Mechanical hand steamed stuffed bun skin decorating machine

Abstract

The application relates to a mechanical hand buns fancy skin covering machine, which comprises a frame body and a PLC control device, a conveying belt is arranged on the frame body, a skin material feeding machine is arranged on one side of the conveying belt, a material taking mechanical hand is arranged between the skin material feeding machine and the conveying belt, the PLC control device outputs a first control instruction to the skin material feeding machine after receiving a starting signal; an optical sensor detects a product to be processed and outputs a signal of the product to be processed to the PLC control device, a second control instruction is output to the material taking mechanical hand based on the optical sensor output signal, and the material taking mechanical hand is used for taking the skin and placing and covering on the product to be processed; the PLC control device detects whether the material taking mechanical hand completes the placing action, if yes, a first control instruction is output to the skin material feeding machine on the next station in the advancing direction of the conveying belt, the above steps are repeated, and multiple skin covering of the product to be processed is completed. The application has the effects of improving the automation degree and the production efficiency.

Description

Technical Field

[0001] This application relates to the technical field of food machinery, and in particular to a robotic hand-operated fancy steamed bun skin-covering machine. Background Technology

[0002] Steamed buns are a staple food in the Chinese food system. They are made by wrapping fillings inside a dough wrapper and then steaming them. This type of stuffed pasta typically consists of an outer dough wrapper and a filling.

[0003] In related technologies, steamed bun machines mix certain ingredients to form a filling, extrude it onto a conveyor belt to create a dough cylinder, fill the cylinder with the prepared filling, cut and knead the dough to form a round steamed bun, shape it, and finally steam it until cooked. However, this type of dough cylinder or dough is made from only one type of mixed dough, and cannot produce multi-layered and diverse outer layers. Generally, the dough needs to be manually processed in advance, resulting in relatively low automation and production efficiency. Summary of the Invention

[0004] In order to improve the automation level and production efficiency when producing complex and fancy steamed buns, this application provides a robotic arm fancy steamed bun skin covering machine.

[0005] The robotic fancy steamed bun skinning machine provided in this application adopts the following technical solution: A robotic fancy steamed bun wrapping machine includes a frame and a PLC control unit. A conveyor belt is mounted on the frame. A dough feeder for supplying single-color dough is located on one side of the conveyor belt. A robotic arm for picking up dough is positioned between the dough feeder and the conveyor belt. A photoelectric sensor for detecting the passage of products to be processed is located on the upper side of the conveyor belt. The PLC control unit is electrically connected to the dough feeder, the robotic arm, and the photoelectric sensor. The dough feeder, the robotic arm, and the photoelectric sensor constitute one workstation. Multiple workstations are spaced apart on both sides of the conveyor belt along its forward direction. After receiving a start signal, the PLC control unit outputs a first control command. The PLC control unit outputs the first control command to the direction of the conveyor belt's forward movement. The first workstation on the conveyor belt feeds a leather material to the conveyor belt after receiving a first control command. A photoelectric sensor at the first workstation in the forward direction of the conveyor belt detects whether a product to be processed is passing by. If so, it outputs a signal to the PLC control device. The PLC control device receives the signal from the photoelectric sensor and outputs a second control command to the corresponding picking robot. Upon receiving the second control command, the picking robot picks up the leather material and places it onto the product to be processed. The PLC control device detects whether the picking robot has completed the placement action. If so, it outputs a first control command to the next workstation on the forward direction of the conveyor belt, repeating the above steps to complete multiple leather coverings of the product to be processed.

[0006] By adopting the above technical solution and through automated control of the PLC control device, integrating the dough feeder, the material handling robot, and photoelectric sensors, precise regulation of dough supply and handling is achieved. This process ensures timely supply of dough as products pass through, significantly improving the automation level and efficiency of the production line, reducing manual intervention, and enhancing product consistency and accuracy.

