CN215937048U

CN215937048U - Automatic cooking device

Info

Publication number: CN215937048U
Application number: CN202120384208.3U
Authority: CN
Inventors: 杨珺琳
Original assignee: Shenzhen Meishile Catering Management Co ltd
Current assignee: Shenzhen Meishile Catering Management Co ltd
Priority date: 2021-02-20
Filing date: 2021-02-20
Publication date: 2022-03-04
Anticipated expiration: 2031-02-20

Abstract

The application provides an automatic cooking device which comprises a cabinet body, a bin body, two meal taking arms and an opening and closing driving assembly, wherein the bin body is arranged in the cabinet body, and the bin body is used for accommodating meal boxes; the two meal taking arms are arranged in the cabinet body and used for taking and placing the meal boxes; the opening and closing driving component is used for driving the two meal taking arms to perform opening and closing movement so as to adapt to taking and placing of meal boxes with different sizes. The application provides an automatic cooking device novel structure, reliable and stable can automize and eat material and evaporate ripe processing.

Description

Automatic cooking device

Technical Field

The utility model relates to the technical field of automatic cooking, in particular to an automatic cooking device.

Background

Most of existing steam cabinets need to be frequently combined with manual operation, food materials are placed into the steam cabinets through manual work when the steam cabinets need to be cooked, a power supply or coal gas is started to cook the food materials, after the steam cabinets are opened to finish cooking, the steamed food materials are taken out, the automation degree is low, the operation is inconvenient, and scalding is easy.

Some cooking devices in the prior art have a certain degree of automation, but the degree of automation is low, the structure is more complex, and the volume is larger.

SUMMERY OF THE UTILITY MODEL

The application provides an automatic cooking device to solve among the prior art steam cabinet degree of automation low, the comparatively complicated technical problem of structure.

In order to solve the technical problem, the application adopts a technical scheme that: there is provided an automatic cooking apparatus including:

a cabinet body;

the bin body is arranged in the cabinet body and is used for accommodating lunch boxes;

the two meal taking arms are arranged in the cabinet body and used for taking and placing the meal boxes;

and the opening and closing driving component is used for driving the two meal taking arms to perform opening and closing movement so as to adapt to taking and placing of meal boxes with different sizes.

According to an embodiment of the utility model, the automatic cooking device further comprises a first base plate, the two meal taking arms are slidably arranged on the first base plate, and the opening and closing driving assembly is used for driving the two meal taking arms to perform opening and closing movement on the first base plate.

The automatic cooking device further comprises a Y-direction movement mechanism and a connecting block, wherein the Y-direction movement mechanism and the connecting block are respectively connected with the two meal taking arms, the connecting block is arranged on the first substrate in a sliding mode, and the Y-direction movement mechanism and the sliding block are fixed mutually.

According to a specific embodiment of the present invention, a synchronizing wheel, a synchronizing belt sleeved on the synchronizing wheel, and an opening and closing motor in transmission connection with the synchronizing wheel are disposed on the first substrate, the synchronizing belt includes a first belt section and a second belt section disposed between the synchronizing wheels, the first belt section and the second belt section are respectively connected to the two meal taking arms through the connecting block and the Y-direction movement mechanism, and the opening and closing motor drives the synchronizing belt to rotate forward or backward to realize opening and closing movements of the two meal taking arms.

According to a specific embodiment of the utility model, the automatic cooking device further comprises a manipulator assembly arranged in the cabinet body, and the manipulator assembly comprises a three-axis motion mechanism which is used for driving the meal taking arm to perform three-dimensional motion in the cabinet body.

According to an embodiment of the present invention, the three-axis movement mechanism includes:

the X-direction movement mechanism comprises an X-direction guide rail and an X-direction sliding block which is arranged on the X-direction guide rail in a sliding manner, and the X-direction guide rail is arranged at the bottom and/or the top of the cabinet body;

the Z-direction movement mechanism comprises a Z-direction guide rail and a Z-direction sliding block which is arranged on the Z-direction guide rail in a sliding manner, and the Z-direction guide rail is connected with the X-direction sliding block;

y is to motion, including Y to guide rail, slidability locate Y is to slider, drive to the Y of guide rail Y is relative to the slider Y is to the guide rail orientation Y stretches out to the first end of guide rail or the Y that the second end stretches out to the motor, Y to the guide rail with Z is connected to the slider, Y is to the slider conduct get meal arm, perhaps Y is to the slider on the mobility be equipped with get meal arm, Y is to motor drive Y is relative to the slider Y is to the guide rail orientation Y stretches out to the first end of guide rail or when the second end stretches out, it is synchronous relative to get meal arm Y is to the slider orientation Y stretches out to the first end of slider or the second end stretches out.

the Z-direction movement mechanism comprises a Z-direction guide rail and a Z-direction sliding block which is arranged on the Z-direction guide rail in a sliding manner, and the Z-direction guide rail is arranged on one side or two sides of the cabinet body;

the X-direction movement mechanism comprises an X-direction guide rail and an X-direction sliding block which is arranged on the X-direction guide rail in a sliding manner, and the X-direction guide rail is connected with the Z-direction sliding block;

y is to motion, including Y to guide rail, slidability locate Y is to slider, drive to the Y of guide rail Y is relative to the slider Y is to the guide rail orientation Y stretches out to the first end of guide rail or the Y that the second end stretches out to the motor, Y to the guide rail with X is connected to the slider, Y is to the slider conduct get meal arm, perhaps Y is to the slider on the mobility be equipped with get meal arm, Y is to motor drive Y is relative to the slider Y is to the guide rail orientation Y stretches out to the first end of guide rail or when the second end stretches out, it is synchronous relative to get meal arm Y is to the slider orientation Y stretches out to the first end of slider or the second end stretches out.

According to a specific embodiment of the utility model, the automatic cooking device further comprises a bin gate matched with the bin body and a bin gate motor in transmission connection with the bin gate, wherein the bin gate motor is used for driving the bin gate to rotate or translate relative to the bin body so as to open or close the bin gate.

According to an embodiment of the utility model, the automatic cooking device further comprises a second base plate and a rotating motor, the cabinet body is provided with a meal taking channel, the second base plate is connected with the Z-direction sliding block or the X-direction sliding block, the first base plate is arranged on the second base plate in a rotating manner, and the rotating motor is used for driving the first base plate to rotate relative to the second base plate so that the Y-direction moving mechanism rotates integrally to transfer the meal box to the meal taking channel.

According to a specific embodiment of the utility model, the cabinet body comprises a front plate, a back plate, an upper plate and a side plate which are connected, and the meal taking channel is connected with the front plate and/or the side plate.

