An automatic noodle cooking system and method

Abstract

The present invention belongs to the technical field of back-kitchen automation, and specifically relates to an automatic noodle-cooking system and method. Its technical solution is as follows: an automatic noodle-cooking system includes a closed main body, in which a material shelf, a backstage manipulator, a rupture device, a material pouring mechanism, a heating device, a bowl dropping device, a moving mechanism, and a meal dispensing device are provided. An automatic noodle-cooking method includes the following steps: noodles and toppings are respectively placed in a fixed-shaped material box; when making noodles, the noodle material box is ruptured and placed in a noodle-cooking pot for cooking; the topping material box is ruptured and heated; and then the cooked noodles and heated toppings are respectively placed in a bowl for delivery. The present invention provides an automatic noodle-cooking system and method that can realize automatic bowl dropping and ingredient preparation.

Description

Technical Field

[0001] The present invention belongs to the technical field of kitchen automation, and in particular relates to an automatic noodle cooking system and method. Background Art

[0002] With the ever-accelerating pace of life and rising living standards, people's eating habits and patterns are gradually changing. The number of people dining out is also increasing, with the fast food industry accounting for as much as 60% of the total catering market. This massive consumer market has driven the booming catering industry, but it has also led to a growing number of problems. To maximize profits, ingredients are purchased as cheaply as possible, leading to food safety issues. Chefs work in poor environments, with thick oil and smoke seriously damaging health. Restaurants are generally dirty, messy, and unhygienic. Dining at regular restaurants can be time-consuming, and young people are more likely to order food online, but they have little visibility into the hygiene of online food service providers. Meanwhile, commercially available intelligent cooking machines have emerged, but these machines only function as stir-fries and cannot meet actual dining needs, significantly limiting their potential for application.

[0003] Patent application number CN201710857782.4 discloses a fully automatic cooking and vending machine, comprising a machine housing, a food storage box, a food refrigeration and preservation storage, a food ingredient conveyor, a food ingredient injection machine, a cooking machine, a rice steamer, a steamed bun machine, a finished product storage machine, a porridge cooker, and a packaging and transporting machine. The machine housing is equipped with an ordering platform, a user identification device, an order information prompt device, and a food pickup platform. When a customer places an order on the ordering platform and confirms their order through the user identification device at the pickup port on the pickup platform, the finished product storage machine removes the corresponding lunch box to the packaging and transporting machine. The food pickup robot grabs the lunch box and uses the lunch box packaging machine to package and print the order before transferring the corresponding lunch box to the pickup port. The fully mechanized on-site food production process ensures food safety without external contact, secondary contamination, or human contamination. The machine integrates functions such as food storage, automatic cooking, automatic rice steaming, automatic bun steaming, automatic porridge cooking, and automatic storage and heat preservation, and can meet diverse dining needs.

[0004] However, the above-mentioned vending machine can perform functions such as automatic food storage, automatic cooking, automatic rice steaming, automatic steamed buns, automatic porridge cooking, and automatic storage and insulation, but it cannot take out the food boxes and bowls one by one, and cannot accurately place the bowls and ingredients, thus failing to achieve full automation. Summary of the Invention

[0005] In order to solve the above problems existing in the prior art, the object of the present invention is to provide an automatic noodle cooking system and method that can realize automatic bowl dropping and ingredient preparation.

[0006] The technical solution adopted in the present invention is:

[0007] An automatic noodle cooking system includes a closed main body, in which a material shelf and a background manipulator are provided, and the background manipulator is connected to a transfer mechanism for transferring material boxes in the material shelf; an ingredient rack is fixed in the closed main body, and a breaking device for breaking a topping material box is installed on the ingredient rack, a rotating motor is also installed on the ingredient rack, and a pouring mechanism is connected to the output shaft of the rotating motor, and a heating device is installed on the ingredient rack; a bowl dropping device is also installed on the ingredient rack, and a moving mechanism is also installed on the rack, and a bowl bracket is connected to the moving mechanism, and the moving mechanism is located below the bowl dropping device and the pouring mechanism; the ingredient rack is also equipped with a breaking device for breaking a noodle material box, and a front-end manipulator, a noodle cooking pot and a stand are also installed in the closed main body, and a meal serving device is installed on the stand.

[0008] When a box of noodles is placed on the reverse side of the shelf, a robotic arm in the backstage area picks up the topping box and places it in the backstage breaker for breaker action. The noodle box is then picked up by a robotic arm in the frontstage area for breaker action. The breaker box of noodles is then pushed into the heating unit for heating. After heating, the box is then pushed into the pouring mechanism. The breaker box of noodles is then picked up by a robotic arm in the frontstage area and poured into the noodle basket in the noodle cooker for cooking. The bowl drop mechanism drops one bowl at a time, and a moving mechanism moves the bowl holder beneath the dropping mechanism, ensuring the bowl lands precisely on the bowl holder. The moving mechanism then moves the bowl to the front stage, where the robotic arm grabs the noodle basket and pours the noodles into the bowl. The moving mechanism then moves the bowl to the pouring mechanism, which pours the heated topping into the bowl. The moving mechanism then moves the bowl to the front stage, where the robotic arm in the frontstage area picks up the bowl and places it into the serving device. After the customer pays, the meal dispensing device automatically lifts the bowl from the meal dispensing port, and the customer can take the bowl of noodles away. Each step of the present invention can be performed continuously under the control of the control device, realizing automatic bowl placement and filling, achieving full automation, reducing manual labor, and ensuring cleanliness and hygiene.

[0009] As a preferred embodiment of the present invention, it also includes a flipping mechanism for flipping the reverse side of the material box, the flipping mechanism includes a flipping bracket, a rotating cylinder is installed on the flipping bracket, and a flip shell for placing the material box is connected to the piston rod of the rotating cylinder.

[0010] Manually stacking the boxes front and back on the material shelf, the CCD component visually determines the product's position and material information, transmits the position information to the robotic control system, and transmits the product information to the corresponding information terminal. The robotic arm then activates, and the transfer mechanism picks up the positioned box. The transfer mechanism directly deposits the box placed front-facing onto the corresponding workstation. The transfer mechanism picks up the box placed back-facing and first places it on the flipping mechanism, which flips it over before placing it on the corresponding workstation.

[0011] The transfer mechanism absorbs the surface of the material box without grabbing the side of the material box. Therefore, when the material box is placed in the rupture device, the transfer mechanism will not interfere with the rupture device, ensuring that the material box can be accurately placed in the rupture device. The flipping mechanism can flip the material box on the back side, ensuring that the material box is finally placed in the rupture device with the front side facing up, ensuring that the rupture device can accurately rupture the material box.

[0012] As a preferred embodiment of the present invention, the breaking device includes an upper base plate and a lower base plate installed on the batching machine frame, a number of guide shafts are connected between the upper base plate and the lower base plate, a fixed plate is sleeved between the guide shafts, a breaking knife is installed on the fixed plate, a cylinder is installed on the upper base plate, the piston rod of the cylinder is connected to the fixed plate, and a positioning box for fixing the material box is installed on the lower base.

[0013] When the box needs to be pierced, the cylinder's piston rod drives the fixed plate downward, allowing the piercing blade on the fixed plate to pierce the box. Because the positioning box accurately positions the box, the piercing blade ensures accurate positioning. After piercing, the robot grasps or pushes the box out.

