An ingredient adding device and an automated kitchen in cooperation with a robotic arm

Abstract

The present invention relates to the technical field of automated equipment, and particularly to a food ingredient feeding device and an automated kitchen in cooperation with a robotic arm. A food ingredient feeding device includes: a carrier member that limitably carries a seasoning packet; an extrusion assembly that includes an extrusion member slidably assembled along a direction perpendicular to the traveling path of the seasoning packet, and the extrusion member performs an extrusion action on the seasoning packet; a cutting member disposed below the traveling path direction of the seasoning packet and corresponding to the extrusion member, and after the seasoning packet is extruded and bulged, the cutting member performs a cutting action on the seasoning packet, solving the technical problem of the complex structure of the prior art for the seasoning adding mechanism of food ingredients.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and particularly to a food ingredient feeding device and an automated kitchen in cooperation with a robotic arm. Background Art

[0002] With the improvement of living standards, consumers have higher and higher pursuit of taste. As is well known, in addition to adding traditional seasonings such as oil and salt when cooking now, viscous seasonings also need to be added. In the prior art, the patent with the application number "CN201921630406.2" discloses "an intelligent unmanned kitchen", specifically discloses a seasoning adding mechanism. The seasoning adding mechanism includes a plurality of seasoning bottles distributed in a circular pattern and rotatable around the center of the circle and a rotating platform. The seasoning bottles adopt an extrusion discharging method. Specifically, a spring pressing pump discharging method or a peristaltic pump pressing a hose discharging method can be adopted. Also, a motor can be arranged inside the bottle body to drive the feeding of extrusion, or an external driving method can be adopted. The above methods have the following problems: the entire seasoning adding mechanism occupies a large space, and a driving structure needs to be arranged in each seasoning bottle to extrude the seasoning, which makes the seasoning adding mechanism complex in structure. Summary of the Invention

[0003] In order to solve the technical problem that the seasoning adding mechanism for food ingredients in the prior art is complex in structure, the present invention provides a food ingredient feeding device and an automated kitchen in cooperation with a robotic arm, which solves the above technical problem. The technical solution of the present invention is as follows:

[0004] A food ingredient feeding device includes: a carrier, the carrier limits and carries a seasoning packet; an extrusion assembly, the extrusion assembly includes an extrusion member, the extrusion member is slidably assembled along a direction perpendicular to the walking path of the seasoning packet, and the extrusion member performs an extrusion action on the seasoning packet; a cutting member, the cutting member is arranged below the walking path direction of the seasoning packet and is correspondingly arranged with the extrusion member. After the seasoning packet is extruded and bulged, the cutting member performs a cutting action on the seasoning packet.

[0005] According to an embodiment of the present invention, a carrying groove is formed on the carrier and an elastic clip is provided, and both ends of the seasoning packet are clamped by the elastic clip in the carrying groove.

[0006] According to an embodiment of the present invention, the extrusion assembly further includes a blocking member, the blocking member is assembled in a lifting manner, and the blocking member presses the seasoning packet along the vertical direction.

[0007] According to an embodiment of the present invention, two extrusion members are provided, and the two extrusion members are symmetrically arranged on both sides of the walking path of the seasoning packet, and the two extrusion members can move towards or away from each other.

[0008] According to an embodiment of the present invention, the cutting member is disposed between the two pressing members, and the cutting member is slidably assembled. When the cutting member cuts the seasoning packet, the sliding direction of the cutting member is opposite to the traveling direction of the carrying member.

[0009] According to an embodiment of the present invention, the carrying member is limitedly assembled on the driving component, and the driving component drives the carrying member to perform reciprocating motion.

[0010] According to an embodiment of the present invention, it further includes a frame body. The pressing component and the driving component are integrally disposed on the frame body. A collection groove is formed on the frame body, and the driving component is disposed above the collection groove.

[0011] According to an embodiment of the present invention, a recycling component is disposed at one end of the frame body away from the pressing member, and the recycling component recycles the seasoning packet after being cut.

[0012] According to an embodiment of the present invention, the recycling component includes: a recycling box fixedly connected to the frame body; the recycling box is disposed below the traveling path of the carrying member; a pushing member disposed above the traveling path of the carrying member, and the pushing member performs a pushing action on the seasoning packet after being cut to enable the seasoning packet to fall into the recycling box.

