Automatic cooking device and method for container pot

Abstract

The present invention provides an automatic cooking device and method for container pots, comprising a manipulator mounted on a housing, at least one transfer chamber, and at least one flipping and heating device. The transfer chamber is used to store the container pot. The manipulator includes a multi-axis movement mechanism and a clamping mechanism. The clamping mechanism is mounted on the multi-axis movement mechanism and is used to drive the clamping mechanism to move between the transfer chamber and the flipping and heating device. The flipping and heating device includes a heating chamber and a flipping drive mechanism. The heating chamber is used to receive and heat the container. This reduces the possibility of deformation caused by a user holding an unheated container pot for an extended period of time, prevents the heating device from being occupied by a container pot for an extended period of time, improves the utilization rate of the heating device, reduces the difficulty of operation for the user, and avoids improper user operation that may result in inaccurate placement and possible burns, thereby increasing safety and reliability. This can further enhance the production capacity of cooking devices to serve more users.

Description

Technical Field

[0001] The present invention relates to the technical field of cooking, and in particular to an automatic cooking device and method for a container pot. Background Art

[0002] Traditional manual cooking methods are difficult to standardize and promote on a large scale. They also result in high workload and long-term inhalation of cooking fumes, which are detrimental to physical and mental health. Technological advancements have led to the emergence of automated cooking devices, replacing manual cooking with machine-cooked food. In a prior patent, the inventor proposed using a heat-conducting container pot as a disposable cookware, and using a heating device to flip and heat the disposable cookware.

[0003] However, in actual use, it was found that existing heating devices can only heat a single pot, failing to meet the needs of multiple users simultaneously. Furthermore, if the user does not remove the pot after heating, the heating device will remain occupied for a long time, preventing the next pot from being heated. Furthermore, if the user holds the next pot for a long time, the pot, being thin and light, may deform during the waiting period, making it impossible to fit into the heating device.

[0004] In addition, in the prior art, users directly operate the heating device, such as opening the hatch, taking a container pot into the heating device, etc. During the operation, they need to use special clamps and comply with safety regulations. Otherwise, due to the high temperature characteristics of the heating device and the container pot that has just been heated, the user may be scalded if the operation is improper.

[0005] Furthermore, in the prior art, container pans are typically constructed of metal materials such as aluminum foil to facilitate heat conduction and save material. However, due to their thinness, these pans are easily deformed during handling and placement. The prior art lacks effective automated equipment for handling container pans. This is especially true when moving container pans between heating devices, transfer chambers, and other containers, where the inherent nature of the pans and their relatively small openings make effective handling equipment even more difficult. Summary of the Invention

[0006] In order to overcome the deficiencies of the prior art, the present invention provides a container pot robot and a cooking device having the same, which can solve at least one of the aforementioned technical problems.

[0007] Specifically, the technical solution is as follows:

[0008] An automatic cooking device for heating a container pot containing food, comprising: a housing, a manipulator provided on the housing, at least one transfer cabin, and at least one flip heating device, wherein the transfer cabin is used to store the container pot;

[0009] The manipulator includes a multi-axis moving mechanism and a clamping mechanism, wherein the clamping mechanism is used to clamp the container pot, and the clamping mechanism is arranged on the multi-axis moving mechanism, and the multi-axis moving mechanism is used to drive the clamping mechanism to move between the transfer cabin and the flip heating device;

[0010] The flip heating device includes a heating chamber and a flip driving device. The heating chamber is used to receive and heat the container pot. The heating chamber is flippably arranged on the shell. The flip driving device is connected to the heating chamber to drive the heating chamber to flip.

[0011] In a specific embodiment, the transfer cabin includes a first opening and a second opening, wherein the first opening is located on one side wall of the transfer cabin and communicates with the exterior of the shell, allowing a user to take the container pot from the transfer cabin, and the second opening is located on the other side wall of the transfer cabin and communicates with the interior of the shell, allowing the clamping mechanism to take the container pot from the transfer cabin;

[0012] The first opening and / or the second opening is equipped with a door. More preferably, the door equipped at the first opening is an automatic door. More preferably, the door equipped at the second opening is an automatic door.

[0013] In a specific embodiment, the bottom of the transfer cabin has a stepped groove, which includes a first-level groove and a second-level groove. The shape of the first-level groove matches the shape of the bottom of the container pot to accommodate and position the bottom of the container pot.

[0014] The height of the second-level groove is lower than that of the first-level groove. The second-level groove extends into the first-level groove so that a portion of the bottom of the container pot is located on the second-level groove.

[0015] In a specific embodiment, a container pot detection module is provided in the transfer cabin for detecting whether the container pot is in the transfer cabin;

[0016] And / or, a temperature detection module is provided in the transfer cabin for detecting the temperature of the container pot.

[0017] In a specific embodiment, the clamping mechanism includes a first support rod and a second support rod, wherein a gap is provided between the first support rod and the second support rod for placing the container pot, and the first support rod is used to support one side of the container pot, and the second support rod is used to support the other side of the container pot;

[0018] The multi-axis moving mechanism includes a vertical moving component and a horizontal moving component. The fixed end of the horizontal moving component is arranged on the moving end of the vertical moving component, and the first support rod and the second support rod are respectively arranged on the moving end of the horizontal moving component.

