A full-link automated shared kitchen

Abstract

The present application relates to the technical field of intelligent catering equipment and unmanned kitchen system, and provides a full-link automatic shared kitchen, which comprises a dish taking and delivering device, a frying device, a seasoning putting device and a packing device, and a control terminal.The dish taking and delivering device comprises a grid cabinet and an XYZ three-axis grabbing component, and is used for grabbing food materials and delivering dishes; the frying device comprises a stirring component, a pot body, a lifting component and a rotating component, and is used for cooking food materials; the seasoning putting device comprises solid and liquid seasoning putting components, and is used for putting seasonings into the pot body; the packing device is used for controlling a packaging box to receive dishes and pack the dishes; and the control terminal is used for coordinating the operation of each device.The XYZ three-axis grabbing component integrates the grabbing and delivering functions, and cooperates with the frying device, the seasoning putting device and the packing device to realize full-link automation of food material processing, cooking, seasoning, packing and dish delivery, solve the problem of fragmented functions and poor cooperation of existing equipment, and improve the operation efficiency and food safety.

Description

Technical Field

[0001] This invention belongs to the field of shared catering equipment technology and provides a fully automated shared kitchen. Background Technology

[0002] As the pace of urban life accelerates, the demand for standardized catering services continues to rise. Shared kitchens, through the centralized configuration of catering equipment, enable the standardized production of meals in batches, representing an important development model for modern catering services.

[0003] Current shared kitchens have gradually been equipped with automatic cooking equipment, food storage cabinets, seasoning dispensing mechanisms, and packaging devices, achieving automated operation of individual processes and reducing the proportion of manual operation to a certain extent, thus improving the efficiency of single-stage production. However, there are still many disconnects in the process connections, and the transfer of materials across equipment and process switching still rely on manual assistance. This makes it impossible to form a fully automated and continuous operation with a closed loop, limiting the overall food preparation efficiency and making it difficult to support stable operation without human intervention for extended periods. Summary of the Invention

[0004] To address the aforementioned technical issues, this invention provides a fully automated shared kitchen that integrates food processing, automatic cooking, precise seasoning, intelligent packaging, unmanned meal preparation, and self-cleaning throughout the entire process.

[0005] The technical solution of this invention includes: a food delivery device, comprising a grid cabinet and an XYZ three-axis gripping component, wherein the XYZ three-axis gripping component is used to grip ingredients from the grid cabinet and transport the food to the serving port; and a cooking device, located below the XYZ three-axis gripping component, for cooking the ingredients gripped by the XYZ three-axis gripping component, wherein the cooking device includes a stirring component, a pot body, a lifting component, and a rotating component, wherein the stirring component is located inside the pot body and is used to stir the ingredients, the lifting component is located outside the pot body and is connected to the stirring component, for driving the stirring component to extend into or away from the pot body, and the rotating component is connected to the pot body, for driving the pot body to rotate, thereby allowing the food in the pot body to move. The cooking device includes a pouring and seasoning dispensing unit located above the cooking unit. It comprises multiple solid and liquid seasoning dispensing components, each containing different seasonings for dispensing into the pot. A packaging device controls a packaging box to receive and package the food from the pot. The XYZ three-axis gripping component places the packaged box at the serving outlet. A control terminal includes a display screen and a controller. The display screen is used for ordering food, and the controller is communicatively connected to the XYZ three-axis gripping component, stirring component, lifting component, rotating component, solid and liquid seasoning dispensing components, and packaging device.

[0006] The above solution constructs a fully automated system by setting up an XYZ three-axis gripping component, a cooking device, a seasoning dispensing device, a packaging device, and a control terminal. It realizes unified scheduling and coordinated operation of food gripping, cooking, seasoning, packaging, and serving, and solves the problems of fragmented functions and reliance on manual transportation in existing equipment.

[0007] Preferably, the XYZ three-axis gripping component includes: an XYZ three-axis drive module; a first gripping assembly including a first electric push rod, a first hand-holding platform, and a flipping motor, wherein the first electric push rod and the first hand-holding platform are both connected to the XYZ three-axis drive module, and one side of the first hand-holding platform is hinged to the XYZ three-axis drive module; both sides of the first hand-holding platform are provided with limiting plates, which are used to grip the food boxes in the compartment cabinet; the flipping motor is connected to the first hand-holding platform and is used to drive the first hand-holding platform to flip, thereby causing the food in the food box to fall out; the first electric push rod is aligned with the first hand-holding platform and is used to push the food box away from the two limiting plates; a second gripping assembly including a second electric push rod, a push plate, and a second hand-holding platform, wherein the second hand-holding platform is used to receive the packaged box; the push plate is connected to the second electric push rod, and the second electric push rod pushes the packaged box to the serving port through the push plate; and the controller is communicatively connected to the first electric push rod, the flipping motor, and the second electric push rod.

[0008] The above-mentioned preferred solution, through the integrated design of the first gripping component and the second gripping component, realizes the reuse of the food box gripping and flipping and finished product pushing functions, reduces the number of execution units, and improves space utilization and operation efficiency.

[0009] Preferably, the packaging device includes a conveying module, a box-dropping module, a packaging module, and a pushing module; the conveying module includes a conveying track and a box-receiving platform, the box-receiving platform being slidably connected to the conveying track, the box-dropping module being used to place packaging boxes onto the box-receiving platform, the conveying track driving the box-receiving platform to move, thereby driving the packaging boxes to the bottom of the pot to receive the food and driving the packaging boxes containing the food to the packaging module; the packaging module being used to pack the packaging boxes; and the pushing module being used to push the packed packaging boxes on the box-receiving platform into the second support platform.

[0010] The above-mentioned preferred solution, through the cooperation of the conveyor track and various modules, realizes the automatic delivery, positioning and sealing of packaging boxes, ensuring the continuity of the packaging process.

[0011] Preferably, the two limiting plates are V-shaped at the end closest to the grid cabinet.

