CN115054105A - Automatic cooking system and method - Google Patents

Abstract

The invention belongs to the technical field of automatic catering equipment, and particularly relates to an automatic cooking system and method. The technical scheme is as follows: the utility model provides an automatic system of cooking, includes the manipulator, installs clamping device on the manipulator, has arranged the freezer that is used for placing the magazine, the kitchen body that is used for placing and heating the pan and the pan belt cleaning device that is used for wasing the pan around the manipulator respectively, installs automatic device of cooking on the kitchen body, still includes the platform, installs automatic meal delivery device on the platform. An automatic dish frying method comprises the following steps: pouring dishes to be fried into a pot on the stove body, and frying by using an automatic frying device; after the frying is finished, the automatic frying device is removed; the cookware is moved by the clamping device of the manipulator, and dishes are poured into the automatic meal delivery device and delivered; and then the cookware is moved into the cookware cleaning device to be cleaned. The invention provides an automatic cooking system and method capable of simulating manual cooking and automatically cleaning a pot.

Description

Automatic cooking system and method

Technical Field

The invention belongs to the technical field of automatic catering equipment, and particularly relates to an automatic cooking system and method.

Background

The automatic frying pan adopts a professional cooking program simulation technology, does not need to be observed manually, puts all prepared main materials, ingredients and seasonings into the pan at one time, sets a program, automatically heats oil, automatically turns over and fries, automatically controls the duration and degree of heating, and can automatically cook without experience.

The invention patent with the patent application number of CN202210032067.8 discloses an automatic cooking system with an unmanned selling function, which comprises a refrigerated cabinet, wherein a plurality of fluent shelf racks are arranged in the refrigerated cabinet, the ends of the fluent shelf racks, which are close to an outlet, are provided with a stopping device, and customized dish boxes are arranged on the fluent shelf racks; the XY-axis manipulator is arranged in the refrigerated cabinet and used for conveying the customized vegetable box to an outlet of the refrigerated cabinet; a disk jacking machine; the cooking machine is used for cooking food in the customized lunch box and putting the cooked food into the customized lunch box; the rice taking machine is used for placing rice into the customized lunch box; the packaging machine is used for covering and packaging the customized lunch box; a heat preservation cabinet; six arms. The invention also comprises an operation method comprising the systems of order management, stock management, replenishment management, equipment management, marketing management and the like. The raw materials adopted by the invention are fresh, quick, convenient, sanitary, money-saving, plentiful in dishes and unmanned: people do not need to be contacted during the epidemic situation; the functions are complete: the automatic cooking, rice adding and packaging are realized in a one-stop way.

The cooking machine can not be made into the shape of a frying pan, can be used for stewing or frying by stirring through a stirring rod, but can not simulate manual frying. The stirring mode causes dishes to be stacked and not to be fully contacted with the surface of the pan, and the taste of the dishes is difficult to ensure when the stirring mode is used for frying the dishes.

In addition, the cooking machine of the cooking system cannot be automatically cleaned after cooking is finished, so that cooking cannot be continuously carried out, and the cooking machine needs to be manually cleaned.

Disclosure of Invention

In order to solve the above problems in the prior art, an object of the present invention is to provide an automatic cooking system and method capable of simulating manual cooking and automatically cleaning a pot.

The technical scheme adopted by the invention is as follows:

the utility model provides an automatic system of cooking, includes the manipulator, installs clamping device on the manipulator, has arranged the freezer that is used for placing the magazine, the kitchen body that is used for placing and heating the pan and the pan belt cleaning device that is used for wasing the pan around the manipulator respectively, installs automatic device of cooking on the kitchen body, still includes the platform, installs automatic meal delivery device on the platform.

And (4) pouring dishes to be fried into a pot on the stove body, and frying by using an automatic frying device. After the frying is finished, the automatic frying device is moved away, the cookware is moved by the clamping device of the manipulator, and dishes are poured into the automatic meal-serving device and served. And then the cookware is moved into the cookware cleaning device to be cleaned. Therefore, the invention can realize the automation of the whole process from cooking to meal serving to cleaning the pot, and the manual intervention is not needed between two adjacent meal serving. In addition, the oven body and the automatic cooking device both simulate the scene of manual cooking, so that the taste of dishes is closer to that of manual cooking.

According to the preferable scheme, the stove body comprises a stove body framework, an electromagnetic stove supporting frame is connected to the stove body framework, an electromagnetic stove is arranged on the electromagnetic stove supporting frame, a smoke exhaust hood is further connected to the upper side of the electromagnetic stove supporting frame, the smoke exhaust hood surrounds a cooker on the electromagnetic stove and leaves a stove front opening, a plurality of smoke exhaust ports are formed in the inner side of the smoke exhaust hood, and a plurality of smoke exhaust pipes are connected to the smoke exhaust hood.

The fume hood surrounds the electromagnetic range, so that oil fume generated by frying dishes can be pumped into the fume hood from the surrounding fume outlets and then is exhausted from the fume exhaust pipe by the fume hood. The space above the cooker can not be blocked by the smoke exhaust hood, so that an automatic cooking device can be arranged above the cooker. Moreover, the distance between the smoke outlet and the cookware is small by exhausting smoke from the periphery of the cookware, so that the smoke can be discharged in time, and the smoke is prevented from being emitted to the outside. The smoke exhaust cover surrounds the cookware, so that smoke can be exhausted from all directions through the smoke exhaust device opening on the smoke exhaust cover, and the smoke exhaust effect is further improved.

As a preferred scheme of the invention, the automatic cooking device comprises a fixed plate fixed on a stove body, a turning driving mechanism is mounted on the fixed plate, an output end of the turning driving mechanism is connected with a turning arm, a turning driving mechanism is mounted on the turning arm, an output end of the turning driving mechanism is connected with a stirring shaft, a turning component for dishes in a pot and a collecting component for scraping the dishes at the edge of the pot to the middle of the pot are connected to the stirring shaft, and the vertical distance between the end of the collecting component and the stirring shaft is greater than the vertical distance between the end of the turning component and the stirring shaft.

The turnover driving mechanism can drive the turnover arm to rotate, and when the cookware is placed on a cooking bench or taken out of the cooking bench, the turnover arm is rotated to give way for the cookware to move, so that interference is avoided. The stir-frying driving mechanism drives the stirring shaft to rotate, and the stirring shaft drives the stir-frying component and the collecting component to do rotary motion, so that dishes in the pot are fully stir-fried. The stir-frying component stir-fries in the middle area of the pot, so that the turner is used for turning dishes during stir-frying. The collecting component collects the peripheral dishes in the middle area of the cookware in the area outside the cookware, ensures that the contact probability of all the dishes and the cookware is the same, simulates the action of dialing back the peripheral dishes during cooking, and avoids the jumping of the peripheral dishes. The actions of the stir-frying component and the collecting component fully simulate the actions of manual stir-frying, so that the taste of dishes is better.

