CN116941970A

CN116941970A - Kitchen robot and slice subassembly

Info

Publication number: CN116941970A
Application number: CN202311091357.0A
Authority: CN
Inventors: 许飞翔
Original assignee: Tineco Intelligent Technology Co Ltd
Current assignee: Tineco Intelligent Technology Co Ltd
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2023-10-27
Also published as: CN112401632A; CN116869366A; CN112401632B

Abstract

The application provides a kitchen robot and a slice assembly. This kitchen robot has a slice subassembly, slice subassembly has the rotation axis and from the stirring portion that the rotation axis extends, stirring portion has the stirring arm, from the top of stirring portion sees, stirring portion has S type curve shape, can carry out abundant stirring to the food in the pot, can not appear the phenomenon of pasting the bottom of the pot and sticking to the bottom of the pot for the culinary art effect is better.

Description

Kitchen robot and slice subassembly

The application is a division of domestic patent application with application number 2020111980884, which is submitted on 10 months and 30 days in 2020.

Technical Field

The application relates to the technical field of home Internet of things, in particular to a kitchen robot and a slice assembly.

Background

Since ancient times, people, especially Chinese people, have a strong deep pursuit of diet, and it is a constant goal of people to make a delicious food with good color, smell and taste. However, the current food production is often controlled by individual experience, such as mastering the fire, controlling the main ingredients and auxiliary materials, controlling the cooking time, and the like, so that standardized things are difficult to form, and the large-scale social popularization is not facilitated.

The existing kitchen robot can cause the phenomenon that food cannot sufficiently react to stick to the bottom of a pan or stick to the bottom of the pan due to unreasonable design of a turner when frying, so that the cooking effect is affected, the service life of the pan is also affected, and even danger occurs.

Disclosure of Invention

In view of the above, the embodiments of the present invention provide a kitchen robot and a slice assembly to solve the technical defects existing in the prior art.

Embodiments of the present invention provide a kitchen robot having a slice assembly that, optionally,

the turner assembly having a rotation axis and a stirring portion extending from the rotation axis;

the stirring part is provided with a stirring arm;

the stirring portion has an S-curve shape as viewed from above the stirring portion.

Optionally, the stirring arm is arc-shaped as seen in the direction of rotational movement of the stirring arm, and the arc of the inner side is curved to a greater extent than the arc of the edge.

Optionally, the stirring part has stirring arms extending from the rotation shaft in two opposite directions, respectively;

the stirring part is twisted, so that the two stirring arms are tilted towards the rotation movement direction respectively.

Optionally, an inclined plane is arranged at the end part of the stirring arm, the other end of the stirring arm is connected with the rotating shaft, and the inclined plane extends outwards from the stirring arm and gradually reduces in height.

Optionally, the number of the inclined planes is 2, and is centrosymmetric about the rotation axis.

Optionally, the height of the stirring part is 25-35mm.

Optionally, the turner assembly is driven to rotate about a first axis;

the axis of the rotating shaft is a second axis;

the first axis is parallel to the second axis; the stirring portion rotates about both the first axis and the second axis.

Optionally, the length of the stirring arm is greater than the spacing between the first axis and the second axis.

Optionally, the kitchen robot further comprises a pot and a pot cover;

the distance from the stirring part to the pot cover is 45-65mm;

the length of the stirring part is larger than the radius of the pot and smaller than the diameter of the pot.

Optionally, the driving assembly is used for driving the turner assembly to rotate, the turner assembly comprises a bracket which rotates around a first axis where an output shaft of the driving assembly is located, the turner assembly is provided with a first gear block and a second gear block, the bracket is provided with a bottom part and a side part which are integrally formed, and the bottom part and the side part form an accommodating space which is used for accommodating the first gear block and the second gear block which are meshed with each other;

The support is provided with a sleeve, the driving assembly is provided with an output shaft, and the output shaft is detachably sleeved in the sleeve;

the bracket is provided with a cover plate, and the cover plate covers the upper part of the bottom, so that the tightness of the accommodating space is improved; the first gear block is sleeved on the outer side of the sleeve, and is provided with internal teeth;

the centerline of the second gear block is defined as a second axis, and the location at which the first gear block and the second gear block mesh is located between the first axis and the second axis.

The embodiment of the invention also provides a kitchen robot, which is provided with a pan and a turner assembly, wherein the turner assembly comprises:

the bracket can rotate around a first axis where the output shaft is positioned;

the vegetable scraping part is fixed on the bracket and rotates along with the bracket;

the rotating shaft is connected to the bracket and can rotate relative to the bracket;

a stirring part extending from the rotating shaft and driven to rotate by the rotating shaft;

the vegetable scraping part and the stirring part are respectively positioned at two sides of the bracket, and the vegetable scraping part is provided with vegetable scraping arms extending along the radial direction of the pot.

The kitchen robot provided by the invention has a better cooking effect and is more suitable for families.

Secondly, the embodiment of the invention also provides a slice assembly which is provided with a rotating shaft and a stirring part extending from the rotating shaft;

the stirring part is provided with a stirring arm;

The kitchen robot provided by the invention can sufficiently stir food in the pot by arranging the stirring part, and the phenomena of sticking the pot bottom and the pot bottom are avoided, so that the cooking effect is better.

Drawings

Fig. 1 is an overall schematic view of a kitchen robot according to an embodiment of the present invention;

fig. 2 is a cross-sectional view of a kitchen robot according to an embodiment of the present invention;

fig. 3 is a first structural view of a kitchen robot according to an embodiment of the present invention;

fig. 4 is a second block diagram of the kitchen robot according to the embodiment of the present invention;

FIG. 5 is a schematic view of a lid of an embodiment of the present invention;

fig. 6 is a schematic structural view of a first motor according to an embodiment of the present invention;

FIG. 7 is a cross-sectional view of a power face and a driven face in accordance with an embodiment of the present invention;

FIG. 8 is a second cross-sectional view of the power and driven surfaces of an embodiment of the present invention;

FIG. 9 is an assembled schematic view of a charging unit according to an embodiment of the invention;

FIG. 10 is an exploded schematic view of a loading unit according to an embodiment of the present invention;

FIG. 11 is a schematic view showing the structure of an upper cover of the charging unit according to the embodiment of the invention;

FIG. 12 is a top view of the body of the charging unit of an embodiment of the invention;

FIG. 13 is a cross-sectional view of the body of the charging unit of an embodiment of the invention;

FIG. 14 is a schematic view showing the structure of a charging unit according to an embodiment of the present invention;

FIG. 15 is a cross-sectional view of a slice assembly according to an embodiment of the present invention;

FIG. 16 is a schematic illustration of a turner assembly in accordance with an embodiment of the present invention;

FIG. 17 is a second schematic illustration of the structure of a turner assembly in accordance with an embodiment of the present invention;

FIG. 18 is a top view of a stirring portion of a turner assembly according to an embodiment of the present invention;

FIG. 19 is a schematic view III of a construction of a slice assembly according to an embodiment of the present invention;

FIG. 20 is a schematic structural view of a turner assembly according to an embodiment of the present invention;

FIG. 21 is a schematic diagram of a turner assembly according to an embodiment of the present invention;

FIG. 22 is a flowchart I of a method of controlling a slice assembly according to an embodiment of the present invention;

FIG. 23 is a second flowchart of a method of controlling a slice assembly according to an embodiment of the present invention;

FIG. 24 is a flowchart III of a method of controlling a slice assembly according to an embodiment of the present invention;

FIG. 25 is a schematic illustration of a spatula assembly in accordance with an embodiment of the present invention.

Description of the reference numerals

1-a kitchen robot; 2-a base; 3-a cooking unit;

4-a feeding unit; 5-a support arm unit; 201-a table top;

202-a receiving chamber; 203-supporting feet; 204—a heat dissipating structure;

205-interface; 206-control switch; 207-a metering unit;

208—a display panel; 301-a base; 302-pot;

303-pot cover; 304-a heating assembly; 305, a temperature measuring component;

306-a pot liner; 307-handle; 308-skirt structure;

309-a safety hole; 310-mounting port; 311-a second clamping part;

312-blanking port; 320-a turner assembly; 321-a drive assembly;

322-output shaft; 323-a sleeve; 324-magnet;

325-motor; 326-a bracket; 327—a first axis;

328-bottom; 329-sides; 330-cover plate;

331-a first gear block; 332-a second gear block; 334-rotation stopping structure;

335-sleeve; 337—a second axis; 340-stirring part;

341-stirring arms; 342-incline; 343-a rotation axis;

344-a stirring section main body; 345-stirring section edge; 350-vegetable scraping part;

346-inclined plane; 351—a vegetable scraping arm; 352-vegetable scraping section body;

353-scraping edge; 354-transverse scraping edge; 355-vertical scraping edge;

356-guiding structure; 360-sensor; 361-a receiver;

401-a discharge hole; 402-a charging box; 403-seasoning chamber;

404-a body; 405-upper cover; 406—lower cover;

407-sidewalls; 408-a first bottom; 409-a first opening;

410-a second opening; 411-opening; 412—a feed inlet;

413—a cover plate; 414-a first chute; 415—sealing the cavity;

416-chamfer structure; 417—a depression; 418—a drive hole;

419-internal teeth; 420-a driving mechanism; 421—a seal;

422-high lubrication material; 423—a first magnetic material; 424-a second magnetic material;

425-a second motor; 426—short side; 427-long side;

501-a support arm; 502-rotating arm; 503—a first motor;

504-output; 505—a power plane; 506—a driven surface;

507—straight line sides; 508-arc edge; 509-a waist-type connector;

510—a first clamping portion; 511-a second chute; 512—a first driven surface;

513-a second driven surface; 514—a first gap; 515-a second gap;

516—an arcuate profile; 517—a trigger switch; 518-lugs;

519-a support plate; 520-bump; 521-magnetic material;

522-external teeth; 523-transmission mechanism.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than those herein described, and those skilled in the art will readily appreciate that the present invention may be similarly embodied without departing from the spirit or essential characteristics thereof, and therefore the present invention is not limited to the specific embodiments disclosed below.