[0019] In a specific embodiment, the fixed end of the horizontal moving assembly includes a first base and a rack, the first base is connected to the moving end of the vertical moving assembly, and the rack is connected to the first base;

[0020] The moving end of the horizontal moving assembly includes a second base, a first motor and a gear, the gear is driven by the first motor, the first motor is connected to the second base, and the first support rod and the second support rod are respectively connected to the second base;

[0021] Preferably, it further comprises at least one set of guide assemblies, wherein the guide assemblies comprise matching guide rails and sliders, wherein the guide rails are arranged on the first base, and the second base is provided with a connecting rod for connecting the sliders;

[0022] Preferably, the second base is provided with a pushing member for pushing the container pot, and the pushing member is located between the first support rod and the second support rod;

[0023] Preferably, a scanning device for scanning image information on the container pot is provided on the first base, and the first base has a hollow portion. The scanning device is located on the upper side of the hollow portion, and the container pot is located on the lower side of the hollow portion. The scanning light of the scanning device passes through the hollow portion and collects the image information.

[0024] In a specific embodiment, the shell has a first bracket inside, the flip drive device is installed on the first bracket, one side of the heating chamber has a connecting shaft, the connecting shaft is flip-supported on the first bracket, and the connecting shaft passes through the first bracket and is connected to the flip drive device.

[0025] In a specific embodiment, the housing has a second bracket inside, the second bracket is located on the other side of the heating chamber, and the second bracket is provided with an automatic door for opening or closing the heating chamber;

[0026] Preferably, the first bracket and the second bracket are both plate-shaped structures, and partitions are provided on the tops of the first bracket and the second bracket, and the partitions are used to separate the area where the heating chamber is provided from other areas in the shell.

[0027] In a specific embodiment, a control unit and a display unit are provided on the housing.

[0028] An automatic cooking method is applied to an automatic cooking device, the automatic cooking device comprising: a housing, a manipulator disposed on the housing, at least one transfer chamber, and at least one flip heating device, wherein the transfer chamber is used to store the container pot; the manipulator comprises a multi-axis moving mechanism and a clamping mechanism, the clamping mechanism being used to clamp the container pot, the clamping mechanism being disposed on the multi-axis moving mechanism and being used to drive the clamping mechanism to move between the transfer chamber and the flip heating device, the clamping mechanism being provided with a scanning device; the flip heating device comprising a heating chamber and a flip driving device, the heating chamber being used to receive and heat the container pot, the heating chamber being flipably disposed on the housing, and the flip driving device being connected to the heating chamber to drive the heating chamber to flip;

[0029] Wherein, the automatic cooking method specifically includes:

[0030] The multi-axis moving mechanism is activated to cause the clamping mechanism to extend into the transfer chamber in a first direction to clamp the container pot, the multi-axis moving mechanism is further activated to cause the clamping mechanism to lift the container pot upward, and the multi-axis moving mechanism is further activated to cause the clamping mechanism to drive the container pot out of the transfer chamber in a second direction, wherein the first direction and the second direction are both substantially horizontal and in opposite directions.

[0031] Continuing to activate the multi-axis moving mechanism to move the container pot to a position corresponding to the scanning device, the scanning device scans the graphic code of the container pot to obtain information about the food in the container pot;

[0032] Continuing to start the multi-axis moving mechanism to enable the heating chamber to receive the container pot;

[0033] generating a corresponding heating control program according to the food information, controlling the heating chamber to heat the container pot according to the heating control program, and controlling the flip driving device to flip the heating chamber according to the heating control program;

[0034] After the heating control program is executed, the heating chamber and the flip driving device are stopped, and the multi-axis moving mechanism is started again to move the container pot from the heating chamber to the transfer chamber.

[0035] In a specific embodiment, the specific method of “generating a corresponding heating control program according to the food information” includes:

[0036] presetting an initial heating control program corresponding to the food information;

[0037] The initial temperature of the container pot in the transfer cabin is detected, and the initial heating control program is adjusted according to the initial temperature, including adjusting the heating power, heating time or rotation speed, to obtain a final heating control program.

[0038] The present invention has at least the following beneficial effects:

[0039] According to the present invention, the automatic cooking device and method for a container pot include a manipulator arranged on a shell, at least one transfer cabin and at least one flip heating device, wherein the transfer cabin is used to store the container pot; the manipulator includes a multi-axis moving mechanism and a clamping mechanism, wherein the clamping mechanism is used to clamp the container pot, the clamping mechanism is arranged on the multi-axis moving mechanism, and the multi-axis moving mechanism is used to drive the clamping mechanism to move between the transfer cabin and the flip heating device; the flip heating device includes a heating cabin and a flip driving device, wherein the heating cabin is used to receive and heat the container pot, the heating cabin is flipably arranged on the shell, and the flip driving device is connected to the heating cabin to drive the heating cabin to flip.