[0007] Preferably, the dough feeding machine includes a storage box with an inlet on its upper side and a feed port on one horizontal side. A discharge nozzle is connected to the feed port. The storage box also contains an extrusion assembly that extrudes the dough through the feed port and from the discharge nozzle. The discharge nozzle is detachably fixed to the storage box. A conveyor belt is located below the side of the discharge nozzle facing away from the storage box. A material-retrieving robot is positioned above the conveyor belt. The drive motor of the conveyor belt is electrically connected to a PLC control device. A first control command controls the extrusion assembly to extrude the dough from the storage box, forming dough sheets from the discharge nozzle, and moving them onto the corresponding conveyor belt. A second control command, based on the output signal from the corresponding photoelectric sensor, is output by the PLC control device to the material-retrieving robot. A third control command is output by the PLC control device to the drive motor of the corresponding conveyor belt. After a set time period, the third control command controls the drive motor of the corresponding conveyor belt to rotate, driving the conveyor belt forward.

[0008] By adopting the above technical solution, after starting the entire robotic fancy bun wrapping machine, the PLC control device outputs the first control command to control the extrusion component inside the dough feeding machine to extrude the dough from the discharge nozzle onto the conveyor belt. The PLC control device outputs the second control command to control the material picking robot to pick up part of the dough from the conveyor belt. Then, the PLC control device outputs the third control command to control the conveyor belt to move forward, removing the waste dough from the preset position of the material picking robot. This allows the dough feeding and picking actions to be repeated when the next product to be processed passes by on the conveyor belt.

[0009] Preferably, the extrusion assembly includes an extrusion roller, which is horizontally arranged inside the storage bin. A separate extrusion roller for driving the extrusion roller to rotate around its own axis is located on the side of the storage bin opposite to the feed inlet. Helical blades are wound around the extrusion roller. The feed inlet is located at one end along the axis of the extrusion roller. A rotary motor for driving the extrusion roller to rotate is located at the end of the extrusion roller opposite to the feed inlet. The PLC control device is electrically connected to the rotary motor. The first control command output by the PLC control device also controls the rotary motor, which drives the extrusion roller to rotate around its own axis, extruding the dough inside the storage bin.

[0010] By adopting the above technical solution, the extrusion rollers installed inside the storage bin help ensure that the dough is effectively extruded from the storage bin. The first control command output by the PLC control device rotates the motor, driving the extrusion rollers to rotate, thereby achieving uniform extrusion of the dough. This method ensures the uniformity and thickness consistency of the dough, contributing to improved overall product quality.

[0011] Preferably, two extrusion rollers are spaced apart along the horizontal radial direction, and the two extrusion rollers rotate in a direction that approaches each other from the upper side. Two rotation motors are provided corresponding to the extrusion rollers, and the rotation directions of the output shafts of the two rotation motors are opposite.

[0012] By adopting the above technical solution, the dough is constantly turned over using two opposing rotating extrusion rollers, which helps to maintain the softness and internal structure of the dough.

[0013] Preferably, a separator seat is also connected to the feeding port of the storage box. A separator cavity is formed inside the separator seat. A drive shaft is provided inside the separator cavity. A control motor is provided inside the drive shaft to drive it to rotate around its own axis. The control motor is electrically connected to a PLC control device. A discharge port is opened on the separator seat. The discharge nozzle is connected to the separator cavity through the discharge port. The discharge port is located on one side of the drive shaft in the radial direction. A paddle is also fixed on the drive shaft. The width direction of the paddle is the same as the radial direction of the drive shaft. The length direction of the paddle is parallel to the axis of the drive shaft. The paddle abuts against the side wall of the separator cavity along its own width direction away from the drive shaft. After the PLC control device outputs the first control command, it outputs a fourth control command to the control motor after a set time interval. The control motor drives the paddle to rotate and cut the dough in the separator cavity until the separated dough is squeezed out from the discharge nozzle in sequence.

