CN107752728B - Artificial stir-frying simulation cooking robot and stir-frying cooking method thereof - Google Patents
Artificial stir-frying simulation cooking robot and stir-frying cooking method thereof Download PDFInfo
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- CN107752728B CN107752728B CN201711089954.4A CN201711089954A CN107752728B CN 107752728 B CN107752728 B CN 107752728B CN 201711089954 A CN201711089954 A CN 201711089954A CN 107752728 B CN107752728 B CN 107752728B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J27/00—Cooking-vessels
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J36/00—Parts, details or accessories of cooking-vessels
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Abstract
The invention discloses a manual stir-frying simulation cooking robot and a cooking method thereof, and the robot comprises a pot body, a special-shaped slice, a supporting rod and a driving device, wherein the supporting rod and the driving device are respectively connected with the special-shaped slice and are matched with the special-shaped slice to drive the special-shaped slice to switch between a first stir-frying process and a second stir-frying process; in the first stir-frying process, the cutting edge of the special-shaped pancake turner is attached to the inner wall and slides to the bottom of the pot body from the position of the cutting point of the special-shaped pancake turner and the inner wall, and the included angle between the shoveling surface of the special-shaped pancake turner and the plane of the pot opening of the pot body is gradually reduced; in the second stir-frying process, the special-shaped pancake turner is not in contact with the inner wall, and the special-shaped pancake turner is turned over from the bottom position to the cut-in position. The novel turner is simple in structure, and avoids the problems that materials are easily clamped and crushed and the pan is prevented from being stuck when a gap exists between the cutting edge of the turner and the inner wall of the pan; and after the materials are shoveled, the materials are turned and fried through the turning of the special-shaped turner, so that the action of manual turning and frying is effectively simulated, and the materials are heated and mixed more uniformly.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a manual stir-frying simulation cooking robot and a stir-frying cooking method thereof.
Background
Frying is the most widely used cooking method, and the existing frying operation is that frying personnel hold a slice to fry materials in a pot continuously, so that the materials are prevented from sticking to the pot, the materials are uniformly distributed to realize uniform heating and quick frying, and seasonings are uniformly distributed in all areas of the materials.
In addition, for occasions requiring large-amount frying, such as a dining hall and the like, in addition to greatly improving the labor intensity, due to the fact that the material amount is large, frying is difficult to stir, frying time is increased, and meanwhile, the taste of fried products cannot be guaranteed.
Therefore, more and more catering enterprises have grasped research on automatic cooking robots, for example, in the chinese patent with the application number of 201720287960X, the automatic pea turning pan disclosed by the invention adopts a horizontal roller structure, peas are continuously heated by continuous rotation of a pan body, but the turning pan with the structure can only be suitable for turning over and frying small particle materials such as beans which are easy to roll, and when the automatic pea turning pan is used for frying long-strip, silk and leafy dishes, the situation that manual turning and frying cannot be effectively simulated still exists, so that the problem that frying of the dishes is not suitable for use is caused.
In the frying device disclosed in the patent application with the application number of 2015107885797, frying is realized by the rotation of the pan body and the stirrer positioned in the center of the pan body, and in the frying device with the rotating shaft structure provided with the application number of 2016104921796, materials in the pan are stirred by the movement of the stirring rod, the two structures cannot effectively simulate the stir-frying action during manual frying, and in the stirring process, the stirring can generate a certain centrifugal force on the materials in the pan, so that the materials can be moved out of the pan, and the waste of food materials is possibly caused.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a manual stir-frying simulation cooking robot and a stir-frying cooking method thereof.
