A self-cooked soybean milk machine comprises a base, a control unit, a grinding cooked device, grinding blades inside the grinding cooked device, a motor driving the grinding blades to rotate, and a preheat device. The motor and/or the grinding cooked device are/is installed on the base, with the motor electrically connected with the control unit. When the soybean material and water are blended in the grinding cooked device and is grinded into seriflux/paste, the seriflux/paste is heated and cooked by heat produced by the friction between the seriflux/paste, the grinding blades and the grinding cooked device. The design of the grinding cooked device with a high grinding and cooking efficiency allows the self-cooked soybean milk machine to reduce the pulping time and to produce the pulp in five minutes.
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