A bun holding device and method

Abstract

The application discloses a kind of buns suction device and method, it is related to bun production equipment technical field, including one end closed other end opening's suction barrel body, with suction nozzle of suction barrel body opening end seal and detachable connection, suction nozzle is away from the end of suction barrel body is equipped with with the lip of package body adaptation, suction barrel body and suction nozzle are communicated to form the cavity that can be connected negative pressure gas source, suction device further includes separation mechanism, separation mechanism includes in the cavity for supporting or pushing bun top cover, top cover is spaced apart with lip, by the lip of suction nozzle and the package body of adhesion form negative pressure sealed space to carry out the suction of bun, when suction bun, by top cover support bun, to help prevent the top of bun from being cracked due to the effect of negative pressure, when placing bun, by the driving of separation mechanism makes top cover push bun, to make bun quickly separate from lip and package, help to improve the safety of bun suction and the reliability of placement in the process of sorting.

Description

TECHNICAL FIELD

[0001] The present application relates to a steamed stuffed bun production equipment technical field, especially to a steamed stuffed bun holding device and method. BACKGROUND

[0002] In the industrialized batch production process of steamed stuffed buns, the steamed stuffed buns on the conveying line need to be sorted into packaging boxes for packaging. Although the existing steamed stuffed bun sorting suction cups can suck and clamp the steamed stuffed buns from the conveying line into the packaging boxes, the top seal of the steamed stuffed buns is prone to cracking due to the negative pressure effect of the suction cup, resulting in leakage of the stuffing of the steamed stuffed buns, which seriously affects the product quality.

[0003] Therefore, how to improve the safety and reliability of the steamed stuffed bun holding is a technical problem that needs to be solved by those skilled in the art at present. SUMMARY

[0004] In order to help improve the safety and reliability of the steamed stuffed bun holding, the present application provides a steamed stuffed bun holding device and a steamed stuffed bun packaging method

[0005] In the first aspect, the present application provides a steamed stuffed bun holding device, which adopts the following technical scheme:

[0006] A steamed stuffed bun holding device, comprising a suction barrel body with one end closed and the other end open, a suction nozzle sealed and detachably connected with the open end of the suction barrel body, the end of the suction nozzle away from the suction barrel body being provided with a lip matched with the body of the steamed stuffed bun, the suction barrel body and the suction nozzle being in communication to form a cavity capable of connecting a negative pressure gas source, and the holding device further comprising a disengaging mechanism, the disengaging mechanism comprising a top cover in the cavity for supporting or pushing the steamed stuffed bun, the top cover being spaced apart from the lip.

[0007] By adopting the above technical scheme, the holding device connects the negative pressure gas source through the cavity formed by the suction barrel body and the suction nozzle, and holds the steamed stuffed bun by forming a negative pressure sealed space through the matching of the lip of the suction nozzle and the body of the steamed stuffed bun. When holding the steamed stuffed bun, the top cover supports the steamed stuffed bun, thereby helping to prevent the top seal of the steamed stuffed bun from cracking due to the action of negative pressure. When placing the steamed stuffed bun, the top cover is driven by the disengaging mechanism to push the steamed stuffed bun, thereby making the steamed stuffed bun quickly disengage from the lip for packaging and placement, which helps to improve the safety of the steamed stuffed bun holding and the reliability of the placement during the sorting process.

[0008] Optionally, the top cover comprises a cover body, a top cavity accommodating the top of the steamed stuffed bun is provided in the middle of the side of the cover body facing the steamed stuffed bun, the side of the cover body facing the steamed stuffed bun is matched with the body of the steamed stuffed bun, and a plurality of air vents communicating with the cavity are provided on the cover wall of the cover body.

[0009] By adopting the technical scheme, the top cover contains the top of the steamed stuffed buns through the top cavity arranged on the cover body, which helps to prevent the top of the steamed stuffed buns from cracking due to the action of the negative pressure, the cover wall is provided with a plurality of air holes, which facilitates the transmission of the negative pressure to the side facing the steamed stuffed buns, when the steamed stuffed buns are close to the air holes, the steamed stuffed buns are conveniently adsorbed and clamped by the air holes due to the negative pressure, the side of the cover body facing the steamed stuffed buns is matched with the steamed stuffed buns, which can reduce the pressure of the steamed stuffed buns on a unit area, and helps to prevent the steamed stuffed buns from cracking.

[0010] Optionally, the suction barrel body comprises a barrel body and a cover, the barrel body is detachably fixedly connected with the cover, the barrel body is provided with a negative pressure hole communicating with the cavity, and a negative pressure connector is mounted on the negative pressure hole.

[0011] By adopting the technical scheme, the barrel body and the cover are detachably fixed, which facilitates the convenient disassembly of the barrel body and the cover, the barrel body is provided with a negative pressure hole, and a negative pressure connector is mounted on the negative pressure hole, which facilitates the connection or disconnection of the suction barrel body and the negative pressure source, and facilitates the disassembly, cleaning and maintenance of the suction barrel body.

[0012] Optionally, the detachable fixed connection structure of the barrel body and the cover comprises a first sealing element mounted between the barrel body and the cover, and a spring buckle connecting the barrel body and the cover, one end of the spring buckle is fixed on the barrel body, and the other end is fixed on the cover.

[0013] By adopting the technical scheme, the barrel body and the cover are sealingly connected through the first sealing element, which helps to prevent air leakage between the barrel body and the cover, and enables the internal cavity of the suction barrel body to quickly form a negative pressure state, the barrel body and the cover are connected through the spring buckle, the hook on one end of the spring buckle and the ring on the other end can be separated, so that the barrel body and the cover can be quickly disassembled, which helps to quickly clean the residues in the barrel body and prevents the negative pressure hole from being blocked to affect normal work.

[0014] Optionally, the detachable connection structure of the suction barrel body and the suction nozzle comprises that one end of the barrel body close to the suction nozzle is provided with a reduced diameter portion, one end of the suction nozzle close to the barrel body is provided with an enlarged diameter portion, the enlarged diameter portion is provided with a mounting hole, the reduced diameter portion penetrates through the mounting hole, a second sealing element is arranged between the reduced diameter portion and the mounting hole, a plurality of screw through holes are arranged in the radial direction of the enlarged diameter portion, a screw thread hole opposite to the screw through hole is arranged on the reduced diameter portion, and the screw through hole penetrates a hand screw and is threadedly connected with the screw thread hole.

[0015] By adopting the technical scheme, the connection reliability is improved by connecting the reduced diameter portion of the barrel body and the mounting hole of the nozzle, which helps to prevent the nozzle from moving in the radial or axial direction, the second sealing element is arranged between the reduced diameter portion and the mounting hole, which helps to prevent external gas from leaking into the cavity, and the expanded diameter portion and the reduced diameter portion are fixed by the hand screw, which helps to conveniently disassemble the nozzle and improves the convenience of maintaining the suction device.

[0016] Optionally, the separation mechanism further comprises a cylinder and a push rod, one end of the push rod is fixedly connected with a piston rod of the cylinder, and the other end of the push rod is fixedly connected with the cover body away from one side of the top cavity, a first guide hole is arranged on the cover, and the push rod or the piston rod of the cylinder is in sliding and sealing connection with the first guide hole.

[0017] By adopting the technical scheme, one end of the push rod is fixedly connected with the piston rod of the cylinder, and the other end is fixedly connected with the cover body, the push rod or the piston rod of the cylinder is in sliding and sealing connection in the first guide hole, which helps to form a negative pressure state in the cavity, improves the stability and reliability of the axial movement of the push rod, and helps to improve the stability of the cover body supporting or pushing the steamed stuffed buns and the reliability of the suction device.

[0018] Optionally, the nozzle comprises a wall body and a support body extending to the center along the inner wall of the wall body, a second guide hole is arranged on the support body, and the push rod passes through the second guide hole and is in sliding connection with the second guide hole.

[0019] By adopting the technical scheme, the push rod is supported and guided by the second guide hole on the support body in the nozzle, which improves the stability and reliability of the axial movement of the push rod, helps to improve the stability of the cover body supporting or pushing the steamed stuffed buns, and improves the reliability of the suction device.

[0020] Optionally, one end of the 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 the ring formed by the intersection of the inner wall of the wall body and the inclined end face.

[0021] By adopting the technical scheme, one end of the nozzle is arranged as an inclined end face, and the lip is arranged on the ring formed by the intersection of the inner wall of the wall body and the inclined end face, which helps to make the axis of the steamed stuffed buns and the axis of the nozzle form an inclined state after the lip is attached to the steamed stuffed buns, helps the suction device to place the steamed stuffed buns obliquely in the packaging box, and improves the volume rate of the packaging box.

[0022] Optionally, the suction device further comprises a robot for driving the suction barrel body to move, the robot comprises a mechanical arm body and a mounting plate connected with the mechanical arm body, and the mounting plate is fixedly connected with the cover.

[0023] By adopting the technical scheme, the suction device drives the suction barrel to move through the robot, can quickly position and hold the steamed buns on the conveying belt, and move into the packaging box to place the steamed buns, thereby improving the working efficiency of the steamed bun holding and packaging and reducing the labor intensity of workers.

[0024] In a second aspect, the application provides a steamed bun holding method, which adopts the following technical scheme:

[0025] A steamed bun holding method applied to the steamed bun holding device, comprising the following steps:

[0026] S1. Adjusting the direction of the inclined end face of the suction barrel according to the inclined direction of the steamed buns placed in the packaging box, so that the inclined end face is arranged opposite to the top surface of the inclined placed steamed buns;

[0027] S2. Identifying and positioning the target steamed bun to be held, and moving the suction barrel so that the lip is close to the upper position of the target steamed bun;

[0028] S3. The cavity is connected to the negative pressure air source, the body of the target steamed bun is inclined and adsorbed on the lip, and is supported on the top cover;

[0029] S4. Identifying and positioning the target space in the packaging box, and moving the suction barrel holding the target steamed bun to the target space;

[0030] S5. Releasing the negative pressure air source in the cavity, and pushing the top cover to make the target steamed bun separate from the lip and be placed in the target space;

[0031] Circulating the above steps S2 to S5, the steamed buns are sequentially placed in the remaining target spaces in the packaging box.

[0032] By adopting the above technical scheme, by adjusting the direction of the inclined end face, the inclined end face is arranged opposite to the top surface of the inclined placed steamed buns, which is helpful to directly place the target steamed bun held by the suction barrel into the target space in the packaging box, simplifies the placing action, improves the placing efficiency, the body of the target steamed bun is inclined and adsorbed on the lip, and is supported on the top cover, which is helpful to prevent the top of the steamed bun from cracking, and improves the stability and reliability of the holding.

[0033] In summary, the application has at least one of the following beneficial technical effects:

[0034] 1. The suction device is connected to the negative pressure air source through the cavity, the lip of the suction nozzle and the body of the steamed bun form a negative pressure sealed space to hold the steamed bun, and the top cover supports the steamed bun, which is helpful to prevent the top of the steamed bun from cracking due to the action of negative pressure, when the steamed bun is placed, the top cover is driven by the separation mechanism to push the steamed bun, so that the steamed bun quickly separates from the lip for packaging and placing, which is helpful to improve the safety of holding the steamed bun and the reliability of placing in the sorting process.

[0035] 2、The top cover contains the top of the steamed stuffed buns through the top cavity provided on the cover body, and a plurality of air vents are provided on the cover wall to help prevent the negative pressure from affecting the top of the steamed stuffed buns and causing the top to crack. The side of the cover body facing the steamed stuffed buns is adapted to the body of the steamed stuffed buns, which can reduce the pressure of the steamed stuffed buns per unit area and help prevent the body of the steamed stuffed buns from cracking.

[0036] 3、The barrel body and the cover are detachably and tightly 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 to facilitate the connection or disconnection of the suction barrel body and the negative pressure gas source and facilitate the disassembly, cleaning and maintenance of the suction barrel body.

[0037] 4、The connection reliability is improved by passing through the connecting hole of the reduced diameter part of the suction barrel body and the enlarged diameter part of the suction nozzle, which helps to prevent the suction nozzle from moving in the radial or axial direction. A second sealing element is provided between the reduced diameter part and the mounting hole to help prevent external gas from leaking into the cavity. The manual screw fixing of the enlarged diameter part and the reduced diameter part facilitates the convenient disassembly of the suction nozzle and improves the convenience of maintaining the suction device.

[0038] 5、One end of the suction nozzle is provided as an inclined end face, and the lip is provided on the ring formed at the intersection of the inner wall of the wall body and the inclined end face. After the lip is attached to the body of the steamed stuffed buns, the axis of the body of the steamed stuffed buns and the axis of the suction nozzle are in an inclined state, which helps the suction device to place the steamed stuffed buns in an inclined state in the packaging box, thereby improving the volume rate of the packaging box.