[0013] An automated kitchen with robotic arm cooperation employs the above-mentioned food ingredient feeding device. The automated kitchen with robotic arm cooperation further includes a heating device. The position where the seasoning packet is cut is disposed above the heating device. The heating device includes a loading member, at least two heating modules, a clamping component, and a diversion plate. Different carrying cavities are formed on the loading member. The loading member is correspondingly disposed with one of the heating modules. The clamping component drives the processing tool of the heating module to flip and transfers the food ingredient to one of the carrying cavities through the diversion plate. After the loading member performs sliding and rotating actions, the loading member is correspondingly disposed with another processing tool, and the other processing tool transfers the food ingredient to another carrying cavity.

[0014] Based on the above technical solutions, the technical effects that the present invention can achieve are:

[0015] 1. The seasoning packets of the present application are limitedly carried on a supporting member, and the extrusion member is slidably assembled along a direction perpendicular to the walking path of the seasoning packets. After the seasoning packets are squeezed and bulged by the extrusion member, the cutting member cuts the seasoning packets and the seasoning falls into the processing member, thereby realizing the feeding action of the processing member. Compared with the prior art in which each seasoning is placed in a corresponding seasoning bottle and a driving structure is provided in the seasoning bottle to drive the seasoning to move for adding, resulting in a complicated structure of the seasoning adding mechanism for the food, the present application places multiple seasoning packets on a supporting member, the supporting member moves toward the extrusion assembly, and then the extrusion assembly squeezes the seasoning packet and forms a bulge, and the cutting member cuts the seasoning packet to realize the feeding action. The present application reduces the number of driving members for driving the seasoning, thereby simplifying the structure of the feeding device, and especially ensures the addition of viscous and liquid seasonings.

[0016] 2. The carrier of the present application is formed with a bearing groove and an elastic clip. The two ends of the seasoning package can be pressed tightly into the bearing groove with the elastic clip by pressing the elastic clip. The whole process is simple and convenient. In addition, when the seasoning package is recovered after sliding open, it only needs to be pushed and the seasoning package can be easily detached from the elastic clip.

[0017] 3. The extrusion assembly of the present application also includes a blocking member, which is assembled by lifting and lowering. The blocking member presses the seasoning package in the vertical direction to prevent the seasoning package from moving away from the protrusion of the cutting member when the extrusion member squeezes the seasoning package, resulting in a poor cutting effect.

[0018] 4. The carrier of the present application is limitedly assembled on the driving assembly, and the driving assembly drives the carrier to perform reciprocating motion, that is, the carrier starts from the starting point and then unloads from the starting point, so that the carrier moves in the space to simplify the structure of the feeding device and facilitate the miniaturization of the feeding device. In addition, a collecting trough is formed on the frame, and the driving assembly is arranged above the collecting trough. When the driving assembly drives the carrier to reset, the remaining seasoning in the ruptured seasoning package can fall into the collecting trough to prevent the remaining seasoning from falling to the ground or other devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of an automated kitchen with collaborative robotic arms;

[0020] Figure 2 This is a structural diagram of a food material adding device;

[0021] Figure 3 A schematic diagram of the structure of the supporting member, the extrusion assembly, the cutting member and the blocking member;

[0022] Figure 4 is a structural diagram of a bearing member;

[0023] Figure 5 A schematic diagram of the structure of the cooperation between the extrusion assembly and the bearing member;

[0024] Figure 6 Structural schematic diagram of the cutting member;

[0025] Figure 7 Structural schematic diagram of the blocking member;

[0026] Figure 8 Structural schematic diagram of the cooperation of the driving assembly, the frame body and the recovery assembly;

[0027] Figure 9 Structural schematic diagram of the recovery assembly;

[0028] Figure 10 Structural schematic diagram of the storage rack;

[0029] Figure 11 Structural schematic diagram of the transfer module;

[0030] Figure 12 Structural schematic diagram of the heating device;

[0031] In the figure:

