A mechanical hand with multiple cooking tools and an automatic cooking machine

Abstract

The present application belongs to the technical field of cooking mechanical hand, especially a mechanical hand with multiple cooking tools and an automatic cooking machine, aiming at the problem that the automatic cooking mechanical hand in the prior art cannot adapt to multiple cooking processes with a single kitchen utensil, the following scheme is proposed, including an operation table, the upper surface of the operation table is a cooking area, one end of the operation table is provided with a driving box capable of moving up and down, a mechanical arm is fixed on the side of the driving box close to the cooking area, and the mechanical arm includes a vertical downward extending long box, the long box is a closed shell, the bottom end of the long box is provided with an output main rod extending horizontally to the cooking area, and the output main rod can rotate at a set angle. When the present application needs to cook, the sleeve part with a cooking shovel can be sleeved on the output main rod, when the pot needs to be cleaned, the cooking shovel can be replaced with a cleaning rod with a steel ball, and a shovel can also be replaced to blanch the stewing objects in the pot.

Description

Technical Field

[0001] This invention relates to the field of cooking robot technology, and in particular to a robot arm with multiple cooking tools and an automatic cooking machine. Background Technology

[0002] Most automatic cooking machines on the market currently use a single stir-fry structure with a built-in stirring paddle, which can only perform simple stirring actions. Their limited functionality makes them unsuitable for diverse Chinese cooking techniques such as stir-frying, braising, and stewing. A few cooking devices equipped with robotic arms only use a single type of spatula, unable to switch between different tools like wok spatulas, slotted spoons, and ladles according to the cooking process. This requires manual switching of utensils during stir-frying, draining, and serving, disrupting the automated process and reducing food preparation efficiency.

[0003] Chinese cooking requires switching tools according to the state of the ingredients. A single type of kitchen utensil can lead to uneven heating of stir-fried ingredients, making it difficult to create the desired wok hei (wok aroma) and resulting in poor taste. Existing robotic arm gripping structures have poor versatility, making tool changing cumbersome, with low positioning accuracy and tools prone to slipping. At the same time, the equipment lacks multi-tool storage and automatic knife changing mechanisms, taking up kitchen space and having poor adaptability to commercial and home settings.

[0004] To overcome the shortcomings of single cooking utensils being unable to adapt to multiple cooking processes, reliance on manual utensils for changing utensils, and monotonous stir-frying actions, this invention provides a robotic arm and an automatic cooking machine equipped with multiple cooking tools. Through a set of modular cookware that can be quickly assembled and disassembled, the cooking utensils can be automatically switched, improving the accuracy of dish reproduction and the degree of automation of the equipment. Summary of the Invention

[0005] To overcome the problem that existing automatic cooking robots, which use a single cooking tool, cannot adapt to multiple cooking processes, the present invention aims to provide a cooking robot and automatic cooking machine that incorporates multiple cooking tools and allows for quick tool changes. This invention provides a robotic arm with multiple cooking tools, including an operating table. The upper surface of the operating table has a cooking area in the middle. One end of the operating table is equipped with a drive box that can move up and down. A robotic arm is fixed to the side of the drive box near the cooking area. The robotic arm includes a long box extending vertically downward. The long box is a closed shell, which not only prevents oil fumes from entering but also makes the tabletop clean and easy to clean later. The bottom end of the long box is equipped with an output main rod extending horizontally towards the cooking area. The output main rod can rotate at a set angle. The outer circumference of the output main rod is provided with two anti-torsion ribs that are centrally symmetrically distributed. A sleeve part is sleeved on the outer wall of the output main rod. The outer circumference of the sleeve part is provided with mounting strips that are consistent with its length direction. The outer circumference of the sleeve part is provided with staggered self-locking screw holes on both sides of the mounting strips. Functional components are screwed into the self-locking screw holes.

[0006] Preferably, the functional component is a cooking spatula. An anti-slip bearing assembly is embedded in the bottom side of the long box of the robotic arm, and the output main rod is rotatably connected in the anti-slip bearing assembly. Limiting rings and driven pulleys are respectively provided on both sides of the outer wall of the output main rod located on the anti-slip bearing assembly. The driven pulleys are located inside the long box. A swing mechanism is provided inside the drive box near the robotic arm. In this embodiment, the swing mechanism is a four-bar swing mechanism, and the output shaft end of the swing mechanism is fixed with a driving pulley. The same conveyor belt is wound between the outer circumference of the driving pulley and the driven pulley. An inclined electromagnet is embedded in the upper part of the outer wall of the long box near the anti-slip bearing assembly. The working head of the electromagnet faces the limiting ring of the output main rod.

