Abstract:
Disclosed are a cooking material dispensing system and dispensing method. The dispensing method comprises the following steps: setting a material bag ( 9 ) clamping station in a position near a cooking pot opening but outside the range of the pot opening, and clamping the material bag ( 9 ) containing a cooking material at the material bag ( 9 ) clamping station; confining the material bag ( 9 ), such that the material bag ( 9 ) is kept in a clamped state to control the deformation thereof during the dispensing procedure; flipping and/or tipping the material bag ( 9 ), and when in a position near the cooking pot opening, dispensing the cooking material in the material bag ( 9 ) into the cooking pot; and once the cooking material has been dispensed, shifting the material bag ( 9 ) from the range of the cooking pot opening and releasing the clamping of the material bag ( 9 ). The cooking material dispensing system comprises a dispensing device capable of clamping, confining, and transferring the material bag ( 9 ) and flipping the opened material bag and/or tipping the cooking material into the cooking pot. The dispensing system and dispensing method take a material packaged in the material bag ( 9 ) and can accurately move the material bag ( 9 ) into the dispensing position, making the cooking process convenient, fast and simple, and the entire process will not be contaminated.

Description:
FIELD OF THE INVENTION 
     The present invention relates to the technical field of cooking. More particularly, the present invention relates to a feeding method for inputting cooking ingredients contained in an ingredient bag into a cooking pot under the control of a control system and a feeding system based on this feeding method. 
     BACKGROUND OF THE INVENTION 
     With the continuous progress and development of society, people have become increasingly demanding on the quality of their life, and increasing attention has also been made to their diets. However, the pace of life has become increasingly fast. Coming home fatigue and exhausted after a hard day&#39;s work, people are increasingly unwilling to prepare meals and hope to free themselves from heavy housework so that they may pursue more leisure activities. 
     In the traditional cooking process, the cook does all things, from selecting and matching of cooking ingredients, inputting the ingredient into the pot, cooking the food, removing the food from the pot, to arranging the dish. Cooking skills vary from person to person, and thus the skill of the cook determines the look and taste of the dish. More importantly, the cooking process is not only labor intensive, but the long hours working among the heat and fume in the kitchen also leads to various kitchen diseases. Therefore, human cooking labor is being gradually replaced by the machines in doing some cooking work. Robots have also appeared to perform some tedious cooking tasks in the kitchen. Since the cooking process of the robots is based on expert systems, the dish is ensured to be well balanced in their nutrition. Since the cooking time and the duration and degree of heating are predetermined, more desirable look and taste of the dish is guaranteed. The result is that, even at home, people can now be served with dishes of top quality. In addition, freeing people from kitchen diseases is also a blessing to their health. 
     Presently, among the prior art technical information related to cooking robots, most of the methods and systems for feeding the ingredients involve inputting the ingredients contained in a cartridge into a cooking pot through a feeding mechanism, under the control of a control system. For example, CN patent 200610033780.5 entitled “Automatic Feeding Apparatus in a Cooking Device” discloses inputting the ingredients prepared in a cartridge according to a predetermined program into a cooking device/system, the feeding device comprising a frame body and a film clamper; wherein the film clamper consists of two film clamping bodies and moves within the frame body and, the two film clamping bodies bond with each other by their relative movement and then clamp the packaging film of the cartridge. The cartridge and the film clamper generate a relative movement to open the packaging film of the cartridge. However, since the cartridge has a length and a width, and the packaging film are generally sealed around the cartridge, and thus using the relative movement produced between the film clamper and the cartridge to open the cartridge may result in incomplete or unreliable opening of the packaging film. In addition, the production costs of the cartridge and packaging film is actually quite high. 
     Similarly, CN utility model 200820123775.8 provides “A Feeding Apparatus for Automatic Cooking System,” which comprises a plurality of cartridges, a moving means for accommodating and moving the cartridges. The moving means is disposed at one side of a cooking pot; a turning mechanism is arranged at the centerline at the same side of the pot, and the turning mechanism clamps the cartridge and turns it over, so that ingredients inside the cartridge are poured into the center of the pot. Compared with the prior art, the ingredient cartridge of the feeding device does not requires packaging the cartridge containing cooking ingredients with a plastic film, and also eliminates the complicated mechanism for tearing the film. However, it is also disadvantageous in that the ingredient cartridge is not sealed and thus places certain requirements on the cooking environment, and does not facilitate the preservation, the automatic processing, the packaging and transportation of the ingredients prior to the actual cooking. 
     The prior art also provides an automatic cooking machine. The machine seals the cooking ingredients in ingredient bags, and then the different ingredients are put into different ingredient bags according to the order of adding the ingredients in the cooking process and the two ends of the ingredient bags are each connected to two conveyor belts along the longitudinal direction of the ingredient bags, i.e. the ingredient bags are placed horizontally and clamped between the two conveyor belts, similar to the structure of a bullet belt. A cutting tool is arranged over the pot and between the two conveyor belts. When in an operation mode, the clamped ingredient bags are conveyed by a conveying means until the ingredient bags are over the pot, and when the ingredient bags are over the pot, they are cut open by a cutting tool, so that ingredients inside the ingredient bags fall into the pot. However, this machine is disadvantageous in that: 
     (1) The complex structure of the entire cooking system is inclined to result in the mutual interferences of different mechanisms. 
     (2) Since the pot is a component that requires frequent cleaning, arranging two conveyor belts and a cutting tool over the pot makes its cleaning troublesome. 
     (3) It is also quite complicated and troublesome to assemble and disassemble the ingredient bag clamped by the conveyor belts. 
     (4) During the entire process from the start of the feeding process to the completion of the feeding, the ingredient bag remains over the pot, and it is thus inclined to be affected by the continuous thermal radiation or smog generated when the pot is being heated, and the quality of the cooking is thus impaired. In addition, in case that the ingredient bag fails to pour the ingredients completely into the pot, it is possible that the ingredients intermittently leak into the pot and thus would also seriously impair the quality of the cooking. 
     (5) After being cut, the ingredient bag would have a movement similar to pendulum movement, and hence the ingredients in the ingredient bag are unable to fall into a desired area. The desired area refers to the appropriate position that the cooking ingredients should be located in the cooking pot according to the object point of the cooking utensils, the requirements of the cooking technique and the actual needs of the cook. The appropriate position is within the desired area, and it means that when the cooking ingredients are in this position, the ingredients can be heated and/or stirred in an effective, uniform and/or desirable manner. Usually the appropriate position locates within an inner area around the heated center of the cooking pot, or within an area covered by a heat-transfer medium (such as oil) and the like, and should be smaller than the entire inner area of the cooking pot. One example is the Chinese wok. When the heat source is located in the central portion of the wok, the area near the central portion (e.g. if with the central point of the wok as the center of a circle, it is an area that has a diameter of about 5-15 cm extending from the center of the circle, or a smaller area) is the appropriate position. Outside this area, the temperature of the wok decreases rapidly, and may thus become inappropriate position. The appropriate position can, of course, be the entire range of the cooking pot. For example when using a small wok or a special shaped wok, or when the wok needs to be turned-over in a wide angle (e.g., 180-degree turn, 360 degree turn of the wok etc.), or when the entire wok is evenly heated. The so-called inappropriate position is the place where the cooking ingredients are difficult to or even can not be turned-over or stirred evenly and effectively by a turning-over means or a stirring means, the place where the cooking ingredients are difficult to or even can not go back to the appropriate position, the place where the cooking ingredients are difficult to or even can not be gathered to the desired area in the cooking pot, the place where the cooking ingredients are difficult to or even can not be heated evenly and effectively, and/or the place where it is not advantageous to a cooking process. For example, such an inappropriate position could be a blind area where a turning-over means or a stirring means can not reach, an area where a good turning-over effect can not be obtained although a turning-over means or a stirring means can reach there, an area which is beyond the turning-over/stirring range or even out of the cooking pot, or an area where the control system of a cooking utensil or a cooking machine is difficult to or can not detect the existence of the cooking ingredients although it is in the area where it could be turned-over or stirred but it fails to be turned-over or stirred. When the appropriate position extends to the whole inner area of the cooking pot then the inappropriate position is the area which is out of the cooking pot. The quality of dish can be impaired seriously under the foresaid circumstances, and it may even lead to the failure of the cooking. 
     (6) The area over the pot is an important area for conducting various operations. If the feeding means is disposed over the pot, it will reduce the operation space of other means, e.g. a mixing means. In addition, if disposed over the pot, the feeding means would easily be grimed by the fume and damaged by the heat. If the feeding means grimed, it would be difficult to clean the grime and the grime may drop into the pot and contaminate the dish. 
     CN patent application entitled “Cooking Ingredient Packaging and a Method for Feeding the Ingredient Using the Packaging” (Application No.: 200410052197.x) also discloses a feeding method of ingredient packages, comprising separately placing each package in the periphery of a rotatable package fixing means, and when the rotatable package fixing means comes to the feeding position over the pot, the motor actuates the fixing means to rotate, so that the first package is below the fixing means and one end of the package is cut open by a opening means, and ingredients inside fall into the pot by gravity through the opening of the package. However, the above arrangement has the following drawbacks: Firstly, only by gravity, the ingredients are hardly emptied out. Furthermore, this rotational feeding manner requires a complicated structure, and it is difficult to manufacture, assemble, clean the multiple parts of the structure and it is difficult to fix the package. Secondly, because its opening means is provided at the lower end of the package fixing means, the ingredients in the package may easily spill onto the opening means and stain the opening means. In addition, the package fixing means shall be desirably arranged at the position very close to the cooking pot, otherwise the ingredients would splash about. Thirdly, since the desired position on which the ingredients should fall is somewhere near the center of the pot covered with oil, if the ingredients fall onto somewhere without oil or with very little oil, such as on the periphery of the pot, those ingredients would stick to the pot, and they would be out of the reach of the stirring means. Furthermore, with this arrangement, the surrounding area of the pot is very crowded and it would not be easy to clean these components. 
     SUMMARY OF THE INVENTION 
     It is therefore one of the primary objectives of the present invention to provide a feeding method for feeding cooking ingredients, in which the cooking ingredients are contained in an ingredient bag, and the cooking ingredients in the ingredient bag are completely, accurately and automatically put into a cooking pot. 
     The present invention provides a method for feeding cooking ingredients, wherein the ingredients contained in an ingredient bag are put into a cooking pot under the control of a control system. The method comprises the steps of: 
     a. arranging a clamping station at a position within the vicinity of the pot mouth but out of the pot mouth area for clamping the ingredient bag at the clamping station in an automatic or semi-automatic manner or for clamping the ingredient bag by a bag clamping means; 
     b. limiting the ingredient bag in such a way that the ingredient bag maintains a desirable state when being clamped and is prevented from being deformed during the feeding process; 
     c. turning over and/or toppling the ingredient bag for inputting the ingredients in the ingredient bag into the pot at a position in the vicinity of the pot mouth; 
     d. moving the ingredient bag away from the pot mouth area and releasing the ingredient bag from being clamped after the ingredients are fed. 
     The method of the present invention may arrange a feeding station between the clamping station and the pot at a position in the vicinity of the pot mouth, in which prior to or at the same time of the clamped ingredient bag being turned-over and/or toppled, the ingredient bag is conveyed from the clamping station to the feeding station. 
     Before the ingredient bag is clamped, the method of the present invention also comprises the steps of fixing the ingredient bag and conveying the ingredient bag to the clamping station, and the conveyance can be done by means of translational displacement or rotation. 
     Particularly, limiting of the ingredient bag includes limiting the state of the ingredient bag when it is in a static state or being conveyed and/or limiting the state of the ingredient bag when it is being turned-over and/or toppled. 
     Further, limiting of the ingredient bag includes limiting the ingredient bag on the moving direction of the ingredient bag and/or on the direction which is opposite to the moving direction of the ingredient bag and/or on the direction perpendicular to the moving direction of the ingredient bag. 
     Alternatively, limiting of the ingredient bag is applied in such a way that the opening of the ingredient bag remains substantially perpendicular to the moving route of the ingredient bag. 
     The present invention further comprises the step of vibrating and/or striking the ingredient bag in such a way that the cooking ingredients inside the ingredient bag mix uniformly within the ingredient bag and/or the ingredients are separated from the ingredient bag. 
     Particularly, the vibrating or striking is applied to the middle or lower part of the ingredient bag, or the striking is applied in a direction vertical or oblique to the opening of the ingredient bag. 
     Alternatively, before the ingredients inside the ingredient bag are turned-over and/or toppled and/or when they are being turned-over and/or toppled, the ingredient bag is enabled to vibrate, to move back and forth or to shake back and forth, so that the ingredients inside the ingredient bag mix uniformly within the ingredient bag and/or the ingredients are separated from the ingredient bag. 
     The method further comprises the step of: compressing the ingredient bag in such a way that the cooking ingredients within the ingredient bag separate with the ingredient bag. 
     Particularly, the compressing of the ingredient bag comprises unidirectional or bidirectional compressing the ingredient bag, pressing or clamping the ingredient bag tightly and push-pressing or rolling over the ingredient bag towards its opening and winding the ingredient bag to squeeze out the cooking ingredients in the ingredient bag. 
     The method of the present invention further comprises the sub-step of opening the ingredient bag before the ingredient bag is turned-over and/or toppled. 
     Particularly, the position of opening the ingredient bag is at the upper part, the opposite or lateral side of the clamped position of the ingredient bag. 
     After the ingredients in the ingredient bag are input into the cooking pot, the method further comprises the step of: recycling the ingredient bag which has completed the process of feeding. 
     The present invention also provides a feeding system based on the above-described feeding method. The feeding system is provided for inputting cooking ingredients in at least one of the ingredient bags into a cooking pot by means of an automatic control system and a cooking execution system. The feeding system comprises an ingredient feeding device which, controlled by the automatic control system, clamps the ingredient bag containing the ingredients at the clamping station, limits the clamped bag, turns over and/or topples the ingredient bag to pour the ingredients inside the ingredient bag into the cooking pot, and then removes the empty bag from the pot mouth area. 
     The feeding device may comprise different structures comprising different components, e.g. means for clamping or/and conveying, toppling or turning-over etc. 
     The above feeding system further includes a compressing mechanism, a bag conveying means, a shaking means, a bag opening means and a bag recycling means. 