[0032] 1 - bearing member; 11 - bearing groove; 12 - elastic clip; 121 - pressing part; 13 - avoidance opening; 2 - extrusion assembly; 21 - extrusion member; 22 - extrusion driving member; 3 - cutting member; 31 - cutting part; 32 - cutting driving member; 41 - blocking member; 42 - blocking driving member; 5 - driving assembly; 51 - bearing driving member; 52 - transmission member; 53 - supporting protrusion; 54 - limiting post; 6 - frame body; 61 - object collecting groove; 7 - recovery assembly; 71 - recovery box; 72 - pushing member; 73 - pushing driving member; 74 - support frame; 81 - storage rack; 811 - support rod; 812 - support plate; 82 - transfer module; 821 - robotic arm; 822 - clamping assembly; 8221 - clamping driving member; 8222 - clamping jaw; 823 - connecting plate; 9 - heating device; 91 - loading member; 911 - loading cavity; 92 - heating module; 921 - processing tool; 922 - heating member; 93 - clamping assembly; 931 - clamping member; 932 - clamping driving member; 94 - diversion plate. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The description of at least one exemplary embodiment below is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0034] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0035] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof is not required in subsequent drawings.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the protection scope of the present invention; the orientation words "inside, outside" refer to the inside and outside of the contour of each component itself.

[0037] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. can be used here to describe the spatial positional relationship between a device or feature shown in the figure and other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figure for the device. For example, if the device in the attached drawing is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations are made for the spatial relative descriptions used here.

[0038] In addition, it should be noted that the use of terms such as "first", "second" etc. to define components is only for the convenience of differentiating the corresponding components. Without additional statement, the above terms have no special meaning, and thus should not be construed as limiting the protection scope of the present invention.

[0039] As Figures 1 - 12 shown, a food ingredient adding device in this embodiment includes a carrier 1, an extrusion assembly 2 and a cutting member 3. The carrier 1 limits and carries the seasoning packet. The extrusion assembly 2 includes an extrusion member 21. The extrusion member 21 is slidably assembled along the direction perpendicular to the walking path of the seasoning packet. The extrusion member 21 performs an extrusion action on the seasoning packet. The cutting member 3 is arranged below the seasoning packet along the walking path direction and is correspondingly arranged with the extrusion member 21. After the seasoning packet is extruded to generate a bulge, the cutting member 3 performs a cutting action on the seasoning packet.

[0040] In this embodiment, by placing multiple seasoning packets on the carrier 1, the carrier 1 moves towards the extrusion assembly 2, and then the extrusion assembly 2 extrudes each of the multiple seasoning packets respectively to form a bulge. The cutting member 3 performs a cutting action on the seasoning packet to achieve the adding action. In this example, the number of driving members for driving the seasoning is reduced, thereby simplifying the structure of the adding device, and further solving the problem in the prior art that each seasoning is filled in a corresponding seasoning bottle and a driving structure is arranged in the seasoning bottle to drive the seasoning to move for adding, resulting in a complex structure of the seasoning adding mechanism for food ingredients.

[0041] The carrier 1 in this embodiment performs a loading action on a number of seasoning packets. Specifically, the carrier 1 is in a frame shape. Along the length direction, the carrier 1 is provided with loading grooves 11 arranged in an array. Elastic clips 12 are provided at both ends of the loading groove 11. The pressing parts 121 on the elastic members protrude above the loading groove 11. Under the action of an external force, the elastic clips 12 swing so that the pressing parts 121 move away from above the loading groove 11. Then, the seasoning packets are placed into the loading groove 11. Next, the external force applied to the elastic clips 12 is removed, and the elastic clips 12 reset so that the pressing parts 121 press the seasoning packets.

[0042] The squeezing assembly 2 in this embodiment can move towards each other from both ends where the seasoning packet is pressed to squeeze the seasoning packet. Specifically, the squeezing assembly 2 includes two squeezing members 21. In this embodiment, the squeezing member 21 is set as a folding plate. The non-squeezing side of the seasoning packet is made of a relatively hard plastic material. The two squeezing members 21 are symmetrically arranged on both sides of the traveling path of the seasoning packet. When one of the seasoning packets is conveyed to a specified position, one end of the folding plate fits against the pressed part of the seasoning packet. At the same time, the two squeezing members 21 move towards each other from both ends where the seasoning packet is pressed under the action of their respective corresponding squeezing driving members 22, so as to perform a squeezing action on the seasoning in the seasoning packet, and further make the seasoning gather together in the seasoning packet to form a bulge. The squeezing driving member 22 can be set as a structure such as a cylinder drive or a lead screw pair.