According to the preferred scheme of the invention, the stir-frying component comprises a planetary stirring arm, the planetary stirring arm is connected with the lower section of the stirring shaft, a plurality of turner fixing pieces are connected to the planetary stirring arm, and stirring blades are connected to the turner fixing pieces; an included angle is formed between the upper section and the lower section of the stirring shaft; the collecting component comprises a supporting rod, the supporting rod is connected to the upper section of the stirring shaft, and the other end of the supporting rod is connected with a collecting scraper.

The stirring blades can be fixed at a determined angle, and the rotation paths of the stirring blades cover all dish areas, so that dishes are fully and uniformly stirred. The stirring blades are plate-shaped, so that the action of the stirring blades can simulate the action of a turner, and dishes can be fully turned. The hypomere of (mixing) shaft is for the upper segment slope, then polylith stirring vane's radius of gyration is different, and inboard stirring vane is responsible for stirring the vegetable that is close to the pan center, and the stirring vane in the outside is responsible for stirring the vegetable that leans on outward, avoids the unable condition by the stirring of the vegetable at middle part. The bracing piece will collect the scraper blade and stretch more peripheral region in the pan to when the (mixing) shaft rotated, the scraper blade was collected to the collection can be with jumping to the peripheral vegetable and collect the pan middle part again, avoided jumping to the unable condition of being turned of peripheral vegetable.

As a preferable scheme of the invention, the automatic meal delivery device comprises a dish slide way for placing the material box, a material guide groove for pouring dishes is arranged above the dish slide way, a meal delivery pushing mechanism for pushing the material box to move on the dish slide way is arranged beside the dish slide way, and both the dish slide way and the meal delivery pushing mechanism are arranged on the platform.

The meal delivery pushing mechanism can push the material box to slide in the dish slide way to complete meal delivery. When the material box moves to the lower part of the material guide groove, the meal delivery pushing mechanism stops acting, and dishes poured from the upper part are guided into the material box through the material guide groove. After dishes are filled in the material box, the meal delivery pushing mechanism continues to push the material box to move to a meal delivery position. Therefore, the automatic meal delivery device can enable the material box to stop at the corresponding position of the dish slide for adding dishes, the material box is pushed out continuously, the dish adding and meal delivery processes are carried out on the dish slide, the corresponding processes can be reduced, and the meal delivery speed is increased.

As a preferable scheme of the invention, the lower end of the guide chute is connected with a liquid collecting mechanism; the liquid collecting mechanism comprises a clip-shaped liquid collecting box, the lower end of the guide chute is connected with a guide chute flaring, and the lower end of the guide chute flaring extends into the liquid collecting box; the inner side of the liquid collecting box is provided with a baffle, a gap is reserved between the baffle and the flaring of the guide groove, and the baffle is positioned on the outer side of the projection of the upper end of the flaring of the guide groove in the horizontal plane.

Because the baffle is located the upper end of guide way flaring outside in the horizontal plane projection, after pouring the dish into the baffle box of baffle box, the dish can directly fall into below, can not blockked by the baffle of collection liquid mechanism. After the material box is moved away from the lower part of the material guide groove, oil and water in the material guide groove drip along the inner wall, and the oil and water are guided to the liquid collecting box through the flaring of the guide groove, so that the condition that the oil and water drip on the dish slide way is avoided.

As a preferred scheme of the invention, the cookware cleaning device comprises a cleaning tank, wherein a telescopic mechanism is connected to the outer wall of the cleaning tank, a cleaning driving mechanism is connected to the telescopic mechanism, a cleaning transmission shaft is connected to the output end of the cleaning driving mechanism, a cleaning unit is connected to the other end of the cleaning transmission shaft, and the cleaning unit is located in the cleaning tank.

After the pan is laid in place, move the cleaning unit to the position of contacting the pan inner wall, restart and wash actuating mechanism, then can wash the pan inner wall. The telescopic mechanism can drive the cleaning transmission shaft and the cleaning unit to move, so that the cleaning unit and the cleaning transmission shaft are moved away in the process of taking and placing the cookware, a passage for the cookware to move is made, and the cookware can be accurately taken and placed.

As a preferred scheme of the invention, a water collecting tank is arranged below the cleaning tank, and a water outlet is arranged on the water collecting tank; the water collecting tank is provided with a draining frame, the bottom of the draining frame is provided with a plurality of draining holes, and the lower end of the cleaning tank is narrowed and extends into the draining frame.

The water collecting tank is provided with a water outlet. The sewage in the cleaning tank can be collected in the water collecting tank and then is discharged through the water outlet. The sewage flows into the water collecting tank after being filtered by the draining frame, so that the draining frame can filter the solid in the sewage to prevent the solid from blocking the water outlet.

According to the preferable scheme, the clamping device comprises a gripper base plate, clamping jaw driving pieces are connected to two sides of the gripper base plate, moving blocks are connected to output ends of the clamping jaw driving pieces, output ends of the two clamping driving pieces are oppositely arranged, positioning pins used for being inserted into transverse holes in a cooker connecting piece are connected to the moving blocks, and magazine clamping jaws used for clamping magazine are further connected to the moving blocks.

The clamping driving piece can drive the moving blocks to move, when the moving blocks on the two sides move in opposite directions, the two magazine clamping jaws are drawn together, and the positioning pins on the two sides are also drawn together. When the feed box clamping jaws on the two sides are closed, the feed box can be clamped, so that the feed box can be taken and placed. When the locating pin of both sides was drawn close, the horizontal downthehole of can inserting the pan connecting piece to remove the pan. In conclusion, the manipulator clamping device can be used for clamping a pot and a material box respectively, the use of the manipulator can be reduced in the automatic cooking system, and the actions of taking and placing the material box and the pot can be finished through one manipulator.

An automatic dish frying method comprises the following steps:

pouring dishes to be fried into a pot on the stove body, and frying by using an automatic frying device;

after the frying is finished, the automatic frying device is moved away;

the cookware is moved by the clamping device of the manipulator, and dishes are poured into the automatic meal serving device and served;

and then the cookware is moved into the cookware cleaning device to be cleaned.

