one of the implicit limiting conditions is that the size of the stirring shovel in the pot body is as small as possible while the stir-frying function is realized. Taking the mechanical arm as an example, the main factor influencing the volume of the mechanical arm is the size of electromechanical devices such as a motor, a reducer, a coupling and the like. The longer the arm length, the thicker the arm will also be required. The larger the movement range of the mechanical arm is, the larger the volume of the intelligent cooking machine is, and the lower the moving positioning accuracy is. Meanwhile, the high temperature, the water vapor and the oil stain in the boiler body have great influence on parts such as a motor in the mechanical arm. Therefore, the motor should be arranged outside the pot body as much as possible. The nested structure and the follow-up structure of the invention lead the volume of the stirring shovel in the pan body to be simplified, the complexity of the stir-frying algorithm to be reduced, and some larger components can be arranged outside the pan body, and meanwhile, the length reduction of the moving components leads the vertical rod of the stirring shovel to be small in volume, high in strength and higher in positioning accuracy of the stirring shovel.

Fig. 16F and 16G show examples that, for vertical rod bending, in addition to the nested structure shown in fig. 16A to 16E, a bending motor can be used to rotate along with the upper rod of the vertical rod of the stirring shovel and drive the lower rod of the vertical rod of the stirring shovel to bend. Fig. 16F and 16G may also be used for reference to illustrate other types of bending of the vertical bars and rotation of the cross bars. For example, fig. 16E, 16F and 16E are combined together to realize that the stirring shovel rotates integrally, the bending motor rotates along with the upper rod of the stirring shovel vertical rod and drives the vertical rod to bend, and the cross rod motor rotates along with the stirring shovel vertical rod and drives the cross rod to rotate. Various technologies of the invention, such as a nested driving structure, a motor follow-up (a vertical rod bending motor rotates along with a stirring shovel, a transverse rod rotating motor rotates along with the stirring shovel vertical rod bending), an embedded motor structure (a vertical rod bending motor/a transverse rod rotating motor is embedded into a stirrer rotating shaft or a vertical rod or a transverse rod), a left-right synchronization technology, and a combination of the technologies jointly realize stirring shovel rotation, vertical rod bending and transverse rod rotation, can be used for the application occasions of figures 1-15, are limited to space, and are not exhaustive as illustrations.

Obviously, the transmission device in the vertical rod 612 is replaced by a telescopic rod, so that a new stir-frying mode can be formed, namely the stirring shovel rotates around the rotating shaft of the stirring shovel and the vertical rod of the stirring shovel can be controlled to stretch, see fig. 16H below.

Fig. 16H is a schematic diagram of the expansion of the vertical rod of the stirring shovel in a "nested structure". The stirring shovel driving motor 721 drives the rotating shaft 611 to rotate through the belt mechanical transmission devices 722, 723 and 724, so as to drive the vertical rod upper rod 612as, the vertical rod lower rod 612bs to rotate and the cross rod 613 to rotate, and thus drive the stirring shovel 6 to rotate.

Bending motor 725 rotates along with rotating shaft 611 and vertical rod 612as, rotating shaft 626 of telescopic motor 625 passes through belt pulley 724, and through

telescopic rod systems

727, 728, 729 and 730, stirring shovel vertical rod lower rod 612bs is driven to stretch and retract.

Obviously, the movements of the left and right ends of the stirring shovel 6 can be synchronized by the synchronizing device of fig. 10D.

The shape of the pot body in fig. 16H is different from that in fig. 16A to 16G in form, but the shape of the pot body in fig. 16A to 16H is only schematic because the stirring shovel rotates to form an envelope surface.

Fig. 16I can be considered as a direct description of the overall rotation of the stirring shovel and the bending of the stirring shovel cross bar to stir-fry food, as an illustration of the stirring shovel vertical bar bending point just moving down to the cross bar rotating shaft in fig. 16A, or as a simplification of fig. 16E (i.e., fig. 16E is shown with the vertical bar bending removed).

In fig. 16I, the stirring blade integral rotation motor 731b rotates to rotate the belt pulley 732b and the belt 733b, and the driving belt pulley 734b rotates to rotate the stirring blade rotating shaft 611b, and finally the stirring blade vertical rod 612b and the stirrer cross rod 613 rotate around the stirring blade rotating axis 61.

