CN109770697A - Automatic Cooking Robot and cooking methods - Google Patents
Automatic Cooking Robot and cooking methods Download PDFInfo
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- CN109770697A CN109770697A CN201910082207.0A CN201910082207A CN109770697A CN 109770697 A CN109770697 A CN 109770697A CN 201910082207 A CN201910082207 A CN 201910082207A CN 109770697 A CN109770697 A CN 109770697A
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Abstract
The present invention relates to a kind of Automatic Cooking Robot and cooking methods, wherein, the Automatic Cooking Robot includes robot body, station and cooking pot tool, the station is equipped with food materials rest area, cooking area and discharging mechanism, the robot body includes the first manipulator, second manipulator and control system, the control system carries out cooking operation according to instruction for controlling first manipulator and second manipulator, first manipulator by food materials for taking out and putting to the cooking pot tool, second manipulator is cooked for the cooking pot tool to be transferred to the cooking area, second manipulator is also used to drive the cooking pot tool overturning food is poured into sabot in the discharging mechanism, the discharging mechanism is used to the good food of sabot being sent to designated position.Automatic material taking, automatic cooking, automatic disc filling and output multiple functions can be achieved at the same time in Automatic Cooking Robot of the invention, can effectively promote user experience.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of Automatic Cooking Robot and cooking methods.
Background technique
With the development of society, traditional artificial cooking method can not be well adapted for the allegro life side of people
Formula needs that a large amount of cook is employed to cook, not only recruitment cost is higher, together especially in the biggish catering trade of the volume of the flow of passengers
When due to cook individuation difference, not can guarantee the consistency of vegetable.There are some dresses for carrying out automatic cooking in market
It sets, but traditional automatic cooking device usually has a single function, can only realize that automatic cooking operates mostly, and before cannot achieve culinary art
Automatic material taking and cooked food is subjected to the functions such as automatic disc filling and output.Specifically, it is needed before culinary art artificial
Food materials are added into cooking pot tool manually, automatic cooking is then carried out by cooking pot tool, artificial hand is also needed after the completion of culinary art
The dynamic vegetable by cooking pot tool carries out sabot and holds to dining area, cannot achieve whole-course automation operation, working efficiency is low, makes
The experience property for obtaining user is poor.
Summary of the invention
Based on this, it is necessary to for the single problem of traditional automatic cooking apparatus function, provide a kind of automatic cooking machine
Device people is, it can be achieved that automatic material taking, automatic cooking, automatic disc filling and output multiple functions, effectively promotion user experience.
A kind of Automatic Cooking Robot, including robot body, station and cooking pot tool, the station are equipped with food
Material rest area, cooking area and discharging mechanism, the robot body include the first manipulator, the second manipulator and control system,
The control system carries out cooking operation, institute according to preset instructions for controlling first manipulator and second manipulator
The first manipulator is stated for taking out and being put to the cooking pot tool by the food materials in the food materials rest area, described second is mechanical
Hand is cooked for the cooking pot tool to be transferred to the cooking area, and after the completion of to be cooked, second manipulator is also used
In driving the cooking pot tool overturning, cooked food is poured into sabot in the discharging mechanism, the discharging mechanism is used for
The good food of sabot is sent to designated position.
Above-mentioned Automatic Cooking Robot can simulate artificial culinary art by the cooperation of the first manipulator and the second manipulator completely
Process realizes automatic material taking, automatic cooking, automatic disc filling and the sequence of operations of output.The Automatic Cooking Robot it is specific
The course of work is as follows, and the first manipulator is moved to food materials rest area under the instruction of control system and by the food in food materials rest area
Material taking-up is put into cooking pot tool, to realize that automatic material taking operates；Second manipulator is under the instruction of control system by cooking pot
Tool is placed cooking area and is cooked, to realize that automatic cooking operates；After the completion of culinary art, cooking pot tool is transferred to by the second manipulator
Above discharging mechanism, then the second mechanical hand-motion cooking pot tool is downwardly turned over, and the food in cooking pot tool is put into discharging machine
Sabot is carried out in structure, the good food of sabot can be also sent to designated position by discharging mechanism, to realize automatic disc filling output operation.