[0014] As a preferred solution of the present invention, the unloading mechanism includes a clamping frame connected to the output shaft of the rotating motor, a clamping cylinder is installed on the clamping frame, and a clamping plate is connected to the piston rod of the clamping cylinder.

[0015] When a food box is placed into the microwave oven, the microwave oven heats the food. The heated food is pushed into the pouring mechanism by the push rod, which clamps the box. The rotary motor drives the pouring mechanism to tilt, pouring the food from the box into the bowl below. The box is opened before heating, so the food falls accurately into the bowl when it is poured out. The empty box can be thrown into the trash can below. The piston rod of the clamping cylinder pulls the clamping plate toward the clamping frame, and the clamping plate and clamping frame can clamp the two boxes together to prevent the box from falling when the food is poured out. When the box needs to be thrown into the trash can, the piston rod of the clamping cylinder is pushed out, and the clamping plate releases the box, allowing it to fall automatically.

[0016] As a preferred embodiment of the present invention, the bowl dropping device includes a main bracket, on which is installed a supporting mechanism for supporting the bottom of the bowl, and the main bracket is also installed with a bowl separating mechanism for separating the first and second bowls from bottom to top, and the output end of the bowl separating mechanism is also connected to a pressing mechanism for pressing the bottommost bowl downward.

[0017] When the output end of the support mechanism is extended, the bottom of the stack of bowls is supported, preventing them from falling. When the bowls need to be taken, the output end of the bowl-separating mechanism is extended, and the bowl-separating mechanism separates the bowls on the bottom layer from the second-to-last layer. The output end of the pressing mechanism is also located between the bottom and second-to-last layers of bowls. When the pressing mechanism is activated, it pushes the bowls on the bottom layer downward, allowing them to fall into the correct position. The pressing mechanism can push the bowls on the bottom layer downward, preventing the bowls on the bottom layer from being stuck with the bowls on the second-to-last layer and unable to fall off on their own.

[0018] As a preferred embodiment of the present invention, the movable mechanism includes a movable connecting plate connected to the batching machine frame, a single-axis conveyor belt mounted on the movable connecting plate, and the bowl holder connected to the single-axis conveyor belt. The single-axis conveyor accurately moves the bowl holder. When the bowl holder moves below the bowl drop mechanism, the bowl drop mechanism accurately drops the bowl into the bowl holder. When the bowl holder moves to the front, the robot accurately pours the cooked noodles into the bowl. When the bowl holder moves below the pouring mechanism, the pouring mechanism accurately pours the heated topping into the bowl.

[0019] As a preferred solution of the present invention, the front-end manipulator is connected to a clamping mechanism, which includes a clamping fixing plate connected to the front-end manipulator, a parallel clamping cylinder is installed on the clamping fixing plate, and both output ends of the parallel clamping cylinder are connected to a clamping connecting plate, on which a clamping claw is fixed, and the clamping claw is respectively provided with a round box clamping section for clamping a noodle basket or a bowl and a square box clamping section for clamping a material box.

[0020] The parallel-plate cylinder has two output ends, which move synchronously toward or away from each other. Therefore, driven by the parallel-plate cylinder, the two clamping jaws can move together or apart to clamp or release the noodle basket, bowl, or food box. The inner side of the round box clamping section is arc-shaped to accommodate the shape of the noodle basket or bowl, ensuring that the basket or bowl can be securely clamped. The inner side of the square box clamping section is linear, allowing it to reliably contact the food box and ensure that the food box is securely clamped. The present invention can separately clamp and transfer noodle baskets, food bowls, and food boxes, providing strong functionality and reliable clamping.

[0021] As a preferred embodiment of the present invention, the food serving device includes a food serving mounting frame, on which a lifting drive mechanism is installed, the output end of the lifting drive mechanism is connected to a food serving tray, a connecting rod mechanism is connected between the food serving tray and the food serving mounting frame, the other end of the connecting rod mechanism is connected to a food serving baffle, and the food serving baffle is located above the food serving tray.

[0022] When the bowl filled with food is placed on top of the food tray, the lifting drive mechanism pushes the food tray up, and the bowl can be pushed to the food outlet. During the rising process of the food tray, the connecting rod mechanism is driven to operate, and the connecting rod mechanism moves the food dispensing baffle, so that customers can smoothly take food from the food outlet. The food dispensing baffle of the present invention is only linked to open when the food tray rises, ensuring that customers can take food in time. In addition, when the food is not taken, the food dispensing baffle always closes the food dispensing outlet to prevent customers from putting their hands into the interior of the equipment, and to prevent customers from taking food without paying, and to prevent food from being contaminated by the outside world.

[0023] An automatic noodle cooking method comprises the following steps:

[0024] The noodles and toppings are respectively put into a material box of fixed shape. When making noodles, the noodle material box is broken and put into the noodle cooking pot for cooking, and the topping material box is broken and heated. Then the cooked noodles and the heated toppings are respectively put into a bowl and served.

[0025] As a preferred embodiment of the present invention, the steps are specifically included:

[0026] S1: Grab the topping box, place it into the breaking device with the front side facing up, and break it;

[0027] S2: Push the broken topping box into the heating device for heating;

[0028] S3: The heated topping box is pushed into the pouring mechanism;

[0029] S4: The bowl dropping device drops the bowl onto the bowl holder on the moving mechanism;

[0030] S5: Cook the staple food. The moving mechanism moves the bowl holder to the front. After cooking, the front robot adds the staple food to the bowl holder.

[0031] S6: The moving hook moves the bowl holder to the bottom of the pouring mechanism, and the pouring mechanism adds the toppings to the staple food;

[0032] S7: The moving mechanism then moves the bowl holder to the front end, and the front-end robot clamps the bowl to the meal dispensing device, and the meal is dispensed through the meal dispensing device.

[0033] As a preferred embodiment of the present invention, in step S5, the staple food box is clamped by the backstage robot into the breaking device, and the breaking device breaks it, and then the frontstage robot pours the staple food into the container in the pot.

[0034] The beneficial effects of the present invention are:

[0035] The present invention can automatically flip the reverse-placed material box, break the material box, and after cooking the noodles and heating the toppings, automatically place the noodles in bowls and add ingredients, finally serving the meal. Each step can be carried out continuously under the control of the control device, achieving full automation, reducing manual labor, and ensuring cleanliness and hygiene. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of the present invention;

[0037] Figure 2 is a schematic structural diagram of the first direction of the present invention after the enclosed main body is removed;

[0038] Figure 3 is a schematic structural diagram of the second direction of the present invention after the enclosed main body is removed;

[0039] Figure 4 It is a structural diagram of the material box suction system;

[0040] Figure 5 It is a structural diagram of the transfer mechanism;

[0041] Figure 6 It is a structural diagram of the turning mechanism;

[0042] Figure 7 This is a schematic structural diagram of the pouring material box breaking device in the first direction;

[0043] Figure 8 This is a schematic structural diagram of the pouring material box breaking device from the second direction;

[0044] Figure 9 It is a schematic diagram of the structure of the breaking knife in the breaking device of the topping box;

[0045] Figure 10 This is a structural diagram of the middle positioning box of the pouring material box breaking device;

[0046] Figure 11 This is a schematic structural diagram of the noodle box breaking device in the first direction;

[0047] Figure 12 2. It is a schematic structural diagram of the noodle box breaking device from the second direction;

[0048] Figure 13 This is a schematic diagram of the structure of the breaking knife in the breaking device of the noodle box;

[0049] Figure 14 It is a structural diagram of the positioning box in the noodle box breaking device.

