Material taking system, refrigerator cabinet and automatic cooking vending machine

Abstract

The present invention discloses a material taking system, comprising: a shelf provided with a plurality of cabinets for placing material boxes; a material taking device including a telescopic main body and a retractable material taking part; a driving device including a driving main body, a rotary driving mechanism and a telescopic driving mechanism, wherein the rotary driving mechanism drives the telescopic main body to rotate relative to the driving main body, and the telescopic driving mechanism drives the material taking part to extend and retract relative to the telescopic main body; a moving device connected to the driving device, and the moving device is used for pairing the material taking part with the material box in any one of the cabinets. The material taking part can take out the material box in the cabinet and smoothly send it to an externally provided placing platform, meeting the working requirements of an automatic cooking vending machine. Meanwhile, the present invention also provides a refrigerator using the above material taking system and an automatic cooking vending machine using the refrigerator.

Description

Technical Field

[0001] The present invention relates to the technical field of vending, and particularly relates to a material taking system, a refrigerator cabinet, and an automatic cooking vending machine. Background Art

[0002] An automatic vending machine is a brand-new form of commercial retail. Since it can achieve unmanned automatic vending, without the need for on-site manual management, it is not restricted by time and location, reducing the sales cost, improving the efficiency, and facilitating transactions at the same time. Therefore, it has been more and more widely used.

[0003] The existing material taking system of automatic vending machines is generally designed for goods such as beverages and packaged snacks. The material taking system only needs to put the goods into the material taking bin, and there is no need to transfer the goods any further. However, with the development of technology, traditional automatic vending machines can no longer meet people's needs, and people's demand for automatic cooking vending machines is emerging day by day. According to research, the working process of an automatic cooking vending machine can be roughly divided into placing an order, taking materials, transferring, feeding materials, cooking, serving on a plate, and discharging the plate. Since the existing material taking system of automatic vending machines cannot smoothly send the goods out of the machine, the existing material taking system of automatic vending machines cannot meet the working requirements of automatic cooking vending machines. Summary of the Invention

[0004] The present invention aims to provide a material taking system to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or creative condition.

[0005] The present invention also provides a refrigerator cabinet having the above material taking system.

[0006] The present invention also provides an automatic cooking vending machine having the above refrigerator cabinet.

[0007] The material taking system according to the first aspect embodiment of the present invention includes:

[0008] A shelf, which is provided with a plurality of cabinets for placing material boxes;

[0009] A material taking device, which includes a telescopic main body and a telescopic material taking part, and the material taking part is used for extracting the material box;

[0010] A driving device, which includes a driving main body, a rotary driving mechanism and a telescopic driving mechanism. The rotary driving mechanism is installed on the driving main body, the rotary driving mechanism is connected to the telescopic main body, so that the telescopic main body can rotate relative to the driving main body, and the telescopic driving mechanism is connected to the material taking part, so that the material taking part can telescopically move relative to the telescopic main body;

[0011] A mobile device, which is connected to the driving device. The mobile device drives the driving device to move within a plane, and the mobile device is used to pair the material taking part with a material box in any one of the containers.

[0012] According to the material taking system of the embodiment of the present invention, it has at least the following beneficial effects: The material taking part of the material taking device can extend forward and extract the material box in the container under the drive of the driving device. Subsequently, the material taking part retracts backward under the drive of the driving device and takes out the material box. Then, the driving device drives the material taking device to rotate a certain angle, such as 90°, so that the extending direction of the material taking part points to the external discharge port, so that the material box can be smoothly sent to the placement platform outside the discharge port, meeting the working requirements of the automatic cooking vending machine.

[0013] According to some embodiments of the present invention, each material box stores corresponding food materials, and each material box is provided with an outward turning edge. The material taking part is a forklift, and the forklift forks the material box through the outward turning edge. Such a setting facilitates the extraction of the material box by the material taking part.

[0014] According to some embodiments of the present invention, the forklift includes two fork bars, and the two fork bars are arranged parallel to each other or both inclined outward. If all the material boxes have the same size specification, then the two fork bars are arranged parallel to each other; if all the material boxes have different size specifications, then the two fork bars are both inclined outward, so that the forking width of the forklift gradually decreases from the outside to the inside, so as to fork material boxes of different size specifications.

[0015] According to some embodiments of the present invention, the telescopic driving mechanism is a synchronous belt telescopic mechanism. A guide rail is provided on the telescopic main body, and the material taking part is slidably connected to the telescopic main body through the guide rail. The synchronous belt telescopic mechanism is connected to the material taking part, and the telescopic direction of the material taking part is consistent with the sliding direction of the material taking part.