[0014] By adopting the above technical solution, when the PLC control device controls the rotating motor to rotate, the extrusion rollers squeeze the dough in the storage bin into the separating chamber. The PLC control device then controls the motor to rotate, driving the paddle to rotate around the drive shaft, thereby separating the dough in the separating seat into different equal portions, which are then extruded from the discharge port through the discharge nozzle onto the conveyor belt. This method helps to control the discharge speed and dough interval, helps to reduce dough waste, and improves the utilization efficiency of raw materials.

[0015] Preferably, the material handling robot includes a mounting frame and a positioning frame. The mounting frame is fixed to the frame body. The mounting frame is also provided with a transverse sliding component for driving the positioning frame to move along the width direction of the conveyor belt. The transverse sliding component is provided with a longitudinal sliding component for driving the positioning frame to move along the forward direction of the conveyor belt. The positioning frame is provided with a material handling component for picking up the shaped dough sheet. Both the transverse sliding component and the longitudinal sliding component are electrically connected to a PLC control device. The PLC control device controls the transverse sliding component and the longitudinal sliding component based on a second control command output by the corresponding photoelectric sensor output signal. The transverse sliding component and the longitudinal sliding component control the positioning frame to slide laterally and / or longitudinally.

[0016] By adopting the above technical solution, the PLC control device can precisely control the transverse sliding component and the longitudinal sliding component, change the relative position between the positioning frame and the leather supply machine or conveyor belt, and facilitate the material picking component to pick up the formed dough and place it on the upper side of the product to be processed.

[0017] Preferably, the material handling assembly includes an outer mold for pressing out the dough, a vertical drive assembly for driving the outer mold to move vertically, an inner mold inside the outer mold, and a push assembly for pushing the inner mold to move vertically on the positioning frame. The vertical drive assembly and the push assembly are electrically connected to a PLC control device. The PLC control device outputs a second control command based on the output signal of the corresponding photoelectric sensor. The vertical drive assembly drives the positioning frame to slide vertically downward based on the second control command until the outer mold cuts the dough, at which point the dough inside the outer mold is embedded in the outer mold. The push assembly pushes the inner mold downward based on the second control command until the formed dough separates from the outer mold and is then attached to the surface of the product to be processed.

[0018] By adopting the above technical solution, the cooperation between the outer mold and the inner mold ensures the shape of the dough to be picked up, making it easier for workers to make exquisite buns. The PLC control device precisely controls the horizontal sliding device, the vertical sliding device and the longitudinal sliding device to change the relative position of the positioning frame. The PLC control device also controls the pushing component to push the inner mold and the outer mold to move relative to each other, thereby attaching the dough of a specific shape embedded in the outer mold to the product to be processed.

[0019] In summary, this application includes at least one of the following beneficial technical effects: 1. Through the cooperation of PLC control device and multiple photoelectric sensors set on the conveyor belt, the fully automatic control of dough feeding, forming and picking process is realized, reducing manual intervention, improving production efficiency and helping to reduce labor costs. 2. The two extrusion rollers in the storage box, the drive shaft and the paddle in the partition chamber drive the dough to be divided into multiple segments and extruded from the discharge nozzle onto the conveyor belt in sequence, thereby achieving precise supply of dough material and ensuring the uniformity and consistency of the dough. 3. Multiple sets of photoelectric sensors, dough feeders, and material handling robots are installed on both sides of the conveyor belt width direction, which can flexibly meet the production needs of buns of different specifications and patterns. The staff can quickly adjust the dough feeders and material handling robots, thereby helping to improve the adaptability of the production line. Attached Figure Description

[0020] Figure 1 This is an isometric schematic diagram of the overall structure of the robotic arm fancy steamed bun skin-coating machine, which is the main embodiment of this application. Figure 2 This is a side view of the main structure of the robotic arm fancy steamed bun coating machine in this application embodiment; Figure 3 This is an isometric view of the main structure of the leather feeding machine as described in the embodiments of this application; Figure 4 This is an exploded view of the internal structure of the partition seat, which is the main embodiment of this application. Figure 5 This is an isometric view of the main embodiment of the material handling robot in this application; Figure 6 This is an exploded view of the structure between the outer mold, the pushing component, and the inner mold, which is the main embodiment of this application.