The terminology used in the one or more embodiments of the specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the specification. As used in one or more embodiments of the present specification, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that, although the terms first, second, etc. may be used in one or more embodiments of this specification to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

The embodiment shown in fig. 1 provides a kitchen robot 1 capable of automatically cooking food, releasing a person's energy from heavy cooking work, while enjoying healthy food. The kitchen robot 1 mainly comprises a base 2, a cooking unit 3 located on the base 2, a charging unit 4 located above the cooking unit 3, and a boom unit 5 for being located sideways of the cooking unit 3.

Wherein the base 2 has a horizontal table 201 for supporting the cooking unit 3. The mesa 201 is generally square in shape, although in other embodiments the mesa 201 may be other shapes, such as circular, triangular, etc. The material of the table 201 is made of explosion-proof glass, and plays roles of safety protection and convenient cleaning.

Below the table top 201 as shown in fig. 1, 2 and 3, the base 2 further comprises a receiving cavity 202 and a support foot 203. The accommodating chamber 202 is mainly used for accommodating electronic circuit components and wires for connecting the components. In this embodiment, the heat dissipation structure 204 is also disposed in the accommodating cavity 202, since a large amount of heat is generated by the electronic circuit components during operation. The heat dissipation structure 204 may be a structure common in the art including fans, heat dissipation holes, and the like. The housing 202 is further provided with an interface 205 for connecting a power line. The interface 205 is located on a side wall of the receiving chamber 202. The power cord may be connected to an external AC power source for providing the energy required by the cooking or control circuit. Of course, in other embodiments, a battery pack may be disposed within the receiving cavity 202, with the battery pack being utilized to provide energy. And further, the battery pack may be detachable for easy replacement and repair.

The support feet 203 of the table 201 are used to support the base 2. The supporting feet 203 have a certain height, so that when the base 2 is horizontally placed on the table top, the bottom of the accommodating cavity 202 and the table top have a certain space interval, and the carrying can be more convenient and the heat dissipation effect is better. In the present embodiment, the height of the supporting foot 203 can be adjusted so that the height of the base 2 is adjusted within a certain range according to the actual use scene. In addition, in the present embodiment, the number of the supporting feet 203 is 4, and the supporting feet 203 are distributed on 4 weeks of the base, so as to play a role of uniform support. When not in use, the support legs 203 can be detached from the base 2, and the base 2 can be erected for easy storage.

In this embodiment, the electronic circuit components in the accommodating cavity 202 of the base 2 may include a main control circuit board. In an embodiment, the electronic circuit components may also include various sensors, such as temperature sensors, current sensors, magnetic sensors, and the like. The main control circuit board can receive instructions of external users or sensing signals sent by various sensors so as to send corresponding control signals, and the purpose of controlling the kitchen robot 1 to automatically work is achieved.

As shown in fig. 1, the base 2 is further provided with a control switch 206, a metering unit 207, and a display panel 208. The control switch 206 is used to input control instructions to the kitchen robot 1. To achieve better user operation experience, the control switch 206 may be operated with a longitudinal press and may also be operated with a circumferential rotation. Of course, the present embodiment is not limited to these operation modes, and may have various common interaction modes such as push rod sliding mode, vibration feedback mode, touch mode, and the like. And the metering unit 207 is used for metering and weighing some main materials or auxiliary materials, so that standardized production of dishes is facilitated. In this embodiment, the metering unit 207 has a measuring cup in which a main material or an auxiliary material can be placed. And a weighing module is arranged at the place of the base 2 corresponding to the place where the measuring cup is placed. When the equivalent cup is placed at the appointed position of the base, the weighing module can weigh the weight and feed the weight back to the main control circuit board. And the display panel 208 is used to display information of the kitchen robot. In this embodiment, the display panel 208 is strip-shaped, so that more information can be displayed. In addition, to facilitate better interaction, the control switch 206, the metering unit 207, and the display panel 208 are located at the side of the table top, and at the side closer to the user. A display panel 208 is located intermediate the control switch 206 and the metering unit 207. The control switch 206 and the metering unit 207 are located at the top corner of the display panel 208.

The cooking unit 3 is mounted on the table 201 of the base 2. The cooking unit 3 mainly comprises a base 301, a pot 302 and a pot cover 303. The base 301 is used to support the pot 302 so that the pot 302 can be stably placed on the base 301. The base 301 has a recess to accommodate a portion of the pan 302, with the recess having a support surface that matches the pan surface. In this embodiment, the support surface is formed with a continuous smooth curved surface to form a certain arc.

In addition, the base 301 also includes a heating assembly 304. The heating assembly 304 may heat the pan 302 when the pan 302 is placed on the base 301. In this embodiment, the heating element 304 is an electromagnetic coil, and an electromagnetic coil is wound on the electromagnetic coil, and when the electromagnetic coil works, magnetic radiation is generated to heat the pot 302. The electromagnetic coil is approximately annular. The electromagnetic coil is fixed to the back of the base 301. The back of the base 301 is provided with grid-shaped positioning ribs, and the electromagnetic wire coil is fixed on the back of the base through the positioning ribs. In other embodiments, the heating assembly 304 may be other heating manners known to those skilled in the art, for example, the heating assembly may be a heating wire assembly, and the heating wire is powered to directly heat the pot. In this embodiment, the main control circuit board electrically controls the magnitude of the current passing through the electromagnetic coil, thereby correspondingly controlling the temperature for heating the pot. In other embodiments, the main control circuit board can also control the temperature by controlling other parameters such as voltage. This has the advantage that the heating can be quantified and the degree of heating can be characterized by data, thereby achieving the purpose of accurate control.

As can be seen from fig. 2, a temperature sensing assembly 305 is provided at the bottom of the recess. The temperature sensing assembly 305 detects the current temperature of the pan 302 by direct contact with the pan 302 for feedback. So that the temperature can be correspondingly controlled and regulated according to the current temperature of the pot 302 measured in real time. For example, when dishes are required to be fried, the heating temperature of the heating component can be adjusted by the main control circuit board or other control modes, and the pan 302 is heated. The temperature measuring component 305 detects the temperature of the pan in real time, and when the temperature of the pan 302 reaches the preset heating temperature, the main control circuit board or other control modes can adjust the heating temperature of the heating component 304 again according to the real-time feedback of the temperature measuring component 305, so that the temperature of the pan 302 is maintained at the current level.

The bottom of the recess may also be provided with safety components to prevent the occurrence of some accidental or uncontrolled factors. For example, when the temperature measuring component measures that the temperature of the current pot exceeds an alarm temperature, the safety component can feed back and send an alarm signal, so that a main control circuit board or other control modes timely cut off a circuit, and the safety of a user is ensured. In this embodiment, the safety component is a fuse. The fuse is connected in the circuit, and when the temperature is higher than the fusing temperature, the fuse fuses the circuit, so that the use safety of the circuit is ensured.

In this embodiment, the base 301 is fixedly mounted on the base 2. Specifically, the base 301 is mounted on the table 201 of the base 2 and protrudes from the plane in which the table 201 lies. The base is provided with an annular side surface, so that the design provides a simpler layout for the electric connection between the heating component and the electronic circuit components in the base.

The pan 302 generally includes a bladder 306 and a handle 307 for gripping. The bladder 306 is concave and has a smooth curved surface. The smooth curved surface of the pot bladder 306 is matched with the supporting surface of the base, so that the pot bladder 306 can be stably supported on the base 301. The heating component 304 mainly concentrates on the pot liner 306 in the part for heating the pot 302, so that dishes in the pot liner 306 are fully heated, and the heating efficiency is improved. Notably, in this embodiment, the rim of the bladder 306 has a ring of outwardly protruding skirt structures 308, such that the outer surface of the bladder 306 and the skirt structures 308 form steps, thereby facilitating smooth placement of the pan 302 on the base 301. Preferably, the dimensions of the skirt structure 308 are reasonably designed such that the side surfaces of the skirt structure 308 and the side surfaces of the chassis 301 together form a smooth surface. In this embodiment, the radius of the skirt structure 308 is larger and the radius of the base 301 is smaller, so that the skirt structure 308 and the side surface of the base 301 form the side surface of an inverted cone. Of course, in other embodiments, the side surfaces of the skirt structure 308 and the base 301 may also together form a side surface of a cylinder, i.e. the radius of the skirt structure and the radius of the base are substantially the same.

In this embodiment, the handle 307 of the pan 302 is also provided on a side surface of the skirt structure 308. The number of handles 307 is two and symmetrically disposed on opposite sides of the pan 302. The user can conveniently grasp the handle 307 to lift the pan 302 from the base 301. Of course, in other embodiments, the number of handles 307 may be one, i.e., the user grasps the handles from a single side. In addition, the handle 307 may be connected in various ways. In this embodiment, the handle 307 is fixedly attached to the skirt structure 308 such that the handle 307 is not detachable with respect to the pot 302. The means of securing may also be screw locking or other common means. Of course, the handle 307 may also be provided to be movable, in particular the handle 307 may be foldable or rotatable, so that it may be stored when not in use to reduce volume.

The cover 303 is used to cover the top of the pot 302 to substantially isolate dishes in the pot liner 306 from the outside. The pot cover 303 is separated from the pot 302, and there is no connecting structure between the pot cover and the pot 302. In this embodiment, the lid 303 may be automatically opened and closed by a control instruction, so as to avoid manual operation, improve the user experience of operation, and reduce some potential hazards. How to pass the control instructions will be described in detail later. The lid 303 has at least two states. In one state, shown in fig. 3, the lid 303 is covering the pot 302 and is in contact with the pot 302, i.e. the lid 303 is in a closed state. In another state as shown in fig. 4, the lid 303 is not in contact with the pot 302, i.e. the lid 303 is in an open state, where dishes can be taken out of the pot 302 or put into the pot 302. As shown in fig. 5, the pot cover 303 is made of toughened glass, so that the visibility of domestic food can be ensured, the safety can be ensured, and the food or hot oil in the pot can be prevented from splashing. In addition, the surface of the pot cover 303 can be provided with a safety hole 309, and the safety hole 309 has a pressure relief function to ensure that the pressure in the pot 302 is kept safe when the pot cover 303 covers the pot 302. In a preferred embodiment, the security aperture 309 may also be provided with a similar shutter structure.

