JP7488597B2 - Food dough forming device and food dough forming method - Google Patents

Description

The present invention relates to a food dough forming device and a food dough forming method.

One method for forming foods such as noodles and snacks is to extrude elastic food dough stored in a barrel through a die hole (see, for example, Patent Document 1). For example, a food dough forming device 100 as shown in Figure 1 has been proposed to perform this type of extrusion.

This food dough molding device 100 includes a hydraulic cylinder 101 and a pair of cylindrical barrels 103A, 103B arranged at a predetermined distance apart in opposite directions around a rotating shaft 102. A disk-shaped cylinder head 105 is disposed at the tip of the hydraulic cylinder 101.

When shaping the food dough M, when the food dough M is stored in the barrel 103A at the dough insertion position P1, the rotating shaft 102 rotates and the barrel 103A is positioned at the extrusion position P2 directly below the hydraulic cylinder 101. When the hydraulic cylinder 101 moves and the cylinder head 105 moves inside the barrel 103A, the food dough M is pressed and ejected from the extrusion die 106 located on the bottom surface of the barrel 103A. The ejected food dough M is cut by the cutter 107 that moves relative to the extrusion die 106 and shaped to a specified size.

During this time, barrel 103B is positioned at dough insertion position P1, so another food dough is stored in barrel 103B. In this way, food dough M can be efficiently shaped by simultaneously supplying and extruding the food dough M.

Japanese Patent Application Laid-Open No. 60-199373

However, in order to push the food dough M to the end, a high pressure and a long stroke are required for the hydraulic cylinder 101. On the other hand, because the food dough M is elastic, the extrusion speed of the food dough M from the barrel 103B changes depending on the stroke of the hydraulic cylinder 101 even if the cylinder thrust is constant.

The load characteristics of the hydraulic cylinder 101 are determined by many parameters, such as the properties of the food dough M, the compression speed, and the amount of dough extruded from the extrusion die 106. Therefore, in order to cut the food dough M that has passed through the extrusion die 106 to a fixed length, it is necessary to measure the timing and movement speed of the cutter 107 according to the cylinder thrust and extrusion speed before processing the food dough M, and perform the actual processing based on the acquired data. Furthermore, when processing food dough M with different properties, it becomes necessary to acquire data in advance each time.

The present invention was made in consideration of the above circumstances, and aims to provide a food dough forming device and a food dough forming method that can extrude food dough to a specified length stably and accurately in a short time with a simple configuration.

In order to solve the above problems, the present invention employs the following means.
The food dough molding apparatus of the present invention comprises a container section in which an extrusion mold with an extrusion port is disposed and in which food dough is stored, an extrusion section that moves relative to the container section to press the food dough stored in the container section in the direction of the extrusion mold, an extrusion drive section that drives the extrusion section, a linear blade section that is spaced a predetermined distance from the extrusion port in the discharge direction of the food dough and is rotatably disposed relative to the extrusion mold to cut the food dough extruded to the outside from the extrusion port at a predetermined length, a blade drive section that drives the blade section, a control section that controls the movement of the extrusion section and the blade section, and a speed detection section that detects the movement speed of the extrusion section and outputs the movement speed to the control section, wherein the control section comprises an extrusion speed calculation section that calculates the extrusion speed of the food dough from the extrusion port based on the speed of the extrusion section detected by the speed detection section, and a blade speed calculation section that calculates the rotational speed of the blade section based on the calculated extrusion speed.

The food dough molding device according to the present invention includes a container section in which an extrusion mold having an extrusion port is disposed and in which food dough is stored, an extrusion section that presses the food dough toward the extrusion mold, an extrusion drive section that drives the extrusion section, a blade section that is spaced a predetermined distance from the extrusion port in the direction in which the food dough is discharged and is arranged movable relative to the extrusion mold and cuts the food dough discharged to the outside from the extrusion port to a predetermined length, a blade section drive section that moves the blade section relative to the extrusion port, a control section that controls the movement of the extrusion section and the blade section, and a tip of the food dough is disposed at a position spaced the predetermined distance from the extrusion port. a first detection unit that detects when the tip of the food dough has reached a destination position further away from the destination position in the discharge direction and outputs the detection result to the control unit; and a second detection unit that detects when the tip of the food dough has reached a destination position further away from the destination position in the discharge direction and outputs the detection result to the control unit. The control unit is equipped with an extrusion time calculation unit that calculates the travel time of the food dough from the difference between the time when the first detection unit detects the tip and the time when the second detection unit detects the tip, an extrusion speed calculation unit that calculates the extrusion speed of the food dough from the extrusion port based on the travel time of the food dough, and a blade speed calculation unit that calculates the travel speed of the blade based on the extrusion speed.