The invention has the beneficial effects that:

1. the invention can realize the automation of the whole process from cooking to meal serving to cleaning the pot, and does not need manual intervention between two adjacent meal serving.

2. The stir-frying driving mechanism drives the stirring shaft to rotate, and the stirring shaft drives the stir-frying component and the collecting component to do rotary motion, so that dishes in the pot are fully stir-fried. The stir-frying component stir-fries in the middle area of the pot, so that the turner is used for turning dishes during stir-frying. The collecting component collects the peripheral dishes in the middle area of the cookware in the area outside the cookware, ensures that the contact probability of all the dishes and the cookware is the same, simulates the action of dialing back the peripheral dishes during cooking, and avoids the jumping of the peripheral dishes. The actions of the stir-frying component and the collecting component fully simulate the actions of manual stir-frying, so that the taste of dishes is better.

3. The telescopic mechanism can drive the cleaning transmission shaft and the cleaning unit to move, so that the cleaning unit and the cleaning transmission shaft are moved away in the process of taking and placing the pot, a moving channel of the pot is made to be accessible, and the pot can be taken and placed accurately. And, the pan is laid the back that targets in place, moves the cleaning unit to the position of contact pan inner wall, restarts and washs actuating mechanism, then can wash the pan inner wall. The invention can automatically clean the cookware and prevent the cookware from being blocked by the cleaning unit when the cookware is taken and placed.

Drawings

FIG. 1 is a schematic view of the structure of the present invention in a first direction;

FIG. 2 is a schematic view of the structure of the present invention in a second direction;

FIG. 3 is a schematic view of the first direction of the cooking range body;

FIG. 4 is a structural view of the cooking range body in a second direction;

fig. 5 is a partial structural view of the range body;

FIG. 6 is a schematic view of a centrifugal fan;

FIG. 7 is a schematic structural view of the automatic cooking device;

FIG. 8 is a schematic view of the structure of the stirring shaft, stir-frying unit and collecting unit;

FIG. 9 is an enlarged view of a portion of FIG. 7 at A;

fig. 10 is a front view of the automatic cooking apparatus;

FIG. 11 is a top plan view of the automatic cooking device with the top cover of the support shroud removed;

fig. 12 is a rear view of the automatic cooking apparatus;

FIG. 13 is a schematic structural diagram of an automatic meal delivery device;

FIG. 14 is a schematic view of the meal delivery mechanism in a first orientation;

fig. 15 is a structural schematic view of a second direction of the meal delivery pushing mechanism;

fig. 16 is a schematic view of the structure of a guide chute;

fig. 17 is a sectional view of a guide chute;

FIG. 18 is a schematic view of the structure of the pot cleaning device;

FIG. 19 is a top view of the pot cleaning device;

FIG. 20 is a sectional view taken along line B-B of FIG. 19;

FIG. 21 is a cross-sectional view taken along line C-C of FIG. 19;

FIG. 22 is a partial structure view of the pot cleaning device;

FIG. 23 is a schematic view of the structure of the clamping device;

FIG. 24 is a schematic view of the robot;

FIG. 25 is a schematic view of the construction of the cookware;

fig. 26 is a schematic structural view of the cartridge.

In the figure: 1-a clamping device; 2-a refrigerator; 3-a stove body; 4-pot cleaning device; 5-automatic cooking device; 6-a platform; 7-automatic meal delivery device; 8-a pot; 9-a cartridge; 11-a gripper base plate; 12-a jaw drive; 13-a moving block; 14-positioning pins; 15-cartridge jaws; 16-a positioning sensor; 151-limit hook; 31-a stove body framework; 32-induction cooker support; 33-an induction cooker; 34-a smoke exhaust hood; 35-smoke exhaust pipe; 36-centrifugal fan; 37-cover plate; 311-a stove opening support frame; 312-pot positioning support column; 321-an induction cooker placing opening; 341-opening in front of stove; 342-smoke outlet; 361-smoke collecting cylinder; 41-a cleaning tank; 42-a telescoping mechanism; 43-cleaning the driving mechanism; 44-cleaning the transmission shaft; 45-a cleaning unit; 46-a water collection tank; 47-draining frame; 411-splash cover plate; 412-a retaining pin; 413-shaft sleeve; 431-cleaning the motor; 432-cleaning the decelerator; 451-a brush head; 461-water outlet; 471-draining holes; 51-a fixed plate; 52-a flip drive mechanism; 53-a flipping arm; 54-stir-fry drive mechanism; 55-a bearing seat; 56-stirring shaft; 57-stir-fry component; 58-a collection component; 521-a turnover motor; 522-turnover reducer; 523-overturning driving arm; 524-positioning the detecting element; 531-supporting a shield; 541-stir-frying motor; 542-stir-fry reducer; 551-positioning the mounting plate; 552-position switch; 571-planetary stirring arms; 572-slice holder; 573-stirring blade; 581-support bar; 582-a collecting scraper; 71-a dish slide; 72-a material guide groove; 73-meal delivery pushing mechanism; 74-a liquid collection mechanism; 721-flaring of the guide groove; 722-liquid collecting fixing plate; 723-Compartment clasp; 731-meal delivery push shield; 732-a puck drive unit; 733-meal delivery push tray; 734-optical axis; 735-a guide slide; 736-a guide support platform; 741-a liquid collection box; 742-box buckle hooks; 7321-a push plate motor; 7322-push disk reducer; 7323-driving pulley; 7324-a driven pulley; 7325-belts; 7331-limit step; 7411-baffle plate; 81-a pot body; 82-a pot connection; 821-a transverse bore; 822-a longitudinal bore; 823-axial hole; 91-rib.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.

As shown in fig. 1 and 2, the automatic cooking system of the embodiment includes a manipulator, a clamping device 1 is installed on the manipulator, a refrigerator 2 for placing a material box 9, a stove body 3 for placing and heating a pot 8, and a pot cleaning device 4 for cleaning the pot 8 are respectively arranged around the manipulator, an automatic cooking device 5 is installed on the stove body 3, and the automatic cooking system further includes a platform 6, and an automatic meal delivery device 7 is installed on the platform 6; also comprises a control device.

And (3) pouring dishes to be fried into a pot 8 on the stove body 3, and frying by using the automatic frying device 5. After the frying is finished, the automatic frying device 5 is removed, the pan 8 is moved by the clamping device 1 of the manipulator, and dishes are poured into the automatic meal-serving device 7 and served. And then the pot 8 is moved into the pot cleaning device 4 for cleaning. Therefore, the invention can realize the automation of the whole process from cooking to meal serving to cleaning the pot 8, and the manual intervention is not needed between two adjacent meal serving. In addition, the stove body 3 and the automatic cooking device 5 both simulate the scene of manual cooking, so that the taste of dishes is closer to that of manual cooking.