The purpose of the invention is realized by the following technical scheme:
the artificial cooking robot comprises a pot body, a special-shaped slice, a supporting rod and a driving device, wherein the supporting rod and the driving device are respectively connected with the special-shaped slice and are matched with each other to drive the special-shaped slice to be switched between a first stir-frying process and a second stir-frying process;
in the first stir-frying process, the cutting edge of the special-shaped slice is attached to the inner wall of the pot body and slides to the bottom of the pot body from the position of the cutting point of the cutting edge and the inner wall, and the included angle between the slice surface of the special-shaped slice and the plane of the pot opening of the pot body is gradually reduced;
in the second stir-frying process, the special-shaped pancake turner is not in contact with the inner wall, and the special-shaped pancake turner is turned over from the bottom position to the cut-in position.
Preferably, the artificial stir-fry simulation cooking robot, wherein: the pot body is arranged on a rotating device for driving the pot body to rotate.
Preferably, the artificial stir-fry simulation cooking robot, wherein: the special-shaped pancake turner comprises a first connecting rod, a second connecting rod and a turner body, wherein the first connecting rod is connected with the driving device and is obtuse-angled with the included angle of the second connecting rod, the turner body comprises a turner plate, and flanges and baffles located on two sides of the cutting edge of the turner plate, the flanges and the baffles are arranged at obtuse angles with the turner plate, and form material accommodating spaces, one ends, far away from the cutting edge, of the flanges are connected with the second connecting rod, and the back of the baffles is connected with the supporting rod.
Preferably, the artificial stir-frying simulation cooking robot, wherein: the first connecting rod deviates from the central point of the pot body, and the special-shaped slice meets the condition that the position of an entry point of the cutting edge and the inner wall of the special-shaped slice is close to the top edge of the pot body.
Preferably, the artificial stir-fry simulation cooking robot, wherein: the included angle between the baffle and the shovel plate meets the requirement of the second stir-frying process, the shovel plate is in a state of being parallel to the pan opening plane of the pan body, and can bear all or part of materials sliding on the baffle in the state.
Preferably, the artificial stir-frying simulation cooking robot, wherein: the included angle between the baffle and the shovel plate is 100-145 degrees.
Preferably, the artificial stir-fry simulation cooking robot, wherein: the driving device comprises a rotating frame, the rotating frame is rotatably arranged on a rotating shaft and swings up and down around the rotating shaft through the gravity of the rotating frame, the gravity of a component positioned on the rotating frame and the reaction force of the inner wall to the abutting rod, and a driving module is arranged on the rotating frame and connected with the first connecting rod and drives the first connecting rod to rotate by taking the axis of the first connecting rod as a self-rotating shaft.
Preferably, the artificial stir-fry simulation cooking robot, wherein:
in the first stir-frying process, the resisting rod is not contacted with the inner wall, and the rotating frame rotates downwards around the rotating shaft under the action of the gravity of the rotating frame and the components on the rotating frame;
in the second stir-frying process, the free end of the abutting rod abuts against the inner wall, and the reaction force of the inner wall to the abutting rod is gradually changed from being smaller than the gravity of the rotating frame and the parts on the rotating frame to being larger than the gravity of the rotating frame and the parts on the rotating frame and then is kept.
The cooking method of the artificial cooking robot by manual stir-frying comprises the following steps:
s1, providing any one of the artificial stir-frying cooking robots and materials;
s2, under the matched driving of the supporting rod and the driving device, the special-shaped turner shovels materials on the sliding path in a first stir-frying process and turns the materials on the special-shaped turner back into the pan body in a second stir-frying process.
Preferably, the cooking method of the artificial cooking robot is a manual stir-frying method, wherein: in the step S2, the pot body is matched with the special-shaped slice to rotate synchronously.
The technical scheme of the invention has the advantages that:
the special-shaped slice frying pan is exquisite in design and simple in structure, the special-shaped slice can move up and down while rotating by matching of the driving device and the supporting rod, the special-shaped slice can be attached to the inner wall of the pan body in the frying process and enters the pan bottom position, materials in corresponding positions can be effectively shoveled, the problem that the materials are easily clamped and crushed when a gap exists between the cutting edge of the slice and the inner wall of the pan, and meanwhile the problem that the materials on a sliding path are not shoveled to stick the pan can be effectively avoided; and after the materials are shoveled, the materials are turned and fried through the turning of the special-shaped turner, so that the action of manual turning and frying is effectively simulated, and the materials are heated and mixed more uniformly.