[0007] Preferably, the outer circumferential walls at both ends of the sleeve are provided with annular grooves, and a first magnetic ring and a second magnetic ring are respectively engaged in the two annular grooves. The widths of the first magnetic ring and the second magnetic ring are adapted to the widths of the corresponding annular grooves. That is, the sides of the first magnetic ring and the second magnetic ring are flush with the two ends of the sleeve. When it is necessary to fix the sleeve during use, it is only necessary to control the electromagnet on the robotic arm to be energized, and the first magnetic ring that is close to it will generate a magnetic force.

[0008] Preferably, a support base is fixed to the upper surface of the workbench at the other end of the cooking area, and a tool switching mechanism is provided at the top of the support base. The tool switching mechanism includes a hinge frame fixed to the top of the support base, and the hinge frame includes two parallel hinge side plates. The tops of the two hinge side plates are rotatably connected to the same Z-shaped insertion shaft. The insertion shaft includes a shaft part and a steering part. The shaft part is used to insert a sleeve part for tool switching, and a sector-shaped worm gear disk coaxial with the hinge shaft is fixed to the lower surface of the steering part. A servo motor is fixed to the top of the support base, and a worm gear meshing with the sector-shaped worm gear disk is fixed to the end of the output shaft of the servo motor. The structure of the shaft part of the insertion shaft is consistent with the structure of the output shaft used to... The structure of the fixed sleeve part is the same. The top of the hinge frame is fixed with an electromagnet two, and the working head of the electromagnet two faces the junction of the shaft part and the turning part. So when the electromagnet two is energized, it can quickly exert a force on the nearest magnetic ring two, forcing it to leave quickly or be attracted. When the plug shaft one is in a horizontal state, its shaft part is coaxial with the output main rod after the robot arm is raised as a whole. At this time, the distance between the shaft part of the plug shaft one and the end of the output main rod that is close to it is less than 1 cm, which facilitates the quick transfer and reception of the sleeve part. With the plug shaft one that can be raised, the received sleeve part can be transferred away from the cooking area, which facilitates the quick cooling and removal and cleaning of the sleeve part to be replaced.

[0009] Preferably, the shaft portion of the first insertion shaft and the end of the output main rod that are close to each other are provided with a pointed tip. The section of the output main rod from the point of the pointed tip to the limiting retaining ring is a bearing section, and the length of the bearing section and the shaft portion are the same and equal to the length of the sleeve portion. By providing the pointed tip, it is easy to accurately connect and quickly fit the sleeve portion onto the shaft portion of the first insertion shaft or the output main rod during transfer, which can improve the efficiency and accuracy of transferring the sleeve portion.

[0010] Preferably, the upper surface of the operating table has a circular hole below the drive box, and an electric push rod is inserted and fixed in the circular hole. The top end of the extension rod of the electric push rod is fixed to the lower surface of the drive box. Guide rings are fixed on both the front and rear sides of the drive box near the bottom. Parallel and vertical guide slide rods are fixed on the upper surface of the operating table below the two guide rings. The guide slide rods are slidably inserted into the corresponding guide rings. This allows the cooking spatula used for stir-frying to touch the stir-frying area more deeply, and when the sleeve needs to be replaced, it can be lifted for replacement.

[0011] Preferably, the upper surface of the operating table is fixed with two guide plates, one parallel to each other and forming a U-shape, on both sides near the cooking area. The openings of both guide plates face upward. A retaining ring is fixed near the bottom of the outer wall of the robotic arm on the side away from the output rod. The retaining ring is located directly above the guide plate and its size is compatible with it. An annular groove is reserved on the outer circumference of the sleeve part away from the robotic arm. When the sleeve part descends as a whole with the robotic arm, its annular groove is precisely engaged with the bottom of the groove of the guide plate. An anti-torsion groove is provided on the outer circumference of the sleeve part to match the anti-torsion rib.