The arm unit 5 is mainly used to provide a supporting function when the lid 303 is opened and closed. The arm unit 5 includes a support arm 501 and a rotation arm 502 which are rotatable relative to each other. The arm unit 5 thus controls the lid to be rotated open and closed. In this embodiment, the support arm 501 is fixedly disposed. The swivel arm 502 is rotatable about an axis relative to the support arm 501. Wherein the axis is substantially horizontal and is relatively perpendicular to the longitudinal axis of the lid 303 when the lid 303 is placed on the pot 302. In addition, the rotation range of the rotation arm 502 with respect to the support arm 501 is 60 degrees.

The support arm 501 is fixedly provided on the base 2. Specifically, the support arm 501 is located near the base 301 of the table 201, on the one hand the support arm 501 does not interfere with the normal use of the pot 302 on the base 301, and on the other hand the support arm 501 is used to provide a height for easy control of the pot cover 303. In this embodiment, the support arm 501 is mounted to the base. Specifically, the base 2 is centered on a base, having one side closer to the user and the other side farther from the user. To reduce interference, the support arm 501 is located on the other side away from the user.

The arm unit 5 has a power unit for driving the movement of the pot cover. The power unit mainly comprises a first motor 503 located in a support arm 501. The first motor 503 is used for driving the rotating arm 502 to rotate relative to the supporting arm 501. The first motor 503 is disposed in the longitudinal direction. The rotation axis of the first motor 503 is parallel to the longitudinal axis of the lid 303. Such that the lateral dimension of the support arm 501 is smaller than its longitudinal dimension. Since the output 504 of the power unit is connected to the support arm 501 and drives the support arm 501 to rotate about a horizontal axis. A transmission 523 is therefore also provided between the output 504 and the first motor 503. The transmission 523 converts the longitudinal rotational drive of the first motor 503 into an axial rotation of the output 504 in the horizontal direction. Meanwhile, the output end 504 is considered to drive other structures such as the pot cover 303 to rotate, so that larger torque is required, and the transmission mechanism 523 can also improve the output torque through reasonable reduction ratio design. The transmission 523 may be a worm gear assembly or a planetary bevel gear or the like as is common in the art.

In this embodiment, the power unit transmits power to the swivel arm by a form-fitting manner. Specifically, the output end 504 has a power face 505, the support arm 501 has a driven face 506, and the power face 505 is coupled with the driven face 506 to realize power transmission. The power surface 505 and the driven surface 506 are plane, and contact and fit with each other to realize power transmission, and when the power surface 505 and the driven surface 506 are out of contact, the power connection is disconnected.

As shown in fig. 6 and 7, the output 504 of the power unit has a waist-shaped configuration. In other words, the output end 504 has a horizontal axis of rotation, and the projection of the output end 504 in a cross-sectional plane perpendicular to the axis is waist-shaped. Specifically, the waist-shaped configuration includes a pair of straight sides 507 and a pair of arcuate sides 508. Wherein the straight sides 507 are arranged in parallel at a certain distance, and the arc sides 508 are arranged opposite to each other and between the straight sides 507, and the arc sides 508 are protruded outwards. The length of the straight edge 507 is greater than the radius of the arcuate edge 508 such that the overall waist-shaped configuration has an elongated profile. And further, the straight edge 507 is tangential to the arcuate edge 508. Of course, in other embodiments, the output end 504 may have other shaped configurations, such as triangular or hexagonal configurations. In addition, the central line of the waist-shaped structure is arranged along the horizontal direction, and the central line is overlapped with the rotation axis. The middle part of the waist-shaped construction also has an opening for connecting the transmission mechanism, through which opening the centre line and the rotation axis also pass. Wherein the projection of the power plane 505 in the cross-sectional plane coincides with the straight edge.

Correspondingly, the rotary arm 502 has a waist-shaped connector 509 thereon to mate with the waist-shaped configuration of the output. Specifically, the waist-shaped connector 509 is located at one end of the swivel arm 502, particularly near one end of the support arm 501. The waist-shaped connector 509 is connected to the periphery of the waist-shaped configuration of the output end 504 such that the waist-shaped connector 509 can rotate in synchronization with the waist-shaped configuration of the output end 504. The other end of the rotating arm 502, i.e. the end far from the supporting arm 501, is provided with a first clamping part 510 connected with the pot cover 303. The first clamping portion 510 and the pot cover 303 have a quick assembly and disassembly function. As shown in fig. 5, the center of the lid 303 has a mounting opening 310, and the central axis of the lid 303 passes through the mounting opening 310. The mounting opening 310 of the pot cover 303 is provided with a second clamping part 311. The second engagement portion 311 has a protrusion in the circumferential direction around the central axis. The first engaging portion 510 of the rotating arm 502 is circumferentially provided with a second sliding slot 511. And further, the end of the second chute 511 is further provided with a chute inlet, and the opening direction of the chute inlet is perpendicular to or forms a certain angle with the extending direction of the second chute 511. The protrusions can move circumferentially to realize a positioning function after entering the second chute 511 from the chute inlet. Of course, in other embodiments, the first engaging portion 510 may be provided with a protrusion, and the second engaging portion 311 may be provided with a chute. In actual use, the pot cover 303 is close to the first clamping portion 510 of the rotating arm 502, and the first clamping portion 510 is allowed to partially pass through the opening in the center of the pot cover 303, so that the protrusion on the second clamping portion 311 is aligned with the second chute 511 on the first clamping portion 510. Then, the pot cover 303 is rotated along the central axis, or the pot cover rotates along the first direction relative to the second clamping part 311, so that the protrusion slides into the second sliding groove 511 to realize clamping, and the pot cover 303 is fixed on the rotating arm 502. When the pot cover 303 is required to be detached from the rotating arm 502, the pot cover 303 is reversely rotated, or the pot cover 303 is rotated along a second direction opposite to the first direction relative to the second clamping part 311, so that the protrusion is pushed out of the second sliding groove 511 to be separated, and the pot cover 303 is separated from the rotating arm 502, thereby facilitating storage or cleaning of the pot cover 303. In this embodiment there are 3 sets of circumferential protrusions and runners to form a fit. And the 3 groups are uniformly distributed in the circumferential direction. In other embodiments, there may be other numbers of sets of protrusions and detents, such as 1 set, 2 sets, or 4 sets, etc.

As shown in fig. 7, the waist-shaped connector of the rotating arm has a driven surface to be coupled with a power surface. In this embodiment, the waist connector has at least two driven surfaces, a first driven surface 512 and a second driven surface 513. The power face may optionally mate with one of the first and second driven faces 512, 513. When normal power transmission is performed, that is, the output end 504 outputs power to drive the pot cover 303 to rotate, the power surface 505 and the first driven surface 512 are matched and connected. When normal power transfer is terminated, i.e., output 504 ceases to output power, power face 505 exits mating with first driven face 512 and mating with second driven face 513. As shown in fig. 7, when the power face 505 and the first driven face 512 are mated, there is a first gap 514 between the power face 505 and the second driven face 513. And when the power face 505 and the second driven face 513 are mated, there is a second gap 515 between the power face 505 and the first driven face 513. The first driven surface 512 and the second driven surface 513 are each planar. And the two are connected to each other and are connected at an angle such that the power surface 505 can be switched from mating one driven surface to mating the other driven surface in a rotational position. The angle between the first driven surface 512 and the second driven surface 513 facing away from the power surface is an obtuse angle, preferably about 170 degrees in the present invention. And the angle between the first driven surface 512 and the second driven surface 513 toward the power surface is greater than 180 degrees. The projected length of the power plane 505 in the cross-sectional plane is greater than the projected length of the first driven plane 512 in the cross-sectional plane. Of course, the projected length of the power plane 505 in the cross-sectional plane is also greater than the projected length of the second driven plane 513 in the cross-sectional plane. Thus, the switching of the power surface on the matched driven surface can be facilitated.

In addition, to mate with the output end, the waist connector 509 also has an arcuate profile 516 to mate with the arcuate edge 508 of the output end 504. The degree of curvature of the arcuate profile 516 and arcuate edge 508 remain consistent. The arcuate profile 516 also has a greater arcuate length than the arcuate edge 508 in order to maintain the arcuate edge 508 in constant engagement with the arcuate profile 516 when the power plane 505 is switched from the first driven plane 512 to the second driven plane 513. As shown in fig. 7, the first driven surface 512, the second driven surface 513, and the arcuate profile 516 of the waist connector 509 are connected in sequence. The two ends of the first driven surface 512 are respectively connected with the second driven surface 513 and the arc-shaped profile 516, the two ends of the second driven surface 513 are respectively connected with the arc-shaped profile 516 and the first driven surface 512, and the two ends of the arc-shaped profile 516 are respectively connected with the first driven surface 512 and the second driven surface 513.

Since the lid 303 has a closed position closing the pot 302 and an open position opening the pot 302 with respect to the pot 302, the rotary arm 502 rotates the lid 303 between the closed position and the open position. For better control, the kitchen robot 1 also has trigger switches 517 corresponding to the closed and open positions, respectively. The rotary arm 502 starts a corresponding trigger switch 517 when rotated to a corresponding position. The rotary arm 502 has a tab 518 thereon, the tab 518 being capable of contacting and triggering a trigger switch 517 to thereby generate a trigger signal accordingly. As shown in fig. 3, in the present embodiment, the number of the trigger switches 517 is 2, and the 2 trigger switches 517 are respectively disposed up and down, and when the lug 518 rotates to the trigger switch 517 corresponding to the open position, the trigger switch 517 sends a trigger signal to indicate that the pot cover 303 is located at the open position. When the lug 518 rotates to the trigger switch 517 corresponding to the closed position, the trigger switch 517 sends a trigger signal to indicate that the lid 303 is in the closed position at this time. The trigger switch 517 and the tab 518 are both disposed in the interior cavity of the support arm 501. In other embodiments, two lugs and a trigger switch may be provided to cooperate. The support arm 501 also has a securing rib in its interior cavity that can be used to secure the position of the trigger switch and the first motor 503. And the lugs 518 are preferably provided on the waist-shaped attachment 509 of the swivel arm 502 to ensure that the lugs 518 and the driven surface 506 rotate in unison.