Meanwhile, the stirring shovel rotating shaft 611b also drives the stirring shovel cross bar bending driving motor 735b to synchronously rotate. When the stirring shovel cross rod is required to be bent, the rotating shaft 736b of the stirring shovel cross rod bending driving motor 735b rotates, the rotating shaft 736b of the motor penetrates through the belt pulley 734b to drive the horizontal gear 7731 in the stirring shovel rotating shaft to rotate, and then the vertical gear 7732 in the stirring shovel vertical rod 612b is driven to rotate, and then the stirring shovel cross rod gear 7734 is driven to rotate, and finally the stirring shovel cross rod 613 is driven to rotate.

In fig. 16I, the stirring blade 6 includes a stirring blade rotating shaft 611b, stirring blade vertical rods 612b, and a stirring blade cross rod 613, and the stirring blade module includes a stirring blade rotating shaft 611b, stirring blade vertical rods 612b, a transmission 7732, a stirring blade cross rod 613, and a rotating shaft 7734. Stirring shovel vertical rods 612b and transmission device 7732 constitute a vertical rod module, and stirring shovel transverse rod 613 and rotating shaft 7734 constitute a transverse rod module. The auxiliary module of the stirring shovel comprises a cross bar bending motor 735b, a cross bar bending motor rotating shaft 736b, a transmission device 7731, a transmission device 7732 and a transmission device 7734.

Fig. 16J is a schematic diagram comparing with fig. 16E, illustrating the stirring blade auxiliary module and the stirring blade, and illustrating the stirring blade module (the robot arm and the blade). A pot body 1 and a pot cover 2. Fig. 16J and 16I both function as a stir blade vertical bar module (also referred to as a robotic arm) bending and a stir blade cross bar module (also referred to as a blade including an electric device) rotating, but the implementation is different. In fig. 16J, the whole rotation motor 731b of the stirring shovel drives the rotation shaft 611b of the stirring shovel module to rotate around the horizontal axis 61, the upper rod 612ap2 of the vertical rod of the stirring shovel, and the lower rod 612bp2 of the vertical rod of the stirring shovel is provided with the vertical rod bending motor 735b, and the rotation shaft 736b of the motor drives the lower rod 612bp2 of the vertical rod of the stirring shovel to bend. Similarly, a cross bar bending motor 771b is arranged in the cross bar 613 of the stirring shovel, and a rotating shaft 771b1 of the motor 771b rotates to drive the cross bar 613 of the stirring shovel to rotate.

In fig. 16J, a motor 735b is provided in the stirring shovel vertical rod lower rod 612bp2, and the two components together form a vertical rod lower rod module; a motor 771b is arranged in the stirring shovel cross bar 613, and the two form a stirring shovel cross bar module together. The vertical rod bending motor 735b and the cross rod rotating motor 771b both belong to the stirring shovel auxiliary module. From another perspective, the stirring shovel module in fig. 16J may be: 612ap2, (612bp2 + 735b), (613 + 771b) are regarded as a mechanical arm combined shovel blade.

It can be seen that the stirring shovel auxiliary module, the stirring shovel and the stirring shovel module are related. The stirring shovel module comprises a stirring shovel and a part of stirring shovel auxiliary modules, for example, the stirring shovel module comprises a stirring shovel and a mechanical transmission device, as shown in fig. 16E; alternatively, the stirring shovel module comprises a stirring shovel, a mechanical transmission device and a cross bar motor, as shown in fig. 16F; or, in the extreme case, the stirring blade module comprises the stirring blade and all the auxiliary modules, as shown in fig. 16J. Or the stirring shovel system is not arranged on the pan body or the pan cover, but arranged on other positions of the cooking machine, at the moment, the stir-frying is carried out by a left-right stir-frying method or a deformed left-right stir-frying method (as shown in fig. 11L-11P 2), and the pan body comprises an envelope surface formed by stir-frying of the stirring shovel system.