[0012] The above-mentioned preferred solution utilizes a figure-eight structure to guide the food box to automatically center, thereby improving the fault tolerance and stability of the grasping and positioning.

[0013] Preferably, the cooking device further includes a cleaning component, which includes a water pump and a spray head. The output end of the water pump is connected to the spray head for cleaning the inside of the pot. After the food is poured out of the pot, the rotating component rotates the pot so that the pot opening faces the spray head, thereby allowing the spray head to rinse and clean the inside of the pot. The spray head is located on the side of the pot away from the food that has been poured out.

[0014] The above-mentioned preferred solution achieves automatic cleaning of the inner wall of the pot by rotating the pot body in conjunction with the spray head, eliminating blind spots of manual cleaning and improving food safety.

[0015] Preferably, the cleaning component includes an electric rotary joint, the output end of the water pump is connected to the spray head through the electric rotary joint, the rotary joint is used to drive the spray head to rotate; the rotary joint is connected to the controller.

[0016] The above-mentioned preferred solution uses an electric rotary joint to drive the spray head to rotate, forming a spiral sweeping rinsing trajectory, which further improves the cleaning coverage and cleanliness.

[0017] Preferably, the cooking device further includes a guide groove located below the pot body, which is used to guide the food into the packaging box in the packaging device.

[0018] The above-mentioned preferred solution uses a guide channel to ensure that the food falls accurately into the packaging box, avoiding spillage and waste.

[0019] Preferably, the cooking device further includes a rotating motor and a cleaning water pump. The guide groove is connected to the rotating device, which is used to move the guide groove away from or towards the pouring position of the pot. When the guide groove moves away from the pouring position, the cleaning water pump is used to rinse and clean the guide groove.

[0020] The above-mentioned preferred solution uses a rotating device to move the guide groove out of position, and with the help of a cleaning water pump, it achieves thorough cleaning of the guide groove and prevents cross-contamination caused by the accumulation of residues.

[0021] Preferably, the solid seasoning dispensing component includes: a stepper motor, communicatively connected to the controller; a lead screw, connected to the stepper motor; a sleeve, fitted onto and matched to the lead screw, the sleeve being placed horizontally; a solid seasoning container, located above the sleeve and communicating with the sleeve, the solid seasoning container being used to provide solid seasoning; the stepper motor drives the lead screw to rotate, thereby dispensing the solid seasoning into the sleeve; the liquid seasoning dispensing component includes: a liquid seasoning container, used to hold liquid seasoning; a guide tube, communicating with the liquid seasoning container; and a solenoid valve, connected to the guide tube, used to control the opening or closing of the guide tube, the solenoid valve being connected to the controller.

[0022] The above-mentioned preferred solution uses a stepper motor and a lead screw to achieve precise micro-dosing of solid seasonings, and uses a solenoid valve to control the flow of liquid seasonings, thus ensuring the standardization and consistency of the dish's flavor.

[0023] Preferably, the lifting component includes: a lifting motor located outside the pot body, the lifting motor being connected to a controller; a rotating linkage, one end of which is fixedly connected to the output shaft of the lifting motor, and the other end of which is connected to a stirring component; the lifting motor rotating in the forward direction drives the stirring component to be located inside the pot body through the rotating linkage, stirring the food inside the pot body; the lifting motor rotating in the reverse direction drives the stirring component away from the pot body through the rotating linkage.

[0024] The above-mentioned preferred solution achieves automatic entry and exit of the stirring component through the linkage of the lifting motor and the rotating linkage, thus avoiding interference of the stirring component with the feeding and pouring process.

[0025] The technical solution provided by this invention has the following advantages compared with the prior art: By integrating food picking and delivery devices, cooking devices, seasoning dispensing devices, and packaging devices, and using a controller on a control terminal to communicate with each device for unified scheduling and coordination, the XYZ three-axis gripping component completes the food picking and food delivery. In conjunction with the cooking, seasoning dispensing, and packaging devices, the corresponding processes are executed in sequence. The entire process does not require manual material transfer, eliminating process breaks at each stage, reducing operational response delays, and realizing fully automated collaborative operation of the entire chain of food picking, cooking, seasoning, packaging, and food serving. It effectively solves the problems of functional fragmentation and poor coordination of existing equipment, and can support continuous and batch unmanned catering operations.

[0026] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram of the food delivery device according to an embodiment of the present invention.

[0030] Figure 3 This is a schematic diagram of the stir-frying device according to an embodiment of the present invention.Figure 1 .

[0031] Figure 4 This is a schematic diagram of the stir-frying device according to an embodiment of the present invention. Figure 2 .

[0032] Figure 5 This is a schematic diagram of the packaging device according to an embodiment of the present invention.

[0033] Figure 6 This is a schematic diagram of the solid seasoning dispensing component according to an embodiment of the present invention.

[0034] Figure label: 1. Vegetable delivery device; 11. Compartment cabinet; 12. XYZ three-axis gripping component; 121. XYZ three-axis drive module; 122. First electric push rod; 123. First hand support platform; 124. Tilting motor; 125. Second electric push rod; 126. Push plate; 127. Second hand support platform; 128. Limiting plate; 2. Cooking device; 21. Pot body; 22. Stirring component; 231. Lifting motor; 232. Rotary connecting... 24. Rod; 26. Rotating component; 27. Spray head; 28. Electric rotary joint; 29. ​​Guide groove; 30. Rotary motor; 31. Cleaning water pump; 31. Solid seasoning dispensing component; 311. Stepper motor; 312. Lead screw; 313. Sleeve; 314. Solid seasoning container; 32. Liquid seasoning dispensing component; 4. Packaging device; 41. Conveying module; 42. Box dropping module; 43. Packaging module; 44. Pushing module. Detailed Implementation

[0035] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] In the description of the embodiments of the present invention, unless otherwise stated, "a plurality of" means two or more.