The beneficial effect of this application is: be different from prior art's condition, the automatic cooking device novel structure, reliable and stable, degree of automation height that this application provided can automize and eat material and cook processing, applicable in the commercialization and cook food vending.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

fig. 1 is a schematic perspective view of an automatic cooking apparatus according to an embodiment of the present application;

fig. 2 is a schematic view of the internal structure of the automatic cooking apparatus shown in fig. 1;

FIG. 3a is a schematic view of a motion trajectory of the Y-direction motion mechanism when the bin gate is pivotally connected to the front side of the lower panel of the bin body;

FIG. 3b is a schematic view of another movement trace of the Y-direction movement mechanism when the bin gate is pivoted to the front side of the lower panel of the bin body;

FIG. 3c is a schematic view of a movement trace of the Y-direction movement mechanism when the bin gate is pivotally connected to the front side of the upper plate of the bin body;

FIG. 3d is a schematic view of another movement trace of the Y-direction movement mechanism when the bin gate is pivoted to the front side of the upper plate body of the bin body;

FIG. 4 is a perspective view of a partial assembly of the automatic cooking apparatus shown in FIG. 2;

FIG. 5 is a schematic perspective view of the door of FIG. 4;

FIG. 6 is a schematic structural diagram of an outer door and an inner door of an automatic cooking apparatus according to an embodiment of the present application;

fig. 7 is a schematic structural view of an inner surface of a front plate of an automatic cooking apparatus according to an embodiment of the present application;

fig. 8 is a schematic perspective view illustrating a Y-direction movement mechanism of an automatic cooking apparatus according to an embodiment of the present application;

FIG. 9 is a perspective view of a partial assembly of the Y-motion mechanism shown in FIG. 8;

FIG. 10 is an exploded view of a portion of the Y motion mechanism shown in FIG. 8;

FIG. 11 is a schematic top view of the Y-direction moving mechanism in a stored state;

FIG. 12 is a schematic top view of the Y-direction motion mechanism extending toward the cartridge body;

fig. 13 is a schematic top view of the Y-direction moving mechanism extending toward the meal taking passage.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.

It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

First embodiment

Referring to fig. 1 to 5, an automatic cooking apparatus according to an embodiment of the present invention includes a cabinet 10, a bin 20, a bin door 30, and a bin door motor 40.

As shown in fig. 1, the cabinet 10 may have a rectangular box shape, and the cabinet 10 may be enclosed by six panels, namely, an upper panel 11, a lower panel, a left panel 12, a right panel, a front panel 13, and a rear panel.

The front plate 13 may be a single plate, or the front plate 13 may be composed of two plates, i.e., a left front plate 131 and a right front plate 132 shown in fig. 1, and the areas of the left front plate 131 and the right front plate 132 may be the same or different (e.g., the width of the left front plate 131 may be greater than the width of the right front plate 132 in fig. 1).

The upper portion of the left front plate 131 can be provided with an advertisement screen 133 for advertising, the middle portion of the left front plate 131 can be provided with a plurality of meal taking channels 134 for a user to take meals, for example, two meal taking channels 134 shown in fig. 1 can be transversely arranged and also can be longitudinally arranged, people with different heights can conveniently take meals during longitudinal arrangement, and the right side of the left front plate 131 can be provided with a left handle 135 which is convenient to open a door for maintenance or food material supply.

The touch screen 136 that is used for carrying out self-service meal of choosing can be set up on right front bezel 132 upper portion, and right front bezel 132 the left side can set up the right handle 137 that conveniently opens the door and maintain or eat material supply, and right front bezel 132 middle part can set up the tableware and take mouth 138.

As shown in fig. 2, the bin 20 is disposed in the cabinet 10, the bin 20 includes a plurality of stacked bins, and the plurality of bins 20 can be divided into a refrigeration bin a located at the upper left side of the cabinet 10 and a steam bin B located at the right side of the cabinet 10.

The embodiment of the application also comprises a refrigeration assembly, a steam generator 50, a manipulator assembly 1 and a control assembly.

In the present embodiment, the cooling assembly and/or the steam generator 50 may be disposed at the lower left side of the cabinet 10.

In other embodiments, the refrigeration assembly and/or the steam generator 50 may also be disposed outside the cabinet 10.

Cold-stored storehouse body A as the walk-in, the storehouse body B for steam is as the steam chamber, and refrigeration assembly is connected with cold-stored storehouse body A for to providing cold energy in cold-stored storehouse body A with cold-stored edible material, steam generator 50 is connected with storehouse body B for steam, is used for providing steam in the storehouse body B for steam and eats the material with steaming.

Of course, the position distribution of the refrigerating bin a, the steam bin B, the refrigerating assembly and the steam generator 50 is not limited to that shown in the drawings, and the refrigerating bin a and the steam bin B may be distributed in the vertical direction.

The bin body 20 can be a rectangular box body with an opening at the front end, and the bin body 20 can comprise an upper plate body, a lower plate body, a left plate body, a right plate body and a rear plate body which are connected.

As shown in fig. 4, a plurality of groups of guide rib plates 21 may be disposed on the lower plate body, a lunch box 23 may be disposed between two adjacent groups of guide rib plates 21, and the arrangement of the guide rib plates 21 may facilitate guiding a meal taking arm 330 (refer to fig. 12) of the manipulator assembly 1 when the manipulator assembly 1 takes meals. The storehouse body 20 still can be including locating down the baffle 22 between plate body and the last plate body, is equipped with multiunit guiding rib 21 on plate body and/or the baffle 22 down, is used for placing cutlery box 23 between two sets of adjacent guiding rib 21, sets up baffle 22 and can improve the space utilization in storehouse body 20 inside, and baffle 22 can be one deck, two-layer or multilayer.

The bin gates 30 are matched with the bin bodies 20, and each bin body 20 can be provided with one bin gate 30, however, the number of bin gates 30 and the number of bin bodies 20 do not have to correspond to each other, for example, one bin gate 30 can simultaneously cover two bin bodies 20.

The bin gate 30 and the bin body 20 may be pivotally connected or slidably connected to the front end of the bin body 20, and when the bin gate 30 and the bin body 20 are pivotally connected, as shown in fig. 5, the bin gate 30 may include a door panel 31 and a pivot shaft 32 protruding from the side of the door panel 31.

In other embodiments, the door 30 may include only the door panel 31, and a side end of the door panel 31 (corresponding to a position of the pivot shaft 32) is provided with a connection hole (not shown) for receiving torque.