It should be noted that: the automatic cooking system of the embodiment can also be provided with no platform 6, a supporting structure is arranged at the food output position, and the automatic food output device 7 is arranged on the supporting structure.

The automatic cooking system can be additionally provided with a material supplying and coiling bin, the material supplying and coiling bin is arranged beside the automatic meal discharging device 7, a laser ranging sensor is arranged on the material supplying and coiling bin, and the clamping device 1 on the mechanical arm is guided to take dishes. The material box 9 on the tray material supplying bin has the same structure with the material box 9 in the refrigerator 2. The material box 9 in the refrigerator 2 is filled with the dishes to be fried, the manipulator moves the material box 9 filled with the dishes to be fried to the position of the pot 8, and the dishes are poured into the pot 8 to be fried. And the material box 9 in the material supplying bin is an empty box, the material box 9 in the material supplying bin is clamped by the manipulator into the automatic meal discharging device 7, and the fried dish is clamped by the manipulator into the pot 8 and poured into the material box 9 in the automatic meal discharging device 7 for meal discharging.

Smoke collection stove body 3:

as shown in fig. 3 and 4, the smoke collecting oven body 3 includes an oven body frame 31, an electromagnetic oven support frame 32 is connected to the oven body frame 31, an electromagnetic oven 33 is arranged on the electromagnetic oven support frame 32, a smoke exhaust hood 34 is further connected to the upper side of the electromagnetic oven support frame 32, the smoke exhaust hood 34 surrounds a pot 8 on the electromagnetic oven 33 and leaves an oven front opening 341, a plurality of smoke exhaust ports 342 are arranged on the inner side of the smoke exhaust hood 34, and a plurality of smoke exhaust pipes 35 are connected to the smoke exhaust hood 34.

The fume hood 34 surrounds the induction cooker 33 so that the fume generated from the stir-fried dishes can be drawn into the fume hood 34 through the surrounding fume outlets 342 and then discharged from the fume exhaust pipe 35 through the fume hood 34. The space above the pan 8 is not blocked by the smoke exhaust hood 34, so that the automatic cooking device 5 can be arranged above the pan 8, and the smoke collection oven body 3 can be suitable for automatic cooking equipment. In addition, by exhausting smoke from the periphery of the pot 8, the distance between the smoke exhaust port 342 and the pot 8 is small, smoke can be exhausted in time, and the smoke is prevented from being emitted to the outside. The fume hood 34 encloses the pot 8 so that the fume extractor opening in the fume hood 34 can extract the fume from all directions, further improving the fume extraction effect.

As shown in FIG. 5, the number of the smoke exhaust pipes 35 connected to the smoke exhaust hood 34 is four, and the four smoke exhaust pipes 35 are uniformly distributed on the outer side of the smoke exhaust hood 34. The smoke exhaust pipe 35 timely exhausts the smoke in the smoke exhaust hood 34 from four directions, thereby increasing the flow rate and further improving the smoke exhaust effect.

Further, as shown in fig. 6, the smoke collection device further includes a centrifugal fan 36, the centrifugal fan 36 is connected to a smoke collection cylinder 361, and the plurality of smoke discharge pipes 35 are respectively connected to the smoke collection cylinder 361. Under the action of the centrifugal fan 36, the flue gas enters the smoke collecting cylinder 361 through the smoke outlet 342, the smoke exhaust hood 34 and the smoke exhaust pipe 35 and is exhausted by the centrifugal fan 36, so that the flue gas is prevented from staying in a stir-frying operation space.

The range body frame 31 is connected with a cover plate 37, and the upper side of the cover plate 37 is flush with the upper side of the smoke exhaust hood 34. Cover plate 37 may cover smoke exhaust hood 34 to isolate high temperatures and ensure safety.

In order to conveniently take and place the induction cooker 33, as shown in fig. 4, an induction cooker placing opening 331 for feeding or taking out the induction cooker 33 is reserved on one side of the induction cooker supporting frame 32. The induction cooker 33 can be placed into the induction cooker support frame 32 or taken out from the induction cooker support frame through the induction cooker placement opening 331, operation is convenient, and the structure does not need to be disassembled.

For the pot 8 to be installed conveniently, as shown in fig. 5, the stove frame 31 is further connected with a stove opening support 311, the stove opening support 311 is located at the stove front opening 341 of the smoke exhaust hood 34, and the stove opening support 311 is connected with a pot positioning support column 312 for fixing the pot 8. The cookware positioning support column 312 is inserted into the longitudinal hole 822 of the cookware connecting piece 82 to realize fixation. The smoke exhaust hood 34 is provided with a front opening 341 for the cooker 8 to be taken and placed conveniently. The pan 8 can be fixed to pan location support column 312, guarantees the stability of pan 8.

It should be noted that: the hob body frame 31 is provided with double cooking positions, wherein one cooking position is in a starting operation preparation stage when the material is added for cooking.

Automatic cooking device 5:

as shown in fig. 7 and 10, the automatic cooking device 5 includes a fixing plate 51 fixed on the cooker body 3, a turning driving mechanism 52 is installed on the fixing plate 51, an output end of the turning driving mechanism 52 is connected with a turning arm 53, a turning driving mechanism 54 is installed on the turning arm 53, an output end of the turning driving mechanism 54 is connected with a stirring shaft 56, the stirring shaft 56 is connected with a turning component 57 for cooking items in the pot 8 and a collecting component 58 for scraping the cooking items at the inner edge of the pot to the middle part of the pot, and a vertical distance between an end of the collecting component 58 and the stirring shaft 56 is greater than a vertical distance between an end of the turning component 57 and the stirring shaft 56.

The turning driving mechanism 52 can drive the turning arm 53 to rotate, so that when the pot 8 is placed on the stove body 3 or taken out of the stove body 3, the pot 8 is made to move in a space by rotating the turning arm 53, and interference is avoided. The stir-frying driving mechanism 54 drives the stirring shaft 56 to rotate, and the stirring shaft 56 drives the stir-frying component 57 and the collecting component 58 to do rotary motion, so that dishes in the pot 8 are fully stir-fried. The stir-frying component 57 stirs and fries in the middle area of the pot 8, so that the turner is simulated to stir dishes during frying. The collection component 58 collects the peripheral dishes in the middle area of the pot 8 in the area outside the pot 8, ensures that the contact probability of all the dishes and the pot 8 is the same, simulates the action of dialing back the peripheral dishes during frying, and avoids the jumping of the peripheral dishes. The actions of the stir-frying component 57 and the collecting component 58 fully simulate the actions of manual stir-frying, so that the taste of dishes is better.