[0012] An automatic cooking machine includes a rectangular pot slot in the center of the operating table, with a wok hinged above the slot. The wok has a semi-cylindrical shape. A stepped groove is formed on the front of the operating table near the top long edge, and a hinge is provided on the lower surface of the wok near the stepped groove. Symmetrical arc-shaped racks are fixed to the two sides of the wok away from the hinge, and the two arc-shaped racks pass downward through the operating table and are fixed to the same connecting rod. A servo motor is fixed to the lower surface of the operating table near the outer arc side of one of the arc-shaped racks. A drive gear that meshes with the arc-shaped rack is fixed to the top of the output shaft of the servo motor. An arc rod through hole is provided on the operating table for the arc-shaped racks to pass through. When the cooked food needs to be poured out, simply start the servo motor to lift the wok.

[0013] Preferably, a fire-concentrating cover is fixed on the lower surface of the operating table below the pot slot, and the fire-concentrating cover surrounds the bottom of the wok; this can improve the utilization rate of fire during use and minimize the impact of the fire on the arc-shaped toothed racks on both sides and other equipment.

[0014] Preferably, the functional component is a cleaning rod, and a steel wool ball is provided at the end of the cleaning rod away from the sleeve; it can be used to clean the wok after cooking a dish; a shovel is also installed on the mounting strip, and a filter screen is provided at the bottom of the shovel, which can be used to blanch meat when stewing.

[0015] The beneficial effects of this invention are as follows: 1. By setting a sleeve part that fits onto the output main rod, and with its self-locking screw holes and mounting strips, when cooking, the sleeve part with a cooking spatula can be screwed onto the output main rod. When cleaning the pot, the cooking spatula can be replaced with a cleaning rod with a steel wool pad. The spatula bucket can also be replaced to blanch the stewed food in the wok.

[0016] 2. By using the electromagnet, the sleeve part that is close to the limit retaining ring can be attracted during use, or the sleeve part can be squeezed away by reverse energization, thereby realizing the automatic engagement and disengagement of the sleeve part.

[0017] 3. The tool switching mechanism facilitates the quick transfer and reception of the sleeve section. With the upright insertion shaft, the received sleeve section can be transferred away from the cooking area, making it easier to quickly cool and remove the sleeve section to be replaced.

[0018] 4. With the help of the two guide plates, the cooking process is more stable when the sleeve swings back and forth, and the spatula on the outer wall of the sleeve can be accurately placed in the set area. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a bottom-view structural diagram of the present invention; Figure 3 This is a schematic diagram of the structure of the present invention during stir-frying; Figure 4 This is a schematic diagram of the structure of the present invention at the end of the cooking process; Figure 5 This is a schematic diagram of the operating console in this invention; Figure 6 This is an exploded view of the tool switching mechanism of the present invention; Figure 7 This is a cross-sectional view of the robotic arm in this invention; Figure 8 This is a schematic diagram of the overall structure of the drain basket in this invention; Figure 9 This is an assembly diagram of the drain basket in this invention; Figure 10 This is a three-dimensional structural diagram of the sleeve portion in this invention; Figure 11 This is a schematic diagram of the structure after the sweeping rod is installed in this invention.