Because the pot body is rotatable structure, consequently turning over the stir-fry in-process, can constantly switch the contact position of dysmorphism slice with the pot body to realize the stir-fry of turning over of the material in different regions, be favorable to further guaranteeing to turn over the homogeneity and the validity of stir-fry, avoid the material to glue the pot or the local stir-fry that turns over, be heated uneven problem.
Through the shape design to special-shaped slice, can make the material shift to the baffle from the shovel board upset earlier on turning over the process of stir-fry, again from the shovel board in the upset gets into the pot, through the twice upset of material, the change of the position of being heated of effectual realization material to make the material can be more even be heated, improve stir-fry system efficiency and ultimate dish quality.
Because the first connecting rod of the special-shaped slice deviates from the circle center position of the pot body, the contact position of the cutting edge of the slice and the inner wall of the pot body is close to the top edge position of the pot when entering, so that the problem that vegetables are cut by the contact with materials at higher positions when the dishes are shoveled can be avoided; meanwhile, the special-shaped turner can be positioned close to the circle center of the pot body when being turned over, so that the material is prevented from being poured out of the pot, and the material can be always shielded by the special-shaped turner and is not easy to be thrown out due to the combination of the shape and the motion of the turner.
The upper and lower change of this patent slice utilizes the gravity of drive arrangement self structure and supports the pole and the interact power realization of pot body inner wall, does not need extra power device, is favorable to simplifying the structure, reduces equipment cost, the energy saving.
Due to the combination of various designs, the recombined mixing of materials can be effectively realized, and meanwhile, the uniform distribution of seasonings is realized, thereby being beneficial to obtaining better dish taste.
Drawings
FIG. 1 is a schematic structural diagram of a special-shaped slice of a cooking robot at a position of a cut-in point;
FIG. 2 is a schematic view of the state that the cutting edge is attached to the inner wall of the pan body and the abutting rod is not in contact with the inner wall when the special-shaped slice of the cooking robot is at the position of the cut-in point;
FIG. 3 is a schematic structural diagram of the special-shaped slice of the cooking robot in a certain state between a cut-in point and a bottom position;
FIG. 4 is a front view of the special-shaped slice of the cooking robot of the present invention rotating from the bottom position to the cut-in position;
FIG. 5 is a side view of the special-shaped slice of the cooking robot of the present invention starting from the bottom position and rotating to the entry point position;
FIG. 6 is a schematic structural diagram of the special-shaped slice of the cooking robot in a second cooking process between the bottom position and the cut-in position;
fig. 7 is a schematic diagram of the position relationship between the special-shaped slice and the inner wall of the pan body and between the abutting rod and the inner wall of the pan body in a certain state between the pan bottom position and the cut-in position in the second stir-frying process of the special-shaped slice of the stir-frying robot.
Detailed Description
Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. The embodiments are merely exemplary for applying the technical solutions of the present invention, and any technical solution formed by replacing or converting the equivalent thereof falls within the scope of the present invention claimed.
The invention discloses a manual stir-frying simulation cooking robot, which comprises a pot body 1, wherein the pot body 1 can be various commonly used round-mouth pots and is arranged on a rotating device (not shown in the figure) for driving the pot body to rotate, the rotating device can be various known structures, for example, a motor is connected to the central point of the bottom of the pot body 1, or the pot body is erected on a ring gear capable of rotating, and the ring gear is driven to rotate by the cooperation of the motor, a driving gear and a chain, wherein the specific structure of the rotating device is the prior art, and the detailed description is omitted.