The usage scenario of the power unit driving the pot cover 303 is as follows: when the user wants to close the lid 303 or automatically control the closing of the lid 303 by a program, software, etc., the first motor 503 starts to output rotation power, and at this time, the power surface 505 of the output end 504 and the first driven surface 512 of the rotating arm 502 are in a mating and fitting state, so that the first motor 503 drives the rotating arm 502 and the lid 303 connected therewith to rotate towards the closing position. This state is maintained until the tab 518 on the rotating arm 502 activates the trigger switch 517. The trigger switch 517 generates a signal to cause the kitchen robot 1 to determine that the pot cover 303 is closed in place, thus controlling the first motor 503 to be turned off to stop outputting power. The power face 505 of the output 504 also immediately stops rotating. Considering that there are some errors in the actual process, such as tolerance or delay control, when the first motor 503 stops rotating, the lid 303 is not completely closed in place. To improve the precision with which the lid 303 can be fully closed in place, the rotary arm 502 is provided with a first driven surface 512 and a second driven surface 513. After the power surface 505 stops rotating, the rotating arm 502 can continue to move for a short distance by gravity of the pot cover 303 itself or inertia of rotation, or a factor known or anticipated by those skilled in the art, so that the driven surface 506 coupled with the power surface 505 is switched from the first driven surface 512 to the second driven surface 513. So that the rotation arm 502 and the pot cover 303 advance for a certain stroke after the first motor 503 stops rotating, thereby achieving the purpose of completely closing the pot 302.

In addition, due to the difference of different kitchen robots 1 or the fact that the same kitchen robot 1 repeatedly performs the closing of the pot cover 303 a plurality of times, the complete consistency cannot be ensured. For example, a kitchen robot 1 may have just closed the lid 303 when the motor is stopped, while performing a certain action of closing the lid 303. And after performing another action of closing the lid 303, the lid 303 needs to be advanced for a certain stroke after the motor is stopped. The design of two driven surfaces on the rotating arm 502 is reserved for a certain margin, so that the pot cover can be accurately closed in place under more occasions. And the rotating arm 502 and the output shaft 504 are disconnected from the power connection when the lid 303 is closed and travels for the last stroke, thus the motor is protected from being damaged due to the possible overlarge torsion.

The kitchen robot of the invention not only can automatically open and close the pot cover, but also has the function of automatically adding seasonings. As shown in fig. 1, the kitchen robot 1 has a charging unit 4 in addition to a cooking unit 3. The feeding unit 4 is used for performing automatic feeding of seasoning into the pot 302. As shown in fig. 1, 2 and 9, the charging unit 4 is integrally located above the pot cover 303. In the preferred embodiment, the charging unit 4 is located directly above the lid 303, i.e. the centre line of the charging unit 4 coincides with the centre line of the lid 303. The pot cover is provided with a blanking port 312, and the blanking port 312 is eccentrically arranged relative to the center of the pot cover 303, so that the blanking port 312 and the center opening of the pot cover 303 can not interfere and collide. The opening direction of the blanking port 312 is set upward. The charging unit 4 is provided with a discharging hole, and the opening direction of the discharging hole is downwards arranged. When the charging unit 4 is in a proper position, the discharging opening 312 and the discharging opening are aligned in a right matching way, and the seasoning in the charging unit 4 enters the pot from the discharging opening 312 and the discharging opening due to gravity, so that charging is completed.

In the present embodiment, the charging unit 4 comprises a charging cartridge 402 and a driving mechanism 420 driving the charging cartridge. A seasoning chamber 403 is provided on the feeding box 402 for storing seasoning. The drive mechanism 420 driving the feeding box 402 and the power source driving the rotating arm 502 and the lid 303 are different. The drive mechanism 420 here is used to drive the feed cassette 402 alone. The drive mechanism 420 basically includes a second motor 425 and a transmission mechanism. The second motor 425 drives the feed cassette 402 in a rotational motion via a transmission mechanism. And further, the feed cassette 402 is always rotated about an axis of rotation. Wherein the rotation axis of the feeding box 402 is arranged parallel to the center line of the pot cover 303. In other words, the axis of rotation of the feed cassette 402 is longitudinally disposed. In a preferred embodiment, the axis of rotation of the feed cassette 402 coincides with its centerline, i.e., the feed cassette 402 rotates about its centerline. Thus, the feed cassette 402 can be controlled by the drive mechanism 420 to rotate to a rotational position in which the discharge port 312 and the discharge port are aligned such that seasoning exits the feed cassette into the pot. In this embodiment, the feeding box 402 has multiple seasoning chambers 403 that are independent of each other, as multiple seasonings are often required to cook a single dish and are not desired to mix with each other to cause flavor tainting. Thus, the loading cassette 402 in this embodiment may have a plurality of rotational positions, and each seasoning chamber 403 may be aligned with the discharge port and the blanking port 312 in a corresponding rotational position.

As shown in fig. 9, the loading cassette 402 is mounted on a rotating arm. Specifically, the feed cassette 402 is mounted at the end of the rotating arm 502 remote from the support arm 501. The rotation arm 502 has a certain thickness in the middle of the whole, and at the end, the rotation arm 502 has a flat support plate 519, and the thickness of the support plate 519 is much smaller than the thickness of the rotation arm 502. The support plate 519 has two opposite sides. The feed cassette 402 is mounted on a support plate 519 and the lid 303 is also mounted on the support plate 519. When the cassette 402 is mounted on the support plate 519, the cassette 402 and the support plate 519 are formed to a thickness substantially equal to the thickness of the central portion of the rotary arm 502 as a whole. In addition, the feed cassette 402 is located on one side of the support plate 519 and the lid 303 is located on the opposite side of the support plate 519. Thus, the support plate 519, which is part of the swivel arm 502, is sandwiched between the lid 303 and the feeding unit 4. The first catching portion 510 is located on the other side of the support plate 519 so as to engage the second catching portion 311 of the pot cover 303, so that the pot cover 303 is detachably mounted on the other side. The cartridge 402 is also removably mounted to the support plate 519. The support plate 519 is a circular disk, the first clamping portion 510 is disposed around the center of the circular disk, and after the second clamping portion 311 is clamped with the first clamping portion 510 in a matching manner on the mounting port of the pot cover 303, the center of the circular disk is substantially coincident with the center of the pot cover 303.

For easier disassembly and cleaning, the cartridge 402 and the support plate 519 are magnetically attached to each other. The abutment between the feed cassette 402 and the support plate 519 is magnetically attracted after normal installation. When the user needs to separate the two, the two can be separated by overcoming the magnetic adsorption force, so that the separation is very convenient. As shown in FIG. 9, the support plate 519 has a protrusion 520 thereon, and the cartridge 402 is cooperatively mounted on the protrusion 520. The protrusions 520 are symmetrically disposed about the center of the support plate 519 such that upon installation of the cartridge 402 into the protrusions 520, the center of the cartridge 402 also substantially coincides with the center of the support plate 519. So that the center lines of the lid 303, the support plate 519 and the lid 303 substantially coincide. While the magnetic material 521 is provided on the projection 520 and the magnetic material is provided on the charging box 4 as well. For uniform adsorption, the magnetic material 521 on the protrusion 520 is ring-shaped and passes right through the center line of the pot cover 303.

As shown in fig. 10, the overall shape of the loading cassette 402 is cylindrical with a certain thickness. The feed cassette 402 includes a cover and a body 404 positioned within the cover. The cover body is located at the periphery of the charging box 402, and plays a role of wrapping protection, and the inside of the cover body is hollow to form an accommodating space. The body 404 is located in the accommodation space. The body 404 may be driven for rotational movement after installation. And the cover is stationary. The body 404 is rotatable relative to the cover. In addition, the whole charging box 402 and the supporting disc 519 on the rotating arm 502 can be quickly detached, and the cover body inside the charging box 402 and the body 404 can be quickly detached, so that the charging box is convenient for daily maintenance and cleaning.

In this embodiment, the cover includes an upper cover 405 and a lower cover 406 that are provided separately. The upper cover 405 and the lower cover 406 cooperate to form an accommodating space. When installed, the upper cover 405 covers the upper side of the body 404 and the lower cover 406 covers the lower side of the body 404. When the upper cover 405 and the lower cover 406 are detached, the body 404 positioned in the accommodating space can be conveniently taken out. In other embodiments, the cover may have various forms, for example, the cover may have 3 parts that are spliced with each other, and the cover may be integrally formed. The lower cover 406 is supported on a support plate 519. The lower cover 406 basically includes an annular sidewall 407 and a circular bottom 408. The side wall 407 is used to enclose the sides of the body 404. The bottom 408 has a first opening 409 in the middle and an eccentrically positioned second opening 410. Wherein the first opening 409 is adapted to socket with the support disc 519. The diameter of the projection 520 of the support plate 519 is slightly smaller than the diameter of the first opening 409 so that the first opening 409 is in a socket fit with the projection 520, also facilitating the positioning of the entire cartridge 402. The first opening 409 is further provided with a sidewall extending in the opening direction, the sidewall extending towards the body direction, i.e. towards the inside of the lower cover 406. Such that the sidewall and body 404 are cooperatively positioned. The second opening 410 is also adapted to receive the support plate 519. The second opening 410 is adapted to mate with an opening 411 in the support plate 519. The second opening 410 is likewise provided with side walls extending in the opening direction, the side walls of the second opening 410 extending towards the support disc 519, i.e. towards the outside of the lower cover. The opening 411 on the support plate 519 is arranged in alignment with the blanking port 312 on the lid 303, thereby ensuring that the opening 411 and blanking port 312 are always through. Thus, in combination with the relationship of the second opening 410 and the opening 411, the second opening 410 in the lower lid 406 is always aligned with the blanking port 312 in the lid after the lower lid 406 is mounted to the support lid 419.