     The feeding method of the present invention is able to achieve automatic cooking and processing, using bags to contain cooking ingredients. The feeding device based on the feeding method of the present invention integrates the means for clamping, conveying, toppling or turning-over, and is capable of automatically completing the feeding process by clamping, conveying and toppling/turning-over the ingredient bag. By arranging different working stations, each mechanism of the device can be separately arranged and reasonable layouts can be given to suit actual needs, so that the clamped bag can be accurately moved to reach the desired feeding position by successively conducting certain predetermined movements, so as to avoid the mutual interference of the complicated structures surrounding the cooking pot, and to provide operating space for the stir-fry of cooking ingredients in the pot, to provide some room for the movement of the pot, and to ensure that the ingredients do not spill and/or outflow from the ingredient bag when it is being clamped and conveyed and that the opening of the ingredient bag may be restored to face upward after the feeding, effectively preventing the residuals from staining the surrounding area of the system. In the meantime, the feeding device itself is not inclined to get stained easily, therefore effectively avoiding the feeding device from contaminating the dish. This feeding device is particularly desirable in a cooking environment which is difficult to clean, providing a convenient, swift and simplified cooking process. 
     The present invention uses bags to hold ingredients, and compared with the use of cartridges, the present invention is cost-effective, and is able to achieve the automatic production, packaging and conveyance of ingredients, and at the same time, without a complicated tearing mechanism, the system of the present invention further saves design cost and production cost. In the feeding process, the ingredients inside the ingredient bag are completely emptied out by turning-over, compressing and shaking the ingredient bag. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic structural view of the feeding system of the present invention; 
         FIG. 2  is a perspective view showing the structure of the clamping, conveying and toppling mechanism in an embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 3  is a view showing the conveying state of the clamping, conveying and toppling mechanism in one embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 4  is another view showing the conveying state of the clamping, conveying and toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 5  is a view showing the toppled state of the clamping, conveying and toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 6  is a perspective view showing the structure of the clamping-conveying and toppling mechanism in an embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 7  is a view showing the conveying state of the clamping-conveying and toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 8  is another view showing the conveying state of the clamping-conveying and toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 9  is a view showing the toppled state of the clamping-conveying and toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 10  is a perspective view showing the structure of the clamping-toppling and conveying mechanism in an embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 11  is a view showing the conveying state of the clamping-toppling and conveying mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 12  is another view showing the conveying state of the clamping-toppling and conveying mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 13  is a view showing the toppled state of the clamping-toppling and conveying mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 14  is a perspective view showing the structure of the clamping and conveying-toppling mechanism in an embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 15  is a view showing the conveying state of the clamping and conveying-toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 16  is another view showing the conveying state of the clamping and conveying-toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 17  is a view showing the toppled state of the clamping and conveying-toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 18  is a perspective view showing embodiment 2 of the clamping-inverting mechanism of the feeding device of the feeding system according to the present invention; 
         FIG. 19  is a front view showing embodiment 2 of the clamping-inverting mechanism of the feeding device of the feeding system according to the present invention; 
         FIG. 20  is a perspective view showing embodiment 3 of the clamping-inverting mechanism of the feeding device of the feeding system according to the present invention; 
         FIG. 21  is a front view showing embodiment 3 of the clamping-inverting mechanism of the feeding device of the feeding system according to the present invention; 
         FIG. 22  is a first view showing the clamping and toppling mechanism in an embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 23  is a second view showing the clamping and toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 24  is a third view showing the clamping and toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 25  is a fourth view showing the clamping and toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 26  is a fifth view showing the clamping and toppling mechanism in the embodiment of the feeding device of the feeding system according to the present invention; 
         FIG. 27  is a schematic view showing the structure of embodiment 1 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 28  is a schematic view showing the structure of embodiment 2 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 29  is a schematic view showing the structure of embodiment 3 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 30  is a schematic view showing the structure of embodiment 4 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 31  is a first schematic view showing the structure of embodiment 5 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 32  is a second schematic view showing the structure of embodiment 5 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 33  is a third schematic view showing the structure of embodiment 5 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 34  is a first view showing the structure and state of embodiment 5 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 35  is a second view showing the structure and state of embodiment 5 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 36  is a front view showing the combination of embodiment 6 of the compressing mechanism with embodiment 1 of the clamping-inverting feeding mechanism in the feeding system of the present invention; 
         FIG. 37  is a top view showing the combination of embodiment 6 of the compressing mechanism with embodiment 1 of the clamping-inverting feeding mechanism in the feeding system of the present invention; 
         FIG. 38  is a sectional view along A-A of  FIG. 37 ; 
         FIG. 39  is a sectional view along B-B of  FIG. 37 ; 
         FIG. 40  is a perspective view showing the combination of embodiment 7 of the compressing mechanism with embodiment 3 of the clamping-inverting feeding mechanism in the feeding system of the present invention; 
         FIG. 41  is a front view showing the structure of embodiment 7 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 42  is a front view showing the structure of embodiment 8 of the compressing mechanism in the feeding system of the present invention; 
         FIG. 43  is a perspective view showing the structure of embodiment 1 of the shaking means in the feeding system of the present invention; 
         FIG. 44  is a front view showing the structure of embodiment 1 of the shaking means in the feeding system of the present invention; 
         FIG. 45  is a side view showing the structure of embodiment 1 of the shaking means in the feeding system of the present invention; 
         FIG. 46  is a first perspective view showing the structure of embodiment 2 of the shaking means in the feeding system of the present invention; 
         FIG. 47  is a second perspective view showing the structure of embodiment 2 of the shaking means in the feeding system of the present invention; 
         FIG. 48  is a first perspective view showing the structure of embodiment 3 of the shaking means in the feeding system of the present invention; 
         FIG. 49  is a second perspective view showing the structure of embodiment 3 of the shaking means in the feeding system of the present invention; 
         FIG. 50  is a perspective view showing the structure of embodiment 1 of the bag conveying means in the feeding system of the present invention; 
         FIG. 51  is a perspective view showing the structure of embodiment 2 of the bag conveying means in the feeding system of the present invention; 
         FIG. 52  is a first perspective view showing the structures of embodiment 6 of the compressing means and embodiment 3 of the bag conveying means in the feeding system of the present invention; 
         FIG. 53  is a second perspective view showing the structures of embodiment 6 of the compressing means and embodiment 3 of the bag conveying means in the feeding system of the present invention; 
         FIG. 54  is a front view showing the structure of an embodiment of the opening means in the feeding system of the present invention; 
         FIG. 55  is a top view showing the structure of the embodiment of the opening means in the feeding system of the present invention; 
         FIG. 56  is a perspective view showing the structure of an embodiment of the bag recycling means in the feeding system of the present invention; 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The present invention will be described in more detail in conjunction with the appended drawings and the embodiments of the present invention so that the objectives, the solutions and the advantages of the present invention will be more clearly understood. It should be understood, however, that the specific embodiments described herein are merely to illustrate the invention and are not intended to limit the present invention. 
     Firstly, the present invention provides a method for feeding cooking ingredients, which are held in an ingredient bag. The opening of the ingredient bag may be heat sealed, or sealed by an easy open end. Under the control of the control system, the cooking ingredients contained in the ingredient bag are put into an cooking pot, the method comprising the steps of: 
     a. arranging a clamping station at a position within the vicinity of the pot mouth but out of the pot mouth area for clamping the ingredient bag and preventing the ingredients from spilling out; the ingredient bag may be clamped in an automatic or semi-automatic manner at the clamping station or be clamped by a bag clamping means; 
     b. limiting the ingredient bag in such a way that the ingredient bag maintains a desirable state when being clamped, to prevent the bag from being deformed to hamper the ingredients in the bag from being poured out smoothly, and/or prevent leakage of the ingredients due to the deformation of the bag, to prevent the ingredients from being poured into an incorrect position, and to prevent possible smudges to the surrounding means and apparatus; 
     c. turning over and/or toppling the ingredient bag for inputting the ingredients in the ingredient bag into the cooking pot at a position in the vicinity of the pot mouth; and 
     d. after the ingredients are fed, moving the ingredient bag away from the pot mouth area and releasing the ingredient bag from being clamped. 
     Further, the method of the present invention may arrange a feeding station between the clamping station and the pot at a position in the vicinity of the pot mouth, wherein before the clamped ingredient bag is conveyed, turned-over and/or toppled, the bag is conveyed from the clamping station to the feeding station. Such an arrangement provides room for the layout of the entire feeding device, and on the other hand, facilitates opening the sealed ingredient bag. 
     The method of the present invention also comprises a step of fixing the ingredient bag and conveying the bag to the clamping station before the bag is clamped. Prior to the actually cooking, different cooking ingredients are divided and put into different ingredient bags, and the sealed ingredient bags are conveyed to the above mentioned clamping station for further processing. The conveying can be done by translational displacement, rotation or inverting. 
     Particularly, limiting of the bag includes limiting the state of the bag when it is in a static state or being conveyed and/or limiting the state of the bag when it is being turned-over and/or toppled. Limiting of the bag also includes limiting the ingredient bag on the moving direction of the ingredient bag and/or on the direction opposite to the moving direction of the ingredient bag and/or the on the direction perpendicular to the moving direction of the ingredient bag. 
     The limiting of the ingredient bag is applied in such a way that the opening of the bag remains substantially perpendicular to the moving route of the bag. 
     Further, after the bag is clamped, the method further comprises the step of: vibrating and/or striking the bag in such a way that the cooking ingredients inside the bag are sufficiently and evenly mixed and/or the cooking ingredients inside the bag are separated from the bag. Due to differences in the composition and nature of different cooking ingredients, and due to their interaction with the bag, some ingredients can automatically separate from the bag and fall into the cooking pot under gravity, but some ingredients cannot or cannot be easily or completely separated from the bag, and in those cases, the aid of external forces such as vibration and/or strike is needed to prompt the ingredients to be separated from the bag. Generally speaking, due to gravity, the ingredients typically accumulate in the lower half of the bag. Thus, before the bag is clamped or after the bag is clamped, vibrating or striking may be applied to the middle part or the lower half of the bag, to the bottom or to the vicinity of the bottom of the bag or to the vicinity of the clamped position. The striking may be applied in a direction perpendicular to the plane of the bag or in a direction oblique to opening of the bag. For starch ingredients, by way of vibration or striking, the starch deposition can be mixed evenly with the water, thereby ensuring the quality of dressing the dish with starchy sauce, which is a common step in Chinese cooking. 
     In the case that a feeding station is arranged, the bag can be made to vibrate, move back and forth or shake back and forth after the bag is clamped and before the ingredients inside the bag are turned-over and/or toppled, and/or during the process of their being turned-over and/or being toppled, so that the ingredients inside the bag mix uniformly within the bag and/or the ingredients are separated from the bag. 
     Still further, since some cooking ingredients (e.g. sauces) are viscous to some extent, or some ingredients are prepared in advance with starch ingredients, in order to promote the separation of these ingredients with the bag, the method of the present invention further comprises the step of: compressing the bag from bottom up in the process of turning-over or/and toppling the bag, so that the cooking ingredients inside the bag are substantially or completely put into the cooking pot. 
     Particularly, the compressing of the ingredient bag comprises unidirectionally or bidirectionally compressing the ingredient bag, pressing the ingredient bag and then push-pressing or rolling over the ingredient bag towards its opening, and winding the bag in such a way that the cooking ingredients in the bag are squeezed out. 
     The ingredient bag can be directly disposed at the clamping station by means of, e.g. mechanical hand, or the ingredient bag prepared with cooking ingredients is conveyed to the clamping station by means of a conveying mechanism, and thus the method of the present invention further comprises the step of: fixing the ingredient bag and transferring the ingredient bag to the clamping station prior to conveying the ingredient bag to the clamping station. 
     In any time during the process of fixing the bag and conveying it to the clamping station and before the bag is turned-over and/or toppled, the method of the present invention further comprises the sub-step of: opening the bag to allow the ingredients to be poured out. Particularly, the position for opening the bag is at the upper part, the opposite or lateral side of the clamped position of the bag. 
     After the ingredients in the bag are put into the cooking pot, the method further comprises the steps of: moving the ingredient bag away from the pot mouth area to the clamping station and releasing the ingredient bag from being clamped, and at the same time, recycling the ingredient bag. 
     Based on the above method, the present invention provides a feeding system. As shown in  FIG. 1 , the feeding system comprises a feeding device  1 . The bag for feeding the ingredients into the pot may be arranged at a clamping station and is clamped at the clamping station, and then is conveyed to a feeding station. The feeding device thus fulfils the functions of bag clamping, conveying, toppling or turning-over for feeding ingredients into the cooking pot. The feeding system of the present invention may also be provided with a bag conveying means  2  and a compressing mechanism  3 . The bag conveying means  2  is used to fix each ingredient bag before the bag is conveyed to the clamping station, and then convey the bag to the clamping station. The compressing mechanism  3  is disposed at the feeding station, and can be used to make one more compression to the bag when the bag is being turned-over or/and toppled and before the bag is turned-over again and reset to the feeding station, so that ingredients inside the bag can be completely fed into the cooking pot. In addition, the present invention further comprises a bag opening means  5  or a bag cutting means arranged on the bag conveying path to the clamping station, to automatically open the seal of the bag, prompting the feeding of the ingredients after the bag is turned-over at the feeding station. After the completion of the feeding process, the empty bag can be recycled by a bag recycling means  6 . 
     The detailed structures of the various components of the feeding system in the present invention will be described below in detail in conjunction with the embodiments and the accompanying drawings. 
       FIGS. 2-26, 36-39  are the various embodiments of the feeding device  1  in the feeding system according to the present invention. 
     1. The Clamping, Conveying and Toppling Mechanism of the Feeding Device  1 : 
     The clamping, conveying and toppling mechanism of the present embodiment is an example of the combination of various mechanisms of the feeding device  1 , comprising: a bag clamping means for automatically clamping the ingredient bag containing cooking ingredients and for limiting the state of the bag when it is being clamped, an inter-station conveying means which can automatically move the bag being clamped by the clamping means between the clamping station and the feeding station, and an ingredient toppling means for automatically pouring ingredients inside the bag into the cooking pot. 
     The bag clamping means comprises a bag clamp for clamping the bag, a clamping driver and a clamping route converter. The bag clamp is disposed at the clamping station for clamping or releasing the ingredient bag. The clamping route converter is disposed between the bag clamp and the clamping driver and is provided for converting the torque outputted by the clamping driver into the clamping torque of the clamp, and also for outputting a release torque to release the bag after the ingredients in the bag are toppled and emptied out. 