Specifically, as shown in fig. 8, the stir-frying assembly 57 includes a planetary stirring arm 571, the planetary stirring arm 571 is connected to the lower section of the stirring shaft 56, a plurality of spatula holders 572 are connected to the planetary stirring arm 571, and stirring blades 573 are connected to the spatula holders 572. The agitating blades 573 can be fixed at a certain angle, and the rotation path of the plurality of agitating blades 573 covers all the dish area, ensuring that the dishes are sufficiently and uniformly agitated. The stirring blades 573 are plate-shaped, so that the action of the stirring blades can simulate the action of a pancake turner, and dishes can be fully turned.

The shovel fixing part 572 and the planetary stirring arm 571 and the stirring shaft 56 are connected through a single bolt, so that the angles of the planetary stirring arm 571 and the shovel fixing part 572 can be adjusted, the stirring blades 573 adapt to the corresponding pot 8, the stirring blades 573 are close to the inner wall of the pot 8, and the rotation passing area of each stirring blade 573 covers the area where dishes are likely to appear, and uniform stirring is guaranteed.

In order to make the stirring area larger, the upper section and the lower section of the stirring shaft 56 have an included angle therebetween. The lower section of the stirring shaft 56 is inclined relative to the upper section, so that the turning radiuses of the stirring blades 573 are different, the inner stirring blade 573 is responsible for stirring dishes close to the center of the pot 8, and the outer stirring blade 573 is responsible for stirring dishes close to the outer side, so that the condition that the dishes in the middle cannot be turned over is avoided.

Specifically, the collecting assembly 58 includes a support rod 581, the support rod 581 is connected to the upper section of the stirring shaft 56, and the other end of the support rod 581 is connected to a collecting scraper 582. The supporting rod 581 extends the collecting scraper 582 to the more peripheral region in the pot 8, so that when the stirring shaft 56 rotates, the collecting scraper 582 can collect dishes jumping to the periphery again to the middle of the pot 8, and the phenomenon that the dishes jumping to the periphery cannot be turned over is avoided.

Specifically, as shown in fig. 11, the stir-frying driving mechanism 54 includes a stir-frying motor 541, an output end of the stir-frying motor 541 is connected to a stir-frying speed reducer 542, both the stir-frying motor 541 and the stir-frying speed reducer 542 are mounted on the turning arm 53, and an output end of the stir-frying speed reducer 542 is connected to the stirring shaft 56. The stir-frying motor 541 drives the stir-frying speed reducer 542 to move, and the stir-frying speed reducer 542 drives the stirring shaft 56 to rotate, so that the stir-frying component 57 and the collecting component 58 on the stirring shaft 56 can stir the dishes fully and uniformly.

In order to ensure safety, the turning arm 53 is connected with a supporting shield 531, and the stir-frying driving mechanism 54 is arranged in the supporting shield 531. The supporting shield 531 can cover the stir-frying driving mechanism 54, so that the safety is ensured.

Specifically, as shown in fig. 12, the flipping driving mechanism 52 includes a flipping motor 521, an output end of the flipping motor 521 is connected to a flipping reducer 522, the flipping motor 521 and the flipping reducer 522 are both mounted on the fixing plate 51, an output end of the flipping reducer 522 is connected to a flipping driving arm 523, and the flipping arm 53 is connected to the flipping driving arm 523. The turning motor 521 drives the turning reducer 522 to act, and the turning reducer 522 drives the turning driving arm 523 to rotate. The turning driving arm 523 drives the turning arm 53 to rotate together, so that the turning arm 53 is turned up before the pot 8 is taken from the cooking bench, and the pot 8 is prevented from being blocked.

The fixed plate 51 is further connected with a bearing seat 55, and one end of the overturning driving arm 523 far away from the overturning reducer 522 is connected with the bearing seat 55 through a bearing. The bearing seat 55 supports the tilting drive arm 523 through a bearing, so as to ensure the stability of the tilting drive arm 523.

As shown in fig. 8, in order to accurately position the tilting arm 53, a positioning detector 524 is connected to an end of the tilting drive arm 523, a positioning mounting plate 551 is connected to a substrate of the bearing housing 55, a plurality of positioning switches 552 are mounted on the positioning mounting plate 551, the positioning switches 552 are located on a rotation path of the positioning detector 524, and the positioning switches 552 are electrically connected to the tilting motor 521. When the flipping drive arm 523 rotates, the positioning detector 524 rotates accordingly, and when the positioning detector 524 rotates to the position of the positioning switch 552, the positioning switch 552 controls the flipping motor 521 to stop, so that the flipping arm 53 can be controlled to stop at a certain position.

The number of the positioning switches 552 on the positioning mounting plate 551 is two, wherein the turning arm 53 is horizontal when one positioning switch 552 coincides with the positioning detection piece 524, and the turning arm 53 is vertical when the other positioning switch 552 coincides with the positioning detection piece 524. When it is desired to stir the dishes using the stir-fry assembly 57 and the collection assembly 58, the invert arm 53 is rotated to the horizontal. At this time, the positioning detector 524 overlaps the positioning switch 552 on the lower side, and the positioning switch 552 controls the turning motor 521 to stop, thereby preventing the turning arm 53 from continuing to rotate. When it is desired to move out of or into the pot 8, the turning arm 53 is turned to be vertical. At this time, the positioning detector 524 overlaps the rear positioning switch 552, and the positioning switch 552 controls the turning motor 521 to stop, thereby preventing the turning arm 53 from continuing to rotate.

Automatic meal delivery device 7:

as shown in fig. 13, the automatic meal delivery device 7 includes a dish slide 71 for placing the material box 9, a material guiding groove 72 for pouring dishes is arranged above the dish slide 71, and a meal delivery pushing mechanism 73 for pushing the material box 9 to move on the dish slide 71 is arranged beside the dish slide 71; the dish slide 71 and the meal delivery pushing mechanism 73 are both arranged on the platform 6, and the liquid collection mechanism 74 is arranged on the dish slide 71.