Automatic material taking, automatic cooking, automatic disc filling and output multiple functions can be achieved at the same time in Automatic Cooking Robot of the invention, great
Interest and technology sense can effectively promote user experience.
The food materials rest area is equipped with magazine in one of the embodiments, and first manipulator includes first mechanical
Arm and feeding fixture, the feeding fixture are rotatably installed on the free end of the first mechanical arm, the first mechanical arm
For driving the feeding fixture to be moved in three-dimensional space the magazine is clamped or be discharged, the first mechanical arm
It is also used to that the feeding fixture and the magazine is driven to overturn.
The feeding fixture is equipped with stirring chopsticks in one of the embodiments, and the first mechanical arm can drive described
Chopsticks movement is stirred to be stirred to the foodstuff in the cooking pot tool, the first mechanical arm can also drive the stirring chopsticks pair
Foodstuff in the magazine is stirred.
The food materials rest area is additionally provided with the cabinet for placing the magazine in one of the embodiments,.
Second manipulator includes second mechanical arm and is set to the second mechanical arm certainly in one of the embodiments,
By the rotating connector held, the rotating connector is connected and fixed with the cooking pot tool, described in the second mechanical arm drive
Cooking pot tool moves in three-dimensional space.
The cooking area is equipped with pot cover component in one of the embodiments, and the pot cover component includes lid and first
Driving mechanism, first driving mechanism is for driving the lid overturning to close the cooking pot tool to open or cover.
The pot cover component further includes the blender on the lid, the stirring in one of the embodiments,
Device is for being stirred the foodstuff in the cooking pot tool when the cover cap closes the cooking pot tool.
The cooking area is equipped with heating equipment in one of the embodiments, and the heating equipment is used for the culinary art
Foodstuff in cookware carries out heating cooking.
The discharging mechanism includes holding utensil and transmission device, second manipulator in one of the embodiments,
Drive cooking pot tool overturning with by cooked food pour into it is described hold in utensil, the transmission device will be for will be described
It holds utensil and is sent to designated position.
A kind of cooking methods, comprising the following steps:
Receive operational order；
The food materials of food materials rest area are removed and placed in cooking pot tool by the first manipulator；
The cooking pot tool is transferred to cooking area and cooked by the second manipulator；
The cooking pot tool is transferred to above discharging mechanism by second manipulator, described in the described second mechanical hand-motion
Cooking pot tool is overturn so that cooked food is poured into sabot in the discharging mechanism；
The good food of sabot is sent to designated position by the discharging mechanism.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Automatic Cooking Robot described in one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the station of the Automatic Cooking Robot in Fig. 1；
Fig. 3 is the structural schematic diagram of the feeding fixture of the Automatic Cooking Robot in Fig. 1；
Fig. 4 is the structural schematic diagram of the cooking pot tool of the Automatic Cooking Robot in Fig. 1；
Fig. 5 is the structural schematic diagram of the magazine of the Automatic Cooking Robot in Fig. 1；
Fig. 6 is the flow diagram of cooking methods described in one embodiment of the invention.
10, robot body, the 11, first manipulator, the 12, second manipulator, 13, feeding fixture, 131, rotation connection head,
132, finger cylinder, 133, clamping piece, 1331, positioning groove, 1332, non-slip mat, 134, stirring chopsticks, 20, station, 21, deposit
Container, 22, pot cover component, 221, lid, the 222, first driving mechanism, 223, blender, 23, heating equipment, 24, holder
Tool, 25, go out funnel, 26, transmission device, 30, cooking pot tool, 31, pot body, 32, connection handle, 40, magazine, 41, tray, 411,
Handle, 42, box body, 421, clamping piece.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Heretofore described " first ", " second " do not represent specific quantity and sequence, are only used for title
Differentiation.