     Referring now to  FIGS. 2-5 , the structures of the clamping, conveying and toppling means of the feeding device  1  of the present invention are as follows: The bag clamp comprises a first fixed clamp  1110  and a first rotational clamp  1120 . The first fixed clamp  1110  includes a lath-shaped first clamping arm  1113 , one end of the first clamping arm  1113  having an axle sleeve  1112  integrally molded therewith; within the axle sleeve  1112  is inserted with a first clamping pin  1144 . On the plane of the first clamping arm  1113 , a first fixed clamping plate  1111 , which is disposed at one end of the axle sleeve  1112 , extends vertically upwards. The first rotational clamp  1120  includes a first rotational clamping plate  1121  which is arranged at a position opposing the first fixed clamping plate  1111 . The first clamping pin  1144  is sheathed by the first rotational clamping plate  1121 , which can be driven to rotate by the first clamping pin  1144 . The first fixed clamping plate  1111  and the first rotational clamping plate  1121  are provided so that the bag can be clamped, and in additional, since the first fixed clamping plate  1111  and the first rotational clamping plate  1121  have their heights and widths, the bag can be limited during the clamping process and during subsequent processes (before the release of the clamping). Furthermore, first clamping heads  1114  and  1124  are respectively provided on the first fixed clamping plate  1111  and on the first rotational clamping plate  1121 , at opposing positions on the two clamping plates. When the first rotational clamping plate  1121  is displaced towards the first fixed clamping plate  1111  to the maximum degree, the two first clamping heads  1114  and  1124  clamp against each other. The two first clamping heads  1114  and  1124  can be made of flexible or elastic materials to avoid damaging the ingredient bag  9  when clamping the bag  9  and to provide a large surface friction with the ingredient bag  9  to prevent the ingredient bag  9  from slipping when being clamped. 
     The clamping driver is a clamping drive motor  1130 . The clamping route converter comprises a first driving pulley  1141  which is connected to the output shaft of the clamping drive motor  1130 , a first driven pulley  1142  and a first driving belt  1143  which connects the first driving pulley  1141  to the first driven pulley  1142  and which transfers the driving force. Particularly, the clamping drive motor  1130  is fixedly mounted on the first clamping arm  1113 . The first driving pulley  1141  is connected to an output shaft of the clamp drive motor  1130 . The first driven pulley  1142  is disposed at one side of the first rotational clamping plate  1121  and is fixedly connected to the first clamping pin  1144 . The first rotational clamping plate  1121  rotates along with the first driven pulley  1142  by means of the first clamping pin  1144 . In this way, by means of the first clamping pin  1144  which is inserted into the first sleeve  1112 , the first rotational clamping plate  1121  is rotatably connected to the first clamping arm  1113 . 
     In the run mode, the clamping drive motor  1130  starts forward rotation to drive the first driving pulley  1141  to rotate, and further actuates the first driven pulley  1142  to rotate through the first driving belt  1143 , forming a clamping torque, so that the first rotational clamping plate  1121  displaces towards the first fixed clamping plate  1111  to clamp the ingredient bag  9  disposed between the two clamping plates. Conversely, the clamping drive motor  1130  starts reverse rotation to drive the first driven pulley  1142  to rotate, forming a release torque and causing the first rotational clamping plate  1121  to move away from the first fixed clamping plate  1111 , thereby releasing the ingredient bag  9 . 
     The inter-station conveying means is used for moving the ingredient bag  9  at the clamping station to the feeding station, comprising an inter-station conveying driver and an inter-station conveying route converter; wherein the inter-station conveying driver is a conveying drive motor  1150 ; the inter-station conveying route converter is disposed between the bag clamping means and the inter-station conveying driver, i.e. between the bag clamp and the conveying drive motor  1150 , used for converting the torque outputted by the conveying drive motor  1150 , i.e. the inter-station conveying driver, into a torque for driving the bag clamping means to move between the clamping station and the feeding station. 
     Particularly, the inter-station conveying route converter comprises a second driving pulley  1161  which is connected to the conveying drive motor  1150 , a second driven pulley  1162 , and a second driving belt  1163  which connects the second driving pulley  1161  to the driven pulley  1162  and which transmits the driving force, a first screw rod  1164 , and a first guide rod  1165 . The second driving pulley  1161  is connected to the output shaft of the conveying drive motor  1150 . The second driven pulley  1162  is connected to the first screw rod  1164  and can drive the first screw rod  1164  to rotate. The first screw rod  1164  is in parallel arrangement with the first guide rod  1165 ; and at the two ends of the first screw rod  1164  and the first guide rod  1165 , there are respectively fixedly provided with a first front end bracket  1166  and a first tail end bracket  1167 , wherein the first front end bracket  1166  and the first tail end bracket  1167  are respectively provided with threaded holes which can serve to screw both ends of the first screw rod  1164 , and at the same time, the first front end bracket  1166  and the first tail end bracket  1167  are provided with parallel through holes; the two ends of the first guide rod  1165  are respectively inserted into the two through holes to be fixedly connected to the first front end bracket and the first tail end bracket. 
     The inter-station conveying means further comprises a conveying supporting means disposed between the bag clamping means and the inter-station conveying route converter. The conveying supporting means is a translational slide block  1171 . The bottom of the translational slide block  1171  is sheathed by the first screw rod  1164  and the first guide rod  1165 , and is rotatably connected therewith. The upper end of the translational slide block  1171  is connected to the other end of the first clamping arm  1113 . When the conveying drive motor  1150  is conducting forward rotation, the first screw rod  1164  is driven to rotate through the second driven pulley  1162 , thereby causing the translational slide block  1171  to slide on the first guide rod  1165 ; the first guide rod  1165  moves from the clamping station to the feeding station, thereby allowing the ingredient bag  9  which is disposed at one end of the first clamping arm  1113  and which is clamped between the first fixed clamp  1110  and the first rotational clamp  1120  to move to the feeding station. When the conveying drive motor  1150  is having a reverse rotation, the first screw rod  1164  is actuated to likewise conduct a reverse rotation, causing the translational slide block  1171  to return from the feeding station to the clamping station, thereby driving the first fixed clamp  1110  and the first rotational clamp  1120  as well as the emptied ingredient bag  9  clamped between the two clamps to return to the clamping station. The ingredient toppling means comprises a toppling driver and a toppling route converter; the toppling route converter is disposed between the bag clamping means and the toppling driver, and the toppling route converter is used for converting the torque which is outputted by the toppling driver into a toppling torque for driving the bag clamping means or the inter-station conveying means which is connected to the bag clamping means to topple the ingredient bag at the feeding station, or into a returning torque for allowing the bag clamping means or the inter-station conveying means which is connected to the bag clamping means to reset to a state before toppling. 
     Particularly, the toppling driver is a first toppling drive motor  1180 . The toppling route converter comprises a reduction gear box  1191 , a first driving gear  1192  and a first driven gear  1193  which are in mutual engagement. The output shaft of the toppling drive motor  1180  is connected to the first-stage gear of the reduction gear box  1191 , while the output shaft of the last stage gear of the reduction gear box  1191  is connected to the first driving gear  1192 . The first driven gear  1193  is rotatably connected to the bag clamping means, or is rotatably connected to the inter-station conveying means of the bag clamping means.  FIGS. 2-4  show that the first driven gear  1193  is fixedly connected to the first tail end bracket  1167  through a revolving shaft. The forward rotation of the toppling drive motor  1180  drives the first driven gear  1193  to rotate and transmit toppling torque, thereby driving the first tail end bracket  1167  to rotate, i.e. causing the bag clamping means or the inter-station conveying means which is connected to the bag clamping means to topple the bag (see  FIG. 5 ). On the other hand, the reverse rotation of the toppling drive motor  1180  causes the first driven gear  1193  to rotate and transmit returning torque, causing the bag clamping means or the inter-station conveying means connected to the bag clamping means to return to a state before toppling—being horizontally arranged. 
     2. The Clamping-Conveying and Toppling Mechanism of the Feeding Device  1 : 
     The clamping-conveying and toppling mechanism in this example is another embodiment of the various combinations of the feeding device  1 , comprising a clamping-conveying means which can clamp the bag containing cooking ingredients and limit the state of the clamped bag and can automatically move the clamped bag between the clamping station and the feeding station, and an ingredient toppling means used for automatically pouring ingredients inside the bag into the cooking pot. 
     The clamping-conveying means comprises a clamp, a clamping-conveying driver and a clamping-conveying route converter. The clamp is used to clamp or release the bag. The clamping-conveying route converter is disposed between the clamp and the clamping-conveying driver, and is used for converting the torque outputted by the clamping-conveying driver into a clamping torque for allowing the clamp to clamp the bag and into a releasing torque for releasing the clamping of the bag, and is also used for converting the torque outputted by the clamping-conveying driver into a torque for driving the clamp which is clamping the bag to move between the clamping station and the feeding station. 
     Referring now to  FIGS. 6-9 , the clamp comprises an initiative clamping plate  1211  and a follower clamping plate  1212 , the two being arranged at opposing positions. The initiative plate  1211  is vertically and fixedly arranged on a first driving translational slide block  1231  and can be integrally formed therewith. The follower clamping plate  1212  is vertically and fixedly arranged on a first driven slide block  1232  and can be integrally formed therewith. The first driving translational slide block  1231  and the first driven slide block  1232  are both sheathed by the third guide rod  1225  and the third screw rod  1224 , which are in parallel arrangement. The two ends of the third guide rod  1225  and the third screw rod  1224  are respectively connected to the third front end bracket  1226  and the third tail end bracket  1227 , i.e. the third guide rod  1225  and the third screw rod  1224  are disposed between the third front end bracket  1226  and the third tail end bracket  1227 . The first driving translational slide block  1231  and the first driven slide block  1232  are respectively provided with threaded holes and through holes. The third screw rod  1224  is screwed to threaded holes which are provided on the first driving translational slide block  1231  and the first driven slide block  1232 , and both ends of the third screw rod  1224  are rotatably connected to the third front end bracket  1226  and the third tail end bracket  1227 . The third guide rod  1225  passes through the through holes which are provided on the first driving translational slide block  1231  and the first driven slide block  1232 , and the two ends of the third guide rod  1225  are sheathed by the third front end bracket  1226  and the third tail end bracket  1227 . The first driving translational slide block  1231  is arranged in the vicinity of the third front end bracket  1226 , while the first driven slide block  1232  can freely slide along the axes of the third guide rod  1225  and the third screw rod  1224 . A gap is arranged between the first driving translational slide block  1231  and the first driven slide block  1232 . When the first driving translational slide block  1231  moves to adjoin the first driven slide block  1232 , the ingredient bag  9  at the clamping station is successfully clamped. When the first driving translational slide block  1231  continues to move, the first driven slide block  1232  moves with the first driving translational slide block  1231 , thereby conveying the ingredient bag  9  from the clamping station to the feeding station. When the first driving translational slide block  1231  resets, the first driven slide block  1232  also resets, allowing the ingredient bag  9  to return from the feeding station to the clamping station and to be released from being clamped. Similarly, by arranging the above-described initiative clamping plate  1211  and follower clamping plate  1212 , the bag is clamped, and since the clamping plates have certain widths and heights, the bag is limited in the clamping process and in subsequent processes (before the release of the clamping). 
     Further, on the initiative clamping plate  1211  and the follower clamping plate  1212 , and at opposing positions on the two clamping plates, there are provided with second clamping heads  1214 ,  1213 . When the follower clamping plate  1212  approaches the initiative clamping plate  1211 , the two second clamping heads  1214 ,  1213  clamp against each other. The two first clamping heads  1214  and  1213  can be made of flexible or elastic materials, to avoid damaging the ingredient bag  9  when it is being clamped, and on the other hand to provide a large surface friction to the ingredient bag  9  to prevent the ingredient bag  9  from slipping when being clamped. 
     To further improve the reliability of the clamping, a second driving translational sliding block  1233  is slidably arranged on the third guide rod  1225  and the third screw rod  1224 . That is to say, the first driving translational sliding block  1231 , the first driven slide block  1232  as well as the second driving translational slide block  1233  are all sleeved in parallel to the third guide rod  1225  and the third screw rod  1224  by means of their respective through holes or threaded holes. In addition, the first driven slide block  1232  is disposed between the first driving translational slide block  1231  and the second driving translational slide block  1233 . The first driving translational slide block  1231  and the second driving translational slide block  1233  are fixedly connected through a connecting plate  1237 . That is to say, the distance between the first driving translational slide block  1231  and the second driving translational slide block  1233  is constant, while the first driven slide block  1232  has a variable distance with the first driving translational slide block  1231  and the second driving translational slide block  1233 . In the meantime, two springs  1234  are respectively sheathed by the third screw rod  1224  and the third guide rod  1225 . The two springs  1234  are arranged between the second driving translational slide block  1233  and the first driven slide block  1232 , and are used for ensuring that the first driven slide block  1232  remains close to the first driving translational slide block  1231  when the first driven slide block  1232  is moving with the first driving translational slide block  1231 , so as to maintain clamping stability and to avoid reduced clamping force due to factors such as vibrations and so on. 
     Between the first driven slide block  1232  and the first driving translational slide block  1231 , there is also provided with a carrier rod  1235  which is parallel to the third screw rod  1224  and with the third guide rod  1225 . At the same time, the first driving translational slide block  1231  is provided with a through hole for allowing the carrier rod  1235  to pass through. The length of the carrier rod  1235  is greater than the length of the through hole so that the carrier rod  1235  of the first driven slide block  1232  can pass through the first driving translational slide block  1231  to be connected to the third front end bracket  1226 . 
