CN216535040U - Automatic kitchen with cooperation of food material feeding device and mechanical arm - Google Patents

Abstract

The utility model relates to the technical field of automatic equipment, in particular to an automatic kitchen with a food material feeding device and a mechanical arm in cooperation, wherein the food material feeding device comprises: the bearing piece is used for limiting and bearing the seasoning packet; the extruding component comprises an extruding part, the extruding part is assembled in a sliding mode along the direction vertical to the traveling path of the seasoning packet, and the extruding part extrudes the seasoning packet; cut the piece, cut broken along the below setting of condiment package walking path direction, and with the extruded piece corresponds the setting, the condiment package is extruded protruding back, cut broken right the condiment package cuts broken action, has solved the technical problem that is used for adding the mechanism structure complicacy to the condiment of eating the material among the prior art.

Description

Automatic kitchen with cooperation of food material feeding device and mechanical arm

Technical Field

The utility model relates to the technical field of automatic equipment, in particular to an automatic kitchen with a food material feeding device and a mechanical arm in cooperation.

Background

Along with the improvement of living standard, the pursuit of consumers for taste is higher and higher, as is well known, the thick seasonings are required to be added besides the seasonings such as traditional oil, salt and the like when the dishes are fried, the patent with the application number of CN201921630406.2 in the prior art discloses an intelligent unmanned kitchen, and particularly discloses a seasoning adding mechanism, wherein the seasoning adding mechanism comprises a plurality of seasoning bottles and a rotating platform which are distributed in a circumferential manner and can rotate around the circle center, the seasoning bottles adopt an extrusion discharging mode, particularly a mode that a spring pressing pump or a peristaltic pump presses a hose to discharge, a motor can be arranged in each bottle body to drive the feeding of extrusion, and an external driving mode can be adopted, the modes have the following problems that the space occupied by the whole seasoning adding mechanism is large, and a driving structure is required to be arranged in each seasoning bottle to extrude the seasonings, this makes the seasoning adding mechanism complicated.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem that a seasoning adding mechanism for food materials in the prior art is complex in structure, the utility model provides an automatic kitchen with a food material feeding device and a mechanical arm in cooperation, and the technical problem is solved. The technical scheme of the utility model is as follows:

an edible material charging device, comprising: the bearing piece is used for limiting and bearing the seasoning packet; the extruding component comprises an extruding part, the extruding part is assembled in a sliding mode along the direction vertical to the traveling path of the seasoning packet, and the extruding part extrudes the seasoning packet; the piece of scratching, the piece of scratching along the below setting of condiment package walking path direction, and with the extruded piece corresponds the setting, the condiment package is by the protruding back of extrusion, the piece of scratching is right the action of scratching is carried out to the condiment package.

According to one embodiment of the utility model, the bearing part is provided with a bearing groove and an elastic clamp, and two ends of the seasoning bag are pressed tightly in the bearing groove by the elastic clamp.

According to one embodiment of the utility model, the squeezing assembly further comprises a blocking member, which is fitted to be lifted and pressed against the seasoning packet in a vertical direction.

According to one embodiment of the utility model, the two extrusion parts are symmetrically arranged on two sides of the traveling path of the seasoning packet, and the two extrusion parts can move towards or away from each other.

According to one embodiment of the utility model, the scratching piece is arranged between the two extrusion pieces, the scratching piece is assembled in a sliding mode, and when the scratching piece scratches the seasoning packet, the sliding direction of the scratching piece is opposite to the walking direction of the bearing piece.

According to one embodiment of the utility model, the carriage is mounted in a limited manner on a drive assembly which drives the carriage in a reciprocating motion.

According to one embodiment of the utility model, the extrusion device further comprises a frame body, the extrusion assembly and the driving assembly are integrally arranged on the frame body, an object collecting groove is formed on the frame body, and the driving assembly is arranged above the object collecting groove.

According to one embodiment of the utility model, one end of the frame body, which is far away from the extrusion part, is provided with a recovery assembly, and the recovery assembly recovers the seasoning bag after the scratching.

According to one embodiment of the utility model, the recovery assembly comprises: the recovery box is fixedly connected with the frame body; the recovery box is arranged below the walking path of the bearing piece; the pushing piece is arranged above the walking path of the bearing piece, and pushes the flavoring bag after the flavoring bag is scratched so as to enable the flavoring bag to fall into the recycling bin.

