Automatic feeding machine

Abstract

This invention discloses an automatic feeding machine, including a feeding spoon. The feeding spoon includes: a spoon body, comprising a handle and a spoon head, the spoon head being connected to one end of the handle and defining a first feeding cavity with its opening facing downwards; a scooping part, which is arc-shaped and rotatably connected to the spoon head, defining a second feeding cavity; and a driving assembly connected to the scooping part, capable of driving the scooping part to switch between a first state and a second state. In the first state, the scooping part seals the first feeding cavity, the opening of the second feeding cavity faces upwards, and the first and second feeding cavities are connected and form a common feeding chamber for containing food. In the second state, the scooping part is at least partially contained within the first feeding cavity, and the opening of the second feeding cavity faces downwards. In this design, the scooping part is used to scoop food into the feeding chamber, which can accelerate the feeding efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of feeding equipment, and particularly to an automatic feeding machine. Background Technology

[0002] For some elderly people, especially those with Parkinson's disease, it is difficult to hold chopsticks and spoons, making it difficult to eat independently and requiring caregivers to feed them, which is costly. Automatic feeding machines can remove food and deliver it to the user's mouth, eliminating the need for manual feeding.

[0003] In existing technologies, a robotic arm is used to control a rice scoop to scoop rice or dishes from a serving dish. Traditional rice scoops have an upward-facing opening, which has the following disadvantages:

[0004] 1. It is difficult to accurately control the amount of food scooped with a rice spoon, especially when the food is in chunks, such as large pieces of pumpkin. Sometimes the food is easy to fall after being scooped, and sometimes the amount of food scooped is too large to be easily fed to the elderly.

[0005] 2. The existing rice scoops are difficult to use to scoop up soup, and the soup is easy to spill after scooping.

[0006] 3. The efficiency of scooping is too low. After each scoop, in order to adjust the amount scooped each time, it is necessary to scrape off the scooping material on the scraper fixed to the base. The scraping process requires precise control of the movement path of the scoop, and the operation time is too long. Summary of the Invention

[0007] The main objective of this invention is to provide an automatic feeding machine that can improve the feeding rate and the accuracy of each feeding.

[0008] To achieve the above objectives, the present invention proposes an automatic feeding machine, including a rice scoop, wherein the rice scoop comprises:

[0009] The rice spoon body includes a handle and a spoon head. The spoon head is connected to one end of the handle and defines a first feeding cavity with the opening facing downward.

[0010] The scooping part is arc-shaped and rotatably connected to the spoon head, defining a second feeding cavity;

[0011] A driving component, connected to the digging part, is capable of driving the digging part to switch between a first state and a second state. In the first state, the digging part seals the first feeding cavity, the opening of the second feeding cavity faces upward, and the first feeding cavity and the second feeding cavity are connected to form a common feeding cavity for containing food. In the second state, the digging part is at least partially contained in the first feeding cavity, and the opening of the second feeding cavity faces downward.

[0012] During the process of the scooping part switching from the second state to the first state, the scooping part is used to scoop food into the feeding cavity.

[0013] In some embodiments, the scooping portion includes a first hinge portion and a second hinge portion arranged opposite to each other. The first hinge portion is rotatably connected to one end of the rice spoon body, and the second hinge portion is rotatably connected to the other end of the rice spoon body. The rotation axis of the first hinge portion coincides with the rotation axis of the second hinge portion.

[0014] In some embodiments, the rotation axis of the first hinge portion is perpendicular to the length direction of the handle portion.

[0015] In some embodiments, the rotation axis of the first hinge portion is parallel to the length direction of the handle portion.

[0016] In some embodiments, the axis of the opening of the first feeding cavity is arranged vertically, and in the first state, the axis of the opening of the second feeding cavity is arranged vertically.

[0017] In some embodiments, the axis of the opening of the first feeding cavity is arranged at a 45° angle, and in the first state, the axis of the opening of the second feeding cavity is arranged at a 45° angle.

[0018] In some embodiments, the rice spoon further includes a scraper fixedly connected to the rice spoon body. The scraper is located in the first feeding cavity and is arc-shaped. The scooping part is sandwiched between the scraper and the rice spoon body. When the scooping part moves from the first state to the second state, the scraper scrapes off the food that is stuck to the inner wall of the scooping part.