As shown in fig. 10, the upper cover 405 mainly includes a circular top. The area of the top of the upper cover 405 is comparable to the area of the bottom 408 of the lower cover 406. A feed inlet 412 is provided at the top of the upper cover 405. Seasoning may be added to the seasoning chamber 403 of the body 404 from the port 412. The charging port 412 is further provided with a cover 413 for opening and closing the charging port 412. When a feed is required, the cover 413 can be operated to open to expose the feed port; and when no charge is required, the cover 413 may be operated to close the charge port 412. In this embodiment, the cover plate 413 is slidably operated along the surface of the upper cover 405. The upper cover 405 has a first chute 414 on its surface, and the cover 413 has a guide rail movable along the first chute 414. Of course, in other embodiments, the cover 413 may be operated in other manners, such as a button type, a touch type, etc. In addition, in order to achieve a better assembly effect with the lower cover 406, the side edge of the upper cover 405 also has a stepped structure that is matched with the side wall of the lower cover 406.

The upper cover 405 and the lower cover 406 are both detachably mounted fixedly, while the body 404 between the upper cover 405 and the lower cover 406 is rotatably mounted. The body 404 is generally cylindrical and is disposed in the accommodation space formed by the cover by magnetic attraction. The body 404 is provided with a seasoning cavity 403, and the outside seasoning can be added into the seasoning cavity 403 through a charging port 412 for temporary storage. And the flavoring in the flavoring chamber 403 is poured into the pan 302 at a later appropriate time. Since a plurality of seasonings are required for cooking one dish and the seasonings are different from one dish to another, a plurality of seasoning cavities 403 are often provided in the body 404. And the seasoning cavities 403 are independent, each seasoning cavity 403 can be filled with one seasoning, so that different seasonings can be stored without being mutually mixed. Alternatively, each seasoning chamber 403 may be filled with several seasonings that do not interfere with each other. While the flavoring may be in solid or liquid form. In the present embodiment, the number of seasoning chambers 403 is 5 in consideration of the kind of seasoning generally required for one dish and the seasoning accommodating volume. In other embodiments, the number of seasoning chambers 403 may be other numbers such as 7, 6, 4, 3, etc. The seasoning cavity 403 is in the form of a through hole, two ends of the seasoning cavity are both open, and the middle part of the seasoning cavity is communicated. The seasoning chamber 403 extends in a longitudinal direction. In this embodiment, the body 404 further includes a seal cavity 415, and the seal cavity 415 is disposed in parallel with the seasoning cavity 403. The seal cavity 415 is similar to the seasoning cavity 403 in that it extends in a longitudinal direction, except that both ends of the seal cavity 415 are closed. In this embodiment, the number of seal cavities 415 is 1. Of course, the number of the sealing cavities can be 2, 3, 4 and other numbers. The seasoning chamber 403 and the seal chamber 415 are aligned about the centerline of the body 404. In this embodiment, the total number of seasoning chambers 403 and seal chambers 415 is 6, the 6 chambers being evenly distributed along the ring. The angle between two adjacent cavities is thus about 60 degrees. Of course, the included angle varies accordingly, generally between 30 degrees and 120 degrees, depending on the total number of cavities. As shown in fig. 12, the seasoning chamber 403 is generally fan-shaped in cross section, narrowing radially inward in width. The short side 426 in the section is closer to the center and the long side 427 in the section is closer to the edge. In addition, a chamfer 428 is provided at the corners of the cross section. The longitudinal cross-sectional area of the seal cavity 415 is the same size as the seasoning cavity 403.

As shown in fig. 13, the body 404 also has a recess 417. The recess 417 is located at a central position of the body 404, and the rotation axis of the body 404 passes through the recess 417. The specific structure of the recess 417 is a blind hole on the body. The blind hole opens toward the lower cap 406. The blind hole is located in the central position of the body 404 and functions to form-fit the protrusion 520 of the support plate 519. When the cartridge 402 is mounted to the support plate 519, the projection 520 on the support plate 519 passes through the first opening 409 in the center of the lower lid 406 and then mates with the blind bore of the body 404. There is also a drive hole 418 at the bottom of the blind hole, i.e., at the top of the body 404, the drive hole 418 being adapted to couple with a second motor 425 to effect a power transmission such that the second motor 425 drives the body 404 to rotate. In this embodiment, the drive bore 418 has internal teeth 419 and a drive gear engagement of the second motor 425.

As shown in fig. 2, the driving mechanism 420 that drives the body 404 to rotate is accommodated in the recess 417 of the body 404, so that the seasoning chamber 403 of the body 404 is located at the same level as the driving mechanism 420. In other words, the height of the seasoning chamber 403 is substantially identical to the height of the drive mechanism 420. Wherein the drive mechanism 420 is centrally located and the seasoning chambers 403 are annularly arranged around the outside of the drive mechanism 420. The center line of the driving mechanism 420 is overlapped with the center line of the recess 417 and also overlapped with the center line of the lid 303. The transmission hole 418 at the bottom of the recess 417 is engaged with a gear of the driving mechanism 420, so that the second motor 425 directly rotates the body 404. This geared arrangement facilitates quick assembly and disassembly of the body 404 and the drive mechanism 420. In the present embodiment, since the protrusion 520 of the support plate 519 is engaged with the recess 417 of the socket body 404, the driving mechanism 420 is also accommodated in the inner space of the protrusion 520. The inner space of the protrusion 520 is slightly larger than the volume of the driving mechanism 420 and is slightly smaller than the inner space of the recess 417 of the body 404, so that the three are connected in a sleeved connection. Meanwhile, the protrusion 520 can also serve as a housing to protect the driving mechanism 420. Of course, to ensure a smooth transmission, the transmission gear of the driving mechanism 420 extends beyond the end of the boss 520. In this embodiment, the second motor 425 is a stepper motor, which can precisely control the rotation angle of the body 404 in a cycle. In addition, the stepping motor always rotates in one direction, such as clockwise direction, so as to achieve the purpose of simplifying control.

The body 404 is driven to rotate about its central axis by a drive mechanism 420. The body 404 thus rotates relative to the cover to have a plurality of rotational positions. In one of the rotational positions, the seasoning chamber 403 of the body and the second opening 410 in the lower lid 406 are aligned to form the open outlet 401. Since the blanking port 312 on the lid 303 and the second opening 410 on the lower lid 406 are always connected, the seasoning in the seasoning chamber 403 will enter the pot 302 through the discharging port 401 and the blanking port 312, and this is the blanking position. Of course, since the body has a plurality of seasoning chambers 403, each seasoning chamber 403 corresponds to a blanking position, the seasoning chamber 403 and the lower cover 406 form the discharge port 401 in an opened state, and the lower ends of the other seasoning chambers are closed by the lower cover 406. That is, only one seasoning chamber 403 is opened each time it is rotated to a blanking position, and correspondingly only one seasoning is added to the pot 302. For example, when 3 seasonings are required to be added to a single dish, the charging box body 404 needs to be rotated to 3 blanking positions respectively, so that the corresponding 3 seasoning cavities 403 are opened, and 3 seasonings in the 3 seasoning cavities 403 are added to the pot 302. One rotation of the cartridge body 404 will thus cause the cartridge 402 to switch between a plurality of discharge positions.

In addition, the feeding box body 404 is additionally provided with a sealing cavity 415 due to the requirement of the actual use of the kitchen robot. When the body 404 is in a rotational position, the sealing cavity 415 of the body 404 is aligned with the second opening 410 of the lower cover 406, so as to form the discharge port 401 in a closed state, and all the seasoning cavities 403 are closed by the lower cover 406, which is the sealing position. Of course the number of sealing locations and the number of sealing cavities 415 are also equal. In this embodiment, there are 1 seal cavities 415, and there are only 1 seal positions. During a cycle of one revolution of the body 404 about the axis, a plurality of blanking and sealing positions may occur in sequence.

While the charge port 412 on the upper cover 405 mates with the flavoring chamber 403 of the body 404 and the second opening 410 on the lower cover 406 mates with the flavoring chamber 403 similarly. The upper cover 405 is disposed adjacent to the opening at the upper end of the seasoning chamber 403. When the body 404 is rotated to a position, defined as a charging position, the flavoring chamber 403 of the body 404 and the charging port 412 are aligned, at which point flavoring may be added to the flavoring chamber 403 from the charging port 412. In the loading position, there is one seasoning chamber 403 of the body 404 aligned with the loading port 412 to facilitate loading. If multiple flavors are to be added, the rotating body 404 can be controlled to add one flavor to the flavor chamber 403 aligned with the feed port 412 every time it is rotated to one feed position, then to the next feed position, and another flavor chamber 403 aligned with the feed port can be added. Thus, for the seasoning chamber 403, seasoning is added from the upper end of the body 404 and falls into the pan from the lower end of the body 404 when discharge is desired.

It is also noted that the seasoning chamber 403 also needs to be sealed to prevent seasoning leakage from the ends. The end of the seasoning chamber 403 is thus provided with a seal 421, the seal 421 being able to abut the inside surface of the lid to form a seal. Specifically, the seal 421 is made of a material different from the seasoning chamber, which is formed of silica gel, and thus has high flexibility. At the same time, it is considered that the material of the seal must have a certain food safety and must not contaminate the food. Of course, in other embodiments, the sealing member 421 may be formed of other materials having a certain flexibility. And seals are provided at both the upper and lower ends of each seasoning chamber 403. The seal at the lower end of the seasoning chamber 403 abuts the inside surface of the lower cover and the seal 403 at the upper end of the seasoning chamber 403 abuts the inside surface of the upper cover. The seal 421 has a hollow annular configuration that matches the contour of the end of the flavoring chamber 403. Further, the annular structures on the seal 421 are also provided at the ends of the seal cavity 403, such that the number of annular structures on the seal 421 matches the number of seasoning cavities 403 and seal cavities 415. In addition, a connecting member is provided between the annular structures of the sealing member 421.