[0050] Figure 15 It is a structural diagram of the automatic batching system;

[0051] Figure 16 It is a partial structural diagram of the automatic batching system;

[0052] Figure 17 It is a structural diagram of the second direction of the automatic batching system part structure;

[0053] Figure 18 It is a structural diagram of the moving mechanism;

[0054] Figure 19 It is the main view of the moving mechanism;

[0055] Figure 20 This is the installation structure diagram of the dumping mechanism;

[0056] Figure 21 yes Figure 20 A partial enlarged view of point A in the middle;

[0057] Figure 22 It is a structural diagram of the rotating motor and the material unloading mechanism;

[0058] Figure 23 It is a structural diagram of the bowl dropping device;

[0059] Figure 24 This is a partial structural diagram of the bowl dropping device without the protective cover;

[0060] Figure 25 It is a partial structural diagram of the bowl dropping device;

[0061] Figure 26 This is the installation structure diagram of the support mechanism, bowl-dividing mechanism and downward pressing mechanism;

[0062] Figure 27 It is a structural diagram of the front-end manipulator clamping mechanism;

[0063] Figure 28 This is a partial structural diagram of the front-end manipulator clamping mechanism

[0064] Figure 29 It is a structural diagram of a meal dispensing device;

[0065] Figure 30 This is a structural diagram of the first direction of the food dispensing device;

[0066] Figure 31 It is a structural diagram of the second direction of the food serving device structure.

[0067] In the figure, 1-enclosed body; 2-backstage manipulator; 3-frontstage manipulator; 4-noodle cooker; 5-stand; 6-control cabinet; 7-electrical cabinet; 8-water receiving tray; 9-temporary storage rack; a1-material shelf; a3-CCD assembly; a5-transfer mechanism; a6-turning mechanism; a7-bottom plate; a51-telescopic cylinder; a52-suction mounting plate; a53-suction cup; a54-limiting groove; a55-guide plate; a61-turning bracket; a62-rotating cylinder; a63-turning shell; a631-U-shaped opening; a632-turning bell mouth; b1-upper bottom plate; b2-lower bottom plate; b3-guide shaft; b4-fixing plate; b5-breaking knife; b6-cylinder; b7-positioning box; b8-guide pressure plate; b4 1-guide hole; b51-notch; b61-floating plate; b71-notch; b72-operating port; b81-guide column; b82-limiting head; b83-spring; b84-guide block; c1-dosing rack; c2-microwave oven; c3-rotating motor; c4-dumping mechanism; c5-bowl dropping device; c6-moving mechanism; c7-bowl holder; c8-leakage-proof rack; c11-dumping origin position sensor; c12-dumping limit position sensor; c21-discharging port; c22-push rod; c41-clamping frame; c42-clamping cylinder; c43-clamping plate; c44-dumping bell mouth; c45-dumping sensor; c51-main bracket; c52-support mechanism; c53-bowl dividing mechanism; c54-down pressure Mechanism; c55-sensor; c56-protective cover; c57-bowl separation sealing plate; c58-solenoid valve; c61-movable connecting plate; c62-single-axis conveyor belt; c63-micro switch; c64-dining bowl origin position sensor; c65-dining bowl limit position sensor; c71-triangular limit block; c72-dining bowl position sensor; c411-insert block; c431-limiting hole; c511-bowl drop hole; c512-limiting rod; c521-support cylinder; c522-support bottom plate; c531-bowl separation cylinder; c532-support separation plate; c533-yield groove; c541-downward pressure cylinder; c542-downward pressure separation plate; d1-clamping fixed plate; d2-parallel clamping plate cylinder; d3-clamping connecting plate; d4-gripper; d21-cylinder body; d22-slider; d23-slide; d24-gas connector; d41-round box clamping section; d42-square box clamping section; d43-stage; d411-arc-shaped protrusion; d421-serrated section; d422-anti-drop baffle; e1-mounting frame; e2-lifting drive mechanism; e3-meal tray; e4-connecting rod mechanism; e5-meal baffle; e6-guide slide; e7-guide rod; e8-protective groove; e9-meal sensor; e11-base; e12-column; e13-mounting plate; e14-mounting seat; e21-motor; e22-electric push rod; e31-protruding rod; e41-opening and closing connecting rod; e42-driving connecting rod; e81-meal picking notch. DETAILED DESCRIPTION

[0068] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0069] like Figures 1 to 3 As shown, the automatic noodle cooking system of this embodiment includes a closed body 1, in which a material shelf a1 and a background manipulator 2 are provided. The background manipulator 2 is connected to a transfer mechanism a5 for sucking the material box in the material shelf a1, and also includes a flipping mechanism a6 for flipping the material box on the back; a batching rack c1 is fixed in the closed body 1, and a breaking device for breaking the topping material box is installed on the batching rack c1. A rotating motor c3 is also installed on the batching rack c1, and the output of the rotating motor c3 A pouring mechanism c4 is connected to the shaft, and a microwave oven c2 is installed on the ingredient rack c1; a bowl dropping device c5 is also installed on the ingredient rack c1, and a moving mechanism c6 is also installed on the rack, and a bowl bracket c7 is connected to the moving mechanism c6, and the moving mechanism c6 is located below the bowl dropping device c5 and the pouring mechanism c4; a breaking device for breaking the noodle box is also installed on the ingredient rack c1, and a front desk manipulator 3, a noodle cooking pot 4 and a stand 5 are also installed in the closed main body 1, and a meal discharging device is installed on the stand 5.

[0070] When a box is placed upside down in shelf a1, backstage robot 2 picks it up and places it in flipping mechanism a6. After flipping a6, backstage robot 2 then picks up the topping box and places it in the backstage splitting device for splitting. The split topping box is then placed in microwave oven c2 for heating. After heating, the box is placed in the pouring mechanism c4. The split noodle box is then picked up by frontstage robot 3 and poured into the noodle basket in noodle cooker 4 for cooking. The bowl drop mechanism drops one bowl at a time. Moving mechanism c6 moves bowl holder c7 below bowl drop mechanism c5, ensuring the bowl lands securely on bowl holder c7. Moving mechanism c6 then moves the bowl to the front, where frontstage robot 3 picks up the noodle basket and pours the noodles into the bowl. The mobile mechanism C6 then moves the bowl to the bottom of the pouring mechanism C4, which pours the heated topping into the bowl. The mobile mechanism C6 then moves the bowl to the front, where the front-of-house robot 3 picks it up and places it in the serving device. After the customer pays, the serving device automatically lifts the bowl from the serving port, allowing the customer to take the bowl of noodles away. Each step of the present invention is performed continuously under the control of a control device, enabling automatic bowl placement and topping-up, achieving full automation, reducing manual labor, and ensuring cleanliness and hygiene.