When the bin gate 30 is pivotally connected to the bin body 20, the bin gate 30 can be pivotally connected to the front side of the upper plate, the lower plate, the left plate or the right plate, the bin gate 30 can be configured to rotate 90 degrees to open or close the bin body 20, and the bin gate 30 is preferably pivotally connected to the front side of the upper plate, i.e., the bin gate 30 opens when rotating 90 degrees upwards, and closes when rotating 90 degrees downwards. If the door 30 is pivoted to the front side of the left plate, the door 30 is opened when the door 30 is rotated 90 degrees to the left, and the door 30 is closed when the door 30 is rotated 90 degrees to the right.

The door 30 is substantially rectangular plate-shaped, a relatively small space is required for opening the door 30 when the door 30 is pivoted to the front side of the upper plate or the lower plate, and a relatively large space is required for opening the door 30 when the door 30 is pivoted to the front side of the left plate or the right plate.

In the embodiment of the present application, the initial position of the Y-direction moving mechanism 300 of the robot assembly 1 is located at the lower part of the cabinet, for example, the lower left corner region in fig. 2, and most of the actions of the Y-direction moving mechanism 300 are upward and rightward movement.

In this case, the door 30 is not beneficial to the food taking movement of the manipulator assembly 1 when being pivoted to the front side of the lower plate, the door 30 forms an obstacle to the movement track of the Y-direction movement mechanism 300 of the manipulator assembly 1 when being opened downwards, the food taking movement track of the Y-direction movement mechanism 300 of the manipulator assembly 1 is relatively long, and the Y-direction movement mechanism 300 must move to the upper side of the door 30 first and then move downwards to the front side of the bin body 20 to take food.

In this case, the door 30 is pivoted to the front side of the upper plate body, so that the food taking motion of the manipulator assembly 1 is facilitated, when the door 30 is opened upwards, no obstacle is formed on the motion track of the Y-direction motion mechanism 300 of the manipulator assembly 1, the food taking motion track of the Y-direction motion mechanism 300 of the manipulator assembly 1 is relatively short, and the Y-direction motion mechanism 300 can directly move to the front side of the bin body 20 to take food.

Referring to fig. 3a, fig. 3a is a schematic diagram of the serial motions of the Y-direction motion mechanism 300 of the manipulator assembly 1 in the X-direction and the Z-direction, when the bin gate 30 is pivoted to the front side of the lower plate and is in an open state, the Y-direction motion mechanism 300 of the manipulator assembly 1 needs to move horizontally in the X-direction to the right, move horizontally in the Z-direction, move horizontally in the X-direction to the right, and move to the front side of the bin body 20 through four steps to take meals.

Referring to fig. 3b, fig. 3b is a schematic diagram of the Y-direction movement mechanism 300 of the manipulator assembly 1 acting in parallel in the X-direction and the Z-direction, when the bin door 30 is pivoted to the front side of the lower plate and in an open state, the Y-direction movement mechanism 300 of the manipulator assembly 1 needs to perform synchronous oblique movement in the X-direction and the Z-direction to raise for meal taking, i.e., the X-direction moves horizontally to the right, and moves to the front side of the bin body 20 through two steps to perform Y-direction meal taking.

Referring to fig. 3c, fig. 3c is a schematic diagram of the serial motions of the Y-direction moving mechanism 300 of the manipulator assembly 1 in the X-direction and the Z-direction, when the bin gate 30 is pivoted to the front side of the upper plate and is in an open state, the Y-direction moving mechanism 300 of the manipulator assembly 1 needs to move horizontally in the X-direction and right-direction, and then to move to the front side of the bin body 20 through two motions to take meals in the Y-direction.

Referring to fig. 3d, fig. 3d is a view showing that the Y-direction movement mechanism 300 of the manipulator assembly 1 performs parallel movements in the X-direction and the Z-direction, and when the bin door 30 is pivoted to the front side of the upper plate and is in an open state, the Y-direction movement mechanism 300 of the manipulator assembly 1 performs meal taking, and needs to perform synchronous oblique movement in the X-direction and the Z-direction to ascend, and moves to the front side of the bin body 20 through a one-step movement, and then performs Y-direction meal taking.

In other embodiments, if the initial position of the Y-direction movement mechanism 300 of the robot assembly 1 is at the upper right of the cabinet, most of the movement of the Y-direction movement mechanism 300 is downward movement to the right, the door 30 is pivoted in front of the lower plate to facilitate the meal taking movement of the robot assembly 1.

In other embodiments, the door 30 can be slidably disposed relative to the cartridge body 20, e.g., the door 30 can be configured to slide up and down or side to side in a vertical plane for translational movement relative to the cartridge body 20 to open or close the door 30.

As shown in fig. 4, the door motor 40 is in transmission connection with the door 30 for driving the door 30 to rotate or translate relative to the bin body 20 to open or close the door 30.

In the embodiment of the present application, the output end of the door motor 40 is connected to a first bevel gear 41, the door 30 is connected to a second bevel gear 42 engaged with the first bevel gear 41, and the door motor 40 drives the door 30 to open or close through the first bevel gear 41 and the second bevel gear 42.

In another embodiment, the output end of the door motor 40 is directly connected to the door 30, and the door motor 40 directly drives the door 30 to open or close.

In another embodiment, the output end of the door motor 40 is connected with a driving wheel, the door 30 is connected with a driven wheel, a synchronous belt or chain is sleeved between the driving wheel and the driven wheel, and the door motor 40 drives the door 30 to open or close through the driving wheel, the synchronous belt or chain and the driven wheel.

In another embodiment, the output end of the door motor 40 is connected with a driving connecting rod, the door 30 is connected with a driven connecting rod, the driving connecting rod is hinged with the driven connecting rod, and the door motor 40 drives the door 30 to open or close through the driving connecting rod and the driven connecting rod.

In the above embodiment, the speed reducer 43 is connected to the transmission path between the door motor 40 and the door 30, and the speed reducer 43 is used to reduce the rotation speed and increase the torque.

The automatic cooking device may further include a protection cover 44, wherein the protection cover 44 is covered on the periphery of the bin gate motor 40, and may be used to protect the bin gate motor 40, the first bevel gear 41, and the second bevel gear 42 from dust, water, and the like.

The automatic cooking apparatus may further include an automatic lock 45, and the automatic lock 45 may include a main body portion 46 and a latch portion 47 retractable with respect to the main body portion 46, the latch portion 47 being adapted to extend with respect to the main body portion 46 and stop the door 30 to prevent the door 30 from being opened when the door 30 is closed, and accordingly, the door 30 may be provided with a locking engagement hole 33. Of course, the specific structure and action form of the automatic lock 45 are not limited thereto. Wherein, the bin door 30 corresponding to the bin body B for steam can be pushed away by steam during cooking and heating.