In addition to taking into account the sealing effect between the seasoning chamber 403 and the lid when stationary, it is also desirable to take into account that the frictional forces between the seasoning chamber 403 and the lid when relatively moving are as low as possible. The inner side surface of the cover is thus made of another material such that the coefficient of friction between this material and the material of the seal is less than 0.8. Preferably, the coefficient of friction is less than 0.5. The material is thus a high lubrication material 422. In this embodiment, the material is polytetrafluoroethylene, i.e., teflon. The material is sprayed on the inner side surface of the cover body. In a practical use scene, when the seasoning cavity and the cover body are relatively static, the flexible silica gel is abutted against the surface of the polytetrafluoroethylene, so that a good sealing effect is formed. When the seasoning cavity and the cover body rotate relatively, the flexible silica gel slightly deforms, and the silica gel slides on the surface of the polytetrafluoroethylene under the action of the driving force of the driving mechanism, so that larger friction force cannot be generated, and the torque requirement required to be provided by the driving mechanism is reduced. In another embodiment, the material of the inner side surface of the cover body may be glass, and the silica gel slides on the surface of the glass. Also without generating a large friction force.

In the direction extending along the center line, the upper cover 405, the lower cover 406, and the body 404 are magnetically attracted for easy quick assembly and disassembly. In this embodiment, the body is provided with a first magnetic material 423, and the upper and lower covers are provided with a second magnetic material 424, respectively. The first magnetic material 423 and the second magnetic material 424 may magnetically attract each other within a certain distance. Therefore, the upper cover 405 and the body 404 are attracted to each other, and the lower cover 406 and the body 404 are attracted to each other. Wherein the first magnetic material 423 is a magnet and the second magnetic material 424 is an iron sheet or other metallic material. Of course, in other embodiments, the first magnetic material 423 may be a sheet of iron or other metallic material, while the second magnetic material 424 is a magnet. In yet another embodiment, the body 404 may be provided without the magnetic material, with the upper cover 405 provided with the first magnetic material 423 and the lower cover 406 provided with the second magnetic material 424. The first magnetic material 423 and the second magnetic material 424 are magnetically attracted, so that the body 404 between the upper cover 405 and the lower cover 406 is clamped and positioned. Of course, in another embodiment, the upper cover 405 and the lower cover 406 are not provided with metal materials such as iron sheets, but are provided with corresponding quick-release structures, so that quick disassembly and assembly between the upper cover 405 and the lower cover 406 are facilitated. The quick release structures can be matched with the buckles and the clamping grooves or matched with the bulges and the sliding grooves. Such an upper cover 405 and a lower cover 406 can be further reduced in weight compared to the case where a metal material is provided.

For better cooking, the kitchen robot 1 of the present invention also has a spatula assembly 320. The spatula assembly 320 may be disposed within the pan 302 and perform functions such as frying dishes while cooking the dishes. The kitchen robot 1 of the invention can control the turner assembly 320 to automatically turn over the frying, thereby saving the time and energy of the user. Thus, the kitchen robot 1 of the present invention includes a drive assembly 321 for driving the turner assembly 320 in rotation. The drive assembly 321 of the present invention is disposed outside of the pan 302 and the spatula assembly 320 is disposed inside of the pan 302 for safety and space saving. As shown in fig. 2, the drive assembly 321 is disposed above the lid 303, and the spatula assembly 320 is disposed below the lid 303. The turner assembly 320 is detachably connected with the driving assembly 321 in a plug-in mode, so that quick replacement, cleaning and maintenance are facilitated. The drive assembly 321 has an output shaft 322, and the spatula assembly 320 has a sleeve 323 coupled to the output shaft 322, the output shaft 322 being capable of being received within the sleeve 323 to provide power transfer. A magnet 324 is provided at the bottom of the sleeve 323, and a magnetic material is provided on the output shaft 322, so that the output shaft 322 can be quickly inserted into the sleeve 323 and positioned. In addition, the side surfaces of the sleeve 323 and the output shaft 322 have a fool-proof design, preventing the sleeve 323 and the output shaft 322 from generating relative rotation when transmitting power. In this embodiment, the output shaft 322 is a regular hexagon, and the sleeve 323 has a shape matching the regular hexagon. The drive assembly 321 includes a motor 325, an output shaft 322, and a belt connecting the output shaft 322 and the motor 325. The motor 325 is also disposed in the rotating arm 502. In the present invention, since the charging unit 4 is disposed above the pot cover 303, the motor 325 of the driving assembly 321 is thus eccentrically disposed, leaving a design space for the charging unit 4. And an output shaft 322 of the driving assembly 321 is disposed along a center line of the pot cover 303, and a motor 325 is connected to the output shaft 322 through a belt 319. The motor 325 may rotate the output shaft 322 around the center line of the output shaft 322 via the belt 319. The motor 325 is preferably a DC brush motor, which provides a stable and reliable output with less losses. Further, the driving assembly 321 may further include a reduction gearbox in order to control the rotational speed of the output shaft 322 within a desired range.

As shown in fig. 15 and 16, the spatula assembly 320 also includes a bracket 326. The sleeve 323 is fixedly disposed on the bracket 326. The output shaft 322 may thus drive the carrier 326 to rotate about the centerline of the output shaft 322, i.e., the first axis 327. The first axis 327 coincides with the centerline of the lid 303. In the present invention, the bracket 326 has a horizontal bottom 328 and a vertical side 329. The bottom 328 and the side 329 form a receiving space for supporting and receiving the first gear block 331 and the second gear block 332 engaged with each other. The bottom 328 and side 329 are preferably integrally formed. In addition, the bracket 326 has a cover 330, with the cover 330 overlying the bottom 328. The cover plate 330 can improve the sealability of the receiving space, prevent the first and second gear blocks 331 and 332 positioned in the receiving space from receiving other liquid gases such as water vapor in the pot 302, etc. The projected cross-section of cover plate 330 is substantially the same as the projected cross-section of bottom 328. In addition, the cover plate 330 is designed to be detachable from the bottom 328, and sealing silica gel is arranged on the periphery of the cover plate 330, so that the requirement of sealing is met, and the requirement of quick detachment is also met.

The first gear block 331 is fixedly disposed. The first gear block 331 is provided with a rotation stopping structure 334. In fig. 16 and 5, the rotation stop structure 334 is internal teeth on the first gear block 331. And the first engagement portion 510 of the rotating arm 502 is provided with external teeth 522 that fit the internal teeth. When the first gear block 331 is in place, the internal teeth and the external teeth 522 are engaged with each other to limit. Since the first engaging portion 510 is fixed to the rotating arm 502, the first gear block 331 is also fixed against rotation by the cooperation of the inner and outer teeth. Of course, in other embodiments, other forms of rotation stopping structure are possible, as long as the first gear block 331 can be fixed. In addition, in the present invention, the first gear block 331 is sleeved outside the sleeve 323, and a sleeve 335 is further provided inside the first gear block 331. The sleeve 335 is configured such that the sleeve 323 and the sleeve 335 can rotate relative to each other, i.e., when the sleeve 323 is driven to rotate by the output shaft 322, the sleeve 335 does not rotate accordingly, and the first gear block 331 is in a relatively fixed position. Of course, in other embodiments, the first gear block 331 may be mounted at other positions of the bracket, as long as the first gear block 331 is fixed.

The second gear block 332 is movably disposed. Since the second gear block 332 is always engaged with the first gear block 331, the second gear block 332 can rotate around the circumference of the first gear block 331. To control the proper rotation speed ratio, the number of teeth of the second gear block 332 is less than the number of teeth of the first gear block 331. The radius of the second gear block 332 is also smaller than the radius of the first gear block 331. The center line of the second gear block 332 is eccentrically disposed with respect to the rotation center of the output shaft 322.

The spatula assembly 320 also has a working head for contacting and processing dishes. In the present invention, the working head of the turner assembly includes a stirring portion 340. The stirring part 340 is used for stirring dishes, and even stir-frying can be performed. In the embodiment shown in fig. 18, the stirring section 340 has a stirring arm 341, the stirring arm 341 is curved in shape as seen from the direction of the rotational movement of the stirring arm 341, and the curved shape of the inner side is curved to a greater extent than the curved shape of the edge. Therefore, as shown in fig. 18, the entire stirring section 340 has a substantially S-shaped curved surface shape when viewed from above. A slope 342 is provided at an end of the stirring arm 341. And the other end of the stirring arm 341 is connected to a rotation shaft 343 of the stirring arm 341. By the rotation shaft 343, the stirring arm 341 rotates around the rotation shaft 343 axis. In the present embodiment, the number of inclined surfaces 342 is 2, and is centrosymmetric about the rotation axis 343.

The stirring portion 340 is composed of different materials. Specifically, the stirring portion main body 344 is composed of a hard material, and the stirring portion edge 345 is composed of a soft material. Thus, the portion of the stirring portion contacting the dish is mainly the soft material. The soft material is arranged to contact the dishes, so that the damage to the soft dishes can be reduced during stirring, and the quality of the dishes is ensured. In the invention, the soft material is silica gel and is arranged at the edge of the stirring part through an injection molding process. The advantage of using this material is that it is able to fully fill the gap between the stirring portion 340 and the inner wall of the pot 302 and also that it does not get stuck or have excessive resistance. The stirring portion main body 344 is made of a metal material, preferably aluminum or an aluminum alloy material. The metallic material is also provided with a coating, preferably a teflon material.

