Automatic feeding device and automatic cooking equipment thereof

Abstract

The utility model discloses an automatic feeding device and automatic cooking equipment thereof, the automatic feeding device comprises a rack, a material rack, a feeding assembly and a moving mechanism, the material rack is arranged on the rack, and a plurality of material storages are arranged on the material rack; the feeding assembly comprises a clamping mechanism and a turnover mechanism, and the clamping mechanism is arranged on the side, in the first direction, of the turnover mechanism. The clamping mechanism is used for clamping the stocker; the turnover mechanism is used for driving the clamping mechanism to turn over in the second direction; the second direction is perpendicular to the first direction; the moving mechanism is used for conveying the material frame or the feeding assembly in the first direction so that the material frame or the feeding assembly can reach the feeding station. According to the automatic feeding device, automatic clamping and feeding of the materials are achieved, and the amplitude of the overturning action is small when the materials are fed, so that the feeding period is shortened, and the feeding efficiency and the feeding accuracy are improved.

Description

Technical Field

[0001] The utility model relates to the field of automatic cooking equipment, in particular to an automatic feeding device and automatic cooking equipment thereof. Background Art

[0002] With the rapid development of social economy, people's pace of life is getting faster and faster. Most working-class people prefer to choose fast food restaurants and restaurants for mass consumption. Automatic cooking machines are widely used in fast food restaurants and restaurants to improve the cooking efficiency of dishes and reduce the labor intensity of chefs.

[0003] As one of the core modules of a cooking machine, the automatic feeding device has a great impact on the quality of dishes. At present, the traditional feeding device uses an electromagnetic suction cup to adsorb the material box, and the suction cup drives the material storage box to move and flip, and the material in the material box is fed into the pot. In order to be able to adsorb the material storage box, it is necessary to fix a piece of magnetic metal material on the surface of the material storage box, which has high requirements on the strength and material of the material storage box. Generally, it is necessary to use 304 stainless steel stretch molding or PP material injection molding and other molding processes to make the material storage box. However, this will result in a higher cost for the material storage box. The material storage boxes made by this process are often reused. Therefore, during use, the sealing, transportation, storage, loading, recycling, and cleaning of the material box are all issues that need to be considered, and the cost of using the overall device is relatively high.

[0004] There is also a feeding method that uses a film to seal the material in a multi-grid plastic box. When feeding, the film is first torn off manually, and then the material in the box is put into the pot. Because the storage temperature of different materials is different, this integral material box cannot be stored in different temperature zones, which can easily cause some materials to deteriorate. In addition, when the material box contains relatively sticky solids, liquids and other materials, some of the materials will adhere to the material box during feeding. Since the integral material box is used, when feeding, the material that has not been thrown in from the previous grid may suddenly fall into the pot and affect the cooking effect. Another big problem with feeding with a sealed film box is that the materials can only be loaded and fed in sequence, and the feeding order of the material box cannot be adjusted at will.

[0005] Therefore, there is an urgent need for an automatic feeding device and automatic cooking equipment thereof to overcome the above-mentioned defects. Utility Model Content

[0006] In order to overcome at least one of the defects described in the above-mentioned prior art, one of the purposes of the present invention is to provide an automatic cooking system, especially an automatic stir-frying system, and an automatic feeding device with multiple hoppers for the system, which adopts a clamping mechanism for clamping the opposite sides of the hopper, which can clamp the hopper more stably, and by optimizing the relative positions of the hopper, the clamping mechanism and the flipping mechanism, the layout of the three is more reasonable, the operation is faster and more reliable, and the feeding efficiency and feeding reliability are improved.

[0007] A second object of the present invention is to provide an automatic cooking device that can use low-cost material storage containers, especially disposable material boxes.

[0008] The technical solution adopted by the present invention to solve the problem is:

[0009] An automatic feeding device, comprising:

[0010] frame;

[0011] A material rack, the material rack is arranged on the frame, and a plurality of storage containers are provided on the material rack;

[0012] The feeding assembly includes a clamping mechanism and a flipping mechanism, wherein the clamping mechanism is arranged on one side of the flipping mechanism along a first direction; the clamping mechanism is used to clamp the accumulator; the flipping mechanism is used to drive the clamping mechanism to flip along a second direction; the second direction is perpendicular to the first direction;

[0013] A moving mechanism is used to transport the material rack or the feeding assembly along a first direction so that the material rack or the feeding assembly reaches the feeding station.

[0014] Furthermore, the clamping mechanism includes two groups of clamping arms and a driving member, the flipping mechanism includes a mounting seat, the two groups of clamping arms are arranged on one side of the mounting seat along the first direction, and the two groups of clamping arms are arranged opposite to each other in the second direction; the driving member is used to drive the two groups of clamping arms to move closer to or away from each other, and the two groups of clamping arms are used to clamp the storage container after moving closer to each other.

[0015] Furthermore, the mounting seat is arranged above the accumulator, and the bottom height of the portion of the mounting seat directly above the accumulator is greater than the height of the upper end surface of the accumulator.

[0016] Furthermore, the clamping arm includes a clamping section and a connecting section, the connecting section is arranged at one end of the clamping section and is arranged at an angle to the clamping section, the driving member is used to drive the connecting section to rotate, and the connecting section is used to drive the clamping section to rotate during the rotation process, and the clamping sections of the two groups of clamping arms are used to move closer to or away from each other during the rotation process.

[0017] Furthermore, the driving member includes two rotation driving devices, each of which is provided with a first connecting shaft connected to the connecting section; the rotation driving device is used to drive the connecting section to rotate.

[0018] Furthermore, the clamping arm also includes a second connecting shaft, which is arranged at an end of the connecting section away from the clamping section, and the extension direction of the second connecting shaft is the same as the extension direction of the clamping section; the driving member is used to drive the second connecting shaft to rotate, and the second connecting shaft is used to drive the connecting section and the clamping section to rotate during the rotation process.

[0019] Furthermore, the driving member includes a motor, two groups of gears and a connecting rod, the two groups of gears are meshed with each other, one group of gears is fixedly connected to the output shaft of the motor, a transmission shaft is provided on the gear, the transmission shaft is eccentrically arranged with the gear, and the two ends of the connecting rod are respectively connected to the transmission shaft and the second connecting shaft; the gear is used to drive the connecting rod to swing during the rotation process, and the connecting rod is used to drive the second connecting shaft and the clamping section to perform circular motion during the swinging process.

