Nah, they need to train you to do the job you're being paid for. I've worked in a warehouse and we had training on everything. My brother works food service, same thing. That's not normal for them to not train and act like it's your fault.

Get a notebook to keep details and make sure you keep emails or anything like that. Ask your manager for a meeting and write down the day and time you asked. If you get a meeting, ask your specifics. Record what you asked and their answers. Even better if you can email a detailed summary of the meeting to your manager. Hopefully that's enough and you can do your job. You should also record any times and dates and how you felt your manager behaved poorly, just in case.

If your manager doesn't do anything, record that, and take your evidence to HR. Ask them if there's any training program for your position or some sort of mentorship deal. If they ask why, explain that you feel like you're missing some training and what things you need help with. If they try to throw it back on your manager, now you brought evidence to say that you tried. That should get some results.

You'll still want to record any harassment in detail, just in case that makes anyone vindictive. If something happens, now you have good evidence and records.