Control assembly and manipulator subassembly 1, door motor 40, refrigeration subassembly, 50 communication connection of steam generator, the front bezel 13 or the curb plate of the cabinet body 10 are equipped with gets meal passageway 134, control assembly is used for controlling manipulator subassembly 1 and shifts the lunch box 23 that freezes with the storehouse body A to steam with storehouse body B in, control assembly still is used for controlling manipulator subassembly 1 and shifts the lunch box 23 that steams with storehouse body B to get meal passageway 134.

In the automatic cooking device provided by the embodiment, the bin gate motor 40 is adopted to drive the bin gate 30 to rotate relative to the bin body 20 so as to open or close the bin gate 30, and the automatic cooking device is novel in structure, stable, reliable, safe and convenient to use and relatively small in occupied space.

Second embodiment

Referring to fig. 1 to 7, an automatic cooking apparatus according to an embodiment of the present invention includes a cabinet 10, an outer door 14, and an inner door 15.

As shown in fig. 1, the cabinet 10 may include six panels, i.e., an upper panel 11, a lower panel, a left panel 12, a right panel, a front panel 13, and a rear panel, the front panel 13 may be formed by two panels, i.e., a left front panel 131 and a right front panel 132, the left front panel 131 is provided with a meal taking channel 134, the outer door 14 is used to open or close an outer end of the meal taking channel 134, and the inner door 15 is used to open or close an inner end of the meal taking channel 134.

Wherein, a linkage piece 16 is connected between the outer door 14 and the inner door 15, and the outer door 14 and the inner door 15 form an integral structure door with step-shaped connection through the linkage piece 16.

When the linkage 16 is in the first position (shown in fig. 7), the outer door 14 is closed relative to the outer end of the meal access channel 134 and the inner door 15 is open relative to the inner end of the meal access channel 134.

When the linkage 16 is in the second position (not shown), the outer door 14 is open relative to the outer end of the meal access channel 134 and the inner door 15 is closed relative to the inner end of the meal access channel 134.

Therefore, the inside of the cabinet body 10 is always isolated from the outside, a relatively safe and closed internal environment is kept, dust can be prevented from entering, and mice, cockroaches and the like can be prevented from entering the cabinet body 10.

In this embodiment, the linkage 16 is a rod body sleeved on the left and right sides of the meal taking channel 134, and the outer door 14 and the inner door 15 are both vertically disposed and respectively connected to the upper and lower sides of the linkage 16.

In other embodiments, the linkage member 16 can be a rod body sleeved on the upper and lower sides of the meal taking channel 134, and the outer door 14 and the inner door 15 are vertically disposed and connected to the left and right sides of the linkage member 16 respectively.

In the embodiment of the present application, the automatic cooking device further includes a meal taking motor 17, and the meal taking motor 17 is used for driving the outer door 14, the linkage 16 and the inner door 15 to move synchronously.

The food taking motor 17 can drive the outer door 14, the linkage 16 and the inner door 15 to synchronously move through a synchronous belt transmission mechanism 18, a screw rod transmission mechanism or a gear rack transmission mechanism and matched with a slide rail, a slide block and other mechanisms.

In other embodiments, the automatic cooking apparatus may further include an outer door motor for independently driving the outer door 14 to be opened or closed and an inner door motor (not shown) for independently driving the inner door 15 to be opened or closed.

The automatic cooking device further comprises a bin body 20 arranged in the cabinet body 10, a bin door 30 matched with the bin body 20 and a bin door motor 40 in transmission connection with the bin door 30, wherein the bin door motor 40 is used for driving the bin door 30 to rotate or translate relative to the bin body 20 so as to open or close the bin door 30.

The bin body 20 comprises a plurality of bin doors 30 arranged in a stacked manner, each bin body 20 is provided with one bin door 30, and the bin bodies 20 can be divided into a bin body A for cold storage positioned at the upper left side in the cabinet body 10 and a bin body B for steam positioned at the right side in the cabinet body 10.

The embodiment of the application also includes that automatic cooking device still includes refrigeration subassembly, steam generator 50, and refrigeration subassembly and/or steam generator 50 locate in the cabinet body 10 or outside the cabinet body 10, and the refrigeration subassembly is connected with cold-stored storehouse body A for to providing cold energy in the cold-stored storehouse body A, steam generator 50 is connected with storehouse body B for steam, is used for providing steam to steam in the storehouse body B for steam.

Automatic culinary art device still includes manipulator subassembly 1 and control assembly, control assembly and manipulator subassembly 1, door motor 40, refrigeration subassembly and/or steam generator 50 communication connection, the cabinet body 10 is equipped with gets meal passageway 134, control assembly is used for controlling manipulator subassembly 1 and shifts the lunch box 23 that freezes with storehouse body A to steam with storehouse body B in, control assembly still is used for controlling manipulator subassembly 1 and shifts the lunch box 23 that steams with storehouse body B to getting meal passageway 134.

In the automatic cooking device of this embodiment, get meal passageway 134 and be equipped with outer door 14, two doors of interior door 15, can make the inside of the cabinet body 10 keep apart with the external world all the time through reasonable control, keep safe, confined internal environment relatively, can avoid the dust to get into, also can prevent the entering cabinet body 10 of mouse, cockroach etc..

Third embodiment

Referring to fig. 1 to 13, an automatic cooking apparatus is further provided in the present embodiment, which includes a cabinet 10, a bin 20, two meal taking arms 330 and an opening/closing driving assembly.

As shown in fig. 1, the cabinet 10 may include six panels, i.e., an upper panel 11, a lower panel, a left panel 12, a right panel, a front panel 13, and a rear panel, the front panel 13 may be formed by two panels, i.e., a left front panel 131 and a right front panel 132, the left front panel 131 is provided with a meal taking channel 134, and of course, the meal taking channel 134 may also be provided on the left panel 12 or the right panel.

The storehouse body 20 is arranged in the cabinet body 10, is used for holding cutlery box 23 in the storehouse body 20, and two meal taking arms 330 are arranged in the cabinet body 10 and are used for taking and placing cutlery box 23. The opening and closing driving component is used for driving the two meal taking arms 330 to perform opening and closing movement so as to adapt to taking and placing of meal boxes 23 with different sizes.

Specifically, the automatic cooking device further comprises a first base plate 410, the two meal taking arms 330 are slidably arranged on the first base plate 410, and the opening and closing driving assembly is used for driving the two meal taking arms 330 to open and close on the first base plate 410.