[0020] Furthermore, the driving member includes a motor, two sets of gears, a connecting rod and a connecting member, the two sets of gears are meshed with each other, one set of gears is fixedly connected to the output shaft of the motor, a transmission shaft is provided on the gears, and the transmission shaft is eccentrically arranged with the gears; the connecting member includes a first connecting section and a second connecting section connected at an angle;

[0021] The two ends of the connecting rod are respectively connected to the transmission shaft and the first connecting section, and the end of the second connecting section away from the first connecting section is connected to the second connecting shaft; the connecting rod is used to drive the connecting member to rotate around the second connecting shaft during the swinging process, so that the second connecting shaft rotates; the second connecting shaft is used to drive the connecting section and the clamping section to rotate during the rotation process.

[0022] Furthermore, the driving member includes a motor, a transmission gear and a rack, the transmission gear is fixedly connected to the output shaft of the motor, and the transmission gear is meshed with the rack, and one end of the rack is connected to the clamping arm.

[0023] Furthermore, when the two groups of clamping arms move away from each other, they do not enter the projection range of the storage container in the first direction.

[0024] Furthermore, the clamping mechanism includes a clamping arm, the flipping mechanism includes a mounting seat, the clamping arm is arranged on one side of the mounting seat along the first direction; the clamping arm has a first clamping section and a second clamping section, the first clamping section and the second clamping section are arranged at intervals along the second direction and form a clamping gap; the moving mechanism is used to make the storage container and the clamping gap move closer to each other.

[0025] Furthermore, the clamping arm is a flexible clamping arm.

[0026] Furthermore, the clamping arms clamp the accumulator in a manner of clamping opposite side walls or opposite side ends of the accumulator.

[0027] Furthermore, a first limiting portion is provided on the side of the clamping arm facing the accumulator, and a second limiting portion is provided on the accumulator; the first limiting portion is used to be connected to the second limiting portion when the clamping arm approaches the accumulator.

[0028] Furthermore, the first limiting portion includes a clamping groove or a clamping protrusion, the clamping groove or the clamping protrusion has a clamping surface, and the positive projection of the clamping surface in the first direction is an arc, a broken line or other curve; the second limiting portion is a protrusion or a recessed portion, the protrusion is used to be embedded in the clamping groove, and the clamping protrusion is used to be embedded in the recessed portion.

[0029] Furthermore, the material rack is provided with a plurality of the stockers, at least two of the stockers have different specifications, and the clamped portion of each of the stockers is at the same or similar height to the clamping position of the clamping arm.

[0030] Furthermore, the surface of the material rack is provided with a boss or a groove, and the bottom of the storage container is arranged on the boss or the groove; or, the material rack is provided with a through hole, and the side wall or end of the storage container is placed in the through hole, and the size of the through hole is matched with the size of the side wall or end of the storage container, so that the clamped parts of each of the storage containers are located at the same or similar height.

[0031] Furthermore, the flipping mechanism includes a flipping motor and a rotating shaft, the mounting seat is connected to the flipping motor via the rotating shaft, and the flipping motor is used to flip the mounting seat so that the mounting seat drives the clamping mechanism to flip.

[0032] Furthermore, the moving mechanism includes a slide rail and a slide slidably connected to the slide rail, and the material rack or the feeding assembly is arranged on the slide, or integrated with the slide.

[0033] An automatic cooking device comprises the automatic feeding device as described above and a pot, wherein the feeding assembly is used for turning over and feeding materials toward the pot.

[0034] In summary, the automatic feeding device and automatic cooking equipment provided by the present invention have the following technical effects:

[0035] 1) The automatic feeding device can realize the automatic clamping and feeding of materials. The clamping mechanism clamps the opposite side of the hopper, making the clamping of the hopper more stable.

[0036] 2) By optimizing the relative positions of the accumulator, clamping mechanism and flipping mechanism, the layout of the three is made more reasonable, the operation is faster and more reliable, and the feeding efficiency and feeding reliability are improved.

[0037] 3) The automatic clamping mechanism directly clamps the hopper by clamping on opposite sides, which has low requirements on the material and strength of the hopper, and does not require auxiliary devices to be installed on the hopper, so low-cost hoppers, especially disposable cassettes, can be used. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the overall structure of the automatic feeding device according to an embodiment of the present utility model;

[0039] Figure 2 This is a structural diagram of a feeding assembly according to an embodiment of the present utility model;

[0040] Figure 3 This is a schematic structural diagram of the driving member in the first embodiment of the present utility model;

[0041] Figure 4 This is a schematic structural diagram of a driving member in the second embodiment of the present utility model;

[0042] Figure 5 for Figure 4 A structural diagram from another perspective;

[0043] Figure 6 This is a structural diagram of the turning mechanism of the embodiment of the utility model when turning over the clamping mechanism;

[0044] Figure 7 This is a structural diagram of the automatic feeding device of the embodiment of the utility model after the frame is hidden;

[0045] Figure 8 This is a top view of the automatic cooking device according to an embodiment of the present invention.

[0046] The meanings of the reference numerals are as follows:

[0047] 1. Frame; 2. Material rack; 21. Material storage container; 22. Protrusion; 3. Feeding assembly; 31. Flipping motor; 32. Mounting seat; 33. Clamping arm; 331. Connecting section; 332. Clamping section; 333. First connecting shaft; 334. Clamping groove; 335. Second connecting shaft; 34. Driving member; 341. Motor; 342. Gear; 343. Connecting rod; 344. Transmission shaft; 346. Connecting member; 347. First connecting section; 348. Second connecting section; 349. Clamping interval; 35. Rotating shaft; 36. Rotational drive device; 4. Moving mechanism; 41. Slide rail; 42. Slide; 5. Cookware. DETAILED DESCRIPTION

[0048] For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0049] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the present invention.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0051] Example 1

[0052] See Figure 1 The utility model discloses an automatic feeding device, which is provided with a feeding station. Specifically, the automatic feeding device includes a frame 1, a material rack 2, a feeding assembly 3 and a moving mechanism 4, wherein the material rack 2 is provided on the frame 1, and a plurality of storage containers 21 are provided on the material rack 2. Figure 2 The clamping mechanism is arranged on one side of the flipping mechanism along the first direction, and the clamping mechanism is used to clamp the accumulator 21. Figure 6 The flipping mechanism is used to drive the clamping mechanism to flip along the second direction, and the second direction is perpendicular to the first direction. In addition, the moving mechanism 4 is used to transport the material rack 2 or the feeding assembly 3 along the first direction so that the material rack 2 or the feeding assembly 3 reaches the feeding station.