[0020] In the diagram: 1. Operating platform; 101. Stepped groove; 102. Pot slot; 103. Arc rod perforation; 104. Round hole; 2. Wok; 3. Heat-concentrating cover; 4. Arc rack; 5. Electric push rod; 6. Guide slide rod; 7. Guide plate one; 8. Drive box; 801. Swing mechanism; 9. Robotic arm; 901. Rail ring; 902. Anti-slip bearing assembly; 903. Drive pulley; 904. Electromagnet one; 10. Output main rod; 11. Sleeve section; 1101. Ring clamp 1102. Groove; 1103. Anti-torsion groove; 1104. Self-locking screw hole; 12. Cooking spatula; 13. Tool switching mechanism; 131. Hinge frame; 132. Electromagnet II; 133. Plug-in shaft I; 134. Sector-shaped worm gear; 135. Worm; 136. Servo motor I; 14. Support base; 15. Guide plate II; 16. Servo motor II; 17. Magnet ring I; 18. Magnet ring II; 19. Bucket; 20. Filter screen hole; 21. Sweeping bar. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] In this embodiment, refer to Figures 1-11A robotic arm equipped with multiple cooking tools includes a worktable 1. The upper surface of the worktable 1 has a cooking area in the center. One end of the worktable 1 is equipped with a drive box 8 that can move up and down. A robotic arm 9 is fixed to the side of the drive box 8 near the cooking area. The robotic arm 9 includes a vertically extending elongated box. The elongated box has a closed shell, which not only prevents oil fumes from entering but also keeps the worktable clean and facilitates later cleaning. The bottom of the elongated box has an output main rod 10 that extends horizontally towards the cooking area. The output main rod 10 can rotate at a set angle. The outer circumference of the output main rod 10 has two centrally symmetrically distributed anti-torsion ribs. A sleeve portion 11 is fitted onto the outer wall of the output main rod 10. The outer circumferential wall of the sleeve portion 11 is provided with an installation strip 1102 that runs parallel to its length. The outer circumferential wall of the sleeve portion 11 is provided with staggered self-locking screw holes 1104 on both sides of the installation strip 1102. Each self-locking screw hole 1104 is screwed with a functional component, such as a cooking spatula 12. By providing the sleeve portion 11 that is fitted onto the output main rod 10, and in conjunction with the self-locking screw holes 1104 and the installation strip 1102 on its surface, when cooking is required, the sleeve portion 11 with the cooking spatula 12 can be fitted onto the output main rod 10. When cleaning the pot, the cooking spatula 12 can be replaced with a cleaning rod 21 with a steel wool pad. The bucket 19 can also be replaced to blanch the stewed food in the wok 2.

[0023] Reference Figure 3 and Figure 7 The bottom side of the long box of the robotic arm 9 is fitted with an anti-slip bearing assembly 902, and the output main rod 10 is rotatably connected in the anti-slip bearing assembly 902. Limiting rings and driven pulleys are respectively provided on both sides of the outer wall of the output main rod 10 located in the anti-slip bearing assembly 902. The driven pulleys are located inside the long box. A swing mechanism 801 is provided inside the drive box 8 near the robotic arm 9. In this embodiment, the swing mechanism 801 is a four-bar linkage swing mechanism 801, and the output shaft end of the swing mechanism 801 is fixed with… The driving pulley 903 and the driven pulley have the same conveyor belt wound around their outer circumferences. An inclined electromagnet 904 is embedded above the anti-slip bearing assembly 902 on the outer wall of the long box. The working head of the electromagnet 904 faces the limiting ring of the output main rod 10. The electromagnet 904 can be used to attract the sleeve part 11 near the limiting ring or to push the sleeve part 11 away by reverse power, thereby realizing the automatic engagement and disengagement of the sleeve part 11.

[0024] Reference Figures 8-10Both ends of the sleeve portion 11 have annular grooves on their outer circumferences, and a magnetic ring 17 and a magnetic ring 18 are respectively engaged in the two annular grooves. The width of the magnetic ring 17 and the magnetic ring 18 is adapted to the width of the corresponding annular groove. That is, the sides of the magnetic ring 17 and the magnetic ring 18 are flush with the two ends of the sleeve portion 11. When it is necessary to fix the sleeve portion 11 during use, it is only necessary to control the electromagnet 904 on the robotic arm 9 to be energized, and the magnetic ring 17 that is close to it will generate a magnetic force.

[0025] Reference Figure 3 and Figure 6 A support base 14 is fixed to the upper surface of the workbench 1 at the other end of the cooking area. A tool switching mechanism 13 is provided at the top of the support base 14. The tool switching mechanism 13 includes a hinge frame 131 fixed to the top of the support base 14. The hinge frame 131 includes two parallel hinge side plates. The tops of the two hinge side plates are rotatably connected to the same Z-shaped insertion shaft 133. The insertion shaft 133 includes a shaft part and a steering part. The shaft part is used to insert the sleeve part 11 for replacement. A sector-shaped worm gear 134 coaxial with the hinge shaft is fixed to the lower surface of the steering part. A servo motor 136 is fixed to the top of the support base 14. A worm 135 that meshes with the sector-shaped worm gear 134 is fixed to the end of the output shaft of the servo motor 136. The structure of the shaft part of the insertion shaft 133 and the output main rod 10 are used to fix the sleeve. The structure of part 11 is the same. The top of the hinge frame 131 is fixed with an electromagnet 2 132, and the working head of the electromagnet 2 132 faces the junction of the shaft part and the turning part. So when the electromagnet 2 132 is energized, it can quickly exert a force on the nearby magnet ring 2 18, forcing it to leave quickly or be attracted. When the plug shaft 1 133 is in a horizontal state, its shaft part is coaxial with the output main rod 10 after the robotic arm 9 is raised as a whole. At this time, the distance between the shaft part of the plug shaft 1 133 and the end of the output main rod 10 that is close to each other is less than 1 cm. Through the tool switching mechanism 13, it is easy to quickly complete the transfer and reception of the sleeve part 11. With the plug shaft 1 133 that can be raised, the received sleeve part 11 can be transferred away from the cooking area, so as to facilitate the quick cooling and removal and cleaning of the sleeve part 11 to be replaced.