     The clamping-conveying driver is a clamping-conveying drive motor  1240 . The clamping-conveying route converter comprises: a third driving pulley  1221  which is connected to the output shaft of the clamping-conveying drive motor  1240 , a third driven pulley  1222 , and a third driven belt  1223  which connects the third driving pulley  1221  to the third driven pulley  1222 . The output shaft of the third driven pulley  1222  is connected to the third screw rod  1224  so that, through the third driven pulley  1222 , the clamping-conveying drive motor  1240  transmits force to the third screw rod  1224 , thereby driving the first driving translational slide block  1231  to move forth and back along the direction of third guide rod (the first driven sliding block  1232  also follows to move) 
     When the clamping-conveying means is not clamping the ingredient bag  9 , the first driving translational slide block  1231  stops at one side of the third front end bracket  1226 , and with the help of the carrier rod  1235  which props against the third front end bracket  1226 , there exists a gap between the first driven slide block  1232  and the first driving translational slide block  1231 , so that the initiative clamping plate  1211  and the follower clamping plate  1212  do not clamp against each other. When the clamping-conveying drive motor  1240  is conducting forward rotation, the third screw rod  1224  is actuated to likewise conduct forward rotation, so that the first driving translational slide block  1231  and the second driving translational slide block  1233  both translationally moves towards the third tail end bracket  1227 . At this time, by means of the spring  1234  and the carrier rod  1235 , the first driven sliding block  1232  stays intact while the first driving translational slide block  1231  moves towards the first driven slide block  1232  until the first driving translational slide block  1231  adjoins the first driven slide block  1232 , thereby clamping the ingredient bag  9  between the initiative clamping plate  1211  and the follower clamping plate  1212 . The third screw rod  1224  continues to maintain forward rotation, while the first driving translational slide block  1231  and the second driving translational slide block  1233  continues to translationally move towards the third tail end bracket  1227 . In this process, under the push of the springs  1234  to the first driven slide block  1232 , the first driven slide block  1232  abuts the first driving translational slide block  1231  and follows the first driving translational slide block  1231  to translationally move, thereby enabling the initiative clamping plate  1211  and the follower clamping plate  1212  to maintain a translational movement until the second driving translational slide block  1233  adjoins the third tail end bracket  1227 , finishing the process of clamping and conveying. Conversely, when the clamping-conveying drive motor  1240  is conducting a reverse rotation, the third screw rod  1224  is caused to likewise have a reverse rotation, and the initiative clamping plate  1211  and the follower clamping plate  1212  maintain the clamping against each other and have a translational movement towards the third front end bracket  1226 . When the carrier rod  1235  of the first driven slide block  1232  touches the third front end bracket  1226 , the first driven slide block  1232  stops its translational movement. The first driving translational slide block  1231  and the second driving translational slide block  1233  continue to move translationally until the first driving translational slide block  1231  touches the third front end bracket  1226  and the initiative clamping plate  1211  separates from the follower clamping plate  1212 , thus completing the process of bag conveying and releasing. 
     The cooking ingredient toppling means comprises: a toppling driver for causing the ingredient bag  9  to topple and for allowing the clamping-conveying means to turn over, or for allowing the clamping-conveying means to reset after the ingredients are poured, and a toppling route converter. The toppling route converter is disposed between the clamping-conveying means and the toppling driver, for converting the torque outputted by the toppling driver into the toppling torque for driving the clamping-conveying means to pour out ingredients in the bag at the feeding station, and into a returning torque for driving the clamping-conveying means to reset to a state before toppling. 
     Particularly, the toppling driver is a toppling drive motor  1260 . The toppling route converter comprises a third driving gear  1251  and a third driven gear  1252  which are in mutual engagement. The third driving gear  1251  is connected to the output shaft of the toppling drive motor  1260 , while the third driven gear  1252  is connected to the third tail end bracket  1227  of the clamping-conveying means, and can transfer the driving force outputted by the toppling drive motor  1260  to the third tail end bracket  1227 . When the toppling drive motor  1260  is having forward rotation, the third driving gear  1251  is mobilized. Engaged by the third driven gear  1252 , the third tail end bracket  1227  is caused to sway, thereby turning-over the entire clamping-conveying means, causing the ingredient bag  9  to topple; when the toppling drive motor  1260  is having reverse rotation, the clamping-conveying means is turned-over, causing the ingredient bag  9  to reset to the original untoppled state. 
     3. The Clamping-Toppling and Conveying Mechanism of the Feeding Device  1 : 
     The clamping-toppling and conveying mechanism of the present example is the third embodiment of the combinations of the various mechanisms of the feeding device  1 , comprising: a clamping toppling means for clamping the bag and limiting the state of the bag when it is being clamped, and for automatically pouring ingredients inside the bag to the cooking pot; and an inter-station conveying means for moving the bag which is clamped by the clamping toppling means between the clamping station and the feeding station. 
     Further, the clamping toppling means comprises a clamp, a clamping toppling driver and a clamping toppling route converter. The clamp is used for clamping or releasing the bag; the clamping toppling route converter is disposed between the clamping toppling driver and the clamp, used for converting the torque outputted by the clamping toppling driver when the clamp is at the clamping station into a clamping torque for driving the clamp to grip the bag and a releasing torque for releasing the bag; meanwhile, when the clamp is at the feeding station, the clamping toppling route converter is used for converting the torque outputted by the clamping toppling driver into the toppling torque for driving the gripped bag to topple at the feeding station, and for converting the torque outputted by the clamping toppling driver into the returning torque for driving the gripped bag to reset to a state before toppling. 
     Referring to  FIGS. 10-13 , it is seen that the clamp includes a fourth fixed clamping plate  1311  and a fourth rotational clamping plate  1312  which are arranged opposing each other. The fourth fixed clamping plate  1311  and the fourth rotational clamping plate  1312  are arranged so that the bag can be clamped, and on the other hand, since the two plates have certain heights and widths, they help limit the bag in the bag clamping process and in subsequent processes (before the release of the clamping). Similarly, at opposing positions on the fourth fixed clamping plate  1311  and the fourth rotational clamping plate  1312 , third clamping heads  1313 ,  1314  are provided. When the fourth rotational clamping plate  1312  rotates towards the fourth fixed clamping plate  1311  to the maximum degree, the two clamping heads  1313 ,  1314  clamp straightly against each other. 
     The clamping toppling driver is a clamping toppling drive motor  1330 , and the clamping toppling route converter comprises a fourth driving gear  1321  and a fourth driven gear  1322  which are in mutual engagement, and a fourth toppling rocker arm  1325 . The fourth driving gear  1321  is connected to the output shaft of the clamping toppling drive motor  1330 . One end of the fourth toppling rocker arm  1325  is fixedly connected to the fourth driven gear  1322 . The driving force which is outputted by the clamping toppling drive motor  1330  can be transferred to the fourth toppling rocker arm  1325 . The bottoms of the fourth fixed clamping plate  1311  and the fourth rotational clamping plate  1312  are hinged with the other end of the fourth toppling rocker arm  1325  through a hinge axis  13251 . 
     The fourth toppling rocker arm  1325  comprises two parallel rocker arms  1326 , a fourth driving swing rod  1323 , and a fourth driven swing rod  1324 . The fourth driven swing rod is a triangle frame and consists the combination of a sliding groove swing rod  1327  and two support rods  1328 , the three being arranged into a triangle. The sliding groove swing rod  1327  is centrally arranged with a straight line sliding groove  1329  which can pass through the sliding groove swing rod  1327 . 
     One end of the fourth driving swing rod  1323  is hinged with one end of the sliding groove swing rod  1327  through a pin. The pin goes through the straight line sliding groove  1329  on the sliding groove swing rod  1327 , and is capable of sliding in the straight line sliding groove  1329 . The fourth driving swing rod  1323  and the fourth driven swing rod  1324  are both clamped between the two rocker arms  1326 , and can move within the space between the two rocker arms  1326  by means of the pin which is inserted into the straight line sliding groove  1329 . One end of the fourth driving swing rod  1323  is fixedly connected to the fourth driven gear  1322  through an axis  1340 . At the ends that are in the vicinity of the fourth driven gear  1322 , the two rocker arms  1326  are movably sheathed by axis  1340 . When the fourth driving swing rod  1323  conducts an upward relative movement and moves to the top of the straight line sliding groove  1329 , the two rocker arms  1326  are mobilized to rotate upward round the axis  1340 . The other ends of the two rocker arms  1326  are fixed with the fourth fixed clamping plate  1311 . The fourth rotational clamping plate  1312  is fixed with the connection ends of the two supporting rods  1328 , and is movably sheathed by the hinge axis  13251 . Driven by the two supporting rods  1328 , the fourth rotational clamping plate  1312  rotates relative to the fourth fixed clamping plate  1311  around the hinge axis  13251 . 
     The forward rotation of the clamping toppling drive motor  1330  actuates the fourth driven gear  1322  to likewise have forward rotation, causing the fourth driving swing rod  1323  to swing upward round the axis  1340 . With the aid of the pin inserted into the straight line sliding groove  1329  by the fourth driving swing rod  1323 , the fourth driven swing rod  1324  is actuated to swing in a reverse direction (i.e. downwards), thereby displacing the fourth rotational clamping plate  1312  towards the fourth fixed clamping plate  1311  so that the ingredient bag  9  is clamped. In the case that the clamping of the ingredient bag  9  is sustained, the clamping toppling drive motor  1330  continues to rotate forward after the clamping toppling means moves from the clamping station to the feeding station, activating the fourth toppling rocker arm  1325  to rotate and turn over the bag  9 , pouring out ingredients inside. Conversely, the reverse rotation of the clamping toppling drive motor  1330  activates the fourth driven gear  1322  to likewise have a reverse rotation, with the fourth toppling rocker arm  1325  rotating following the lead of the fourth driving swing rod  1323  so that the ingredient bag is reset to a state before toppling. In the case that the bag is being clamped, the clamping toppling drive motor  1330  continues with its reverse rotation after the clamping toppling means returns from the feeding station to the clamping station to displace the fourth rotational clamping plate  1312  away from the fourth fixed clamping plate  1311 , thereby releasing the ingredient bag  9 . The axis  1340  is further provided with a torsion spring (not shown) which synchronizes the fourth toppling rocker arm  1325  with the fourth driving swing rod  1323  when the fourth toppling rocker arm  1325  is returning to the clamping station along with the fourth driving swing rod  1323 , so that the fourth fixed clamping plate  1311  and the fourth rotational clamping plate  1312  remains clamping against each other. 
     The inter-station conveying means comprises an inter-station conveying driver and an inter-station conveying route converter. The inter-station conveying route converter is disposed between the clamping toppling means and the inter-station conveying driver, and is used for converting the torque outputted by the inter-station driver into the torque for driving the clamping toppling means to move between the clamping station and the feeding station. 
     Reference now is made to  FIGS. 10-13 . The inter-station conveying driver is an inter-station conveying drive motor  1360 . The inter-station conveying route converter includes a fourth driving pulley  1341  which is connected to the conveying drive motor  1360 , a fourth driven pulley  1342 , a fourth driving belt  1343  which connects the fourth driving pulley  1341  to the fourth driven pulley  1342 , a fourth screw rod  1344 , a fourth guide rod  1345 , a fourth front end bracket  1346  and a fourth tail end bracket  1347  for securing the fourth screw rod  1344  and the fourth guide rod  1345 . The fourth screw rod  1344  is in parallel arrangement with the fourth guide rod  1345 . The fourth screw rod  1344  is screwed to the fourth front end bracket  1346  and the fourth tail end bracket  1347  via the screw holes arranged thereon. The fourth guide rod  1345  is sheathed by the fourth front end bracket  1346  and the fourth tail end bracket  1347  via the through holes arranged thereon. The output shaft of the fourth driven pulley  1342  is connected to the fourth screw rod  1344 . 
     The inter-station conveying means further comprises a conveying supporting means disposed between the clamping toppling means and the inter-station conveying route converter. The conveying supporting means comprises a translational slide block  1350 , used for connecting the clamping toppling means. The translational slide block  1350  is slidably sheathed by the fourth guide rod  1345 , and is screwed with the fourth screw rod  1344 . The upper end of the translational slide block  1350  is connected to the clamping toppling means, and in particular is fixed to the base of the clamping toppling drive motor  1330 . 
     The forward rotation of the inter-station conveying driver  1360  drives the fourth screw rod  1344  to rotate through the fourth driven pulley  1342 , moving the translational slide block  1350  from the clamping station to the feeding station. In the meantime, the reverse rotation of the inter-station conveying driver  1360  drives the fourth screw rod  1344  to rotate, moving the translational slide block  1350  from the feeding station to the clamping station. 
     4. The Clamping and Conveying-Toppling Mechanism of the Feeding Device  1 : 
     The clamping and conveying-toppling mechanism of the present example is the fourth embodiment of the combinations of the various mechanisms of the feeding device  1 , comprising: a bag clamping means for clamping the bag and for limiting its state, and a conveying-toppling means used for moving the bag which is clamped by the bag clamping means between the clamping station and the feeding station and for automatically pouring ingredients inside the bag to the cooking pot. The bag clamping means comprises a clamp, a clamping driver and a clamping route converter. The clamp is disposed at the clamping station and used for clamping or releasing the bag. The clamping route converter is disposed between the clamping driver and the clamp, used for converting the torque outputted by the clamping driver into a clamping torque for driving the clamp to grip the bag and used for converting the torque outputted by the clamping driver into the releasing torque for releasing the bag. 
     Referring now to  FIGS. 14-17 , the clamp comprises a fifth fixed clamp  1450  and a fifth rotational clamp  1460 . The fifth fixed clamp  1450  includes a lath-shaped second clamping arm  1453 , an axle sleeve  1452  disposed at the front portion of the second clamping arm  1453 , and a fifth fixed clamping plate  1451  fixed at the front portion of the second clamping arm  1453 . The fifth rotational clamp  1460  includes a fifth rotational clamping plate  1461  which opposites to the fifth fixed clamping plate  1451  and is connected to the axle sleeve  1452 . By arranging the fifth fixed clamping plate  1451  and the fifth rotational plate  1461 , the bag is gripped, and on the other hand, since the two plates have certain heights and widths, they help limit the bag in the process of its being clamped and in the subsequent processes (before the release of the clamping). 
     The same with the previous embodiment, at opposing positions on the fifth fixed clamping plate  1451  and the fifth rotational clamping plate  1461 , there is provided with fifth clamping heads  1454 ,  1464 . 
     The clamping route converter comprises a sixth driving pulley  1471  which is connected to the output shaft of the clamping drive motor  1480 , a sixth driven pulley  1472  which is connected to a fifth clamping pin  1474  inserted into the axle sleeve  1452 , and a sixth driven belt  1473  which connects the sixth driving pulley  1471  to the sixth driven pulley  1472 . 
     The clamping drive motor  1480  is fixed to the second clamping arm  1453 . The sixth driving pulley  1471  is connected to the output shaft of the clamping drive motor  1480 . By means of the fifth clamping pin  1474  inserted into the axle sleeve  1452 , the fifth rotational clamping plate  1461  can be rotatably connected to the second clamping arm  1453 . The sixth driven pulley  1472  is secured at one end of the fifth clamping pin  1474  to drive the fifth rotational clamping plate  1461  to rotate. 
     The forward rotation of the clamping drive motor  1480  activates the rotation of the sixth driven pulley  1472 , forming a clamping torque and moving the fifth rotational clamping plate  1461  towards the fifth fixed clamping plate  1451 , thereby clamping the ingredient bag  9 . Conversely, the reverse rotation of the clamping drive motor  1480  activates the rotation of the sixth driven pulley  1472 , forming a releasing torque and moving the fifth rotational clamping plate  1461  away from the fifth fixed clamping plate  1451 , thereby releasing the ingredient bag  9 . 