The rotation shaft 343 of the stirring portion 340 is connected to the center of the second gear block 332. As shown in fig. 15, the rotation shaft 343 is fixedly installed on the second gear block 332 by a screw, so that the second gear block 332 drives the stirring portion 340 to rotate synchronously. The center line of the second gear block 332 is defined as a second axis 337, and thus the stirring portion 340 can rotate about the second axis 337. The second axis 337 and the first axis 327 are disposed parallel to each other with a certain interval. Alternatively, the second axis 337 is eccentrically disposed relative to the first axis 327. Notably, the location where the first gear block 331 and the second gear block 332 mesh is located between the first axis 327 and the second axis 337. When the second gear block 332 rotates around the first gear block 331, the stirring portion 340 is driven to rotate around the second axis 337. Bracket 326 of spatula assembly 320 simultaneously rotates about first axis 327, and thus stirring portion 340 simultaneously rotates about first axis 327 and second axis 337. This can increase the stirring area in the pot without increasing the number of stirring portions 340. If the element between the stirring section 340 and the driving mechanism is defined as a transmission assembly, the transmission assembly has two transmission paths. The first transmission path, the output shaft 322 directly drives the bracket 326 to rotate around the first axis 327, and thus the stirring portion 340 correspondingly rotates around the first axis 327. And the second transmission path, the output shaft 322 drives the bracket 326 and simultaneously drives the second gear block 332 to drive around the first gear block 331, and the second gear block 332 drives the stirring portion 340 to rotate around the second axis 337. As shown in fig. 15, the height L1 of the stirring section 340 from the top to the bottom ranges from 25mm to 35mm for good stirring effect. While the total length L2 of the stirring section 340 is preferably the radius of the pan 302, the longest does not exceed the diameter of the pan 302. And the distance L3 between the top of the stirring part 340 and the pot cover 303 is 45 mm-65 mm.

In another embodiment, the working head of the spatula assembly 320 may also include a spatula portion 350. The scraping part 350 mainly scrapes off the vegetables stuck on the inner wall of the pot. In this embodiment, the vegetable scraping portion 350 is also driven to rotate by the driving assembly 321. Specifically, the scraping portion 350 is driven to rotate about the first axis 327. The scraping unit 350 is fixedly coupled to the bracket 326, so that the scraping unit 350 rotates together with the bracket 326. As shown in fig. 15 to 17, the scraping part 350 and the stirring part 340 are respectively located at both sides of the bracket 326, that is, in the middle of the sleeve 323 through which the rotation center line passes, and the scraping part 350 and the stirring part 340 are respectively located at both sides of the sleeve 323. And the distance from the scraping part 350 to the sleeve 323 is greater than the distance from the stirring part 340 to the sleeve 323. The scraping part 350 is farther from the sleeve 323, and the stirring part 340 is closer to the sleeve 323. In other words, the horizontal distance from the furthest end of the scraping portion 350 to the first axis 327 is greater than the horizontal distance from the furthest end of the stirring portion 340 to the first axis 327.

The scraping portion 350 has a scraping arm 351 extending in a radial direction of the pot. The scraping arm 351 is horizontally connected to the bracket 326, so that the height of the scraping part 350 to the bottom of the pot is greater than the height of the stirring part 340 to the bottom of the pot. That is, the stirring part 340 is closer to the bottom of the pot than the scraping part 350. Similar to the stirring section 340, the main body 352 of the spatula section is constructed of a hard material, while the edge 353 of the spatula section adjacent the inner wall of the pot is constructed of a flexible material.

The scraping portion 350 has a variety of configurations. In the embodiment shown in fig. 16, the scraping section 350 has a lateral scraping edge 354 and a vertical scraping edge 355 cooperatively formed. The horizontal scraping edge 354 and the vertical scraping edge 355 form a T shape. And one end of the scraping arm 351 is connected to a vertical scraping edge 355. In another embodiment as shown in fig. 20, the scraping section 350 also has a lateral scraping edge 354 and a vertical scraping edge 355. The transverse vegetable scraping edge 354 and the vertical vegetable scraping edge 355 form an L shape, and one end of the vegetable scraping arm 351 is connected with the transverse vegetable scraping edge 354. And the vertical scraping edge 355 extends downwardly relative to the lateral scraping edge 354. The junction of horizontal scraping edge 354 and vertical scraping edge 355 has arc guide structure 356, realizes better scraping the dish effect. In another embodiment as shown in fig. 21, the lateral scraping edge 354 and the vertical scraping edge 355 form an inverted U-shaped structure, one end of the scraping arm 351 is connected to the lateral scraping edge 354, and the two vertical scraping edges 355 are respectively connected to two ends of the lateral scraping edge 354. The vertical scraping edge 355 extends downward. Preferably, the vertical scraping edges 355 have a curved arc shape, and the curved directions of the two vertical scraping edges 355 are opposite.

In one embodiment as shown in fig. 19, one end of the stirring portion 340 of the spatula assembly 320 is disposed horizontally and an inclined surface 346 is disposed on an end surface of the stirring portion 340. The inclined surface 346 extends outwardly from the horizontal stirring arm 341 and gradually decreases in height. In this embodiment, the stirring portion 340 rotates only about the first axis 327. The number of inclined surfaces 346 may be 1 or 2. If there are 2, 2 inclined surfaces 346 extend from the stirring arms 341 to both sides, respectively. The width of the inclined surface 346 coincides with the length of the stirring arm 341 at the end portion level. Of course, in this embodiment, the spatula assembly 320 may also include a spatula portion 350. The scraping portion 350 also rotates about the first axis 327. The scraping part 350 extends radially outward from the rotation shaft 343, and an angle between the scraping part 350 and the stirring part 340 is 180 degrees. Of course, in other embodiments, the spatula assembly 320 may not have the spatula portion 350.

In another embodiment of the invention, a method of controlling a turner assembly is also provided. As shown in fig. 22, the control method includes: controlling the turner assembly to rotate, and controlling the rotation speed of the turner assembly to be V1 in the starting time; controlling the rotation speed of the turner assembly to be V2 during normal rotation, wherein V2 is smaller than V1; when the rotation angle of the turner assembly reaches W1, controlling the turner assembly to stop rotating; repeating the above steps. In the initial step, a faster speed is required in a short time as the turner assembly goes from rest to start. The drive mechanism thus drives the turner assembly to rotate at a speed of V1. Wherein the start-up time is preferably 0.5 seconds to 1.5 seconds. In the step of rotating the turner assembly at the speed V2, the turner assembly is in a normal working state, and the driving mechanism drives the turner assembly to rotate at the speed V2, wherein V2 is smaller than V1. That is, the turner assembly rotates at a lower speed during normal operation. This is because if the speed is too high, the spatula assembly may cause damage to the dishes. In a subsequent step, the turner assembly has been rotated at a V2 speed by a certain angle, and the drive mechanism drives the turner assembly to pause for a period of time. Wherein the rotation angle in step S3 is preferably less than 90 degrees, and the pause time is preferably 2-5 seconds. The previous process is then repeated. The turner assembly can intermittently rotate, and the stirring effect on dishes is quite ideal. It should be noted that in embodiments where there is only one bevel, the direction of rotation of the turner assembly of the above method is one, i.e., is coincident with the direction of inclination of the bevel. In embodiments where there are 2 ramps, the direction of rotation of the spatula assembly may be forward for some time and reverse for another time. In the above method, the rotation angle or the time of suspension is adjustable in different periods from the start to the suspension as the rotation period.

The usage scenario of the present embodiment is described herein. The scene is suitable for stir-frying dishes. At the beginning of this phase, the turner assembly needs to be changed from a stationary state to a start-up state, so the drive mechanism controls the turner assembly to reach a high rotational speed in a short time. Then entering a normal working state after a period of time, the rotating speed of the turner assembly is slowed down, and a low rotating speed state is achieved, so that a better stir-frying effect can be achieved. When the turner assembly rotates by a certain angle, the turner assembly stops rotating, so that the possibility of accumulation of dishes in the pot can be reduced. As the stir-frying action of people, the stir-frying speed is high, the stir-frying can be stopped for a period of time, and the interior of dishes can be fully and uniformly cooked.

In addition, the turner assembly is aimed at the condition of locked rotation possibly occurring in the stir-frying process. To address this situation, one embodiment of the present invention discloses a control method. As shown in fig. 23, the control method includes: the turner assembly is controlled to rotate at a certain speed. In this state, the turner assembly operates in a normal state. Detecting the current of a motor for controlling the rotation of the slice assembly, and if the current is not increased beyond a set value, maintaining the current unchanged. And whether the situation of locked rotor is met is identified by detecting the current value of the motor. If the current change does not exceed the preset value, the motor is in a normal working state, and the rotating speed of the slice assembly is maintained unchanged. I.e. the original working state is maintained. If the detected current increases beyond a set value, the motor is controlled to rotate in the opposite direction. And if the current is increased beyond the set value, the motor is indicated to encounter the stalling condition. In this case, the motor is controlled to rotate reversely. And (5) raising the voltage of the motor and controlling the motor to rotate forward. When the motor rotates reversely by a certain angle, the voltage of the motor is adjusted and increased, the output torque of the motor is increased, and then the motor rotates positively. And continuing to detect the current of the motor. If the detected current is reduced to exceed the set value, the voltage of the motor is controlled to be reduced, so that the turner assembly continues to rotate at a certain speed. In the process, if the current is reduced to exceed the set value, the problem of locked rotor is solved, and the normal working current is returned. At this time, the voltage of the motor is controlled to drop back to the original normal state. In this process, if the detected current is not reduced beyond the set value, the motor is controlled to rotate in the opposite direction. If the current reduction is not obvious or exceeds the set value, the problem of locked-rotor still exists, and the motor is controlled to rotate reversely. The reverse impact force is utilized to solve the locked-rotor condition. Notably, in normal operation, the turner assembly rotates at a certain speed. The speed is generally 30 to 50 revolutions per minute. This is the normal rotational speed of the turner assembly. When the motor rotates in reverse by a certain angle, the voltage of the motor is preferably raised to the maximum voltage, thus providing more torque. This maximum voltage is typically 12V. After the voltage of the motor drops, the rotational speed of the turner assembly preferably remains consistent with the rotational speed of the turner assembly during normal operation. While still locked, the voltage controlling the reverse rotation of the motor is preferably still maintained at the maximum voltage.