[0040] Thus, during use, the transfer chamber can be used to receive container pots. When a user needs to heat and cook food in a container pot, they can first place the container pot in the transfer chamber. A robotic arm automatically removes the container pot from the transfer chamber, moves it, and then places it in the heating chamber. After one container pot is heated, the robotic arm automatically returns it to the transfer chamber, and then removes the next container pot and heats it in the heating chamber. Compared to the prior art, the present invention has multiple advantages. It reduces the possibility of users holding unheated containers for extended periods of time, which may cause the container pot to deform. It also prevents the heating device from being occupied by a container pot for extended periods due to user errors, thereby improving the utilization rate of the heating device. Users only need to remove and place the container pot from the transfer chamber, reducing user operation difficulty. The user is isolated from the heating device to prevent improper placement and possible burns caused by improper operation, making the cooking device safer and more reliable. Furthermore, the number of transfer chambers and flip heating devices can be more than one. When multiple, the cooking device's production capacity can be further increased to serve more users.

[0041] Furthermore, the first and second support rods, each supporting one side of the container pot, are smaller than conventional vacuum suction cups and gripping manipulators. This eliminates the need for a large gap between the container and the pot, significantly reducing the size of the heating device, transfer chamber, and other components while still meeting the requirements for access and movement of the pot. This makes the overall device more compact and sleek, facilitating the installation of additional equipment within a limited space. Furthermore, a multi-axis movement mechanism allows the pot to be moved between different positions for access and movement.

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 is a perspective view of the cooking device in Example 1;

[0045] Figure 2 is a three-dimensional diagram of the cooking device in Example 1 after partially hiding the housing;

[0046] Figure 3 is a first schematic diagram of the transfer cabin in Example 1;

[0047] Figure 4 This is a partial exploded view of the transfer cabin in Example 1;

[0048] Figure 5 is a second schematic diagram of the transfer cabin in Example 1;

[0049] Figure 6 is a partial schematic diagram of the manipulator in Example 1;

[0050] Figure 7 is a perspective view of a portion of the structure of the manipulator in the rear view state in Example 1;

[0051] Figure 8 This is a perspective view of a portion of the structure of the manipulator in the front view state in Example 1 without the container pot;

[0052] Figure 9 is a perspective view of the heating chamber in Example 1;

[0053] Figure 10 This is a partial exploded view of the heating chamber in Example 1 from another perspective;

[0054] Figure 11 This is a schematic diagram of the installation of the flip heating device in Example 1 from one viewing angle;

[0055] Figure 12 This is a schematic diagram of the installation of the flip heating device in Example 1 from another perspective;

[0056] Figure 13 It is a three-dimensional diagram of the heating chamber in Example 2.

[0057] Description of main component symbols:

[0058] 1-Container pot; 2-Shell; 3-Control unit; 4-Breathing light; 5-Indicator light; 222-First hatch; 221-Cabin; 223-Second hatch; 22-Transfer cabin; 201-First bracket; 202-Second bracket; 203-Rear shell; 204-Partition; 21-Turning heating device; 211-Heating cabin; 212-Third hatch; 224-First-stage groove; 225-Second-stage groove; 226-Cover; 227-Fan; 228-Motor; 213-Connecting shaft; 2111-Outer cabin shell; 2112-inner cabin shell; 214-heating tube; 10-vertical moving assembly; 101-fixed end of vertical moving assembly; 102-moving end of vertical moving assembly; 13-scanning device; 14, 15-limit switch; 12-first support rod; 16-second support rod; 17-connecting rod; 18-guide assembly; 181-slider; 182-guide rail; 111-rack; 112-gear; 113-first base; 114-second base; 115-hollow portion; 19-first stop portion; 20-pushing member. DETAILED DESCRIPTION

[0059] Hereinafter, various embodiments of the present invention will be described more fully. The present invention can have various embodiments, and modifications and variations can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but rather that the present invention should be construed to encompass all modifications, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0060] Example 1

[0061] See also Figure 1 、 Figure 2 This embodiment provides an automatic cooking device for heating a container pot 1 encapsulating food, comprising a shell 2, a manipulator arranged on the shell 2, at least one transfer cabin 22 and at least one flip heating device 21.

[0062] The container pot 1 is used to encapsulate food. Exemplarily, its structure may include a first body and a second body having thermal conductivity and capable of snapping together. The first body is constructed as an open container structure formed by a first bottom wall and a first peripheral wall, and the second body is constructed as an open container structure formed by a second bottom wall and a second peripheral wall. The open edge of the first peripheral wall is provided with a first flange, and the open edge of the second peripheral wall is provided with a second flange. At least one of the first flange and the second flange is configured to have a flexible property so that when the first and second bodies are snapped together, at least one of the first flange and the second flange can deform under the action of an external force to wrap around the other to form a seal. Preferably, the first body includes a first reinforcing rib extending from the first peripheral wall to the first bottom wall; the second body includes a second reinforcing rib extending from the second peripheral wall to the second bottom wall.

[0063] The housing 2 serves to install other components and form an internal cavity, and its structure may be assembled from multiple components, such as a front housing, a rear housing 203 , and a bottom housing.