Please refer to Fig. 1 and Fig. 2, a kind of Automatic Cooking Robot includes robot body 10, station 20 and cooking pot tool
30, station 20 is equipped with food materials rest area, cooking area and discharging mechanism, and robot body 10 includes the first manipulator 11, the
Two manipulators 12 and control system, control system for control the first manipulator 11 and the second manipulator 12 according to preset instructions into
Row cooking operation, the first manipulator 11 by the food materials in food materials rest area for taking out and putting to cooking pot tool 30, the second machine
Tool hand 12 is cooked for cooking pot tool 30 to be transferred to cooking area, and after the completion of to be cooked, the second manipulator 12 is also used to band
Cooked food is poured into sabot in discharging mechanism, discharging mechanism is used for the food that sabot is good for the dynamic overturning of cooking pot tool 30
It is sent to designated position.
Specifically, robot body 10 includes trunk, and the opposite sides of trunk is respectively equipped with the first manipulator 11 and second
Manipulator 12, control system control the first manipulator 11 and 12 ordered movement of the second manipulator according to pre-set programs, to realize certainly
The sequence of operations such as dynamic feeding, culinary art and sabot output.Food materials rest area, cooking area and discharging machine are provided on station 20
Structure, wherein food materials needed for food materials rest area can be used for placing cooking process and condiment, cooking area are the main place of culinary art,
Discharging mechanism is for will be sent to designated position after cooked food sabot.
Above-mentioned Automatic Cooking Robot can be simulated manually completely by the cooperation of the first manipulator 11 and the second manipulator 12
Cooking process realizes automatic material taking, automatic cooking, automatic disc filling and the sequence of operations of output.The Automatic Cooking Robot
Specific work process is as follows, and the first manipulator 11 is moved to food materials rest area under the instruction of control system and by food materials rest area
Interior food materials taking-up is put into cooking pot tool 30, to realize that automatic material taking operates；Instruction of second manipulator 12 in control system
Lower put cooking pot tool 30 to cooking area is cooked, to realize that automatic cooking operates；After the completion of culinary art, the second manipulator 12 will
Cooking pot tool 30 is transferred to above discharging mechanism, and then the second manipulator 12 drives cooking pot tool 30 to downwardly turn over, by cooking pot
Sabot is carried out in food investment discharging mechanism in tool 30, the good food of sabot can be also sent to designated position by discharging mechanism,
To realize automatic disc filling output operation.Automatic Cooking Robot of the invention can be achieved at the same time automatic material taking, automatic cooking and from
Dynamic sabot exports multiple functions, great interest and technology sense, can effectively promote user experience.
Further, food materials rest area is equipped with magazine 40, and the first manipulator 11 includes first mechanical arm and feeding fixture 13,
Feeding fixture 13 is rotatably installed on the free end of first mechanical arm, and first mechanical arm is for driving feeding fixture 13 in three-dimensional
Magazine 40 is clamped or be discharged, first mechanical arm is also used to that feeding fixture 13 and magazine 40 is driven to turn over for movement in space
Turn.
Specifically, in reclaiming process, firstly, first mechanical arm drives 13 fortune of extracting jaw tool according to the instruction of control system
It moves to the position close to magazine 40, magazine 40 is fixedly clamped by feeding fixture 13；Then, first mechanical arm drives feeding fixture 13
And magazine 40 moves to 30 top of cooking pot tool together；Finally, first mechanical arm drives feeding fixture 13 and magazine 40 to turn over together
Turn, the foodstuff in magazine 40 is accurately thrown in cooking pot tool 30, after the completion of feeding intake, first mechanical arm can also drive feeding
Magazine 40 is sent to original position and is discharged by fixture 13.Entire reclaiming process carries out automatically, can effectively promote feeding efficiency, pass through first
Mechanical arm realizes 360 ° of overturnings of magazine 40, and the foodstuff in magazine 40 can be made all to launch, to guarantee the accuracy to feed intake.
Further, referring to figure 5., several box bodys that magazine 40 includes tray 41 and is separably set in tray 41
42, tray 41 is equipped with the handle 411 clamped for feeding fixture 13, and box body 42 is equipped with the clamping piece clamped for feeding fixture 13
421.Specifically, tray 41 and box body 42 are arranged in open top, and the side of tray 41 is equipped with handle 411, the top of box body 42
Portion is equipped with clamping piece 421, and clamping piece 421 exposes to the top surface of tray 41, and box body 42 can be set to multiple to be respectively used to hold
Food materials or condiment etc..