[0016] According to some embodiments of the present invention, the telescopic driving mechanism is a scissor-type telescopic mechanism. A multi-stage telescopic guide rail is provided on the telescopic main body, and the material taking part is slidably connected to the telescopic main body through the multi-stage telescopic guide rail. The scissor-type telescopic mechanism is connected to the material taking part, and the telescopic direction of the material taking part is consistent with the sliding direction of the material taking part. Compared with the synchronous belt telescopic mechanism, adopting the scissor-type telescopic mechanism can effectively increase the extending distance of the material taking part, so that the material taking part can extract multiple material boxes distributed in the front and back of the container.

[0017] According to some embodiments of the present invention, the rotation driving mechanism includes a first motor, a first driving gear, a first synchronous belt, a first driven gear and a rotating block. The first motor drives the first driving gear, the first driving gear is in transmission connection with the first driven gear through the first synchronous belt, the first driven gear is fixedly connected with the rotating block, and the rotating block is fixedly connected with the telescopic main body, so that the first motor can drive the telescopic main body to rotate.

[0018] According to some embodiments of the present invention, the moving device includes an up-and-down moving mechanism and a left-and-right moving mechanism. The left-and-right moving mechanism is slidably connected to the up-and-down moving mechanism, and the left-and-right moving mechanism is connected to the driving device. The moving device moves on a plane, and the up-and-down moving mechanism and the left-and-right moving mechanism are independently controlled.

[0019] According to some embodiments of the present invention, an information code is provided on each of the containers, and a camera for scanning the information code is provided on the telescopic main body. The camera identifies the name of the food ingredients in the food boxes in the corresponding container by scanning the information codes on each container, and automatically counts the inventory of the food boxes in each container through image processing technology, so as to automatically update the inventory data of the food ingredients.

[0020] The refrigerator according to the second aspect embodiment of the present invention includes a cabinet body and the above-mentioned material taking system. The material taking system is installed in the cabinet body. The shelf is close to the front side wall of the cabinet body. A plurality of discharge ports are formed on the left side wall or the right side wall of the cabinet body. Each discharge port is connected with an outward extending placing platform. Each discharge port is arranged on the moving path of the material taking part, so that the material taking part can place the food box on the placing platform.

[0021] The refrigerator according to the embodiment of the present invention has at least the following beneficial effects: compared with the prior art, the refrigerator can smoothly send the food box to the placing platform, meeting the working requirements of the automatic cooking vending machine.

[0022] The automatic cooking vending machine according to the second aspect embodiment of the present invention includes a handling and feeding device, an automatic cooking machine, a dish placing device, a dish discharging device and the above-mentioned refrigerator. The refrigerator, the handling and feeding device, the automatic cooking machine, the dish placing device and the dish discharging device are arranged in sequence. The handling and feeding device is used to put the food ingredients in the food box on the placing platform into the automatic cooking machine, the dish placing device is used to place the dishes cooked by the automatic cooking machine on a plate, and the dish discharging device is used to discharge the dishes on the plate.

[0023] The automatic cooking vending machine according to the embodiments of the present invention has at least the following beneficial effects: Compared with the existing vending machines, the automatic cooking vending machine can cook food on the spot, enhancing the taste of the dishes and improving the nutritional value of the dishes.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0026] Figure 1 is a schematic perspective view of the material taking system according to the embodiments of the present invention;

[0027] Figure 2 is a schematic perspective view of the material taking module in the material taking state according to the embodiments of the present invention;

[0028] Figure 3 is a schematic perspective view of the material taking module in the discharging state according to the embodiments of the present invention;

[0029] Figure 4 is a schematic perspective view of the material taking device according to the embodiments of the present invention;

[0030] Figure 5 is a schematic perspective view of the driving device after hiding the driving body according to the embodiments of the present invention;

[0031] Figure 6 is a schematic perspective view of the material taking system during material taking according to the embodiments of the present invention;

[0032] Figure 7 is a schematic perspective view of the material taking system during discharging according to the embodiments of the present invention;

[0033] Figure 8 is a schematic perspective view of the material taking module when adopting a scissor type telescopic mechanism according to the embodiments of the present invention;

[0034] Figure 9 is a schematic perspective view of the moving device in another layout according to the embodiments of the present invention;

[0035] Figure 10 is a schematic perspective view of the refrigerator according to the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0037] In the description of the present invention, it should be understood that with respect to the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0038] In the description of the present invention, the meaning of "a number of" is one or more, the meaning of "a plurality of" is two or more, "greater than", "less than", "exceeding", etc. are understood as not including the number itself, and "above", "below", "within", etc. are understood as including the number itself. If there is a description of first, second, third, etc., it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0039] In the description of the present invention, unless otherwise clearly defined, terms such as "arrangement", "installation", "connection", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above terms in the present invention in combination with the specific content of the technical solution.