[0064] In this embodiment, the transfer cabin 22 is used to store the container pot 1. Figure 1-Figure 5 As shown, there are multiple transfer chambers 22, such as 2, 3, 4, 5, or more. The multiple transfer chambers 22 allow the same automatic cooking device to simultaneously serve multiple container pots 1. Furthermore, this simplifies operation. After the user places their order, they only need to place their respective container pots 1 in the corresponding transfer chamber 22. The automatic cooking device then performs the remaining operations autonomously, such as using a robotic arm to sequentially place the container pots 1 in each transfer chamber 22 into the flip heating device 21 for heating. Furthermore, safety is enhanced, as the user only needs to interact with the transfer chamber 22 and does not need to touch the heating device, thus preventing burns from improper operation. Furthermore, the possibility of deformation of the container pot 1 caused by a user holding the unheated container pot 1 for an extended period of time is reduced, and the heating device is prevented from being occupied for an extended period by a specific container pot 1 due to user error, thereby improving the utilization rate of the heating device.

[0065] Specifically, the cabin body 221 of the transfer cabin 22 includes a first opening and a second opening. The first opening is located on one side wall of the transfer cabin 22 and is connected to the outside of the shell 2, so that the user can take and place the container pot 1 from the transfer cabin 22. The second opening is located on the other side wall of the transfer cabin 22 and is connected to the inside of the shell 2, so that the clamping mechanism can take and place the container pot 1 from the transfer cabin 22.

[0066] The first opening is provided with a door, which can be set as first door 222. Preferably, first door 222 provided with the first opening is an automatic door. In a preferred embodiment, first door 222 is an electromagnetic door, which automatically locks or opens when power is on or off. In another preferred embodiment, first door 222 is driven by a motor.

[0067] The second opening is provided with a door, which can be configured as second door 223. Second door 223 is an automatic door, preferably driven by motor 228. The first opening is provided with first door 222, which prevents user error and allows the transfer chamber 22 to be closed in cold weather, providing a degree of insulation through the closed chamber.

[0068] like Figure 4 As shown, the bottom of the transfer chamber 22 has a stepped groove, which includes a first-level groove 224 and a second-level groove 225. The shape of the first-level groove 224 matches the shape of the bottom of the container pot 1 to accommodate and position the bottom of the container pot 1. The height of the second-level groove 225 is lower than that of the first-level groove 224. The second-level groove 225 extends into the first-level groove 224, so that a portion of the bottom of the container pot 1 is located on the second-level groove 225. The first-level groove 224 can position the container pot 1, making it easier for users and manipulators to accurately place the container pot 1 in the transfer chamber 22. The second-level groove 225 exposes a portion of the bottom of the container pot 1, making it easier for users to grasp the container pot 1 and more convenient to take it in and out. Compared with the existing technology, this design is very ingenious.

[0069] A container pot 1 detection module is installed in the transfer chamber 22 to detect the presence of a container pot 1. The container pot 1 detection module can include one or more combinations of gravity sensors, photoelectric sensors, and metal sensors. The container pot 1 detection module transmits a signal indicating the presence or absence of a container pot 1 in the transfer chamber 22 to the upper control unit 3, facilitating control of the manipulator, the turning and heating device 21, and other components.

[0070] A temperature detection module is provided in the transfer chamber 22 for detecting the temperature of the container pot 1. The temperature detection module detects the temperature of the container pot 1 and sends the temperature information to the upper control unit 3, so that the upper control unit 3 can control the manipulator, the turning heating device 21, etc.

[0071] The back of the transfer chamber 22 is equipped with a box-shaped cover 226, which is fixedly connected to the back of the transfer chamber 22 and forms a closed inner cavity. This closed inner cavity houses the automatic cooking device's control system, such as its circuit board structure. This arrangement encapsulates the control circuit board of the automatic cooking device, protecting it from cooking fumes and isolating it from the hot zone, further protecting the circuit components. A fan 227 is also installed on the cover 226 to dissipate heat from the closed inner cavity.

[0072] The flip heating device 21 includes a heating chamber 211 and a flip driving device. The heating chamber 211 is used to receive and heat the container pot 1. The heating chamber 211 is flippably arranged on the housing 2. The flip driving device is connected to the heating chamber 211 to drive the heating chamber 211 to flip. Preferably, there are multiple flip heating devices 21, for example, 2, 3 or more. This allows multiple heating chambers 211 to be heated simultaneously in the same automatic cooking device, significantly improving heating efficiency to serve more container pots 1. Among them, if Figure 9 、 Figure 10 As shown, the heating chamber includes an inner shell 2112 and an outer shell 2111. An air insulation layer is provided between the inner shell 2112 and the outer shell 2111, thereby giving the heating chamber 211 a multi-layer insulation structure, thereby improving the insulation and heat preservation effect. The inner shell 2112 is provided with a heating pipe 214, which is preferably a straight pipe.