[0043] Preferably, a blocking member 41 is provided on the non-squeezing side of the seasoning packet in this embodiment. When the seasoning packet is squeezed, the blocking member 41 performs a blocking action on the non-squeezing side of the seasoning packet. Specifically, the blocking member 41 is arranged along the vertical direction. After the seasoning packet is conveyed to a specified position and stops moving, the blocking member 41 moves towards the seasoning packet under the drive of the blocking driving member 42 and abuts against the non-squeezing side of the seasoning packet. In this way, when the squeezing member 21 performs a squeezing action on the seasoning packet, the seasoning in the seasoning packet cannot accumulate towards the non-squeezing side of the seasoning packet, thus avoiding the cutting member 3 being unable to cut the seasoning packet. Especially when the seasoning packet is made of a relatively soft plastic material, the blocking driving member 42 can be set as a structure such as a cylinder drive or a lead screw pair.

[0044] The cutting member 3 of this embodiment performs a cutting action on the seasoning packet that is extruded to form a bulge. Specifically, the cutting member 3 is arranged between two pressing members 21, and the cutting member 3 is arranged obliquely downward along the walking path direction of the seasoning packet to prevent interference between the cutting member 3 and the pressing members 21. In this embodiment, the cutting portion 31 of the cutting member 3 is hook-shaped. After the seasoning packet is extruded to form a bulge, the cutting portion 31 of the cutting member 3 and the bulge interfere with each other. Since the cutting member 3 is slidably assembled, the sliding direction of the cutting member 3 is opposite to the sliding direction of the carrier 1. At this time, the seasoning packet remains stationary, and the cutting driving member 32 drives the cutting member 3 to move in the direction opposite to the walking direction of the seasoning packet, thereby realizing the cutting action of the cutting member 3 on the seasoning packet, and further enabling the seasoning to fall into the food processing device. The cutting driving member 32 can be, but is not limited to, a cylinder, as long as it can drive the cutting member 3 to move.

[0045] The carrier 1 of this embodiment is limit-assembled on the driving assembly 5, and the driving assembly 5 drives the carrier 1 to perform a reciprocating motion. Specifically, the driving assembly 5 includes a carrier driving member 51 and a transmission member 52. In this embodiment, the carrier driving member 51 is set as a motor, and the transmission member 52 is set as a belt. Support protrusions 53 are evenly spaced in the circumferential direction of the belt, and limit posts 54 are formed on the support protrusions 53. The carrier 1 is placed on the support protrusions 53. At the same time, avoidance openings 13 corresponding to the limit posts 54 are formed on the carrier 1, and the limit posts 54 extend into the avoidance openings 13, so that the carrier 1 is limit-assembled to the transmission member 52. In this way, the motor rotates forward to drive the carrier 1 and the seasoning packet thereon to move towards the extrusion assembly 2. After the seasoning packet on the carrier 1 is filled, the motor rotates in the reverse direction to drive the carrier 1 and the seasoning packet thereon to perform a reset motion. The driving assembly 5 can be, but is not limited to, a motor and a belt, as long as it can drive the carrier 1 and the seasoning packet thereon to perform a reciprocating motion.

[0046] In order to prevent the waste remaining in the cut seasoning packet from falling to the ground or on the food processing equipment, a collection groove 61 is formed on the frame 6 of this embodiment, and the collection groove 61 is located below the driving assembly 5, that is, when the cut seasoning packet is reset, it passes above the collection groove 61, so that the waste remaining in the seasoning packet can directly fall into the collection groove 61.

[0047] On the frame body 6 of this embodiment, a recovery component 7 is further provided. The recovery component 7 recovers the punctured seasoning packets. Specifically, the recovery component 7 is arranged at one end of the frame body 6 away from the extrusion member 21, that is, at the initial position of the seasoning packet on the frame body 6. The recovery component 7 includes a recovery box 71 and a pushing member 72. The recovery box 71 is fixedly connected to the frame body 6; the recovery box 71 is arranged below the walking path of the carrier 1, and the pushing member 72 is arranged above the walking path of the carrier 1. Under the action of the pushing driving member 73, the pushing member 72 performs a pushing action on the punctured seasoning packet. When the pushing force of the pushing member 72 is greater than the clamping force of the elastic clip 12, the punctured seasoning packet breaks away from the limit of the elastic clip 12 and falls into the recovery box 71. The pushing driving member 73 can be, but is not limited to, a cylinder, as long as it can drive the pushing member 72 to perform telescopic movement.