[0071] The following introduces the specific structure of the material box suction system:

[0072] like Figure 4 As shown, the background robot 2 is connected with a CCD component a3 for identifying the position of the material box and material information and a transfer mechanism a5 for sucking the material box in the material shelf a1, and also includes a turning mechanism a6 for turning over the material box on the back.

[0073] The boxes are manually stacked face-down and placed on material shelf a1. CCD component a3 visually determines the product's position and material information, transmitting the position information to the robotic control system and the product information to the corresponding information terminal. The robotic arm then activates, and transfer mechanism a5 picks up the positioned box. Transfer mechanism a5 directly deposits the box facing up onto the corresponding workstation. Transfer mechanism a5 then picks up the box facing down and places it on flipping mechanism a6, which flips the box over before placing it on the corresponding workstation. The topping box is clamped into the backstage breaker, while the noodle box is clamped into the frontstage breaker.

[0074] The transfer mechanism a5 absorbs the surface of the material box without grabbing the sides. Therefore, when the material box is placed in the rupture device, the transfer mechanism a5 will not interfere with the rupture device, ensuring that the material box is accurately placed in the rupture device. The flipping mechanism a6 can flip the material box on the back side, ensuring that the material box is ultimately placed in the rupture device with the front side facing up, ensuring that the rupture device can accurately rupture the material box.

[0075] like Figure 5 As shown, the transfer mechanism a5 comprises a telescopic cylinder a51 mounted on a manipulator. A suction mounting plate a52 is fixed to the piston rod of telescopic cylinder a51. Attached to this plate are several suction cups a53 for sucking up the cartridges. These suction cups a53 are connected to a negative pressure device. The manipulator can move the transfer mechanism a5 to a specific position, and the telescopic cylinder a51 can increase its stroke to allow for the suction of cartridges at all locations. When the suction cups a53 reach the surface of the cartridge, the negative pressure device extracts air from them, lifting the cartridge. The manipulator then moves the cartridge to a workstation or to the flipping mechanism a6.

[0076] To ensure more stable movement of the magazine, the cylinder of the telescopic cylinder a51 is provided with a limiting groove a54. The suction mounting plate a52 is connected to a guide plate a55, the other end of which is sleeved into the limiting groove a54. When the telescopic cylinder a51 drives the suction cup a53 and the magazine to move, the limiting groove a54 can limit the guide plate a55, making the movement of the magazine more stable and preventing the magazine from falling.

[0077] like Figure 6 As shown, the flip mechanism a6 comprises a flip bracket a61, mounted with a rotary cylinder a62. The piston rod of the rotary cylinder a62 is connected to a flip housing a63, which houses the magazine. The rotary cylinder a62 drives the flip housing a63 180°, causing the magazine inside to flip accordingly. When the transfer mechanism a5 then picks up the magazine, it absorbs the front face of the magazine, ensuring accurate placement in the workstation with the front face facing up.

[0078] The flip shell a63 has two opposite sides with U-shaped openings a631. When the transfer mechanism a5 puts the material box into the flip shell a63 or takes it out from the flip shell a63, the transfer mechanism a5 can extend into the U-shaped opening a631 to avoid motion interference.

[0079] The flip shell a63 is provided with a flip bell mouth a632 at one end away from the rotary cylinder a62. The opening of the flip shell a63 is the flip bell mouth a632, so that the material box can be placed in the flip shell a63 more easily.

[0080] Furthermore, the manipulator is a six-axis robot. There are two material shelves a1, and the two material shelves a1 are located on both sides of the manipulator. The flipping mechanism a6 is arranged between the two material shelves a1. When the flipping mechanism a6 is located between the two material shelves a1, the distance that the transfer mechanism a5 needs to transfer the material box from the material shelf a1 to the flipping mechanism a6 is shorter, which is conducive to improving efficiency. The present invention also includes a base plate a7, and the material shelves a1, the manipulator, and the flipping mechanism a6 are all installed on the base plate a7. The base plate a7 serves as the installation base of the present invention, and can accurately arrange the material shelves a1, the manipulator, and the flipping mechanism a6 to facilitate accurate movement of the manipulator.

[0081] The specific structure of the rupture device is introduced below:

[0082] like Figure 7 and Figure 8 As shown, two breaking devices are installed on the side of the batching rack c1 close to the background robot 2 for breaking the topping box; and one breaking device is installed on the side of the batching rack c1 close to the front robot 3 for breaking the noodle box.

[0083] When the cassette is broken, one long side of the cassette remains intact. After the cassette is broken, a robotic arm pushes the cassette from the positioning box b7 toward the microwave oven c2. The cassette breaking device comprises an upper base b1 and a lower base b2. Several guide shafts b3 are connected between the upper and lower bases b1 and b2. A fixed plate b4 is sleeved between the guide shafts b3. A cassette breaking blade b5 is mounted on the fixed plate b4. A cylinder b6 is mounted on the upper base b1, and its piston rod is connected to the fixed plate b4. A positioning box b7, which secures the cassette, is mounted on the lower base e11.

[0084] When the material box needs to be breached, the piston rod of cylinder b6 drives the fixed plate b4 downward, causing the breaching blade b5 on the fixed plate b4 to breach the material box. The positioning box b7 accurately positions the material box, ensuring that the breaching blade b5 is positioned accurately during breaching. After breaching, the material box is grasped or pushed out by a robotic arm. This invention enables automatic breaching of the material box, improving breaching efficiency, and features a simple structure and convenient operation.

[0085] To ensure stability during the breaching process, the breaching blade b5 is fitted with a guide plate b8. Several guide posts b81 are fixed to the guide plate b8. Guide holes b41 are provided in the fixed plate b4, through which the guide posts b81 pass. A stopper b82 is fixed to the end of the guide post b81 facing away from the guide plate b8. As the fixed plate b4 drives the breaching blade downward, the guide plate b8 also moves downward, pressing against the periphery of the cartridge, securing it and further improving the accuracy of its position during breaching. The stopper b82 prevents the guide posts b81 from slipping out of the guide holes b41. A spring b83 is mounted on the guide post b81, pressing the guide plate b8 downward to ensure it remains firmly against the cartridge during the breaching process.

[0086] Specifically, if Figure 9 As shown, a notch b51 is provided on one long side of the breaking knife b5. By providing the notch b51 on one long side of the breaking knife b5, after the material box is broken, the side is not broken, ensuring that the box cover will not fall off when the food in the material box is poured out.

[0087] like Figure 10 As shown, the positioning box b7 has a notch b71 for removing the cartridge on the side of the notch b51 provided by the piercing blade b5. An operating opening b72 is provided on the side of the positioning box b7 away from the notch b71. Once the cartridge is pierced, it can be pushed out of the positioning box b7 toward the notch b71. To push the cartridge, the robot reaches into the operating opening b72 for operation.

[0088] The guide plate b8 is connected to a guide block b84 on the side of the notch b51 provided by the piercing blade b5. Since the positioning box b7 has a notch b71, the guide block b84 is provided on the side of the guide plate b8 near the notch b71. This allows the magazine to be pressed against this side by the guide block b84, preventing it from breaking during piercing. The guide block b84 is wedge-shaped. As the piercing blade b5 presses downward, the wedge-shaped guide block b84 gradually presses against the side wall of the magazine, preventing it from breaking on the side of the notch b71.