The meal delivery pushing mechanism 73 can push the material box 9 to slide in the dish slide rail 71, and meal delivery is completed. When the material box 9 moves to the lower part of the material guide groove 72, the meal delivery pushing mechanism 73 stops, and dishes poured from the upper part are guided into the material box 9 through the material guide groove 72. After dishes are loaded in the material box 9, the meal delivery pushing mechanism 73 continues to push the material box 9 to move to the meal delivery position. Therefore, the automatic meal delivery device 7 can stop the material box 9 at the corresponding position of the dish slide way 71 for adding dishes, and then continuously push out the material box 9, and the dish adding and meal delivery processes are carried out on the dish slide way 71, so that the corresponding processes can be reduced, and the meal delivery speed is increased.

Specifically, as shown in fig. 14 and 15, the meal delivery pushing mechanism 73 includes a meal delivery pushing shield 731, a tray driving unit 732 is installed in the meal delivery pushing shield 731, an output end of the tray driving unit 732 is connected to a meal delivery pushing plate 733, and the other end of the meal delivery pushing plate 733 extends above the dish slide 71. When the tray driving unit 732 drives the meal pushing tray 733 to move, the meal pushing tray 733 pushes the material box 9 to move on the dish slide 71, so that the position of the meal pushing tray 733 can be accurately controlled by controlling the tray driving unit 732.

The push disc driving unit 732 comprises a push disc motor 7321, an output end of the push disc motor 7321 is connected with a push disc reducer 7322, the push disc reducer 7322 is connected in the meal delivery pushing shield 731, an output end of the push disc reducer 7322 is connected with a driving pulley 7323, a driven pulley 7324 is further installed in the meal delivery pushing shield 731, a belt 7325 is connected between the driving pulley 7323 and the driven pulley 7324 in a transmission manner, and the meal delivery push disc 733 is connected to the belt 7325. The pushing plate motor 7321 drives the pushing plate reducer 7322 to operate, and the pushing plate reducer 7322 drives the driving pulley 7323 to rotate, so that the belt 7325 drives the meal delivery pushing plate 733 to move. The position of the dining push plate part 733 can be accurately controlled by controlling the on and off of the motor, so that the material box 9 can be conveniently stopped below the material guide groove 72, and dishes can be added to the material box 9.

Furthermore, a plurality of optical axes 734 are disposed in the meal delivery pushing shield 731, a guiding slider 735 is fixed on the meal delivery pushing plate 733, and the guiding slider 735 is sleeved on the optical axes 734. When the meal delivery pushing plate 733 moves, the optical axis 734 guides the guiding slider 735, so as to ensure that the meal delivery pushing plate 733 moves stably.

Meal delivery push guard 731 is also provided with a guide support table 736, and meal delivery push plate 733 is lapped on guide support table 736. The guide supporting table 736 supports the meal delivery pushing plate part 733, stability of the meal delivery pushing plate part 733 in the moving process is further improved, and the meal delivery pushing plate part 733 is guaranteed to push the material box 9 to move stably.

The meal delivery pushing plate 733 is provided with a limiting step 7331, and the limiting step 7331 is lapped with the side edge of the guide support table 736. The side edge of the guiding support table 736 limits the limiting step 7331, so that when the meal delivery pushing plate 733 moves, the meal delivery pushing plate 733 is always perpendicular to the dish slide 71, and the meal delivery pushing plate 733 is prevented from inclining.

Specifically, as shown in fig. 16 and 17, the material guide chute 72 has an upper end opening larger than a lower end opening. The opening at the upper part of the material guide groove 72 is large, so that dishes in the pot 8 can be conveniently and directly poured into the material guide groove 72, and the dishes are prevented from being scattered.

The lower end of the material guide groove 72 is connected with a liquid collecting mechanism 74. The liquid collecting mechanism 74 can collect oil and water in the process of pouring dishes, and the oil and water are prevented from being scattered.

The liquid collecting mechanism 74 comprises a clip-shaped liquid collecting box 741, the lower end of the guide chute 72 is connected with a guide chute flaring 721, and the lower end of the guide chute flaring 721 extends into the liquid collecting box 741; the inner side of the liquid collection box 741 is provided with a baffle 7411, a gap is reserved between the baffle 7411 and the guide groove expanding opening 721, and the baffle 7411 is positioned on the outer side of the projection of the upper end of the guide groove expanding opening 721 in the horizontal plane. Since the baffle 7411 is located outside the projection of the upper end of the flared opening 721 of the guide groove in the horizontal plane, after the dishes are poured into the material guide groove 72, the dishes can directly fall into the material box 9 below without being blocked by the baffle 7411 of the liquid collecting mechanism 74. When the material box 9 is moved away from the lower part of the material guide groove 72, the oil water in the material guide groove 72 drips along the inner wall, and the oil water is guided to the liquid collecting box 741 through the flaring 721 of the guide groove, so that the condition that the oil water drips on the dish slide 71 is avoided.

In order to facilitate the rapid disassembly and assembly of the liquid collecting mechanism 74, a liquid collecting fixing plate 722 is fixed on the outer wall of the material guide groove 72, a compartment buckle 723 is connected on the liquid collecting fixing plate 722, a compartment buckle 723 hook is connected on the liquid collecting mechanism 74, and the compartment buckle 723 is buckled with the compartment buckle 723 hook. The liquid collecting mechanism 74 is quickly assembled and disassembled with the liquid collecting fixing plate 722 of the guide chute 72 through the compartment buckle 723, and oil and water in the liquid collecting mechanism 74 can be poured out conveniently.

Pan belt cleaning device 4:

as shown in fig. 18 to 21, the pot cleaning device 4 includes a cleaning tank 41, a telescopic mechanism 42 is connected to an outer wall of the cleaning tank 41, a cleaning driving mechanism 43 is connected to the telescopic mechanism, an output end of the cleaning driving mechanism 43 is connected to a cleaning transmission shaft 44, the other end of the cleaning transmission shaft 44 is connected to a cleaning unit 45, and the cleaning unit 45 is located in the cleaning tank 41.

After the pan 8 is placed in place, move the cleaning unit 45 to the position of contacting the inner wall of the pan 8, and then start the cleaning driving mechanism 43, the inner wall of the pan 8 can be cleaned. The telescopic mechanism 42 can drive the cleaning transmission shaft 44 and the cleaning unit 45 to move, so that the cleaning unit 45 and the cleaning transmission shaft 44 are moved away in the process of taking and placing the pot 8, a moving channel of the pot 8 is made to be left, and the pot 8 can be taken and placed accurately.

The telescopic mechanism 42 includes a plurality of cylinders, piston rods of the cylinders are connected to the outer wall of the cleaning tank 41, and the cleaning driving mechanism 43 is connected between the cylinders. The cylinders act synchronously to drive the cleaning driving mechanism 43 to move, and the cleaning transmission shaft 44 and the cleaning unit 45 move correspondingly.