[0048] Preferably, in this embodiment, a position sensor is arranged on the support frame 74 that supports the pushing driving member 73. The position sensor senses the position of the reset movement of the carrier 1 and feeds the information back to the carrier driving member 51 and the pushing driving member 73, so that the carrier driving member 51 stops driving the carrier 1 to move, and the pushing driving member 73 drives the pushing member 72 to move towards the seasoning packet.

[0049] This embodiment also provides an automated kitchen with robotic arm collaboration. The automated kitchen with robotic arm collaboration adopts the above-mentioned food ingredient feeding device to achieve automatic feeding actions.

[0050] The automated kitchen with robotic arm collaboration in this embodiment further includes a storage rack 81 and a transfer module 82. The storage rack 81 and the transfer module 82 are arranged close to the food ingredient feeding device. The transfer module 82 transfers the carrier 1 and the seasoning packet from the storage rack 81 to the driving assembly 5. Specifically, the storage rack 81 includes two vertically arranged support rods 811. At least one set of two oppositely arranged support plates 812 are formed on the support rods 811. The carrier 1 carrying the seasoning packet is placed on the two support plates 812. In addition, the transfer module 82 includes a robotic arm 821 and at least one clamping component 822. The clamping component 822 is connected to the driving end of the robotic arm 821. The clamping component 822 includes a clamping driving member 8221 and two clamping jaws 8222. A T-shaped chute is arranged on the clamping driving member 8221, and corresponding sliders are formed on the clamping jaws 8222. The clamping driving member 8221 drives the two clamping jaws 8222 to move towards each other to clamp the carrier 1. Then, the robotic arm 821 drives the clamping component 822 and the carrier 1 thereon towards the driving assembly 5 and places the carrier 1 on the transmission member 52. Finally, the clamping driving member 8221 drives the two clamping jaws 8222 to move away from each other to release the carrier 1. The clamping driving member 8221 can be, but is not limited to, a cylinder, as long as it can drive the clamping jaws 8222.

[0051] Preferably, two clamping components 822 of this embodiment are provided. The two clamping components 822 are symmetrically arranged on both sides of the driving end of the robotic arm 821, and the two clamping components 822 are connected to the driving end of the robotic arm 821 by means of a connecting plate 823. In this way, the carrier 1 is subjected to two balanced clamping points, and the carrier 1 is more stable during the transfer process.

[0052] The automated kitchen with robotic arm cooperation of this embodiment further includes a heating device 9. The food ingredient feeding device is arranged above the heating device 9 to perform a feeding action on the heating device 9.

[0053] The heating device 9 of this embodiment performs a heating action on the food ingredients. Specifically, the heating device 9 includes a loading member 91, at least two heating modules 92, a clamping component 93, and a diversion plate 94. The heating module 92 includes a processing tool 921. The loading member 91 is correspondingly arranged with one of the processing tools 921. The processing tool 921 transfers the food ingredients to one of the loading cavities 911. After the loading member 91 performs sliding and rotating actions, the loading member 91 is correspondingly arranged with another processing tool 921, and the other processing tool 921 transfers the food ingredients to another loading cavity 911.

[0054] Furthermore, the heating module 92 of this embodiment further includes a heating element 922 assembled on the base. The processing tool 921 is first placed on the two semi-circular clamping members 931 of the clamping component 93, and then placed on the heating element 922. The heating element 922 performs a heating action on the processing tool 921. The clamping driving member 932 of the clamping component 93 drives the clamping members 931 and the processing tool 921 thereon to perform a flipping action, so that the processing tool 921 pours the food ingredients onto the inclined diversion plate 94, and then the food ingredients slide into the loading cavity 911 under the action of gravity. The clamping driving member 932 can be, but is not limited to, a motor and a gear assembly, as long as it can drive the clamping members 931 to flip.

[0055] When the loading member 91 needs to load food ingredients of another flavor, the loading member 91 of this embodiment moves along the chute on the base to the corresponding position of another heating module 92, and then performs a rotating action under the action of the rotation driving component at the lower end of the loading member 91, so that different loading cavities 911 are located at the unloading position of another heating module 92, thereby enabling another heating module 92 to perform an unloading action on the loading cavity 911. The rotation driving component can be, but is not limited to, a motor and a gear assembly, as long as it can drive the loading member 91 to rotate.