Further, referring to figure 3., feeding fixture 13 includes being rotatablely connected head 131, finger cylinder 132 and clamp assemblies,
One end of rotation connection head 131 is rotatably installed in first mechanical arm, is rotatablely connected the other end and finger cylinder of head 131
132 connections, clamp assemblies include two clamping pieces being oppositely arranged 133, and two clamping pieces 133 are individually fixed in finger cylinder 132
Two pneumatic clampers on, finger cylinder 132 drives two clamping pieces 133 close to each other or far to realize the clamping of magazine 40 or release
It puts.Specifically, finger cylinder 132 drives two clamping pieces 133 close to each other or far from achievable handle 411 or clamping piece 421
It clamps or discharges, to realize the pick-and-place of tray 41 or box body 42.When being fed intake, taken by the rotation connection drive of head 131
13 unitary rotation of material clamp, so as to overturn box body 42 to feed intake.
Further, clamping piece 133 includes mounting portion and clamping plate, and mounting portion is fixedly connected with the pneumatic clamper of finger cylinder 132,
Boards wall cooperates in the bottom surface of mounting portion, two clamping plates to clamp to handle 411 and clamping piece 421.Clamping plate and folder
The plate-like structure of piece 421 is held, can more easily be clamped box body 42 by the mutual cooperation of two clamping plates and clamping piece 421 solid
It is fixed.
Further, handle 411 is cylindrical, and it is recessed that the medial surface of two clamping plates is correspondingly provided with the positioning cooperated with handle 411
Slot 1331.By the medial surface (i.e. the opposite one side of two clamping plates) in clamping plate, positioning groove 1331 is set, handle 411 is sandwiched
In locating slot between two clamping plates, easily tray 41 can be fixedly clamped, while also ensuring and pressing from both sides during the motion
The reliability that plate clamps handle 411, avoids tray 41 from falling.
Further, the medial surface of clamping plate is additionally provided with non-slip mat 1332, so can effectively be promoted between clamping plate and handle 411
Frictional resistance, be further ensured that the reliability that motion process middle clamp plate clamps handle 411.The concretely rubber of non-slip mat 1332
Glue non-slip mat, silica-gel antiskid pad etc..
Further, feeding fixture 13 is equipped with stirring chopsticks 134, and first mechanical arm can drive the stirring movement of chopsticks 134 with right
Foodstuff in cooking pot tool 30 is stirred, and first mechanical arm can also drive stirring chopsticks 134 to stir the foodstuff in magazine 40
It is dynamic.Specifically, it before clamping magazine 40, drives stirring chopsticks 134 to protrude into magazine 40 by first mechanical arm and is stirred, with
Loosen the foodstuff in magazine 40, to can guarantee foodstuff energy during feeding intake into cooking pot tool 30, in magazine 40
It is enough smoothly to fall；During the cooking process, stirring chopsticks 134 are protruded into cooking pot tool 30, stirring chopsticks is driven by first mechanical arm
134 rotations or movement can be stirred or stir-fry to the food materials in cooking pot tool 30.
Further, food materials rest area is additionally provided with the cabinet 21 for placing magazine 40.Specifically cabinet 21 can be
Cabinet or refrigerator, for placing magazine 40, in culinary art, first mechanical arm can take out magazine 40 from cabinet 21.
Further, the second manipulator 12 includes second mechanical arm and the rotation connection set on second mechanical arm free end
Part, rotating connector are connected and fixed with cooking pot tool 30, and second mechanical arm drives cooking pot tool 30 to move in three-dimensional space.Tool
Body, as shown in figure 4, cooking pot tool 30 includes pot body 31 and the connection handle 32 set on 31 lateral surface of pot body, pass through rotation connection
The cooperation of part and connection handle 32, it can be achieved that second mechanical arm and pot body 31 connection, in order to second mechanical arm drive pot body 31
It is mobile, meanwhile, pot body 31 can be driven to overturn by the rotation of rotating connector, structure is simple, and cooperation is reliable.