[0019] In some embodiments, the drive assembly includes a wire that passes through the interior of the rice spoon body, with one end of the wire wrapped around the first hinge portion in a first circumferential direction and the other end of the wire wrapped around the second hinge portion in a second circumferential direction; the middle portion of the wire passes through the handle portion and extends out of the handle portion.

[0020] The drive assembly further includes a drive motor connected to the middle of the wire drawing section. The drive motor is configured to pull one end of the wire drawing section connected to the first hinge portion when rotating forward, thereby driving the digging section to rotate from the first state to the second state. The drive motor is configured to pull one end of the wire drawing section connected to the second hinge portion when rotating in reverse, thereby driving the digging section to rotate from the second state to the first state.

[0021] In some embodiments, it also includes:

[0022] The base includes a support panel, and one side of the support panel is provided with a plurality of food troughs for holding food, with the openings of each food trough facing upwards.

[0023] A robotic arm is connected to the other side of the support panel. The robotic arm includes a first robotic arm and a second robotic arm. The first robotic arm is rotatably connected to the base and its rotation axis is arranged vertically. The second robotic arm is rotatably connected to the end of the first robotic arm away from the base and its rotation axis is arranged horizontally.

[0024] A sensing base is rotatably connected to the end of the second robotic arm away from the first robotic arm. The rice spoon is connected to the end of the sensing base away from the second robotic arm. The sensing base can sense the position of the rice trough and the position of the user's mouth.

[0025] The controller controls the rice scoop to take food out of the rice container and to put the food into the user's mouth.

[0026] In some embodiments, the first feeding chamber is hemispherical, and the second feeding chamber is hemispherical.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] In the technical solution of this invention, when using a rice spoon to eat, conventional eating actions are not required. When the scooping part is in the second state, the rice spoon can be directly inserted into the food in the rice container, and then the scooping part is driven to rotate to the first state to scoop out the food. In this solution, on the one hand, large pieces of food can be cut off by the scooping part. For example, a piece of pumpkin can be cut into two parts, one part inside the rice spoon and one part outside the rice spoon, and the food will not fall out during the process of being put into the user's mouth. On the other hand, it ensures the consistency of the amount of food taken each time. Furthermore, since it is not necessary to pay attention to the amount of food scooped each time (the maximum amount will not exceed the volume of the eating cavity), the eating speed can be greatly improved. Also, it reduces the difficulty of judging the relative position of the rice spoon and the food, and even the relative position of the rice spoon and the remaining food does not need to be judged (regardless of how much food is consumed, it can be directly inserted into the food for scooping), thereby reducing the difficulty of eating.

[0029] Furthermore, in a further embodiment, since the opening of the first feeding cavity faces downward (in the prior art, the opening faces upward), when the user eats, the drive to rotate the digging part, in conjunction with the scraper, allows the food to fall freely, eliminating the need for the user to scrape the food with their lips, making the eating action more convenient. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0031] Figure 1 This is a partial perspective view of the base of the automatic feeding machine in one embodiment of the present invention;

[0032] Figure 2 This is a cross-sectional view of a rice spoon according to an embodiment of the present invention; wherein the sealing cap is in a first state;

[0033] Figure 3 This is a cross-sectional view of a rice spoon in one embodiment of the present invention; wherein the sealing cap is in the second state;

[0034] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle;

[0035] Figure 5 This is a schematic diagram of the structure of the wire drawing part, the first hinge part, the second hinge part, and the drive motor assembly in one embodiment of the present invention;

[0036] Figure 6 This is a three-dimensional schematic diagram of an automatic feeding machine according to an embodiment of the present invention;

[0037] Figure 7 This is a cross-sectional schematic diagram of a rice spoon according to another embodiment of the present invention.

[0038] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

[0039] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0041] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0042] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or," "and / or," or "and / or" throughout the text implies three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0043] For some elderly people, especially those with Parkinson's disease, it is difficult to hold chopsticks and spoons, making it difficult to eat independently and requiring caregivers to feed them, which is costly. Automatic feeding machines can remove food and deliver it to the user's mouth, eliminating the need for manual feeding.

[0044] In existing technologies, a robotic arm is used to control a rice scoop to scoop rice or dishes from a serving dish. Traditional rice scoops have an upward-facing opening, which has the following disadvantages:

[0045] 1. It is difficult to accurately control the amount of food scooped with a rice spoon, especially when the food is in chunks, such as large pieces of pumpkin. Sometimes the food is easy to fall after being scooped, and sometimes the amount of food scooped is too large to be easily fed to the elderly.