[0021] Reference numerals: 1. Frame; 2. Conveyor belt; 21. Photoelectric sensor; 3. Leather feeder; 31. Storage bin; 311. Feed inlet; 32. Extrusion assembly; 321. Extrusion roller; 33. Divider seat; 331. End cap; 332. Gasket; 333. Drive shaft; 334. Paddle; 335. Fixing block; 336. Discharge port; 34. Discharge nozzle; 4. Conveyor belt; 5. Material handling robot; 51. Mounting frame; 52. Lateral sliding assembly; 53. Longitudinal sliding assembly; 54. Vertical drive assembly; 55. Positioning frame; 551. Support frame; 56. Mounting block; 57. Outer mold; 58. Drive cylinder; 59. Inner mold. Detailed Implementation

[0022] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0023] This application discloses a robotic arm fancy steamed bun skin-covering machine.

[0024] See Figure 1 , Figure 2 The robotic fancy steamed bun wrapping machine includes a frame 1 and a PLC control unit. A conveyor belt 2 is mounted on the frame 1, and the conveyor belt is horizontally positioned. Photoelectric sensors 21 are installed on both sides of the conveyor belt 2 along its forward direction. A movable dough feeder 3 is also installed on one side of the conveyor belt 2 along its width. A conveyor belt 4 is positioned between the dough feeder 3 and the conveyor belt 2, and the conveyor belt 4 is horizontally positioned with its forward direction perpendicular to that of the conveyor belt. A robotic arm 5 is installed above the conveyor belt 4. The photoelectric sensors 21, the dough feeder 3, the conveyor belt 4, and the robotic arm 5 are all electrically connected to the PLC control unit.

[0025] In actual operation, when the operator starts the entire robotic fancy bun wrapping machine, the PLC control device receives the start signal and outputs the first control command to the dough feeder 3, causing the dough feeder 3 to supply dough to the conveyor belt 4. The operator places the product to be processed on the conveyor belt 2, and the photoelectric sensor 21 detects in real time whether an object is passing by at that position on the conveyor belt 2. When a product to be processed passes by, the photoelectric sensor 21 outputs a signal indicating that a product to be processed has passed to the PLC control device. Based on this input signal, the PLC control device outputs a second control command, which controls the robotic arm 5 to grab the dough from the conveyor belt 4 and then place it on the product to be processed.

[0026] The PLC control device can be configured as an integrated PLC module that includes a processor and components such as a power supply, control screen, and buttons electrically connected to the processor.

[0027] See Figure 3 , Figure 4 The leather feeding machine 3 includes a storage bin 31 with a feed inlet 311 on its upper side. An extrusion assembly 32 is installed inside the storage bin 31. The extrusion assembly 32 includes an extrusion roller 321, which is horizontally positioned with its axis parallel to the forward direction of the conveyor belt 2. Spiral blades are wound around the extrusion roller 321. A rotary motor is installed at one end of the extrusion roller 321, driving it to rotate around its own axis within the storage bin 31. Two extrusion rollers 321 are spaced apart along the width of the conveyor belt 2, with the spiral blades on the two extrusion rollers 321 having opposite spiral directions. One rotary motor is installed at one end of each extrusion roller 321 along its axis, and the output shafts of the two rotary motors rotate in opposite directions, causing the upper sides of the two extrusion rollers 321 to rotate inward. Both rotary motors are electrically connected to a PLC control device.