As shown in the attached drawings 1-7, the artificial cooking robot for stir-frying also comprises a special-shaped slice 2 for stir-frying the materials in the pot body 1, wherein the special-shaped slice 2 is driven by a unique driving structure to rotate and swing up and down simultaneously and is switched between a first stir-frying process and a second stir-frying process;
in the first stir-frying process, the cutting edge 21 of the special-shaped slice 2 is always attached to the inner wall 11 and slides from the cutting point position 10 of the cutting edge and the inner wall 11 to the bottom position 12 of the pot body 1, and the included angle between the slice surface 25 (the slice plate 242 described below) of the special-shaped slice and the plane of the pot opening of the pot body 1 is gradually reduced;
in the second stir-frying process, the special-shaped pancake turner 2 is not in contact with the inner wall 11, and the special-shaped pancake turner 2 is turned from the bottom position 12 to the entry point position 10.
Although the above-mentioned structure can effectively simulate the action of manual stir-frying, in order to obtain better stir-frying effect, the special-shaped pancake turner 2 is specially designed, specifically, as shown in fig. 6, the special-shaped pancake turner 2 includes a first link 22, a second link 23 and a pancake turner body 24, which may be integrally formed or welded one by one, and in detail, one end of the first link 22 is connected with the driving structure and driven by the driving structure to rotate around the axis thereof, the other end thereof is connected with one end of the second link 23, and the included angle formed by the two ends is an obtuse angle, and the other end of the second link 23 is connected with the pancake turner body 24.
Because the shape of the shovel body 24 has a great influence on the stir-frying effect in the stir-frying process, as shown in fig. 6, preferably, the shovel body 24 includes a substantially fan-shaped shovel plate 242, the lengths of the side edges of both sides of the cutting edge 21 of the shovel plate 242 are different, and the length of the side edge for connecting the second connecting rod 23 is smaller than the length of the other side, both sides of the cutting edge 21 of the shovel plate 242 are further respectively formed with a flange 241 and a baffle 243, the flange 241 and the baffle 243 are both arranged at an obtuse angle with the shovel plate 242 and together form a material accommodating space, in the first stir-frying process, most or all of the shoveled materials can be limited in the material accommodating space formed by the flange 241 and the baffle 243, and it is avoided that the materials fall back to the pan and cannot be turned over in the shoveling process.
One end of the turned edge 241, which is far away from the cutting edge 21, is connected to the second connecting rod 23, the second connecting rod 23 is integrally located at the upper right side of the shovel plate 24, and the included angles between the second connecting rod 23 and the bottom edge of the shovel plate 24 and the outer side 2411 of the turned edge 242 are obtuse angles.
As shown in fig. 6, an included angle a between the baffle 243 and the shovel 242 is satisfied that in the second stir-frying process, the shovel 242 has a state that the pan opening plane of the pan body tends to be parallel, and the material on the shovel 242 can be completely or partially transferred onto the baffle 243, that is, in the second stir-frying process, the relative state between the shovel 242 and the baffle 243 and the pan opening plane continuously changes, and when the shovel 242 changes from a state approximately parallel to the pan opening plane to a state perpendicular to the pan opening plane, the baffle 243 synchronously changes from a state of forming an included angle with the pan opening plane to a state approximately parallel to the pan opening plane, so that all or part of the material sliding down from the shovel 242 in the process can slide onto the bearing surface of the baffle 243, and in the subsequent turning process of the special-shaped pan 2, the material falls into the pan from the baffle 243; particularly preferably, the included angle a between the baffle 243 and the shovel 242 is between 100 ° and 145 °.
Moreover, the inventor researches and discovers that if the projection of the first connecting rod 22 of the special-shaped slice 2 on the plane of the pot opening passes through the central point 14 of the pot body, at the moment, the slice 2 is easy to throw the materials on the slice out of the pot during the process of quickly stir-frying, particularly during the process of turning upwards from the bottom of the pot, and the materials are wasted.
