Manipulator fancy steamed stuffed bun wrapper coating machine

Abstract

The fancy steamed stuffed bun wrapper coating machine comprises a frame body and a PLC control device, a conveying belt is erected on the frame body, a wrapper feeding machine is arranged on one side of the conveying belt, and a material taking mechanical arm is arranged between the wrapper feeding machine and the conveying belt; the PLC control device receives the starting signal and then outputs a first control instruction to the leather feeder; the photoelectric sensor detects passing of the to-be-processed product and outputs a signal indicating that the to-be-processed product passes to the PLC control device, a second control instruction is output to the material taking manipulator to take the wrapper based on the output signal of the photoelectric sensor, and the wrapper is placed and attached to the to-be-processed product; and the PLC control device detects whether the material taking manipulator completes the placing action or not, if yes, a first control instruction is output to the leather supplying machine on the upper station and the lower station in the advancing direction of the conveying belt, the steps are repeated, and the to-be-machined product is coated with leather for many times. The device has the effect of improving the automation degree and the production efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of food machinery, and in particular to a robotic fancy bun covering machine. Background Art

[0002] Baozi is one of the main foods in the Chinese food system. It is made by wrapping stuffing in dough and then steaming it into shape. This stuffed pasta generally consists of outer wrapper and stuffing.

[0003] In the prior art, a bun making machine mixes a certain number of ingredients into a filling, extrudes a dough tube on a conveyor belt, fills the tube with the prepared filling, cuts and kneads the tube to form a round bun, then shapes it into a plastic shape and finally steams it until cooked. However, this type of dough tube or wrapper is made of only one type of mixed dough and cannot produce multiple layers of various outer wrappers. Manual dough preparation is generally required, resulting in a relatively low degree of automation and production efficiency. Summary of the Invention

[0004] In order to improve the degree of automation and production efficiency in the complex production of complex pattern buns, the present application provides a robotic fancy bun covering machine.

[0005] The present application provides a manipulator fancy bun covering machine adopts the following technical solution:

[0006] A robot-operated fancy bun covering machine comprises a frame and a PLC control device, wherein a conveyor belt is mounted on the frame, a leather material supply machine for supplying monochrome dough is arranged on one side of the conveyor belt, a material-taking robot is arranged between the leather material supply machine and the conveyor belt, a photoelectric sensor for detecting the passage of products to be processed is arranged on the upper side of the conveyor belt, the PLC control device and the leather material supply machine, the material-taking robot and the photoelectric sensor are all electrically connected, the leather material supply machine, the material-taking robot and the photoelectric sensor form a workstation, the leather material supply machine, the material-taking robot and the photoelectric sensor are arranged at intervals on both sides of the width direction of the conveyor belt along the forward direction of the conveyor belt in a plurality of workstations; after receiving the start signal, the PLC control device outputs a first control instruction; the PLC control device outputs the first control instruction to the control unit connected to the forward direction of the conveyor belt. The leather material supply machine on the first workstation upward supplies the dough skin after receiving the first control instruction; the photoelectric sensor on the first workstation in the forward direction of the conveyor belt is used to detect whether there is a product to be processed passing on the conveyor belt, and if so, 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 instruction to the corresponding material picking robot based on the output signal of the photoelectric sensor, and the material picking robot controls the material picking robot to take the dough skin and place it on the product to be processed after receiving the second control instruction; the PLC control device detects whether the material picking robot completes the placement action, and if so, outputs the first control instruction to the leather material supply machine on the next workstation in the forward direction of the conveyor belt, repeats the above steps, and completes multiple coverings of the product to be processed.

[0007] By adopting this technical solution, the PLC-controlled system integrates the dough supply machine, the retrieving robot, and photoelectric sensors to achieve precise control of dough supply and placement. This process ensures the timely delivery of dough as the products to be processed pass through, significantly improving the automation and efficiency of the production line, reducing manual intervention, and enhancing product consistency and accuracy.