In addition, the food dough shaping method of the present invention is a food dough shaping method comprising a shaping step of pressing food dough stored in a container section in which an extrusion mold with an extrusion port is disposed in the direction of the extrusion port and extruding the food dough from the extrusion port, and then rotating a straight blade portion relative to the extrusion mold to cut the food dough, wherein the shaping step comprises a pressing preparation step of moving a pressing portion that moves relative to the container section to press the food dough in the direction of the extrusion mold, a speed detection step of detecting the moving speed of the pressing portion, an extrusion speed calculation step of calculating the extrusion speed of the food dough from the extrusion port based on the moving speed, and a blade speed calculation step of calculating the rotational speed of the blade portion based on the calculated extrusion speed.

In addition, the food dough molding method of the present invention is a food dough molding method comprising a molding step of pressing food dough stored in a container section in which an extrusion mold with an extrusion port is disposed in the direction of the extrusion port and extruding the food dough from the extrusion port, and then moving a blade portion relative to the extrusion mold to cut the food dough, wherein the molding step comprises a pressing preparation step of moving a pressing portion that moves relative to the container section to press the food dough in the direction of the extrusion mold, an extrusion time calculation step of calculating the time from when the blade portion passes a predetermined position to when a predetermined length of the food dough is extruded from the extrusion port , an extrusion speed calculation step of calculating the extrusion speed of the food dough from the extrusion port based on the predetermined length and the time, and a blade speed calculation step of calculating the moving speed of the blade portion based on the extrusion speed.

The present invention allows food dough to be extruded to a specified length stably and precisely in a short time with a simple configuration.

FIG. 1 is a configuration diagram showing a conventional food dough forming device. 1 is a schematic diagram showing a food dough forming device according to a first embodiment of the present invention; FIG. 2 is a plan view showing an extrusion die of the food dough forming apparatus according to the first embodiment of the present invention. 3 is a functional configuration diagram of a control unit of the food dough forming device according to the first embodiment of the present invention. FIG. FIG. 1 is a flow diagram showing a food dough molding method according to a first embodiment of the present invention. FIG. 5 is a schematic diagram showing a food dough forming device according to a second embodiment of the present invention. FIG. 11 is a plan view showing an extrusion die of a food dough forming apparatus according to a second embodiment of the present invention. FIG. 11 is a functional configuration diagram of a control unit of a food dough forming device according to a second embodiment of the present invention. FIG. 5 is a flow diagram showing a food dough molding method according to a second embodiment of the present invention. FIG. 11 is a schematic diagram showing a food dough forming device according to a third embodiment of the present invention.

First Embodiment
A first embodiment of the present invention will be described with reference to FIGS. 1 to 5. FIG.
The food dough forming apparatus 10 of this embodiment is an apparatus that extrudes elastic food dough M from an extrusion mold 11 and forms it into a predetermined shape, and is equipped with a pressing section 12, a forming section 13, a structure section 15, and a control section 16.

The pressing unit 12 includes a servo cylinder (extrusion unit) 17 that presses the food dough M toward the extrusion mold 11, a servo motor (extrusion drive unit) 18 that drives the servo cylinder 17, a drive mechanism 20 for the servo cylinder 17, and a speed sensor (speed detection unit) 21 that detects the movement speed of the servo cylinder 17 and outputs it to the control unit 16.

The servo cylinder 17 is formed to extend in the direction of the central axis C1. The servo motor 18 is formed to extend in the direction of the central axis C2 parallel to the central axis C1. One end of the servo cylinder 17 and one end of the servo motor 18 are connected via a drive mechanism 20. A cylindrical cylinder head 22 is disposed at the tip of the servo cylinder 17.