In the embodiment of the present application, two synchronizing wheels 420 are disposed on the first substrate 410, a synchronizing belt 430 sleeved on the synchronizing wheels 420, and an opening and closing motor 440 in transmission connection with the synchronizing wheels 420, the synchronizing belt 430 includes a first belt section 431 and a second belt section 432 disposed between the two synchronizing wheels 420, the first belt section 431 and the second belt section 432 may be respectively connected to the two meal taking arms 330 through a connection block 450, the Y-direction movement mechanism 300 is connected to the two meal taking arms 330, the opening and closing motor 440 drives the synchronizing belt 430 to perform opening and closing movements of the two meal taking arms 330 in forward rotation or reverse rotation, wherein one connection block 450 is fixedly connected to the first belt section 431 and moves synchronously with the first belt section 431, and the other connection block 450 is fixedly connected to the second belt section 432 and moves synchronously with the second belt section 432.

In other embodiments, the opening and closing drive assembly may be a lead screw drive assembly, a rack and pinion drive assembly, or a pneumatic cylinder drive assembly.

The automatic cooking device further comprises a manipulator assembly 1 arranged in the cabinet 10, wherein the manipulator assembly 1 comprises a three-axis movement mechanism for driving the meal taking arm 330 to perform three-dimensional movement in the cabinet 10, and the three-axis movement mechanism is arranged between the front plate 13 and the bin body 20 and has a storage state shown in fig. 11, a state shown in fig. 12 extending towards the bin body 20 and a state shown in fig. 13 extending towards the meal taking channel 134.

As shown in fig. 1, in the embodiment of the present application, the three-axis movement mechanism includes an X-direction movement mechanism 100, a Z-direction movement mechanism 200, and a Y-direction movement mechanism 300.

The X-direction moving mechanism 100 includes an X-direction guide rail and an X-direction slider slidably disposed on the X-direction guide rail, the X-direction guide rail is disposed at the bottom and/or the top of the cabinet 10, and the stability of the Z-direction moving mechanism 200 can be improved when the bottom and the top of the cabinet 10 are disposed at the same time.

The Z-direction movement mechanism 200 includes a Z-direction guide rail and a Z-direction slider slidably disposed on the Z-direction guide rail, and the Z-direction guide rail is connected to the X-direction slider.

The Y-direction moving mechanism 300 includes a Y-direction guide 310, a Y-direction slider 320 slidably disposed on the Y-direction guide 310, and a Y-direction motor 301 for driving the Y-direction slider 320 to extend toward the first end or the second end of the Y-direction guide 310 relative to the Y-direction guide 310, wherein the Y-direction guide 310 and the Z-direction slider are connected at intervals or directly connected, the Y-direction slider 320 can be simultaneously used as a meal taking arm 330, or the Y-direction slider 320 is slidably disposed with a meal taking arm 330, and when the Y-direction motor 301 drives the Y-direction slider 320 to extend toward the first end or the second end of the Y-direction guide 310 relative to the Y-direction guide 310, the meal taking arm 330 synchronously extends toward the first end or the second end of the Y-direction slider 320 relative to the Y-direction slider 320.

Specifically, as shown in fig. 8 to 10:

the Y-guide rail 310 has a frame-shaped groove, and is provided with a first rack portion 311 and a first guide groove portion 312;

the Y-direction slider 320 is provided with a second rack portion 321, a plurality of synchronizing gears 322, a first roller 323 and a second roller 324;

the meal taking arm 330 is provided with a third rack part 331 and a second guide groove part 332;

the Y-direction motor 301 may sequentially drive the retractable gear 304 to rotate through the first gear 302 and the second gear 303 which are radially engaged, the retractable gear 304 may include an active retractable gear 304 positioned in the middle and passive retractable gears 304 positioned at both sides of the active retractable gear 304 at intervals, the plurality of retractable gears 304 are engaged with the second rack portion 321 to drive the Y-direction slider 320 to reciprocate relative to the Y-direction rail 310, when the Y-direction slider 320 moves, the plurality of synchronizing gears 322 are spaced apart from each other and simultaneously engaged with the first and

third rack portions

311 and 331, that is, when the retractable gear 304 rotates in the forward and reverse directions, the Y-direction slider 320 and the meal taking arm 330 move simultaneously with respect to the Y-direction guide 310, the movement state can refer to fig. 11 to 13, wherein the first roller 323 and the second roller 324 are respectively slidably disposed in the first guiding groove portion 312 and the second guiding groove portion 332 to support stable sliding.

In another embodiment, the three-axis motion mechanism comprises a Z-direction motion mechanism 200, an X-direction motion mechanism 100, and a Y-direction motion mechanism 300.

The Z-direction movement mechanism 200 includes a Z-direction guide rail and a Z-direction slider slidably disposed on the Z-direction guide rail, the Z-direction guide rail is disposed on one side or both sides of the cabinet 10, and the stability of the Z-direction movement mechanism 100 can be improved when the Z-direction guide rail is disposed on both sides of the cabinet 10.

The X-direction movement mechanism 100 includes an X-direction guide rail and an X-direction slider slidably disposed on the X-direction guide rail, and the X-direction guide rail is connected to the Z-direction slider.

The Y-direction moving mechanism 300 comprises a Y-direction guide rail 310, a Y-direction slider 320 arranged on the Y-direction guide rail 310 in a sliding manner, and a Y-direction motor 301 driving the Y-direction slider 320 to extend towards the first end or the second end of the Y-direction guide rail 310 relative to the Y-direction guide rail 310, wherein the Y-direction guide rail 310 is connected with the X-direction slider, the Y-direction slider 320 can be simultaneously used as a meal taking arm 330, or a meal taking arm 330 is arranged on the Y-direction slider 320 in a sliding manner, and when the Y-direction motor 301 drives the Y-direction slider 320 to extend towards the first end or the second end of the Y-direction guide rail 310 relative to the Y-direction guide rail 310, the meal taking arm 330 synchronously extends towards the first end or the second end of the Y-direction slider 320 relative to the Y-direction slider 320.

The automatic cooking device also comprises a bin door 30 matched with the bin body 20 and a bin door motor 40 in transmission connection with the bin door 30, wherein the bin door motor 40 is used for driving the bin door 30 to rotate or translate relative to the bin body 20 so as to open or close the bin door 30.