An automatic kitchen with a cooperative mechanical arm adopts the food material feeding device, the automatic kitchen with the cooperative mechanical arm also comprises a heating device, the automated kitchen with the cooperation of the robotic arms further comprises a heating device, the seasoning packet lacerated location is disposed above the heating device, the heating device comprises a loading part, at least two heating modules, a clamping component and a guide plate, wherein different loading cavities are formed on the loading part, the loading piece is arranged corresponding to one of the heating modules, the clamping assembly drives the processing tool of the heating module to turn over, and food materials are transferred into one of the bearing cavities through the guide plate, after the bearing parts slide and rotate, the loading piece is arranged corresponding to the other processing appliance, and the other processing appliance transfers food materials to the other loading cavity.

Based on the technical scheme, the utility model can realize the following technical effects:

1. the seasoning bags are limited and borne on the bearing parts, the extrusion parts are assembled in a sliding mode along the direction perpendicular to the traveling path of the seasoning bags, the scratching parts scratch the seasoning bags after the seasoning bags extrude and protrude, the seasoning falls into a processing part, compared with the prior art that each seasoning is arranged in a corresponding seasoning bottle and a driving structure is arranged in the seasoning bottle to drive the seasoning to move so as to feed, the structure of the seasoning feeding mechanism for food materials is complex, the seasoning feeding mechanism for the food materials has the advantages that a plurality of seasoning bags are arranged on the bearing piece, the bearing piece moves towards the extrusion assembly, then the extrusion component extrudes the seasoning bag and forms a bulge, the scratching piece scratches the seasoning bag to realize the feeding action, the application reduces the quantity of driving pieces for driving the seasoning, thereby simplifying the structure of the feeding device and particularly ensuring the addition of viscous and liquid seasonings.

2. The bearing part of this application is formed on bearing the weight of the groove and is provided with the elastic clamp, only need press down the elastic clamp just can compress tightly the bearing groove with the elastic clamp at the both ends of condiment package in, whole process is simple and convenient, in addition, when retrieving the condiment package after slipping, only need promote the condiment package, the condiment package just can be very easy break away from the elastic clamp.

3. The application's extrusion subassembly is still including blockking the piece, stops to be assembled by going up and down, stops to compress tightly the condiment package along vertical direction to when preventing extruded article extrusion condiment package, the condiment package deviates from to cut brokenly a arch, leads to cutting brokenly the effect very poor.

4. The utility model provides a bear the spacing assembly of thing on drive assembly, drive assembly drive holds the thing and carries out reciprocating motion, hold the thing and unload from the starting point again from the starting point promptly, make and hold the space removal that the thing was held in the thing, with simplify feeding device's structure and be favorable to feeding device's miniaturization, in addition, be formed with the collection thing groove on the support body, drive assembly sets up in collection thing groove top, drive assembly drive holds when moving that resets, the remaining condiment in the broken condiment package of drawing can fall to in the collection thing groove, in order to prevent that remaining condiment from falling to ground or other devices.

Drawings

FIG. 1 is a schematic diagram of an automated galley with robotic arm cooperation;

fig. 2 is a schematic structural view of the food material feeding device;

FIG. 3 is a schematic view of the engagement of the carrier, the compression assembly, the lacerating member, and the stop member;

FIG. 4 is a schematic structural view of the carrier;

FIG. 5 is a schematic view of the engagement of the compression assembly and the carrier;

FIG. 6 is a schematic structural view of a laceration member;

FIG. 7 is a schematic structural diagram of a blocking member;

FIG. 8 is a schematic view of the driving assembly, the frame body and the recovery assembly;

FIG. 9 is a schematic structural view of a recovery assembly;

FIG. 10 is a schematic view of a storage rack;

FIG. 11 is a schematic structural diagram of a transfer module;

FIG. 12 is a schematic view of the heating apparatus;

in the figure:

1-a carrier; 11-a carrying groove; 12-a spring clip; 121-a compression part; 13-avoidance port; 2-extruding the assembly; 21-an extrusion; 22-extruding the driving member; 3-a lacerating member; 31-a laceration section; 32-a lacerating drive; 41-a barrier; 42-blocking the drive; 5-a drive assembly; 51-a carrier drive; 52-a transmission member; 53-support protrusions; 54-a limiting column; 6-frame body; 61-a collection tank; 7-a recovery assembly; 71-a recovery tank; 72-a pusher; 73-pushing the driving member; 74-a support frame; 81-storage shelves; 811-support bar; 812-a support plate; 82-a transfer module; 821-a mechanical arm; 822-a clamping assembly; 8221-a clamping drive; 8222-clamping jaw; 823-connecting plate; 9-a heating device; 91-a carrier; 911-a load-bearing chamber; 92-a heating module; 921-processing means; 922-a heating element; 93-a clamping assembly; 931-a clamping member; 932 — a clamp drive; 94-baffle.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1-12, a material feeding device of this embodiment holds carrier 1 including, extrude the subassembly 2 and cut broken piece 3, hold carrier 1 spacing condiment package that bears, extrude the subassembly 2 including extruded article 21, extruded article 21 slides along the direction in perpendicular condiment package walking route and assembles, extruded article 21 extrudees the action to the condiment package, cut broken piece 3 and set up along the below of condiment package walking route direction, and correspond the setting with extruded article 21, the condiment package is extruded and is produced protruding back, cut broken piece 3 and cut broken action to the condiment package.

This embodiment is through placing a plurality of seasoning bags at carrier 1, carrier 1 moves towards extrusion component 2, then extrusion component 2 extrudees respectively and forms the arch to a plurality of seasoning bags, scratch piece 3 and scratch the action in order to realize reinforced action to the seasoning bag, the driving piece quantity of drive condiment has been reduced in this example, thereby the structure of feeding device has been simplified, and then solved among the prior art every kind of condiment dress and set up drive structure drive condiment motion in corresponding the condiment bottle and in the condiment bottle in order reinforced, lead to adding the problem that the mechanism structure is complicated to the condiment of eating the material.

The carrier 1 of this embodiment bears the action to a plurality of condiment packages, specifically, carrier 1 is the frame form, carrier 1 is provided with bearing groove 11 along length direction array, the both ends of bearing groove 11 all are provided with elastic clamp 12, the top of the outstanding bearing groove 11 of the portion 121 that compresses tightly on the elastic component, under the effect of external force, elastic clamp 12 beat makes the portion 121 that compresses tightly break away from the top of bearing groove 11, then put into bearing groove 11 with the condiment package, remove the external force to elastic clamp 12 applys after that, elastic clamp 12 resets and makes portion 121 compress tightly the condiment package.

The both ends that the extrusion subassembly 2 of this embodiment can be followed the condiment package and compressed tightly move in opposite directions in order to extrude the condiment package, concretely, extrusion subassembly 2 includes two extrusions 21, extrusions 21 are set up to the folded plate in this embodiment, the non-extrusion side of condiment package comprises harder plastic materials, two extrusions 21 symmetry sets up the both sides in the walking route of condiment package, after one of them condiment package is carried to the assigned position, the one end of folded plate is just laminated with the splenium of condiment package, two extrusions 21 are compressed tightly from the condiment package under the effect of the extrusion driving piece 22 that corresponds separately both ends move in opposite directions simultaneously, thereby carry out the extrusion action to the condiment in the condiment package, and then make condiment gather together in the condiment package in order to form the arch, extrusion driving piece 22 can set up to cylinder drive or the vice isotructure of lead screw.

Preferably, the non-extrusion side of the seasoning packet of this embodiment is provided with stops 41, when the seasoning packet is extruded, stop 41 and block the action to the non-extrusion side of seasoning packet, specifically, stop 41 and set up along vertical direction, after seasoning packet is carried to assigned position and stop motion, stop 41 and block that driving piece 42 drives down towards the seasoning packet motion and support and lean on the non-extrusion side at the seasoning packet, extruded article 21 extrudees the action when carrying out the extrusion to the seasoning packet like this, the unable orientation seasoning packet non-extrusion side of seasoning in the seasoning packet is piled up, thereby avoided scratching the unable seasoning packet of tearing of piece 3, especially when the seasoning packet comprises softer plastic material, stop that driving piece 42 can set up to cylinder drive or the vice isotructure of lead screw.