[0046] 2. The existing rice scoops are difficult to use to scoop up soup, and the soup is easy to spill after scooping.

[0047] 3. The efficiency of scooping is too low. After each scoop, in order to adjust the amount scooped each time, it is necessary to scrape off the scooping material on the scraper fixed to the base. The scraping process requires precise control of the movement path of the scoop, and the operation time is too long.

[0048] In view of this, see Figure 1-7 This application provides an automatic feeding machine, which includes a base 20, a robotic arm 30, a feeding component, and a controller.

[0049] The base 20 includes a support panel, one side of which is provided with multiple serving trays 21 for holding rice or staple food, each serving tray 21 with its opening facing upwards. Specifically, there can be one or more serving trays 21, each used to hold staple food or dishes. To heat the food, heating wires can be installed in the serving trays 21.

[0050] A robotic arm 30 is connected to the other side of the support panel. The robotic arm 30 includes a first robotic arm and a second robotic arm. The first robotic arm is rotatably connected to the base 20 with its rotation axis arranged vertically. The second robotic arm is rotatably connected to the end of the first robotic arm opposite to the base 20 with its rotation axis arranged horizontally. The robotic arm 30 can drive the feeding component, enabling the feeding component to smoothly remove food and deliver it into the user's mouth.

[0051] The feeding assembly includes a sensing base 40 and a rice spoon 10. The sensing base 40 is rotatably connected to the end of the second robotic arm opposite to the first robotic arm. The rice spoon 10 is connected to the end of the sensing base 40 opposite to the second robotic arm. The sensing base 40 can sense the position of the rice container 21 and the position of the user's mouth. Specifically, the sensing base 40 may include a distance sensor to sense the distance between the rice spoon 10 and the rice container 21, and the distance between the rice spoon 10 and the user's mouth.

[0052] The controller controls the rice spoon 1010 to take food out of the rice container 21 and to put the food into the user's mouth.

[0053] The rice spoon 10 includes a rice spoon body 100, a scooping part 300, and a driving assembly. The rice spoon body 100 includes a handle part 110 and a spoon head 120. The spoon head 120 is connected to one end of the handle part 110 and defines a first scooping cavity 130 (specifically, it can be hemispherical). The opening of the first scooping cavity 130 is arranged downwards (see [reference]). Figure 2-3 In some embodiments, the axis of the opening is arranged vertically, see [reference]. Figure 7 The axis of the opening forms a 45° angle with the horizontal axis. The scooping part 300 is arc-shaped and rotatably connected to the spoon head 120. The scooping part 300 defines a second feeding cavity 340 (specifically, it can be hemispherical). A drive assembly is connected to the scooping part 300 and can drive the scooping part 300 to switch between a first state and a second state. In the first state, the scooping part 300 seals the first feeding cavity 130, and the opening of the second feeding cavity 340 is arranged upwards (see...). Figure 2-3 In some embodiments, the axis of the opening is arranged vertically, see [reference]. Figure 7The opening axis forms a 45° angle with the horizontal axis, and the first feeding cavity 130 and the second feeding cavity 340 are connected to form a common feeding cavity for containing food. In the second state, the scooping part 300 is at least partially contained in the first feeding cavity 130, and the opening of the second feeding cavity 340 is arranged downwards. During the process of switching the scooping part 300 from the second state to the first state, the scooping part 300 is used to scoop food into the feeding cavity.

[0054] The orientation of the rice spoon 10 in this article is based on the horizontal arrangement along the length of the handle 110. It should be noted that the position of the rice spoon 10 will change continuously during operation, and therefore the orientation of each opening of the rice spoon 10 will also change accordingly.

[0055] In the technical solution of this invention, when using the rice spoon 10 to scoop food, conventional scooping actions are not required. When the scooping part 300 is in the second state, the rice spoon 10 can be directly inserted into the food in the rice container, and then the scooping part 300 is driven to rotate to the first state to scoop the food. In this solution, on the one hand, large pieces of food can be cut off by the scooping part 300. For example, a piece of pumpkin can be cut into two parts by the scooping part 300, one part inside the rice spoon 10 and the other part outside the rice spoon 10, and the food will not fall out during the process of being put into the user's mouth. On the other hand, the consistency of the amount of food taken each time is ensured. Furthermore, since it is not necessary to pay attention to the amount of food scooped each time (the maximum amount will not exceed the volume of the scooping cavity), the scooping speed can be greatly improved. Also, the difficulty of judging the relative position of the rice spoon 10 and the food is reduced, and it is even not necessary to judge the relative position of the rice spoon 10 and the remaining food (regardless of how much food is consumed, it can be directly inserted into the food for scooping), thereby reducing the difficulty of scooping.