Therefore, as shown in fig. 1, preferably, the first link 22 deviates from the central point 14 of the pot body, that is, under normal conditions, the projection of the first link 22 on the pot opening plane is a rectangle, and the virtual extension lines 20 of the two sides of the rectangle, which have the same extension direction as the first link 22, are both located on the same side of the pot body 14, and the central point 14 is not covered by the first link 22, so that the design of the shape and the size of the cutting edge 21 of the special-shaped slice 2 is designed to be as close as possible to the top edge 13 of the pot body 1 through the shape and the arrangement of the cutting point 10 of the inner wall 11 due to the deviation of the first link 22 from the central point, thereby avoiding the problem that the material is easily scraped at a low contact position.
Meanwhile, because the size of the special-shaped turner 2 is fixed and unchanged, although the turner body 24 does not completely use the position of the cutting edge 21 and the position of the first connecting rod 22 as a symmetry axis when the inner wall 11 of the pot body is at the position of the cut-in point due to certain up-and-down swing in the rotating process, the position of the first connecting rod 22 in different states does not deviate too much from the position of the cut-in point basically, and after the virtual extension line 20 deviates from the central point 14 of the pot body, the maximum horizontal distance of the turner body 24 from the central point 14 of the pot body is shortened a little compared with the maximum horizontal distance of the first connecting rod 22 from the central point 14 of the pot body when the turner body 24 overturns upwards from the bottom position of the pot body, so that the turner body 24 is closer to the central point 14 of the pot body and the horizontal distance to the top edge 13 is relatively increased in the overturning process, thereby preventing the materials from being easily thrown out.
Moreover, the inventor also researches and invents that if the special-shaped turner 2 only rotates, after the cutting edge 21 of the special-shaped turner 2 is in contact with the inner wall 11 of the pot body 1, because the inner wall 11 of the pot body 1 is in a downward arc shape and the rotating radius of the special-shaped turner 2 is fixed, after the special-shaped turner 2 rotates for a certain angle, the distance between the cutting edge 21 and the inner wall of the pot body in a corresponding area is larger than the distance when the special-shaped turner just starts to contact, at the moment, the cutting edge 21 is separated from the inner wall of the pot body 1, and a gap appears, namely, the cutting edge 21 cannot be attached to the inner wall 11 of the pot body 1 in the whole process in the process of moving from the position of an incision point to the bottom of the pot, so that the inventor researches and discovers that the problems can be solved after the rotation and the up-down swinging of the special-shaped turner 2 are combined.
Meanwhile, the inventor has obtained a preferable driving structure through long-term experiments, researches and thinking, as shown in fig. 1 to 7, which includes a supporting rod 3 and a driving device 4, wherein the supporting rod 3 and the driving device 4 are respectively connected with the special-shaped slice 2, specifically, as shown in fig. 6, the supporting rod 3 is connected to the back of the baffle 243, and the extending direction of the supporting rod 3 is approximately parallel to the bottom edge 2421 of the slice 242.
As shown in fig. 5 and 6, the driving device 4 includes a rotating frame 41, the rotating frame 41 is rotatably disposed on a rotating shaft 42, and swings up and down around the rotating shaft 42 through the gravity of itself and the components located thereon and the reaction force of the inner wall to the abutting rod, of course, a torsion spring may be further disposed at the connection point of the rotating frame 41 and the rotating shaft to cooperate to realize the upward and downward swing of the rotating frame 41, a driving module 43 is disposed on the rotating frame 41, the driving module 43 is connected to the first connecting rod 22 and drives the first connecting rod 22 to rotate with the axis thereof as the rotating shaft, the driving module 43 may be various feasible structures, such as a motor connected to the first connecting rod 22 through a coupler, or a driving structure composed of a gear, a chain and a motor, or a structure composed of a roller, a belt and a motor, and is not described herein again in detail for the known technology.
In order to provide a reliable support for the first link 22, a bearing (not shown) is fixed on the rotating frame 41, and the first link 22 is connected with an inner ring of the bearing.