[0053] On the basis of this structure, when using the automatic feeding device of the present invention, the moving mechanism 4 is first driven to move in the first direction, and the target hopper 21 on the feeding assembly 3 or the material rack 2 is accurately moved to the feeding station, so that the clamping mechanism actively or passively clamps the target hopper 21; once the hopper 21 is firmly clamped, the flipping mechanism starts to work, driving the clamping mechanism and the clamped hopper 21 to flip in the second direction, so that the material in the hopper 21 naturally slides out or pours into the pot 5 due to gravity.

[0054] After the feeding is completed, the turning mechanism reverses and resets the clamping mechanism and the hopper 21 to their initial state, and the clamping mechanism releases the clamping of the hopper 21. Subsequently, the moving mechanism 4 starts again and moves the next hopper 21 to be fed to the feeding station, repeating the above process of clamping, turning, feeding, and resetting to achieve continuous automatic feeding.

[0055] The first direction and the second direction are both horizontal directions, and the first direction is the linear conveying direction of the moving mechanism 4. The clamping mechanism is arranged on one side of the flipping mechanism along the first direction, and the moving mechanism 4 conveys the material rack 2 or the feeding assembly 3 along the first direction, so that after the clamping mechanism clamps the accumulator 21, the accumulator 21 and the flipping mechanism are still arranged adjacent to each other along the first direction.

[0056] Therefore, when the flipping mechanism flips the clamping mechanism and the clamped storage container 21 along the second direction, the storage container 21 is not affected by the position of the flipping mechanism or other storage containers 21 in the second direction, and can flip relative to the flipping mechanism with a smaller rotation radius, thereby achieving a smaller flipping action.

[0057] It should be noted that if the clamping mechanism is arranged on one side of the flipping mechanism along the second direction, then the clamping mechanism is arranged after the accumulator 21 is clamped, and the accumulator 21 and the flipping mechanism are arranged adjacent to each other in the second direction. Therefore, when the flipping mechanism flips the clamped accumulator 21 along the second direction, since the accumulator 21 is affected by the position of the flipping mechanism in the second direction, the clamping mechanism and the accumulator 21 have to rotate more significantly around the flipping mechanism to avoid the position of the flipping mechanism in the flipping direction. This will result in the clamping mechanism and the accumulator 21 needing to perform a larger flipping action to achieve the material delivery in the accumulator 21, and the increase in the amplitude of the flipping action will lead to problems such as extended feeding cycle, increased energy consumption and decreased feeding accuracy.

[0058] The present application optimizes the relative positions of the clamping mechanism and the flipping mechanism by arranging the clamping mechanism on one side of the flipping mechanism along the first direction, thereby ensuring the freedom of the clamping mechanism and the clamped storage container 21 in the flipping direction. The clamping mechanism and the storage container 21 can be flipped relative to the flipping mechanism with a smaller rotation radius, reducing the amplitude of the flipping action, thereby shortening the feeding cycle, reducing energy consumption, and improving flipping efficiency and stability.

[0059] Example 2

[0060] In this embodiment, the clamping mechanism is driven by the driving member 34 to approach and clamp the accumulator 21 , that is, the clamping mechanism realizes the clamping action in an active clamping manner.

[0061] See Figure 2The flip mechanism includes a mounting base 32, and the clamping mechanism includes two sets of clamping arms 33. The two sets of clamping arms 33 are both disposed on one side of the mounting base 32 along the first direction, and the two sets of clamping arms 33 are disposed opposite each other in the second direction. In addition, the clamping mechanism also includes a driving member 34, which is used to drive the two sets of clamping arms 33 to move toward or away from each other, and the two sets of clamping arms 33 are used to clamp the hopper 21 after moving toward each other.

[0062] Based on this structure, when automatically feeding, the moving mechanism 4 first moves the target accumulator 21 or the feeding assembly 3 to the feeding station. At this time, the two groups of clamping arms 33 are separated from each other, and the distance between the clamping parts of the two in the second direction is greater than the distance between the two clamped parts of the accumulator 21, so that the accumulator 21 can be moved between the two groups of clamping arms 33. When implementing the clamping action, the control system can send a clamping instruction to the driver 34; after receiving the instruction, the driver 34 starts working and drives the two groups of clamping arms 33 to move closer to each other along the second direction. As the two groups of clamping arms 33 gradually approach, they work together on both sides of the accumulator 21 until the accumulator 21 is firmly clamped. After clamping the accumulator 21, the driver 34 maintains the current state to ensure that the clamping arms 33 stably clamp the accumulator 21.

[0063] The flipping mechanism then begins to operate, flipping the mounting base 32 and the clamped hopper 21 in the second direction. Because the two sets of clamping arms 33 are positioned opposite each other in the second direction and firmly hold the hopper 21, the hopper 21 can smoothly follow the flipping mechanism's rotation. During this process, the contents of the hopper 21 are smoothly poured into the pot 5, completing the feeding process. After feeding is complete, the flipping mechanism returns the mounting base 32 and clamping arms 33 to their initial positions. The driver 34 then receives another command, driving the two sets of clamping arms 33 away from each other, releasing the hopper 21.

[0064] Thus, the distance between the two sets of clamping arms 33 is automatically adjusted by the driving member 34, thereby realizing automatic opening and closing of the clamping arms 33 and improving working efficiency. Among them, the clamping mechanism can adapt to hoppers 21 of different sizes and shapes, thereby improving the versatility and flexibility of the equipment.

[0065] Among them, the clamping arm 33 is arranged on one side of the mounting seat 32 along the first direction, and the clamping arm 33 and the storage container 21 are not affected by the position of the mounting seat 32 or other storage containers 21 in the second direction, ensuring the freedom of the clamping arm 33 and the clamped storage container 21 in the flipping direction. The clamping arm 33 and the storage container 21 can flip relative to the flipping mechanism with a smaller rotation radius to achieve a smaller flipping action.

[0066] Further, see Figure 6The mounting seat 32 is disposed above the accumulator 21 , and a bottom height of a portion of the mounting seat 32 above the accumulator 21 is greater than a height of an upper end surface of the accumulator 21 .

[0067] When the target accumulator 21 is behind the other accumulators 21 in the conveying direction, the other accumulators 21 can pass under the mounting seat 32 until the target accumulator 21 reaches the feeding station. At this time, the clamping arm 33 clamps the target accumulator 21 for feeding.