Therefore, conclude to say that the stirring shovel system includes stirring shovel and stirring shovel auxiliary module, and the stirring shovel includes stirring shovel montant and stirring shovel horizontal pole, contains the stirring shovel montant that has electronic functional structure and is called montant module or arm, and contains the stirring shovel horizontal pole that has electronic functional structure and is called horizontal pole module or spiller, and montant module and horizontal pole module constitute stirring shovel module (or, the arm adds the combination of spiller). The stirring shovel system is arranged on the pot body or the pot cover or other positions of the cooking machine, and the pot body is an enveloping surface formed by the movement of the stirring shovel; alternatively, the stir shovel system includes the stir fry mode of fig. 11L-11P 2.

Fig. 17 is an explanatory diagram of the mechanical arm with the stirring blade, the stirring blade and the auxiliary module of the stirring blade according to the present invention, and is a further explanation of fig. 6L and 6M, that is, the mechanical arm and the pancake turner, the stirring blade and the auxiliary module of the stirring blade are different expressions of the same device.

Further, in order to solve the problems that the existing intelligent cooking machine is inconvenient to contain dishes and occupies a large space, the embodiment of the invention further provides the pan body with the jointed plate structure, and the pan body with the jointed plate structure is applied to the cooking machine, so that great convenience can be provided for containing the dishes.

Fig. 18 is a schematic structural diagram of a pan body with a jointed plate structure of an intelligent cooking machine according to an embodiment of the present invention, in this embodiment, the pan body 1 includes a main body portion 11 and a jointed plate 1a, i.e., the pan body = main body portion + jointed plate, and therefore the main body portion 11 is a portion of the pan body 1 left after the jointed plate 1a is removed. From the perspective of the main body, the main body 11 is provided with an opening 111, the jointed board 1a is adapted to the opening 111, and the jointed board 1a is movably mounted at the opening 111; when the jointed board 1a closes the opening 111, the jointed board 1a and the main body 11 are completely spliced to form the pot body 1; when the panels 1a open the opening 111, the food in the pot 1 can fall out of the opening 111. In addition, in order to make the object fall out smoothly, the panels are usually installed at the bottom of the pan body, that is, the opening 111 is usually disposed at the bottom of the main body 11, and when no distinction is made, the object falls out from the opening and the object falls out from the bottom of the pan body, which are described in the same way.

In the pot body, two jointed boards (double jointed boards) are included: the first and

second panels

1a and 1b, 1a and 1b respectively rotate around the rotating shafts 1za and 1zb, so that the opening 111 is opened and the food falls into the bowl 172 below. In order to control the food falling out of the pan body, side auxiliary plates 1w are installed at both sides of the double

jointed boards

1a and 1b of the pan body, and when the opening 111 is opened by the double

jointed boards

1a and 1b (i.e. the first jointed board 1a and the second jointed board 1 b), the side auxiliary plates 1w and the double

jointed boards

1a and 1b enclose to form a guide channel to restrain the food falling from the opening 111. It should be noted that, in the present embodiment, since the number of the panels includes two, when the opening 111 is opened by the

double panels

1a and 1b, the

double panels

1a and 1b and the side auxiliary plate 1w can enclose to form a guiding channel, so as to achieve the effect of restricting the food falling from the opening 111, thereby further reducing the number of the auxiliary plates (i.e., the end auxiliary plate can be omitted).

Besides sealing devices such as sealing strips and the like can be arranged at the joints of the jointed boards, jointed board auxiliary boards 1wp1 and 1wp2 can be arranged at the joints of the jointed boards so as to further restrain food from falling. Elastic material can be selected for use to this makeup subplate 1wp1/1wp2 for the makeup subplate can enough restrain the food whereabouts, has the closure that can not influence the makeup.

FIG. 18 shows the embodiment in which panels 1a/1b are rotated to open pan bottom opening 111. Obviously, panels 1a/1b can also be translated left and right respectively to open pan bottom opening 111, see fig. 19.

Fig. 19 is a schematic structural view of a pan body with a second plate structure of an intelligent cooker according to an embodiment of the invention, in which the pan body shown in fig. 16 is moved by a plate (in a translational manner) to open or close the opening 111. A stirrer (or mechanical arm in combination with a slice) 6. The pot body 1 comprises a main body part 11 and jointed boards 1ay and 1by, and an opening 111 is arranged at the bottom of the main body part 11, and the opening 111 is matched with the jointed boards 1ay and 1 by. Panels 1ay, 1by can open or close opening 111 by translating. When the panels 1ay and 1by move to be opened, food in the pot body falls into a bowl below the pot body through the opening 111. To restrict the food from falling, an auxiliary plate 1wg is provided at the outer periphery of the body opening 111. To better restrain food, a jigsaw auxiliary plate 1wp can be arranged at the joint of the jigsaw 1ay and the jigsaw 1 by.