Specifically, as shown in fig. 22, the cleaning driving mechanism 43 includes a cleaning motor 431, an output end of the cleaning motor 431 is connected to a cleaning decelerator 432, the cleaning decelerator 432 is fixed between the plurality of cylinders, and the cleaning transmission shaft 44 is connected to an output end of the cleaning decelerator 432. The cleaning motor 431 drives the cleaning reducer 432 to move, the cleaning reducer 432 drives the cleaning transmission shaft 44 to rotate, and then the cleaning transmission shaft 44 drives the cleaning unit 45 to move on the inner wall of the pot 8, so as to scrub the inner wall of the pot 8.

Wherein the cleaning unit 45 comprises a plurality of brush heads 451, the brush heads 451 are connected to the cleaning transmission shaft 44, and the plurality of brush heads 451 are arranged along an arc direction. When the cleaning transmission shaft 44 drives the plurality of brush heads 451 to rotate, the brush heads 451 brush the inner wall of the pot 8. The brush heads 451 are arranged along an arc line, so that each brush head 451 can be attached to the inner wall of the pot 8, and each brush head 451 can play a role of brushing. The material of the brush head 451 may be a steel wire ball.

In the process that the brush head 451 brushes the pot 8, the water spraying holes on the cleaning tank 41 spray water towards the pot 8, so that the stains brushed by the brush head 451 on the pot 8 can be taken away in time.

The upper side of the cleaning tank 41 is connected with a splash cover 41137. Splash cover 41137 can prevent water from splashing during cleaning.

Furthermore, two fixing pins 412 for fixing the pot 8 are connected to the splashboard 41137. As shown in FIG. 25, when placing pan 8, insert the axial bore 823 of pan connecting piece 82 with fixed pin 412, then pan 8 can be placed accurate position, guarantees that cleaning unit 45 can accurately scrub the 8 inner walls of pan. Two fixed pins 412 are arranged side by side to fix the cookware 8, so that the cookware 8 can be limited, and the cookware 8 is prevented from rotating in the cleaning process.

In order to collect the sewage conveniently, a water collecting tank 46 is disposed below the cleaning tank 41, and a water outlet 461 is disposed on the water collecting tank 46. The sewage in the cleaning tank 41 can be collected in the water collecting tank 46, and the sewage is prevented from flowing out. The sewage can be discharged through the water discharge port 461.

The water collecting tank 46 is provided with a draining frame 47, the bottom of the draining frame 47 is provided with a plurality of draining holes 471, and the lower end of the cleaning tank 41 is narrowed and extends into the draining frame 47. The sewage is filtered by the draining frame 47 and then flows into the water collecting tank 46, so that the draining frame 47 can filter the solid in the sewage to prevent the solid from blocking the water outlet 461.

Further, a shaft sleeve 413 is connected between the cleaning transmission shaft 44 and the cleaning tank 41. When the cleaning rotating shaft rotates, the shaft sleeve 413 can avoid direct friction between the cleaning rotating shaft and the shaft hole in the cleaning tank 41, and the stability of the cleaning rotating shaft during rotation is ensured.

Manipulator clamping device 1:

as shown in fig. 23 and 24, the manipulator clamping device 1 includes a gripper base plate 11, both sides of the gripper base plate 11 are connected with a gripper driving member 12, an output end of the gripper driving member 12 is connected with a moving block 13, output ends of the two gripper driving members are oppositely arranged, the moving block 13 is connected with a positioning pin 14 for inserting into a transverse hole 821 on the cookware connecting member 82, and the moving block 13 is further connected with a magazine gripper 15 for gripping the magazine 9.

As shown in fig. 25, the pot 8 includes a main body of the pot 8 and a pot connecting member 82, and the pot connecting member 82 is provided with two transverse holes 821, two longitudinal holes 822 and two axial holes 823, respectively. The number of the positioning pins 14 on the single moving block 13 is two. The number of the positioning pins 14 on the single moving block 13 is two, and then the two pairs of positioning pins 14 simultaneously clamp the two transverse holes 821 of the cookware connecting piece 82, so that the stability of the cookware 8 is ensured, and the cookware 8 is prevented from rotating. In addition, the longitudinal hole 822 is matched with the pot positioning support column 312 on the cooker body 3, and the axial hole 823 is matched with the fixing pin 412 on the pot cleaning device 4.

As shown in fig. 26, the cartridge 9 is provided with a rib 91, so that when the two cartridge jaws 15 respectively grip the cartridge 9 from both sides, the rib 91 can prevent the cartridge 9 from falling. One end of the magazine clamping jaw 15, which is far away from the moving block 13, is provided with a limiting clamping hook 151 for preventing the magazine 9 from being disengaged. The limiting clamping hook 151 can block the material box 9, so that the material box 9 is prevented from sliding out of the material box clamping jaw 15.

The clamping driving piece can drive the moving block 13 to move, when the moving blocks 13 on the two sides move oppositely, the two magazine clamping jaws 15 are closed to each other, and the positioning pins 14 on the two sides are also closed to each other. When the magazine clamping jaws 15 on both sides are closed, the magazine 9 can be clamped, so that the magazine 9 can be taken and placed. When the positioning pins 14 on both sides are closed, the positioning pins can be inserted into the transverse holes 821 of the pot connecting piece 82, so that the pot 8 can be moved. In summary, the manipulator holding device 1 can be used for holding the pot 8 and the material box 9 respectively, and in the automatic cooking system, the use of the manipulator can be reduced, and the actions of taking and placing the material box 9 and the pot 8 can be completed by one manipulator.

It should be noted that the clamping mouth of the magazine jaw 15 is offset from the positioning pin 14. When the magazine 9 is taken and placed, the positioning pins 14 do not block the magazine 9. When the cookware 8 is taken and placed, the material box clamping jaw 15 cannot block the cookware connecting piece 82, so that the cookware 8 or the material box 9 can be accurately clamped.

The clamping jaw driving part 12 is an air cylinder or a hydraulic cylinder, and the moving block 13 is connected with a piston rod of the clamping driving part. The cylinder body of the clamping jaw driving piece 12 is fixed on the gripper base plate 11, the pawl driving pieces on two sides act synchronously, and the piston rods on two sides push the two moving blocks 13 to move oppositely or back to back, so that the two material box clamping jaws 15 take and place the material box 9 or the positioning pins 14 on two sides take and place the cookware connecting piece 82.