     The conveying-toppling means comprises a conveying-toppling driver and a conveying-toppling route converter. The conveying-toppling route converter is disposed between the bag clamping means and the conveying-toppling driver, and is used for converting the torque outputted by the conveying-toppling driver into a torque for driving the bag clamping means to move between the clamping station and the feeding station, and for converting the torque outputted by the toppling driver into the toppling torque for driving the bag clamping means to topple the bag at the feeding station, and into a returning torque for driving the bag clamping means to reset to a state before toppling. 
     The conveying-toppling driver is a conveying-toppling drive motor  1440 . The conveying-toppling route converter includes a fifth driving pulley  1411  which is connected to the conveying-toppling drive motor  1440 , a fifth driven pulley  1412 ; and a fifth driving belt  1413  which connects the fifth driving pulley  1411  to the fifth driven pulley  1412 , a fifth screw rod  1414 , a fifth guide rod  1415 , a fifth front end bracket  1416  and a fifth tail end bracket  1417  which are respectively fixed to the fifth screw rod  1414  and the fifth guide rod  1415 . The fifth driven gear  1423  is fixed to the fifth tail end bracket  1417 , and engages a fifth driving gear  1422 . The fifth driving pulley  1411  is connected to the output shaft of the conveying-toppling drive motor  1440 , and the fifth driven pulley  1412  is connected to the fifth screw rod  1414 . 
     The fifth guide rod  1415  and the fifth screw rod  1414  are both sleeved between the fifth front end bracket  1416  and the fifth tail end bracket  1417  via the through holes arranged on the fifth front end bracket  1416  and the fifth tail end bracket  1417 . The fifth screw rod  1414  and the fifth guide rod  1415  are arranged in parallel. 
     The conveying-toppling means further comprises a conveying supporting means. The conveying supporting means comprises a fifth translational slide block  1430 . The translational slide block  1430  is sheathed by the fifth guide rod  1415  and the fifth screw rod  1414 , and is screwed with the fifth screw rod  1414 . The upper end of the fifth translational slide block  1430  is fixed to the second clamping arm  1453  of the bag clamping means, while the bottom of the fifth translational slide block  1430  is connected to a fifth toppling gear rack  1421  which can be in movable engagement with the fifth driving gear  1422 . The conveying-toppling drive motor  1440  starts forward rotation to activate the fifth screw rod  1414  to likewise have forward rotation. The fifth translational slide block  1430  has a translational movement from the fifth front end bracket  1416  towards the fifth tail end bracket  1417 . When the fifth translational slide block  1430  comes to the vicinity of the fifth tail end bracket  1417 , the fifth toppling gear rack  1421  engages the fifth driving gear  1422 , activating the rotation of the fifth driven gear  1423 , thereby driving the fifth tail end bracket  1417  to rotate, and causing the fifth translational slide block  1430  and the bag clamped by the bag clamping means which is connected to the fifth translational slide block  1430  to turn over and become toppled. Conversely, the reverse rotation of the conveying-toppling drive motor  1440  activates the reverse rotation of the fifth screw rod  1414 , while the fifth toppling gear rack  1421  activates the reverse rotation of the fifth driving gear  1422 , causing the fifth translational slide block  1430  and the bag clamped by the bag clamping means which is connected to the fifth translational slide block  1430  to return to a state before toppling. With the continued reverse rotation of the conveying-toppling drive motor  1440 , the fifth toppling gear rack  1421  disengage from the fifth driving gear  1422 . The fifth translational slide block  1430  has a translational movement from the fifth tail end bracket  1417  towards the fifth front end bracket  1416 , thereby completing a cycle from clamping, conveying to toppling. 
     5. The Clamping-Inverting Feeding Mechanism of the Feeding Device  1   
     Referring now to  FIGS. 18-21  and  FIGS. 36-39 , it can be seen that as another variation of the feeding system of the present invention, the feeding device  1  further provides a clamping-inverting feeding mechanism, which can be combined with the bag conveying means  2  which is disposed at the clamping station. The clamping-inverting feeding mechanism is arranged at the feeding station, and comprises a clamping-feeding driver, a clamping-feeding route converter, a bag clamping means for clamping the bag and limiting the state of the bag at the feeding station, and a bag inverting means for turning over the bag and pouring out ingredients inside the bag into the cooking pot. 
     The clamping-feeding route converter is connected to the output shaft of the clamping-feeding driver, and is used for converting the rotational torque, which is inputted to the clamping-feeding route converter by the clamping-feeding driver, into the rotational torque which is outputted to the bag inverting means, and is used for converting the rotational displacement, which is inputted by the clamping-feeding driver, into the clamping displacement which is outputted to the bag clamping means for clamping the ingredient bag and into the releasing displacement for releasing the ingredient bag, so that before the bag inverting means which rotates from the clamping position reaches the toppling position, it securely clamps the bag at the feeding station, and so that after the bag inverting means returns from the toppling position to the clamping position, it releases the bag. 
     Reference is now made to  FIGS. 36-39 . As an embodiment of the structure of the clamping-inverting feeding mechanism provided by the present invention, the clamping-feeding driver is a clamping-feeding drive motor (not shown). The bag clamping means comprises a fixed clamping plate  1511  and a movable clamping plate  1521 . The movable clamping plate  1521  is connected to the clamping-feeding route converter. The bag inverting means is a turning plate  1541 . The bag clamping means further comprises a holding plate  331  for holding the bag in the turning-over process of the turning plate  1541 . The holding plate  331  is formed by extending the clamping plane of the movable clamping plate  1521 . Likewise, by arranging the fixed clamping plate  1511  and the movable clamping plate  1521 , the bag is clamped, and on the other hand, the bag is limited in the clamping process and in the subsequent processes (before the release of the clamping). 
     Furthermore, since the holding plate  331  is formed by extending the clamping plane of the movable clamping plate  1521 , the bag is better supported and the state of the bag is limited in the clamping process, more desirably preventing the deformation of the bag in the conveying or feeding process which may hinder the ingredients from being poured out smoothly, and preventing the ingredients from leaking due the deformation of the bag. 
     The clamping-feeding route converter comprises a drive shaft  1511 , a clamping cam  1552 , a clamping rod  1553  and a cam follower wheel  1554 . One end of the turning plate  1541  is movably sheathed by the drive shaft  1551 , while the other end of turning plate  1541  is connected to the fixed clamping plate  1511 . Being driven by the clamping-feeding drive motor, the turning plate  1541  rotates around the drive shaft  1511 . The clamping cam  1552  is fixedly sheathed by the drive shaft  1511 . One end of the clamping rod  1553  is connected to the movable clamping plate  1521  so that the clamping plane of the movable clamping plate  1521  faces the clamping plane of the fixed clamping plate  1511 , while the other end of the clamping rod  1553  has a rolling connection with the clamping cam  1552  through the cam follower wheel  1554 , wherein the cylindrical surface of the cam follower wheel  1554  is in constant contact with the cam surface of the clamping cam  1552 . The turning plate  1541  is provided with at least one clamping sliding groove  1217 . The clamping rod  1553  is movably arranged inside the clamping sliding groove  1217 , By means of the clamping sliding groove  1217  and the clamping cam  1552 , the clamping rod  1553  can make a reciprocating straight line displacement within the clamping sliding groove  1217  (to clamp or release the bag  9 ), and can follow the turning plate  1541  to rotate round the drive shaft  1551  to achieve the turning-over or toppling of the ingredient bag  9 , so that the drive shaft  1511  converts the torque inputted by the clamping-feeding drive motor into the turning-over torque for turning-over the turning plate  1541 . 
     Following the turning plate  1541 , the clamping rod  1553  rotates, and by means of the clamping cam  1552  (the change of the cam surface diameter), the turning plate  1541 , in the process of its turning-over, prompts the clamping face of the movable clamping plate  1521  to draw near towards the clamping face of the fixed clamping plate  1511 , thereby firmly clamping the bag. When the bag returns to the feeding station together with the clamping plate  1541 , the clamping face of the movable clamping plate  1521  is pulled to move away from the clamping face of the fixed clamping plate  1511 , thereby releasing the bag. 
     Further, the clamping-feeding route converter further comprises a substrate (not shown) and at least one bearing  1216  fixed onto the substrate; the bearing  1216  is provided for carrying the drive shaft  1551  movable sleeved therein. 
     The clamping cam  1552  is provided with a through hole, and by means of the through hole, the clamping cam  1552  is fixedly sheathed by the drive shaft  1551 . 
     Reference is now made to  FIGS. 18-19 . As another embodiment of the clamping-inverting feeding mechanism of the present invention, the clamping-feeding driver is a clamping-feeding drive motor  110 . The bag clamping means comprises a fixed clamping plate  1561  and a movable clamping plate  1562 . The fixed clamping plate  1562  and the movable clamping plate  1561  are respectively provided with buckle structures which can be mutually buckled. The movable clamping plate  1562  is connected to the clamping-feeding route converter. The bag inverting means is a turning plate  1563 . 
     The clamping-feeding route converter comprises a drive shaft  1571 , a driving gear  1572 , a clamping turning gear  1573  and a clamping rod  1574 . The clamping turning gear  1573  is a sector gear. The turning plate  1563  is fixed to the drive shaft  1571  and can rotate round the drive shaft  1571 . The fixed clamping plate  1561  is fixedly disposed on the turning plate  1563 . The clamping face of the fixed clamping plate  1561  is parallel to the surface of the turning plate  1563 . One end of the clamping rod  1574  is connected to the movable clamping plate  1562 , while its other end is fixed to the clamping turning gear  1573 . By means of a through hole which passes through the circle center, the clamping turning gear  1573  is sheathed by the drive shaft  1571  to enable the clamping face of the movable clamping plate  1562  to face the clamping face of the fixed clamping plate  1561 . The driving gear  1572  is connected to the output shaft of the clamping-feeding drive motor  110 , and is engaged with the clamping turning gear  1573 . 
     Particularly, the buckle structures which are mutually buckable on the movable clamping plate  1562  and on the fixed clamping plate  1561  include a trapezoidal groove  1564  which is disposed on the clamping face of the fixed clamping plate  1561  and the groove mouth of the trapezoidal groove  1564  is smaller than its bottom, and a protruding ridge  1565  which is disposed on the clamping face of the movable clamping plate  1562  and which can be movably inserted into the groove  1564 . When the protruding ridge  1565  is buckled to the groove  1564 , the movable clamping plate  1562  snap fits the fixed clamping plate  1561 . Meanwhile, the drive shaft  1571  also has a torsion spring (not shown), which ensures a relative force between the clamping rod  1574  and the turning plate  1563 , thereby guaranteeing the sustention and the reset of the clamping force between the fixed clamping plate  1561  and the movable clamping plate  1562 . 
     Further, the end face of the turning plate  1563  is parallel to the drive shaft  1571 , and the end face of the turning plate  1563  is provided with a holding plate  332  for carrying the bag in the process of turning-over the turning plate  1563 . 
     When the bag enters the feeding station, the clamping-feeding drive motor  110  outputs a forward rotational torque, and by means of the driving gear  1572  and the clamping turning gear  1573 , the clamping face of the movable clamping plate  1562  displaces towards the clamping face of the fixed clamping plate  1561  and firmly clamps the bag, and at the same time, the movable clamping plate  1562  snap fits the fixed clamping plate  1561  to further activate the turning plate  1563  which is connected to the fixed clamping plate  1561  to turn over. When the feeding of the ingredients is completed, the clamping-feeding drive motor  110  outputs a reverse rotational torque. By means of the driving gear  1572  and the clamping turning gear  1573 , the fixed clamping plate  1561  and the movable clamping plate  1562  which are buckled, is reverted, further prompting the turning plate  1563  connected to the fixed clamping plate  1561  to reversely rotate. In addition, when the bag returns to the feeding station, the clamping turning gear  1573  continues its reverse rotation, prompting the fixed clamping plate  1561  to disconnect from the buckle structure of the movable clamping plate  1562 , displacing the clamping face of the movable clamping plate  1562  away from the clamping face of the fixed clamping plate  1561 , thus releasing the bag. 
     Referring to  FIG. 20 - FIG. 21 , in the third embodiment of the clamping-inverting feeding mechanism of the present invention, the clamping-feeding driver is a clamping-feeding drive motor  110  (in conjunction with  FIG. 1 ). The bag clamping means includes a fixed clamping plate  1331  and a movable clamping plate  1332 . The fixed clamping plate  1331  and the movable clamping plate  1332  are respectively provided with buckle structures which can be mutually buckled. The movable clamping plate  1332  is connected to the clamping-feeding route converter. The bag inverting means is a turning plate  1431 . The clamping-feeding route converter comprises a drive shaft  1333 , a driving gear  1334  (in conjunction with  FIG. 1 ), a clamping turning gears  1335 , a clamping rod  1336 , a clamping shaft  1337 , a cam track plate  1338  and a cam follower wheel  1339 . 
     One end of the turning plate  1431  is movably sheathed by the drive shaft  1333  and can rotate round the drive shaft  1333 . The fixed clamping plate  1331  is fixed to the end face of the turning plate  1431 , which is parallel to the drive shaft  1333 . The clamping face of the fixed clamping plate  1331  is parallel to the axis of the drive shaft  1333 . The movable clamping plate  1332  is formed by bending a flat plate. At the bend of the movable clamping plate  1332 , there is provided with an axle sleeve and by means of the sleeve, the movable clamping plate  1332  is movably sheathed by the clamping shaft  1337 . In the meantime, both end faces of the movable clamping plate  1332  is parallel to the clamping shaft  1337 . One end face is so arranged that it faces the clamping face of the fixed clamping plate  1331 , while the other end face is connected to the cam track plate  1338 . The cam track plate  1338  is provided with a cam track groove  1238 . The clamping shaft  1337  follows the turning plate  1431  to rotate around the drive shaft  1333 . 
     One end of the clamping rod  1336  is fixedly connected to the clamping turning gear  1335  and rotates together with the clamping turning gear  1335 , while the other end of the clamping rod  1336  is connected to the cam follower wheel  1339 . The cam follower wheel  1339  is arranged within the cam track groove  1238 , and the cylindrical surface of the cam follower wheel  1339  is constantly in contact with the inner wall of the cam track groove  1238 . 
     The driving gear  1334  is connected to an output shaft of the clamping-feeding drive motor  110 , and is engaged with the clamping turning gear  1335 . By means of a through hole which passes through the circle center, the clamping turning gear  1335  is fixedly connected to the drive shaft  1333 . 