In another embodiment, as shown in fig. 24, the previous steps of the control method are the same as those of the previous embodiment, except for only one of the steps. In this embodiment, in this step, the motor is controlled to stop rather than being controlled to rotate in the reverse direction. In an alternative, an alarm signal may be issued in this step in addition to controlling the motor to stop. The alarm signal may be in the form of sound, light, etc.

In addition, in order to ensure that smooth blanking can not be affected by the turner assembly 320, a sensor 360 is further arranged on the turner assembly, a receiver 361 is fixedly arranged on the kitchen robot, and in response to a sensing signal received by the receiver 361, when the feeding unit 4 rotates to a discharging position, projections of the turner assembly 320 and the blanking port 312 in the vertical direction are not overlapped. This is because it is desirable that the spatula assembly 320 not block the blanking port 312 when the loading unit 4 is ready to be blanked into the pot 302. The seasoning that would otherwise fall from the blanking port 312 is likely to fall onto the spatula assembly 320 rather than directly into the pan 302, thereby affecting the user experience. A receiver 361 and a sensor 360 are thus provided to ensure that the spatula assembly 320 in the pan does not interfere with the blanking prior to blanking by the loading unit 4. In this embodiment, the spatula assembly 320 is fixedly provided with a sensor 360, and as the spatula assembly rotates, the sensor 360 rotates accordingly. And the receiver 361 for receiving the sensing signal from the sensor 360 is disposed on the first clamping portion 510 of the rotating arm 502. The advantage of this arrangement is that the signal can be received more accurately, on the one hand with a relatively fixed position and, on the other hand, with a position close to the centre line of rotation. Since the lid 303 is fixedly connected to the first clamping portion 510, the sensor 360 may also be fixedly disposed on the lid 303. The sensor 360 may be a proximity sensor, i.e. the receiver is able to receive signals from the sensor when the sensor is in a position close to the receiver, whereas the receiver is unable to receive signals from the sensor when the sensor is in a position far from the receiver. Specifically, the sensor 360 of the present invention may be a magnet, and the receiver 361 may be a magnetically controlled switch, which may emit a high level signal or a low level signal, respectively. From the position of the sensor 360 relative to the blanking port 312, and in combination with the received sensor signals, the position of the spatula assembly 320 relative to the blanking port 312 can be identified.

In one embodiment, the receiver 361 is positioned away from the blanking port 312. The center of rotation of the spatula assembly 320 is located between the blanking port 312 and the receiver 361. Preferably, the angle formed by the blanking port 312 and the receiver 361 with respect to the center of rotation of the spatula assembly 320 is in the range of 90-270 degrees. Optimally, the included angle is 180 degrees. Thus, when the sensor 360 on the spatula assembly 320 is rotated to a position adjacent the receiver, it is representative that the spatula assembly 320 is not blocking the blanking port 312. At this time, blanking can be controlled. In the invention, the kitchen robot further comprises a micro control unit MCU, and the micro control unit MCU is used for receiving signals and sending control instructions. The micro control unit MCU controls the charging unit 4 to rotate to the discharging position when receiving the signal from the receiver 312. When the sensor 360 on the spatula assembly 320 is rotated to a position away from the receiver 361, it is representative that the spatula assembly 320 is likely to block the blanking port 312. At this time, control is required to stop blanking. Specifically, the micro control unit MCU controls the charging unit 4 to stop rotating when it does not receive the signal from the receiver.

In combination with the specific form of the inductor, when the magnet is far away from the magnetic control switch, the magnetic control switch controls the output of a high-level signal; when the magnet approaches the magnetic control switch, the magnetic control switch controls the output of a low-level signal. When the MCU detects the low level signal and lasts for a certain time, the charging unit 4 is controlled to rotate to a discharging position, and the seasonings in the charging unit 4 can enter the pot from the blanking port. Preferably, the duration is between 0 and 30 milliseconds.

In another embodiment, the receiver 361 may be mounted on the blanking port 312. Similar to the control logic of the previous embodiment, the micro control unit MCU, upon receiving the signal from the receiver 361, will block the blanking from the blanking port 312 on behalf of the slice assembly 320, thereby controlling the feeding unit 4 to stop rotating.

A use scenario of the kitchen robot of the present invention is described below.

Scene one

When a user needs to cook dishes and put the dishes into the main material, or the stage of putting the dishes into the main material is controlled according to the program instruction, the user externally inputs the instruction or the instruction set in the program starts the first motor, and the first motor drives the pot cover to be opened through the rotating arm. When the first motor is turned on, the first motor stops working, and the pot cover stays at a preset position. At this time, the main material can be conveniently added into the pot. After the main materials are added, an external input instruction or a program internal instruction is again input to start the first motor to drive the pot cover to be closed. After a short period of time the pot cover is completely covered on the pot, the first motor stops working. When auxiliary materials such as seasonings and the like are needed to be added later, the pot cover does not need to be opened again due to the existence of the feeding unit. Only when the dish is cooked and needs to be taken out of the pot, the pot cover needs to be controlled to be opened. That is, the whole cooking process only needs to open the pot cover twice, which solves the trouble that the pot cover needs to be opened frequently in the conventional cooking process and reduces the operation burden of a user.

Scene two

When the user needs to add the supplementary material, since a plurality of supplementary materials, such as edible oil, salt, shallot, vinegar, soy sauce, etc., are required for cooking each dish in the past, and the addition time is different according to each supplementary material, the manual addition is time-consuming and laborious for the user. The kitchen robot provided by the invention is provided with the automatic control feeding unit, so that the energy consumed by a user for cooking dishes can be greatly reduced, and the cooking fun and the quality of life are improved. When in the stage of adding auxiliary materials, the seasoning box rotates to sequentially generate a plurality of feeding positions. The user can put the auxiliary materials needed by the current dishes into the seasoning cavity in sequence, so that all auxiliary materials needed by the dishes are added at one time. The user can then even leave the kitchen robot to go elsewhere, avoiding the user being bound in the kitchen. The feeding unit of the kitchen robot can be controlled according to a program, in a preset proper time period, the seasoning box of the feeding unit rotates to a discharging position, and auxiliary materials in the seasoning cavity enter the pot through the discharging hole.

Scene three

When the turner component turns over dishes in the pan, the turner component aims at realizing good stir-frying effect. The turner assembly is rotated at a high speed when activated and rotates at a low speed when operating normally. The low speed stirring helps to protect the dishes from injury. When the turner component rotates for a certain time at a low speed or converted into a certain angle, dishes are easy to roll together after stirring, so that the turner component is controlled to stop rotating, the dishes are dispersed by the gravity of the turner component under the condition of no external stirring interference, and then the dishes are stirred at a low speed again. The stir-frying mode of the dishes better accords with the stir-frying style of a chef.

Scene four

In other cases, as the stir-frying degree goes deep, some dishes are easy to wind on the turner assembly, so that the load of the turner assembly is increased, and the motor driving the turner assembly is blocked. The current of the motor is detected, and if the current is increased greatly, the situation of locked rotor is detected. The turner assembly is controlled to rotate reversely, so that a certain stroke is formed between the turner assembly and the place where the locked rotation occurs. The voltage of the motor is then controlled to increase, preferably to a maximum voltage, so that the motor has a greater output torque and then is caused to rotate in a forward direction to impinge on the area just locked up, thus solving the locked up problem. Then, the current condition of the motor is continuously detected, and if the current returns to the normal state, the problem of locked rotor is solved. If the current value is still larger, the problem of locked rotor is not solved. An alternative plan is also prepared for this purpose, which involves controlling the voltage of the hoisting motor, preferably to a maximum voltage, in order to increase the output torque of the motor as before. And then controlling the motor to reversely rotate to make the motor reversely rotate to impact the place which is just locked.

Scene five

When the feeding unit adds seasoning into the pan through the blanking port, there may be a situation where the turner assembly passes just under the blanking port, causing seasoning to fall onto the turner assembly rather than into the pan. For this purpose, sensors and receivers are provided on the spatula assembly and the pot cover or the swivel arm. The position of the turner assembly is then sensed based on the signals from the sensors. When judging that the slice component is far away from the blanking port, the feeding unit can be controlled to feed seasonings from the blanking port. Thereby avoiding the trouble that the blanking falls on the slice component.

It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present invention.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. Alternative embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention.

Claims

1. A kitchen robot, which is provided with a slice assembly and is characterized in that,

the stirring part is provided with a stirring arm;

2. The kitchen robot according to claim 1, characterized in that the stirring arm is arc-shaped as seen in the direction of the rotational movement of the stirring arm, and the arc of the inner side is curved to a greater extent than the arc of the edge.

3. The kitchen robot according to claim 1, wherein the stirring portion has stirring arms extending from the rotation shaft in two directions opposite to each other, respectively;

4. The kitchen robot according to claim 1, wherein an end of the stirring arm is provided with a slope, the other end of the stirring arm is connected to the rotation shaft, and the slope extends outwardly from the stirring arm and gradually decreases in height.

5. The kitchen robot according to claim 4, wherein the number of the inclined planes is 2 and is centrosymmetric with respect to the rotation axis.

6. Kitchen robot according to any of claims 1-4, characterized in that the height of the stirring section is 25-35mm.

7. The kitchen robot of any of claims 1-4, wherein the turner assembly is driven to rotate about a first axis;

the axis of the rotating shaft is a second axis;

8. The kitchen robot of claim 7, wherein the length of the stirring arm is greater than the spacing between the first axis and the second axis.

9. The kitchen robot according to any of claims 1-4, further comprising a pan and a pan cover;

the distance from the stirring part to the pot cover is 45-65mm;

10. The kitchen robot of claim 1, comprising a drive assembly for driving rotation of a spatula assembly, the spatula assembly comprising a support rotatable about a first axis on which an output shaft of the drive assembly is located, the spatula assembly having a first gear block and a second gear block, the support having an integrally formed bottom and side portions, the bottom and side portions forming a receiving space for receiving the intermeshed first and second gear blocks;

11. A turner assembly characterized by a rotating shaft and a stirring portion extending from the rotating shaft;

the stirring part is provided with a stirring arm;

12. A kitchen robot having a pan and a spatula assembly, the spatula assembly comprising: