CN208435223U - Artificial stir-frying emulation cooking robot - Google Patents

Abstract

The utility model discloses artificial stir-frying emulation cooking robot, including pot body, special-shaped slice, support rod and driving device, support rod and driving device connect with special-shaped slice respectively and the special-shaped slice of driving are cooperated to switch between the first stir-frying process and the second stir-frying process；In first stir-frying process, the cutting edge of special-shaped slice is bonded with inner wall holding, and is slided from the point of penetration position of itself and inner wall to the bottom of a pan position of pot body, and the angle of the pot mouth plane of the shovel face and pot body of special-shaped slice gradually reduces；In second stir-frying process, special-shaped slice is not contacted with the inner wall, and special-shaped slice is turned to point of penetration position from the bottom of a pan position.This patent structure is simple, and avoiding slice cutting edge and pot inner wall, there are easily occur getting stuck when gap, particle and prevent viscous pot problem；And after scooping up material, the stir-frying of material is realized by the overturning of special-shaped slice, effectively simulates movement when artificial stir-frying, be conducive to material is made to be heated, mix it is more uniform.

Description

Artificial stir-frying emulation cooking robot

Technical field

The utility model relates to field in intelligent robotics, especially artificial stir-frying emulation cooking robot.

Background technique

Stir-fry is a kind of most widely used cooking method, and existing frying operation often holds slice to pot by frying personnel Interior material constantly stir-fries, to avoid material from gluing pot and so that material is evenly distributed to realize thermally equivalent, quickly fries, Seasoning is set to be uniformly distributed in each region of material simultaneously.

And manual work increases cost of labor, and large labor intensity for various operational food and drink places, to stir-fry The requirement of personnel processed is high, in addition, the occasion required for carrying out big deal frying, such as dining room, significantly in addition to labor intensity Outside improving, since inventory is larger, it is difficult to stir-fry, this results in the increase of frying time, while not can guarantee the taste of parched medicinal material Road.

Therefore the research to auto dish frying machine people has been firmly grasped by more and more food and beverage enterprises, such as application No. is The Chinese patent of 201720287960X, there is disclosed a kind of pea automatic turning and frying pans to pass through pot body using horizontal drum structure Do not stall dynamic so that pea constantly rotate heated, but the turning and frying pan of this structure only can be suitably used for beans etc. and be easy to rolling The stir-frying of small particles material, for strip, filiform, have the frying of leaf vegetables product when, there are still cannot effectively simulate manually to turn over The case where stir-fry, so as to cause the not applicable problem of the frying of such vegetable.

For another example application No. is the dish frying device that 2015107885797 patent application discloses, by pot body rotation and it is located at The blender of pot body center position realizes frying, the cooking dress of the pivot structure provided for another example application No. is 2016104921796 Set, be to be stirred by the movement of stirring rod to the material in pot, above two structure all cannot effectively simulation it is artificial Stir-frying movement when frying, and in whipping process, stirring can make the material in pot generate certain centrifugal force, so as to It removes material in pot, causes the waste of food materials.

Utility model content

The purpose of this utility model is exactly to provide artificial stir-frying emulation to solve the above-mentioned problems in the prior art Arrange robot.

The purpose of this utility model is achieved through the following technical solutions:

Artificial stir-frying emulation cooking robot, including pot body, special-shaped slice, support rod and driving device, the support rod and drive Dynamic device connect respectively with the special-shaped slice and cooperate the driving abnormity slice the first stir-frying process and second stir-fry into Switch between journey；

In first stir-frying process, the inner wall of cutting edge and the pot body of the abnormity slice keeps being bonded, and from its with it is interior The point of penetration position of wall is slided to the bottom of a pan position of the pot body, and the pot mouth plane of the shovel face and pot body of special-shaped slice Angle gradually reduces；

In second stir-frying process, the abnormity slice is not contacted with the inner wall, and the abnormity slice is from the bottom of a pan position It is turned to the point of penetration position.

Preferably, artificial stir-frying emulation cooking robot, in which: the pot body is set to the rotation for driving its rotation On rotary device.

Preferably, the described artificial stir-frying emulation cooking robot, in which: the abnormity slice includes first connecting rod, the Two connecting rods and shovel body, the first connecting rod connect with the driving device and are obtuse angle with the angle of second connecting rod, the shovel body Flange and baffle including shovel board and positioned at the cutting edge two sides of shovel board, the flange and baffle be arranged in obtuse angle with shovel board and They form material accommodating space, and the flange connects the second connecting rod far from one end of cutting edge, and the back side of the baffle connects Connect the support rod.

Preferably, artificial stir-frying emulation cooking robot, in which: the first connecting rod deviates in the pot body Heart point, and the special-shaped slice meets the point of penetration of its cutting edge and inner wall and is located proximate to the top margin of the pot body.

Preferably, artificial stir-frying emulation cooking robot, in which: the baffle and the angle of shovel board meet in institute It states in the second stir-frying process, the shovel board, which has, tends to parallel state with the pot mouth plane of pot body, and can hold in this case Connect all or part of material slid on the baffle.

Preferably, the described artificial stir-frying emulation cooking robot, in which: the baffle and the angle of shovel board 100 °- Between 145 °.

Preferably, artificial stir-frying emulation cooking robot, in which: the driving device includes pivoted frame, and described turn Frame is rotatablely arranged in a shaft, and by the gravity of its own and component disposed thereon and inner wall to the anti-work of support rod It is firmly swung up and down around the shaft, drive module is provided on the pivoted frame, the drive module connects the first connecting rod And drive the first connecting rod using its axis as axis of rotation rotation.

Preferably, artificial stir-frying emulation cooking robot, in which:

In the first stir-frying process, the support rod is not contacted with the inner wall, and the pivoted frame is at its own and is located at it On component gravity under, around the pivoted downward；

In the second stir-frying process, the free end of the support rod and the inner wall are against and inner wall is to the support rod Reaction force be gradually changed by the gravity for being less than the pivoted frame itself and component disposed thereon greater than the pivoted frame itself and After the gravity of component disposed thereon and keep.

The advantages of technical solutions of the utility model, is mainly reflected in:

This patent deft design, structure is simple, is cooperated by driving device and support rod, while realizing special-shaped slice rotation It moves up and down, special-shaped slice can be made to be bonded internal wall pot body during frying and enter the bottom of a pan position, effectively by corresponding positions The material set scoops up, avoid slice cutting edge and when pot inner wall has gap easily occur getting stuck, particle, while can have Effect, which avoids the problem that the material on sliding path is not scooped up, leads to viscous pot；And after scooping up material, pass through special-shaped slice Overturning realize the stir-frying of material, effectively simulate movement when artificial stir-frying, be conducive to make that material is heated, mixing is more equal It is even.

Since pot body is turntable, in stir-frying process, it can constantly switch connecing for special-shaped slice and pot body Touching position is conducive to the uniformity for being further ensured that stir-frying and validity, avoids to realize the stir-frying of the material of different zones The problem of material glues pot or part stir-fries, uneven heating.

By the shape design to special-shaped slice, material can be made first to be transferred to gear from shovel board in stir-frying process It on plate, then turns over and is rotated into pot from shovel board, by the overturning twice of material, the effective heated position for realizing material changes Become, so that material can be more uniform is heated, improves frying efficiency and final vegetable quality.

Since the first connecting rod of special-shaped slice deviates pot body center location, when can effectively ensure that entrance, slice Material of the contact position of cutting edge and internal wall pot body close to the top margin position of pot, when so as to avoid shovel from expecting and to higher position Dish is cut bad problem by contact；Meanwhile but also special-shaped slice is in overturning, the center of circle of close pot body is capable of in position, thus It avoids falling material web outside pot, and due to the combination of the shape of slice and movement, material is enabled to be constantly in special-shaped pan Under the masking of shovel, more it is not easy to be shed away.

This patent slice change up and down using driving device self structure gravity and support rod and internal wall pot body it is mutual Active force is realized, additional power device is not needed, and is conducive to simplify structure, reduces equipment cost, energy saving.

Since a variety of designs combine, the recombination mixing of material can be effectively realized, while realizing uniformly dividing for seasoning Cloth help to obtain more preferably dish taste.

Detailed description of the invention

Fig. 1 is structural schematic diagram of the special-shaped slice in point of penetration position of the utility model cooking robot；

Fig. 2 is the special-shaped slice of the utility model cooking robot at point of penetration position, the inner wall patch of cutting edge and pot body Conjunction and support rod and the discontiguous status diagram of inner wall；

Fig. 3 is a certain state knot of the special-shaped slice of the utility model cooking robot between point of penetration and the bottom of a pan position Structure schematic diagram；

When Fig. 4 is that the special-shaped slice of the utility model cooking robot is rotated since the position of the bottom of a pan to point of penetration position Main view；

When Fig. 5 is that the special-shaped slice of the utility model cooking robot is rotated since the position of the bottom of a pan to point of penetration position Side view；

Fig. 6 is the special-shaped slice of the utility model cooking robot in the second stir-frying process, in the bottom of a pan position and incision The structural schematic diagram of a certain state between point position；

Fig. 7 is the special-shaped slice of the utility model cooking robot in the second stir-frying process, in the bottom of a pan position and incision Under a certain state between point position, special-shaped slice do not contacted with internal wall pot body and the inner wall of support rod and pot body against position pass It is schematic diagram.

Specific embodiment

The purpose of this utility model, advantage and feature will carry out figure by the non-limitative illustration of preferred embodiment below Show and explains.These embodiments are only the prominent examples using technical solutions of the utility model, all to take equivalent replacement or wait Effect transformation and formed technical solution, all fall within the requires of the utility model protection within the scope of.

The utility model discloses artificial stir-frying emulation cooking robot, as shown in attached drawing 1-7, including pot body 1, the pot Body 1 can be various common round mouth pots, be set in the rotating device (not shown) for driving its rotation, the rotation Device can be known various structures, connect a motor in the bottom centre point position of the pot body 1 in this way, or by pot body Being set up in one can be on the ring gear of rotation, and drives the ring gear to rotate by motor, driving gear, chain interoperation, this The specific structure for locating rotating device is the prior art, and details are not described herein.

As shown in attached drawing 1-7, the artificial stir-frying emulation cooking robot further includes for carrying out to the material in pot body 1 The special-shaped slice 2 of stir-frying, the abnormity slice 2 are driven by unique driving structure while being carried out rotation and swinging up and down, and Switch between first stir-frying process and the second stir-frying process；

In first stir-frying process, the cutting edge 21 of the abnormity slice 2 is remained with the inner wall 11 and is bonded, and from its with The point of penetration position 10 of inner wall 11 is slided to the bottom of a pan position 12 of the pot body 1, and the shovel face 25(of special-shaped slice is the same as following shovels Plate 242) it is gradually reduced with the angle of the pot mouth plane of the pot body 1；

In second stir-frying process, the abnormity slice 2 is not contacted with the inner wall 11, and the abnormity slice 2 is from the bottom of a pan Position 12 is turned to the point of penetration position 10.

Although above-mentioned structure can effectively movement of simulation when manually stir-frying, in order to obtain more preferably stir-frying effect Fruit has carried out special designing to the special-shaped slice 2, and specifically, as shown in Fig. 6, the abnormity slice 2 includes the first company Bar 22, second connecting rod 23 and shovel body 24, they can be integrally formed, and be also possible to the integral structure being welded into one by one, come in detail See that one end of the first connecting rod 22 connect with the driving structure and driven by driving structure around its axis rotation, the other end One end of the second connecting rod 23 is connected, and the angle that they are formed is obtuse angle, the other end of the second connecting rod 23 connects institute State shovel body 24.

Since in stir-frying process, influence of the shape of the shovel body 24 to stir-frying effect is huge, therefore, such as 6 institute of attached drawing To show, the preferably described shovel body 24 includes the shovel board 242 of almost fan, and the side edge length of 21 two sides of cutting edge of the shovel board 242 is different, And the length of the side for connecting the second connecting rod 23 is less than the length of the other side, 21 liang of the cutting edge of the shovel board 242 Side is also respectively formed with flange 241 and baffle 243, the flange 241 and baffle 243 is arranged in obtuse angle with shovel board 242 and it Material accommodating space is collectively formed, in the first stir-frying process, the material scooped up can be made largely or entirely to be limited to In the material accommodating space that they are formed, avoid during shovel is dynamic, material falls to cannot achieve in twice-cooked stir-frying and stir.

The flange 241 connects the second connecting rod 23 far from one end of cutting edge 21, and the second connecting rod 23 is whole Positioned at the upper right side of the shovel board 24, and the angle on itself and the bottom edge of the shovel board 24 and the outer side edges 2411 of flange 242 is Obtuse angle.

As shown in Fig. 6, the baffle 243 and the angle a of shovel board 242 meet in the second stir-frying process, described Shovel board 242, which has, tends to parallel state with the pot mouth plane of pot body, and the material in the shovel board 242 can be shifted completely or partially Onto the baffle 243, i.e., in the second stir-frying process, the opposite shape of the shovel board 242 and baffle 243 and pot mouth plane State persistently changes, when the shovel board 242 is changed into the state vertical with pot mouth plane by the approximate state parallel with pot mouth plane In the process, the baffle 243 exists synchronous by being changed into the approximate shape parallel with pot mouth plane in angle state with pot mouth plane State, so as to make all or part of material slid from the shovel board 242 during this slide into holding for the baffle 243 On section, and special-shaped slice 2 is subsequent stir during, from baffle 243 overturning fall into pot；It is specific preferred, the baffle 243 and shovel board 242 angle a between 100 ° -145 °.

Also, utility model people is the study found that if projection of the first connecting rod 22 of special-shaped slice 2 in pot mouth plane When the central point 14 of pot body, at this point, slice 2 is during quick stir-frying, especially during being flipped up from the bottom of a pan, Easily material disposed thereon is shed outside pot, leads to the waste of material.

Therefore as shown in Fig. 1, it is preferable that the first connecting rod 22 deviates the central point 14 of the pot body, i.e., under normality, institute It states first connecting rod 22 and is projected as a rectangle in pot mouth plane, this rectangle is identical with 22 extending direction of first connecting rod The virtual extension line 20 on two sides is respectively positioned on the same side of the pot body 14, and the only central point 14, due to first connecting rod 22 deviate the central points, therefore combine size design by the shape setting of above-mentioned special-shaped slice 2, convenient for make its cutting edge 21 and The point of penetration position 10 of inner wall 11 as close as possible to the pot body 1 top margin 13, so that low contact position be avoided easily to shovel bad material Problem.

Simultaneously as the size of the abnormity slice 2 is fixed and invariable, although shovel body 24 during rotation can be due to Have certain swing up and down and can't the first connecting rod 22 at point of penetration position with cutting edge 21 and the inner wall 11 of pot body completely Position is symmetry axis, but when the position of first connecting rod 22 does not deviate by above-mentioned point of penetration position substantially under its different conditions The position of one connecting rod 22 is too many, and after the virtual extended line 20 to be deviateed to the central point 14 of pot body, and shovel body 24 is from the bottom of a pan position It sets during being flipped up, the maximum horizontal range of the central point 14 apart from pot body crosses pot relative to the first connecting rod 22 When the central point 14 of body, shovel body 24 and the maximum distance of the central point 14 of pot body will shorten, therefore shovel body 24 is being turned over Cheng Zhong closer to 14 position of central point of pot body, and increases to the horizontal distance of pot mouth top margin 13 is opposite, to make material not Easily shed away.

Also, utility model people also studies utility model, if special-shaped slice 2 only has spinning motion, when its cutting edge After 21 contact with the inner wall 11 of pot body 1, since the inner wall 11 of pot body 1 is downwards arc-shaped, while the rotation of special-shaped slice 2 is partly After diameter is fixed, therefore special-shaped slice 2 turns an angle, cutting edge 21 is greater than at a distance from the internal wall pot body of corresponding region just to be opened Begin contact when distance there is gap at this point, cutting edge 21 will be separated with the inner wall of pot body 1, i.e., cutting edge 21 is from incision point It sets during being moved to the bottom of a pan, is unable to overall process and is bonded with the inner wall 11 of pot body 1, therefore utility model people studies discovery for institute After stating the spinning motion of special-shaped slice 2 and swinging up and down combination, it is able to solve the above problem.

Meanwhile utility model people has obtained preferred driving structure through long-term test, research and thinking, such as attached drawing 1-7 It is shown comprising support rod 3 and driving device 4, the support rod 3 and driving device 4 are connect with the special-shaped slice 2 respectively, specifically For, as shown in Fig. 6, the support rod 3 is connected to the back side of the baffle 243, and the extending direction of the support rod 3 with it is described 2421 less parallel of bottom edge of shovel board 242.

