Sucking and holding device and method for steamed stuffed buns

Abstract

The invention discloses a steamed stuffed bun sucking and holding device and method, and relates to the technical field of steamed stuffed bun production equipment.The steamed stuffed bun sucking and holding device comprises a sucking barrel body with one end closed and the other end open and a suction nozzle which is sealed and detachably connected with the open end of the sucking barrel body, and the end, away from the sucking barrel body, of the suction nozzle is provided with a lip matched with a steamed stuffed bun body; the suction barrel body is communicated with the suction nozzle to form a cavity capable of being communicated with a negative pressure air source, the suction holding device further comprises a separation mechanism, the separation mechanism comprises a top cover which is located in the cavity and used for supporting or pushing steamed stuffed buns, the top cover and a lip are arranged in a spaced mode, and the lip of the suction nozzle is attached to a steamed stuffed bun body to form a negative pressure sealed space to suck and hold the steamed stuffed buns. The steamed stuffed buns are supported by the top cover, so that the top seal of the steamed stuffed buns is prevented from cracking under the action of negative pressure, when the steamed stuffed buns are placed, the top cover pushes the steamed stuffed buns under the driving of the separating mechanism, so that the steamed stuffed buns are quickly separated from the lips to be packaged and placed, and the suction holding safety and the placing reliability of the steamed stuffed buns are improved in the sorting process.

Description

Technical Field

[0001] The present application relates to the technical field of steamed bun production equipment, and in particular to a steamed bun holding device and method. Background Art

[0002] In the industrial batch production process of steamed buns, it is necessary to sort the steamed buns on the conveyor line into packaging boxes for packaging. Although the existing steamed bun sorting suction cup can suck the steamed buns from the conveyor line and clamp them into the packaging box, the top seal of the steamed bun is easy to crack due to the negative pressure of the suction cup, resulting in leakage of steamed bun filling, which seriously affects the product quality.

[0003] Therefore, how to improve the safety and reliability of steamed buns suction is a technical problem that those skilled in the art need to solve at present. Summary of the invention

[0004] In order to help improve the safety and reliability of steamed buns, the present application provides a steamed buns suction and packaging method. In a first aspect, the present application provides a steamed bun holding device, which adopts the following technical solution: A device for sucking and holding steamed buns comprises a suction barrel body which is closed at one end and open at the other end, a suction nozzle which is sealed and detachably connected to the open end of the suction barrel body, a lip which matches the bun body is provided at the end of the suction nozzle away from the suction barrel body, the suction barrel body is connected with the suction nozzle to form a cavity which can be connected to a negative pressure air source, the suction device also comprises a disengagement mechanism, the disengagement mechanism comprises a top cover which is located in the cavity and is used to support or push the steamed buns, and the top cover is spaced apart from the lip.

[0005] By adopting the above technical scheme, the suction device connects the negative pressure air source to the cavity formed by the suction barrel body and the suction nozzle, and forms a negative pressure sealed space through the fit between the lip of the suction nozzle and the bag body to suck the buns. When sucking the buns, the buns are supported by the top cover, which helps to prevent the top seal of the buns from cracking due to the effect of negative pressure. When placing the buns, the top cover is driven by the disengagement mechanism to push the buns, so that the buns are quickly separated from the lip for packaging and placement, which helps to improve the safety of bun suction and the reliability of placement during the sorting process.

[0006] Optionally, the top cover includes a cover body, a top cavity for accommodating the top of the buns is provided in the middle of the side of the cover body facing the buns, the side of the cover body facing the buns is adapted to the bun body, and a plurality of ventilation holes communicating with the cavity are provided on the cover wall of the cover body.

[0007] By adopting the above technical scheme, the top cover accommodates the top of the buns through the top cavity provided on the cover body, which helps to prevent the negative pressure from acting on the top of the buns and causing the top of the buns to crack. A number of air vents are provided on the cover wall to facilitate the transmission of negative pressure to the side facing the buns. When the buns are close to the air vents, the air vents can be used to absorb and clamp the bun body due to the negative pressure. The side of the cover body facing the buns is matched with the bun body, which can reduce the pressure on the buns per unit area and help prevent the buns from cracking.