Generally, the jointed boards and the jointed board auxiliary board can be always in close contact with the auxiliary board (also called a side auxiliary board) arranged on the periphery of the opening during the rotation/movement process. To avoid the escape of water vapor from the small gaps at the contact, rubber seals or similar metal seals used in automotive cylinders may be used.

It should be noted that, in the embodiments of the present invention, the single-tile structure and the double-tile structure are taken as examples for detailed description. In practice, the pan body may also comprise a greater number of panels and/or a greater or lesser number of auxiliary panels.

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

From the perspective of a blender, conventional blenders have only one non-independent motion, and the present invention extends to two or more independent motions. To achieve two or more independent movements, some articulation points of the stirrer need to be changed from solid to movable, so-called stirrer assistance modules, i.e. so that the articulation points of the stirrer change from fixed to movable. At this point, the agitator is not a simple agitator, called an agitator module. For example, the vertical rod of the stirrer is originally a simple rod, and when the vertical rod can be independently bent and a vertical rod bending module is added, the vertical rod of the stirrer becomes the vertical rod module of the stirrer. Note that sometimes for brevity, see "module" for two word cancellation. As if whether it is a white horse, black horse, mongolian horse, european horse, sometimes collectively referred to as horses, for example, asking "several horses in the home? On the other hand, from the viewpoint of the robot arm, the functions of the stirrer and the stirrer auxiliary module can be completely realized by the robot arm and the shovel blade. So that both are the same thing. However, the perfect stir-frying realized by the mechanical arm is not easy to realize at present, and the mechanical arm simulates the stirrer module of the invention to realize effective stir-frying. This relates to the features of the stirrer, such as the body being the envelope formed by the rotation of the stirrer, which is evident from fig. 11L and 11N, and from fig. 11M, the body being the envelope formed by the overall rotation of the stirrer and the rotation of the stirrer about its own axis of rotation. In general, the envelope is designed to be as smooth as possible in the direction of motion, without singularities where the curvature changes abruptly greatly, to facilitate the stirring blade motion. There is also a subtlety where the robotic arm engages the slice, usually with the blade edge in the direction in which the robotic arm extends (see fig. 11M), but where the robotic arm engages the slice to simulate mixer operation, the blade edge direction is often perpendicular to the direction in which the robotic arm extends (see fig. 11L and 11N). In addition, after the pan cover is covered, the mechanical arm and the turner are arranged in the pan body, so that high-temperature stir-frying can be realized, which is also the important point of the mechanical arm.

The adoption of the left-right stir-frying method is an important measure for further reducing the stir-frying difficulty, so that the stir-frying can be realized only by a simpler stirring and mixing mode without shoveling and throwing food in the pot body to the rear of the moving direction under many conditions. Meanwhile, the complex stir-frying is judged and carried out basically without machine vision, and only the stirring shovel is arranged at the position where no food is arranged at the edge of the pot body and then moves towards the center of the pot body. Simultaneously, the phenomenon that food is wound on the stirring shovel is greatly reduced.

Theoretically, the envelope surface formed by the pan body for stir-frying the stirring shovel is acceptable in the practical engineering application, but the small deviation of the envelope surface between the pan body and the stir-frying envelope surface of the stirring shovel is also acceptable, and the deviation is also within the scope of the claims of the invention. Theoretically, the analysis and the requirements of the stirring shovel crossing two ends of the pot body are not strictly met in practical engineering practice, but the analysis and the requirements are also in the scope of the claims of the invention.

It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and is not limited to the embodiments described in the present specification, which are provided as additional limitations to the present invention and to provide a more thorough understanding of the present disclosure. Moreover, the above technical features are combined with each other to form various embodiments which are not listed above, and all the embodiments are regarded as the scope of the present invention described in the specification; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the scope of the appended claims. The patents of the inventor/claimant are related to each other so that the description of the patents is more concise and repetition is avoided.