As shown in attached drawing 5, attached drawing 6, the driving device 4 includes pivoted frame 41, and the pivoted frame 41 is rotatablely arranged at one In shaft 42, and by the gravity and inner wall of its own and component disposed thereon to the reaction force of support rod around the shaft 42 It swings up and down, is also provided with torsional spring in the tie point position of the pivoted frame 41 and shaft certainly, realize described turn to cooperate Frame 41 is swung up and down, and drive module 43 is provided on the pivoted frame 41, and the drive module 43 connects the first connecting rod 22 And drive the first connecting rod 22 using its axis as axis of rotation rotation, the drive module 43 can be various feasible structures, The motor being connect with first connecting rod 22 by shaft coupling in this way, or by the driving structure of gear, chain and motor form, The structure etc. that can be idler wheel, belt and motor form, is known technology, details are not described herein herein.

And in order to provide reliable support to the first connecting rod 22, bearing is further fixed on (in figure on the pivoted frame 41 It is not shown), the first connecting rod 22 is connect with the inner ring of the bearing.

When actual motion, in the first stir-frying process, as shown in attached drawing 1, attached drawing 2, the support rod 3 and the inner wall 11 are not Contact, the pivoted frame 41 rotates down under the gravity of its own and component disposed thereon around the shaft 42 at this time (rotating clockwise in figure), i.e., the described pivoted frame 41 is to lower swing, so that the special-shaped slice 2 being drivingly connected on it is gradually downward It swings, meanwhile, on the basis of the spinning motion of normal special-shaped slice 2, the distance to lower swing of special-shaped slice 2 can have Effect makes up that the distance between its cutting edge 21 and corresponding region inner wall 11 are poor, thus make the cutting edge 21 of the special-shaped slice 2 always with Internal wall pot body 11 is bonded and slides into the bottom of a pan of the pot body 1.

Since there is no additional power resources for pivoted frame 41, but it subjects always gravity, moves in no other Under conditions of power, can only the keep down state of swing of pivoted frame 41 is rotated up without having the tendency that, at this point, support rod 3 is just sent out Corresponding effect is waved.

Specifically, in the second stir-frying process, along with the rotation of the special-shaped slice 2, the position of the support rod 3 Continuous transformation, and be gradually converted into its free end by not contacted with the inner wall 11 of the pot body 1 and contacted with the inner wall 11, As shown in attached drawing 4- attached drawing 7, meanwhile, the inner wall 11 generates reaction force to the support rod 3.

When inner wall 11 and the support rod 3 just start to contact, the inner wall 11 is less than institute to the reaction force of the support rod 3 The gravity of pivoted frame 41 itself and component disposed thereon is stated, at this point, the pivoted frame 41 continues to rotate down.

But as the position of support rod 3 constantly changes, the inner wall 11 is to the reaction force of the support rod 3 gradually by being less than The gravity of the pivoted frame 41 itself and component disposed thereon is gradually changed into greater than the pivoted frame 41 itself and disposed thereon The gravity of component and maintenance (turn upwards at this point, the pivoted frame 41 starts opposite direction rotation under the action of this reaction force It is dynamic), when the cutting edge of the special-shaped slice 2 is bonded with the inner wall of the pot body 1 again, the inner wall of the support rod 3 and pot body 1 No longer contact, at this point, pivoted frame 41 is changed under the effect of gravity and rotates down again, to constantly be recycled, and with it is described The spinning motion of special-shaped slice 2 is implemented in combination with continuous stir-frying.This patent further discloses above-mentioned artificial stir-frying emulation cooking The cooking method of robot, includes the following steps:

S1 provides above-mentioned artificial stir-frying emulation cooking robot and material (various feasible stone materials, or the artificial hand of needs Hold the article that scoop stir-fries), material etc. is placed in the pot body 1；

S2 sets the revolving speed of drive module 43 and controls according to the speed parameter of setting and drive according to the size of different material Dynamic model block 43 work, thus it is described abnormity slice 2 support rod 3 and driving device 4 cooperation driving under, first stir-fry process In, the material being located on its sliding path is scooped up, and in the second stir-frying process, overturns material disposed thereon and drop back into pot In body.