[0038] Example 1: like Figures 1 to 6As shown, this embodiment provides a fully automated shared kitchen. The shared kitchen includes a food delivery device 1, a cooking device 2, a seasoning dispensing device, a packaging device 4, and a control terminal. Through the coordinated operation of these devices, this embodiment achieves a fully automated process from food handling, cooking, seasoning to packaging and serving, effectively solving the problems of fragmented functions and reliance on manual handling in existing shared kitchen equipment.

[0039] The food delivery device 1 includes a grid cabinet 11 and an XYZ three-axis gripping component 12. The grid cabinet 11 stores food containers containing ingredients to be cooked. The XYZ three-axis gripping component 12 is positioned on one side or around the grid cabinet 11 and is used to retrieve food from the grid cabinet 11 and transport cooked food to the serving outlet. Specifically, the XYZ three-axis gripping component 12, as a multi-degree-of-freedom actuator, can precisely position and move in three-dimensional space under the control of a controller. It should be understood that although this embodiment preferably uses an XYZ three-axis drive module 121 in conjunction with the gripping component, in other embodiments, a multi-joint robotic arm or other handling mechanism with equivalent spatial displacement capabilities can also be used, as long as it can satisfy the functions of gripping and transferring food containers. The XYZ three-axis gripping component 12, as the central actuator of the entire system, undertakes the dual tasks of food delivery and finished product transfer, significantly reducing the number of independent handling mechanisms and optimizing the spatial layout of the equipment.

[0040] The cooking device 2 is used to cook the ingredients gripped by the XYZ three-axis gripping component 12. The cooking device 2 includes a stirring component 22, a pot body 21, a lifting component, and a rotating component 24. The stirring component 22 is located inside the pot body 21 and is used to stir the ingredients to prevent them from sticking or heating unevenly. The lifting component is located outside the pot body 21 and connected to the stirring component 22, used to move the stirring component 22 into or away from the pot body 21. The rotating component 24 is connected to the pot body 21 and is used to rotate the pot body 21, causing the food inside to be poured out. In terms of spatial layout, the cooking device 2 is usually located within the working range of the food delivery device 1 so that the XYZ three-axis gripping component 12 can directly put the ingredients into the pot body 21. The lifting component allows the stirring component 22 to avoid interference during non-cooking periods (such as when adding ingredients or pouring food); the rotating component 24 enables automatic food pouring, providing a prerequisite for the subsequent packaging process. This structural design integrates stirring, positioning, and food pouring functions into one unit, improving the automation level of the cooking device 2.

[0041] The seasoning dispensing device includes multiple solid seasoning dispensing components 31 and multiple liquid seasoning dispensing components 32. The solid seasoning dispensing components 31 and liquid seasoning dispensing components 32 each contain different seasonings for dispensing into the pot body 21. Specifically, the seasoning dispensing device is typically positioned above or to the side of the pot body 21 to ensure the seasonings fall smoothly into the pot body 21. The multiple solid seasoning dispensing components 31 can store different solid seasonings such as salt, sugar, monosodium glutamate, and chili powder, while the multiple liquid seasoning dispensing components 32 can store different liquid seasonings such as soy sauce, vinegar, cooking wine, and cooking oil. By controlling the timing and amount of each dispensing component, the system can automatically complete the seasoning process according to a preset recipe, ensuring the standardization and consistency of the dish's flavor.

[0042] The packaging device 4 is used to control the receiving and packaging of food from the pot 21. The XYZ three-axis gripping component 12 places the packaged food into the serving port. The packaging device 4 is usually located below the food pouring position of the pot 21 to receive the food. After completing the food delivery task, the XYZ three-axis gripping component 12 can also perform the task of transferring the finished food box, moving the packaged food box from the packaging device 4 to the serving port for the user to pick up. This "one machine, multiple uses" design avoids configuring a separate transfer mechanism for the packaging process, reducing hardware costs and system complexity.

[0043] The control terminal includes a display screen and a controller. The display screen is used for ordering food, and the controller is communicatively connected to the XYZ three-axis gripping component 12, the stirring component 22, the lifting component, the rotating component 24, the solid seasoning dispensing component 31, the liquid seasoning dispensing component 32, and the packaging device 4. The display screen serves as the human-machine interface, allowing users to select dishes, place orders, and pay. The controller, acting as the system's "brain," has a built-in scheduling program that can parse the cooking steps based on the user's order and send control commands to each device according to a preset sequence. For example, the controller first controls the XYZ three-axis gripping component 12 to grab the ingredient box and dispense the ingredients, then controls the lifting component to lower the stirring component 22 and start stirring, while simultaneously instructing the seasoning dispensing device to dispense the seasonings in the correct amount. After cooking, the controller controls the rotating component 24 to empty the food, and finally coordinates the packaging device 4 to complete the packaging and instructs the XYZ three-axis gripping component 12 to dispense the food. Through the unified scheduling of the controller, the devices achieve seamless connection and closed-loop operation, ensuring efficient collaboration throughout the entire process.

[0044] This embodiment constructs a fully automated system by setting up an XYZ three-axis gripping component 12, a cooking device 2, a seasoning dispensing device, a packaging device 4, and a control terminal. The system utilizes the XYZ three-axis gripping component 12 to perform food delivery and finished product transfer tasks, uses lifting and rotating components 24 to automate the switching between stirring and pouring, utilizes the seasoning dispensing device for precise seasoning, and utilizes the packaging device 4 for automatic packaging. Ultimately, under the overall control of the controller, it achieves integrated unattended operation from ingredients to finished product, significantly improving the operational efficiency and standardization level of the shared kitchen.

[0045] Example 2: This embodiment, based on Embodiment 1, provides a detailed description of the specific structure of the XYZ three-axis gripping component 12. The XYZ three-axis gripping component 12 includes an XYZ three-axis drive module 121, a first gripping component, and a second gripping component. The XYZ three-axis drive module 121 serves as a power source, driving the first and second gripping components to perform precise positioning and movement in three-dimensional space. The first gripping component is mainly used for gripping and feeding ingredients from the food container, while the second gripping component is used for transferring and dispensing finished food containers. This integrated design allows a single drive system to meet the execution requirements of the two key stages of feeding and dispensing, significantly reducing structural redundancy in the equipment.