The molding section 13 includes a cylindrical barrel (container section) 23 having a central axis C3 and formed into a cylindrical shape in which the food dough M is stored, and a cutting section 25 that cuts the food dough discharged from the barrel 23 to the outside. The outer diameter of the cylinder head 22 is formed to be approximately the same as the inner diameter of the barrel 23 and is capable of sliding against the inner wall of the barrel 23. A disk-shaped extrusion die 11 is disposed on the bottom side of the barrel 23. The extrusion die 11 has a plurality of extrusion ports 11A of the same size and shape. The extrusion ports 11A are disposed at equal intervals and at a fixed distance from the center C of the extrusion die 11 disposed on the central axis C3. The size and shape of the extrusion ports 11A are determined in advance according to the molding purpose.

The cutting section 25 includes a blade 26 that contacts and cuts the food dough M discharged to the outside from the extrusion port 11A, a blade support mechanism 27 that supports the blade 26 so that it can move relative to the extrusion mold 11, a blade motor (blade drive section) 28 that drives the blade 26, and a gear (blade drive mechanism) 30 that transmits the power of the blade motor 28 to the blade 26.

The blade portion 26 is formed in a straight line and is disposed so as to pass through the center C of the extrusion die 11. The blade portion support mechanism 27 includes a pair of studs 31A, 31B that rotate around the center C of the extrusion die 11 in the circumferential direction of the extrusion die 11. The pair of studs 31A, 31B are engaged with a gear 30 having a predetermined reduction ratio. The blade portion 26 is disposed at a predetermined distance LT from the extrusion port 11A and both ends are connected to the pair of studs 31A, 31B. In other words, the pair of studs 31A, 31B rotate around the central axis C3 of the barrel 23, causing the blade portion 26 to rotate around the center C of the extrusion die 11 to form an imaginary plane P.

The structure unit 15 includes a base unit 32 for the entire device that supports the pressing unit 12, a barrel holding unit 33 that supports the barrel 23 on the base unit 32 so that the barrel 23 can move between a dough insertion position P1 where the food dough M is stored and a push-out position P2 that faces the cylinder head 22, and a barrel drive unit 35 for moving the barrel holding unit 33.

The control unit 16 is configured with, for example, a CPU (Central Processing Unit) and its peripheral circuits (not shown), and functions as a pressing control unit 36, a blade control unit 37, a structure control unit 38, an extrusion speed calculation unit 40, and a blade speed calculation unit 41 by the CPU executing a control program. The pressing control unit 36 controls the driving of the pressing servo motor 18. The blade control unit 37 controls the driving of the blade motor 28. The structure control unit 38 controls the driving of the barrel driving unit 35.

The control unit 16 is provided with a memory unit 42 in which various programs, various measurement values, and calculation results are stored. The extrusion speed calculation unit 40 calculates the extrusion speed CS of the food dough M from the extrusion port 11A from the speed detected by the speed sensor 21. The blade speed calculation unit 41 calculates the rotation speed S of the blade 26 based on the extrusion speed CS. The pressing control unit 36 and the blade control unit 37 then work together to change the rotation speeds of the pressing servo motor 18 and the blade motor 28.

Next, the operation of cutting and shaping the food dough M to a predetermined length L using the food dough shaping device 10 according to this embodiment will be described together with a food dough shaping method.
In forming the food dough M, the method includes a step of generating the food dough M (S01) and a step of forming the food dough M (S02).

In the production process (S01), food dough M is produced using a food dough production device (not shown), and a predetermined amount of food dough M is moved to the vicinity of dough insertion position P1. Meanwhile, in the food dough molding device 10, the barrel drive unit 35 is driven by a command from the structure control unit 38, and the barrel holding unit 33 moves to position the barrel 23 at the dough insertion position P1. The produced food dough M is then poured into the barrel 23 by a means (not shown).

Next, the molding process (S02) begins. The molding process (S02) includes a barrel moving process (S021) and a pressure cutting process (S022).

In the barrel movement process (S021), the barrel drive unit 35 is driven by a command from the structure control unit 38, and the barrel holding unit 33 moves to move the barrel 23 from the dough insertion position P1 to the push-out position P2.

The pressure cutting process (S022) includes a pressure preparation process (S0221), a speed detection process (S0222), an extrusion speed calculation process (S0223), a blade speed calculation process (S0224), and a cutting process (S0225).

The load on the servo cylinder 17 is determined by the properties of the food dough M, the amount of compression, the resistance of the extrusion die 11, etc. Therefore, the load immediately after the servo cylinder 17 starts to stroke is extremely low, and as the stroke progresses, the degree of compression of the dough increases and the load rises (primary compression process). When the servo cylinder 17 moves further, the food dough M is extruded from the barrel 23 (secondary compression process).