The lacerating member 3 of the present embodiment performs a lacerating action on the seasoning packet extruded to form a protrusion, and specifically, the lacerating member 3 is provided between two extrusion members 21, and the lacerating member 3 is obliquely arranged downwards along the traveling path direction of the seasoning packet to prevent the lacerating member 3 and the extrusion member 21 from interfering with each other, in the embodiment, the tearing part 31 of the tearing member 3 is hook-shaped, and after the seasoning packet is extruded to form a protrusion, the lacerating part 31 and the projection of the lacerating member 3 interfere with each other, and since the lacerating member 3 is slidably fitted, the sliding direction of the lacerating member 3 is opposite to the sliding direction of the carrier 1, and at this time, the seasoning bag is kept still, the scratching driving piece 32 drives the scratching piece 3 to move along the opposite direction of the walking of the seasoning bag, so that the scratching piece 3 can scratch the seasoning bag, and then the seasonings fall into the food material processing device, the ripping driving part 32 can be selected from but not limited to an air cylinder, and the ripping part 3 can be driven to move.

The bearing part 1 of the present embodiment is assembled on the driving part 5 in a limiting manner, the driving part 5 drives the bearing part 1 to perform a reciprocating motion, specifically, the driving part 5 includes a bearing driving part 51 and a transmission part 52, the bearing driving part 51 is configured as a motor in the present embodiment, the transmission part 52 is configured as a belt, supporting protrusions 53 are uniformly arranged on the circumference of the belt at intervals, limiting posts 54 are formed on the supporting protrusions 53, the bearing part 1 is placed on the supporting protrusions 53, meanwhile, avoiding ports 13 corresponding to the limiting posts 54 are formed on the bearing part 1, the limiting posts 54 extend into the avoiding ports 13, so that the bearing part 1 is assembled on the transmission part 52 in a limiting manner, thus, the motor rotates forward to drive the bearing part 1 and the seasoning bags thereon to move toward the extrusion part 2, after the seasoning bags on the bearing part 1 are fed, the motor rotates backward to drive the bearing part 1 and the seasoning bags thereon to perform a resetting motion, the driving assembly 5 can be selected from but not limited to a motor and a belt, and can drive the bearing part 1 and the seasoning bag thereon to reciprocate.

In order to prevent that the remaining waste material in the flavoring bag after the scratch falls to ground or on eating the material processing equipment, be formed with collection groove 61 on the support body 6 of this embodiment, and gather the below that groove 61 is located drive assembly 5, pass through collection groove 61 top when the flavoring bag after the scratch resets promptly, remaining waste material in the flavoring bag can directly fall to in the collection groove 61 like this.

The rack body 6 of the embodiment is further provided with a recovery assembly 7, the recovery assembly 7 recovers the scratched seasoning packet, specifically, the recovery assembly 7 is arranged at one end of the rack body 6 far away from the extrusion part 21, namely, is located at the initial position of the seasoning packet on the rack body 6, the recovery assembly 7 comprises a recovery box 71 and a pushing part 72, and the recovery box 71 is fixedly connected with the rack body 6; the recycling box 71 is arranged below a walking path of the bearing part 1, the pushing part 72 is arranged above the walking path of the bearing part 1, the pushing part 72 pushes the scratched seasoning packet under the action of the pushing driving part 73, when the pushing force of the pushing part 72 is greater than the clamping force of the elastic clamp 12, the scratched seasoning packet is separated from the limit of the elastic clamp 12 and falls into the recycling box 71, the pushing driving part 73 can be selected but not limited to an air cylinder, and the pushing part 72 can be driven to do telescopic motion.

Preferably, the supporting frame 74 supporting the push driving member 73 in this embodiment is provided with a position sensor, which senses the position of the reset motion of the carrier 1 and feeds back information to the carrier driving member 51 and the push driving member 73, so that the carrier driving member 51 stops driving the carrier 1 to move, and the push driving member 73 pushes the pushing member 72 to move toward the seasoning bag.

The embodiment also provides an automatic kitchen with the cooperation of the mechanical arms, and the automatic kitchen with the cooperation of the mechanical arms adopts the food material feeding device, so that the automatic feeding action is realized.