[0073] like Figure 11 、 Figure 12 As shown, the housing 2 has a first bracket 201 within it, and the tilt drive device is mounted on the first bracket 201. A connecting shaft 213 is provided on one side of the heating chamber 211. The connecting shaft 213 is reversibly supported on the first bracket 201, passes through the first bracket 201, and connects to the tilt drive device. The connecting shaft 213 is a hollow shaft with a wire running through it. Preferably, a thermal insulation layer is provided at the connection between the heating chamber 211 and the connecting shaft 213.

[0074] like Figure 11 As shown, the housing 2 has a second bracket 202 located on the other side of the heating chamber 211. An automatic door, or second door 223, is provided on the second bracket 202 for opening and closing the heating chamber 211. Preferably, an opening is provided on the second bracket 202 at a location corresponding to the heating chamber 211. The heating chamber 211 passes through the opening and engages with the second door 223. Furthermore, preferably, the opening is larger than the heating chamber 211, allowing the heating chamber 211 to pass through the opening, facilitating quick assembly and disassembly of the heating chamber 211 during maintenance.

[0075] Preferably, both the first bracket 201 and the second bracket 202 are plate-shaped, with a partition 204 disposed on top of the first bracket 201 and the second bracket 202. The partition 204 is used to separate the area within the housing 2 where the heating chamber 211 is located from other areas. This isolates the heating zone from other areas within the automatic cooking device, preventing damage to the electronic equipment within the automatic cooking device from high temperatures, fumes, and the like from the heating zone.

[0076] Preferably, an aviation plug is provided in the housing 2 , and the wire extending from the heating chamber 211 is connected to the aviation plug.

[0077] Specifically, the flip driving device includes a driving motor and a transmission mechanism, which drives the heating chamber 211 to flip. Figure 11 As shown, the driving device includes a motor, a speed change mechanism, etc., and the transmission mechanism includes a driving wheel, a synchronous belt, a driven wheel, etc. The driven wheel is directly or indirectly sleeved on the connecting shaft 213 of the heating chamber 211 to realize transmission connection.

[0078] The manipulator includes a multi-axis moving mechanism and a clamping mechanism. The clamping mechanism is used to clamp the container pot 1. The clamping mechanism is arranged on the multi-axis moving mechanism. The multi-axis moving mechanism is used to drive the clamping mechanism to move between the transfer cabin 22 and the flip heating device 21.

[0079] like Figure 6-Figure 8 As shown, the clamping mechanism includes a first support rod and a second support rod, and there is a gap between the first support rod and the second support rod for placing the container pot 1. The first support rod is used to support one side of the container pot 1, and the second support rod is used to support the other side of the container pot 1.

[0080] Specifically, the first support rod 12 and the second support rod 16 can be straight rods. A gap exists between the first support rod 12 and the second support rod 16 for placing the container pot 1. The first support rod 12 supports one side of the container pot 1, while the second support rod 16 supports the other side of the container pot 1. The first support rod 12 supports the front side of the container pot 1, while the second support rod 16 supports the back side of the container pot 1. The support structure between the container pot 1 and the first support rod 12 and the second support rod 16 can be achieved by providing the container pot 1 with a flange, an inclined sidewall, or a step in the sidewall, so that the first support rod 12 and the second support rod 16 support the flange, inclined sidewall, or step in the sidewall of the container pot 1.

[0081] In this embodiment, the multi-axis moving mechanism includes a vertical moving component 10 and a horizontal moving component. The fixed end of the horizontal moving component is arranged on the moving end 102 of the vertical moving component, and the first support rod 12 and the second support rod 16 are respectively arranged on the moving end of the horizontal moving component. Among them, the vertical moving component 10 includes a combination structure of linear drive mechanisms such as lifting screws, linear electric cylinders, and linear motors and guide mechanisms such as guide rails and sliders 181. The fixed part is the fixed end, and the moving part is the moving end. It will not be repeated in this embodiment. In addition, it should be noted that the number of vertical moving components 10 and horizontal moving components can be more than one, for example, there can be two horizontal moving components, or more, thereby forming a moving mechanism with three axes or more axes.

[0082] In this embodiment, one end of the first support rod 12 is connected to the moving end of the horizontal moving assembly, and the other end of the first support rod 12 is provided with a first stopper 19, which stops the container pot 1 from moving relative to the first support rod 12 in the horizontal direction.

[0083] In this embodiment, one end of the second support rod 16 is connected to the horizontal moving assembly, and the other end of the second support rod 16 is provided with a second stopper, which stops the container pot 1 from moving relative to the second support rod 16 in the horizontal direction.

[0084] In this embodiment, the fixed end of the horizontal moving assembly includes a first base 113 and a rack 111. The first base 113 is connected to the mobile end 102 of the vertical moving assembly, and the rack 111 is connected to the first base 113. The mobile end of the horizontal moving assembly includes a second base 114, a first motor, and a gear 112. The gear 112 is driven by the first motor, which is connected to the second base 114. The first support rod 12 and the second support rod 16 are respectively connected to the second base 114. Therefore, when the first motor is started, a meshing transmission is generated between the gear 112 and the rack 111. The rack 111 remains stationary relative to the first base 113, and the gear 112 also generates horizontal linear movement while rotating. This causes the first support rod 12 and the second support rod 16 to move horizontally to remove and place the container pot 1.