[0026] Reference Figure 3 and Figure 4 Both the shaft portion of the plug-in shaft 133 and the end of the output main rod 10 that are close to each other are provided with a pointed tip. The section of the output main rod 10 that is close to the limiting retaining ring is a bearing section. The bearing section and the shaft portion are of the same length and are both equal to the length of the sleeve portion 11. By providing the pointed tip, it is easy to accurately connect and quickly fit the sleeve portion 11 onto the shaft portion of the plug-in shaft 133 or the output main rod 10 during transfer, which can improve the transfer efficiency and accuracy of the sleeve portion 11.

[0027] Reference Figure 2 and Figure 5 The upper surface of the operating table 1 is provided with a circular hole 104 below the drive box 8, and an electric push rod 5 is inserted and fixed in the circular hole 104. The top end of the extension rod of the electric push rod 5 is fixed to the lower surface of the drive box 8. Guide rings are fixed on the front and rear sides of the drive box 8 near the bottom. Parallel and vertical guide slide rods 6 are fixed on the upper surface of the operating table 1 below the two guide rings. The guide slide rods 6 are slidably inserted into the corresponding guide rings. The electric push rod 5 allows the cooking spatula 12 used for stir-frying to touch the stir-frying area more deeply, and when the sleeve part 11 needs to be replaced, it can be lifted for replacement.

[0028] Reference Figure 1 , Figure 7 and Figure 8 On the upper surface of the operating table 1, near the cooking area, are two parallel U-shaped guide plates 7 and 15, respectively, with their openings facing upwards. On the outer wall of the robotic arm 9, away from the output rod 10, near the bottom, is a retaining ring 901, which is located directly above the guide plate 7 and is sized to match it. The outer circumference of the sleeve part 11 away from the robotic arm 9 has a pre-reserved annular groove 1101. When the sleeve part 11 descends as the robotic arm 9 descends, its annular groove 1101 fits perfectly into the bottom of the guide plate 15. The outer circumference of the sleeve part 11 has an anti-torsion groove 1103 that matches the anti-torsion rib. With the guide plates 7 and 15, the sleeve part 11 can be more stable when it swings back and forth to cook, and the cooking spatula 12 on the outer wall of the sleeve part 11 can be accurately placed in the set area.

[0029] Reference Figures 1-11 An automatic cooking machine has a rectangular pot slot 102 in the middle of the operating table 1, and a wok 2 is hinged above the pot slot 102. The wok 2 has a semi-cylindrical shape. A stepped groove 101 is provided on the front of the operating table 1 near the top long edge, and a hinge is provided on the lower surface of the wok 2 near the stepped groove 101. Symmetrical arc-shaped toothed racks 4 are fixed to the two sides of the wok 2 away from the hinges, and the two arc-shaped toothed racks 4 pass downward through the operating table. 1. A fixed connecting rod is provided; a servo motor 2 16 is fixed on the lower surface of the operating table 1 near the outer arc side of one of the arc racks 4. The top of the output shaft of the servo motor 2 16 is fixed with a drive gear that meshes with the arc rack 4; the operating table 1 has an arc rod through hole 103 for the arc rack 4 to pass through. When it is necessary to pour out the stir-fried food, the servo motor 2 16 can be started, and then the wok 2 can be lifted.