The automatic cooking device further comprises a second base plate 510 and a rotating motor 520, the cabinet 10 is provided with the meal taking channel 134, the second base plate 510 is connected with the Z-direction slider or the X-direction slider, the first base plate 410 is rotatably arranged on the second base plate 510, and the rotating motor 520 is used for driving the first base plate 410 to rotate relative to the second base plate 510 so as to enable the Y-direction movement mechanism 300 to integrally rotate and further transfer the meal box 23 to the meal taking channel 134.

In the automatic cooking device that this embodiment provided, can get meal arm 330 through two drive of opening and shutting drive assembly drives and open and shut the motion, can adapt to not unidimensional cutlery box 23 from this and get and put, very big improvement get the flexibility and the commonality of meal.

Fourth embodiment

Referring to fig. 1 to 13, an automatic cooking apparatus is further provided in the present embodiment, which includes a cabinet 10, a bin 20, a manipulator assembly 1, and a meal taking arm 330.

The internal 10 of cabinet is located to the storehouse body 20, is used for holding cutlery box 23 in the storehouse body 20, and in the internal 10 of cabinet was located to manipulator subassembly 1, manipulator subassembly 1 included the triaxial moving mechanism, got the Y of meal arm 330 and triaxial moving mechanism to slide rail 310 or Y to slider 320 sliding connection for get and put cutlery box 23. That is, the Y-direction slider 320 may be used as the meal taking arm 330 at the same time, or the meal taking arm 330 is slidably disposed on the Y-direction slider 320.

The Y-direction moving mechanism 300 comprises a Y-direction guide rail 310, a Y-direction slider 320 arranged on the Y-direction guide rail 310 in a sliding mode, and a Y-direction motor 301 driving the Y-direction slider 320 to extend towards the first end or the second end of the Y-direction guide rail 310 relative to the Y-direction guide rail 310, wherein the Y-direction guide rail 310 is connected with the Z-direction slider at intervals or directly, and when the Y-direction motor 301 drives the Y-direction slider 320 to extend towards the first end or the second end of the Y-direction guide rail 310 relative to the Y-direction guide rail 310, the meal taking arm 330 synchronously extends towards the first end or the second end of the Y-direction slider 320 relative to the Y-direction slider 320.

In other embodiments, the three-axis motion mechanism includes a Z-motion mechanism 200, an X-motion mechanism 100, and a Y-motion mechanism 300.

The Y-direction moving mechanism 300 comprises a Y-direction guide rail 310, a Y-direction slider 320 arranged on the Y-direction guide rail 310 in a sliding manner, and a Y-direction motor 301 driving the Y-direction slider 320 to extend towards the first end or the second end of the Y-direction guide rail 310 relative to the Y-direction guide rail 310, wherein the Y-direction guide rail 310 is connected with the X-direction slider, and when the Y-direction motor 301 drives the Y-direction slider 320 to extend towards the first end or the second end of the Y-direction guide rail 310 relative to the Y-direction guide rail 310, the meal taking arm 330 synchronously extends towards the first end or the second end of the Y-direction slider 320 relative to the Y-direction slider 320.

In the embodiment of the present application, the Y-direction moving mechanism 300 includes two sets arranged at intervals, each set of the Y-direction moving mechanism 300 is provided with a meal taking arm 330, and the meal taking arm 330 is used for supporting the flange 231 of the meal box 23 (see fig. 7).

The automatic cooking device further comprises a first base plate 410 and an opening and closing driving assembly, wherein the first base plate 410 is connected with the Z-direction sliding block or the X-direction sliding block, the two groups of Y-direction moving mechanisms 300 are arranged on the first base plate 410 at intervals, and the opening and closing driving assembly is used for driving the two groups of Y-direction moving mechanisms 300 to move on the first base plate 410 in an opening and closing mode.

The opening and closing driving component is a synchronous belt 430 driving component, a gear rack driving component or an air cylinder driving component.

The automatic cooking apparatus may further include a second base plate 510 and a rotating motor 520, the second base plate 510 is connected to the Z-direction slider or the X-direction slider, the first base plate 410 is rotatably disposed on the second base plate 510, and the rotating motor 520 is configured to drive the first base plate 410 to rotate relative to the second base plate 510 so that the Y-direction moving mechanism 300 integrally rotates to transfer the lunch box 23 to the meal taking channel 134.

In other embodiments, the Y-direction moving mechanism 300 can be a set, and the food taking arm 330 is used for holding the bottom of the lunch box 23.

When the Y-direction movement mechanism 300 is a set, a gap for inserting the meal taking arm 330 is provided between the bin body 20 and the bottom of the meal box 23, and a gap for inserting the meal taking arm 330 is provided between the meal taking channel 134 and the bottom of the meal box 23.

In the automatic cooking device provided by this embodiment, the manipulator assembly 1 includes a three-axis movement mechanism and a meal taking arm 330 slidably connected to the Y-direction slide rail 310 or the Y-direction slide block 320 of the three-axis movement mechanism, and the meal taking arm 330 and the Y-direction slide rail 310 or the Y-direction slide block 320 of the three-axis movement mechanism are slidably connected to each other so that the Y-direction movement mechanism 300 has a shorter storage state and a longer meal taking state, and the length of the Y-direction movement mechanism 300 can be flexibly adjusted, so that the use is convenient, and the occupied space in the cabinet body 10 is small.

Fifth embodiment

Referring to fig. 1 to 13, an automatic cooking apparatus according to an embodiment of the present invention includes a cabinet 10, a bin 20, and a manipulator assembly 1.

The bin body 20 is arranged in the cabinet body 10. The mechanical arm component 1 is arranged in the cabinet body 10, the mechanical arm component 1 comprises a three-axis movement mechanism, and the three-axis movement mechanism is used for transferring the lunch box 23 between the bin body 20 and the meal taking channel 134.

The Y-direction moving mechanism 300 includes a Y-direction guide 310, a Y-direction slider 320 slidably disposed on the Y-direction guide 310, and a Y-direction motor 301 driving the Y-direction slider 320 to extend toward the first end or the second end of the Y-direction guide 310 relative to the Y-direction guide 310, the Y-direction guide 310 is connected with the Z-direction slider at an interval or directly, the Y-direction slider 320 is used for taking and placing the lunch box 23, or a meal taking arm 330 is slidably disposed on the Y-direction slider 320, and the meal taking arm 330 is used for taking and placing the lunch box 23.

In other embodiments, the three-axis moving mechanism includes a Z-direction moving mechanism 200, an X-direction moving mechanism 100, and a Y-direction moving mechanism 300, and the Z-direction rails are disposed on both sides of the cabinet 10 to improve the stability of the Z-direction moving mechanism 100.