First, in the pressing preparation step (S0221), the pressing servo motor 18 is driven with a predetermined initial output based on a command from the pressing control unit 36, and starts to move the servo cylinder 17 in the pressing direction via the drive mechanism 20. When the servo cylinder 17 descends, the cylinder head 22 comes into contact with the food dough M inside the barrel 23 and presses it in the direction of the extrusion die 11. Also, based on a command from the blade control unit 37, the blade motor 28 is driven with a predetermined initial output, and the pair of studs 31A, 31B rotates around the barrel 23 via the gear 30.

In the speed detection process (S0222), the speed sensor 21 detects the movement speed VS of the servo cylinder 17.

In the extrusion speed calculation step (S0223), the extrusion speed calculation unit 40 calculates the extrusion speed CS of the food dough M from the moving speed VS. That is, the extrusion speed calculation unit 40 calculates the extrusion speed CS using a formula (CS = K1 x VS) that uses a coefficient K1 that is set in consideration of the properties of the food dough M, the area where the servo cylinder 17 presses the dough (≒ cross-sectional area of the cylinder head 22), the number of extrusion ports 11A, and the opening area.

In the blade speed calculation process (S0224), the blade speed calculation unit 41 calculates the rotation speed S of the pair of studs 31A, 31B, which is the movement speed of the blade 26, based on the calculated extrusion speed CS. In other words, when the food dough M is cut uniformly at a predetermined length L, the blade speed calculation unit 41 calculates the rotation speed S using the formula S = CS/2L.

The blade control unit 37 calculates the rotation speed N of the blade motor 28 from the rotation speed S and rotates the blade motor 28 at that speed. Here, the rotation speed N of the blade motor 28 is calculated using the formula (N = S x GR x 60 x K2) where GR is the reduction ratio of the gear 30 and K2 is a coefficient that corrects the dough extrusion speed.

In this way, the pair of studs 31A, 31B rotate around the barrel 23 at a rotational speed S from the blade motor 28 via the gear 30. At this time, since both ends of the blade 26 are connected to the pair of studs 31A, 31B, respectively, the blade 26 rotates around the central axis C3, cutting the food dough M discharged from the extrusion port 11A to a predetermined length L in the discharge direction.

This food dough forming device 10 and food dough forming method allows food dough M to be formed to a specified length L with high precision without the need to collect data in advance.

Second Embodiment
Next, a second embodiment of the present invention will be described with reference to FIGS.
The same components as those in the first embodiment are denoted by the same reference numerals and the description thereof will be omitted.
The difference from the first embodiment is that the food dough forming apparatus 50 according to this embodiment calculates the rotation speed S1 of the blade portion 26 regardless of the speed of the servo cylinder 17.

The food dough forming apparatus 50 includes a pressing unit 12 and a structure unit 15 similar to those of the food dough forming apparatus 10 according to the first embodiment.
The forming section 51 includes a first sensor (first detection section) 52 and a second sensor (second detection section) 53 in addition to the barrel 23 and the cutting section 25. The first sensor 52 and the second sensor 53 are disposed in the vicinity of the cutting section 25.

The first sensor 52 detects that at least one of the pair of studs 31A, 31B has passed position TL when the tip of the food dough M reaches the imaginary plane P along which the blade portion 26 moves, and outputs the detected state to the control unit 55. The second sensor 53 detects that the tip of the food dough M has reached a destination position O that is a predetermined length L away from the imaginary plane P, which is the same as the length of the food dough M to be shaped in the discharge direction, and outputs the detected state to the control unit 55. These data are stored in the memory unit 42 as the time T1 when the first sensor 52 detects one of the pair of studs 31A, 31B at position TL, and the time T2 when the second sensor 53 detects the tip of the food dough M at destination position O.

The control unit 55 functions as a pressure control unit 36, a blade control unit 37, a structure control unit 38, an extrusion time calculation unit 56, an extrusion speed calculation unit 57, and a blade speed calculation unit 58.