Claims

1. An intelligent cooking machine comprises a pot body, wherein a heating device is arranged at the bottom of the pot body and used for heating cooking raw materials or food in the pot body, and the intelligent cooking machine is characterized in that the pot body comprises a main body part and a jointed board, an opening is formed in the bottom of the main body part, the jointed board is matched with the opening and is arranged at the opening, and when the opening is closed by the jointed board, the jointed board and the main body part are integrally spliced to form the pot body; when the jointed boards open the opening, an opening is formed at the bottom of the pot body, and food in the pot body can fall out of the opening; the jointed board can rotate or horizontally translate relative to the main body part, or a combination of rotation and horizontal translation; the pot body further comprises a side auxiliary plate which is arranged on the side surface of the jointed board, when the jointed board opens the opening, the jointed board and the side auxiliary plate jointly restrain food falling from the opening, and the jointed board keeps contact with the side auxiliary plate in the opening or closing process;

the cooking machine further comprises at least one of the following components:

(1) The cooking machine is provided with a generalized pot cover in the form of a pot cover or a smoke hood, the cooking machine comprises a cooking raw material feeding device, a feeding box of the feeding device is positioned in the pot cover, cooking raw materials are placed in the feeding box, when the feeding is needed, the bottom of the feeding box is opened, the cooking raw materials are fed into the pot body, and a heating device is arranged on the pot cover and can heat the cooking raw materials in the pot cover;

(2) The cooking machine is provided with a manual control system, so that a worker can manually control the cooking machine to cook dishes; the manual control system includes: manually feeding cooking raw materials in a time-sharing manner, and/or opening or closing a pot cover, and/or containing food, and/or washing the pot; and/or the cooking machine is provided with a stirring shovel, and the manual control system can control the stirring shovel to stir;

(3) The cooking machine has the stirring shovel, the blade of stirring shovel is shaft-like, including montant and horizontal pole, the montant is in the one end, both ends or the centre of horizontal pole, montant one end is connected the horizontal pole, one end with the pivot is connected, the pivot drives montant and horizontal pole rotary motion, stirring shovel auxiliary module respectively with the montant or the horizontal pole of shaft-like agitator combine, form montant module or arm, horizontal pole module or spiller, pivot module, the agitator adopts pipeline design, will mechanical transmission seal installation in the pot body is exposed in the auxiliary module to the stirring shovel in the pipeline, mechanical transmission includes the gear, and/or belt and belt pulley, and/or chain, and/or universal shaft.

2. The cooking machine according to claim 1,

the panels are in a double panel structure, and/or,

the pan body also comprises a jointed board auxiliary plate which is arranged at the joint of the jointed boards and/or,

and sealing the gap between the spliced plates and the side auxiliary plate by using rubber sealing strips or metal sealing strips.

3. The cooking machine of claim 1, wherein the cooking machine includes a manual control system; the manual control system comprises keys comprising various manual operations including keys, levers and/or dials.

4. The cooking machine of claim 1, wherein the cooking machine includes a manual control system and a stirring shovel, the manual control system operating the stirrer to stir-fry food at different rates and/or amplitudes.

5. Cooking machine according to claim 1, characterized in that the cooking machine comprises a manual control system, which further comprises starting and stopping of the cooking machine, and/or which further comprises control of the start-stop and power level of the heating means.

6. Cooking machine according to claim 1, characterized in that the cooking machine has a generalized lid in the form of a lid or hood;

the pot cover is provided with an opening for feeding liquid food material, and/or,

the pot cover is provided with a spray head for cleaning the pot cover, the pot body or the stirrer, and/or,

the pot cover is provided with a transparent observation port.

7. The cooking machine of claim 6, wherein the cooking machine includes a liquid food material opening capable of dispensing a liquid food material into the pan body, the liquid food material including water, cooking oil, soy sauce, or vinegar.

8. The cooking machine of claim 1, wherein the cooking machine has a generalized lid in the form of a lid or hood, the lid having a heating device mounted thereon capable of heating cooking ingredients within the lid; the heating device comprises a heating tube, a light wave/infrared radiation type heat source or a microwave heater.