Further, cooking area is equipped with pot cover component 22, and pot cover component 22 includes lid 221 and the first driving mechanism 222,
First driving mechanism 222 is for driving the overturning of lid 221 to close cooking pot tool 30 to open or cover.Specifically, pot cover component 22 can
It is fixed by the bracket on station 20, lid 221 is located at the top of cooking pot tool 30, and the first driving mechanism 222 drives lid
221 spin upside down, in this way, pot cover component 22, which can be opened or be covered according to the specific culinary art condition of vegetable, closes cooking pot tool 30, to reach
To better culinary art effect.Wherein, the first driving mechanism 222 can be stepper motor or servo motor etc..
Further, pot cover component 22 further includes the blender 223 on lid 221, and blender 223 is used in lid
221 lids are stirred the foodstuff in cooking pot tool 30 when closing cooking pot tool 30.So, it can be achieved that the automatic stirring of cooking pot tool 30
Mix function.
Specifically, blender 223 includes the second driving mechanism and agitating paddle, and the second driving mechanism is fixed on lid 221
Top surface, agitating paddle are located at the bottom of lid 221, and the drive shaft of the second driving mechanism is fixed with agitating paddle and connected through lid 221
It connects, the second driving mechanism is for driving agitating paddle to rotate.Second driving mechanism and agitating paddle are respectively arranged on the two of lid 221
Side, in this way, blender 223 is made not occupy the excessive space in 31 inside of pot body.Motor specifically can be used in second driving mechanism
Driving.Preferably, blender 223 further includes the clamshell for covering at the second driving mechanism periphery, and the top surface of clamshell and lid 221 is solid
Fixed connection, to play protective action to the second internal driving mechanism.
Further, cooking area is equipped with heating equipment 23, and heating equipment 23 is used to carry out the foodstuff in cooking pot tool 30
Heating cooking.Heating equipment 23 concretely electric boiling plate or electromagnetic oven etc..
Further, discharging mechanism includes holding utensil 24 and transmission device 26, holds utensil 24 set on transmission device 26
On, transmission device 26 is sent to designated position for that will hold utensil 24.It can be straight by the food held by transmission device 26
It connects and is delivered to designated position (such as dining position), to realize function of serving automatically.Wherein, transmission device 26 can be belt pulley
Or double-speed chain etc..
Further, discharging mechanism further includes funnel 25 out, and funnel 25 is located at the top for holding utensil 24 out, mechanical
Armband is moved the overturning of cooking pot tool 30 and is held in utensil 24 with pouring into cooked food from funnel 25 out.Specifically, it discharges
Funnel 25 can be fixed on station 20 by supporting element, and the upper port of funnel 25 is in flaring setting out.By in holder
Funnel 25 is provided in the top of tool 24, can play buffer function to from 30 pots of foods to fall down of cooking pot tool, avoid food straight
Connect to be poured onto hold in utensil 24 causes to splash because impact force is excessive.
Fig. 6 is please referred to, the present invention also proposes a kind of cooking methods of Automatic Cooking Robot, specifically includes the following steps:
S1: operational order is received；
The food materials of food materials rest area are removed and placed in cooking pot tool by the S2: the first manipulator；
The cooking pot tool is transferred to cooking area and cooked by the S3: the second manipulator；
S4: the cooking pot tool is transferred to above discharging mechanism by second manipulator, the described second mechanical hand-motion
The cooking pot tool overturning is to pour into sabot in the discharging mechanism for cooked food；
S5: the good food of sabot is sent to designated position by the discharging mechanism.