[0085] Specifically, there is a gap between the first support rod 12, the second support rod 16 and the rack 111 in the vertical direction for placing the container pot 1. Preferably, the first support rod 12 and the second support rod 16 are located below the rack 111, and the container pot 1 is located in the gap, making the structure more compact.

[0086] Thus, the first support rod 12 and the second support rod 16 each support one side of the container pot 1. Compared to existing vacuum suction cups and gripping manipulators, the two support rods in the present invention are smaller in size, eliminating the need for a large gap between the container and the container pot. While still meeting the requirements for placing, relocating, and moving the container pot, the volume of the heating device, transfer chamber 22, and other components can be significantly reduced. This makes the overall device more compact and convenient for installing more other equipment within a limited space. Furthermore, the multi-axis movement mechanism can be used to move the container pot between different positions for placement and movement.

[0087] Preferably, at least one guide assembly 18 is further included, and the guide assembly 18 includes a matching guide rail 182 and a slider 181. The guide rail 182 is provided on the first base 113, and a connecting rod 17 for connecting the slider 181 is provided on the second base 114. In this way, the container 1 can be taken in and out more smoothly and accurately.

[0088] Preferably, a pusher 20 for pushing the container pot 1 is provided on the second base 114, and the pusher 20 is located between the first support rod 12 and the second support rod 16. Due to the provision of the pusher 20, even if the container pot 1 moves relative to the first support rod 12 and the second support rod 16, the pushing action of the pusher 20 can still accurately be taken to and placed in the preset position, thereby improving the accuracy of the taking and placing operation.

[0089] Preferably, a scanning device 13 for scanning image information on the container pot 1 is mounted on the first base 113. The first base 113 has a hollow portion 115. The scanning device 13 is located above the hollow portion 115, and the container pot 1 is located below the hollow portion 115. Scanning light from the scanning device 13 passes through the hollow portion 115 and captures image information. By scanning, information such as the type of food in the container pot is obtained, and the specific parameters of the flip heating device 21 can be controlled based on the different heating requirements of different foods.

[0090] Preferably, limit switches 14 and 15 are respectively provided on the first base 113 at positions corresponding to the two ends of the rack 111 . The limit switches 14 and 15 are used to feedback a position signal when the gear 112 reaches a preset position.

[0091] In this embodiment, a control unit 3 and a display unit are provided on the housing 2. The control unit 3 and the display unit may be an integrated touch screen, which displays the status of each transfer chamber 22, each heating chamber 211, and the manipulator, and receives operation instructions to manually control or adjust the above components.

[0092] Preferably, a corresponding indicator light is provided on the side of the transfer cabin 22, and the indicator light is preferably a color-changing indicator light, such as green, yellow, etc. The color of the indicator light prompts the user of the status of the transfer cabin 22, such as whether there is a container pot 1, whether the container pot 1 has completed heating, etc.

[0093] Preferably, an indicator light, such as a breathing light 4 , is provided on the housing 2 to provide status indication, lighting or reminder functions.

[0094] This embodiment further provides an automatic cooking method, which is applied to the automatic cooking device described in the preceding embodiment. The automatic cooking method specifically includes:

[0095] The multi-axis moving mechanism is activated to cause the clamping mechanism to extend into the transfer chamber 22 in a first direction to clamp the container pot 1. The multi-axis moving mechanism is further activated to cause the clamping mechanism to push the container pot 1 upward. The multi-axis moving mechanism is further activated to cause the clamping mechanism to drive the container pot 1 out of the transfer chamber 22 in a second direction. The first direction and the second direction are both substantially horizontal and in opposite directions.

[0096] The multi-axis moving mechanism is continued to be activated to move the container pot 1 to a position corresponding to the scanning device. The scanning device scans the graphic code of the container pot 1 to obtain the food information in the container pot 1;

[0097] Continue to start the multi-axis moving mechanism to make the heating chamber 211 receive the container pot 1;

[0098] Generate a corresponding heating control program according to the food information, control the heating chamber 211 to heat the container pot 1 according to the heating control program, and control the flip driving device to flip the heating chamber 211 according to the heating control program;

[0099] After the heating control program is executed, the heating chamber 211 and the flip driving device are stopped, and the multi-axis moving mechanism is started again to move the container pot 1 from the heating chamber 211 to the transfer chamber 22.

[0100] The clamping mechanism clamps the container pot 1 via the first support rod and the second support. The specific method has been described in the previous section of this embodiment, that is, there is a gap between the first support rod and the second support rod for placing the container pot 1, and the first support rod supports one side of the container pot 1, and the second support rod is used to support the other side of the container pot 1. Detailed description is omitted here. When the clamping mechanism releases the container pot 1, it can be removed from the transfer chamber 22 and the heating chamber 211 via the multi-axis movement mechanism. If there are stoppers on the first support rod and the second support, they can be moved downward to lower the height of the stoppers before leaving the transfer chamber 22 and the heating chamber 211 via the multi-axis movement mechanism.