[0028] The storage bin 31 has a feeding port on the side opposite to the rotating motor along the axis of the two extrusion rollers 321. A separator seat 33 is also fixed to the outside of the storage bin 31, and a separator cavity is formed inside the separator seat 33, which communicates with the feeding port. An end cap 331 is fixed to the side of the separator seat 33 opposite to the feeding port, and a gasket 332 is fixed between the end cap 331 and the separator seat 33. The end cap 331 and the gasket 332 facilitate cleaning of the separator cavity by workers.

[0029] A drive shaft 333 is located on the side of the separating chamber opposite to the feed inlet. The axis of the drive shaft 333 is parallel to the axis of the extrusion roller 321. A control motor is installed inside the drive shaft 333 to drive its rotation around its own axis. The control motor is electrically connected to a PLC control device. A paddle 334 is embedded radially in the drive shaft 333. The width of the paddle 334 is the same as the radial direction of the drive shaft 333, and its length is parallel to the axis of the drive shaft 333. The side of the paddle 334 facing away from the drive shaft 333 abuts against the side wall of the separating chamber. Multiple paddles 334 are arranged in a circumferential array around the axis of the drive shaft 333. Multiple paddles 334 are fixed to the drive shaft 333 by a fixing block 335.

[0030] The separator 33 has a discharge port 336 on one side of the drive shaft 333 in the horizontal radial direction. A discharge nozzle 34 is also fixed on the outside of the separator 33, and the discharge nozzle 34 is connected to the discharge port 336. The end of the discharge nozzle 34 is fixed above the conveyor belt 4 by the frame 1.

[0031] The first control command is output from the PLC control device to two rotating motors. The two rotating motors drive two extrusion rollers 321 to rotate in opposite directions, thereby extruding the dough in the storage box 31 into the separating chamber. Multiple paddles 334 separate the dough extruded into the separating chamber into multiple portions. The operator presets an interval time in the PLC control device. After the PLC control device outputs the first control command, after the preset time interval, it outputs a fourth control command to the control motor. The control motor drives the drive shaft 333 to rotate. As the two paddles 334 near the discharge port 336 rotate with the drive shaft 333, they squeeze the dough between the two paddles 334 from the feeding port into the discharge nozzle 34, and then extrude it from the discharge nozzle 34 to form a sheet of dough, which falls onto the conveyor belt 4.

[0032] See Figure 5 , Figure 6 The material handling robot 5 includes a mounting frame 51, which is fixed on the frame 1. A positioning frame 55 is provided on the mounting frame 51. A transverse sliding component 52 and a longitudinal sliding component 53 are provided between the positioning frame 55 and the mounting frame 51. The transverse sliding component 52 pushes the positioning frame 55 to slide along the width direction of the conveyor belt 2, and the longitudinal sliding component 53 pushes the positioning frame 55 to slide along the forward direction of the conveyor belt 2.

[0033] Both the transverse sliding assembly 52 and the longitudinal sliding assembly 53 consist of a sliding frame, a motor, a lead screw, and a slider. The motor housing is fixed to the sliding frame, and the lead screw is coaxially fixed to the motor output shaft. The slider slides along the length of the sliding frame, and the lead screw passes through the slider along its own axis and is threaded into the slider. The motor drives the lead screw to rotate, thereby causing the slider to slide along the length of the sliding frame. The sliding frame of the transverse sliding assembly 52 is fixed to the mounting bracket 51, and the sliding frame of the longitudinal sliding assembly 53 is fixed to the slider of the transverse sliding assembly 52. ​​The positioning bracket 55 is set on the slider of the longitudinal sliding assembly 53.

[0034] The vertical drive assembly 54 also includes a motor, a lead screw, and a slider. The motor of the vertical drive assembly 54 is fixed on the positioning frame 55. The lead screw is coaxially arranged with the motor output shaft and passes through the slider in the vertical direction. The lead screw and the slider are threaded together. A support frame 551 is also fixed on the slider of the vertical drive assembly 54. A mounting block 56 is fixed to the lower end of the support frame 551. An outer mold 57 is detachably fixed to the lower side of the mounting block 56. A drive cylinder 58 is also provided on the support frame 551. The housing of the drive cylinder 58 is fixed on the support frame 551. The piston rod of the drive cylinder 58 passes through the mounting block 56 in the vertical direction. An inner mold 59 is detachably fixed to the end of the piston rod of the drive cylinder 58. The piston rod of the drive cylinder 58 slides in the vertical direction, and the outer mold 57 is sleeved on the outside of the inner mold 59.