Also, in S2 step, the pot body 1 cooperates the special-shaped slice 2 synchronous under the driving of the rotating device Rotation, i.e., when the first connecting rod 22 of the special-shaped slice 2 rotates clockwise, the pot body 1 is rotated clockwise, and vice versa.

Certainly, the cooking robot of this patent will realize the frying of material, it is necessary to other than above-mentioned necessary structure There is the structure heated accordingly to pot body, can be known various feasible heating structures herein, be not this patent Utility model point, therefore repeat no more.

Still there are many embodiment, all technologies formed using equivalents or equivalent transformation for the utility model Scheme is all fallen within the protection scope of the utility model.

Claims (9)

1. artificial stir-frying emulation cooking robot, it is characterised in that: including pot body (1), special-shaped slice (2), support rod (3) and driving Device (4), the support rod (3) and driving device (4) connect with the special-shaped slice (2) respectively and cooperate the driving special-shaped pan Shovel (2) switches between the first stir-frying process and the second stir-frying process；

In first stir-frying process, the cutting edge (21) of the abnormity slice (2) is bonded with the holding of the inner wall (11) of the pot body (1), And it is slided from the point of penetration position (10) of itself and the inner wall (11) to the bottom of a pan position (12) of the pot body (1), and special-shaped pan The angle of the pot mouth plane of the shovel face (25) and the pot body (1) of shovel gradually reduces；

In second stir-frying process, the abnormity slice (2) does not contact with the inner wall (11), and the abnormity slice (2) is from pot Bottom position (12) is turned to point of penetration position (10).

2. artificial stir-frying emulation cooking robot according to claim 1, it is characterised in that: the pot body (1) is set to It drives on the rotating device of its rotation.

3. artificial stir-frying emulation cooking robot according to claim 1, it is characterised in that: the abnormity slice (2) is wrapped Include first connecting rod (22), second connecting rod (23) and shovel body (24), the first connecting rod (22) connect with the driving device (4) and Angle with second connecting rod is obtuse angle, and the shovel body (24) includes shovel board (242) and the cutting edge (21) two for being located at shovel board (242) The flange (241) and baffle (243) of side, the flange (241) and baffle (243) is arranged in obtuse angle with shovel board (242) and it Form material accommodating space, the flange (241) connects the second connecting rod (23), the gear far from the one end of cutting edge (21) The back side of plate (243) connects the support rod (3).

4. artificial stir-frying emulation cooking robot according to claim 3, it is characterised in that: the first connecting rod (22) is inclined Central point (14) from the pot body, and the special-shaped slice (2) meets the point of penetration position of its cutting edge (21) and inner wall (11) (10) close to the top margin (13) of the pot body (1).

5. artificial stir-frying emulation cooking robot according to claim 3, it is characterised in that: the baffle (243) and shovel The angle of plate (242) meets in the second stir-frying process, and the shovel board (242), which has, tends to be flat with the pot mouth plane of pot body Capable state, and all or part of material slid on the baffle (243) can be accepted in this case.

6. artificial stir-frying emulation cooking robot according to claim 3, it is characterised in that: the baffle (243) and shovel The angle (a) of plate (242) is between 100 ° -145 °.

7. artificial stir-frying emulation cooking robot according to claim 6, it is characterised in that: driving device (4) packet It includes pivoted frame (41), the pivoted frame (41) is rotatablely arranged on a shaft (42), and passes through its own and portion disposed thereon The gravity and inner wall of part swing up and down the reaction force of support rod around the shaft (42), are provided with driving on the pivoted frame (41) Module (43), the drive module (43) connect the first connecting rod (22) and drive the first connecting rod (22) to be with its axis Axis of rotation rotation.

8. artificial stir-frying emulation cooking robot according to claim 7, it is characterised in that: the first stir-frying process In, the support rod (3) does not contact with the inner wall (11), and the pivoted frame (41) is in the gravity of its own and component disposed thereon Under effect, rotated down around the shaft (42).

9. artificial stir-frying emulation cooking robot according to claim 7, it is characterised in that: the second stir-frying process In, the free end of the support rod (3) and the inner wall (11) against, and inner wall (11) to the reaction force of the support rod (3) by Gravity less than the pivoted frame (41) itself and component disposed thereon is gradually changed into greater than the pivoted frame (41) itself and position After the gravity of component thereon and keep.