[0101] The specific method of "generating a corresponding heating control program according to food information" includes:

[0102] Presetting an initial heating control program corresponding to food information;

[0103] The initial temperature of the container pot 1 in the transfer chamber 22 is detected, and the initial heating control program is adjusted based on the initial temperature, including adjusting the heating power, heating time, or heating speed, to obtain the final heating control program. By pre-detecting the initial temperature of the container pot 1, the required heating amount can be more accurately calculated, and the heating power, heating time, or heating speed can be adjusted accordingly. This not only achieves more precise heating control and efficient energy utilization, but also accurately controls the quality and taste of the food, improving the user experience.

[0104] It will be understood by those skilled in the art that, in order to implement the aforementioned automatic cooking method, the automatic cooking device also includes a control system, such as a processor, a communication circuit, a power supply circuit, wires, switches, etc., which are preferably arranged in the cover 226. The specific composition of the control system will not be elaborated in this embodiment.

[0105] Example 2

[0106] See also Figure 13 Compared with Example 1, the main differences of this embodiment are:

[0107] The first heating component 218 includes a curved electric heating tube. Each curved electric heating tube includes a plurality of sections that are folded back in sequence. Two power connection ends of the curved electric heating tube are located inside the area surrounded by the plurality of sections.

[0108] The second heating component includes a curved electric heating tube, each of which includes a plurality of sections that are folded back in sequence, and two power connection ends of the curved electric heating tube are located inside the area surrounded by the plurality of sections.

[0109] Thus, the number of electric heating tubes can be reduced, the thermal efficiency can be improved, and the installation and maintenance can be facilitated.

[0110] The other features of this embodiment are the same as those of embodiment 1 and will not be described in detail.

[0111] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0112] Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the implementation scenario description, or can be modified accordingly and located in one or more devices different from the implementation scenario. The modules in the above implementation scenario can be combined into one module or further split into multiple submodules.

[0113] The above serial numbers of the present invention are for description only and do not represent the advantages or disadvantages of the implementation scenarios.

[0114] The above disclosures are only several specific implementation scenarios of the present invention. However, the present invention is not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. An automatic cooking device for a container pot, used for heating a container pot enclosed with food, characterized in that: The container pot comprises a housing, a manipulator, at least one transfer cabin and at least one turning heating device arranged on the housing, wherein the transfer cabin is used to store the container pot; The manipulator includes a multi-axis moving mechanism and a clamping mechanism, wherein the clamping mechanism is used to clamp the container pot, and the clamping mechanism is arranged on the multi-axis moving mechanism, and the multi-axis moving mechanism is used to drive the clamping mechanism to move between the transfer cabin and the flip heating device; The flip heating device includes a heating chamber and a flip driving device, wherein the heating chamber is used to receive and heat the container pot, the heating chamber is flipably arranged on the housing, and the flip driving device is connected to the heating chamber to drive the heating chamber to flip; The clamping mechanism includes a first support rod and a second support rod, wherein a gap is provided between the first support rod and the second support rod for placing the container pot, and the first support rod is used to support one side of the container pot, and the second support rod is used to support the other side of the container pot; The multi-axis moving mechanism includes a vertical moving assembly and a horizontal moving assembly, wherein the fixed end of the horizontal moving assembly is arranged on the moving end of the vertical moving assembly, and the first support rod and the second support rod are respectively arranged on the moving end of the horizontal moving assembly; the fixed end of the horizontal moving assembly includes a first base and a rack, the first base is connected to the moving end of the vertical moving assembly, and the rack is connected to the first base; The moving end of the horizontal moving assembly includes a second base, a first motor and a gear, the gear is driven by the first motor, the first motor is connected to the second base, and the first support rod and the second support rod are respectively connected to the second base; It also includes at least one set of guide assemblies, the guide assemblies including matching guide rails and sliders, the guide rails are arranged on the first base, and the second base is provided with a connecting rod for connecting the sliders; The second base is provided with a pushing member for pushing the container pot, and the pushing member is located between the first support rod and the second support rod; A scanning device for scanning image information on the container pot is provided on the first base. The first base has a hollow portion. The scanning device is located on the upper side of the hollow portion and the container pot is located on the lower side of the hollow portion. The scanning light of the scanning device passes through the hollow portion and collects the image information.

2. The automatic cooking device according to claim 1, characterized in that: The transfer cabin comprises a first opening and a second opening, wherein the first opening is located on one side wall of the transfer cabin and communicates with the exterior of the shell, so that a user can take the container pot out of the transfer cabin, and the second opening is located on the other side wall of the transfer cabin and communicates with the interior of the shell, so that the clamping mechanism can take the container pot out of the transfer cabin; The first opening and / or the second opening is provided with a hatch.

3. The automatic cooking device according to claim 2, characterized in that: The hatch configured for the first opening is an automatic hatch.

4. The automatic cooking device according to claim 2, characterized in that: The hatch configured for the second opening is an automatic hatch.