[0068] Thus, the mounting base 32 can avoid the transportation of the hopper 21, and the feeding assembly 3 can arbitrarily grab the material hopper 21 to be fed. Since the automatic feeding device of the present application can selectively clamp the target hopper 21, there is no need to set auxiliary components such as positioning or adsorption on the hopper 21, which reduces the requirements on the material and strength of the hopper 21, thereby allowing the use of low-cost hoppers 21, especially disposable boxes.

[0069] Based on the second embodiment, the following third and fourth embodiments illustrate the specific structure of the active clamping type clamping mechanism:

[0070] Example 3

[0071] In this embodiment, the driving member 34 drives the clamping arm 33 to rotate, so that the clamping arm 33 approaches and clamps the accumulator 21 .

[0072] Specifically, the clamping arm 33 includes a clamping section 332 and a connecting section 331. The connecting section 331 is disposed at one end of the clamping section 332 and is disposed at an angle to the clamping section 332. The driving member 34 is used to drive the connecting section 331 to rotate. The connecting section 331 is used to drive the clamping section 332 to rotate during the rotation process. The clamping sections 332 of the two sets of clamping arms 33 are used to move toward or away from each other during the rotation process.

[0073] Based on this structure, during use, the driving member 34 drives the connecting section 331 to rotate in a specific direction. Due to the angle between the connecting section 331 and the clamping section 332, the rotation of the connecting section 331 causes the clamping section 332 to rotate about the rotation point of the connecting section 331. As the connecting section 331 continues to rotate, the clamping sections 332 of the two sets of clamping arms 33 gradually approach each other until the clamping sections 332 are tightly attached to both sides of the hopper 21, thereby firmly clamping the hopper 21.

[0074] Among them, the clamping section 332 is rotated in linkage with the driving member 34 through the connecting section 331, and the connecting section 331 and the clamping section 332 are set at an angle, so that the clamping section 332 can rotate in a circle with the connecting section 331 as the rotation radius, thereby realizing that the clamping sections 332 of the two groups of clamping arms 33 clamp or release the storage container 21 when they are close to or far away from each other.

[0075] As an implementation method of this embodiment, see Figure 3 The driving member 34 includes two rotation driving devices 36. Specifically, the rotation driving device 36 is provided with a first connecting shaft 333, and the first connecting shaft 333 is connected to the connecting section 331 on the clamping arm 33. The rotation driving device 36 is used to drive the connecting section 331 to rotate.

[0076] Based on this structure, the rotation drive device 36 can be a rotating electromagnet or motor 341 in the prior art. When in use, the rotation drive device 36 is activated to rotate the first connecting shaft 333, and the first connecting shaft 333 rotates the connecting section 331 during the rotation process, which in turn causes the connecting section 331 to rotate the clamping section 332.

[0077] Among them, the clamping section 332 is rotated in conjunction with the first connecting shaft 333 through the connecting section 331, and the connecting section 331 and the clamping section 332 are set at an angle, so that the clamping section 332 can rotate in a circle with the connecting section 331 as the rotation radius, thereby realizing that the clamping sections 332 of the two groups of clamping arms 33 clamp or release the storage container 21 when they are close to or far away from each other.

[0078] It should be noted that, in this embodiment, if the connecting section 331 is not provided on the clamping arm 33, and the first connecting shaft 333 is directly connected to one end of the clamping section 332, then when the first connecting shaft 333 rotates, it will only drive the clamping section 332 to rotate in place, and cannot make the clamping sections 332 of the two sets of clamping arms 33 approach or move away from each other during the rotation process.

[0079] That is, in this embodiment, when the clamping section 332 is driven to rotate by the rotary drive device 36, a connecting section 331 is set between the rotary drive device 36 and the clamping section 332, and the connecting section 331 and the clamping section 332 are set at an angle, thereby increasing the rotation radius of the clamping section 332, so that the clamping section 332 can realize circular rotation, thereby realizing that the clamping sections 332 of the two sets of clamping arms 33 can clamp or release the storage container 21 during the movement of approaching or moving away from each other.

[0080] Unlike the above embodiment, the first connecting shaft 333 is a component of the driving member 34. In other embodiments, the clamping arm 33 further includes a second connecting shaft 335, and the second connecting shaft 335 is formed on the clamping arm 33. Specifically, the second connecting shaft 335 is disposed at the end of the connecting section 331 away from the clamping section 332, and the second connecting shaft 335 extends in the same direction as the clamping section 332. The driving member 34 is used to drive the second connecting shaft 335 to rotate, so that the second connecting shaft 335 rotates the connecting section 331 and the clamping section 332.

[0081] When in use, the driving member 34 drives the second connecting shaft 335 on the clamping arm 33 to rotate, so that the clamping section 332 rotates in a circle with the connecting section 331 as the rotation radius. The clamping sections 332 of the two groups of clamping arms 33 clamp or release the storage container 21 during the movement towards or away from each other.

[0082] As an implementation method of this embodiment, see Figure 5 The driving member 34 includes a motor 341, two sets of gears 342, and a connecting rod 343. Specifically, one set of gears 342 is fixedly connected to the output shaft of the motor 341. The two sets of gears 342 mesh with each other. A transmission shaft 344 is provided on the gears 342, and the transmission shaft 344 is eccentrically arranged with respect to the gears 342. The connecting rod 343 is connected to the transmission shaft 344 and the second connecting shaft 335 at both ends, respectively. Thus, the gears 342 are used to drive the connecting rod 343 to swing during rotation, and the connecting rod 343 is used to drive the second connecting shaft 335 and the clamping section 332 to perform circular motion during swinging.

[0083] Based on this structure, to achieve the gripping action, motor 341 is first activated, causing its output shaft to rotate, thereby driving a set of gears 342 connected to the output shaft of motor 341. Because the two sets of gears 342 are meshed, they rotate synchronously and in opposite directions. As gears 342 rotate, drive shaft 344 moves in a circular motion around the center of gear 342. However, due to its eccentric configuration, the actual motion trajectory of drive shaft 344 is an arc centered at the center of gear 342.

[0084] The ends of the connecting rod 343 are connected to the transmission shaft 344 and the second connecting shaft 335, respectively. Therefore, when the transmission shaft 344 moves in an arc, the connecting rod 343 swings accordingly. This swinging motion is transmitted to the second connecting shaft 335 via the connecting rod 343, which in turn drives the clamping section 332 to move about the connecting section 331, allowing the clamping section 332 to gradually move closer to or further away from the accumulator 21.