[0046] The first gripping assembly includes a first electric push rod 122, a first support platform 123, and a flipping motor 124. Both the first electric push rod 122 and the first support platform 123 are connected to an XYZ three-axis drive module 121, and one side of the first support platform 123 is hinged to the XYZ three-axis drive module 121. Limiting plates 128 are provided on both sides of the first support platform 123, and the two limiting plates 128 are used to grip the food boxes inside the compartment cabinet 11. The flipping motor 124 is connected to the first support platform 123 and is used to rotate the first support platform 123, causing the food inside the food boxes to fall out. The first electric push rod 122 is aligned with the first support platform 123 and is used to push the food boxes away from the two limiting plates 128, returning the food boxes to their original position or a designated location. Specifically, when the XYZ three-axis drive module 121 moves to the designated position in the grid cabinet 11, the first support platform 123 extends under or to the side of the food box, and the limiting plates 128 on both sides clamp the food box through mechanical structure or auxiliary power. Subsequently, the XYZ three-axis drive module 121 lifts the food box and transfers it above the pot body 21 of the cooking device 2. During the feeding stage, the tilting motor 124 starts, driving the first support platform 123 and the food box to tilt as a whole. The tilting angle can exceed 90 degrees, ensuring that the food falls completely into the pot body 21 under the action of gravity.

[0047] The second gripping component includes a second electric push rod 125, a push plate 126, and a second support platform 127. The second support platform 127 receives the packaged boxes. The push plate 126 is connected to the second electric push rod 125, which pushes the packaged boxes to the serving port via the push plate 126. After the packaging device 4 completes the sealing, the XYZ three-axis drive module 121 drives the second support platform 127 to move to the receiving position to receive the packaged boxes, and then moves it to the serving port. At this time, the second electric push rod 125 actuates, pushing the push plate 126 to smoothly push the packaged boxes to the temporary storage area of ​​the serving port. Through the reuse design of the first and second gripping components, the XYZ three-axis gripping component 12 assumes the dual roles of "feeding hand" and "serving hand" throughout the entire process, effectively solving the problem of single actuators and the need to configure multiple handling systems in existing equipment.

[0048] Furthermore, the two limiting plates 128 are V-shaped at the ends near the grid cabinet 11. Specifically, the V-shaped structure is characterized by an outwardly expanding symmetrical curved surface or inclined surface at the entrance end of the limiting plate 128, with the width gradually narrowing towards the inward positioning section. When there is a slight positional deviation in the food container during the grasping process, the V-shaped entrance acts as a physical guide, guiding the food container to automatically slide into the correct clamping position between the two limiting plates 128, achieving automatic centering. This design significantly improves the fault tolerance rate of grasping and positioning, reduces jamming or grasping failures caused by misalignment, and enhances the stability and reliability of system operation. Especially in high-frequency continuous operation scenarios, the V-shaped limiting structure can effectively compensate for mechanical motion errors, ensuring the smoothness of the food grasping process.

[0049] Example 3: This embodiment, based on Embodiment 1, provides a detailed description of the specific structure and workflow of the packaging device 4. As a key component of the fully automated shared kitchen system, the packaging device 4 is responsible for food packaging and preparation for serving. The packaging device 4 includes a conveying module 41, a box-dropping module 42, a packaging module 43, and a pushing module 44.

[0050] The conveying module 41 includes a conveying track and a receiving platform, which is slidably connected to the conveying track. The conveying track is typically laid in the area below the pot body 21 and extends to the working area of ​​the packaging module 43 and the second support platform 127. The receiving platform serves as a mobile carrier for carrying the packaging boxes. It should be understood that the specific form of the conveying track can vary, such as synchronous belt drive, lead screw 312 drive, or cylinder push rod drive, as long as it can drive the receiving platform to move precisely back and forth on a predetermined trajectory. The receiving platform and the conveying track are connected by a slider, slide rail, or guide groove 28 to ensure the smoothness of the movement and prevent the soup inside the packaging box from spilling due to shaking.

[0051] The box-dropping module 42 is used to place packaging boxes onto the receiving platform. Specifically, the box-dropping module 42 is typically located at the beginning of the conveyor track or a specific workstation, and empty packaging boxes are stacked inside it. When the control system detects that the receiving platform has moved to the box-dropping workstation, the box-dropping module 42 activates, separating the bottommost packaging box and placing it onto the receiving platform. This process can be achieved using a pneumatic suction cup, a mechanical push rod, or a gravity-assisted sliding mechanism. After the box is dropped, the conveyor track moves the receiving platform, thereby bringing the packaging box to the bottom of the pot 21 to receive the food. At this time, the rotating component 24 of the cooking device 2 activates, causing the pot 21 to flip, pouring the cooked food into the packaging box via the guide groove 28 or directly. The receiving platform remains stationary or undergoes slight adjustments during the food receiving process to ensure that the food falls accurately into the center of the packaging box, reducing splashing.

[0052] After the food items are received, the conveyor track continues to carry the packaging boxes containing the food items to the packaging module 43. The packaging module 43 is used to pack the packaging boxes. In this embodiment, the packaging module 43 preferably adopts a thermostatic sealing mechanism. This mechanism includes a heating strip, a temperature sensor, and a sealing cylinder. When the receiving platform carries the packaging boxes to the sealing station, the control system first confirms that all the food items have been placed in the box and that the packaging box is in the correct position using a weighing sensor or visual inspection device. Subsequently, the sealing cylinder actuates, pressing the lid or cover of the packaging box tightly against the box opening. At the same time, the heating strip is energized and heats up, maintaining a certain temperature and pressure for a certain period of time to fuse the lid and the box opening for a seal. This constant temperature and pressure design ensures the airtightness of the packaging and effectively prevents leakage of soup during transportation. Of course, in other embodiments, the packaging module 43 can also adopt other forms such as snap-on sealing or ultrasonic welding sealing, as long as the sealing of the packaging box can be achieved.