[0008] Optionally, the suction barrel body includes a barrel body and a cover, the barrel body and the cover are detachably fixedly connected, the barrel body is provided with a negative pressure hole connected to the cavity, and a negative pressure joint is installed on the negative pressure hole.

[0009] By adopting the above technical solution, the barrel body and the cover are detachably fixedly connected, which facilitates the convenient disassembly of the barrel body and the cover. A negative pressure hole is provided on the barrel body, and a negative pressure connector is installed on the negative pressure hole, which facilitates the connection or disconnection of the suction barrel body and the negative pressure gas source and the disassembly, cleaning and maintenance of the suction barrel body.

[0010] Optionally, the detachable fixed connection structure between the barrel body and the cover includes: a first sealing member installed between the barrel body and the cover, and a spring buckle connecting the barrel body and the cover, wherein one end of the spring buckle is fixed to the barrel body, and the other end is fixed to the cover.

[0011] By adopting the above technical solution, the barrel body and the cover are sealed by the first sealing member, which helps to prevent air leakage between the barrel body and the cover, and can quickly form a negative pressure state in the internal cavity of the suction barrel body. The barrel body and the cover are connected by a spring buckle, and the hook at one end of the spring buckle can be disengaged from the hanging ring at the other end, so that the barrel body and the cover can be quickly disassembled, which helps to quickly clean up the residue inside the barrel body and prevent the negative pressure hole from being blocked and affecting normal work.

[0012] Optionally, the detachable connection structure between the suction barrel body and the suction nozzle is: a reducing portion is provided at one end of the barrel body close to the suction nozzle, and an expanding portion is provided at one end of the suction nozzle close to the barrel body, the expanding portion is provided with a mounting hole, the reducing portion passes through the mounting hole, a second sealing member is provided between the reducing portion and the mounting hole, a plurality of screw through holes are radially provided on the expanding portion, a screw thread hole opposite to the screw through hole is provided on the reducing portion, and a manual screw is passed through the screw through hole to be threadedly connected to the screw thread hole.

[0013] By adopting the above technical solution, the reduced diameter part of the barrel body is connected with the mounting hole of the expanded diameter part of the suction nozzle, which improves the reliability of the connection and helps prevent the suction nozzle from moving radially or axially. A second seal is provided between the reduced diameter part and the mounting hole to help prevent external gas from leaking into the cavity. Fixing the expanded diameter part and the reduced diameter part with manual screws helps to facilitate the disassembly of the suction nozzle and improve the convenience of maintenance of the suction holding device.

[0014] Optionally, the disengagement mechanism also includes a cylinder and a push rod, wherein the cylinder is mounted on the cover, one end of the push rod is fixedly connected to the piston rod of the cylinder, and the other end of the push rod is fixedly connected to a side of the cover body away from the top cavity, and a first guide hole is provided on the cover, and the first guide hole is slidably and sealingly connected to the push rod or the piston rod of the cylinder.

[0015] By adopting the above technical solution, one end of the push rod is fixedly connected to the piston rod of the cylinder, and the other end is fixedly connected to the cover body. The push rod or the piston rod of the cylinder slides in the first guide hole and is sealed and connected, which helps to form a negative pressure state in the cavity, while improving the stability and reliability of the axial movement of the push rod, which helps the stability of the cover body in supporting or pushing the buns, and improves the reliability of the suction and holding device.

[0016] Optionally, the suction nozzle includes a wall body and a support body extending toward the center along the inner wall of the wall body, the support body is provided with a second guide hole, and the push rod passes through the second guide hole and is slidably connected to the second guide hole.