     At the end which is provided with the fixed clamping plate  1331 , the turning plate  1431  is provided with clamping shaft fixing boards  1432 , whose board faces straightly opposite each other and symmetrically extend downwards. The clamping shaft  1337  is fixedly connected between the two clamping shaft fixing boards  1432 , so that the clamping shaft  1337  rotates round the drive shaft  1333  along with the turning plate  1431 . Similarly, the drive shaft  1333  also has a torsion spring (not shown), which can ensure a relative force between the clamping rod  1336  and the turning plate  1431 , and thereby guaranteeing the sustention and the reset of the clamping force between the fixed clamping plate  1331  and the movable clamping plate  1332 . 
     Further, the end of the turning plate  1431  which is arranged with the fixed clamping plate  1331 , is provided with a holding plate  333  for carrying the bag in the process of the turning-over. The holding plate  333  is provided with a bending face. 
     When the bag enters the feeding station, the clamping-feeding drive motor  110  outputs a forward rotational torque, and by means of the driving gear  1334  and the clamping turning gear  1335 , the cam follower wheel  1339  and the cam track plate  1338 , the rotational displacement of the clamping-feeding drive motor  110  is converted to the displacement of the movable clamping plate  1332  towards the fixed clamping plate  1331 , thereby prompting the movable clamping plate  1332  and the fixed clamping plate  1331  to firmly clamp the bag, and further activating the turning plate  1431  connected to the fixed clamping plate  1331  to turn over. 
     When the feeding of the ingredients is completed, the clamping-feeding drive motor  110  outputs a reverse rotational torque. By means of the driving gear  1334 , the clamping turning gear  1335 , the cam follower wheel  1339  and the cam track plate  1338 , the turning plate  1431  which is connected to the fixed clamping plate  1331  is turned over, and when the bag returns to the feeding station, the clamping turning gear  1335  continues its reverse rotation, so that the rotational displacement outputted by the clamping-feeding drive motor  110  is converted to the displacement of the movable clamping plate  1332  away from the fixed clamping plate  1331 , thus releasing the bag. 
     6. The Clamping and Toppling Mechanism of the Feeding Device  1 : 
     Reference now is made to  FIGS. 22-26 . The sixth embodiment of the feeding device  1  in the present invention can also be a clamping and toppling mechanism, comprising: a bag clamping means for clamping and limiting the bag containing cooking ingredients, an ingredient toppling means for automatically pouring ingredients inside the bag into the cooking pot, and a bag cutting means for cutting the upper end of the bag before pouring out the ingredients. 
     The bag clamping means comprises a clamp, a clamping driver and a clamping route converter. The clamp is disposed at the clamping station for clamping or releasing the bag. The clamping route converter is used for converting the torque outputted by the clamping driver into the clamping torque for activating the clamp to grip the bag or into the releasing torque for releasing the bag. 
     Referring again to  FIGS. 22-26 , the clamping driver is a clamping drive motor  1525 . The bag clamping means comprises a fixed clamping head  1536  and a movable clamping head  1512 , the two being arranged at opposing positions. 
     The clamping route converter includes a first outer shaft cam  1532 , provided on the output shaft of the clamping drive motor  1525  (or connected to the output shaft of the clamping drive motor  1525 , so that the first outer shaft cam  1532  is driven to rotate by the output shaft), the first outer shaft cam  1532  is provided with a first track groove. One end of a first connecting rod  1517  has a roller wheel (not shown) which can move within the track groove of the first outer shaft cam  1532 , while the other end of the first connecting rod  1517  has a gear rack structure which can be engaged with a clamping gear  1527 . The fixed shaft of the clamping gear  1527  is provided with an inner shaft cam  1515 . The inner shaft cam  1515  is provided with a sliding rod  1514 , one end of which props against the inner shaft cam  1515 . One end of the sliding rod  1514  is provided with a roller wheel which can slide along the periphery of the inner shaft cam  1515 , while the other end of the sliding rod  1514  has a touch block  1537 . The touch block  1537  is in contact with the movable clamping head  1512 . By moving the sliding rod  1514  on the inner shaft cam  1515 , the touch block  1537  moves along the periphery of the inner shaft cam  1515  to activate the swing of the movable clamping head  1512  relative to the fixed clamping head  1536 , thereby clamping the bag. On the swinging shaft used for arranging the movable clamping head  1512 , there is provided with a spring  1535  which can reset the movable clamping head  1512 . 
     The ingredient toppling means comprises a toppling driver and a toppling route converter. The toppling route converter is used for converting the torque outputted by the toppling driver into a toppling torque for driving the bag clamping means to topple the bag at the feeding station, and into the returning torque for driving the bag clamping means to reset to a state before toppling. 
     The driving force of the toppling driver comes from the clamping drive motor  1525 . The toppling route converter comprises a second outer shaft cam  1531 . The second outer shaft cam  1531  is arranged on the fixed shaft of the first outer shaft cam  1532  and comprises a track groove. One end of a second connecting rod  1534  has a roller wheel  1533  which can move within the track groove of the second outer shaft cam  1531 , while the other end of the second connecting rod  1534  has a gear rack structure which can be engaged with a toppling gear  1516 . The fixed shaft of the toppling gear  1516  is connected to one end of a feeding arm  1513 . The other end of the feeding arm  1513  is provided with the fixed clamping head  1536  and the movable clamping head  1512 . 
     Further, the first connecting rod  1517  and the second connecting rod  1534  are sheathed by a straight line bearing  1538  to facilitate the straight line sliding of the two connecting rods. 
     In particular, the center of the toppling gear  1516  is provided with a through hole. The fixed shaft of the clamping gear  1527  can pass through the center of the toppling gear  1516 . The inner shaft cam  1515  is fixed to one end of the fixed shaft. The feeding arm  1513  has an elongated through hole. The inner shaft cam  1515  and the sliding rod  1514  can be disposed in the elongated through hole. The axial centerline of the sliding rod  1514  is at the same line with the axial centerline of the feeding arm  1513 , so as to reduce the weight of the feeding arm  1513  and to save space for the layout of the mechanism. 
     Referring again to  FIGS. 22-26 , the bag cutting means comprises an opening blade  1519 . The opening blade  1519  is arranged at the upper part of the bag fixing groove  1520 , connected to a mobile means via a connecting member  1526 . 
     The mobile means includes a opening motor  1528 , and a seventh driving wheel  1530  which is connected to the output shaft of the opening motor  1528 , a seventh driven wheel  1522  and a seventh synchronous belt  1523  which is set on the seventh driving wheel  1530  and the seventh driven wheel  1522 . One end of the connecting member  1526  is fixedly connected to the seventh synchronous belt  1523 , while the other end of the connecting member  1526  is connected to the opening blade  1519 . 
     Particularly, the connecting member  1526  includes a bent connecting rod  15263 , a connecting bracket  15261  and a sliding panel  15262 . The lower end of the connecting rod  15263  is used for fixing the opening blade  1519 , while the upper end of the connecting rod  15263  is connected to the sliding panel  15262 . The sliding panel  15262  is fixed on the seventh synchronous belt  1523  and at the same time, connected to the connecting bracket  15261 . The connecting bracket  15261  is sheathed by two parallel sixth guide rods  1524  or rails (not shown). 
     In the operating mode, the clamping drive motor  1525  is started. When the first outer shaft cam  1532  rotates to a certain angle, the roller wheel inside the track groove rolls. The first connecting rod  1517  has a translational movement along the straight line bearing  1536 , driving the clamping gear  1527  to rotate through the gear rack at its end portion. The inner shaft cam  1515  rotates to drive the sliding rod  1514  to have a translational movement and then prop against the movable clamping head  1512  for the rotation, thereby clamping the ingredient bag  9 . Then, the motor  1528  is switched on to rotate. The seventh synchronous belt  1523  has a translational movement, and the opening blade  1519  moves along the sixth guide rod  1524 . The bag is cut by means of the opening blade  1519 . Meanwhile, the second outer shaft cam  1531  is rotated to a certain angle, and the roller wheel  1533  moves along with its track groove. The second connecting rod  1534  has a translational movement along the straight line bearing  1536 , and via the gear racks at its end portion, drives the toppling gear  1516  to rotate, further bringing the feeding arm  1513  to swing and thereby completing the action of feeding. 
     Referring to  FIGS. 27-42 , the feeding system of the present invention further comprises a compressing mechanism  3  disposed at the feeding station for compressing the bag under the control of a control system in the process of turning over and/or toppling the bag, so that the cooking ingredients inside the bag are completely fed into the cooking pot. 
     The compressing may be done by squeezing the bag, or pressing the bag and then press-pushing or rolling over the bag towards the opening of the bag, or winding the bag in such a way that cooking ingredients inside the bag are squeezed out. 
     The above compressing mechanism comprises a compressing driver and a compressing unit which, under the control of the compressing driver, compresses the toppled bag to squeeze the ingredients out of the bag and to feed them into the cooking pot. The compressing mechanism further comprises a compressing route converter. The compressing route converter is connected to the compressing driver, and outputs a torque to the compressing unit. That is to say, the torque outputted by the compressing driver is converted into the compressing torque of the compressing unit, or into the pressing torque for push-pressing the bag towards the opening of the bag, and into the releasing torque for releasing the compression when the compressing unit has a reverse movement. 
     Referring to  FIG. 27 , in one embodiment of the compressing mechanism  3  of the feeding system of the present invention, the compressing unit is a roller unit. The roller unit comprises a fixed roller member and a movable roller member. The fixed roller member and the movable roller member are respectively arranged at the two sides of the toppled bag. Driven by the compressing driver, the movable roller member moves towards the fixed roller member, and pins the bag at the surface of the fixed roller member. In the case that the bag is pinned, the movable roller member rolls towards the opening of the bag, squeezing out the ingredients from the bag and feeding them into the cooking pot. 
     Particularly, the compressing driver is a compressing drive motor  3420 . The compressing unit comprises a fixed roller member and a movable roller member which are respectively disposed at the two sides of the bag. The bag is sandwiched between the fixed roller member and the movable roller member. The fixed roller member is an arc-shaped sliding pallet  3414 . The movable roller member has a roller wheel  3411 . The compressing route converter comprises a rocker arm  3412 , and the bottom of the rocker arm  3412  is hinged with a pin  3413 . The pin  3413  is a rotary shaft of a pulley  3432  and is connected to the output shaft of the compressing drive motor  3420  through a synchronous belt  3431 . That is to say, the compressing drive motor  3420  can transmit the driving force to the pin  3413 . The upper end of the rocker arm  3412  is hinged with the roller wheel  3411 . The roller wheel  3411  is in contact with the arc-shaped sliding pallet  3414 . Driven by the compressing drive motor  3420 , the rocker arm  3412  can sway to further actuate the roller wheel  3411  to slide along the arc surface of the sliding pallet  3414 , rolling over the bag between the movable roller member and the fixed roller member, so that ingredients inside the bag are squeezed out. 
     Referring to  FIG. 28 , in the second embodiment of the compressing mechanism  3  of the present invention, the compressing unit is a roller unit. The roller unit comprises at least one pair of movable roller members. Each pair of the movable roller members are respectively arranged at the two sides of the toppled bag, and driven by the compressing driver, the movable roller members displace in directions facing each other from the two sides of the bag to pin the bag. In the case that the bag is pinned, the roller members roll towards the opening of the bag to squeeze ingredients inside the bag out of the opening of the bag and feed the ingredients into the cooking pot. 
     Particularly, the compressing driver is a compressing drive motor  3520 . The output shaft of the compressing drive motor  3520  is connected to a driving compression pulley  3532 . The driving compression pulley  3532  is connected to a driven compression pulley  3533  through a synchronous belt  3531 , and can transmit the torque outputted by the compressing drive motor  3520  to the driven compression pulley  3533 . Each of the movable roller members comprise a roller  3512  and a roller wheel  3511  set on the roller  3512 . The two rollers  3512  are fastened by a supporting seat and are respectively arranged at an upper and a lower position. Clamped between each pair of the roller wheels  3511 , the bag is fixed by a fixed clamp  3513 . The rollers  3512  are connected to the torque output end of the compressing route converter. 
     The compressing route converter includes slider assemblies  3543  which are provided in pairs and in upper-lower arrangement. Each of the slider assembly  3543  is slidably arranged on a rotatable screw rod  3542  and a guide rod  3541  which is parallel to the screw rod  3542 . The slider assembly  3543  is connected to the supporting seat for fastening the rollers  3512 . Both ends of the screw rod  3542  and the guide rod  3541  are respectively rotatably connected to the sliding groove fastener  3514 . At one end of the screw rod  3543  and the guide rod  3541 , there is also provided with a connecting plate  3534 , which can connect and fasten the two sets of sliding groove fasteners  3514  which are in an upper-lower arrangement. Meanwhile, one screw rod  3542  may be extended beyond the connecting plate  3534  and serves as a rotational shaft of the driven compression pulley  3533 . The driving force can be transmitted from the driven compression pulley  3533  to the screw rod  3542  to further drive the screw rod  3542  to rotate. Since the slider assemblies  3543  are slidably arranged on the screw rods  3542  and the guide rods  3541 , the slider assemblies  3543  can, driven by the screw rods  3542 , slide along the axes of the screw rods  3542  and the guide rods  3541 , and can further enable the rollers  3512 , which are connected to the slider assemblies  3543  and are arranged at both sides of the bag, to follow and slide along the screw rods  3542  and the guide rods  3541 , thereby rolling over and compressing the bag clamped between the two rollers to squeeze ingredients out of the bag. In the present mechanism, the bag remains static, and the compression is done by the compressing unit. 
     Referring to  FIG. 29 , in the third embodiment of the compressing mechanism  3  of the feeding system of the present invention, the compressing driver is a compressing drive motor  3620 , whose output shaft is connected to the synchronous belt  3631 . The compressing unit is a roller unit. The roller unit comprises movable roller members which are arranged in pairs. The movable roller members comprise a pair of rollers  3613  as well as a driving roller wheel  3611  and a driven roller wheel  3612  which are respectively set on each of the rollers  3613 . The driving roller wheel  3611  and the driven roller wheel  3612  are fixed on a roller bracket  3614 . The fixing clamp  3615  for fixing the bag is connected to the torque output end of the compressing route converter. 
     The compressing route converter comprises a slide block  3643  which can be connected to the fixing clamp  3615 . One end of the bag is disposed on the fixing clamp  3616 . The slide block  3643  is slidably disposed on the rotatable screw rod  3642  and on the guide rod  3641  which is arranged in parallel to the screw rod  3642 . The screw rod  3642  is connected to the synchronous belt  3631  of the compressing driver. By allowing the synchronous belt  3631  to drive the screw rod  3642  to rotate, the slide block  3643  slides along the axes of the screw rod  3642  and the guide rod  3641 . At the same time, by allowing the slide block  3643  to drive the bag which is disposed on the fixing clamp  3615  to move, the ingredient bag  9 , driven by the fixing clamp  3615 , passes through the gap between the driving roller wheel  3611  and the driven roller wheel  3612  and is then rolled over so that ingredients contained in the bag are squeezed out. 