[0040] As Figure 1 shown, the material taking system according to the embodiment of the first aspect of the present invention includes a shelf 100, a material taking device 200, a driving device 300, and a moving device 400. The material taking device 200 and the driving device 300 are collectively referred to as a material taking module 201. The shelf 100 is matrix-distributed with a plurality of cabinets 110 for placing material boxes 120, and each material box 120 stores corresponding food ingredients. It should be noted that although a number of material boxes 120 can be placed in each cabinet 110, for the sake of avoiding confusion, all the material boxes 120 in the same cabinet 110 store the same food ingredients.

[0041] As Figure 4As shown, the material picking device 200 includes a telescopic main body 210 and a material picking part. A guide rail (not shown in the drawings) is provided on the telescopic main body 210. The material picking part is slidably connected to the telescopic main body 210 through the guide rail, and the material picking part is used to extract the material box 120 in the container. The material picking part is specifically a forklift 220. Each material box 120 is provided with an outward flange 121 to facilitate the forklift 220 to pick up. The forklift 220 includes two fork bars 221. If the size specifications of all the material boxes 120 on the shelf 100 are the same, then the two fork bars 221 are arranged parallel to each other, and it is ensured that the picking width of the forklift 220 is greater than the width of the material box 120 and less than the maximum width of the outward flange 121. If the size specifications of all the material boxes 120 on the shelf 100 are not the same, then the two fork bars 221 are both inclined outward, so that the picking width of the forklift 220 gradually decreases from the outside to the inside. When the forklift 220 needs to pick up a material box 120 with a larger size specification, the front part of the forklift 220 can be used to pick up the material box 120 at this time. When the forklift 220 needs to pick up a material box 120 with a smaller size specification, the rear part of the forklift 220 can be used to pick up the material box 120 at this time. In some other embodiments, the material picking part can also be a gripper or a magnetic adsorption arm. When the material picking part is a gripper, the gripper picks up the outer side wall of the material box 120 by clamping. When the material picking part is a magnetic adsorption arm, the magnetic adsorption arm adsorbs the outer side wall of the material box 120 by magnetic force.

[0042] As Figure 2 and Figure 3As shown, the driving device 300 includes a driving main body 310, a rotational driving mechanism 320, and a telescopic driving mechanism. The rotational driving mechanism 320 is installed on the driving main body 310, that is, there is a connection relationship between the rotational driving mechanism 320 and the driving main body 310. The rotational driving mechanism 320 is connected to the telescopic main body 210, so that the telescopic main body 210 can rotate relative to the driving main body 310. The telescopic driving mechanism is connected to the material taking part, so that the material taking part can extend and retract relative to the telescopic main body 210, and the extending direction of the material taking part is consistent with its sliding direction. When the rotation angle between the telescopic main body 210 and the driving main body 310 remains at 0 degree, that is, there is no relative rotation between the telescopic main body 210 and the driving main body 310, the extending direction of the material taking part points to the material box 120. At this time, the material taking module 201 is in the material taking state. When the material taking module 201 is in the material taking state, the material taking module 201 can be used to take materials from the material box 120 in the container 110; when the rotation angle between the telescopic main body 210 and the driving main body 310 remains at a specified angle, that is, the telescopic main body 210 rotates relative to the driving main body 310 by a specified angle, the extending direction of the material taking part does not point to the material box 120. At this time, the material taking module 201 is in the material discharging state. When the material taking module 201 is in the material discharging state, the material taking module 201 can be used to discharge materials from the material box 120.

[0043] As Figure 4 and Figure 5As shown, specifically, the rotation drive mechanism 320 includes a first motor 321, a first driving gear 322, a first synchronous belt 323, a first driven gear 324, and a rotating block 325. The first motor 321 drives the first driving gear 322. The first driving gear 322 and the first driven gear 324 are connected by the first synchronous belt 323 for transmission. The first driven gear 324 is fixedly connected to the rotating block 325, and the rotating block 325 is fixedly connected to the telescopic main body 210, so that the first motor 321 can drive the telescopic main body 210 to rotate. The telescopic drive mechanism is a synchronous belt telescopic mechanism 330. The synchronous belt telescopic mechanism 330 includes a second motor 331, a second driving gear 332, a second synchronous belt 333, a second driven gear 334, a third driving gear 335, a third synchronous belt 336, and a third driven gear 337. The second motor 331 drives the second driving gear 332. The second driving gear 332 and the second driven gear 334 are connected by the second synchronous belt 333 for transmission. The second driven gear 334 is fixedly connected to the third driving gear 335. The third driving gear 335 and the third driven gear 337 are connected by the third synchronous belt 336 for transmission. The third synchronous belt 336 is fixedly connected with the material taking part, so that the second motor 331 can drive the material taking part to move back and forth. Since the rotation drive mechanism 320 and most of the telescopic drive mechanism are installed in the drive main body 310, in order to save the internal space of the drive main body 310, the rotation drive mechanism 320 and the synchronous belt telescopic mechanism 330 jointly adopt an inner and outer shaft structure, that is, the first driven gear 324 is connected to the middle of the coaxial shaft 301 through a bearing, and the coaxial shaft 301 is fixedly connected to the drive main body 310 through another bearing. The second driven gear 334 and the third driving gear 335 are respectively fixedly connected to both ends of the coaxial shaft 301. The rotation drive mechanism 320 and the synchronous belt telescopic mechanism 330 are independently controlled. In order to tension the third synchronous belt 336, the third synchronous belt 336 is also connected with a tensioning wheel 338. By simply adjusting the position of the tensioning wheel 338, the tension of the third synchronous belt 336 can be adjusted, so that the synchronous belt telescopic mechanism 330 can better telescopic the material taking part. It should be noted that in order to ensure that the telescopic main body 210 can rotate forward and backward by the same angle under the drive of the first motor 321, and to ensure that the material taking part can extend forward by a preset distance to pick up the material box 120, the first motor 321 and the second motor 331 are both stepping motors or servo motors. Since the cost of the stepping motor is lower, the first motor 321 and the second motor 331 can be selected as stepping motors.It can be understood that the rotation driving mechanism 320 and the synchronous belt telescopic mechanism 330 can also adopt a gear set for transmission, but are not limited thereto.

[0044] Since the telescopic stroke of the synchronous belt telescopic mechanism 330 is short, the picking part cannot extend to a farther distance. Therefore, generally only one material box 120 is placed in each container 110. In order to increase the extending distance of the picking part so that a plurality of material boxes 120 can be placed in each container 110, as Figure 8 shown, the telescopic driving mechanism is a scissor-type telescopic mechanism 340. The scissor-type telescopic mechanism 340 is installed on the telescopic main body 210. A multi-stage telescopic guide rail (not shown in the drawings) is provided on the telescopic main body 210. The picking part is slidably connected to the telescopic main body 210 through the multi-stage telescopic guide rail, and the scissor-type telescopic mechanism 340 is connected to the picking part. Since the scissor-type telescopic mechanism 340 is a prior art, the present invention will not describe its structure in detail. Compared with the synchronous belt telescopic mechanism 330, the use of the scissor-type telescopic mechanism 340 can effectively increase the extending distance of the picking part, so that the picking part can pick a plurality of material boxes 120 distributed front and back in the container 110.

[0045] As Figure 1 、 Figure 2 and Figure 5As shown in the figure, the mobile device 400 includes a vertical movement mechanism 410 and a horizontal movement mechanism 420. The vertical movement mechanism 410 includes a lifting motor 411, two vertical guide rails 412, and two belt drive sliding mechanisms 413 slidably connected along the vertical guide rails 412. The lifting motor 411 can be selected as a stepper motor. The lifting motor 411 drives the corresponding belt drive sliding mechanisms 413 respectively through two belt drive mechanisms 414. A horizontal guide rail 421 with a rack 424 is commonly connected between the two belt drive sliding mechanisms 413, so that the lifting motor 411 can drive the horizontal guide rail 421 to move up and down along the two vertical guide rails 412. At the same time, the horizontal movement mechanism 420 includes the above-mentioned horizontal guide rail 421, a third motor 422, and a moving gear 423 that matches the rack 424. The third motor 422 can be selected as a stepper motor. The moving gear 423 is driven by the third motor 422. The third motor 422 and the moving gear 423 are both installed in the driving body 310, so that the third motor 422 can drive the driving body 310 to move left and right along the horizontal guide rail 421, and the vertical movement mechanism 410 and the horizontal movement mechanism 420 are independently controlled. The mobile device 400 can drive the material taking module 201 to move on a plane, so that the mobile device 400 can drive the material taking part to be paired with the material box 120 in any one of the cabinets 110. As Figure 9 As shown in the figure, in some other embodiments, one of the belt drive sliding mechanisms 413 is directly driven by the lifting motor 411, and the other belt drive sliding mechanism 413 is driven by the aforementioned belt drive sliding mechanism 413 through a power connecting rod 415 located at the top to save the two belt drive mechanisms 414. It can be understood that the present invention does not limit the structure of the mobile device 400. As long as the mobile device 400 can drive the material taking module 201 to move on a plane, no matter what structure the mobile device 400 adopts, it belongs to the protection scope of the present invention.

[0046] As Figure 4 As shown in the figure, in some embodiments of the present invention, an information code (not shown in the drawings), such as a two-dimensional code or a bar code, is provided on each cabinet 110. A camera 500 is provided on the telescopic body 210. When the material taking module 201 is in the material taking state, the shooting direction of the camera 500 points to the shelf 100 at this time. The camera 500 identifies the name of the food ingredients in the material box in the corresponding cabinet 110 by scanning the information code on each cabinet 110, and automatically counts the inventory of the material boxes 120 in each cabinet 110 through image processing technology to automatically update the inventory data of the food ingredients.

[0047] As Figure 10As shown in the figure, the refrigerator according to the second aspect embodiment of the present invention includes a material taking system according to the first aspect embodiment of the present invention, and further includes a cabinet body 600 in a three-dimensional rectangular shape. The material taking system is installed inside the cabinet body 600. The shelf 100 is close to the front side wall of the cabinet body 600. A plurality of vertically distributed discharge ports 610 are opened on the right side wall of the cabinet body 600. Each discharge port 610 is connected with an outward extending placement platform 611. Each discharge port 610 is arranged on the moving path of the material taking part, so that the material taking part can place the material box 120 on the placement platform 611. In order to cope with different recipes, the number of the discharge ports 610 can be selected as three. Each placement platform 611 is respectively used to place the material boxes 120 containing different types of ingredients, such as meat material boxes, vegetable material boxes, ingredient material boxes, etc. It can be understood that since the refrigerator is in a three-dimensional rectangular shape, the setting direction of the discharge port 610 is orthogonal to the setting direction of the goods cabinet 110 in space. In order to enable the material box 120 in the goods cabinet 110 to be smoothly sent outside the discharge port 610 by the material taking module 201, when the material taking module 201 is in the discharging state, at this time, the telescopic main body 210 rotates 90 degrees relative to the driving main body 310.

[0048] As Figure 6 , Figure 7 and Figure 10 shown, the working process of the refrigerator is as follows:

[0049] 1. The material taking module 201 is in the origin position driven by the moving device 400. At this time, the material taking module 201 is in the material taking state;

[0050] 2. After the material taking signal is activated, the moving device 400 drives the material taking module 201 to move to the corresponding goods cabinet 110, so that the forklift 220 is paired with the material box 120;

[0051] 3. The telescopic driving mechanism drives the forklift 220 to extend forward and fork the material box 120. After forking the material box 120, the vertical moving mechanism 410 drives the material taking module 201 to slightly rise, so that the material box 120 leaves the corresponding goods cabinet 110. Then the telescopic driving mechanism drives the forklift 220 to retract backward and take out the material box 120;

[0052] 4. When the forklift 220 is reset backward, the rotation driving mechanism 320 drives the telescopic main body 210 to rotate forward 90 degrees. At this time, the material taking module 201 is in the discharging state;

[0053] 5. The mobile device 400 drives the material picking module 201 to move near the corresponding discharge port 610. The telescopic driving mechanism drives the forklift 220 to extend, so that the material box 120 is sent to the placement platform 611. Subsequently, the vertical moving mechanism 410 drives the material picking module 201 to slightly descend, so that the material box 120 is placed on the placement platform 611.

[0054] 6. The telescopic driving mechanism drives the forklift 220 to retract backward. After the forklift 220 is reset backward, the rotary driving mechanism 320 drives the telescopic body 210 to rotate reversely by 90 degrees. At this time, the material picking module 201 is in the material picking state.

[0055] 7. If the material picking signal disappears, the mobile device 400 drives the material picking module 201 to move to the origin position; if the material picking signal is still active, the processes 2 to 6 are repeated.