[0056] Specifically, see Figure 1-2 The rice spoon 10 may also include a heating element 200. The rice spoon body 100 is connected to the sensing base 40 (specifically, the handle part 110 is connected to the sensing base 40), and the heating element 200 is connected to the rice spoon body 100 and is used to heat the rice spoon body 100. When food is located in the first feeding cavity 130, the scooping part 300 is driven to the first state by the controller, which allows the food located in the first feeding cavity 130 to be heated in a sealed environment.

[0057] In the automatic feeding machine provided in this embodiment, after the food is taken out by the scoop 10, the controller can drive the scooping part 300 to move to the first state, so that the scooping part 300 seals the first feeding cavity 130. The food in the first feeding cavity 130 can be in a closed environment, thereby preventing the food from being exposed and cooled down by heat exchange with the external cold air, ensuring the temperature consistency of the food in the scoop 10, and improving the taste of the food.

[0058] Considering that when the scooping part 300 seals the first feeding cavity 130, the amount of food that the scoop 10 can scoop up each time may decrease, in order to increase the capacity of the scoop 10, see [reference needed]. Figure 1-3 In some embodiments, the scooping part 300 is arc-shaped, specifically hemispherical, and defines a second feeding cavity 340. When the scooping part 300 rotates relative to the spoon body 100 to seal the first feeding cavity 130, the first feeding cavity 130 and the second feeding cavity 340 are arranged opposite to each other and together form a receiving cavity for accommodating the retrieved food. This design increases the volume of the spoon 10, thereby increasing the amount of food that the spoon 10 can handle.

[0059] To facilitate feeding, in some embodiments, the controller can also control the scooping part 300 to move to a second state. In the second state, the scooping part 300 rotates relative to the spoon body 100 to a position that fits against the bottom wall of the first feeding cavity 130, with the scooping part 300 located inside the first feeding cavity 130 and the opening of the second feeding cavity 340 exposed. In this solution, when the controller controls the scooping part 300 to be in the second state, it is convenient for the user to eat and for the user to scoop food. In other embodiments, the user can open the scooping part 300 by using their tongue, thus eliminating the need for the feeding machine to automatically open the scooping part 300.

[0060] The applicant considered that after the scooping part 300 seals the first feeding cavity 130, the food scooped out by the spoon 10 may stick to the scooping part 300. In view of this, in some embodiments, the spoon 10 also includes a scraper 500 fixedly connected to the spoon body 100. The scraper 500 is located in the first feeding cavity 130 and is arc-shaped. The scooping part 300 is sandwiched between the scraper 500 and the spoon body 100. When the scooping part 300 moves from the first state to the second state, the scraper 500 scrapes off the food stuck to the inner wall of the scooping part 300. When the scooping part 300 is in the first state and the food in the rice spoon 10 sticks to the inner wall of the scooping part 300, as the scooping part 300 rotates from the first state to the second state, the scraper 500 slides against the concave wall of the scooping part 300. When the food touches the scraper 500, it is hooked out and falls down, thus effectively solving the problem of food sticking to the scooping part 300.

[0061] Furthermore, in the above solution, when the user eats, the drive to scoop the food 300 rotates, which, together with the scraper 500, allows the food to fall freely. The user does not need to scrape the food with their lips, making the eating action more convenient. At the same time, it also avoids the user's lips from being in contact with the spoon 10 for a long time, preventing the user's lips from being burned.

[0062] In some embodiments, the scoop body 100 is disposed above the scooping part 300, the first scooping cavity 130 is arranged with its opening facing downwards, the second scooping cavity 340 is arranged with its opening facing upwards in a first state, and the second scooping cavity 340 is arranged with its opening facing downwards in a second state. The scoop 10 is configured to scoop food from the rice container 21 by driving the scooping part 300 to move from the second state to the first state. In this solution, unlike the prior art, the existing scoop 10 scoops food upwards. In this embodiment, one end of the rice spoon 10 can be directly inserted into the rice trough 21. This process does not require attention to the relative positional relationship between the rice spoon 10 and the food (in the prior art, in order to control the amount of food scooped, it is necessary to monitor the relative positional relationship between the rice spoon 10 and the food). Then, the scooping part 300 in the second state is driven to rotate to the first state. During this process, the scooping part 300 can scoop the food in the rice trough 21. This solution ensures the consistency of the amount of food taken each time, greatly improves the eating speed, and reduces the difficulty of judging the relative position of the rice spoon 10 and the food. It is even not necessary to judge the relative position of the rice spoon 10 and the remaining food, thereby reducing the difficulty of eating.