[0053] After packaging is complete, the push module 44 pushes the packaged box from the receiving platform to the second support platform 127. At this time, the receiving platform has moved to the position where it docks with the second support platform 127. The push module 44 can be a pneumatic or electric push rod, with its push head aligned with the side of the packaged box. When the receiving platform is in position, the push module 44 actuates, smoothly pushing the packaged box from the receiving platform onto the second support platform 127. Subsequently, the second gripping component of the XYZ three-axis gripping part 12 actuates, transferring the packaged box to the serving outlet, completing the entire packaging process. It should be noted that in the attached diagram, to illustrate the positional relationship of the push module 44, it is shown as suspended in mid-air; in reality, it is fixed to a bracket or wall.

[0054] This embodiment achieves a fully automated process for automatic supply of packaging boxes, positioning for food receiving, heat sealing, and finished product transfer through the coordinated operation of the conveying module 41, the box dropping module 42, the packaging module 43, and the pushing module 44. The reciprocating movement of the box receiving station on the conveyor track effectively connects the food receiving station and the sealing station, avoiding manual intervention and significantly improving food service efficiency and packaging quality.

[0055] Example 4: This embodiment, based on Embodiment 1, provides a detailed description of the specific structure and precise dispensing principle of the seasoning dispensing device. The seasoning dispensing device includes multiple solid seasoning dispensing components 31 and multiple liquid seasoning dispensing components 32, each used to dispense different types of seasonings into the pot body 21. This separate design allows the system to flexibly utilize various seasonings such as salt, sugar, soy sauce, and vinegar according to different recipe requirements, achieving customized flavors.

[0056] The solid seasoning dispensing component 31 includes a stepper motor 311, a lead screw 312, a sleeve 313, and a solid seasoning container 314. The stepper motor 311 is communicatively connected to the controller, the lead screw 312 is connected to the stepper motor 311, and the sleeve 313 is fitted onto and matched with the lead screw 312, positioned horizontally. The solid seasoning container 314 is located above and communicates with the sleeve 313, and is used to provide solid seasonings. Specifically, solid seasonings (such as salt, monosodium glutamate, chili powder, etc.) in the solid seasoning container 314 fall into the spiral groove or cavity of the sleeve 313 under gravity. When seasonings need to be dispensed, the controller sends a pulse signal to the stepper motor 311, which drives the lead screw 312 to rotate, thereby pushing the solid seasonings entering the sleeve 313 axially to the outlet and falling into the pot body 21. It should be understood that although this embodiment preferably uses a lead screw 312 nut transmission mechanism to achieve quantitative feeding of solid seasonings, other embodiments may also use vibratory feeder or piston push rod, etc. However, the lead screw 312 transmission structure has higher precision and stability, and is particularly suitable for the control of micro-powder seasonings.

[0057] Furthermore, the mechanism by which the lead screw 312 achieves micro-dispensing lies in the following: the stepper motor 311 has high-resolution angular displacement control capability, rotating by a fixed angle (such as 0.1 degrees or less) with each pulse signal received. This rotational motion is converted into linear motion through the helical transmission of the lead screw 312. The controller precisely controls the number of rotations of the lead screw 312 by controlling the number of pulses, thereby precisely controlling the axial displacement of the sleeve 313. Since the volume of the cavity within the sleeve 313 is fixed, the axial displacement directly corresponds to the volume of seasoning pushed out, thus achieving milligram-level quantitative dispensing. For example, for each rotation of the stepper motor 311, the sleeve 313 moves a distance equal to one screw pitch, corresponding to the dispensing of a fixed amount of seasoning. This linear correspondence between "pulse-displacement-volume" eliminates the errors caused by traditional volumetric quantitative dispensing or empirical pouring, ensuring the consistency of solid seasoning content in each dish and effectively supporting the technical effect of "flavor standardization."

[0058] The liquid seasoning dispensing component 32 includes a liquid seasoning container, a guide pipe, and a solenoid valve. The liquid seasoning container holds the liquid seasoning; the guide pipe is connected to the liquid seasoning container; the solenoid valve is connected to the guide pipe and controls its opening or closing, and is also connected to a controller. Specifically, the liquid seasoning container is typically placed at a higher position or connected to a pump to provide the power for liquid flow. The guide pipe guides the liquid above the pot body 21. The solenoid valve, acting as a switching element, is located on the guide pipe. When liquid seasoning needs to be dispensed, the controller controls the solenoid valve to open, and the liquid flows through the guide pipe and is ejected under gravity or pump pressure; after a preset time, the controller controls the solenoid valve to close, cutting off the liquid flow.

[0059] The key explanation focuses on how the solenoid valve controls the liquid flow for precise dispensing: The solenoid valve boasts an extremely fast response time, enabling millisecond-level on / off control. Based on preset recipe parameters, the controller precisely controls the flow rate of liquid seasonings by adjusting the opening duration of the solenoid valve. For example, for a dish requiring 5 ml of soy sauce, the controller calculates the corresponding opening time and precisely controls the solenoid valve to open for that duration. Furthermore, to further improve the uniformity of dispensing, an atomizing nozzle can be installed at the outlet of the guide tube to atomize the liquid seasoning before spraying it into the pot 21, preventing localized over-saltiness or clumping. This time-flow-based control logic, combined with the fast-response solenoid valve, minimizes the error in liquid seasoning dispensing and allows for dynamic matching based on cooking stages (such as sautéing and reducing sauce), further ensuring the stability of the dish's flavor.

[0060] Example 5: Based on Example 1, this embodiment provides a detailed description of the stirring and avoiding mechanism of the stir-frying device 2 and the self-cleaning structure of the pot body 21. During the cooking process, the stirring component 22 needs to extend into the pot body 21 to stir-fry, but when adding ingredients or pouring out vegetables, the stirring component 22 must retract to avoid interference; at the same time, the cleaning process after cooking also needs to address the problem of blind spots in the cleaning of the inside of the pot body 21.