Specifically, control system is by controlling the first manipulator and the second manipulator is orderly transported after the operational order of user
Row, the first manipulator are moved to food materials rest area under the instruction of control system and are put into the food materials taking-up in food materials rest area
In cooking pot tool, to realize that automatic material taking operates；Second manipulator puts cooking pot tool to culinary art under the instruction of control system
Area is cooked, to realize that automatic cooking operates；After the completion of culinary art, cooking pot tool is transferred on discharging mechanism by the second manipulator
Side, then the second mechanical hand-motion cooking pot tool downwardly turns over, and will fill in the food investment discharging mechanism in cooking pot tool
Disk；The good food of sabot is sent to designated position by last discharging mechanism.Automatic Cooking Robot of the invention can be achieved at the same time
Automatic material taking, automatic cooking and automatic disc filling and output multiple functions, great interest and technology sense, can effectively promote user's body
It tests.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of Automatic Cooking Robot, which is characterized in that including robot body, station and cooking pot tool, the operation
Platform be equipped with food materials rest area, cooking area and discharging mechanism, the robot body include the first manipulator, the second manipulator and
Control system, the control system is used to control first manipulator and second manipulator is cooked according to preset instructions
It prepares food operation, first manipulator by the food materials in the food materials rest area for taking out and putting to the cooking pot tool, institute
The second manipulator is stated to cook for the cooking pot tool to be transferred to the cooking area, after the completion of to be cooked, described second
Manipulator is also used to drive the cooking pot tool overturning cooked food is poured into sabot in the discharging mechanism, it is described go out
Material mechanism is used to the good food of sabot being sent to designated position.
2. Automatic Cooking Robot according to claim 1, which is characterized in that the food materials rest area is equipped with magazine, institute
Stating the first manipulator includes first mechanical arm and feeding fixture, and the feeding fixture is rotatably installed on the first mechanical arm
Free end, the first mechanical arm is for driving the feeding fixture to be moved in three-dimensional space to press from both sides to the magazine
It takes or discharges, the first mechanical arm is also used to that the feeding fixture and the magazine is driven to overturn.
3. Automatic Cooking Robot according to claim 2, which is characterized in that the feeding fixture is equipped with stirring chopsticks,
The first mechanical arm can drive the stirring chopsticks movement to be stirred to the foodstuff in the cooking pot tool, first machine
Tool arm can also drive the stirring chopsticks to stir the foodstuff in the magazine.
4. Automatic Cooking Robot according to claim 2, which is characterized in that the food materials rest area is additionally provided with for putting
Set the cabinet of the magazine.
5. Automatic Cooking Robot according to claim 1, which is characterized in that second manipulator includes second mechanical
Arm and rotating connector set on the second mechanical arm free end, the rotating connector connect solid with the cooking pot tool
Fixed, the second mechanical arm drives the cooking pot tool to move in three-dimensional space.
6. Automatic Cooking Robot according to claim 1, which is characterized in that the cooking area is equipped with pot cover component, institute
Stating pot cover component includes lid and the first driving mechanism, first driving mechanism opened for driving the lid overturning or
Lid closes the cooking pot tool.
7. Automatic Cooking Robot according to claim 6, which is characterized in that the pot cover component further includes set on described
Blender on lid, the blender are used for when the cover cap closes the cooking pot tool to the food in the cooking pot tool
Material is stirred.
8. automatic cooking mechanism according to claim 1, which is characterized in that the cooking area is equipped with heating equipment, described
Heating equipment is used to carry out heating cooking to the foodstuff in the cooking pot tool.
9. according to claim 1 to automatic cooking mechanism described in 8 any one, which is characterized in that the discharging mechanism includes
Utensil and transmission device are held, cooking pot tool overturning described in the described second mechanical hand-motion is described to pour into cooked food
It holds in utensil, the transmission device is used to the utensil that holds being sent to designated position.
10. a kind of cooking methods, which comprises the following steps:
Receive operational order；
The food materials of food materials rest area are removed and placed in cooking pot tool by the first manipulator；
The cooking pot tool is transferred to cooking area and cooked by the second manipulator；
The cooking pot tool is transferred to above discharging mechanism by second manipulator, is cooked described in the described second mechanical hand-motion
Cookware is overturn so that cooked food is poured into sabot in the discharging mechanism；
The good food of sabot is sent to designated position by the discharging mechanism.
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| CN112493522A (en) * | 2020-12-15 | 2021-03-16 | 广州富港万嘉智能科技有限公司 | Food making interaction method, computer readable storage medium and food making equipment |
| CN112493522B (en) * | 2020-12-15 | 2023-11-10 | 广州富港生活智能科技有限公司 | Food preparation interaction method, computer readable storage medium and food preparation device |
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