[0035] In actual operation, when the photoelectric sensor 21 detects a product to be processed passing by on the conveyor belt 2, it sends a signal to the PLC control device indicating that a product to be processed has passed by. If no product to be processed passes by, the photoelectric sensor 21 does not send a signal. After receiving the signal from the photoelectric sensor 21, the PLC control device outputs a second control command to the respective motors of the transverse sliding assembly 52 and the longitudinal sliding assembly 53. The transverse sliding assembly 52 and the longitudinal sliding assembly 53 control the positioning frame 55 to move, causing the outer mold 57 to move to the upper side of the preset position on the conveyor belt 4. At this time, the dough extruded by the dough feeder 3 is located below the outer mold 57. The PLC control device controls the vertical drive assembly 54, thereby controlling the positioning frame 55 to slide downwards in the vertical direction. The outer mold 57 moves downwards until the dough is cut off. At this time, the dough inside the outer mold 57 is embedded in the outer mold 57.

[0036] The PLC control unit then controls the vertical drive assembly 54, the horizontal sliding assembly 52, and the longitudinal sliding assembly 53 to move the outer mold 57 to the upper side of the product to be processed. The PLC control unit controls the piston rod of the drive cylinder 58 to extend, and the piston rod of the drive cylinder 58 pushes the inner mold 59 downward, thereby pushing the skin embedded in the outer mold 57 to separate from the outer mold 57 and attach it to the surface of the product to be processed below, completing the skin covering.

[0037] After the PLC control device detects that the material handling robot 5 has completed the covering process, it controls the material handling robot 5 to reset and simultaneously issues a first control command and a third control command. The PLC control device controls the material supply machine 3 to extrude new dough through the first control command. The PLC control device controls the drive motor of the conveyor belt 4 to start through the third control command, driving the conveyor belt 4 forward, so that the dough cut by the outer mold 57 is moved out of the preset position, making it convenient for the material supply machine 3 to re-extrude dough.

[0038] See Figure 1 , Figure 2 Each workstation includes one photoelectric sensor 21, one leather feeder 3, one conveyor belt 4, and one robotic arm 5. Multiple workstations are spaced apart on both sides of the conveyor belt 2 in the width direction. When the operator starts the robotic arm fancy bun skin-covering machine, the PLC control device outputs multiple first control commands to multiple leather feeders 3. The products to be processed on the conveyor belt 2 will pass through different photoelectric sensors 21 in sequence, thereby triggering multiple photoelectric sensors 21 in sequence. The multiple photoelectric sensors 21 output signals to the PLC control device in sequence, and the PLC control device then outputs multiple sets of second, third, and fourth control commands in sequence.