[0085] As the motor 341 continues to rotate and the gear 342, transmission shaft 344, connecting rod 343 and other components work together, the clamping sections 332 of the two sets of clamping arms 33 gradually approach each other until they are tightly fitted on both sides of the hopper 21. At this point, the clamping mechanism achieves a stable clamping of the hopper 21.

[0086] Thus, through the drive system of motor 341 and gear 342, the gripping action of the clamping arm 33 can be precisely controlled. The speed and direction of the motor 341 can be precisely adjusted to ensure that the clamping arm 33 moves along a predetermined trajectory and speed. Simultaneously, the synchronous counter-rotating rotation of the two sets of gears 342 ensures that the clamping arms 33 on both sides can move simultaneously but in opposite directions. This allows a single motor 341 to drive both sets of clamping arms 33 to achieve both gripping and releasing actions, simplifying the drive structure.

[0087] In some other embodiments, the driving member 34 includes a motor 341, two sets of gears 342, a connecting rod 343, and a connecting member 346. Specifically, the two sets of gears 342 are meshed with each other, with one set of gears 342 fixedly connected to the output shaft of the motor 341. A transmission shaft 344 is provided on the gears 342, and the transmission shaft 344 is eccentrically disposed with respect to the gears 342. The connecting member 346 specifically includes a first connecting section 347 and a second connecting section 348 that are connected at an angle.

[0088] Among them, see Figure 4 The ends of the connecting rod 343 are connected to the transmission shaft 344 and the first connecting section 347, respectively. The end of the second connecting section 348, which is away from the first connecting section 347, is connected to the second connecting shaft 335. Thus, the connecting rod 343 is used to drive the connecting member 346 to rotate about the second connecting shaft 335 during the swinging process, thereby causing the second connecting shaft 335 to rotate. The second connecting shaft 335 is used to drive the connecting section 331 and the clamping section 332 to rotate during the rotation process.

[0089] Unlike the previous embodiment, the ends of the connecting rod 343 are respectively connected to the transmission shaft 344 and the second connecting shaft 335. In this embodiment, a connecting member 346 is further provided between the connecting rod 343 and the second connecting shaft 335. Furthermore, it should be noted that the driving member 34 is disposed within the mounting base 32, while the clamping arm 33 is disposed outside the mounting base 32. The second connecting shaft 335 is rotatably but immovably connected to the mounting base 32 to connect the clamping arm 33 and the driving member 34.

[0090] During use, the swing of the connecting rod 343 will push the connecting member 346 to rotate around the second connecting shaft 335 through the first connecting section 347, and due to the angle setting between the first connecting section 347 and the second connecting section 348, this rotation can be converted into a rotational motion of the second connecting shaft 335.

[0091] Therefore, this embodiment realizes a movement mode in which the second connecting shaft 335 can only rotate and cannot move through the connecting member 346. Therefore, when the second connecting shaft 335 rotates, it will drive the clamping section 332 to perform corresponding rotational movement; as the second connecting shaft 335 continues to rotate, the clamping section 332 will gradually approach or move away from the storage container 21.

[0092] Example 4

[0093] Different from the third embodiment, the driving member 34 in this embodiment drives the clamping arm 33 to perform translational motion, thereby causing the clamping arm 33 to approach and clamp the accumulator 21 .

[0094] Specifically, the driving member 34 is used to drive the clamping arms 33 to translate, and the two groups of clamping arms 33 are used to move closer to each other or move away from each other. Wherein, after the two groups of clamping arms 33 move closer to each other, they can clamp the accumulator 21, and after the two groups of clamping arms 33 move away from each other, they can release the accumulator 21.

[0095] Furthermore, the driving member 34 specifically includes a motor 341 , a transmission gear and a rack, wherein the transmission gear is fixedly connected to the output shaft of the motor 341 , and the transmission gear is meshed with the rack, and one end of the rack is connected to the clamping arm 33 .

[0096] Based on this structure, when implementing the clamping action, the control system can send a clamping instruction to the motor 341; after receiving the instruction, the motor 341 starts to work, and the output shaft of the motor 341 drives the transmission gear to rotate. Since the transmission gear is meshed with the rack, the transmission gear can drive the rack to move when it rotates, and then drive the clamping arm 33 to move.

[0097] The transmission gears can be a pair of meshing gears, each meshing with a parallel rack of equal length, the direction of the rack being consistent with the direction of movement of the clamping arms 33. When the output shaft of the motor 341 drives one of the gears to rotate, the other gear can also rotate in the opposite direction, thereby driving the two clamping arms 33 to move in opposite directions, that is, the two clamping arms 33 can move closer to or farther away from each other.

[0098] In this way, the two clamping arms 33 can be driven to move simultaneously by a motor 341, and by adjusting the number of teeth of the gear and the length of the rack, the translation distance and speed of the clamping arm 33 can be flexibly controlled so that the clamping mechanism can adapt to storage containers 21 of different sizes and shapes, thereby improving the versatility and flexibility of the equipment.

[0099] Furthermore, in the first, second, third and fourth embodiments, the two groups of clamping arms 33 do not enter the projection range of the accumulator 21 in the first direction when they move away from each other.

[0100] That is, when the two sets of clamping arms 33 are moving away from each other, their projections in the first direction do not overlap with the projections of the hopper 21 in the first direction. Therefore, along the conveying direction, when there are other hoppers 21 in front of the target hopper 21, the distance between the two sets of clamping arms 33 is sufficient to avoid the conveying of the hopper 21, allowing the other hopper 21 to pass. When the target hopper 21 reaches the feeding station, the two sets of clamping arms 33 move closer to each other again to clamp the target hopper 21.

[0101] Example 5

[0102] In this embodiment, the clamping mechanism does not need to be driven by the driving member 34, and the clamping mechanism clamps the accumulator 21 through the relative movement between the accumulator 21 and the feeding assembly 3. In other words, the clamping mechanism clamps the accumulator 21 in a passive clamping manner.

[0103] Specifically, the flip mechanism includes a mounting base 32, and the clamping mechanism includes a clamping arm 33, which is disposed on one side of the mounting base 32 along the first direction. The clamping arm 33 has a first clamping section and a second clamping section, and the first clamping section and the second clamping section are spaced apart along the second direction to form a clamping gap 349. The moving mechanism 4 is used to move the accumulator 21 and the clamping gap 349 toward each other.