[0063] The connection method between the scooping part 300 and the rice spoon body 100 depends on actual needs. In some embodiments, the scooping part 300 includes a first hinge part 310 and a second hinge part 320 arranged opposite to each other. The first hinge part 310 is rotatably connected to one end of the rice spoon body 100, and the second hinge part 320 is rotatably connected to the other end of the rice spoon body 100. The rotation axis of the first hinge part 310 coincides with the rotation axis of the second hinge part 320, and the rotation axis of the first hinge part 310 is parallel to the rotation axis of the second robotic arm relative to the first robotic arm (i.e., perpendicular to the length direction of the handle part 110). In this design, the scooping part 300 rotates back and forth, making it convenient for the user to eat. In other embodiments, the rotation axis of the first hinge part 310 may also be parallel to the length direction of the handle part 110.

[0064] See Figure 2 as well as Figure 5In some embodiments, the automatic feeding machine further includes a drive assembly, which includes a wire 410 that passes through the inside of the scoop body 100. One end of the wire 410 is wound around a first hinge portion 310 in a first circumferential direction, and the other end of the wire 410 is wound around a second hinge portion 320 in a second circumferential direction. The drive assembly also includes a drive motor 420 located within the sensing base 40 and connected to the middle of the wire 410. The drive motor 420 is configured to pull one end of the wire 410 connected to the first hinge portion 310 when rotating forward, thereby driving the scooping portion 300 to rotate from a first state to a second state. The drive motor 420 is also configured to pull one end of the wire 410 connected to the second hinge portion 320 when rotating in reverse, thereby driving the scooping portion 300 to rotate from a second state to a first state.

[0065] To prevent users' lips from being burned, in some embodiments, the spoon body 100 includes a handle portion 110 and a spoon head 120. The spoon head 120 includes a first spoon plate 121 and a second spoon plate 122. The first spoon plate 121 and the second spoon plate 122 are connected and together define a sandwich chamber. The side of the second spoon plate 122 away from the first spoon plate 121 defines a first scooping cavity 130. The handle portion 110 is connected to the first spoon plate 121, and the handle portion 110 is hollow and its internal space communicates with the sandwich chamber. The first spoon plate 121 is made of heat-insulating material, the scooping portion 300 is made of heat-insulating material, the second spoon plate 122 is made of heat-conducting material, and the heating portion 200 is disposed in the sandwich chamber and is attached to the second spoon plate 122. In the above solution, when the rice spoon 10 puts the food into the user's mouth, the part that comes into contact with the user's mouth will not be at a high temperature, which prevents the user from being burned due to temperature control errors and improves the user experience.

[0066] To facilitate the placement of the wire 410, in some embodiments, the scooping part 300 is connected to the second spoon plate 122, and the wire 410 passes through the handle part 110 and the interlayer chamber to connect the first hinge part 310 and the second hinge part 320. The middle part of the wire 410 passes through the handle part 110 and exits the handle part;

[0067] See Figure 2-4In some embodiments, in the first state of the scooping part 300, the scooping part 300 includes a first end near the sensing base 40 and a second end away from the sensing base 40. During the rotation of the scooping part 300 from the first state to the second state, the second end first enters the first feeding cavity 130. A pushing protrusion 330 is provided on the outer side of the second end. The pushing protrusion 330 is configured to receive the pushing force of the user's tongue when the food-containing end of the spoon 10 enters the user's mouth, so that the scooping part 300 is pushed from the first state to the second state by the user's tongue. In this scheme, the user can freely control the feeding time with their tongue, facilitating user operation. When the user uses their tongue to push the protrusion 330, they can drive the scooping part 300 to rotate relative to the spoon body 100 to the first state or the second state. When rotating from the first state to the second state, food can be obtained for eating. Furthermore, the protrusion 330 can also provide a sealing effect by abutting against the open end of the spoon head 120.