The Z-direction movement mechanism 200 includes a Z-direction guide rail and a Z-direction slider slidably disposed on the Z-direction guide rail, and the Z-direction guide rail is disposed on one side or both sides of the cabinet 10.

The Y-direction moving mechanism 300 includes a Y-direction guide 310, a Y-direction slider 320 slidably disposed on the Y-direction guide 310, and a Y-direction motor 301 driving the Y-direction slider 320 to extend toward the first end or the second end of the Y-direction guide 310 relative to the Y-direction guide 310, wherein the Y-direction guide 310 is connected to the X-direction slider, the Y-direction slider 320 is used for taking and placing the lunch box 23, or a meal taking arm 330 is slidably disposed on the Y-direction slider 320, and the meal taking arm 330 is used for taking and placing the lunch box 23.

In this embodiment, the Y-direction moving mechanism 300 includes two sets arranged at intervals, each set of Y-direction slider 320 is provided with a meal taking arm 330, and the meal taking arm 330 is used for supporting the flange 231 of the lunch box 23.

In another embodiment, the Y-direction moving mechanism 300 comprises a group, the Y-direction sliding block 320 is provided with a meal taking arm 330, and the meal taking arm 330 is used for supporting the bottom of the meal box 23. When the Y-direction moving mechanism 300 is a set, a gap for the Y-direction slider 320 to insert is formed between the bin body 20 and the bottom of the lunch box 23, and a gap for the Y-direction slider 320 to insert is formed between the meal taking channel 134 and the bottom of the lunch box 23.

The automatic cooking device further comprises a first base plate 410 and an opening and closing driving assembly, the first base plate 410 is connected with the Z-direction sliding block or the X-direction sliding block, the two groups of Y-direction guide rails 310 and the Y-direction sliding blocks 320 are arranged on the first base plate 410 at intervals, and the opening and closing driving assembly is used for driving the two groups of Y-direction moving mechanisms 300 to move on the first base plate 410 in an opening and closing mode.

The automatic cooking device further comprises a second base plate 510 and a rotating motor 520, wherein the second base plate 510 is connected with the Z-direction slider or the X-direction slider, the first base plate 410 is rotatably arranged on the second base plate 510, and the rotating motor 520 is used for driving the first base plate 410 to rotate relative to the second base plate 510 so as to integrally rotate the Y-direction moving mechanism 300 and transfer the lunch box 23 to the meal taking channel 134.

When the Y-direction slider 320 extends toward the first end or the second end of the Y-direction rail 310 with respect to the Y-direction rail 310, the meal taking arm 330 simultaneously extends toward the first end or the second end of the Y-direction slider 320 with respect to the Y-direction slider 320.

In the automatic cooking device provided by this embodiment, the three-axis movement mechanism is adopted to transfer the lunch box 23, and the automatic cooking device has a novel structure, is convenient to install and maintain, and occupies a small space in the cabinet 10.

Sixth embodiment

Referring to the drawings, the embodiment of the present application further provides an automatic cooking apparatus, which includes a cabinet 10, a plurality of bin bodies 20, a plurality of bin doors 30, a steam generator 50, a manipulator assembly 1, and a control assembly.

The plurality of bin bodies 20 are arranged in the cabinet body 10 and used for containing lunch boxes 23, and the bin bodies 20 can be divided into a bin body A for refrigeration positioned at the upper left side in the cabinet body 10 and a bin body B for steam positioned at the right side in the cabinet body 10. A plurality of bin gates 30 are mated with the bin body 20. The steam generator 50 is disposed in the cabinet 10 or outside the cabinet 10, and is configured to provide steam to the steaming compartment B. The mechanical arm component 1 is arranged in the cabinet body 10, the mechanical arm component 1 comprises a three-axis movement mechanism, and the three-axis movement mechanism is used for transferring the lunch box 23 between the bin body 20 and the meal taking channel 134. The control assembly is in communication with the robot assembly 1 and the steam generator 50.

The automatic cooking device further comprises a refrigeration assembly in communication connection with the control assembly, and the refrigeration assembly is arranged in the cabinet body 10 or outside the cabinet body 10 and used for providing cold energy for the cold storage bin body A.

The automatic cooking device further comprises a bin gate motor 40 in transmission connection with the bin gate 30, the bin gate motor 40 is in communication connection with the control component, and the bin gate motor 40 is used for driving the bin gate 30 to rotate or translate relative to the bin body 20 so as to open or close the bin gate 30.

The output end of the bin gate motor 40 is connected with the bin gate 30, and the bin gate motor 40 directly drives the bin gate 30 to open or close. Or the output end of the door motor 40 is connected with a first bevel gear 41, the door 30 is connected with a second bevel gear 42 engaged with the first bevel gear 41, and the door motor 40 drives the door 30 to open or close through the first bevel gear 41 and the second bevel gear 42. Or the output end of the bin gate motor 40 is connected with a driving wheel, the bin gate 30 is connected with a driven wheel, a synchronous belt 430 or a chain is sleeved between the driving wheel and the driven wheel, and the bin gate motor 40 drives the bin gate 30 to open or close through the driving wheel, the synchronous belt 430 or the chain and the driven wheel. Or the output end of the bin gate motor 40 is connected with a driving connecting rod, the bin gate 30 is connected with a driven connecting rod, the driving connecting rod is hinged with the driven connecting rod, and the bin gate motor 40 drives the bin gate 30 to open or close through the driving connecting rod and the driven connecting rod.

The automatic cooking apparatus further includes an outer door 14, an inner door 15, the outer door 14 being used to open or close the outer end of the meal access passage 134. The inner door 15 is used to open or close the inner end of the meal access passage 134.

A linkage 16 is connected between the outer door 14 and the inner door 15, and the outer door 14 and the inner door 15 are connected in a stepped manner by the linkage 16.

When the linkage 16 is located at the first position, the outer door 14 is closed relative to the outer end of the meal taking channel 134 and the inner door 15 is opened relative to the inner end of the meal taking channel 134.

When the linkage 16 is located at the second position, the outer door 14 is opened relative to the outer end of the meal taking channel 134, and the inner door 15 is closed relative to the inner end of the meal taking channel 134.

In the embodiment of the present application, the three-axis movement mechanism includes an X-direction movement mechanism 100, a Z-direction movement mechanism 200, and a Y-direction movement mechanism 300.

The X-direction moving mechanism 100 includes an X-direction guide rail and an X-direction slider slidably disposed on the X-direction guide rail, and the X-direction guide rail is disposed at the bottom and/or the top of the cabinet 10.