The extrusion time calculation unit 56 calculates the travel time T of the food dough M from the difference between time T1 and time T2. The extrusion speed calculation unit 57 calculates the extrusion speed CS1 of the food dough M from the extrusion port 11A based on the predetermined length L and the calculated travel time T. The blade speed calculation unit 58 calculates the rotation speed S1 of the pair of studs 31A, 31B so that the time it takes for the blade 26 to pass through one of the extrusion ports 11A and then pass through the same extrusion port 11A again is the same as the time it takes for the tip of the food dough M to reach the destination position O from the virtual plane P.

Next, the operation of the food dough forming apparatus 50 according to this embodiment will be described together with the food dough forming method.
In shaping the food dough M, this method includes a food dough M generating step (S01) similar to that of the first embodiment, and a food dough M shaping step (S12) specific to this embodiment.

The molding process (S12) includes a barrel moving process (S021) and a pressure cutting process (S122). The pressure cutting process (S122) includes a pressure preparation process (S0221), an extrusion time calculation process (S1222), an extrusion speed calculation process (S1223), a blade speed calculation process (S1224), and a cutting process (S0225).

In the extrusion time calculation step (S1222), the first sensor 52 detects that at least one of the pair of studs 31A, 31B has passed position TL, and records the time T1 at this time. Furthermore, as the food dough M is extruded from the extrusion port 11A, the second sensor 53 detects that the tip of the food dough M has reached the arrival position O, and records the time T2 at this time. The extrusion time calculation unit 56 then calculates the travel time T of the food dough M from the time difference between time T1 and time T2.

In the extrusion speed calculation process (S1223), the extrusion speed calculation unit 57 calculates the extrusion speed CS1 of the food dough M from the extrusion port 11A based on the predetermined length L and the travel time T from CS1 = L/T. Then, in the blade speed calculation process (S1224), the rotation speed S1 of the pair of studs 31A, 31B is calculated using the formula S1 = CS1/2L.

In this way, the pair of studs 31A, 31B rotate around the barrel 23 at a rotational speed S, and the food dough M extruded from the extrusion port 11A is cut by the blade portion 26 at a length equal to the predetermined length L in the extrusion direction.

This food dough forming device 50 and food dough forming method can detect the rotation of the pair of studs 31A, 31B with high accuracy by detecting the rotation itself. Therefore, the travel time T of the food dough M can be calculated with higher accuracy, and the food dough M can be formed with higher accuracy.

Third Embodiment
Next, a third embodiment of the present invention will be described with reference to FIG.
The same components as those in the first embodiment are denoted by the same reference numerals and the description thereof will be omitted.
The difference from the second embodiment is that in the food dough forming apparatus 60 of this embodiment, the first sensor 52 detects the state when the tip of the food dough M reaches the imaginary plane P along which the blade portion 26 moves.

Then, the extrusion time calculation unit 62 of the control unit 61 calculates the movement time T' of the food dough M from the time difference between the time T'1 and the time T2 at which the first sensor 52 detects that the tip of the food dough M has reached the virtual plane P.

Next, the operation of the food dough forming device 60 according to this embodiment will be described together with the food dough forming method.
In forming the food dough M, in this method, a food dough M forming step (S22) is carried out in addition to a food dough M generating step (S01) similar to the first and second embodiments.

The molding process (S22) includes a barrel moving process (S021) and a pressure cutting process (S222), and the pressure cutting process (S222) includes a pressure preparation process (S0221), an extrusion time calculation process (S2222), an extrusion speed calculation process (S1223), a blade speed calculation process (S1224), and a cutting process (S0225).

In the pressing time calculation step (S2222), the extrusion time calculation unit 62 calculates the travel time T' of the food dough M. Then, as in the second embodiment, the extrusion speed calculation step (S1223) and the blade speed calculation step (S1224) are performed to calculate the rotation speed S1' of the pair of studs 31A, 31B.

According to this food dough forming device 60 and food dough forming method, the rotational speed S1' of the pair of studs 31A, 31B is calculated based on the actual speed at which the food dough M moves from the extrusion outlet 11A to the arrival position O. Therefore, the food dough M can be formed with high precision without the need to collect data in advance.

The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, the first sensor 52 and the second sensor 53 are not limited to position sensors, and may be other types of sensors as long as they can detect the passing time of the food dough M.

Although the food dough M is formed to a predetermined length L, the length to be formed is not limited to L. For example, by halving the rotation speeds S, S1, and S1' calculated once in the blade speed calculation process, the food dough M can be formed to a length twice the predetermined length L.