[0104] Based on this structure, since the clamping arm 33 is arranged on one side of the mounting seat 32 along the first direction, and the first clamping section and the second clamping section are spaced along the second direction to form a clamping gap 349, when the storage container 21 and the feeding assembly 3 move relative to each other and approach each other in the first direction, the storage container 21 can enter the clamping gap 349 along the first direction to enable the clamping arm 33 to passively clamp the storage container 21.

[0105] The flipping mechanism then begins to operate, flipping the mounting base 32 and the clamped hopper 21 in the second direction. Because the clamping arm 33 is positioned to one side of the mounting base 32 along the first direction, the clamping arm 33 and the clamped hopper 21 are not affected by the mounting base 32's position in the second direction, allowing the clamping arm 33 and the clamped hopper 21 to flip with a relatively small rotation radius. Simultaneously, the first and second clamping sections are positioned opposite each other in the second direction, firmly clamping the hopper 21. The hopper 21 smoothly rotates in response to the flipping mechanism. During this process, the material in the hopper 21 is smoothly dumped into the cookware 5, completing the feeding process.

[0106] After the feeding is completed, the flip mechanism resets the mounting seat 32 and the clamping arm 33 to the initial position; then the moving mechanism 4 moves again along the first direction, causing the storage container 21 and the feeding assembly 3 to move away from each other, thereby causing the storage container 21 to exit the clamping interval 349.

[0107] As a result, the clamping mechanism requires no additional power source, instead achieving clamping through the relative motion between the hopper 21 and the feeding assembly 3. This simplifies the structure, reduces energy consumption, and improves system reliability. Furthermore, the entire process of positioning, clamping, flipping, feeding, and resetting the hopper 21 is automated, eliminating the need for human intervention.

[0108] Specifically, the clamping arm 33 may be a U-shaped clamping plate, an arc-shaped connecting plate, etc., which has two clamping sections that are opposite and spaced apart, and the two clamping sections are a first clamping section and a second clamping section.

[0109] Furthermore, the clamping arm 33 is a flexible clamping arm.

[0110] Specifically, the flexible clamping arm includes a rigid support frame and an elastic pad coated on the rigid support frame. More specifically, the rigid support frame is made of stainless steel, and the elastic pad is a silicone pad or a rubber pad.

[0111] In this way, the flexible clamping arm has strong supporting and buffering properties, so that the clamping interval 349 formed by the first clamping section and the second clamping section has a certain degree of adjustability, and the flexible clamping arm can fit tightly with the surface of the storage container 21, reducing gaps and looseness, thereby reducing deviations and shaking during the clamping process, and improving the stability and accuracy of clamping.

[0112] In addition, during the flipping and feeding process, the flexible clamping arm can also play a certain buffering role, reducing the impact and vibration of the accumulator 21.

[0113] Example 6

[0114] This embodiment describes other structures of the automatic feeding device in detail:

[0115] Furthermore, the clamping arms 33 clamp the stocker 21 in a manner of clamping opposite side walls or opposite side ends of the stocker 21 .

[0116] Thus, by actively or passively clamping the relative positions of the hopper 21, the clamping arms 33 can provide two force points, allowing the hopper 21 to be stably clamped. The clamping arms 33 clamp the opposite side walls or opposite end portions of the hopper 21, so that the force on the hopper 21 is evenly distributed, and the hopper 21 is not easily slipped when being clamped and turned over.

[0117] Furthermore, a first limiting portion is provided on the side of the clamping arm 33 facing the accumulator 21, and correspondingly, a second limiting portion is provided on the accumulator 21. The first limiting portion is used to limit the connection with the second limiting portion when the clamping arm 33 approaches the accumulator 21.

[0118] When the clamping mechanism actively or passively clamps the hopper 21, the first limiting portion can cooperate with the second limiting portion to ensure that the clamping arm 33 can accurately align and clamp the hopper 21 when it approaches the hopper 21. During the flipping and feeding process, this stable clamping ensures that the hopper 21 maintains a stable posture and position, preventing feeding failures or accidents caused by shaking or falling off.

[0119] More specifically, the first limiting portion includes a clamping groove 334 or a clamping protrusion, see Figure 5 The clamping groove 334 or the clamping protrusion has a clamping surface, and the orthographic projection of the clamping surface in the first direction is an arc, a broken line, or other curve. In addition, the second limiting portion is a protrusion 22 or a recessed portion, wherein the protrusion 22 is adapted to be embedded in the clamping groove 334, and the clamping protrusion is adapted to be embedded in the recessed portion.

[0120] Based on this structure, when the clamping mechanism actively or passively clamps the accumulator 21, the protrusions 22 on both sides of the accumulator 21 are embedded in the clamping grooves 334 on the clamping arm 33, or the recessed portions on both sides of the accumulator 21 cooperate with the clamping protrusions on the clamping arm 33. Because the orthographic projection of the clamping surface of the clamping groove 334 or the clamping protrusion in the first direction is an arc, a broken line, or other curve, the upper and lower sides of the protrusion 22 or the recessed portion can both abut against the clamping surface.

[0121] In this way, when the turning mechanism turns over the accumulator 21 , the accumulator 21 can remain in the tilted state without being separated from the clamping arm 33 , thereby ensuring the clamping stability.

[0122] Furthermore, a plurality of stockers 21 are provided on the material rack 2 , wherein at least two stockers 21 have different specifications, and the clamped portion of each stocker 21 is at the same or similar height to the clamping position of the clamping arm 33 .

[0123] Based on this structure, when the clamping mechanism uses an active clamping method to clamp the hoppers 21, the heights and widths of the hoppers 21 can be different. When the clamping mechanism uses a passive clamping method to clamp the hoppers 21, the heights of the hoppers 21 can be different, but the widths of the hoppers 21 can be the same or similar. This allows the selection of appropriate material boxes based on the amount of raw materials used, such as the main ingredient and auxiliary ingredients.

[0124] In order to enable storage containers 21 of different specifications to be clamped by the clamping mechanism, bosses or grooves of different heights can be set on the material rack 2. After the storage containers 21 of different heights are placed on the bosses or grooves, the clamping parts of multiple storage containers 21 are at the same or similar heights.

[0125] In some other embodiments, a boss or a groove may be provided on the surface of the material rack 2, and then the bottom of the storage container 21 may be provided on the boss or the groove; or, a through hole may be provided on the material rack 2, and the side wall or end of the storage container 21 may be placed in the through hole, and the size of the through hole may match the size of the side wall or end of the storage container 21, so that the clamped parts of each storage container 21 are located at the same or similar height.