[0061] To address the issue of stirring misalignment, the lifting mechanism includes a lifting motor 231 and a rotating connecting rod 232. The lifting motor 231 is located outside the pot body 21 and is connected to a controller. One end of the rotating connecting rod 232 is fixedly connected to the output shaft of the lifting motor 231, and the other end is connected to the stirring component 22. When the lifting motor 231 rotates forward, it drives the stirring component 22 to be positioned inside the pot body 21 via the rotating connecting rod 232, stirring the food inside the pot body 21. When the lifting motor 231 rotates backward, it drives the stirring component 22 away from the pot body 21 via the rotating connecting rod 232. Specifically, the lifting motor 231 serves as a power source, and the rotational motion of its output shaft is converted into the arc-shaped oscillation or linear lifting motion of the stirring component 22 through the rotating connecting rod 232. It should be understood that although this embodiment preferably uses the rotating connecting rod 232 mechanism, utilizing the lever principle of the connecting rod to achieve the oscillation and movement of the stirring component 22, in other embodiments, a linear cylinder or lead screw 312 module can also be used to directly drive the stirring component 22 to move up and down along the vertical guide rail. However, the rotating linkage 232 mechanism has the advantages of compact structure and small space occupation, making it particularly suitable for scenarios where the space around the pot body 21 is limited. When the controller detects a feeding signal or a dish pouring signal, it controls the lifting motor 231 to reverse, and the rotating linkage 232 swings upward, lifting the stirring component 22 from inside the pot body 21 to make room for ingredients to fall in or dishes to be poured out; after feeding or pouring is completed, the lifting motor 231 rotates forward, and the stirring component 22 re-enters the pot body 21 to perform stirring. This automated "stirring-avoidance" switching mechanism ensures the continuity of the cooking process and avoids mechanical interference of the stirring component 22 with other processes.

[0062] To address the cleaning issue of the pot body 21, the cooking device 2 also includes a cleaning component. This component includes a water pump and a spray head 26. The output of the water pump is connected to the spray head 26 for cleaning the interior of the pot body 21. After the food is poured out of the pot body 21, the rotating component 24 rotates the pot body 21 so that the opening faces the spray head 26, allowing the spray head 26 to rinse and clean the interior of the pot body 21. The spray head 26 is located on the side of the pot body 21 away from the food being poured out. Specifically, the rotating component 24 can be a rotary motor or a worm gear mechanism, with its output shaft connected to the rotating shaft of the pot body 21, enabling it to drive the pot body 21 to rotate at a large angle. During the cooking phase, the pot body 21 remains horizontal or slightly tilted; during the cleaning phase, the rotating component 24 drives the pot body 21 to rotate so that the opening faces the spray head 26. The spray head 26 is positioned on the back side of the pot body 21 where the food is poured out, a layout that prevents the spray head 26 from being contaminated by the food during pouring. After the water pump is started, high-pressure water is sprayed out through the spray head 26 to rinse the inner wall of the overturned pot body 21. This design utilizes the overturning motion of the pot body 21, in conjunction with the fixed spray head 26, to achieve preliminary cleaning of the inner wall of the pot body 21, solving the problem of difficult cleaning of the traditional fixed pot body 21.

[0063] Furthermore, to eliminate cleaning blind spots, the cleaning components include an electric rotary joint 27. The output end of the water pump is connected to the spray head 26 via the electric rotary joint 27, which drives the spray head 26 to rotate. The electric rotary joint 27 is connected to the controller. The electric rotary joint 27 is a device that integrates fluid transmission and rotational motion, and it has a rotation channel and a drive mechanism inside. When the controller starts the cleaning program, the electric rotary joint 27 drives the spray head 26 to rotate around its axis, so that the water jet from the spray head 26 forms a spiral sweeping rinsing trajectory. Compared with static spraying, rotary spraying can cover more areas of the inner wall of the pot body 21, especially the curved surface and edge corners of the bottom of the pot body 21, effectively eliminating cleaning blind spots. It should be understood that the electric rotary joint 27 can be driven by an independent motor, or it can achieve self-driven rotation by utilizing the reaction force of the water jet (i.e., the spray head 26 itself has an inclined nozzle, and a rotational torque is generated when the water jet is sprayed), as long as the rotational action of the spray head 26 can be achieved. This embodiment achieves all-round, no-dead-angle cleaning of the inner wall of the pot body 21 through the dual action of rotating component 24 flipping pot body 21 and electric rotary joint 27 driving spray head 26 to rotate, which significantly improves cleaning cleanliness and food safety.

[0064] Example 6: This embodiment, based on Embodiment 1, provides a detailed description of the structure of the guide groove 28 of the cooking device 2 and its cleaning and anti-displacement function. During the automatic cooking and serving process, the food must accurately fall into the packaging box after being poured from the pot 21. Simultaneously, during the cleaning process, the guide groove 28 must be prevented from obstructing the pot 21 or leaving any residual dirt.

[0065] The cooking device 2 also includes a guide trough 28, located below the pot body 21, for guiding the food into the packaging box in the packaging device 4. Specifically, the guide trough 28 is typically funnel-shaped or an inclined chute structure, with its inlet end aligned with the pouring spout of the pot body 21 and its outlet end aligned with the receiving platform of the packaging device 4. When the rotating component 24 causes the pot body 21 to tilt and pour the food, the food falls into the guide trough 28 under gravity and slides along the inner wall of the guide trough 28 into the packaging box below. This design effectively solves the problem of spillage that may occur when directly pouring food, ensuring a clean and efficient food preparation process. It should be understood that the guide trough 28 is preferably made of food-grade stainless steel, and its surface can be coated with a hydrophobic coating to reduce oil adhesion.