5. The automatic cooking device according to claim 2, characterized in that: The bottom of the transfer cabin has a stepped groove, which includes a first-level groove and a second-level groove. The shape of the first-level groove matches the shape of the bottom of the container pot to accommodate and position the bottom of the container pot. The height of the second-level groove is lower than that of the first-level groove. The second-level groove extends into the first-level groove so that a portion of the bottom of the container pot is located on the second-level groove.

6. The automatic cooking device according to any one of claims 1 to 5, characterized in that: A container pot detection module is provided in the transfer cabin, for detecting whether the container pot is in the transfer cabin; And / or, a temperature detection module is provided in the transfer cabin for detecting the temperature of the container pot.

7. The automatic cooking device according to claim 2, characterized in that: The shell has a first bracket inside, the flip drive device is installed on the first bracket, one side of the heating chamber has a connecting shaft, the connecting shaft is flipably supported on the first bracket, and the connecting shaft passes through the first bracket and is connected to the flip drive device.

8. The automatic cooking device according to claim 7, characterized in that: A second bracket is provided inside the housing, the second bracket is located on the other side of the heating chamber, and an automatic door for opening or closing the heating chamber is provided on the second bracket; The first bracket and the second bracket are both plate-shaped structures. A partition is provided on the top of the first bracket and the second bracket. The partition is used to separate the area where the heating chamber is provided from other areas in the shell.

9. The automatic cooking device according to claim 1, characterized in that: A control unit and a display unit are arranged on the housing.

10. An automatic cooking method for a container pot, applied to an automatic cooking device, characterized in that: The automatic cooking device comprises: a housing, and a manipulator, at least one transfer cabin, and at least one flip heating device arranged on the housing, wherein the transfer cabin is used to store the container pot; the manipulator comprises a multi-axis moving mechanism and a clamping mechanism, wherein the clamping mechanism is used to clamp the container pot, the clamping mechanism is arranged on the multi-axis moving mechanism, the multi-axis moving mechanism is used to drive the clamping mechanism to move between the transfer cabin and the flip heating device, and the clamping mechanism is provided with a scanning device; the flip heating device comprises a heating cabin and a flip driving device, wherein the heating cabin is used to receive and heat the container pot, the heating cabin is flipably arranged on the housing, and the flip driving device is connected to the heating cabin to drive the heating cabin to flip; The clamping mechanism includes a first support rod and a second support rod, wherein a gap is provided between the first support rod and the second support rod for placing the container pot, and the first support rod is used to support one side of the container pot, and the second support rod is used to support the other side of the container pot; The multi-axis moving mechanism includes a vertical moving assembly and a horizontal moving assembly, wherein the fixed end of the horizontal moving assembly is arranged on the moving end of the vertical moving assembly, and the first support rod and the second support rod are respectively arranged on the moving end of the horizontal moving assembly; the fixed end of the horizontal moving assembly includes a first base and a rack, the first base is connected to the moving end of the vertical moving assembly, and the rack is connected to the first base; The moving end of the horizontal moving assembly includes a second base, a first motor and a gear, the gear is driven by the first motor, the first motor is connected to the second base, and the first support rod and the second support rod are respectively connected to the second base; It also includes at least one set of guide assemblies, the guide assemblies including matching guide rails and sliders, the guide rails are arranged on the first base, and the second base is provided with a connecting rod for connecting the sliders; The second base is provided with a pushing member for pushing the container pot, and the pushing member is located between the first support rod and the second support rod; The first base is provided with a scanning device for scanning image information on the container pot. The first base has a hollow portion. The scanning device is located above the hollow portion, and the container pot is located below the hollow portion. The scanning light of the scanning device passes through the hollow portion and collects the image information. Wherein, the automatic cooking method specifically includes: The multi-axis moving mechanism is activated to cause the clamping mechanism to extend into the transfer chamber in a first direction to clamp the container pot, the multi-axis moving mechanism is further activated to cause the clamping mechanism to lift the container pot upward, and the multi-axis moving mechanism is further activated to cause the clamping mechanism to drive the container pot out of the transfer chamber in a second direction, wherein the first direction and the second direction are both substantially horizontal and in opposite directions. Continuing to activate the multi-axis moving mechanism to move the container pot to a position corresponding to the scanning device, the scanning device scans the graphic code of the container pot to obtain information about the food in the container pot; Continuing to start the multi-axis moving mechanism to enable the heating chamber to receive the container pot; generating a corresponding heating control program according to the food information, controlling the heating chamber to heat the container pot according to the heating control program, and controlling the flip driving device to flip the heating chamber according to the heating control program; After the heating control program is executed, the heating chamber and the flip driving device are stopped, and the multi-axis moving mechanism is started again to move the container pot from the heating chamber to the transfer chamber.

11. The automatic cooking method according to claim 10, characterized in that: The specific method of “generating a corresponding heating control program according to the food information” includes: presetting an initial heating control program corresponding to the food information; The initial temperature of the container pot in the transfer cabin is detected, and the initial heating control program is adjusted according to the initial temperature, including adjusting the heating power, heating time or rotation speed, to obtain a final heating control program.

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