10, 50, 60 Food dough molding device 11 Extrusion mold 11A Extrusion port 16, 55, 61 Control unit 17 Servo cylinder (extrusion unit)
18 Servo motor (extrusion drive unit)
21 Speed sensor (speed detection unit)
23 Barrel (container)
26 Blade portion 28 Blade portion motor (blade portion drive portion)
40, 56 Extrusion speed calculation unit 41, 57 Blade speed calculation unit 52 First sensor (first detection unit)
53 Second sensor (second detection unit)
56, 62 Extrusion time calculation unit L Predetermined length M Food dough P Virtual plane (position)
TL Position O Arrival position

Claims (4)

A container section in which an extrusion die having an extrusion port is disposed and in which the food dough is stored;
An extrusion section that moves relative to the container section and presses the food dough stored in the container section toward the extrusion mold;
an extrusion drive unit that drives the extrusion unit;
a linear blade portion that is spaced a predetermined distance from the extrusion port in the extrusion direction of the food dough and is rotatably disposed relative to the extrusion mold, and that cuts the food dough extruded from the extrusion port to a predetermined length;
A blade drive unit that drives the blade unit;
A control unit that controls the movement of the pusher and the blade;
a speed detection unit that detects a moving speed of the push-out unit and outputs the detected moving speed to the control unit;
Equipped with
The control unit is an extrusion speed calculation unit that calculates an extrusion speed of the food dough from the extrusion port based on the speed of the extrusion unit detected by the speed detection unit;
a blade speed calculation unit that calculates a rotation speed of the blade based on the calculated extrusion speed;
A food dough forming device comprising: A container section in which an extrusion die having an extrusion port is disposed and in which the food dough is stored;
An extrusion unit that presses the food dough toward the extrusion mold;
an extrusion drive unit that drives the extrusion unit;
a blade section that is spaced a predetermined distance from the extrusion opening in the extrusion direction of the food dough and is arranged movably relative to the extrusion mold, and cuts the food dough extruded from the extrusion opening to a predetermined length;
A blade drive unit that moves the blade with respect to the extrusion port;
A control unit that controls the movement of the pusher and the blade;
A first detection unit that detects a state in which a tip of the food dough reaches a position separated by the predetermined distance from the extrusion port and outputs the state to the control unit;
A second detection unit that detects a state in which the tip of the food dough has reached a destination position that is further away from the destination position in the discharge direction and outputs the state to the control unit;
Equipped with
The control unit calculates a movement time of the food dough from the difference between the time when the first detection unit detects the tip and the time when the second detection unit detects the tip; and
an extrusion speed calculation unit that calculates an extrusion speed of the food dough from the extrusion port based on a movement time of the food dough;
a blade speed calculation unit that calculates a moving speed of the blade based on the extrusion speed;
A food dough forming device comprising: A food dough molding method comprising a molding step of pressing food dough stored in a container section in which an extrusion die having an extrusion opening is disposed in the direction of the extrusion opening to extrude the food dough from the extrusion opening, and rotating a linear blade relative to the extrusion die to cut the food dough,
The molding step comprises:
a pressing preparation step of moving a pressing part that moves relative to the container part to press the food dough in the direction of the extrusion die;
a speed detection step of detecting a moving speed of the pressing portion;
an extrusion speed calculation step of calculating an extrusion speed of the food dough from the extrusion port based on the moving speed;
a blade speed calculation step of calculating a rotation speed of the blade based on the calculated extrusion speed;
A food dough forming method comprising: A food dough molding method comprising a molding step of pressing food dough stored in a container section in which an extrusion die having an extrusion opening is disposed in the direction of the extrusion opening to extrude the food dough from the extrusion opening, and moving a blade section relative to the extrusion die to cut the food dough,
The molding step comprises:
a pressing preparation step of moving a pressing part that moves relative to the container part to press the food dough in the direction of the extrusion die;
an extrusion time calculation step of calculating a time from when the blade portion passes a predetermined position until when a predetermined length of the food dough is extruded from the extrusion port ;
an extrusion speed calculation step of calculating an extrusion speed of the food dough from the extrusion port based on the predetermined length and the time;
a blade speed calculation step of calculating a moving speed of the blade based on the extrusion speed;
A food dough forming method comprising:

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