[0008] Preferably, the leather material feeding machine includes a storage box, a feeding port is provided on the upper side of the storage box, a feeding port is provided on one side of the storage box in the horizontal direction, a discharge nozzle is connected to the feed port, and an extrusion assembly is further provided in the storage box to extrude the dough from the discharge nozzle through the feeding port, the discharge nozzle and the storage box are detachably fixed, a conveyor belt is provided below the side of the discharge nozzle facing away from the storage box, the material picking robot is provided above the conveyor belt, and the driving motor of the conveyor belt is electrically connected to the PLC control device; the first control instruction controls the extrusion assembly to extrude the dough in the storage box from the discharge nozzle to form dough skin and move it to the corresponding conveyor belt; the second control instruction output by the PLC control device based on the output signal of the corresponding photoelectric sensor is used for the material picking robot, and the PLC control device outputs a third control instruction to the driving motor of the corresponding conveyor belt, and the third control instruction controls the driving motor of the corresponding conveyor belt to rotate after a set time period, thereby driving the conveyor belt forward.

[0009] By adopting the above technical solution, after starting the entire robotic fancy bun covering machine, the PLC control device outputs a first control instruction to control the extrusion component inside the dough supply machine to extrude the dough from the discharge nozzle onto the conveyor belt. After the PLC control device outputs a second control instruction to control the material picking robot to pick up part of the dough on the conveyor belt, the PLC control device controls the conveyor belt to move forward by outputting a third control instruction, and removes the discarded dough on the conveyor belt from the preset position of the material picking robot, so as to repeat the dough supply and picking actions when the next product to be processed passes by on the conveyor belt.

[0010] Preferably, the extrusion assembly includes an extrusion roller, which is horizontally arranged in the storage box, and an extrusion roller for driving the extrusion roller to rotate around its own axis is provided on the side of the storage box away from the feeding port, and a spiral blade is wound around the extrusion roller. The feeding port is located at one end in the axis direction of the extrusion roller, and a rotating motor for driving the extrusion roller to rotate is provided at the end of the extrusion roller away from the feeding port, and the PLC control device is electrically connected to the rotating motor; the first control instruction output by the PLC control device also controls the rotating motor, and the rotating motor drives the extrusion roller to rotate around its own axis to extrude the dough in the storage box.

[0011] By adopting the above technical solution, the extrusion rollers installed in the storage box help ensure that the dough is effectively squeezed out of the storage box. The first control command output by the PLC control device rotates the motor to drive the extrusion rollers, thereby achieving uniform extrusion of the dough. This method ensures the uniformity and thickness of the dough, which helps improve the overall quality of the product.

[0012] Preferably, two squeezing rollers are arranged at intervals along the horizontal radial direction, and the two squeezing rollers rotate in a direction approaching each other. Two rotating motors are arranged corresponding to the squeezing rollers, and the rotation directions of the output shafts of the two rotating motors are opposite.

[0013] By adopting the above technical solution, the dough is constantly turned by using two squeezing rollers rotating in opposite directions, which helps to maintain the softness of the dough and the internal structure of the dough.

[0014] Preferably, a separator seat is also provided on the feeding port of the storage box, a separator cavity is formed in the separator seat, a driving shaft is provided in the separator cavity, a control motor is provided in the driving shaft to drive it to rotate around its own axis, the control motor is telecommunication connected to the PLC control device, a discharge port is provided on the separator seat, the discharge nozzle is connected with the separator cavity through the discharge port, the discharge port is located on one side of the radial direction of the driving shaft, a paddle is also fixed on the driving shaft, the width direction of the paddle is the same as the radial direction of the driving shaft, the length direction of the paddle is parallel to the axial direction of the driving shaft, the paddle is pressed against the side wall of the separation cavity along the side of its own wide band direction away from the driving shaft; when the PLC control device outputs the first control instruction, the fourth control instruction is output to the control motor at an interval of a set time, and the control motor drives the paddle to rotate and cut the dough in the separator cavity until the separated dough is squeezed out of the discharge nozzle in sequence.

[0015] With this technical solution, when the PLC control unit controls the rotation of the motor, the extrusion roller squeezes the dough from the storage box into the dividing chamber. The PLC control unit then controls the rotation of the motor, driving the paddle to rotate around the drive shaft, thereby dividing the dough in the dividing seat into equal portions. The dough is then extruded from the discharge port through the discharge nozzle onto the conveyor belt. This method helps control the discharge speed and dough spacing, helps reduce dough waste, and improves the efficiency of raw material use.

