The invention provides an automatic food delivery device. The automatic food delivery device comprises an end effector, a three-degree-of-freedom cylindrical coordinate manipulator and a magnetic guide wheel type mobile module, wherein the end effector is provided with a plate storage rack, a pallet fork mechanism and a pinion and rack pushing plate mechanism; the three-degree-of-freedom cylindrical coordinate manipulator comprises an R-axis for linear motion, a Z-axis, and a phi-axis for rotation motion; and the magnetic guide wheel type mobile module comprises a driving walking unit, a navigation positioning unit and a safety protection unit. The automatic food delivery device has the advantages of stable work in the post, no turnover of personnel, high work intensity, great numbers of single-loaded plates, and high stability in movement; according to the device, traditional pantry helpers are replaced, the problems such as high turnover rate of the traditional pantry helper personnel and high labor costs are solved, and the basic food delivery service in a plurality of restaurants is steadily guaranteed.