[0017] By adopting the above technical solution, the push rod is supported and guided by the second guide hole on the support body in the suction nozzle, while improving the stability and reliability of the axial movement of the push rod, which helps the stability of the cover body in supporting or pushing the buns and improves the reliability of the suction and holding device.

[0018] Optionally, one end of the suction nozzle away from the suction barrel body is arranged as an inclined end face, the inclined end face is arranged obliquely to the central axis of the wall body, and the lip is arranged on a ring where the inner wall of the wall body intersects with the inclined end face.

[0019] By adopting the above technical solution, one end of the suction nozzle is set as an inclined end face, and the lip is set on a ring where the inner wall of the wall body and the inclined end face intersect. This helps to make the axis of the bag body and the axis of the suction nozzle inclined after the lip is fitted with the bag body, which helps the suction device to place the buns in the packaging box at an angle, thereby improving the volume ratio of the packaging box.

[0020] Optionally, the suction device also includes a robot that drives the suction barrel body to move, and the robot includes a mechanical arm body and a mounting plate connected to the mechanical arm body, and the mounting plate is fixedly connected to the cover.

[0021] By adopting the above technical solution, the suction device drives the suction barrel to move through the robot, which can quickly position and suck the buns on the conveyor and move them into the packaging box for placement, thereby improving the work efficiency of bun suction and packaging and reducing the labor intensity of workers.

[0022] In a second aspect, the present application provides a method for holding steamed buns, which adopts the following technical solution: A method for holding steamed buns, applied to the above-mentioned steamed bun holding device, comprises the following steps: S1. According to the tilt direction of the buns placed in the packaging box, adjust the direction of the inclined end surface of the suction barrel body so that the inclined end surface is set relative to the top surface of the buns stacked at an angle; S2. Identify and locate the target bun to be sucked, and move the suction barrel so that the lip is close to the upper position of the target bun; S3. The cavity is connected to a negative pressure gas source, and the target bun body is tilted and adsorbed on the lip and supported on the top cover; S4, identifying and locating a target empty space in the packaging box, and moving the suction barrel body holding the target bun to the target empty space; S5, releasing the negative pressure gas source in the cavity, pushing the top cover to make the target bun separate from the lip and placed in the target space; The above steps S2 to S5 are repeated to place the buns at an angle in the remaining target empty spaces in the packaging box.

[0023] By adopting the above technical solution, by adjusting the direction of the inclined end face so that the inclined end face is opposite to the top surface of the inclined buns, it is helpful to place the target buns directly in the target empty space in the packaging box after the suction barrel body absorbs them, thereby simplifying the placement action and improving the placement efficiency. The body of the target bun is tilted and absorbed on the lip and supported on the top cover, which helps to prevent the top of the bun from cracking and improves the stability and reliability of suction.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. The suction device is connected to the negative pressure air source through the cavity, and the lip of the suction nozzle fits with the bag body to form a negative pressure sealed space to suck the buns. The top cover supports the buns, which helps prevent the top seal of the buns from cracking due to the negative pressure. When placing the buns, the top cover is driven by the separation mechanism to push the buns, so that the buns are quickly separated from the lip for packaging and placement, which helps to improve the safety of bun suction and placement during the sorting process. 2. The top cover accommodates the top of the buns through the top cavity provided on the cover body. A plurality of vent holes are provided on the cover wall, which helps to prevent the negative pressure from acting on the top of the buns and causing the top seal of the buns to crack. The side of the cover body facing the buns is adapted to the bun body, which can reduce the pressure on the buns per unit area and help prevent the bun body from cracking. 3. The barrel body and the cover are detachably sealed and fixed, which is conducive to the convenient disassembly of the barrel body and the cover. A negative pressure hole is set on the barrel body, and a negative pressure joint is installed on the negative pressure hole, which is convenient for connecting or disconnecting the suction barrel body and the negative pressure gas source, and is convenient for disassembly, cleaning and maintenance of the suction barrel body; 4. The connection is made through the mounting hole of the reduced diameter part of the suction barrel body and the expanded diameter part of the suction nozzle, which improves the reliability of the connection and helps prevent the suction nozzle from moving radially or axially. A second sealing member is arranged between the reduced diameter part and the mounting hole, which helps prevent external gas from leaking into the cavity. Fixing the expanded diameter part and the reduced diameter part by manual screws helps to facilitate the removal of the suction nozzle and improve the convenience of maintenance of the suction holding device. 5. One end of the suction nozzle is set to an inclined end face, and the lip is set on the ring where the inner wall of the wall body and the inclined end face intersect, which helps the lip to fit the bag body so that the axis of the bag body and the axis of the suction nozzle are in an inclined state, which helps the suction device to tilt the buns in the packaging box and improve the volume ratio of the packaging box; 6. By adjusting the direction of the inclined end face so that the inclined end face is opposite to the top surface of the inclined buns, it is helpful for the suction barrel to directly place the target buns in the target empty space in the packaging box after sucking them, simplifying the placement action and improving the placement efficiency. The body of the target bun is tilted and sucked on the lip and supported on the top cover, which helps to prevent the top of the bun from cracking and improves the stability and reliability of suction; BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 This is a schematic structural diagram of a steamed bun holding device according to the first embodiment disclosed in the present application.

[0025] Figure 2 This is a cross-sectional view of a steamed bun holding device according to the first embodiment disclosed in the present application.

[0026] Figure 3 for Figure 2 A partial enlarged view of the middle I position.

[0027] Figure 4 This is a schematic structural diagram of the barrel body of the first embodiment disclosed in this application.

[0028] Figure 5 It is a schematic structural diagram of the suction nozzle of the first embodiment disclosed in this application.

[0029] Figure 6 This is a schematic structural diagram of a steamed bun holding device according to the second embodiment disclosed in the present application.

[0030] Description of reference numerals: 1. Suction barrel body; 11. Barrel body; 111. Negative pressure hole; 112. Reduced diameter part; 1121. Screw thread hole; 12. Sealing cover; 121. First guide hole; 13. Negative pressure joint; 14. First sealing member; 15. Spring buckle; 2. Suction nozzle; 21. Wall body; 211. Lip; 22. Expanded diameter part; 221. Mounting hole; 222. Screw through hole; 23. Support body; 231. Second guide hole; 24. Inclined end face; 25. Second sealing member; 26. Manual screw; 3. Cavity; 4. Disengagement mechanism; 41. Top cover; 411. Cover body; 412. Top cavity; 413. Vent; 42. Cylinder; 43. Push rod; 5. Robot; 51. Robot arm body; 52. Mounting plate; 6. Buns; 7. Packing box. DETAILED DESCRIPTION

[0031] The following combination Figures 1 to 6 This application is described in further detail.

[0032] The embodiment of the present application discloses a device for holding steamed buns.

[0033] First embodiment A device for holding steamed buns. Figure 1 and Figure 2 , including a suction barrel body 1, a suction nozzle 2 and a disengagement mechanism 4, one end of the suction barrel body 1 is closed and the other end is open, one end of the suction nozzle 2 is sealed and detachably connected to the open end of the suction barrel body 1, and the other end of the suction nozzle 2 is provided with a lip 211 adapted to the bag body, the suction barrel body 1 and the suction nozzle 2 are connected to form a cavity 3, and the cavity 3 can be connected to or disconnected from an external negative pressure power air source, and the disengagement mechanism 4 includes a top cover 41, and the top cover 41 is spaced apart from the lip 211. The top cover 41 is located in the cavity 3 for supporting or pushing the bun 6, and the suction device is connected to the negative pressure air source through the cavity 3 formed by the suction barrel body 1 and the suction nozzle 2. It should be noted that the negative pressure air source can be obtained in a variety of ways, and a vacuum generator can be connected to compressed air. , the negative pressure end of the vacuum generator is connected to the cavity 3 to generate a negative pressure air source, or a fan can be used to connect the air inlet of the fan to the cavity 3 through a pipeline. The present application does not limit the generation of the negative pressure air source, and a negative pressure sealed space is formed by the fit between the lip 211 of the suction nozzle 2 and the bag body, so that the buns 6 are sucked and held. When sucking the buns 6, the top cover 41 supports the buns 6, which helps prevent the top seal of the buns 6 from cracking due to the negative pressure. When placing the buns 6, the top cover 41 is driven by the separation mechanism 4 to push the buns 6, so that the buns 6 are quickly separated from the lip 211 for packaging and placement, which helps to improve the safety of sucking and holding the buns 6 and the reliability of placement during the sorting process.

[0034] Reference Figure 3The top cover 41 includes a cover body 411, and a top cavity 412 for accommodating the top of the bun 6 is provided in the middle of the side of the cover body 411 facing the bun 6, and the side of the cover body 411 facing the bun 6 is adapted to the bun body, and a plurality of ventilation holes 413 communicating with the cavity 3 are provided on the cover wall of the cover body 411; the top cover 41 accommodates the top seal of the bun 6 through the top cavity 412 provided on the cover body 411, which helps to prevent the top seal of the bun 6 from cracking due to the effect of negative pressure on the top of the bun 6, and a plurality of ventilation holes 413 are provided on the cover wall, which facilitates the negative pressure to be transmitted to the side facing the bun 6. When the bun 6 approaches the ventilation holes 413, the ventilation holes 413 can absorb and clamp the bun body due to the negative pressure. The side of the cover body 411 facing the bun 6 is adapted to the bun body, which can reduce the pressure of the bun 6 per unit area and help prevent the bun 6 from cracking.

[0035] Reference Figure 2 The suction barrel body 1 includes a barrel body 11 and a cover 12, the barrel body 11 and the cover 12 are detachably fixedly connected, a negative pressure hole 111 communicating with the cavity 3 is provided on the barrel body 11, and a negative pressure connector 13 is installed on the negative pressure hole 111; the barrel body 11 and the cover 12 are detachably fixedly connected, which facilitates the convenient disassembly of the barrel body 11 and the cover 12, a negative pressure hole 111 is provided on the barrel body 11, and a negative pressure connector 13 is installed on the negative pressure hole 111, which facilitates the disconnection of the suction barrel body 1 from the negative pressure gas source and facilitates the disassembly, cleaning and maintenance of the suction barrel body 1.

[0036] Reference Figure 2 The detachable fixed connection structure of the barrel body 11 and the cover 12 is: including a first sealing member 14 installed between the barrel body 11 and the cover 12, and a spring buckle 15 connecting the barrel body 11 and the cover 12, one end of the spring buckle 15 is fixed on the barrel body 11, and the other end is fixed on the cover 12; the barrel body 11 and the cover 12 are sealed by the first sealing member 14, which helps to quickly form a negative pressure state after the internal cavity 3 of the suction barrel body 1 is connected to the negative pressure air source. The barrel body 11 and the cover 12 are connected by the spring buckle 15, and the hook at one end of the spring buckle 15 can be disengaged from the hanging ring at the other end, so that the barrel body 11 and the cover 12 can be quickly disassembled, which helps to quickly clean the residue inside the barrel body 11 and prevent the negative pressure hole 111 from being blocked and affecting normal work.

[0037] Reference Figure 2 , Figure 4 and Figure 5The detachable connection structure between the suction barrel body 1 and the suction nozzle 2 is as follows: a reduced diameter portion 112 is provided at one end of the barrel body 11 close to the suction nozzle 2, an expanded diameter portion 22 is provided at one end of the suction nozzle 2 close to the barrel body 11, a mounting hole 221 is provided on the expanded diameter portion 22, the reduced diameter portion 112 is penetrated with the mounting hole 221, a second sealing member 25 is provided between the reduced diameter portion 112 and the mounting hole 221, a plurality of screw through holes 222 are radially provided on the expanded diameter portion 22, a screw thread hole 1121 opposite to the screw through hole 222 is provided on the reduced diameter portion 112, and the screw through hole 221 is provided with a plurality of screw through holes 222. 2 is threadedly connected with the screw thread hole 1121 through a manual screw 26; the reduced diameter portion 112 of the suction barrel body 1 is threadedly connected with the mounting hole 221 of the enlarged diameter portion 22 of the suction nozzle 2, thereby improving the reliability of the connection and helping to prevent the suction nozzle 2 from moving in the radial or axial direction; a second sealing member 25 is arranged between the reduced diameter portion 112 and the mounting hole 221, thereby helping to prevent external gas from leaking into the cavity 3; fixing the enlarged diameter portion 22 and the reduced diameter portion 112 through the manual screw 26 helps to facilitate the disassembly of the suction nozzle 2 and improve the convenience of maintaining the suction holding device.

[0038] Reference Figure 2 The disengagement mechanism 4 also includes a cylinder 42 and a push rod 43. The cylinder 42 is installed on the cover 12. One end of the push rod 43 is fixedly connected to the piston rod of the cylinder 42, and the other end of the push rod 43 is fixedly connected to the side of the cover body 411 away from the top cavity 412. It can be fixedly connected by threaded connection or welding. A first guide hole 121 is provided on the cover 12, and the first guide hole 121 is slidably and sealedly connected to the push rod 43 or the piston rod of the cylinder 42; a sealing groove is provided in the first guide hole 121, and a sealing member is installed in the sealing groove. The sealing member is slidably connected to the piston rod of the push rod 43 or the cylinder 42, which helps to prevent external gas from leaking into the cavity 3 from the connection, so that the cavity 3 is connected to the negative pressure gas source and quickly forms a negative pressure state to suck the buns 6. At the same time, the stability and reliability of the axial movement of the push rod 43 are improved, which helps to improve the stability of the cover body 411 in supporting or pushing the buns 6, and improves the reliability of the suction and holding device.

[0039] Reference Figure 2 The suction nozzle 2 includes a wall body 21 and a support body 23 extending toward the center along the inner wall of the wall body 21, a second guide hole 231 is provided on the support body 23, and a push rod 43 passes through the second guide hole 231 and is slidably connected with the second guide hole 231; the push rod 43 is supported and guided by the second guide hole 231 on the support body 23 in the suction nozzle 2, while improving the stability and reliability of the axial movement of the push rod 43, which helps the stability of the cover body 411 in supporting or pushing the bun 6 and improves the reliability of the operation of the suction and holding device.

[0040] Reference Figure 1One end of the suction nozzle 2 away from the suction barrel body 1 is arranged as an inclined end face 24, the inclined end face 24 is arranged obliquely with the central axis of the wall body 21, and the lip 211 is arranged on the ring where the inner wall of the wall body 21 and the inclined end face 24 intersect; one end of the suction nozzle 2 is arranged as an inclined end face 24, and the lip 211 is arranged on the ring where the inner wall of the wall body 21 and the inclined end face 24 intersect, which helps to make the axis of the bag body and the axis of the suction nozzle 2 in an inclined state after the lip 211 is fitted with the bag body, which helps the suction and holding device to tilt the buns 6 in the packaging box 7, thereby improving the volume ratio of the packaging box 7.

[0041] Second embodiment Reference Figure 6 The difference from the first embodiment is that the suction device also includes a robot 5 for driving the barrel body to move, the robot 5 includes a mechanical arm body 51 and a mounting plate 52 connected to the mechanical arm body 51, and the mounting plate 52 is fixedly connected to the cover 12; the suction device drives the barrel body to move by the robot 5, and can quickly position and suction the buns 6 on the conveyor belt, and move them into the packaging box 7 for placement, thereby improving the work efficiency of sucking and packaging the buns 6 and reducing the labor intensity of the workers. It should be noted that the robot 5 disclosed in the embodiment of the present application is a spider arm robot 5, and the robot 5 disclosed in other embodiments of the present application is an industrial robot 5.

[0042] The working principle of a device for sucking and holding buns is as follows: the mechanical arm body 51 of the robot 5 moves to move the suction barrel body 1 to the top of the buns 6 to be sucked, so that the lip 211 of the suction nozzle 2 is close to the upper surface of the buns 6, and the negative pressure joint 13 is connected to the negative pressure air source. Under the action of negative pressure, the buns 6 are adsorbed on the lip 211, and the top seal of the buns 6 enters the top cavity 412. The upper top body of the buns 6 is supported on the cover body 411 of the top cover 41, and the mechanical arm moves the buns 6 to the packaging space of the packaging box 7, disconnects the negative pressure air source, and at the same time the cylinder 42 moves, the push rod 43 pushes the top cover 41, and the top cover 41 pushes the buns 6 to place the buns 6 in the packaging space of the packaging box 7.

[0043] The present application also discloses a method for holding a steamed bun, which is applied to the above-mentioned steamed bun 6 holding device, referring to Figure 6 , including the following steps: S1. According to the tilt direction of the buns 6 placed in the packaging box 7, adjust the direction of the inclined end surface 24 of the suction barrel body 1 so that the inclined end surface 24 is disposed relative to the top surface of the buns 6 stacked at an angle; S2 identifies and locates the target bun 6 to be sucked, and moves the suction barrel 1 so that the lip 211 is close to the upper position of the target bun 6; S3. The cavity 3 is connected to the negative pressure gas source, and the body of the target bun 6 is tilted and adsorbed on the lip 211 and supported on the top cover 41; S4, identifying and locating the target empty space in the packaging box 7, and moving the suction barrel body 1 holding the target bun 6 to the target empty space; S5, releasing the negative pressure gas source in the cavity 3, pushing the top cover 41 to make the target bun 6 separate from the lip 211 and placed in the target empty position; The above steps S2 to S5 are repeated to place the buns 6 tiltedly in the remaining target empty spaces in the packaging box 7 in sequence.

[0044] By adjusting the direction of the inclined end surface 24 so that the inclined end surface 24 is opposite to the top surface of the inclinedly placed bun 6, it is helpful for the suction barrel body 1 to hold the target bun 6 and then place it directly in the target empty space in the packaging box 7, thereby simplifying the placement action and improving the placement efficiency. The body of the target bun 6 is tilted and adsorbed on the lip 211 and supported on the top cover 41, which helps prevent the top of the bun 6 from cracking and improves the stability and reliability of the suction.

[0045] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application in sequence. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A device for holding steamed buns, comprising a suction barrel body (1) with one end closed and the other end open, a suction nozzle (2) sealed and detachably connected to the open end of the suction barrel body (1), a lip (211) adapted to the bun body is provided at one end of the suction nozzle (2) away from the suction barrel body (1), the suction barrel body (1) and the suction nozzle (2) are connected to form a cavity (3) that can be connected to a negative pressure gas source, characterized in that: The suction holding device further comprises a disengagement mechanism (4), wherein the disengagement mechanism (4) comprises a top cover (41) located in the cavity (3) for supporting or pushing the bun (6), wherein the top cover (41) is spaced apart from the lip (211).

2. The device for holding steamed buns according to claim 1, characterized in that: The top cover (41) comprises a cover body (411), a top cavity (412) for accommodating the top of the bun (6) is provided in the middle of a side of the cover body (411) facing the bun (6), the side of the cover body (411) facing the bun (6) is matched with the bun body, and a plurality of ventilation holes (413) communicating with the cavity (3) are provided on the cover wall of the cover body (411).

3. The device for holding steamed buns according to claim 2, characterized in that: The suction barrel body (1) comprises a barrel body (11) and a sealing cover (12), wherein the barrel body (11) and the sealing cover (12) are detachably fixedly connected, and a negative pressure hole (111) communicating with the cavity (3) is provided on the barrel body (11), and a negative pressure joint (13) is installed on the negative pressure hole (111).

4. The device for holding steamed buns according to claim 3, characterized in that: The detachable fixed connection structure between the barrel body (11) and the cover (12) comprises a first sealing member (14) installed between the barrel body (11) and the cover (12), and a spring buckle (15) connecting the barrel body (11) and the cover (12), wherein one end of the spring buckle (15) is fixed to the barrel body (11), and the other end is fixed to the cover (12).

5. The device for holding steamed buns according to claim 3, characterized in that: The detachable connection structure between the suction barrel body (1) and the suction nozzle (2) is as follows: a reduced diameter portion (112) is provided at one end of the barrel body (11) close to the suction nozzle (2), and an expanded diameter portion (22) is provided at one end of the suction nozzle (2) close to the barrel body (11), and a mounting hole (221) is provided in the expanded diameter portion (22), and the mounting hole (221) is penetrated by the reduced diameter portion (112), and a second sealing member (25) is provided between the reduced diameter portion (112) and the mounting hole (221), and a plurality of screw through holes (222) are radially provided in the expanded diameter portion (22), and a screw thread hole (1121) opposite to the screw through hole (222) is provided on the reduced diameter portion (112), and a manual screw (26) is penetrated through the screw through hole (222) and is threadedly connected with the screw thread hole (1121).

6. The device for holding steamed buns according to claim 3, characterized in that: The disengagement mechanism (4) also includes a cylinder (42) and a push rod (43), wherein the cylinder (42) is mounted on the cover (12), one end of the push rod (43) is fixedly connected to the piston rod of the cylinder (42), and the other end of the push rod (43) is fixedly connected to a side of the cover body (411) away from the top cavity (412), and a first guide hole (121) is provided on the cover (12), and the first guide hole (121) is slidably and sealingly connected to the push rod (43) or the piston rod of the cylinder (42).

7. The device for holding steamed buns according to claim 6, characterized in that: The suction nozzle (2) comprises a wall body (21) and a support body (23) extending toward the center along the inner wall of the wall body (21); a second guide hole (231) is provided on the support body (23); the push rod (43) passes through the second guide hole (231) and is slidably connected to the second guide hole (231).

8. The device for holding steamed buns according to claim 7, characterized in that: One end of the suction nozzle (2) away from the suction barrel body (1) is arranged to form an inclined end surface (24), the inclined end surface (24) is arranged to be inclined with respect to the axis of the wall body (21), and the lip (211) is arranged on a ring where the inner wall of the wall body (21) and the inclined end surface (24) intersect.

9. The steamed bun holding device according to claim 8, characterized in that: The suction holding device further comprises a robot (5) for driving the suction barrel body (1) to move, wherein the robot (5) comprises a robot arm body (51) and a mounting plate (52) connected to the robot arm body (51), and the mounting plate (52) is fixedly connected to the sealing cover (12).

10. A method for holding steamed buns, applied to the steamed bun holding device according to claim 9, comprising the following steps: S1. According to the tilt direction of the buns (6) placed in the packaging box (7), adjust the direction of the tilted end surface (24) of the suction barrel body (1) so that the tilted end surface (24) is arranged relative to the top surface of the tilted buns (6); S2. Identify and locate the target bun (6) to be sucked, and move the suction barrel (1) so that the lip (211) is close to the upper position of the target bun (6); S3. The cavity (3) is connected to a negative pressure gas source, and the body of the target bun (6) is tilted and adsorbed on the lip (211) and supported on the top cover (41); S4, identifying and locating a target empty space in the packaging box (7), and moving the suction barrel body (1) that sucks the target bun (6) to the target empty space; S5, releasing the negative pressure gas source in the cavity (3), pushing the top cover (41) so that the target bun (6) is separated from the lip (211) and placed in the target empty space; The above steps S2 to S5 are repeated to place the steamed buns (6) in an inclined manner in the remaining target empty spaces in the packaging box (7) in turn.

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