[0016] Preferably, the material-picking robot includes a mounting frame and a positioning frame, the mounting frame is fixed on 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-picking component for picking up the formed dough, the transverse sliding component and the longitudinal sliding component are both electrically connected to the PLC control device; the PLC control device controls the transverse sliding component and the longitudinal sliding component based on the second control instruction outputted by the corresponding photoelectric sensor output signal, and the transverse sliding component and the longitudinal sliding component control the positioning frame to slide transversely and / or longitudinally.

[0017] By adopting the above technical solution, the lateral sliding component and the longitudinal sliding component are precisely controlled by the PLC control device, and the relative position between the positioning frame and the leather supply machine or conveyor belt is changed, so that the material picking component can take the formed dough and place it on the upper side of the product to be processed.

[0018] Preferably, the material picking component includes an outer mold for pressing the dough, the longitudinal sliding component is provided with a vertical driving component for driving the outer mold to move in the vertical direction, the outer mold is also provided with an inner mold, and the positioning frame is provided with a pushing component for pushing the inner mold to move in the vertical direction, and the vertical driving component and the pushing component are respectively connected to the PLC control device by telecommunication; the PLC control device outputs a second control instruction based on the output signal of the corresponding photoelectric sensor, and the vertical driving component drives the positioning frame to slide upward in the vertical direction based on the second control instruction until the outer mold cuts off the dough, and the dough on the inner side of the outer mold is embedded in the outer mold; the pushing component pushes the inner mold downward based on the second control instruction until the formed dough is separated from the outer mold and then adhered to the surface of the product to be processed.

[0019] By adopting the above technical solution, the cooperation between the outer mold and the inner mold ensures the shape of the dough to be taken, which is convenient for the staff to make exquisite buns. The horizontal sliding device, the longitudinal sliding device and the vertical sliding device are accurately controlled by the PLC control 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, and then the dough of a specific shape embedded in the outer mold is attached to the product to be processed.

[0020] In summary, this application includes at least one of the following beneficial technical effects:

[0021] 1. Through the cooperation of the PLC control device and multiple photoelectric sensors installed on the conveyor belt, the supply, forming, and placement of the dough sheets are fully automatically controlled, which reduces the need for manual intervention, improves production efficiency, and helps reduce labor costs.

[0022] 2. The two extrusion rollers in the storage box, the drive shaft in the separation chamber, and the paddles drive the dough into multiple sections, which are then extruded from the discharge nozzle onto the conveyor belt in sequence, thus achieving precise supply of dough and ensuring uniformity and consistency of the dough.

[0023] 3. Multiple sets of photoelectric sensors, leather material feeders and material retrieving robots are set on both sides of the conveyor belt in the width direction, which can flexibly respond to the production needs of buns of different specifications and patterns. The staff can quickly adjust the leather material feeder and material retrieving robot, which helps to improve the adaptability of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1This is an axonometric diagram of the overall structure of the manipulator fancy bun covering machine according to the embodiment of the present application;

[0025] Figure 2 This is a side view of the structure of the manipulator fancy bun covering machine mainly embodies the embodiment of the present application;

[0026] Figure 3 This is an axonometric diagram showing the overall structure of the leather material feeding machine according to the embodiment of the present application;

[0027] Figure 4 This is an exploded view of the internal structure of the separator according to the embodiment of the present application;

[0028] Figure 5 This is an axonometric diagram of the overall structure of the reclaiming manipulator according to the embodiment of the present application;

[0029] Figure 6 This is an exploded diagram of the structure between the outer mold, the pushing component and the inner mold in the embodiment of the present application.

[0030] Figure markings: 1. Frame; 2. Conveyor belt; 21. Photoelectric sensor; 3. Leather feeder; 31. Storage box; 311. Feed port; 32. Extrusion assembly; 321. Extrusion roller; 33. Partition seat; 331. End cover; 332. Gasket; 333. Drive shaft; 334. Paddle; 335. Fixed block; 336. Discharge port; 34. Discharge nozzle; 4. Conveyor belt; 5. Material picking robot; 51. Mounting frame; 52. Horizontal 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 DESCRIPTION

[0031] The following is combined with Figure 1-6 This application is described in further detail.