[0066] Furthermore, the cooking device 2 also includes a rotating motor 29 and a cleaning water pump 30. A guide groove 28 is connected to a rotating device, which moves the guide groove 28 away from or towards the pouring position on the pot body 21. The rotating motor 29 serves as the power source for the rotating device, and its output shaft is connected to the rotating shaft of the guide groove 28. During the cooking or pouring stage, the rotating motor 29 drives the guide groove 28 to rotate directly below the pot body 21, i.e., the pouring position, to receive the food. During the cleaning stage, the rotating motor 29 drives the guide groove 28 to rotate in the opposite direction, moving it out of the area directly below the pot body 21 to create a clearance space. When the guide groove 28 moves away from the pouring position, the cleaning water pump 30 is used to rinse and clean the guide groove 28.

[0067] The key explanation focuses on the coordination logic between the "avoidance" of the guide channel 28 and the rinsing of the cleaning water pump 30: In related technologies, the fixed guide channel 28 often becomes a cleaning blind spot, with food residue easily accumulating on its bottom and back, and obstructing the spray head 26 from rinsing the area below the pot body 21. In this embodiment, the guide channel 28 is actively avoided by rotating the motor 29. On the one hand, this removes the obstruction to the space below the pot body 21, allowing the spray head 26 to rinse the outer wall and the area below the pot body 21 without dead angles. On the other hand, the guide channel 28 itself moves to a specific cleaning position, at which point the cleaning water pump 30 starts, generating a high-pressure water flow to directionally rinse the inner wall and back of the guide channel 28. This synergistic mechanism of "active avoidance + targeted rinsing" completely eliminates the dead angles that are difficult to clean in the guide channel 28 in traditional structures, creating a "whole-process, no-dead-angle cleaning" defense depth, effectively preventing cross-contamination caused by residue accumulation, and significantly improving the food safety level of the equipment. It should be understood that the specific form of the rotating device is not limited to a rotary motor, but can also be a translation mechanism driven by a cylinder push rod, as long as it can achieve the switching of the guide groove 28 between the dish pouring position and the washing position.

[0068] Example 7: This embodiment, combined with a specific application scenario, provides a detailed explanation of the fully automated, unattended operation process of a shared kitchen. This scenario demonstrates a complete closed-loop process from user ordering to food preparation and subsequent self-cleaning, showcasing the system's highly efficient collaborative capabilities.

[0069] Scenario: The shared kitchen equipment described in this invention is deployed in the lobby of an office building. User A selects the dish "Kung Pao Chicken" and completes payment via the display screen on the control terminal. After receiving the order signal, the controller parses the corresponding cooking parameters and ingredient information, and then starts the automated operation process.

[0070] Order generation and ingredient grabbing. Based on the order information, the controller moves the XYZ three-axis gripping component 12 of the food delivery device 1 to the designated compartment in the grid cabinet 11. The first gripping component of the XYZ three-axis gripping component 12 actuates, and the first electric push rod 122, in conjunction with the limiting plate 128, grips the ingredient box containing ingredients such as chicken, peanuts, and scallions. Subsequently, the XYZ three-axis gripping component 12 transfers the ingredient box above the pot 21 of the cooking device 2. During this process, the V-shaped limiting plate 128 effectively corrects any slight positional deviations that may exist in the ingredient box, ensuring a high success rate of grabbing.

[0071] Automatic ingredient feeding and cooking start. The flipping motor 124 of the first gripping component starts, causing the first support platform 123 to flip. At the same time, the first electric push rod 122 pushes the ingredient box, causing the ingredients to fall completely into the pot body 21 under gravity. After feeding is completed, the XYZ three-axis gripping component 12 moves the empty ingredient box to the recycling position. Simultaneously, the lifting component of the stir-frying device 2 operates. The lifting motor 231 rotates forward, driving the stirring component 22 to extend into the pot body 21 through the rotating connecting rod 232, and begins to stir-fry and mix the ingredients.

[0072] Precise seasoning and cooking control. During the stirring process, the controller precisely controls the seasoning dispensing device to add ingredients according to the preset timing sequence of the "Kung Pao Chicken" recipe. Specifically, the stepper motor 311 of the solid seasoning dispensing component 31 drives the lead screw 312 to rotate, pushing a fixed amount of solid seasonings such as salt and sugar into the pot body 21; the solenoid valve of the liquid seasoning dispensing component 32 opens for a preset time, spraying liquid seasonings such as soy sauce and cooking wine into the pot body 21. Through the coordination of the lead screw 312 transmission and the solenoid valve control, milligram-level precise dispensing of seasonings is achieved, ensuring the standardization of the dish's flavor.

[0073] Automatic food pouring and packaging. After cooking, the lifting component drives the stirring component 22 to exit the pot body 21. The rotating component 24 drives the pot body 21 to flip, pouring the food through the guide groove 28 into the packaging box of the packaging device 4. The conveyor track of the packaging device 4 drives the receiving platform to move, sequentially passing through the box dropping station to receive empty boxes, the food receiving station to receive food, and the sealing station to perform heat sealing. After packaging, the pushing module 44 pushes the packaging box onto the second support platform 127 of the XYZ three-axis gripping component 12.

[0074] Finished food preparation and process loop completion. The XYZ three-axis gripping component 12 moves the second support platform 127 to the serving port, and the second electric push rod 125 drives the push plate 126 to push the packaging box to the serving port storage area for user A to pick up. At this point, the complete food preparation process is finished, and the system enters standby or next order processing state.

[0075] Automatic cleaning and maintenance. The system automatically initiates the cleaning program after food service is completed or when the preset cleaning cycle is reached. The rotating component 24 flips the pot 21 so that its opening faces the spray head 26. The electric rotary joint 27 drives the spray head 26 to rotate and spray high-pressure water, thoroughly cleaning the inner wall of the pot 21. Simultaneously, the rotating motor 29 moves the guide groove 28 away from the food disposal area, and the cleaning water pump 30 performs targeted cleaning of the guide groove 28, eliminating blind spots. Cleaning wastewater is discharged through the drainage channel. This process requires no manual intervention, completely solving the food safety hazards caused by incomplete cleaning in traditional equipment.