[0056] Based on the above structure, the working principle of a food ingredient feeding device and an automated kitchen with robotic arm cooperation of this embodiment is as follows:

[0057] First, the staff places the carrier 1 equipped with the seasoning packet on the storage rack 81. Then, the staff leaves the automated kitchen with robotic arm collaboration. The robotic arm 821 moves towards the storage rack 81 with the clamping component 822. The clamping component 822 clamps the carrier 1 and is placed on the support protrusion 53 of the transmission member 52 under the drive of the robotic arm 821. The carrier driving member 51 drives the carrier 1 to move to the position where the seasoning packet is to be cut, that is, above the heating device 9, via the transmission member 52. The carrier driving member 51 stops operating. The blocking driving member 42 drives the blocking member 41 to move towards the seasoning packet and abut against the non-extruded side of the seasoning packet. The extrusion driving member 22 drives the two extrusion members 21 to move towards each other so that the seasonings in the seasoning packet gather together to form a protrusion. The cutting driving member 32 drives the cutting member 3 to move in the opposite direction of the walking direction of the seasoning packet, thereby realizing the cutting action of the cutting member 3 on the seasoning packet, and then causing the seasonings to fall into the food processing appliance 921. The carrier driving member 51 drives the carrier 1 to reset. At the same time, the heating device 9 performs a heating action on the ingredients of different flavors. The heated ingredients are transferred to the loading member 91 for consumers to eat.

[0058] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can also be made without departing from the gist of the present invention.

Claims

1. A food ingredient adding device, characterized in that, Comprising: A carrier (1), the carrier (1) being configured to limit and carry a seasoning packet; An extrusion assembly (2), the extrusion assembly (2) including an extrusion member (21), the extrusion member (21) being slidably assembled along a direction perpendicular to the traveling path of the seasoning packet, and the extrusion member (21) performing an extrusion action on the seasoning packet; A cutting member (3), the cutting member (3) being disposed below the traveling path direction of the seasoning packet and corresponding to the extrusion member (21). After the seasoning packet is extruded to form a bulge, the cutting member (3) performs a cutting action on the seasoning packet; Carrying grooves (11) arranged in an array along the length direction and elastic clips (12) are formed on the carrier (1), and both ends of the seasoning packet are pressed by the elastic clips (12) into the carrying grooves (11); The extrusion assembly (2) further includes a blocking member (41), the blocking member (41) being vertically assembled, and the blocking member (41) pressing the seasoning packet along the vertical direction; The extrusion members (21) are provided in two, and the two extrusion members (21) are symmetrically arranged on both sides of the traveling path of the seasoning packet, and the two extrusion members (21) can move towards or away from each other; The cutting member (3) is disposed between the two extrusion members (21), and the cutting member (3) is slidably assembled. When the cutting member (3) cuts the seasoning packet, the sliding direction of the cutting member (3) is opposite to the traveling direction of the carrier (1); The carrier (1) is limit-assembled on a driving assembly (5), and the driving assembly (5) drives the carrier (1) to perform a reciprocating motion; further included is a frame body (6), the extrusion assembly (2) and the driving assembly (5) are integrally arranged on the frame body (6), and a collection groove (61) is formed on the frame body (6), and the driving assembly (5) is disposed above the collection groove (61); A recovery assembly (7) is provided at one end of the frame body (6) away from the extrusion member (21), and the recovery assembly (7) recovers the seasoning packet after cutting; The recovery assembly (7) includes: A recovery box (71), the recovery box (71) being fixedly connected to the frame body (6); the recovery box (71) is disposed below the traveling path of the carrier (1); A pushing member (72), the pushing member (72) being disposed above the traveling path of the carrier (1), and the pushing member (72) performing a pushing action on the seasoning packet after cutting so that the seasoning packet falls into the recovery box (71).

2. An automated kitchen with collaborative robotic arms, characterized in that, Including the food ingredient adding device as described in claim 1, the automated kitchen in cooperation with the robotic arm further includes a heating device (9), the position where the seasoning packet is punctured is arranged above the heating device (9), the heating device (9) includes a loading member (91), at least two heating modules (92), a clamping assembly (93), and a flow guide plate (94), different bearing cavities (911) are formed on the loading member (91), the loading member (91) is correspondingly arranged with one of the heating modules (92), the clamping assembly (93) drives the processing tool (921) of the heating module (92) to flip, and transfers the food ingredients to one of the bearing cavities (911) through the flow guide plate (94), after the loading member (91) undergoes sliding and rotating actions, the loading member (91) is correspondingly arranged with another processing tool (921), and the other processing tool (921) transfers the food ingredients to another bearing cavity (911).

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