Further, the end of the positioning pin 14 has a truncated cone shape. The end of the locating pin 14 is truncated cone shaped so that the locating pin 14 can be more easily inserted into the transverse hole 821 of the pot attachment 82.

And a positioning sensor 16 is arranged on the box clamping jaw 15. The positioning sensor 16 can detect the position of the material box clamping jaws 15, so that whether the material box clamping jaws 15 on two sides or the positioning pins 14 on two sides move in place or not is judged, and the material box 9 or the cooker 8 can be clamped accurately.

The automatic dish frying method comprises the following steps:

s1: pouring dishes to be fried into a pot 8 on the stove body 3, and frying by using an automatic frying device 5;

s2: after the frying is finished, the automatic frying device 5 is moved away;

s3: the pot 8 is moved by the clamping device 1 of the manipulator, dishes are poured into the automatic meal-serving device 7, and meal is served;

s4 the pot 8 is moved into the pot washing device 4 by the gripper 1 of the robot to be washed.

The invention can realize the whole process automation from cooking to meal serving to cleaning the pot 8, and does not need manual intervention between two adjacent meal serving.

The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.

Claims (10)

1. An automatic cooking system is characterized in that: the automatic food frying machine comprises a manipulator, wherein a clamping device (1) is installed on the manipulator, a refrigerator (2) used for placing a material box (9), a stove body (3) used for placing and heating a pot (8) and a pot cleaning device (4) used for cleaning the pot (8) are arranged on the periphery of the manipulator respectively, an automatic food frying device (5) is installed on the stove body (3), and the automatic food frying machine further comprises a platform (6), and an automatic food serving device (7) is installed on the platform of the platform (6).

2. An automatic cooking system as claimed in claim 1, wherein: the range body (3) is including the range body (3) framework, is connected with electromagnetic range support frame (32) on the range body (3) framework, is provided with electromagnetic range (33) on the electromagnetic range support frame (32), and electromagnetic range support frame (32) upside still is connected with enclosure (34), and enclosure (34) surround pan (8) on electromagnetic range (33) and leave kitchen front opening (341), and enclosure (34) inboard is provided with a plurality of exhaust ports (342), is connected with a plurality of pipes (35) of discharging fume on enclosure (34).

3. An automatic cooking system as claimed in claim 1, wherein: automatic stir-fry device (5) is including being fixed in fixed plate (51) on the kitchen body (3), install upset actuating mechanism (52) on fixed plate (51), the output of upset actuating mechanism (52) is connected with upset arm (53), install on upset arm (53) and turn over stir-fry actuating mechanism (54), the output that turns over stir-fry actuating mechanism (54) is connected with (mixing) shaft (56), be connected with on (mixing) shaft (56) and be used for the pan (8) interior dish turn over stir-fry subassembly (57) and be used for scraping the dish in the pan to collection subassembly (58) in the middle part of the pot, the tip of collection subassembly (58) and the perpendicular distance of (mixing) shaft (56) are greater than the tip of stir-frying subassembly (57) and the perpendicular distance of (mixing) shaft (56).

4. An automatic cooking system as claimed in claim 2, wherein: the stir-frying assembly (57) comprises a planetary stirring arm (571), the planetary stirring arm (571) is connected with the lower section of the stirring shaft (56), the planetary stirring arm (571) is connected with a plurality of slice fixing pieces (572), and the slice fixing pieces (572) are connected with stirring blades (573); an included angle is formed between the upper section and the lower section of the stirring shaft (56); the collecting component (58) comprises a supporting rod (581), the supporting rod (581) is connected to the upper section of the stirring shaft (56), and the other end of the supporting rod (581) is connected with a collecting scraper (582).

5. An automatic cooking system as claimed in claim 1, wherein: the automatic meal delivery device (7) comprises a dish slide way (71) for placing the material box (9), a material guide groove (72) for pouring dishes is arranged above the dish slide way (71), a meal delivery pushing mechanism (73) for pushing the material box (9) to move on the dish slide way (71) is arranged beside the dish slide way (71), and the dish slide way (71) and the meal delivery pushing mechanism (73) are both installed on the platform (6).

6. An automatic cooking system as claimed in claim 5, wherein: the lower end of the material guide groove (72) is connected with a liquid collecting mechanism (74); the liquid collecting mechanism (74) comprises a clip-shaped liquid collecting box (741), the lower end of the guide chute (72) is connected with a guide chute flaring opening (721), and the lower end of the guide chute flaring opening (721) extends into the liquid collecting box (741); the inner side of the liquid collecting box (741) is provided with a baffle (7411), a gap is reserved between the baffle (7411) and the flared opening (721) of the guide groove, and the baffle (7411) is positioned on the outer side of the upper end of the flared opening (721) of the guide groove projected in the horizontal plane.

7. An automatic cooking system as claimed in claim 1, wherein: pan belt cleaning device (4) are connected with telescopic machanism (42) including washing tank (41) on the outer wall of washing tank (41), are connected with on flexible washing actuating mechanism (43), and the output of washing actuating mechanism (43) is connected with washs transmission shaft (44), and the other end of wasing transmission shaft (44) is connected with cleaning unit (45), and cleaning unit (45) are located washing tank (41).

8. An automatic cooking system as claimed in claim 7, wherein: a water collecting tank (46) is arranged below the cleaning tank (41); the water collecting tank (46) is provided with a draining frame (47), the bottom of the draining frame (47) is provided with a plurality of draining holes (471), and the lower end of the cleaning tank (41) is narrowed and extends into the draining frame (47).

9. An automatic cooking system as claimed in claim 1, wherein: clamping device (1) is including tongs foundatin plate (11), and the both sides of tongs foundatin plate (11) all are connected with clamping jaw driving piece (12), and the output of clamping jaw driving piece (12) is connected with movable block (13), and the output of two centre gripping driving pieces sets up in opposite directions, is connected with locating pin (14) that are used for fixing a position pan (8) on movable block (13), still is connected with magazine clamping jaw (15) that are used for centre gripping magazine (9) on movable block (13).

10. An automatic cooking method using the system of claim 1, wherein: the method comprises the following steps:

pouring dishes to be fried into a pot (8) on the stove body (3), and frying by using an automatic frying device (5);

after the frying is finished, the automatic frying device (5) is moved away;

the cookware (8) is moved by the clamping device (1) of the manipulator, and dishes are poured into the automatic meal dispensing device (7) for meal dispensing;

then the cookware (8) is moved into the cookware cleaning device (4) for cleaning.

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