[0039] 6、By adjusting the direction of the inclined end face, the inclined end face is opposite to the top surface of the steamed stuffed buns placed in an inclined state, which helps the suction barrel body to directly place the target steamed stuffed buns in the target position in the packaging box after holding the target steamed stuffed buns, simplifies the placement action, and improves the placement efficiency. The body of the target steamed stuffed buns is inclined and attached to the lip, and is supported on the top cover, which helps to prevent the top of the steamed stuffed buns from cracking and improves the stability and reliability of the holding. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a structure schematic view of a steamed stuffed bun holding device according to the first embodiment of the present application.

[0041] Figure 2 It is a sectional view of a steamed stuffed bun holding device according to the first embodiment of the present application.

[0042] Figure 3 It is a structure schematic view of a barrel body according to the first embodiment of the present application. Figure 2

[0043] Figure 4 It is a structure schematic view of a suction nozzle according to the first embodiment of the present application.

[0044] Figure 5 It is a structure schematic view of a suction nozzle according to the first embodiment of the present application. ​

[0045] Figure 6 Figure 2 is a schematic view of a holding device for a steamed stuffed bun according to a second embodiment of the present disclosure.

[0046] Legend of reference signs:

[0047] 1, suction barrel body; 11, barrel body; 111, negative pressure hole; 112, reduced diameter portion; 1121, screw hole; 12, cover; 121, first guide hole; 13, negative pressure connector; 14, first sealing member; 15, spring buckle; 2, suction nozzle; 21, wall body; 211, lip; 22, enlarged diameter portion; 221, mounting hole; 222, screw via hole; 23, support body; 231, second guide hole; 24, inclined end face; 25, second sealing member; 26, hand screw; 3, cavity; 4, disengagement mechanism; 41, top cover; 411, cover body; 412, top cavity; 413, air hole; 42, air cylinder; 43, push rod; 5, robot; 51, mechanical arm body; 52, mounting plate; 6, steamed stuffed bun; 7, packaging box. DETAILED DESCRIPTION

[0048] The following will be described in detail Figures 1 to 6 The present disclosure will be described in further detail.

[0049] The present disclosure discloses a holding device for a steamed stuffed bun.

[0050] First embodiment

[0051] A holding device for a steamed stuffed bun. Referring to Figure 1 and Figure 2, including a suction barrel body 1, a suction nozzle 2 and a separation 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 with the open end of the suction barrel body 1, the other end of the suction nozzle 2 is provided with a lip 211 matched with the body of the steamed bun, the cavity of the suction barrel body 1 and the suction nozzle 2 is communicated to form a cavity 3, the cavity 3 can be connected or disconnected with an external negative pressure power source, the separation mechanism 4 includes a top cover 41, the top cover 41 is spaced apart from the lip 211 and is located in the cavity 3 for supporting or pushing the steamed bun 6, the suction holding device is connected with the negative pressure 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 source can be obtained in many ways, a vacuum generator can be connected with compressed air, the negative pressure end of the vacuum generator is connected with the cavity 3 to generate a negative pressure source, or a fan can be used, the air inlet of the fan is connected with the cavity 3 through a pipeline, the application does not limit the generation of the negative pressure source, the lip 211 of the suction nozzle 2 is matched with the body of the steamed bun to form a negative pressure sealed space, so as to hold the steamed bun 6, when holding the steamed bun 6, the top cover 41 supports the steamed bun 6, so as to help prevent the top seal of the steamed bun 6 from cracking due to the action of negative pressure, when placing the steamed bun 6, the top cover 41 is driven by the separation mechanism 4 to push the steamed bun 6, so that the steamed bun 6 quickly separates from the lip 211 for packaging and placing, which helps to improve the safety of holding the steamed bun 6 and the reliability of placing in the sorting process.

[0052] Referring to Figure 3 , the top cover 41 includes a cover body 411, a top cavity 412 for accommodating the top of the steamed bun 6 is arranged on the middle of the side of the cover body 411 facing the steamed bun 6, the side of the cover body 411 facing the steamed bun 6 is matched with the body of the steamed bun 6, and a plurality of air holes 413 communicating with the cavity 3 are arranged on the cover wall of the cover body 411; the top cover 41 accommodates the top seal of the steamed bun 6 through the top cavity 412 arranged on the cover body 411, which helps to prevent the top seal of the steamed bun 6 from cracking due to the action of negative pressure, and the plurality of air holes 413 arranged on the cover wall facilitate the transmission of negative pressure to the side facing the steamed bun 6, when the steamed bun 6 approaches the air holes 413, the steamed bun 6 is conveniently adsorbed and clamped by the air holes 413 due to negative pressure, and the side of the cover body 411 facing the steamed bun 6 is matched with the body of the steamed bun 6, which can reduce the pressure of the steamed bun 6 per unit area and help prevent the steamed bun 6 from cracking.

[0053] Referring to 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, the barrel body 11 is provided with a negative pressure hole 111 communicating with the cavity 3, and a negative pressure connector 13 is mounted 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, the barrel body 11 is provided with the negative pressure hole 111, and the negative pressure connector 13 is mounted on the negative pressure hole 111, which facilitates the disconnection of the suction barrel body 1 and the negative pressure source and the disassembly, cleaning and maintenance of the suction barrel body 1.

[0054] With reference to Figure 2 , the detachable connection structure of the barrel body 11 and the cover 12 is: comprising a first sealing element 14 installed between the barrel body 11 and the cover 12, a snap buckle 15 connecting the barrel body 11 and the cover 12, one end of the snap buckle 15 being fixed on the barrel body 11 and the other end being fixed on the cover 12; the barrel body 11 and the cover 12 are sealed and connected through the first sealing element 14, which helps to quickly form a negative pressure state after the internal cavity 3 of the suction barrel 1 is connected to a negative pressure gas source, and the barrel body 11 and the cover 12 are connected through the snap buckle 15, which can be quickly disassembled by disconnecting the hook at one end from the ring at the other end of the snap buckle 15, so as to quickly clean the residues inside the barrel body 11 and prevent the negative pressure hole 111 from being blocked to affect normal work.

[0055] With reference to Figure 2 , Figure 4 and Figure 5 , the detachable connection structure of the suction barrel 1 and the suction nozzle 2 is: the barrel body 11 is provided with a reduced diameter portion 112 at one end close to the suction nozzle 2, the suction nozzle 2 is provided with an enlarged diameter portion 22 at one end close to the barrel body 11, the enlarged diameter portion 22 is provided with a mounting hole 221, the reduced diameter portion 112 passes through the mounting hole 221, a second sealing element 25 is arranged between the reduced diameter portion 112 and the mounting hole 221, the enlarged diameter portion 22 is radially provided with a plurality of screw through holes 222, the reduced diameter portion 112 is provided with screw thread holes 1121 opposite to the screw through holes 222, and the screw through holes 222 pass through the hand-operated screw 26 and are threadedly connected with the screw thread holes 1121; the reduced diameter portion 112 of the suction barrel 1 and the mounting hole 221 of the enlarged diameter portion 22 of the suction nozzle 2 are connected by passing through, which improves the reliability of the connection and helps to prevent the suction nozzle 2 from moving in the radial or axial direction, the second sealing element 25 is arranged between the reduced diameter portion 112 and the mounting hole 221, which helps to prevent external gas from leaking into the cavity 3, and the hand-operated screw 26 is used to fix the enlarged diameter portion 22 and the reduced diameter portion 112, which helps to conveniently disassemble the suction nozzle 2 and improves the convenience of maintaining the suction device.

[0056] With reference to Figure 2, the disengaging mechanism 4 further comprises 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 with a piston rod of the cylinder 42, the other end of the push rod 43 is fixedly connected with the cover body 411 away from the top cavity 412, and the fixed connection can be achieved in a threaded connection or welding manner; the cover 12 is provided with a first guide hole 121, the first guide hole 121 is in sliding and sealing connection with the push rod 43 or the piston rod of the cylinder 42; a sealing groove is arranged in the first guide hole 121, and a sealing element is arranged in the sealing groove; the sealing element is in sliding connection with the push rod 43 or the piston rod of the cylinder 42, which helps to prevent external gas from leaking into the cavity 3 from the connection, facilitates the cavity 3 to form a negative pressure state after being connected with the negative pressure gas source to hold the steamed stuffed buns 6, and improves the stability and reliability of the axial movement of the push rod 43, helps to improve the stability of the cover body 411 supporting or pushing the steamed stuffed buns 6, and improves the reliability of the holding device.

[0057] With reference to Figure 2 , the suction nozzle 2 comprises a wall body 21 and a support body 23 extending to the center along the inner wall of the wall body 21, the support body 23 is provided with a second guide hole 231, and the push rod 43 passes through and is in sliding connection 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, which improves the stability and reliability of the axial movement of the push rod 43, helps to improve the stability of the cover body 411 supporting or pushing the steamed stuffed buns 6, and improves the reliability of the holding device.

[0058] With reference to Figure 1 , an end of the suction nozzle 2 away from the suction barrel body 1 is provided as an inclined end face 24, the inclined end face 24 is provided obliquely to the central axis of the wall body 21, and the lip 211 is arranged on a ring formed by the inner wall of the wall body 21 and the inclined end face 24; one end of the suction nozzle 2 is provided as the inclined end face 24, and the lip 211 is arranged on a ring formed by the inner wall of the wall body 21 and the inclined end face 24, which helps to make the axis of the steamed stuffed bun body and the axis of the suction nozzle 2 be in an inclined state after the lip 211 is attached to the steamed stuffed bun body, helps the holding device to place the steamed stuffed buns 6 in the packaging box 7 in an inclined state, and improves the volume rate of the packaging box 7.

[0059] Second embodiment

[0060] With reference to Figure 6The difference from the first embodiment is that the suction device also includes a robot 5 that drives the barrel to move. The robot 5 includes a mechanical arm body 51 and a mounting plate 52 connected to the mechanical arm body 51. The mounting plate 52 is fixedly connected to the cover 12. The suction device drives the barrel to move through the robot 5, which can quickly position and suction the buns 6 on the conveyor belt and move them into the packaging box 7 for placement. This improves the efficiency of suction packaging of buns 6 and reduces the labor intensity of workers. It should be noted that the robot 5 disclosed in this application embodiment is a spider arm robot 5, while the robot 5 disclosed in other embodiments of this application is an industrial robot 5.

[0061] The working principle of a steamed bun suction device is as follows: The robotic arm 51 of robot 5 moves to move the suction barrel 1 above the steamed bun 6 to be suctioned, so that the lip 211 of the suction nozzle 2 is close to the upper surface of the steamed bun 6. The negative pressure connector 13 connects to the negative pressure air source. Under the action of negative pressure, the steamed bun 6 is adsorbed on the lip 211. The top of the steamed bun 6 is sealed and enters the top cavity 412. The upper part of the steamed bun 6 is supported on the cover 411 of the top cover 41. The robotic arm moves to move the steamed bun 6 to the packaging space of the packaging box 7. The negative pressure air source is disconnected. At the same time, the cylinder 42 moves and the push rod 43 pushes the top cover 41. The top cover 41 pushes the steamed bun 6 to place the steamed bun 6 into the packaging space of the packaging box 7.

[0062] This application also discloses a method for holding a steamed bun, applied to the aforementioned method for holding the steamed bun 6, referring to... Figure 6 This includes the following steps:

[0063] S1. Adjust the direction of the inclined end face 24 of the suction bucket body 1 according to the tilting direction of the buns 6 placed in the packaging box 7, so that the inclined end face 24 is opposite to the top surface of the inclined buns 6.

[0064] 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 part of the target bun 6;

[0065] S3. When the cavity 3 is connected to the negative pressure air source, the body of the target bun 6 tilts and adheres to the lip 211, and is supported on the top cover 41;

[0066] S4. Identify and locate the target empty space inside the packaging box 7, and move the suction bucket 1 holding the target bun 6 to the target empty space.

[0067] S5. Release the negative pressure air source in cavity 3 and push the top cover 41 to make the target bun 6 detach from the lip 211 and place it in the target space;

[0068] Repeat steps S2 to S5 above, and place the buns 6 at an angle into the remaining target empty spaces inside the packaging box 7.

[0069] By adjusting the direction of the inclined end face 24 so that the inclined end face 24 is opposite to the top surface of the inclined bun 6, it helps the suction bucket 1 to hold the target bun 6 and place it directly into the target empty space in the packaging box 7, simplifying the placement action and improving placement efficiency. The body of the target bun 6 is inclined and adsorbed on the lip 211 and supported on the top cover 41, which helps to prevent the top of the bun 6 from cracking and improves the stability and reliability of the suction.

[0070] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A steamed bun suction device, comprising a suction barrel (1) with one end closed and the other end open, a suction nozzle (2) sealed and detachably connected with the open end of the suction barrel (1), the end of the suction nozzle (2) away from the suction barrel (1) being provided with a lip (211) matched with the body of a steamed bun, and the suction barrel (1) and the suction nozzle (2) being in communication to form a cavity (3) capable of connecting a negative pressure air source, characterized in that: The suction device further comprises a disengaging mechanism (4), the disengaging mechanism (4) comprises a top cover (41) for supporting or pushing the steamed stuffed buns (6) in the cavity (3), and the top cover (41) is arranged in a spaced manner with the lip (211); the top cover (41) comprises a cover body (411), a top cavity (412) for accommodating the top of the steamed stuffed bun (6) is arranged in the middle of one side of the cover body (411) facing the steamed stuffed bun (6), the side of the cover body (411) facing the steamed stuffed bun (6) is matched with the body of the steamed stuffed bun (6), and a plurality of air holes (413) communicating with the cavity (3) are arranged on the cover wall of the cover body (411); the suction barrel body (1) comprises a barrel body (11) and a cover (12), the barrel body (11) is detachably fixedly connected with the cover (12), a negative pressure hole (111) communicating with the cavity (3) is arranged on the barrel body (11), and a negative pressure connector (13) is mounted on the negative pressure hole (111); the disengaging mechanism (4) further comprises a gas cylinder (42) and a push rod (43), the gas cylinder (42) is mounted on the cover (12), one end of the push rod (43) is fixedly connected with the piston rod of the gas cylinder (42), the other end of the push rod (43) is fixedly connected with the side of the cover body (411) away from the top cavity (412), a first guide hole (121) is arranged on the cover (12), and the first guide hole (121) is in sliding and sealing connection with the push rod (43) or the piston rod of the gas cylinder (42); the suction nozzle (2) comprises a wall body (21) and a support body (23) extending to the center along the inner wall of the wall body (21), a second guide hole (231) is arranged on the support body (23), the push rod (43) passes through the second guide hole (231) and is in sliding connection with the second guide hole (231); the 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 in an inclined manner with the axis of the wall body (21), and the lip (211) is arranged on the ring formed by the intersection of the inner wall of the wall body (21) and the inclined end face (24).

2. The bun holding device of claim 1, wherein: The detachable fixed connection structure of the barrel body (11) and the cover (12) comprises a first sealing member (14) mounted 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).

3. The bun holding device of claim 1, wherein: The detachable connection structure of the suction barrel body (1) and the suction nozzle (2) is that: the barrel body (11) is provided with a reduced diameter portion (112) near one end of the suction nozzle (2), the suction nozzle (2) is provided with an enlarged diameter portion (22) near one end of the barrel body (11), the enlarged diameter portion (22) is provided with a mounting hole (221), the reduced diameter portion (112) penetrates the mounting hole (221), a second sealing element (25) is arranged between the reduced diameter portion (112) and the mounting hole (221), the enlarged diameter portion (22) is radially provided with a plurality of screw through holes (222), the reduced diameter portion (112) is provided with a screw thread hole (1121) opposite to the screw through holes (222), and the screw through holes (222) penetrate the hand screw (26) and are threadedly connected with the screw thread hole (1121).

4. The bun holding device of claim 1, wherein: The suction holding device further comprises a robot (5) for driving the suction barrel body (1) to move, the robot (5) comprises a mechanical arm body (51) and a mounting plate (52) connected with the mechanical arm body (51), and the mounting plate (52) is fixedly connected with the cover (12).

5. A suction holding method of a steamed stuffed bun, applied to the suction holding device of the steamed stuffed bun in claim 4, comprising the following steps: S1. According to the inclined direction of the steamed stuffed bun (6) placed in the packaging box (7), the direction of the inclined end face (24) of the suction barrel body (1) is adjusted, so that the inclined end face (24) is arranged opposite to the top surface of the inclinedly stacked steamed stuffed bun (6); S2. The target steamed stuffed bun (6) to be suction held is identified and positioned, and the suction barrel body (1) is moved to make the lip (211) close to the upper position of the target steamed stuffed bun (6); S3. The cavity (3) is connected to a negative pressure gas source, the body of the target steamed stuffed bun (6) is inclinedly adsorbed on the lip (211) and supported on the top cover (41); S4. The target space in the packaging box (7) is identified and positioned, and the suction barrel body (1) suction holding the target steamed stuffed bun (6) is moved to the target space; S5. The negative pressure gas source in the cavity (3) is released, and the top cover (41) is pushed to make the target steamed stuffed bun (6) separate from the lip (211) and be placed in the target space; The above steps S2 to S5 are cycled, and the steamed stuffed bun (6) is sequentially placed in the remaining target spaces in the packaging box (7).

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