[0089] Furthermore, a floating plate b61 is connected between the piston rod of the cylinder b6 and the fixed plate b4. The floating plate b61 can reliably connect the piston rod of the cylinder b6 and the fixed plate b4 to prevent the fixed plate b4 from tilting when the fixed plate b4 is moved.

[0090] like Figure 11 and Figure 12 As shown, when the noodle box is broken, the short side of one side of the box is not broken, and after the box is broken, the robot grabs the box out of the positioning box b7.

[0091] like Figure 13 As shown in the figure, the difference between the breaking device of the breaking topping box and the breaking device of the breaking noodle box is that the breaking knife b5 of the breaking device is provided with a notch b51 on one short side. By providing the notch b51 on one short side of the breaking knife b5, after the box is broken, only one short side is left connected, which is convenient for pouring out the food and prevents the box lid from falling off. Figure 16 As shown, the two short sides of the positioning box b7 are provided with operation openings b72. The two operation openings b72 are provided on the positioning box b7 to facilitate the manipulator to grab the material box after the break.

[0092] The following introduces the specific structure of the unloading mechanism c4:

[0093] like Figures 15 to 17 、 Figure 20 、 Figure 21 As shown, the dumping mechanism c4 comprises a clamping frame c41 connected to the output shaft of the rotary motor c3. A clamping cylinder c42 is mounted on the clamping frame c41, and a clamping plate c43 is connected to the piston rod of the clamping cylinder c42. When the piston rod of the clamping cylinder c42 pulls the clamping plate c43 toward the clamping frame c41, the clamping plate c43 and the clamping frame c41 clamp the two boxes together, preventing them from falling when the food inside is dumped. When the box needs to be discarded into the trash can, the piston rod of the clamping cylinder c42 is pushed out, and the clamping plate c43 releases the box, allowing it to fall automatically.

[0094] like Figure 22As shown, to ensure stable movement of the clamping plate c43, the clamping plate c43 is provided with several limiting holes c431, and the clamping frame c41 is provided with several inserts c411, which are inserted into the limiting holes c431. The inserts c411 can limit the limiting holes c431, ensuring the accurate position of the clamping plate c43, thereby ensuring that the clamping plate c43 and the clamping frame c41 can reliably clamp the magazine.

[0095] Furthermore, the clamping frame c41 and the clamping plate c43 are both provided with side guards to prevent the material box from falling. When the unloading mechanism c4 is turned over, the baffles on the clamping frame c41 and the clamping plate c43 can block the material box, preventing the material box from falling if the clamping force of the clamping frame c41 and the clamping plate c43 on the material box is insufficient.

[0096] Furthermore, the pouring mechanism c4 is provided with a pouring bell mouth c44 on the side facing the discharge port c21. The pouring mechanism c4 is provided with a pouring bell mouth c44 on the side facing the discharge port c21 of the microwave oven c2, which facilitates the push rod c22 to accurately push the material box into the pouring mechanism c4.

[0097] To prevent spillage, a leak-proof rack c8 is mounted on the rack, located below the pouring mechanism c4. When the container is turned over, the last drop of soup might drip out of the bowl. With the leak-proof rack c8 in place, any remaining drippings fall onto the rack and flow into the bowl, ensuring clean and hygienic pouring.

[0098] There are two microwave ovens c2 and two pouring mechanisms c4 on the rack, with mobile racks installed on both sides. Efficiency is improved by simultaneously adding food from both sides. When a food box is pushed into microwave oven c2, microwave oven c2 heats the food. The heated food is pushed into the pouring mechanism c4 by the push rod c22, which clamps the box. A rotary motor c3 drives the pouring mechanism c4 to tilt and pour the food from the box into the bowl below. The box is opened before heating, so when the box is poured, the food falls accurately into the bowl. The support base is movable on the mobile rack. When the support base moves below the pouring mechanism c4, the food in the box can be poured directly into the bowl, achieving food transfer. After the food in the box is poured out, the pouring mechanism c4 is released, and the box falls accurately into the trash can below.

[0099] To ensure the accurate rotational position of the pouring mechanism C4, a pouring sensor c45 is fixed to the pouring mechanism C4. A pouring origin position sensor c11 is mounted on the frame. When the sensor c45 triggers the pouring origin position sensor c11, the pouring mechanism C4's inlet aligns with the discharge port c21 of the microwave oven C2. When the pouring mechanism C4 rotates, the pouring sensor c45 rotates accordingly. When the sensor c45 triggers the pouring origin position sensor c11, the control device stops the rotating motor e21. At this point, the pouring mechanism C4's inlet aligns with the discharge port c21, allowing the push rod c22 to accurately push the material box into the pouring mechanism C4, ensuring a successful transfer. Furthermore, a pouring limit position sensor c12 is also mounted on the frame. When the pouring sensor c45 triggers the pouring limit position sensor c12, the pouring mechanism C4 rotates to its limit angle. When the pouring sensing piece c45 triggers the pouring limit position sensor c12, the pouring mechanism c4 rotates to the limit position. At this time, the food can be poured out completely, avoiding the situation where the food in the material box cannot be completely poured out when the angle of the material box is inaccurate.

[0100] When it's time to pour the food, the rotating motor c3 drives the food box to flip away from the outlet c21 of the microwave oven c2, until the food inside the box is poured into the bowl. The pouring limit position sensor c12 is located on the side of the pouring origin position sensor c11 away from the outlet c21. The angle traveled by the food box from its origin to its limit position exceeds 30°, ensuring that the food can be poured out completely.

[0101] The specific structure of the bowl dropping device c5 is introduced below:

[0102] like Figures 23 to 25 As shown, the automatic bowl-dropping device c5 of this embodiment includes a shield c56, within which two main brackets c51 are mounted. One side of the shield c56 is provided with an opening, and a bowl-dropping sealing plate c57 is connected to the side of the opening. Support mechanisms c52 for supporting the bottoms of the bowls are mounted on both sides of the main brackets c51. A bowl-dropping mechanism c53 for separating the first and second bowls from the bottom upwards is mounted on both sides of the main brackets c51. The output end of the bowl-dropping mechanism c53 is also connected to a pressing mechanism c54 for pressing the bottommost bowl downward. A bowl-dropping hole c511 is provided on the main bracket c51. Several limiting rods c512 are positioned around the bowl-dropping hole c511 of the main bracket c51. Several bowls are placed within the area enclosed by these limiting rods c512. A solenoid valve c58 is mounted on the bowl-dropping sealing plate c57. The solenoid valve c58 is electrically connected to the supporting cylinder c521, the bowl dividing cylinder c531 and the downward pressure cylinder c541 respectively.

[0103] When the output end of the support mechanism c52 is extended, the bottom of a stack of bowls is supported to prevent the bowls from falling. When the bowls need to be taken out, the output end of the bowl-splitting mechanism c53 is extended, and the bowl-splitting mechanism c53 separates the bowls from the bottom layer and the second-to-last layer. The output end of the pressing mechanism c54 is also between the bottom layer and the second-to-last layer of bowls. When the pressing mechanism c54 is actuated, the pressing mechanism c54 can push the bowls from the bottom layer downward, so that the bowls from the bottom layer can fall to the correct position. The pressing mechanism c54 can push the bowls from the bottom layer downward, preventing the bowls from being stuck with the second-to-last layer and unable to fall off on their own.