[0126] Specifically, the inner diameter of the through hole is adapted to the outer diameter of the side wall of the storage container 21 so that the side wall of the storage container 21 is hung in the through hole; or the upper end of the storage container 21 is extended outward to form a flange, and the bottom of the flange is against the outer periphery of the through hole so that the end of the storage container 21 is placed in the through hole.

[0127] Therefore, the active clamping mechanism only needs to adjust the clamping distance during the clamping process, without adjusting the clamping height, to achieve precise grasping and material delivery to hoppers 21 of different specifications. In particular, when using a translation drive structure for active grasping, the clamping parts of multiple hoppers 21 are located at the same height, which helps to simplify the grasping operation of the clamping mechanism.

[0128] For the passive clamping mechanism, the clamping parts of multiple hoppers 21 are located at the same height, ensuring that the clamping mechanism can clamp the hoppers 21 in the passive clamping mode. In addition, because the clamping arm 33 is flexible, the clamping gap 349 has a certain degree of adjustability. Through slight deformation of the clamping arm 33, the clamping gap 349 can accommodate hoppers 21 of the same or similar width, thereby improving the flexibility of the device.

[0129] Further, see Figure 2 The flip mechanism includes a flip motor 31 and a rotating shaft 35. Specifically, the mounting seat 32 is connected to the flip motor 31 through the rotating shaft 35. The flip motor 31 is used to flip the mounting seat 32 so that the mounting seat 32 drives the clamping mechanism to flip.

[0130] Based on this structure, when feeding or resetting, the flip motor 31 receives a command and drives the rotating shaft 35 to rotate, thereby driving the mounting seat 32 to flip back and forth in the second direction. Figure 6 , after the mounting base 32 is turned over, the accumulator 21 can be driven to tip over, and the material in the accumulator 21 is poured into the pot 5. After the mounting base 32 is turned over in the opposite direction, the accumulator 21 can be driven to reset.

[0131] The flip motor 31 can precisely control the flip angle and speed of the mounting base 32, ensuring the stability and accuracy of the hopper 21 during the dumping and resetting process. This helps to reduce waste and loss of materials and improve the accuracy of feeding.

[0132] Further, see Figure 7The moving mechanism 4 includes a slide rail 41 and a slide 42 slidably connected to the slide rail 41 , wherein the material rack 2 or the feeding assembly 3 is arranged on the slide 42 or integrated with the slide 42 .

[0133] Specifically, when the feeding assembly 3 is fixedly set on the feeding station, the material rack 2 is set on the slide 42, and the slide 42 slides on the slide rail 41 to drive the material rack 2 to move, so that the storage container 21 moves to the feeding station, and the feeding assembly 3 clamps and dumps the storage container 21 at the feeding station.

[0134] Among them, when the storage container 21 is transported to the feeding station along the first direction, when there are other storage containers 21 in front of the target storage container 21, the feeding component 3 needs to avoid the other storage containers 21, so the clamping mechanism can be lifted upward by the flipping mechanism, and then the moving mechanism 4 drives the other storage containers 21 to pass under the clamping mechanism until the target storage container 21 is about to reach the feeding station, and the clamping mechanism is reset by the flipping mechanism, so that the target storage container 21 can enter the clamping interval 349 when moving forward, which can increase the flexibility and adaptability of the device.

[0135] In addition, when the material rack 2 is movably arranged on the slide 42, it is convenient to remove the material rack 2 to replace and maintain the multiple hoppers 21 on the material rack 2, and to clean the material rack 2. When the material rack 2 and the slide 42 are integrated into one, the multiple hoppers 21 on the material rack 2 need to be removed separately for replacement and maintenance.

[0136] When the feeding assembly 3 is set on the slide 42, the slide 42 slides along the first direction to drive the feeding assembly 3 to the position of the target accumulator 21. Specifically, when there are other accumulators 21 in front of or behind the target accumulator 21, the clamping mechanism of the feeding assembly 3 first clamps the target accumulator 21, and then the flipping mechanism lifts the clamping mechanism and the clamped accumulator 21 upward together. Then, the slide 42 drives the feeding assembly 3 and the clamped accumulator 21 to pass over the other accumulators 21 and move along the first direction to the feeding station, and the flipping mechanism dumps the target accumulator 21 at the feeding station to achieve material feeding.

[0137] Example 7

[0138] See Figure 8 This embodiment discloses an automatic cooking device, which includes any one of the automatic feeding devices of embodiments one to six and a pot 5, wherein the feeding component 3 is used to flip and feed materials toward the pot 5.

[0139] Among them, the automatic cooking equipment can be an automatic cooking machine, a cooking robot or an automatic cooking stove, etc., which can realize operations such as automatic material feeding and stir-frying.

[0140] Based on this structure, when the automatic cooking device of the present application is used, the pot 5 is arranged on one side of the frame 1 along the second direction, and the pot 5 is arranged in the feeding direction of the feeding station. During automatic feeding, the moving mechanism 4 drives the hopper 21 or the feeding assembly 3 to the feeding station, and then the clamping mechanism of the feeding assembly 3 actively or passively clamps the hopper 21. Then, driven by the turning mechanism, the clamping mechanism and the hopper 21 are turned and tilted toward the pot 5, so that the material in the hopper 21 can be put into the pot 5.

[0141] It should be noted that, since the present application arranges the clamping mechanism on one side of the flipping mechanism along the first direction, the freedom of the clamping mechanism and the clamped storage container 21 in the second direction is ensured. Therefore, when the flipping mechanism drives the clamping mechanism and the clamped storage container 21 to flip along the second direction, the clamping mechanism and the storage container 21 can flip relative to the flipping mechanism with a smaller rotation radius, reducing the amplitude of the flipping action, thereby shortening the feeding cycle, reducing energy consumption, and improving flipping efficiency and stability.

[0142] The technical means disclosed in the present invention are not limited to those disclosed in the above-mentioned embodiments, but also include technical solutions composed of any combination of the above-mentioned technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. An automatic feeding device, wherein the automatic feeding device is provided with a feeding station, characterized in that: include, frame; A material rack, the material rack is arranged on the frame, and a plurality of accumulators are arranged on the material rack; a feeding assembly includes a clamping mechanism and a flipping mechanism, the clamping mechanism is arranged on one side of the flipping mechanism along a first direction; the clamping mechanism is used to clamp the accumulator; the flipping mechanism is used to drive the clamping mechanism to flip along a second direction; the second direction is perpendicular to the first direction; A moving mechanism is used to transport the material rack or the feeding assembly along a first direction so that the material rack or the feeding assembly reaches the feeding station.