[0032] The embodiment of the present application discloses a robotic fancy bun covering machine.

[0033] See also Figure 1 、 Figure 2 The robotic fancy bun wrapping machine includes a frame 1 and a PLC control unit. A horizontal conveyor belt 2 is mounted on the frame 1. Photoelectric sensors 21 are positioned on either side of the conveyor belt 2 in its forward direction. A movable leather material feeder 3 is also positioned on one side of the conveyor belt 2 in its widthwise direction. A horizontal conveyor belt 4 is positioned between the leather material feeder 3 and the conveyor belt 2, with its forward direction perpendicular to the conveyor belt's forward direction. A material retrieving robot 5 is also positioned above the conveyor belt 4. The photoelectric sensor 21, leather material feeder 3, conveyor belt 4, and material retrieving robot 5 are each electrically connected to the PLC control unit.

[0034] In actual operation, the staff starts the entire robotic fancy bun wrapping machine. After receiving the start signal, the PLC control device outputs a first control instruction to the wrapper feeder 3, instructing it to feed the dough wrapper onto the conveyor belt 4. The staff places the product to be processed on the conveyor belt 2. The photoelectric sensor 21 detects in real time whether there is an object passing by that position on the conveyor belt 2. When a product to be processed passes by, the photoelectric sensor 21 outputs a signal indicating the product to be processed to the PLC control device. Based on this input signal, the PLC control device outputs a second control instruction. The second control instruction controls the material picking robot 5 to grab the dough wrapper from the conveyor belt 4 and place it on the product to be processed.

[0035] The PLC control device can be configured as a PLC integrated module including a processor and components such as a power supply, a control screen, and buttons electrically connected to the processor.

[0036] See also Figure 3 、 Figure 4 The leather material feeder 3 includes a storage box 31 with a feed port 311 on its upper side. An extrusion assembly 32 is provided in the storage box 31. The extrusion assembly 32 includes an extrusion roller 321. The extrusion roller 321 is arranged horizontally, with its axis parallel to the forward direction of the conveyor belt 2. A spiral blade is wound around the extrusion roller 321. A rotating motor is provided at one end of the extrusion roller 321, which drives the extrusion roller 321 to rotate around its own axis within the storage box 31. Two extrusion rollers 321 are arranged at intervals along the width direction of the conveyor belt 2, and the spiral blades on the two extrusion rollers 321 have opposite spiral directions. A rotating motor is provided at each end of the axis direction of the two extrusion rollers 321. The output shafts of the two rotating motors rotate in opposite directions, causing the upper sides of the two extrusion rollers 321 to rotate inward. Both rotating motors are connected to a PLC control device by telecommunications.

[0037] The storage box 31 has a feed opening on the side of the two squeezing rollers 321, facing away from the rotating motor. A partition seat 33 is also fixed to the outside of the storage box 31. A partition cavity is formed within the partition seat 33, which communicates with the feed opening. An end cap 331 is fixed to the side of the partition seat 33 facing away from the feed opening, with a gasket 332 secured between the end cap 331 and the partition seat 33. The end cap 331 and gasket 332 facilitate cleaning of the partition cavity.

[0038] A drive shaft 333 is provided on the side of the separation chamber away from the feed port, and the axial direction of the drive shaft 333 is parallel to the axial direction of the squeezing roller 321. A control motor is provided inside the drive shaft 333 to drive it to rotate around its own axis, and the control motor is connected to the PLC control device by telecommunications. A paddle 334 is embedded in the radial direction of the drive shaft 333. The width direction of the paddle 334 is the same as the radial direction of the drive shaft 333, and the length direction of the paddle 334 is parallel to the axial direction of the drive shaft 333. The side of the paddle 334 facing away from the drive shaft 333 in the width direction abuts against the side wall of the separation chamber. There are multiple paddles 334 arranged in a circular array around the axial direction of the drive shaft 333. Multiple paddles 334 are fixed to the drive shaft 333 by a fixing block 335.

[0039] The separator 33 is provided with a discharge port 336 on one side of the drive shaft 333 in the horizontal radial direction. A discharge nozzle 34 is fixed to the outside of the separator 33. The discharge nozzle 34 is connected to the discharge port 336. The discharge nozzle 34 is fixed to the top of the conveyor belt 4 through the frame 1.