[0076] This embodiment demonstrates, through the above full-process demonstration, that under the unified scheduling of the controller, the shared kitchen achieves close cooperation and seamless connection between various devices, realizing unattended automated operation from food grabbing, cooking, seasoning, packaging to meal serving and self-cleaning, significantly improving operational efficiency and food safety levels.

[0077] It should be noted that any parts not disclosed or specifically described in this invention are existing technology or conventional configurations, and their specific structures and working principles will not be elaborated further. In this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0078] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Other modifications can be readily implemented by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and examples shown and described herein.

Claims

1. A fully automated shared kitchen, characterized in that, include: The food delivery device includes a grid cabinet and an XYZ three-axis gripping component, which grips food from the grid cabinet and delivers the food to the serving outlet. The cooking device is located below the XYZ three-axis gripping component and is used to cook the food gripped by the XYZ three-axis gripping component. A seasoning dispensing device, located above the cooking device, includes multiple solid seasoning dispensing components and multiple liquid seasoning dispensing components. The solid seasoning dispensing components and liquid seasoning dispensing components are respectively filled with different seasonings for dispensing into the cooking device. The packaging device, located below the cooking device, controls the packaging box to receive the food from the cooking device and pack it. The XYZ three-axis gripping component places the packaged packaging box at the serving port. The control terminal includes a display screen and a controller. The display screen is used for ordering food, and the controller is communicatively connected to the XYZ three-axis gripping component, the cooking device, the solid seasoning dispensing component, the liquid seasoning dispensing component, and the packaging device.

2. The fully automated shared kitchen according to claim 1, characterized in that, The XYZ three-axis gripping component includes: XYZ three-axis drive module; The first gripping component includes a first electric push rod, a first hand support platform, and a flipping motor. The first electric push rod and the first hand support platform are both connected to the XYZ three-axis drive module, and one side of the first hand support platform is hinged to the XYZ three-axis drive module. Limiting plates are provided on both sides of the first hand support platform. The two limiting plates are used to grip the food box in the grid cabinet. The flipping motor is connected to the first hand support platform and is used to drive the first hand support platform to flip, so that the food in the food box falls out. The first electric push rod is aligned with the first hand support platform and is used to push the food box away from the two limiting plates. The second gripping component includes a second electric push rod, a push plate, and a second hand platform. The second hand platform is used to receive the packaged box. The push plate is connected to the second electric push rod, and the second electric push rod pushes the packaged box to the food outlet through the push plate. The controller is communicatively connected to the first electric push rod, the flip motor, and the second electric push rod.

3. The fully automated shared kitchen according to claim 1, characterized in that, The cooking device includes a stirring component, a pot body, a lifting component, and a rotating component. The stirring component is located inside the pot body and is used to stir the ingredients. The lifting component is located outside the pot body and is connected to the stirring component, used to drive the stirring component to extend into or away from the pot body. The rotating component is connected to the pot body and drives the pot body to rotate, causing the food inside the pot body to pour out.

4. The fully automated shared kitchen according to claim 3, characterized in that, The cooking device also includes a cleaning component, which includes a water pump and a spray head. The output end of the water pump is connected to the spray head for cleaning the inside of the pot. After the food is poured out of the pot, the rotating part rotates the pot so that the opening faces the spray head, so that the spray head rinses and cleans the inside of the pot. The spray head is located on the side of the pot away from where the food is poured out.

5. A fully automated shared kitchen according to claim 4, characterized in that, The cleaning component includes an electric rotary joint, and the output end of the water pump is connected to the spray head through the electric rotary joint. The electric rotary joint is used to drive the spray head to rotate. The electric rotary joint is connected to the controller.

6. The fully automated shared kitchen according to claim 3, characterized in that, The cooking device also includes a guide groove located below the pot body, which is used to guide the food into the packaging box in the packaging device.

7. A fully automated shared kitchen according to claim 6, characterized in that, The cooking device also includes a rotating motor and a cleaning water pump. The guide groove is connected to the rotating device, and the rotating device is used to move the guide groove away from or closer to the pouring position of the pot. When the guide channel is away from the dumping position, the cleaning water pump is used to flush and clean the guide channel.

8. A fully automated shared kitchen according to claim 3, characterized in that, The lifting component includes: A lifting motor is located outside the pot body and is connected to a controller. The rotating connecting rod has one end fixedly connected to the output shaft of the lifting motor and the other end connected to the stirring component; The lifting motor rotates forward, driving the stirring component inside the pot via a rotating connecting rod to stir the food inside the pot. The lifting motor rotates backward, driving the stirring component away from the pot via the rotating connecting rod.

9. A fully automated shared kitchen according to claim 2, characterized in that, The packaging device includes a conveying module, a box dropping module, a packaging module, and a pushing module; The conveying module includes a conveying track and a receiving platform, wherein the receiving platform is slidably connected to the conveying track. The box-dropping module is used to place packaging boxes on the receiving platform. The conveyor track drives the receiving platform to move, thereby bringing the packaging boxes to the bottom of the cooking device to receive the food and bringing the packaging boxes containing the food to the packaging module. The packaging module is used to pack the packaging boxes; The push module is used to push the packaged boxes on the receiving platform to the second support platform.

10. A fully automated shared kitchen according to claim 1, characterized in that, The solid seasoning dispensing component includes: A stepper motor, which is communicatively connected to the controller; The lead screw is connected to the stepper motor; A sleeve is fitted onto the lead screw and matches the lead screw; the sleeve is placed horizontally. A solid seasoning container is located above the sleeve and communicates with the sleeve; the solid seasoning container is used to provide solid seasonings. The stepper motor drives the lead screw to rotate, thereby discharging the solid seasoning into the sleeve; The liquid seasoning dispensing component includes: A container for holding liquid seasonings; The guide tube is connected to the liquid seasoning container; A solenoid valve, connected to the flow guide pipe, is used to control the flow guide pipe to open or close. The solenoid valve is connected to a controller.

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