2. The automatic feeding device according to claim 1, characterized in that: The clamping mechanism includes two groups of clamping arms and a driving member, and the flipping mechanism includes a mounting base. The two groups of clamping arms are arranged on one side of the mounting base along the first direction, and the two groups of clamping arms are arranged opposite to each other in the second direction; the driving member is used to drive the two groups of clamping arms to move closer to or away from each other, and the two groups of clamping arms are used to clamp the storage container after moving closer to each other.

3. The automatic feeding device according to claim 2, characterized in that: The mounting seat is arranged above the accumulator, and the bottom height of the portion of the mounting seat directly above the accumulator is greater than the height of the upper end surface of the accumulator.

4. The automatic feeding device according to claim 2, characterized in that: The clamping arm includes a clamping section and a connecting section, the connecting section is arranged at one end of the clamping section and is arranged at an angle to the clamping section, the driving member is used to drive the connecting section to rotate, and the connecting section is used to drive the clamping section to rotate during the rotation process, and the clamping sections of the two groups of clamping arms are used to move towards or away from each other during the rotation process.

5. The automatic feeding device according to claim 4, characterized in that: The driving member includes two rotation driving devices, each of which is provided with a first connecting shaft connected to the connecting section; the rotation driving device is used to drive the connecting section to rotate.

6. The automatic feeding device according to claim 4, characterized in that: The clamping arm also includes a second connecting shaft, which is arranged at an end of the connecting section away from the clamping section, and the extension direction of the second connecting shaft is the same as the extension direction of the clamping section; the driving member is used to drive the second connecting shaft to rotate, and the second connecting shaft is used to drive the connecting section and the clamping section to rotate during the rotation process.

7. The automatic feeding device according to claim 6, characterized in that: The driving component includes a motor, two groups of gears and a connecting rod. The two groups of gears are meshed with each other, and one group of gears is fixedly connected to the output shaft of the motor. A transmission shaft is provided on the gear, and the transmission shaft is eccentrically arranged with the gear. The two ends of the connecting rod are respectively connected to the transmission shaft and the second connecting shaft; the gear is used to drive the connecting rod to swing during the rotation process, and the connecting rod is used to drive the second connecting shaft and the clamping section to perform circular motion during the swinging process.

8. The automatic feeding device according to claim 6, characterized in that: The driving member includes a motor, two sets of gears, a connecting rod and a connecting member, the two sets of gears are meshed with each other, one set of gears is fixedly connected to the output shaft of the motor, and a transmission shaft is provided on the gears, and the transmission shaft is eccentrically arranged with the gears; the connecting member includes a first connecting section and a second connecting section connected at an angle; The two ends of the connecting rod are respectively connected to the transmission shaft and the first connecting section, and the end of the second connecting section away from the first connecting section is connected to the second connecting shaft; the connecting rod is used to drive the connecting member to rotate around the second connecting shaft during the swinging process, so that the second connecting shaft rotates; the second connecting shaft is used to drive the connecting section and the clamping section to rotate during the rotation process.

9. The automatic feeding device according to claim 2, characterized in that: The driving member includes a motor, a transmission gear and a rack. The transmission gear is fixedly connected to the output shaft of the motor and is meshed with the rack. One end of the rack is connected to the clamping arm.

10. The automatic feeding device according to claim 2, characterized in that: When the two groups of clamping arms move away from each other, they do not enter the projection range of the storage container in the first direction.

11. The automatic feeding device according to claim 1, characterized in that: The clamping mechanism includes a clamping arm, and the flipping mechanism includes a mounting seat, and the clamping arm is arranged on one side of the mounting seat along the first direction; the clamping arm has a first clamping section and a second clamping section, and the first clamping section and the second clamping section are arranged at intervals along the second direction to form a clamping gap; the moving mechanism is used to make the storage container and the clamping gap move closer to each other.

12. The automatic feeding device according to claim 11, characterized in that: The clamping arm is a flexible clamping arm.

13. The automatic feeding device according to any one of claims 2 to 12, characterized in that: The clamping arms clamp the stocker in a manner of clamping opposite side walls or opposite side ends of the stocker.

14. The automatic feeding device according to claim 13, characterized in that: A first limiting portion is provided on the side of the clamping arm facing the accumulator, and a second limiting portion is provided on the accumulator; the first limiting portion is used to be connected with the second limiting portion in a limiting manner when the clamping arm approaches the accumulator.

15. The automatic feeding device according to claim 14, characterized in that: The first limiting portion includes a clamping groove or a clamping protrusion, and the clamping groove or the clamping protrusion has a clamping surface, and the positive projection of the clamping surface in the first direction is an arc, a broken line or other curve; the second limiting portion is a protrusion or a recessed portion, and the protrusion is used to be embedded in the clamping groove, and the clamping protrusion is used to be embedded in the recessed portion.

16. The automatic feeding device according to claim 13, characterized in that: The material rack is provided with a plurality of the storage containers, at least two of the storage containers have different specifications, and the clamped portion of each of the storage containers is at the same or similar height to the clamping position of the clamping arm.

17. The automatic feeding device according to claim 16, characterized in that: The surface of the material rack is provided with a boss or a groove, and the bottom of the storage container is arranged on the boss or the groove; or, the material rack is provided with a through hole, and the side wall or end of the storage container is placed in the through hole, and the size of the through hole is matched with the size of the side wall or end of the storage container, so that the clamped parts of each of the storage containers are located at the same or similar height.

18. The automatic feeding device according to claim 2, characterized in that: The flip mechanism includes a flip motor and a rotating shaft. The mounting seat is connected to the flip motor via the rotating shaft. The flip motor is used to flip the mounting seat so that the mounting seat drives the clamping mechanism to flip.

19. The automatic feeding device according to claim 1, characterized in that: The moving mechanism includes a slide rail and a slide frame slidably connected to the slide rail. The material rack or the feeding assembly is arranged on the slide frame or integrated with the slide frame.

20. An automatic cooking device, characterized in that: It comprises the automatic feeding device and the cookware as described in any one of claims 1 to 19, wherein the feeding assembly is used to flip and feed materials toward the cookware.

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