[0068] In some embodiments, when the motor does not pull the corresponding end of the pull wire 410, the pull wire 410 can be in a relaxed state, thus having a certain margin, so that when the user pushes the protrusion 330 with their tongue, it will not drive the motor to rotate, thereby reducing resistance. In other embodiments, when the rice spoon enters the user's mouth, the motor is in a relaxed state, thereby making it easier for the user to push open the scooping part 300 with their tongue.

[0069] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

Claims

1. An automatic feeding machine, characterized in that, Includes a rice spoon, said rice spoon comprising: The rice spoon body includes a handle and a spoon head. The spoon head is connected to one end of the handle and defines a first feeding cavity with the opening facing downward. The scooping part is arc-shaped and rotatably connected to the spoon head, defining a second feeding cavity; A driving component, connected to the digging part, is capable of driving the digging part to switch between a first state and a second state. In the first state, the digging part seals the first feeding cavity, the opening of the second feeding cavity faces upward, and the first feeding cavity and the second feeding cavity are connected to form a common feeding cavity for containing food. In the second state, the digging part is at least partially contained in the first feeding cavity, and the opening of the second feeding cavity faces downward. When taking food, the spoon is inserted into the food with the opening of the first feeding cavity facing downwards. During the process of the driving component driving the scooping part to switch from the second state to the first state, the scooping part rotates relative to the spoon head to scoop the food and accommodate it into the feeding cavity during the rotation.

2. The automatic feeding machine as described in claim 1, characterized in that, The digging part includes a first hinge part and a second hinge part arranged opposite to each other. The first hinge part is rotatably connected to one end of the rice spoon body, and the second hinge part is rotatably connected to the other end of the rice spoon body. The rotation axis of the first hinge part coincides with the rotation axis of the second hinge part.

3. The automatic feeding machine as described in claim 2, characterized in that, The rotation axis of the first hinge is perpendicular to the length direction of the handle.

4. The automatic feeding machine as described in claim 2, characterized in that, The rotation axis of the first hinge is parallel to the length direction of the handle.

5. The automatic feeding machine as described in claim 1, characterized in that, The axis of the opening of the first feeding cavity is arranged vertically, and in the first state, the axis of the opening of the second feeding cavity is arranged vertically.

6. The automatic feeding machine as described in claim 1, characterized in that, The axis of the opening of the first feeding cavity is inclined at 45°, and in the first state, the axis of the opening of the second feeding cavity is inclined at 45°.

7. The automatic feeding machine as described in claim 1, characterized in that, The rice spoon also includes a scraper fixedly connected to the rice spoon body. The scraper is located in the first feeding cavity and is arc-shaped. The scooping part is sandwiched between the scraper and the rice spoon body. When the scooping part moves from the first state to the second state, the scraper scrapes off the food that is stuck to the inner wall of the scooping part.

8. The automatic feeding machine as described in claim 2, characterized in that, The drive assembly includes a wire that passes through the interior of the rice spoon body, with one end of the wire wrapped around the first hinge in a first circumferential direction and the other end of the wire wrapped around the second hinge in a second circumferential direction; the middle part of the wire passes through the handle and extends out of the handle. The drive assembly further includes a drive motor connected to the middle of the wire drawing section. The drive motor is configured to pull one end of the wire drawing section connected to the first hinge portion when rotating forward, thereby driving the digging section to rotate from the first state to the second state. The drive motor is configured to pull one end of the wire drawing section connected to the second hinge portion when rotating in reverse, thereby driving the digging section to rotate from the second state to the first state.

9. The automatic feeding machine as described in claim 1, characterized in that, Also includes: The base includes a support panel, and one side of the support panel is provided with a plurality of food troughs for holding food, with the openings of each food trough facing upwards. A robotic arm is connected to the other side of the support panel. The robotic arm includes a first robotic arm and a second robotic arm. The first robotic arm is rotatably connected to the base and its rotation axis is arranged vertically. The second robotic arm is rotatably connected to the end of the first robotic arm away from the base and its rotation axis is arranged horizontally. A sensing base is rotatably connected to the end of the second robotic arm away from the first robotic arm. The rice spoon is connected to the end of the sensing base away from the second robotic arm. The sensing base can sense the position of the rice trough and the position of the user's mouth. The controller controls the rice scoop to take food out of the rice container and to put the food into the user's mouth.

10. The automatic feeding machine as described in claim 1, characterized in that, The first feeding chamber is hemispherical, and the second feeding chamber is hemispherical.

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