     Referring to  FIG. 30 , in the fourth embodiment of the compressing mechanism  3  of the feeding system of the present invention, the compressing driver is a compressing drive motor  3720 , whose output shaft is connected to the synchronous belt  3731 . The compressing unit comprises a static compressing member  3711  and a movable compressing member  3712  which can move relative to the static compressing member. The bag is horizontally disposed on the support face of the static compressing member  3711  through a fixing clamp  3715 . The support face may be planar or curved. The movable compressing member  3712  has a clamping face which opposites the support face of the static compressing member  3711 . The compressing route converter comprises a slide block  3743  which can be fixedly connected to the movable compressing member  3712 . The slide block  3743  is slidably disposed on the rotatable screw rod  3741  and on the guide rod  3742  which is arranged in parallel to the screw rod  3741 . The screw rod  3741  is connected to the synchronous belt  3731  of the compressing driver. By means of the synchronous belt  3731 , the screw rod  3741  is driven to rotate by the compressing drive motor  3720  for allowing the movable compressing member  3712  slides along the screw rod  3741  and the guide rod  3742 . When the movable compressing member  3712  reaches the ends of the screw rod  3741  and guide rod  3742  that are arranged with the fixing clamp  3715 , it compresses the bag disposed on the support face of the static compressing member  3711  to squeeze out ingredients inside the bag. 
     Referring now to  FIG. 31  to  FIG. 35 , in the fifth embodiment of the compressing mechanism  3  in the feeding system of the present invention, the compressing driver is a compressing drive motor  3820 . The compressing unit is a doctor blade assembly  3810  and is connected to the compressing route converter. 
     In particular, the doctor blade assembly  3810  comprises a blade lever  3812  and a doctor blade  3811  which is provided on the blade lever  3812  and is rotatable around the blade lever  3812 . 
     The compressing route converter comprises a blade gear  3861  and a second gear rack  3855 , one end of which is engaged with the blade gear  3861 . The rotary shaft of the blade gear  3861  is connected to the blade assembly  3810  and can drive the blade assembly  3810  to rotate. The other end of the second gear rack  3855  is connected to the cam linkage mechanism. The compressing route converter further comprises a compressing rotary arm  3866 . The compressing rotary arm  3866  is arranged in parallel to the second gear rack  3855 , with one end connecting the doctor blade assembly  3810  and the other end connecting the torque output shaft of a gear retarder. On the compressing rotary arm  3866 , there is also provided with a first slide block  3865 . The first slide block  3865  is slidably disposed on the first guide rail  3864 , the first guide rail  3864  being fixedly connected to the second gear rack  3855 . 
     Particularly, the gear retarder comprises a first gear  3831  which is connected to the output shaft of the compressing drive motor  3820 , a second gear  3841  which is engaged with the first gear  3831 , a second cam  3842  which is provided on the same driven shaft  3871  with the second gear  3871 , a second cam follower  3843  which props against the second cam  3842 , a first gear rack  3847  which is connected to the second cam follower  3843 , a third gear  3844  which is engaged with the first gear  3847 , a fifth gear  3846  which shares the same shaft with the third gear and a fourth gear  3845  which is engaged with the fifth gear. The compressing rotary arm  3866  is connected to the output shaft of the fourth gear  3845 . The cam linkage mechanism includes a first cam  3854  and a first cam follower  3863  which props against the first cam  3854 . The first cam follower  3863  is connected to the second gear rack  3855 . The first cam  3854  and the sixth gear  3853  are fixed on the same actuating shaft  3873 . The sixth gear  3853 , the seventh gear  3852 , the eighth gear  3851  are successively engaged with one another. The eighth gear  3851  and the second cam  3842  are arranged coaxially. Driven by the cam retarder, the compressing rotary arm  3866  can rotate round the actuating shaft  3873 . At the same time, the first cam follower  3863  provided at one end of the second gear rack  3855  props against the first cam  3854  and moves along the track of the first cam  3854 , so that the second gear rack  3855  and the doctor blade gear  3861  are engaged following the track of the first cam  3854 , thereby enabling the blade assembly  3810  to move towards the opening of the bag while being closely against the plane of the bag to squeeze the ingredients out. 
     Referring now to  FIG. 36  to  FIG. 39 ,  FIG. 52 , and  FIG. 53 , in the sixth embodiment of the compressing mechanism in the feeding system of the present invention, the compressing unit comprises a fixed compressing unit and a movable compressing unit which can move oppositely driven by the compressing driver. The two compressing units are respectively arranged at both sides of the bag and displace in directions facing each other to squeeze out ingredients inside the bag from the opening of the bag and feed the ingredients into the cooking pot. 
     Particularly, the fixed compressing unit is a holding plate  331 . The movable compressing unit is a movable platen  341 , wherein the movable platen  341  comprising an outer frame platen  3441  and a squeezing board  3442  disposed within the outer frame platen  3441 . The holding face of the holding plate  331  is planar, and the movable platen  341  is slab-shaped when being static. The compressing route converter has a compressing rod  3212  for connecting the squeezing board  3442 . By means of the compressing route converter, when the bag inverting means rotates to the toppling position of the bag, the squeezing board  3442  is displaced towards the holding face of the holding plate  331  to firmly squeeze the bag between the squeezing board  3442  and the holding plate  331  so that ingredients in the bag are squeezed out. 
     The compressing route converter includes a compressing drive shaft  3211 , a compressing rod  3212 , a compressing cam  3213 , a compressing cam follower wheel  3214 , a compressing follower gear  3215 , a gear positioning shaft  3216  and a turning plate  1541 . The compressing follower gear  3215  is a sector gear. One end face of the turning plate  1541  is movably sheathed by the compressing drive shaft  3211 . Driven by the clamping-feeding drive motor (not shown), the turning plate  1541  can rotate round the compressing drive shaft  3211 . The turning plate  1541  is provided with an holding plate  331  whose holding face is parallel to the axis of the compressing drive shaft  3211 . One end of the compressing rod  3212  comprising a straight line gear rack  3217 , while its other end is connected to the compressing cam follower wheel  3214 . At the side facing away from the compressing face, the squeezing board  3442  is connected to the compressing follower gear  3215 . The compressing follower gear  3215  is engaged with the straight line gear rack  3217  of the compressing rod  3212 . The compressing cam  3213  is fixedly mounted and enables the periphery of the compressing cam follower wheel  3214  to be constantly in contact with the compressing cam  3213 . 
     By means of the gear positioning shaft  3216 , the squeezing board  3442  is rotatably connected to the turning plate  1541 , so that the compressing face of the movable platen  341  faces the holding face of the holding plate  331 . The compressing rod  3212  rotates with the turning plate  1541  and at the same time, by means of the compressing cam  3213 , the compressing cam follower wheel  3214  and the compressing follower gear  3215 , in the process of the turning plate  1541  being turned-over towards the bag toppling position, the compressing cam  3213  simultaneously actuates the compressing rod  3212  to move, thereby driving the compressing follower gear  3215  to rotate. Driven by the compressing follower gear  3215 , the squeezing board  3442  rotates around the gear positioning shaft  3216  until it adjoins the holding plate  331 , thereby squeezing the bag. 
     Further, at the middle portion of the turning plate  1541 , there is provided with at least one compressing groove  3218  whose axis is perpendicular to the axis of the compressing drive shaft  3211 . The compressing rod  3212  is disposed within the compressing groove  3218 . By means of the compressing groove  3218  and the compressing cam follower wheel  3214 , the compressing rod  3212  rotates together with the turning plate  1541  and has reciprocating straight line displacement within the compressing groove  3218 . 
     Referring to  FIG. 40  and  FIG. 41 , in the seventh embodiment of the compressing mechanism  3  in the feeding system of the present invention, the compressing unit is a push-press unit, comprising a fixed push-press member and a movable push-press member. The fixed push-press member is used for holding the bag. In the present embodiment, the holding plate  333  of the clamping-inverting mechanism is used as the fixed push-press member. The movable push-press member is a compressing rod  3223 . The compressing driver is a compressing drive motor  3220  and is fixed to a pallet through a holding plate  3224 . The compressing route converter comprises a coupling  3221  and a rotary shaft  3225  which are connected to the output shaft of the compressing drive motor  3220 . The compressing rod  3223  is connected to the rotary shaft  3225  through a swing rod  3222 . The compressing drive motor  3220  actuates the swing rod  3223  to sway, thereby enabling the compressing rod  3223  to slide along the arc surface of the holding plate  333  to squeeze out ingredients inside the bag which is disposed on the holding plate  333 . 
     Referring to  FIG. 42 , in the eighth embodiment of the compressing mechanism  3  in the feeding system of the present invention, the compressing unit is a push-press unit, comprising a fixed push-press member and a movable push-press member. The fixed push-press member is the holding plate  333 . The movable push-press member is a roller rod  3315 . The compressing route converter transmits a torque to the roller rod  3315 , enabling the roller rod  3315  to move along the surface of the holding plate  333  when push-pressing the ingredient bag  9 . After push-pressing the ingredient bag  9 , the roller rod  3315  moves along an arc track, displaces away from surface of the holding plate  333  (please refer to compressing track  330 ) and returns to the starting position of the roller rod  3315 . 
     Particularly, the holding face of the holding plate  333  is an arc. The roller rod  3315  is a cylindrical rod. The compressing route converter has a sickle-shaped track rod  3314 , whose upper end is connected to the roller rod  3315  and which enables the movement track of the rod surface of the roller rod  3315  to be the same with the arc holding face of the holding plate  333 , so that the roller rod  3315  is parallel to the opening of the bag. The lower end of the track rod  3314  is hinged with a crank  3321 . The other end of the crank  3321  is connected to the output shaft of the motor  3320 . The rotation of the motor  3320  can actuate the crank  3321  to rotate. Meanwhile, the track rod  3314  is also provided with a guide rail  3313 . One end of a connecting rod  3311  is slidably arranged on the guide rail  3313 , while other end of the connecting rod  3311  is hinged with a fixing shaft  3310 . The joint action of the crank  3321  and the connecting rod  3311  enables the track rod  3314  to firstly move closely against the arc holding face of the holding plate  333  for prompting the roller rod  3315  to roll the bag held on the holding plate  333 . When the roller rod  3315  crosses over the holding plate  333 , the track rod  3314  again drives the roller rod  3315  to move away from the arc supporting surface of the holding plate  333  and resets to the original position, thereby preventing the roller rod  3315  from interfering with the bag. In these mechanisms, the track of the compression is formed based on the motion characteristics of the mechanism itself and on the arrangement of each element. The track of the compression can be changed or adjusted by changing the length and/or the length ratios of the crank  3321 , the track rod  3314  and the connecting rod  3311 . 
     Other possible embodiments of the compressing mechanism  3  in the feeding system of the present invention (not shown): 
     The compressing unit may also be a roller unit. The roller unit comprises a fixed roller member and a movable roller member which can move towards the fixed roller member and can press the bag onto the surface of the fixed roller member, the two roller members being respectively disposed at two sides of the toppled bag. The fixed compressing unit may be a holding plate with a planar holding face for holding the bag, and the bag is disposed on the holding face. The movable compressing unit may be a movable platen. The compressing route converter includes a compressing rod for connecting the movable platen, so that the movable platen moves towards the holding face of the holding plate. Driven by the compressing driver, the bag is tightly clamped between the movable platen and the holding plate, so that the ingredients in the bag are squeezed out. 
     Alternatively, the compressing unit is a winding press unit, comprising a winding shaft which can wind the bag thereon. The axial surface of the winding shaft is arranged at the feeding station and connected to the bag at the end which opposites the open end of the bag. Driven by the compressing driver, the winding shaft rotates, thereby squeezing out the ingredients in the bag from the opening of the bag in the winding process. 
     Also alternatively, the compressing unit comprises two movable elements which can move in the same direction when driven by the compressing driver. The two movable elements are respectively arranged at the two sides of the bag, and moves in the same direction to compress the bag, thereby squeezing out the ingredients in the bag from the opening of the bag and feeding the ingredients into the cooking pot. 
     The above-mentioned compressing mechanisms are all provided with a holding plate for holding the bag. The holding plate, on the one hand, can serve as a bag supporting component in the compressing process, and on the other hand, can serve to limit the bag and prevent the bag from leaking due to the deformation of the bag before the feeding. 
     Referring now to  FIG. 43 - FIG. 49 , the present invention also provides a shaking means  4  in the system for feeding cooking ingredients. Disposed at the feeding station, the shaking means  4  can, under the control of the control system, enable the ingredients in the bag to mix evenly and/or prompt the ingredients in the bag to separate with the bag, by means of vibrating or striking, after the bag is clamped, e.g. before the bag is toppled, in the process of the toppling or upon the completion of the toppling, or before the bag is turned over, in the process of the turning-over or upon the completion of the turning-over, thereby feeding all ingredients into the cooking pot, and preventing some ingredients, e.g. starch ingredients to adhere to the inner surface of the bag in the toppling process. 
     The shaking means comprises a shaking driver and a shaking unit which can, driven by the shaking driver, shake out the ingredients from the bag by means of striking or vibrating the bag before the bag is toppled, in the process of its being turned-over and toppled or after its being toppled. 
     The shaking driver can output a rotational torque. The shaking unit can, driven by the shaking driver, move circumferentially and strike the bag, enabling the shaking unit to shake under the drive of the shaking driver and to transfer the shaking to the bag, thereby converting the torque outputted by the shaking driver into the shaking, swaying or reciprocating displacement of the bag, so that the cooking ingredients inside the bag is completely shaken out. 
     Referring to  FIG. 43 - FIG. 45 , the shaking driver is a shaking drive motor  410 . The shaking unit is a short striking rod  423 . The striking rod  423  is directly connected to the output shaft of the shaking drive motor  410 . The shaking drive motor  410  is disposed on the bag inverting means, to enable the striking rod  423  to, in the rotation process of the output shaft of the shaking drive motor  410 , strike the surface of the bag at least once in every rotation cycle, thereby shaking the bag. 