The Y-direction moving mechanism 300 comprises two groups arranged at intervals, each group of Y-direction sliders 320 is provided with a meal taking arm 330, and the meal taking arms 330 are used for supporting the flange 231 of the meal box 23; or the Y-direction moving mechanism 300 comprises a group, the Y-direction slider 320 is provided with a meal taking arm 330, and the meal taking arm 330 is used for supporting the bottom of the meal box 23.

The automatic cooking device further comprises a first base plate 410 and an opening and closing driving assembly in communication connection with the control assembly, the first base plate 410 is connected with the Z-direction sliding block or the X-direction sliding block, the two sets of Y-direction moving mechanisms 300 are arranged on the first base plate 410 at intervals, the opening and closing driving assembly is used for driving the two sets of Y-direction moving mechanisms 300 to move on the first base plate 410 in an opening and closing mode, and the opening and closing driving assembly is a synchronous belt 430 driving assembly, a gear rack driving assembly or an air cylinder driving assembly.

The automatic cooking device further comprises a second base plate 510 and a rotating motor 520 in communication connection with the control assembly, the second base plate 510 is connected with the Z-direction slider or the X-direction slider, the first base plate 410 is rotatably disposed on the second base plate 510, and the rotating motor 520 is used for driving the first base plate 410 to rotate relative to the second base plate 510 so as to integrally rotate the Y-direction moving mechanism 300 to transfer the lunch box 23 to the meal taking channel 134.

The automatic cooking device that this embodiment provided novel structure, convenient to use can automize and carry out edible material steaming processing.

The embodiment of the application further provides a cooking method based on the automatic cooking device, which comprises the following steps:

step 1, the control assembly receives a food preparation request signal, wherein the food preparation request signal is sent by the mobile terminal or generated by a touch screen 136 of the automatic cooking device, namely, a user can order through a mobile phone or order through the touch screen 136.

And 2, taking out the lunch box 23 from the refrigerating bin body A by the manipulator assembly 1 and transferring the lunch box into a steam bin body B.

And step 3, taking the lunch box 23 from the steam bin body B and transferring the lunch box to the meal taking channel 134 by the manipulator assembly 1.

Wherein, step 2 may comprise the following substeps:

step 201, the control component controls the corresponding first bin gate motor (which may be any bin gate motor 40) to rotate so as to open the bin gate 30 of the corresponding first refrigerating bin body a;

step 202, the control component controls the Y-direction movement mechanism 300 of the manipulator component 1 to move to the corresponding first refrigerating bin body A to take out the refrigerated lunch box 23;

step 203, the control component controls the corresponding first bin gate motor to rotate so as to close the bin gate 30 of the corresponding first refrigerating bin body a.

204, the control component controls the corresponding second bin gate motor to rotate so as to open the bin gate 30 of the corresponding first steam bin B;

step 205, the control component controls the Y-direction movement mechanism 300 of the manipulator component 1 to move to the corresponding first steam bin B, and refrigerated lunch boxes 23 are placed in the corresponding first steam bin B;

step 206, the control component controls the corresponding second bin gate motor to rotate so as to close the bin gate 30 of the corresponding first steam bin B;

in step 207, the control module controls the steam generator 50 to provide steam to the steam bin B to steam the food in the lunch box 23.

Wherein, step 3 may comprise the following substeps:

301, controlling the corresponding second bin gate motor to rotate by the control assembly so as to open the bin gate 30 of the corresponding first steam bin B;

step 302, the control component controls the Y-direction movement mechanism 300 of the manipulator component 1 to move to the corresponding first steam bin B to take out the steamed lunch box 23;

step 303, the control component controls the corresponding second bin gate motor to rotate so as to close the bin gate 30 of the corresponding first steam bin B;

step 304, the control component controls the Y-direction movement mechanism 300 of the manipulator component 1 to extend towards the meal taking channel so as to move the meal box into the meal taking channel 134;

in step 305, the Y-direction movement mechanism 300 of the robot assembly 1 is reset to the storage state, which can refer to the structure shown in fig. 11.

The cooking method provided by the embodiment can be used for automatically steaming food materials, is high in automation degree, and enables maintenance personnel to regularly face the refrigerating bin body A.

The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure, which are directly or indirectly applied to other related technical fields, are included in the scope of the present disclosure.

Claims

1. An automatic cooking apparatus, characterized in that it comprises:

a cabinet body;

2. The automatic cooking device according to claim 1, further comprising a first base plate, wherein the two meal taking arms are slidably disposed on the first base plate, and the opening and closing driving assembly is configured to drive the two meal taking arms to perform opening and closing movements on the first base plate.

3. The automatic cooking device according to claim 2, further comprising a Y-direction moving mechanism and a connecting block, wherein the Y-direction moving mechanism and the connecting block are connected to the two meal taking arms respectively, the connecting block is slidably disposed on the first base plate, and the Y-direction moving mechanism is fixed to the connecting block.

4. The automatic cooking device according to claim 3, wherein the first base plate is provided with a synchronizing wheel, a synchronizing belt sleeved on the synchronizing wheel, and an opening and closing motor in transmission connection with the synchronizing wheel, the synchronizing belt comprises a first belt section and a second belt section which are arranged between the synchronizing wheels, the first belt section and the second belt section are respectively connected with the two meal taking arms through the connecting block and the Y-direction movement mechanism, and the opening and closing motor drives the synchronizing belt to rotate forward or backward to realize opening and closing movement of the two meal taking arms.

5. The automatic cooking device of claim 2 further comprising a robot assembly disposed within the cabinet body, the robot assembly including a three-axis motion mechanism for driving the meal-fetching arm in three-dimensional motion within the cabinet body.

6. The automatic cooking apparatus according to claim 5, wherein the three-axis movement mechanism comprises:

7. The automatic cooking apparatus according to claim 5, wherein the three-axis movement mechanism comprises:

8. The automatic cooking device of claim 1 further comprising a door matching the bin body, a door motor in drive connection with the door for driving the door to rotate or translate relative to the bin body to open or close the door.

9. The automatic cooking device according to claim 6 or 7, further comprising a second base plate and a rotary motor, wherein the cabinet is provided with a meal taking channel, the second base plate is connected with the Z-direction sliding block or the X-direction sliding block, the first base plate is rotatably arranged on the second base plate, and the rotary motor is used for driving the first base plate to rotate relative to the second base plate so as to integrally rotate the Y-direction movement mechanism and further transfer the meal box to the meal taking channel.

10. The automatic cooking apparatus according to claim 9, wherein the cabinet comprises a front plate, a back plate, an upper plate and side plates connected, and the meal taking channel is connected with the front plate and/or the side plates.