[0039] The implementation principle of the robotic fancy bun wrapping machine in this application embodiment is as follows: After the operator starts the equipment, the PLC control device receives the start signal and sends a first control signal to each dough feeder 3. The extrusion component 32 in any dough feeder 3 extrudes the dough in the storage box 31 into the separation chamber. The drive shaft 333 drives the paddle 334 to divide the large dough into small segments and extrude them from the discharge nozzle 34 onto the conveyor belt 4. After the staff places the product to be covered on the conveyor belt 2, the conveyor belt 2 moves the product forward. When the product to be covered passes any photoelectric sensor 21, the photoelectric sensor 21 outputs a signal to the PLC control device. The PLC control device outputs a second control command, a third control command and a fourth control command according to the signal, thereby controlling the picking robot 5 corresponding to the photoelectric sensor 21, so that the positioning frame 55 of the picking robot 5 moves to the preset position on the corresponding conveyor belt 4. The vertical drive component 54 drives the outer mold 57 to be set on the dough in the vertical direction to cut the dough, and at the same time, the dough inside the outer mold 57 is embedded in the outer mold 57. After cutting, the vertical drive assembly 54 drives the positioning frame 55 to move vertically. Simultaneously, the horizontal sliding assembly 52 and the vertical sliding assembly 53 move the positioning frame 55 to the upper side of the product to be processed. The vertical drive assembly 54 then drives the outer mold 57 to move closer to the product, and the drive cylinder 58 drives the inner mold 59 downwards, thereby pushing the skin embedded in the outer mold 57 to adhere to the surface of the product. At this point, the conveyor belt 2 continues to move forward, carrying the product from the first station to the next station for re-coating. This method of multiple coating processes helps to improve the automation of the coating operation, thus increasing production efficiency.

[0040] 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 mechanical hand steamed bun covering machine, characterized in that: The system includes a frame (1) and a PLC control device. A conveyor belt (2) is mounted on the frame (1). A leather feeder (3) for supplying single-color leather is provided on one side of the conveyor belt (2). A material handling robot (5) is provided between the leather feeder (3) and the conveyor belt (2). A photoelectric sensor (21) for detecting the passage of the product to be processed is provided on the upper side of the conveyor belt (2). The PLC control device, the leather feeder (3), the material handling robot (5) and the photoelectric sensor (21) are all electrically connected. The leather feeder (3), the material handling robot (5) and the photoelectric sensor (21) form a workstation. The leather feeder (3), the material handling robot (5) and the photoelectric sensor (21) are provided at intervals on both sides of the width direction of the conveyor belt (2) along the forward direction of the conveyor belt (2). After receiving the start signal, the PLC control device outputs the first control command; The PLC control device outputs a first control command to the leather feeder (3) at the first station in the forward direction of the conveyor belt (2), and the leather feeder (3) supplies dough after receiving the first control command; The photoelectric sensor (21) at the first station in the forward direction of the conveyor belt (2) is used to detect whether there is a product to be processed on the conveyor belt (2). If so, it outputs a signal that the product to be processed has passed to the PLC control device. The PLC control device receives and outputs a second control command to the corresponding material handling robot (5) based on the output signal of the photoelectric sensor (21). After receiving the second control command, the material handling robot (5) controls the material handling robot (5) to pick up the dough and place it on the product to be processed. The PLC control device detects whether the material handling robot (5) has completed the placement action. If so, it outputs the first control command to the leather supply machine (3) at the next work station in the forward direction of the conveyor belt (2) and repeats the above steps to complete the multiple leather covering of the product to be processed.

2. The robotic fancy steamed bun wrapping machine according to claim 1, characterized in that: The dough feeding machine (3) includes a storage box (31), an inlet (311) is provided on the upper side of the storage box (31), a feeding port is provided on one side of the storage box (31) in the horizontal direction, and a discharge nozzle (34) is connected to the feeding port. The storage box (31) is also provided with an extrusion assembly (32) for extruding dough through the feeding port from the discharge nozzle (34). The discharge nozzle (34) is detachably fixed to the storage box (31). A conveyor belt (4) is provided below the side of the discharge nozzle (34) away from the storage box (31). The picking robot (5) is located above the conveyor belt (4). The drive motor of the conveyor belt (4) is electrically connected to the PLC control device. The first control command controls the extrusion assembly (32) to extrude the dough in the storage box (31) from the discharge nozzle (34) into a dough sheet and move it to the corresponding conveyor belt (4); The PLC control device outputs a second control command based on the output signal of the corresponding photoelectric sensor (21) for the material picking robot (5). The PLC control device detects whether the material picking robot (5) has completed the placement action. If so, the PLC control device outputs a third control command to the drive motor of the corresponding conveyor belt (4). The third control command controls the drive motor of the corresponding conveyor belt (4) to rotate after a set time period, driving the conveyor belt (4) forward.