The automated kitchen with the cooperation of the mechanical arms of the embodiment further comprises a storage rack 81 and a transfer module 82, the storage rack 81 and the transfer module 82 are arranged close to the food material feeding device, the transfer module 82 transfers the bearing part 1 and the seasoning packet from the storage rack 81 to the driving assembly 5, specifically, the storage rack 81 comprises two vertically arranged supporting rods 811, at least one set of two supporting plates 812 arranged oppositely is formed on the supporting rod 811, the bearing part 1 bearing the seasoning packet is arranged on the two supporting plates 812, in addition, the transfer module 82 comprises a mechanical arm 821 and at least one clamping assembly 822, the clamping assembly 822 is connected with the driving end of the mechanical arm 821, the clamping assembly 822 comprises a clamping driving part 8221 and two clamping jaws 8222, a sliding groove shaped like a T is formed on the clamping driving part 8221, corresponding sliding blocks are formed on the clamping jaws 8222, the clamping driving part 8221 drives the two clamping jaws 8222 to move oppositely to clamp the bearing part 1, the robot arm 821 then moves with the gripper assembly 822 and the carrier 1 thereon towards the drive assembly 5 and places the carrier 1 on the drive member 52, and finally the gripper drive 8221 drives the two jaws 8222 away from each other to release the carrier 1, the gripper drive 8221 being optionally but not limited to a cylinder capable of driving the jaws 8222.

Preferably, the two clamping assemblies 822 of the embodiment are symmetrically arranged at two sides of the driving end of the mechanical arm 821, and the two clamping assemblies 822 are connected with the driving end of the mechanical arm 821 by the connecting plate 823, so that the carrier 1 is subjected to two balanced clamping points, and the carrier 1 is more stable in the process of being transferred.

The automated kitchen with the cooperation of the mechanical arms of the embodiment further comprises a heating device 9, and the food material feeding device is arranged above the heating device 9 so as to feed the heating device 9.

The heating device 9 of the present embodiment performs a heating operation on food materials, specifically, the heating device 9 includes a loading member 91, at least two heating modules 92, a clamping assembly 93 and a deflector 94, the heating module 92 includes processing devices 921, the loading member 91 is disposed corresponding to one of the processing devices 921, the processing devices 921 transfer the food materials into one of the carrying cavities 911, after the loading member 91 performs a sliding and rotating operation, the loading member 91 is disposed corresponding to the other processing device 921, and the other processing device 921 transfers the food materials into the other carrying cavity 911.

Further, the heating module 92 of this embodiment further includes a heating element 922 assembled on the base, the processing device 921 is placed on two semi-annular clamping elements 931 of the clamping assembly 93, and then placed on the heating element 922, the heating element 922 heats the processing device 921, the clamping driving element 932 of the clamping assembly 93 drives the clamping element 931 and the processing device 921 thereon to perform a turning action, so that the processing device 921 pours the food material onto the guide plate 94 which is obliquely arranged, and then the food material slides into the bearing cavity 911 under the action of gravity, the clamping driving element 932 is optional but not limited to a motor and a gear assembly, and it is only required to drive the clamping element 931 to turn.

When the loading member 91 needs to load another flavor of food material, the loading member 91 of this embodiment moves along the chute on the base to correspond to another heating module 92, and then rotates under the action of the rotation driving component at the lower end of the loading member 91, so that a different loading cavity 911 is located at the unloading position of another heating module 92, and thus another heating module 92 unloads the loading cavity 911, and the rotation driving component can be selected from but not limited to a motor and a gear component, and can drive the loading member 91 to rotate.

Based on the above structure, the theory of operation of the automatic kitchen of edible material feeding device and arm cooperation of this embodiment is:

firstly, a worker places a bearing part 1 assembled with a seasoning bag on a storage rack 81, then the worker leaves an automatic kitchen with the cooperation of mechanical arms, the mechanical arm 821 drives a clamping component 822 to move towards the storage rack 81, the clamping component 822 clamps the bearing part 1 and is placed on a supporting protrusion 53 on a transmission part 52 under the driving of the mechanical arm 821, a bearing driving part 51 drives the bearing part 1 to move to a seasoning bag scratching position by means of the transmission part 52, namely, the bearing driving part is located above a heating device 9, the bearing driving part 51 stops running, a driving part 42 is blocked to drive a blocking part 41 to move towards the seasoning bag and abut against the non-extrusion side of the seasoning bag, an extrusion driving part 22 drives two extrusion parts 21 to move oppositely, so that the seasoning in the seasoning bag is gathered together to form a protrusion, a scratching driving part 32 drives a scratching part 3 to move along the opposite direction of the traveling of the seasoning bag, and thus the scratching action of the seasoning bag by the scratching part 3 is realized, and then the seasonings fall into the food material processing device 921, the carrying driving member 51 carries the carrying element 1 to reset, meanwhile, the heating device 9 heats food materials with different tastes, and the heated food materials are transferred to the carrying element 91 for being eaten by consumers.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (10)

1. A food material feeding device, comprising:

the supporting piece (1) is used for limiting and supporting the seasoning bags;

the extrusion assembly (2), the extrusion assembly (2) comprises an extrusion piece (21), the extrusion piece (21) is assembled in a sliding mode along the direction perpendicular to the traveling path of the seasoning packet, and the extrusion piece (21) extrudes the seasoning packet;

cut a (3), cut a (3) along the below setting of condiment package walking path direction, just with extruded piece (21) correspond the setting, the condiment package is extruded and is produced protruding back, it is right to cut a (3) the action of cutting the condiment package.

2. Food material feeding device according to claim 1, characterized in that a carrying groove (11) is formed on the carrier (1) and a resilient clip (12) is provided, both ends of the seasoning packet being pressed by the resilient clip (12) in the carrying groove (11).

3. Food material charging device according to claim 1, wherein the squeezing assembly (2) further comprises a blocking member (41), wherein the blocking member (41) is mounted in a lifting manner, and wherein the blocking member (41) presses the seasoning packet in a vertical direction.

4. Food material feeding device according to claim 3, characterized in that said extrusion members (21) are provided in two, two of said extrusion members (21) are symmetrically provided on both sides of the travel path of said seasoning packet, and said two extrusion members (21) are movable towards and away from each other.

5. Food material feeding device according to claim 4, wherein the tearing member (3) is arranged between the two extrusion members (21), the tearing member (3) is slidably mounted, and when the seasoning packet is torn by the tearing member (3), the sliding direction of the tearing member (3) is opposite to the traveling direction of the carrier (1).

6. Food material feeding device according to claim 5, characterized in that the carrier (1) is limit-fit on a driving assembly (5), and the driving assembly (5) drives the carrier (1) to reciprocate.

7. Food material feeding device according to claim 6, further comprising a frame body (6), wherein the extruding assembly (2) and the driving assembly (5) are integrally arranged on the frame body (6), an object collecting groove (61) is formed on the frame body (6), and the driving assembly (5) is arranged above the object collecting groove (61).

8. Food material feeding device according to claim 7, characterized in that a recovery assembly (7) is arranged at one end of the frame body (6) far away from the extrusion part (21), and the recovery assembly (7) recovers the seasoning bag after the scratching.

9. Food material charging device according to claim 8, characterized in that said recovering assembly (7) comprises:

the recovery box (71), the recovery box (71) and the frame body (6) are fixedly connected; the recovery box (71) is arranged below the traveling path of the carrier (1);

the pushing piece (72) is arranged above the walking path of the bearing piece (1), and the pushing piece (72) pushes the flavoring bag after being scratched so as to enable the flavoring bag to fall into the recovery box (71).

10. An automated kitchen with cooperating robotic arms, comprising a food material feeding device according to any of the claims 1-9, further comprising a heating device (9), wherein the seasoning packet is lacerated above the heating device (9), the heating device (9) comprises a carrier (91), at least two heating modules (92), a clamping assembly (93) and a deflector (94), wherein different carrying cavities (911) are formed on the carrier (91), the carrier (91) is arranged corresponding to one of the heating modules (92), the clamping assembly (93) drives the processing tool (921) of the heating module (92) to overturn and transfer food material into one of the carrying cavities (911) through the deflector (94), and after sliding and rotating actions of the carrier (91), the loading piece (91) is arranged corresponding to the other processing device (921), and the other processing device (921) transfers food materials to the other loading cavity (911).

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