[0030] Reference Figure 2 and Figure 3 The lower surface of the operating table 1 is fixed with a fire-concentrating cover 3 below the pot slot 102, and the fire-concentrating cover 3 surrounds the bottom of the wok 2; this can improve the utilization rate of fire during use and minimize the impact of fire on the arc-shaped toothed racks 4 on both sides and other equipment.

[0031] Reference Figure 10 and Figure 11 The functional component can also be a cleaning rod 21, and a steel wool ball is provided at the end of the cleaning rod 21 away from the sleeve part 11; it can be used to clean the wok 2 after a dish is cooked; a shovel 19 can also be installed on the mounting strip 1102, and a filter screen 20 is provided at the bottom of the shovel 19, which can be used to blanch meat when stewing.

[0032] Working principle: Before use, the electric push rod 5 is controlled to lift the robotic arm 9 and the output main rod 10 as a whole. Then, the required sleeve part 11 is inserted into the insertion shaft 133 and docked with the output main rod 10. Then, the electromagnet 132 and electromagnet 904 are energized to slide the sleeve part 11 onto the output main rod 10 and fix it. Then, the electric push rod 5 is controlled to reset. At this time, the sleeve part 11 with multiple cooking spatulas 12 inserted is lowered to the top of the cooking area. The swing mechanism 801 in the drive box 8 is started to swing the sleeve part 11 back and forth, and then stir the food in the wok 2 back and forth until the food is cooked. When the food is unloaded, the sleeve part 11 is raised and the servo motor 16 at the bottom is started. When a simple scrubbing of the wok 2 is needed after cooking, simply replace the sleeve part 11 with the cleaning rod 21; when blanching of stewed food is needed, replace the sleeve part 11 with the spatula 19.

[0033] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic arm equipped with multiple cooking tools, comprising an operating table (1), wherein the upper surface of the operating table (1) has a cooking area in the center, characterized in that, One end of the operating table (1) is provided with a drive box (8) that can move up and down. The drive box (8) is fixed with a mechanical arm (9) on the side near the cooking area. The mechanical arm (9) includes a long box that extends vertically downward. The bottom end of the long box is provided with an output main rod (10) that extends horizontally towards the cooking area. The output main rod (10) can rotate at a set angle. The outer circumference of the output main rod (10) is provided with two anti-torsion ribs that are centrally symmetrically distributed. The outer wall of the output main rod (10) is fitted with a sleeve part (11). The outer circumference of the sleeve part (11) is provided with an installation strip (1102) that is consistent with its length direction. The outer circumference of the sleeve part (11) is provided with staggered self-locking screw holes (1104) on both sides of the installation strip (1102). Functional components are screwed into the self-locking screw holes (1104).

2. The robotic arm with multiple cooking tools according to claim 1, characterized in that, The functional component is a cooking spatula (12). The bottom side of the long box of the robotic arm (9) is fitted with an anti-slip bearing assembly (902), and the output main rod (10) is rotatably connected in the anti-slip bearing assembly (902). The outer wall of the output main rod (10) is provided with a limit ring and a driven pulley on both sides of the anti-slip bearing assembly (902). The driven pulley is located inside the long box. The drive box (8) is provided with a swing mechanism (801) near the robotic arm (9). The output shaft end of the swing mechanism (801) is fixed with a drive pulley (903). The drive pulley (903) and the driven pulley are wound with the same conveyor belt. The outer wall of the long box is fitted with an inclined electromagnet (904) above the anti-slip bearing assembly (902). The working head of the electromagnet (904) faces the limit ring of the output main rod (10).

3. The robotic arm with multiple cooking tools according to claim 2, characterized in that, The outer circumference of both ends of the sleeve (11) is provided with annular grooves, and a magnet ring one (17) and a magnet ring two (18) are respectively engaged in the two annular grooves. The width of the magnet ring one (17) and the magnet ring two (18) is adapted to the width of the corresponding annular groove, that is, the side of the magnet ring one (17) and the magnet ring two (18) is flush with the two ends of the sleeve (11).