3. The robotic fancy steamed bun wrapping machine according to claim 2, characterized in that: The extrusion assembly (32) includes an extrusion roller (321), which is horizontally arranged in the storage box (31). A rotating motor for driving the extrusion roller (321) to rotate around its own axis is provided on the side of the storage box (31) away from the feeding port. The extrusion roller (321) is wound with helical blades. The feeding port is located at one end of the extrusion roller (321) along its axis. The PLC control device is electrically connected to the rotating motor. The first control command output by the PLC control device controls the rotating motor to drive the extrusion roller (321) to rotate around its own axis, extruding the dough in the storage box (31).

4. The robotic fancy steamed bun wrapping machine according to claim 3, characterized in that: Two extrusion rollers (321) are spaced apart along the horizontal radial direction. The two extrusion rollers (321) rotate in a direction that moves closer to each other. Two rotation motors are provided corresponding to the extrusion rollers (321), and the rotation directions of the output shafts of the two rotation motors are opposite.

5. A robotic fancy steamed bun wrapping machine according to claim 2, characterized in that: A separator seat (33) is also connected to the feeding port of the storage box (31). A separator cavity is formed inside the separator seat (33). A drive shaft (333) is provided inside the separator cavity. A control motor that drives the drive shaft (333) to rotate around its own axis is provided inside the drive shaft (333). The control motor is electrically connected to a PLC control device. A discharge port (336) is opened on the separator seat (33). The discharge nozzle (34) is connected to the separator cavity through the discharge port (336). The discharge port (336) is located on one side of the drive shaft (333) in the radial direction. A paddle (334) is also fixed on the drive shaft (333). The width direction of the paddle (334) is the same as the radial direction of the drive shaft (333). The length direction of the paddle (334) is parallel to the axis direction of the drive shaft (333). The paddle (334) abuts against the side wall of the separator cavity along its own width direction away from the drive shaft (333).

6. The robotic fancy steamed bun wrapping machine according to claim 1, characterized in that: The material handling robot (5) includes a mounting frame (51) and a positioning frame (55). The mounting frame (51) is fixed on the frame (1). The mounting frame (51) is also provided with a transverse sliding component (52) for driving the positioning frame (55) to move along the width direction of the conveyor belt (2). The transverse sliding component (52) is provided with a longitudinal sliding component (53) for driving the positioning frame (55) to move along the forward direction of the conveyor belt (2). The positioning frame (55) is provided with a material handling component for picking up the shaped dough. The transverse sliding component (52) and the longitudinal sliding component (53) are both electrically connected to the PLC control device. The PLC control device controls the lateral sliding component (52) and the longitudinal sliding component (53) based on the second control command output by the corresponding photoelectric sensor (21). The lateral sliding component (52) and the longitudinal sliding component (53) control the positioning frame (55) to slide laterally and / or longitudinally.

7. A robotic fancy steamed bun wrapping machine according to claim 6, characterized in that: The material handling assembly includes an outer mold (57) for pressing out dough, and a vertical drive assembly (54) for driving the outer mold (57) to move vertically on the longitudinal sliding assembly (53). An inner mold (59) is also provided inside the outer mold (57). A push assembly for pushing the inner mold (59) to move vertically is provided on the positioning frame (55). The vertical drive assembly (54) and the push assembly are respectively electrically connected to a PLC control device. The PLC control device outputs a second control command based on the output signal of the corresponding photoelectric sensor (21). The vertical drive component (54) drives the positioning frame (55) to slide down vertically based on the second control command until the outer mold (57) cuts off the skin. At this time, the skin inside the outer mold (57) is embedded in the outer mold (57). The pushing component pushes the inner mold (59) downward based on the second control command until the formed skin separates from the outer mold (57) and is then attached to the surface of the product to be processed.

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