     The shaking drive motor  410  is disposed on the holding plate  333  of the bag inverting means. The holding plate  333  is integrally formed and has an vertical support face  3332  and a slant curved holding face  3333 . The upper end of bag abuts the holding face  3333 , and the shaking drive motor  410  is mounted at the back of the holding face  3333  of the holding plate  333 . On the holding face  3333  of the holding plate  333 , there is also provided with a shaking window  3331  for allowing the striking rod  423  to pass through when striking. The striking rod  423  can, driven by the shaking drive motor  410 , pass through the shaking window  3331  to strike the bag which is disposed on the holding plate  333 . 
     Referring to  FIG. 46 - FIG. 47 , the shaking drive means is a shaking drive motor  4210 , whose output shaft is linked with a pulley  4232  through a synchronous belt  4231 . The shaking drive motor  4210  can transfer the rotational torque to the pulley  4232 . The pulley  4232  is axially extended with a rotary shaft  4222 . The pulley  4232  mobilizes the rotary shaft  4222  to synchronously rotate. The shaking unit is a sheet-shaped striking plate  4221  for striking the bag. One end of the striking plate  4221  is connected to the rotary shaft  4222 . When the rotary shaft  4222  rotates, the other end of the striking plate  4221  moves circumferentially and strikes the bag. 
     Particularly, the striking end of the striking plate  4221  is in the shape of an arcuate thin sheet. The striking plate  4221  bends in a direction which is opposite to the rotational direction of the force output shaft of the shaking drive motor  4210 , so as to avoid scratching the bag. In addition, the striking end of the striking plate  4221  is curved, increasing the area on which the bag is stricken and further improving the effect of ingredient feeding. 
     Reference is now made to  FIG. 48 ,  FIG. 49 . The shaking unit can be a striking plate assembly  4320 , which comprises a striking plate  4321 . The striking plate is movable sheathed by a screw rod  4322 . The screw rod  4322  is driven to rotate by a shaking drive motor  4210  and is intermittently connected to an electromagnet  4323 . When the electromagnet  4323  is functioning, the striking plate  4321  and the screw rod  4322  firmly holds each other. At this time, the shaking drive motor  4210  drives the screw rod  4322  to rotate through a synchronous belt  4331 , the striking plate  4321  follows to likewise conduct rotation, thereby striking the bag and completing the action of shaking the ingredients. When electromagnet  4323  stops functioning, the shaking drive motor  4210  drives the screw rod  4322  to rotate through a synchronous belt  4331 , and the striking plate  4321  slides to a proper position along the axis of the screw rod  4322 . At this position, the electromagnet  4323  starts to function again and repeats the strike. By such an arrangement, the striking plate  4321  intermittently or continuously strikes the bag. 
     In the various embodiments of the shaking unit, the bag can be vibrated or struck at its middle or lower portion, or at its bottom or at a position in the vicinity of its bottom, or in the vicinity of the clamped position of the bag. The “striking” to the bag can be applied along a direction perpendicular to the plane of the bag or along a direction diagonal to the opening of the bag. Especially for the starch ingredients, by means of vibrating or striking, starch ingredients being deposited in water is changed to be a state that the starch ingredients are mixed evenly with water, thereby improving the quality of dressing the dish with starchy sauce, which is an important part of Chinese cooking. 
     In the case that a feeding station is provided, ingredients in the bag are enabled to mix evenly and/or the ingredients in the bag are separated with the bag, by means of vibrating or shaking back and forth the ingredients in the bag, after the bag is clamped and before the bag is turned-over and/or toppled or in the process of its being turned-over and/or being toppled. 
     The shaking unit of the present invention can also be a vibrating means for enabling ingredients in the bag to mix evenly and/or to be separated with the bag, by means of vibrating the bag or moving the bag back and forth or shaking the bag back and forth, before the bag is turned-over and/or toppled and in the process of its being turned-over and/or being toppled. In particular, the vibrating means is a mechanical vibration generator or ultrasonic vibration generator (not shown). 
     Referring to  FIG. 50 - FIG. 53 , the present invention also provides a bag conveying means  2  in the cooking ingredient feeding system, used for fixedly mounting the bag under the control of the control system before the bag is conveyed to the clamping station, and then conveying each bag to the clamping station. The bag conveying means includes a bag conveying driver, a bag fixing means and a conveying route converter. Each bag is fixedly provided on the bag fixing means, and driven by the bag conveying driver and through the conveying route converter, the bag fixing means rotates or translationally moves, so that each bag is successively conveyed to the clamping station. 
     Referring to  FIG. 50 ,  FIG. 52 ,  FIG. 53 , the bag conveying driver is a conveying drive motor  2110 . The output shaft of the conveying drive motor  2110  is connected to a conveying route converter  2120 . The bag is detachably mounted to the bag fixing means  2130 . By the conveying route converter  2120 , the rotational displacement of the conveying drive motor  2110  is converted into the conveying displacement for enabling the bag fixing means  2130  to move along a straight line. The bag fixing means  2130  comprises a vertical support rod  2112 , and a horizontal bag cantilever beam  2111  which is attached to the top of the bag support rod  2112 . On the bag cantilever beam  2111 , there is also arranged with a plurality of parallel bag plectrums  2410 . The bag plectrums  2410  can, in the conveying process, automatically pull off the bag that have completed ingredient feeding, to make room for the clamping of the next bag. The bag plectrums  2410  may take on different structures or shapes based on actual needs (e.g. the bag plectrums  2410   a  shown in  FIG. 52 ,  FIG. 53 ). 
     The bag fixing means may also be cylindrical wound structure (not shown). Driven by the bag conveying driver, the wound bag fixing means rotates to successively convey each bag to the bag clamping station. 
     The conveying route converter  2120  includes a driving bevel gear  2121 , a driven bevel gear  2122 , a conveying slide rail  2123 , a conveying slide block  2124 , a conveyor belt  2125 , a synchronous transmission driving wheel  2126 , a synchronous transmission driven wheel  2127  and a belt connecting member  2128 . The driving bevel gear  2121  is connected to the output shaft of the conveying drive motor  2110  and engaged with the driven bevel gear  2122 . The driven bevel gear  2122  and the synchronous transmission driving wheel  2126  are coaxially connected to one end of the conveying slide rail  2123 . The other end of the conveying slide rail  2123  is connected to the synchronous transmission driven wheel  2127  through a rotary shaft. The conveying slide block  2124  is provided at the bottom of the bag supporting rod  2112 , and crosses over the conveying slide rail  2123  and can slide on the conveying slide rail  2123 . The conveyor belt  2125  is mounted between the synchronous transmission driving wheel  2126  and the synchronous transmission driven wheel  2127 . The belt connecting member  2128  connects the conveying slide block  2124  with the conveyor belt  2125 . When the clamp of the feeding device releases the bag, the conveying drive motor  2110  drives the driving bevel gear  2121  and the driven bevel gear  2122  to engage, and then drives the synchronous transmission driving wheel  2126  and the synchronous transmission driven wheel  2127  to rotate, so that the conveying slide block  2124  conducts a conveying displacement along with the conveyor belt  2125 . The bag plectrums  2410  follows the bag cantilever beam  2111  to move along the conveying slide rail  2123  and to draw the bag out of the clamping station, preparing for the next feeding. To ensure the reliability of the transmission of the conveyor belt  2125 , the conveying route converter  2120  comprises a tensioning block  2129  for supporting the conveyor belt  2125  so as to keep the conveyor belt  2125  in a tension state. 
     Referring to  FIG. 51 , as another embodiment of the bag conveying means  2  of the present invention, the bag conveying driver is a conveying drive motor  2210 . The output shaft of the conveying drive motor  2210  is connected to the conveying route converter  2220 . The bag is provided on the bag fixing means  2230 . The conveying route converter  2220  converts the rotational displacement of the conveying drive motor  2210  into the straight line conveying displacement of the bag fixing means  2230 . The bag fixing means  2230  comprises a vertical support rod  2231  and a bag cantilever beam  2232  which is connected to the top of the bag supporting rod  2231  and is horizontally arranged. 
     The conveying route converter  2120  comprises a driving wheel  2221 , a driven wheel  2222 , two slide rails  2223  arranged in parallel, a slide block  2224 , a conveyor belt  2225  and a belt connecting member  2226 . The driving wheel  2221  is connected to the output shaft of the conveying drive motor  2210  and drives the driven wheel  2222  to rotate through the conveyor belt  2225 . The driven wheel  2222  is arranged at one end of the slide rail  2223 , while the other end of the slide rail  2223  is fixedly connected to a fixing base of the conveying drive motor  2210 . The slide block  2224  is provided at the bottom end of the bag supporting rod  2212 , crosses over the two slide rails  2223 , and is fixedly connected to the belt  2225  through the belt connecting member  2226 . After the clamp of the feeding device releases the bag, the conveying drive motor  2210  drives the driving wheel  2221  and the driven wheel  2122  to rotate, so that the conveying slide block  2124  follows the conveyor belt  2225  to conduct conveying displacement on the slide rail  2223 , thereby removing the bag away from the clamping station, preparing for the next feeding. 
     To ensure the conveyance accuracy and conveyance reliability of the bag conveying means  2 , at a position shared by both the driving wheel  2221  and the slide rail  2223 , there is also provided with a proximity switch  2227 , which, when the slide block  2224  comes to the proximity of the driving wheel  2221  after sliding along the slide rail  2223 , can send out commands to the control system to switch off the conveyor drive motor  2210 . Compared with the previous embodiment of bag conveying means  2 , the sliding structure in this embodiment is more stable, reliable and less costly. 
     Referring to  FIGS. 54 and 55 , the present invention also provides a bag opening means  5  for opening bag containing cooking ingredients, used in the system for feeding cooking ingredients. The bag opening means  5  can, by means of an automatic control system and a cooking execution system, automatically open the sealing of the bag, to facilitate feeding of ingredients after the bag is turned-over at the feeding station. The bag opening means  5  can be arranged at the route on which the bag is conveyed to the clamping station. 
     The bag opening means  5  is disposed at one end of the bag and can open the bag at this position. The bag clamping means disposed at the clamping station is arranged at the opposite or lateral side of the bag opening means  5  and clamps the ingredient bag  9  under the drive by the clamping driver. 
     Alternatively, the bag opening means  5  is disposed at the upper end of the ingredient bag  9 , and opens the ingredient bag  9  at this position. The bag clamping means is disposed at the clamping station and at the lower end or one side of the bag. The bag clamping means clamps the lower end or one side of the ingredient bag  9  under the drive of the clamping driver. 
     Referring to  FIG. 54 ,  FIG. 55 , the bag opening means  5  includes a bag cutter  51  and a bracket  52  for securing the bag cutter  51 . The bag cutter  51  is fixed at the top of the bracket  52 , and is disposed right above the hinge between a fixed clamping plate and a rotational clamping plate in the bag clamping means  3 , and is disposed at one side of a bag supporting rod. The bag cutter  51  can cut open the sealed opening which is at the upper end of the ingredient bag  9 , which is clamped between the fixed clamping plate and the rotational clamping plate, preparing the ingredient bag  9  for subsequent feeding steps. 
     Particularly, the bag cutter  51  comprises a set of blades  511 ,  512  for cutting the bag. The blade  511  contacts the edge of the blade  512 , resembling a pair of scissors. The blades  511  and  512  form an acute angle with the conveying path of the bag. The blade  511  contacts the edge of the blade  512 , resembling a pair of scissors, so that the bag, which is clamped between the blades  511 ,  512 , is cut open rectilinearly along the direction of its movement, and produces a flat opening. According to actual needs, the cutter  51  may have only one blade. For example, the blade  512  can be replaced by a baffle to limit the position of the bag so as to facilitate cutting. 
     The bracket  51  can fix the bag cutter  51 , so that the intersection between the blade  511  and blade  512  is at the conveyance path of the ingredient bag  9  and is at a position that the ingredient bag  9  will pass before it enters the feeding station. 
     The bracket  52  includes a vertical supporting rod  521  and a horizontally-arranged positioning rod  522  which is connected to the top of the supporting rod  521 . The positioning rod  522  is used for fixing and supporting the bag cutter  51  and in the meantime, for enhancing the stability of the bag cutter  51  in the cutting process. 
     Of course, the bag cutter  5  is not limited to above forms. It is also possible to use rotary shears and hot melt shears, etc., as long as the bag in its moving process can be rectilinearly cut open along its moving direction. The bag may be cut, i.e. by means of moving a cutter to cut a fixed bag; by means of moving a bag to meet a static cutter, or by means of the relative movement of both the cutter and the bag. 
     Referring to  FIG. 56 , the feeding system of the present invention further provides an ingredient bag recycling unit  6 , which, controlled by a control system, is used for automatically recycling the empty bag that have completed the process of feeding and have returned to the clamping station. The ingredient bag recycling unit  6  comprises a bag recycling conveying means for recycling the bag at the clamping station, a bag recycling conveying driver and a bag recycling container. The bag recycling conveying driver is disposed at the clamping station. The bag recycling container is arranged below the bag recycling conveying means. 
     Particularly, the bag recycling conveying driver  6220  is a rotatable electromagnet; or, the bag recycling conveying driver  6220  is a drive motor. 
     The bag recycling conveying means is a pushing means, which, driven by the bag recycling conveying driver  6220 , pushes the bag  9  into the bag recycling container  6241 ; or pushes the bag  9  to be over the bag recycling container  6241 , and then the bag  9  falls into the bag recycling container  6241  under gravity. 
     Particularly, the pushing means comprises a lever (not shown) which props against one side of the ingredient bag  9  which is clamped by the clamp of the bag clamping means. The lever is directly connected to the bag recycling conveying driver  6220 , and the bag recycling conveying driver  6220  drives the lever to do a rectilinearly push so that the bag  9  at the clamping station is pushed to fall into the bag recycling container  6241 . 
     Alternatively, as shown in  FIG. 56 , the pushing means comprises a lever  6211 , which props against one side of the ingredient bag  9  which is clamped by the clamp of the bag clamping means. The lever  6211  is disposed at the top of a rotary arm  6212 . The bottom of the rotary arm  6212  is connected to the output shaft of the recycling conveying driver  6220 . The recycling conveying driver  6220  drives the lever  6211  to push the bag  9  in an arc, pushing the ingredient bag  9  from the clamping station to fall into the bag recycling container  6241 . 
     Further, the bag recycling means  6  further comprises a protective element  6231  for preventing the ingredient bag  9  from falling backwards. The protective element  6231  is fixed to the clamp in the bag clamping means to avoid the bag  9  from falling to positions other than the bag recycling container  6241 . 
     The above-described embodiments are merely preferred embodiments of the invention. They are not intended to limit this invention. Any modifications, equivalent replacement and improvements, etc. within the spirit and principles of the present invention should be included in the protection scope of the present invention.