[0056] Compared with the prior art, the refrigerator cabinet can smoothly send the material box 120 in the storage cabinet 110 to the placement platform 611, meeting the working requirements of the automatic cooking vending machine.

[0057] The automatic cooking vending machine according to the third aspect embodiment of the present invention includes the refrigerator cabinet according to the second aspect embodiment of the present invention, and further includes a handling and feeding device, an automatic cooking machine, a plate loading device, a plate discharging device and the above-mentioned refrigerator cabinet. The above-mentioned handling and feeding device, automatic cooking machine, plate loading device and plate discharging device are not shown in the drawings. The refrigerator cabinet, handling and feeding device, automatic cooking machine, plate loading device and plate discharging device are arranged in sequence. The handling and feeding device is used to put the food materials in the material box 120 on the placement platform 611 into the automatic cooking machine. The plate loading device is used to load the dishes cooked by the automatic cooking machine onto a plate. The plate discharging device is used to discharge the loaded dishes from the plate. When a customer places an order for a corresponding recipe, the automatic cooking vending machine can instantaneously cook the relevant food materials. Compared with the existing automatic vending machines, the dishes produced by the automatic cooking vending machine have better taste and higher nutritional value.

[0058] The embodiments of the present invention have been described in detail above with reference to the drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art in the technical field, various changes can be made without departing from the purpose of the present invention.

Claims

1. A material taking system, characterized in that, include: A shelf having a plurality of containers for placing material boxes, each of which has an outer flange; A material taking device, comprising a telescopic main body and a telescopic material taking part, wherein the material taking part is a fork, and the fork comprises two fork bars, both of which are arranged to be inclined outwards, and the fork takes the material box through the outer turning edge; A driving device, comprising a driving body, a rotating driving mechanism and a synchronous belt telescopic mechanism, wherein the rotating driving mechanism is mounted on the driving body, the rotating driving mechanism is connected to the telescopic body so that the telescopic body can rotate relative to the driving body, the telescopic body is provided with a guide rail, and the fork is slidably connected to the telescopic body through the guide rail; A moving device connected to the driving device, the moving device is used to pair the fork with a material box in any container; Wherein, the rotation drive mechanism comprises a first motor, a first driving gear, a first synchronous belt, a first driven gear and a rotating block, the first motor drives the first driving gear, the first driving gear and the first driven gear are connected by the first synchronous belt, the first driven gear is fixedly connected to the rotating block, and the rotating block is fixedly connected to the telescopic body; The synchronous belt telescopic mechanism includes a second motor, a second driving gear, a second synchronous belt, a second driven gear, a third driving gear, a third synchronous belt and a third driven gear, wherein the second motor drives the second driving gear, the second driving gear and the second driven gear are connected by the second synchronous belt, the third driving gear and the third driven gear are connected by the third synchronous belt, the fork is fixedly connected to the third synchronous belt, the fork is telescopic relative to the telescopic body, and the telescopic direction of the fork is consistent with the sliding direction of the material taking part; The first driven gear is connected to the middle of the coaxial shaft through a bearing, and the coaxial shaft is fixedly connected to the driving body through another bearing. The second driven gear and the third driving gear are respectively fixedly connected to the two ends of the coaxial shaft to realize independent control of the rotation drive mechanism and the synchronous belt retractable mechanism.

2. The material taking system according to claim 1, wherein: The moving device comprises an up-and-down moving mechanism and a left-and-right moving mechanism, the left-and-right moving mechanism is slidably connected to the up-and-down moving mechanism, and the left-and-right moving mechanism is connected to the driving device.

3. The material taking system according to claim 1, characterized in that: Each of the containers is provided with an information code, and the telescopic body is provided with a camera for scanning the information code.

4. Refrigerator, characterized in that, The material picking system comprises the material picking system as described in any one of claims 1 to 3, and further comprises: a cabinet, the material picking system is installed in the cabinet, the shelf is close to the front wall of the cabinet, and a plurality of discharge ports are opened on the left wall or the right wall of the cabinet, each of the discharge ports is connected to an outwardly extending storage platform, and each of the discharge ports is arranged on the moving path of the material picking part, so that the material picking part can place the material box on the storage platform.

5. Automatic cooking vending machine, characterized in that, It includes the refrigerator described in claim 4, and further includes: a handling and feeding device, an automatic cooking machine, a dish loading device, and a dish discharging device, and the refrigerator, the handling and feeding device, the automatic cooking machine, the dish loading device, and the dish discharging device are arranged in sequence.

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