4. The robotic arm with multiple cooking tools according to claim 3, characterized in that, The upper surface of the operating table (1) is fixed with a support base (14) at the other end of the cooking area. A tool switching mechanism (13) is provided at the top of the support base (14). The tool switching mechanism (13) includes a hinge frame (131) fixed to the top of the support base (14). The hinge frame (131) includes two parallel hinge side plates. The tops of the two hinge side plates are rotatably connected to the same Z-shaped insertion shaft (133). The insertion shaft (133) includes a shaft part and a steering part. A sector-shaped worm gear disk (134) coaxial with the hinge shaft is fixed on the lower surface of the steering part. A servo motor (136) is fixed at the top of the support base (14). Furthermore, the output shaft end of the servo motor (136) is fixed with a worm (135) that meshes with the fan-shaped worm gear (134); and the structure of the shaft part of the plug shaft (133) is the same as the structure of a section of the output main rod (10) used to fix the sleeve part (11). The top of the hinge frame (131) is fixed with an electromagnet (132), and the working head end of the electromagnet (132) faces the junction of the shaft part and the steering part. When the plug shaft (133) is in a horizontal state, its shaft part is coaxial with the output main rod (10) after the mechanical arm (9) is raised as a whole. At this time, the distance between the shaft part of the plug shaft (133) and the end of the output main rod (10) that is close to each other is less than 1 cm.

5. The robotic arm with multiple cooking tools according to claim 4, characterized in that, The shaft part of the plug shaft (133) and the end of the output main rod (10) that are close to each other are both provided with a tip. The section of the tip of the output main rod (10) that is close to the limiting retaining ring is a bearing section. The length of the bearing section and the shaft part are the same and are both equal to the length of the sleeve part (11).

6. The robotic arm with multiple cooking tools according to claim 5, characterized in that, The upper surface of the operating table (1) is provided with a circular hole (104) below the drive box (8), and an electric push rod (5) is inserted and fixed in the circular hole (104). The top end of the extension rod of the electric push rod (5) is fixed to the lower surface of the drive box (8). Guide rings are fixed on the front and rear sides of the drive box (8) near the bottom. The upper surface of the operating table (1) is provided with parallel and vertical guide slide rods (6) below the two guide rings. The guide slide rods (6) are slidably inserted into the corresponding guide rings.

7. The robotic arm with multiple cooking tools according to claim 6, characterized in that, On the upper surface of the operating table (1), on both sides near the cooking area, there are two guide plates (7) and two guide plates (15) that are parallel to each other and have a U-shaped structure. The openings of the guide plates (7) and two guide plates (15) are both facing upwards. On the side of the outer wall of the robotic arm (9) away from the output rod (10), there is a retaining ring (901) near the bottom. The retaining ring (901) is located directly above the guide plate (7) and its size is compatible with it. The outer circumference of the sleeve part (11) away from the robotic arm (9) has a pre-reserved annular groove (1101). When the sleeve part (11) descends as a whole with the robotic arm (9), its annular groove (1101) is just locked at the bottom of the groove of the guide plate (15). The outer circumference of the sleeve part (11) is provided with an anti-torsion groove (1103) that is compatible with the anti-torsion rib.

8. An automatic cooking machine, comprising a robotic arm with multiple cooking tools as described in claim 7, characterized in that, The operating table (1) has a rectangular pot slot (102) in the middle, and a wok (2) is hinged above the pot slot (102). The wok (2) has a semi-cylindrical shape. A stepped groove (101) is provided on the front of the operating table (1) near the top long edge, and a hinge is provided on the lower surface of the wok (2) near the stepped groove (101). Two symmetrical arc racks (4) are fixed on the two sides of the wok (2) away from the hinge, and the two arc racks (4) pass downward through the operating table (1) and are fixed with the same connecting rod. A servo motor (16) is fixed on the lower surface of the operating table (1) near the outer arc side of one of the arc racks (4). The output shaft of the servo motor (16) is fixed with a drive gear that meshes with the arc rack (4). An arc rod through hole (103) is provided on the operating table (1) for the arc rack (4) to pass through.

9. An automatic cooking machine according to claim 8, characterized in that, The lower surface of the operating table (1) is fixed with a fire-gathering cover (3) below the pot slot (102), and the fire-gathering cover (3) surrounds the bottom of the wok (2).

10. An automatic cooking machine according to claim 9, characterized in that, The functional component is a sweeping rod (21), and a steel wool ball is provided at the end of the sweeping rod (21) away from the sleeve part (11); a bucket (19) is also installed on the mounting strip (1102), and a filter screen hole (20) is provided at the bottom of the bucket (19).

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