In actual operation, in a first stir-frying process, as shown in fig. 1 and fig. 2, the supporting rod 3 does not contact the inner wall 11, and at this time, the rotating frame 41 rotates downward (clockwise in the figure) around the rotating shaft 42 under the gravity of the rotating frame 41 and the components located thereon, that is, the rotating frame 41 swings downward, so as to drive the special-shaped pancake turner 2 connected thereto to swing downward step by step, and meanwhile, on the basis of the normal rotation motion of the special-shaped pancake turner 2, the downward swinging distance of the special-shaped pancake turner 2 can effectively compensate the distance difference between the cutting edge 21 and the inner wall 11 of the corresponding region, so that the cutting edge 21 of the special-shaped pancake turner 2 is always attached to the inner wall 11 of the pot body and slides to the bottom of the pot body 1.
Because the rotating frame 41 has no extra power source, but it is always stressed by gravity, under the condition of no other power, the rotating frame 41 can only keep the downward swinging state without the upward rotating trend, and at this time, the resisting rod 3 plays the corresponding role.
Specifically, in the second stir-frying process, along with the rotation of the special-shaped pancake turner 2, the position of the abutting rod 3 is also changed continuously, and the contact with the inner wall 11 of the pot body 1 is gradually changed from the non-contact state to the contact state of the free end with the inner wall 11, as shown in fig. 4-7, and meanwhile, the inner wall 11 generates a reaction force on the abutting rod 3.
When the inner wall 11 and the butting bar 3 just start to contact, the reaction force of the inner wall 11 on the butting bar 3 is smaller than the gravity of the rotating frame 41 and the components on the rotating frame 41, and at this time, the rotating frame 41 continues to rotate downwards.
However, as the position of the supporting rod 3 is changed continuously, the reaction force of the inner wall 11 on the supporting rod 3 is gradually changed from being smaller than the gravity of the rotating frame 41 and the parts located thereon to being larger than the gravity of the rotating frame 41 and the parts located thereon and maintained, at this time, the rotating frame 41 starts to rotate in the opposite direction (i.e., rotate upwards) under the action of the reaction force until the cutting edge of the special-shaped spatula 2 is attached to the inner wall of the pot body 1 again, the supporting rod 3 is not in contact with the inner wall of the pot body 1, and at this time, the rotating frame 41 rotates downwards under the action of the gravity again, so that the continuous circulation is performed, and the continuous stir-frying is realized by combining with the self-rotating motion of the special-shaped spatula 2. This patent further discloses the cooking method of above-mentioned artifical stir-fry emulation cooking robot, includes following step:
s1, providing the artificial cooking robot and materials (various feasible stones or objects needing manual stir-frying by holding a shovel), and placing the materials and the like in the pot body 1;
s2, setting the rotating speed of the driving module 43 according to the sizes of different materials, and controlling the driving module 43 to work according to the set speed parameters, so that the special-shaped turner 2 shovels the materials on the sliding path in a first stir-frying process under the matched driving of the supporting rod 3 and the driving device 4, and turns the materials on the special-shaped turner back to the pan body in a second stir-frying process.
And, in step S2, the pan body 1 is driven by the rotating device to rotate synchronously with the special-shaped slice 2, that is, when the first connecting rod 22 of the special-shaped slice 2 rotates clockwise, the pan body 1 rotates clockwise, and vice versa.
Of course, the food processing robot of this patent needs to have a corresponding structure for heating the pot body in order to fry the materials in addition to the above-mentioned necessary structure, and here can be various known feasible heating structures, which are not the invention points of this patent, and therefore, the description is omitted.
The invention has various embodiments, and all technical solutions formed by adopting equivalent transformation or equivalent transformation are within the protection scope of the invention.