[0104] With support mechanisms c52 installed on both sides, the stack of bowls can be stably supported. With bowl separation mechanisms c53 installed on both sides, all bowls except the bottom layer can be reliably supported by the separation mechanisms c53. With downward pressure mechanisms c54 installed on both sides, the rims of the bottom layer of bowls are pressed down from both sides simultaneously, ensuring a smooth drop of the bowls and avoiding the situation where bowls are stuck due to pressure from only one side. Several limit rods c512 limit the stack of bowls, ensuring the verticality of the stack, making the bowls fall more reliably.

[0105] Specifically, the support mechanism c52 comprises a support cylinder c521 mounted on the main bracket c51. The piston rod of the support cylinder c521 is connected to a support base c522, which supports the bottom of the bowls when extended. When the piston rod of the support cylinder c521 extends, the support base c522 extends into the area where the bowls are located. When a stack of bowls is placed, the support base c522 supports the bowls and prevents them from falling.

[0106] Specifically, the bowl-sorting mechanism c53 includes a bowl-sorting cylinder c531, which is mounted on the main bracket c51. A support separator c532 is connected to the piston rod of the bowl-sorting cylinder c531. A downward-pressing mechanism c54 is also mounted on the piston rod of the bowl-sorting cylinder c531. When the support separator c532 is extended, it inserts between the first and second bowls from the bottom up. The support mechanism c52 supports the bottom of the stack of bowls. When the support separator c532 is extended, it fits between the bottommost and second-to-last bowls. When the support mechanism c52 is retracted, the bottommost bowl is no longer supported by the support separator c532. At this point, the downward-pressing mechanism c54 can push the bottommost bowl downward.

[0107] Specifically, the pressing mechanism c54 includes a pressing cylinder c541, which is mounted on the piston rod of the bowl-dividing cylinder c531. The piston rod of the pressing cylinder c541 is connected to a pressing separation piece c542. When the pressing separation piece c542 moves downward, it pushes the bottom layer of bowls downward. The pressing mechanism c54 moves along with the piston rod of the bowl-dividing mechanism c53, and the supporting separation piece c532 and the pressing separation piece c542 are inserted together between the bottom layer and the second-to-last layer of bowls. When the piston rod of the pressing cylinder c541 is extended, the pressing separation piece c542 pushes the bottom layer of bowls downward, so that the bottom layer of bowls can accurately fall into the lower device.

[0108] Furthermore, a clearance groove c533 is provided in the middle of the supporting separator c532. When the pressing separator c542 is raised, it fits into the clearance groove c533 of the supporting separator c532. When the pressing separator c542 is raised, it moves into the clearance groove c533 of the supporting separator c532, so that the supporting separator c532 and the pressing separator c542 are on the same horizontal plane, ensuring that both the supporting separator c532 and the pressing separator c542 can be inserted between the bottom and penultimate layers of bowls.

[0109] The specific structure of the moving mechanism c6 is introduced below:

[0110] like Figure 18 and Figure 19 As shown, the moving mechanism c6 includes a movable connecting plate c61 connected to the frame. A single-axis conveyor belt c62 is mounted on the movable connecting plate c61, and the bowl holder c7 is connected to the single-axis conveyor belt c62. The single-axis conveyor can accurately move the bowl holder c7. When the bowl holder c7 moves below the bowl drop device c5, the bowl drop device c5 can accurately drop the bowl into the bowl holder c7. When the bowl holder c7 moves to the front, the robot can accurately pour the cooked noodles into the bowl. When the bowl holder c7 moves below the pouring mechanism c4, the pouring mechanism c4 can accurately pour the heated toppings into the bowl.

[0111] Furthermore, a micro switch c63 is installed on the uniaxial conveyor belt c62 to detect whether there is a bowl on the bowl holder c7. The micro switch c63 can accurately detect whether there is a bowl in the bowl holder c7, avoiding the situation where noodles or toppings are added when there is no bowl on the bowl holder c7.

[0112] Furthermore, the bowl holder c7 is equipped with four triangular stoppers c71. These stoppers block the bowl as it falls, ensuring it lands accurately on the bowl holder c7. A bowl origin position sensor c64 and a bowl limit position sensor c65 are mounted on the single-axis conveyor belt c62. A bowl position sensor c72 is also mounted on the bowl holder c7. The specific movement of the bowl holder c7 is calculated and controlled based on the origin position.

[0113] The following describes the specific structure of the clamping mechanism on the front manipulator 3:

[0114] like Figure 27 and Figure 28 As shown, the manipulator gripping mechanism of this embodiment includes a gripping plate d1 connected to the manipulator. A parallel-plate cylinder d2 is mounted on the gripping plate d1. Both output ends of the parallel-plate cylinder d2 are connected to a gripping connecting plate d3. A clamping jaw d4 is secured to the gripping connecting plate d3. The jaw d4 is provided with a round box gripping section d41 for gripping a noodle basket or bowl, and a square box gripping section d42 for gripping a food container. The jaw d4 is also provided with a step d43. This step d43 enhances the strength of the jaw d4, ensuring that it does not bend when gripping an object.

[0115] It should be noted that the parallel plate cylinder d2 is a prior art. The rotating output end inside it is connected to a gear, and both sides of the gear are meshed with racks, so the two racks form two output ends. The main body of the cylinder b6 is installed on the clamping fixed plate d1. The two output ends of the main body of the cylinder b6 are connected to a slider d22. The main body of the cylinder b6 is provided with a slide groove d23. The slider d22 is sleeved in the slide groove d23, and the clamping connecting plate d3 is fixed on the slider d22. When the parallel plate cylinder d2 is in motion, the two clamping jaws d4 move toward or away from each other. At this time, the slider d22 slides smoothly in the slide groove d23, ensuring the stability of the two clamping jaws d4 during movement and the accuracy of the position. A gas connector d24 is provided on the parallel plate cylinder d2. The gas connector d24 is used to connect to the gas source to ensure that the parallel plate cylinder d2 receives a stable gas supply.

[0116] The parallel clamping cylinder d2 has two output ends, which move synchronously toward or away from each other. Therefore, driven by the parallel clamping cylinder d2, the two clamping jaws d4 can move together or apart to clamp or release the noodle basket, bowl, or food box. The inner side of the round box clamping section d41 is arc-shaped to adapt to the shape of the noodle basket or bowl, ensuring that the basket or bowl is securely clamped. The inner side of the square box clamping section d42 is linear, ensuring reliable contact with the food box and ensuring secure clamping. This device can clamp and transfer noodle baskets, bowls, and food boxes separately, providing high functionality and reliable clamping.

[0117] To ensure that a deformed noodle basket or bowl can be securely clamped, the circular clamping section d41 is equipped with several arc-shaped protrusions d411 for supporting the sidewalls of the basket or bowl. When the circular clamping section d41 clamps the basket or bowl, it contacts the basket or bowl via the arc-shaped protrusions d411, preventing the arc-shaped clamping section d41 from losing secure contact with the basket or bowl when the basket or bowl is deformed. There are two arc-shaped protrusions d411 on the circular clamping section d41. Since each clamping jaw d4 has two arc-shaped protrusions d411, a total of four arc-shaped protrusions d411 evenly apply force when clamping the basket or bowl, ensuring a secure clamping of the basket or bowl.

[0118] To ensure a secure grip on the food box, the box-holding section d42 is equipped with a serrated section d421. When the box-holding section d42 is gripped, the serrations on the section d42 increase friction with the food box, preventing it from slipping. Furthermore, a stopper d422 is secured to the box-holding section d42. Since the food box needs to be flipped over and the food poured into the noodle basket, the stopper d422 blocks the box during flipping, preventing it from falling.

[0119] The following introduces the specific structure of the meal dispensing device:

[0120] like Figures 29 to 31 As shown, the food serving device of this embodiment includes a mounting frame e1, on which a lifting drive mechanism e2 is installed, and the output end of the lifting drive mechanism e2 is connected to the food serving tray e3, and a connecting rod mechanism e4 is connected between the food serving tray e3 and the mounting frame e1, and the other end of the connecting rod mechanism e4 is connected to a food serving baffle e5, which is located above the food serving tray e3; a protective groove e8 is fixed on the food serving tray e3, and a food taking notch e81 is provided on one side of the protective groove e8, and the protective groove e8 has a retaining edge to prevent the food bowls from falling.

[0121] The mounting frame e1 comprises a base e11, connected to a column e12. The other end of column e12 is connected to a mounting plate e13. A connecting rod mechanism e4 is connected to the mounting plate. Mounting plate e13 is further connected to a mounting seat e14. The lifting drive mechanism e2 is mounted on the mounting seat e14. The base e11 of the present invention is installed within an automated kitchen, thereby forming part of the present invention.

[0122] The present invention also includes a meal sensor e9 for detecting whether there are bowls on the meal tray e3. When the meal sensor e9 detects a bowl on the meal tray e3, it sends a signal to the control device, which controls the operation of the lifting drive mechanism e2 to ensure that there is a bowl on the meal tray e3 each time it is raised or lowered.

[0123] This device is installed inside the automated kitchen, with only the food dispensing baffle e5 exposed. When a bowl filled with food is placed on the food dispensing tray e3, the food dispensing sensor e9 detects the presence of a bowl on the food dispensing tray e3 and sends a signal to the control device, which controls the operation of the lifting drive mechanism e2. The lifting drive mechanism e2 pushes the food dispensing tray e3 upward, and the food bowl can be pushed to the food dispensing port. As the food dispensing tray e3 rises, the connecting rod mechanism e4 is driven to operate, and the connecting rod mechanism e4 moves the food dispensing baffle e5 away, so that customers can smoothly pick up their food from the food dispensing port. The food dispensing baffle e5 of the present invention is only linked and opened when the food dispensing tray e3 rises, ensuring that customers can pick up their food in time. In addition, when the food is not being picked up, the food dispensing baffle e5 always closes the food dispensing port, preventing customers from reaching into the interior of the device, preventing customers from picking up food without paying, and preventing food from being contaminated by the outside world.

[0124] Specifically, the lifting drive mechanism e2 includes a motor e21 mounted on a mounting frame e1. The output end of motor e21 is connected to an electric push rod e22, the other end of which is connected to the serving tray e3. Once motor e21 is activated, the push rod e22 is raised and lowered, electrically propelling the serving tray e3 upwards or downwards, providing convenient operation.

[0125] To ensure smooth lifting of the bowls, a guide slide e6 is fixed to the mounting frame e1. A guide rod e7 is fixed to the bottom of the serving tray e3, which is sleeved within the guide slide e6. During the raising and lowering of the serving tray e3, the guide rod e7 at the bottom of the serving tray e3 always moves within the guide slide e6, allowing the serving tray e3 to move stably in a straight line, ensuring the stability of the bowls during movement.

[0126] There are two guide slides e6 and two guide rods e7, which are respectively arranged on both sides of the lifting drive mechanism e2. The two guide rods e7 guide the meal tray e3, further improving the stability of the meal bowl.

[0127] Specifically, the linkage mechanism e4 includes an opening and closing link e41, one end of which is hinged to the serving tray e3. The other end of the opening and closing link e41 is hinged to a driving link e42, the middle section of which is hinged to the mounting bracket e1. The other end of the driving link e42 is connected to the serving baffle e5. When the serving tray e3 rises, the serving tray e3 drives the opening and closing link e41, which in turn tilts the driving link e42. This causes the serving baffle e5 to move away from the serving opening, allowing the serving tray e3 to smoothly push the bowls to the serving opening. When the serving tray e3 is lowered, the serving baffle e5 moves in the opposite direction, blocking the serving opening.

[0128] There are two connecting rods e4. The serving tray e3 is provided with a protruding rod e31, and the two connecting rods e4 are hinged at either end of the protruding rod e31. A serving baffle e5 is provided on each side, and both serving baffles e5 are connected to a connecting mechanism. This reduces the travel of a single serving baffle e5, making it easier to fully open the serving opening when retrieving food. When the serving tray e3 is lowered, the serving baffle e5 is horizontal and the two serving baffles e5 are joined. When the serving tray e3 is lowered, the serving baffle e5 precisely blocks the serving opening, ensuring that the serving baffle e5 can isolate the bowls from the outside world.

[0129] The system also includes a control cabinet 6 and an electrical cabinet 7. Each device is precisely controlled by the control cabinet 6, and the electrical cabinet 7 switches it on and off. A water tray 8 is located next to the noodle cooker 4 to collect spilled water. The stand 5 is enclosed and topped with transparent glass. Inside, a temporary storage rack 9 is located for temporarily placing cooked noodles. A tissue box is placed on the top of the stand 5 for customer convenience.

[0130] An automatic noodle cooking method:

[0131] The method comprises the following steps: noodles and toppings are respectively put into a material box of fixed shape; when making noodles, the noodle material box is broken and put into a noodle cooking pot 4 for cooking; the topping material box is broken and heated; and the cooked noodles and the heated toppings are respectively put into a bowl for serving.

[0132] The shape of the material box is not fixed, as long as it can be easily broken. In this embodiment, the shape of the material box is a rectangular box body, and a plastic cover is provided on the opening.

[0133] The specific steps include:

[0134] S1: Grab the topping box and place it into the breaking device with the front side facing up to break it; S2: Push the broken topping box into the microwave oven c2 for heating; S3: Push the heated topping box into the pouring mechanism c4; S4: The bowl dropping device c5 drops the bowl onto the bowl holder c7 on the moving mechanism c6; S5: Cook the staple food, the moving mechanism c6 moves the bowl holder c7 to the front, and after cooking, the front robot 3 adds the staple food to the bowl holder c7. On the bowl holder c7; the staple food box is clamped by the background robot 2 and put into the breaking device, and the breaking device breaks it, and then the front robot 3 pours the staple food into the noodle cooking basket; S5: the mobile hook moves the bowl holder c7 to the bottom of the pouring mechanism c4, and the pouring mechanism c4 adds the toppings to the staple food; S7: the moving mechanism c6 moves the bowl holder c7 to the front end, and the front robot 3 clamps the bowl to the meal dispensing device, and the meal is served through the meal dispensing device.

[0135] When a box is placed upside down in shelf a1, backstage robot 2 picks it up and places it in flipping mechanism a6. After flipping a6, backstage robot 2 then picks up the topping box and places it in the backstage splitting device for splitting. The split topping box is then placed in microwave oven c2 for heating. After heating, the box is placed in the pouring mechanism c4. The split noodle box is then picked up by frontstage robot 3 and poured into the noodle basket in noodle cooker 4 for cooking. The bowl drop mechanism drops one bowl at a time. Moving mechanism c6 moves bowl holder c7 below bowl drop mechanism c5, ensuring the bowl lands securely on bowl holder c7. Moving mechanism c6 then moves the bowl to the front, where frontstage robot 3 picks up the noodle basket and pours the noodles into the bowl. The mobile mechanism C6 then moves the bowl to the bottom of the pouring mechanism C4, which pours the heated topping into the bowl. The mobile mechanism C6 then moves the bowl to the front, where the front-of-house robot 3 picks it up and places it in the serving device. After the customer pays, the serving device automatically lifts the bowl from the serving port, allowing the customer to take the bowl of noodles away. Each step of the present invention is performed continuously under the control of a control device, enabling automatic bowl placement and topping-up, achieving full automation, reducing manual labor, and ensuring cleanliness and hygiene.

Claims

1. An automatic noodle cooking system, characterized in that: The invention comprises a closed main body (1), wherein a material shelf (a1) and a background manipulator (2) are arranged in the closed main body (1), and a transfer mechanism (a5) for transferring the material box in the material shelf (a1) is connected to the background manipulator (2); a batching rack (c1) is fixed in the closed main body (1), and a breaking device for breaking the pouring head material box is installed on the batching rack (c1), and a rotating motor (c3) is also installed on the batching rack (c1), and a material pouring mechanism (c4) is connected to the output shaft of the rotating motor (c3). ) is installed with a heating device; the ingredient rack (c1) is also installed with a bowl dropping device (c5), the rack is also installed with a moving mechanism (c6), the moving mechanism (c6) is connected to a bowl bracket (c7), and the moving mechanism (c6) is located below the bowl dropping device (c5) and the pouring mechanism (c4); the ingredient rack (c1) is also installed with a breaking device for breaking the noodle box, and the closed main body (1) is also installed with a front manipulator (3), a noodle cooking pot (4) and a stand (5), and the stand (5) is installed with a meal discharging device; The breaking device includes an upper base plate (b1) and a lower base plate (b2) mounted on a batching machine frame (c1); a plurality of guide shafts (b3) are connected between the upper base plate (b1) and the lower base plate (b2); a fixed plate (b4) is sleeved between the guide shafts (b3); a breaking knife (b5) is mounted on the fixed plate (b4); a cylinder (b6) is mounted on the upper base plate (b1); a piston rod of the cylinder (b6) is connected to the fixed plate (b4); and a positioning box (b7) for fixing the material box is mounted on the lower base (e11); The outer sleeve of the breaking knife (b5) is provided with a guide pressure plate (b8), a notch (b51) is provided on one long side of the breaking knife (b5), and the guide pressure plate (b8) is connected to a guide block (b84) on the side where the notch (b51) is provided on the breaking knife (b5).

2. The automatic noodle cooking system according to claim 1, characterized in that: The invention also includes a flipping mechanism (a6) for flipping the reverse side of the material box, wherein the flipping mechanism (a6) includes a flipping bracket (a61), a rotating cylinder (a62) is installed on the flipping bracket (a61), and a flip shell (a63) for placing the material box is connected to the piston rod of the rotating cylinder (a62).

3. The automatic noodle cooking system according to claim 1, characterized in that: The unloading mechanism (c4) includes a clamping frame (c41), which is connected to the output shaft of the rotating motor (c3). A clamping cylinder (c42) is installed on the clamping frame (c41), and a clamping plate (c43) is connected to the piston rod of the clamping cylinder (c42).

4. The automatic noodle cooking system according to claim 1, characterized in that: The bowl dropping device (c5) includes a main bracket (c51), on which a supporting mechanism (c52) for supporting the bottom of the bowl is installed. The main bracket (c51) is also equipped with a bowl separation mechanism (c53) for separating the first and second bowls from the bottom to the top. The output end of the bowl separation mechanism (c53) is also connected to a pressing mechanism (c54) for pressing the bottommost bowl downward.

5. The automatic noodle cooking system according to claim 1, characterized in that: The movable mechanism (c6) includes a movable connecting plate (c61), the movable connecting plate (c61) is connected to the batching machine frame (c1), a single-axis conveyor belt (c62) is installed on the movable connecting plate (c61), and the bowl bracket (c7) is connected to the single-axis conveyor belt (c62).

6. The automatic noodle cooking system according to claim 1, characterized in that: The front-end manipulator (3) is connected to a clamping mechanism, which includes a clamping fixing plate (d1) connected to the front-end manipulator (3), a parallel clamping plate cylinder (d2) installed on the clamping fixing plate (d1), two output ends of the parallel clamping plate cylinder (d2) are connected to a clamping connecting plate (d3), a clamping claw (d4) is fixed on the clamping connecting plate (d3), and the clamping claw (d4) is respectively provided with a round box clamping section (d41) for clamping a noodle basket or a bowl and a square box clamping section (d42) for clamping a material box.

7. The automatic noodle cooking system according to claim 1, characterized in that: The meal dispensing device comprises a meal dispensing mounting frame (e1), a lifting drive mechanism (e2) is mounted on the meal dispensing mounting frame (e1), an output end of the lifting drive mechanism (e2) is connected to a meal dispensing tray (e3), a connecting rod mechanism (e4) is connected between the meal dispensing tray (e3) and the meal dispensing mounting frame (e1), the other end of the connecting rod mechanism (e4) is connected to a meal dispensing baffle (e5), and the meal dispensing baffle (e5) is located above the meal dispensing tray (e3).

8. An automatic noodle cooking method using the automatic noodle cooking system according to claim 1, characterized in that: The steps include: The noodles and the toppings are respectively placed in a material box of a fixed shape. When making noodles, the noodle material box is broken and then put into a noodle cooking pot (4) for cooking. The topping material box is broken and then heated. The cooked noodles and the heated toppings are then put into a bowl and served.

9. The automatic noodle cooking method according to claim 8, characterized in that: The specific steps include: S1: Grab the topping box, place it into the breaking device with the front side facing up, and break it; S2: Push the broken topping box into the heating device for heating; S3: The heated topping box is pushed into the pouring mechanism (c4); S4: The bowl dropping device (c5) drops the bowl onto the bowl holder (c7) on the moving mechanism (c6); S5: Cook the staple food. The moving mechanism (c6) moves the bowl holder (c7) to the front. After cooking, the front robot (3) adds the staple food to the bowl holder (c7). S6: The moving hook moves the bowl holder (c7) to the bottom of the pouring mechanism (c4), and the pouring mechanism (c4) adds the toppings to the staple food; S7: The moving mechanism (c6) moves the bowl holder (c7) to the front end, and the front robot (3) clamps the bowl to the meal dispensing device, and the meal is dispensed through the meal dispensing device.

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