Claims (5)
1. Artifical stir-fry emulation cooking robot, its characterized in that: the special-shaped cooking shovel comprises a pot body (1), a special-shaped cooking shovel (2), a supporting rod (3) and a driving device (4), wherein the supporting rod (3) and the driving device (4) are respectively connected with the special-shaped cooking shovel (2) and are matched with each other to drive the special-shaped cooking shovel (2) to switch between a first stir-frying process and a second stir-frying process;
in a first stir-frying process, a cutting edge (21) of the special-shaped pancake turner (2) is attached to an inner wall (11) of the pot body (1) and slides from a cutting point position (10) of the cutting edge and the inner wall (11) to a bottom position (12) of the pot body (1), and an included angle between a turner surface (25) of the special-shaped pancake turner and a pot opening plane of the pot body (1) is gradually reduced;
in the second stir-frying process, the special-shaped pancake turner (2) is not in contact with the inner wall (11), and the special-shaped pancake turner (2) is turned to a cut-in point position (10) from a bottom position (12);
the special-shaped turner (2) comprises a first connecting rod (22), a second connecting rod (23) and a turner body (24), the first connecting rod (22) is connected with the driving device (4), an included angle between the first connecting rod and the second connecting rod is an obtuse angle, the turner body (24) comprises a turner plate (242), and flanges (241) and baffles (243) which are positioned on two sides of a cutting edge (21) of the turner plate (242), the flanges (241) and the baffles (243) are arranged in an obtuse angle with the turner plate (242) and form a material accommodating space, one end, far away from the cutting edge (21), of the flange (241) is connected with the second connecting rod (23), and the back of the baffle (243) is connected with the abutting rod (3); the driving device (4) comprises a rotating frame (41), the rotating frame (41) is rotatably arranged on a rotating shaft (42) and swings up and down around the rotating shaft (42) through the gravity of the rotating frame and parts positioned on the rotating frame and the reaction force of the inner wall to the abutting rod, a driving module (43) is arranged on the rotating frame (41), and the driving module (43) is connected with the first connecting rod (22) and drives the first connecting rod (22) to rotate by taking the axis of the first connecting rod as a rotating shaft;
in the first stir-frying process, the resisting rod (3) is not contacted with the inner wall (11), and the rotating frame (41) rotates downwards around the rotating shaft (42) under the action of the gravity of the rotating frame and parts on the rotating frame;
in the second stir-frying process, the free end of the support rod (3) is abutted against the inner wall (11), and the reaction force of the inner wall (11) to the support rod (3) is gradually changed from being smaller than the gravity of the rotating frame (41) and the parts on the rotating frame to being larger than the gravity of the rotating frame (41) and the parts on the rotating frame and then is kept.
2. The artificial stir-frying robot according to claim 1, wherein: the pot body (1) is arranged on a rotating device for driving the pot body to rotate.
3. The artificial stir-frying robot as claimed in claim 1, wherein: first connecting rod (22) skew central point (14) of the pot body, just special-shaped slice (2) satisfy the entrance point position (10) of its blade (21) and inner wall (11) and press close to topside (13) of the pot body (1).
4. The artificial stir-frying robot according to claim 1, wherein: the included angle between the baffle plate (243) and the shovel plate (242) meets the condition that in the second stir-frying process, the shovel plate (242) is parallel to the pan opening plane of the pan body, and can bear all or part of materials sliding on the baffle plate (243) in the state.
5. The artificial stir-frying robot according to claim 1, wherein: the included angle (a) between the baffle (243) and the shovel plate (242) is between 100 and 145 degrees.
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| CN201711089954.4A CN107752728B (en) | 2017-11-08 | 2017-11-08 | Artificial stir-frying simulation cooking robot and stir-frying cooking method thereof |
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| CN201711089954.4A CN107752728B (en) | 2017-11-08 | 2017-11-08 | Artificial stir-frying simulation cooking robot and stir-frying cooking method thereof |
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| CN107752728B true CN107752728B (en) | 2023-04-07 |
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| CN108771103A (en) * | 2018-06-28 | 2018-11-09 | 满建国 | A kind of baking machine |
| CN112369897B (en) * | 2020-10-23 | 2022-03-04 | 中国航天员科研训练中心 | Automatic stir-frying equipment and use method thereof |
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