[0040] The first control command is output by the PLC control device to the two rotating motors. These two rotating motors drive the two squeezing rollers 321 to rotate toward each other, squeezing the dough in the storage box 31 into the separation chamber. Multiple paddles 334 separate the dough squeezed into the separation chamber into multiple portions. The PLC control device has preset an interval time. After the PLC control device outputs the first control command, it then outputs a fourth control command to the control motors after the preset interval. The control motors drive 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 feed port into the discharge nozzle 34. The dough is then squeezed out of the discharge nozzle 34 to form a single dough sheet, which then falls onto the conveyor belt 4.

[0041] See also Figure 5 、 Figure 6 The material-retrieving robot 5 includes a mounting frame 51, which is fixed on the frame body 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.

[0042] Both the transverse sliding assembly 52 and the longitudinal sliding assembly 53 consist of a sliding frame, a motor, a screw, and a slider. The motor housing is fixed to the sliding frame, the screw is coaxially fixed to the motor output shaft, and the slider slides along the length of the sliding frame. The screw extends through the slider along its own axis and engages with the slider's threaded connection. The motor drives the screw to rotate, thereby driving 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 frame 51, while the sliding frame of the longitudinal sliding assembly 53 is fixed to the slider of the transverse sliding assembly 52. ​​A positioning frame 55 is provided on the slider of the longitudinal sliding assembly 53.

[0043] The vertical drive assembly 54 also includes a motor, a screw, and a slider. The motor of the vertical drive assembly 54 is fixed to a positioning frame 55. The screw is coaxial with the motor output shaft and extends vertically through the slider. The screw is threadedly engaged with the slider. A support frame 551 is also fixed to 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 removably fixed to the underside 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 to the support frame 551. The piston rod of the drive cylinder 58 extends vertically through the mounting block 56. An inner mold 59 is removably fixed to the end of the piston rod of the drive cylinder 58. The piston rod of the drive cylinder 58 slides vertically. The outer mold 57 is sleeved on the outer side of the inner mold 59.

[0044] In actual operation, when the photoelectric sensor 21 detects that a product to be processed is passing through the conveyor belt 2, it sends a signal to the PLC control device indicating that a product to be processed is passing. If no product to be processed is passing, 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 instruction to the respective motors of the lateral sliding assembly 52 and the longitudinal sliding assembly 53. The lateral sliding assembly 52 and the longitudinal sliding assembly 53 control the movement of the positioning frame 55, so that the outer mold 57 moves to the upper side of the preset position on the conveyor belt 4. At this time, the dough extruded by the leather supply machine 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 downward in the vertical direction. The outer mold 57 moves downward until the dough is cut. At this time, the dough inside the outer mold 57 is embedded in the outer mold 57.

[0045] The PLC control unit then controls the vertical drive assembly 54, the lateral 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, which pushes the inner mold 59 downward, thereby separating the dough sheet embedded in the outer mold 57 from the outer mold 57 and applying it to the lower surface of the product to be processed, completing the covering.

[0046] After the PLC control device detects that the retrieving robot 5 has completed the covering, it resets the retrieving robot 5 and simultaneously issues a first control command and a third control command. The PLC control device, using the first control command, controls the leather feeder 3 to extrude new dough. The PLC control device, using the third control command, activates the drive motor of the conveyor belt 4, driving the conveyor belt 4 forward and moving the dough sheets cut by the outer mold 57 out of the preset position, allowing the leather feeder 3 to extrude new dough sheets.

[0047] See also Figure 1 、 Figure 2 A set of workstations includes a photoelectric sensor 21, a leather material feeder 3, a conveyor belt 4, and a material-retrieving robot 5. Multiple groups of workstations are spaced apart on both sides of the conveyor belt 2 in the width direction. When a worker activates the robot-assisted fancy bun wrapping machine, the PLC control device outputs multiple first control instructions to the leather material feeders 3. The products to be processed on the conveyor belt 2 pass through different photoelectric sensors 21 in sequence, triggering each of the multiple photoelectric sensors 21 in turn. The multiple photoelectric sensors 21 then output signals to the PLC control device, which then outputs multiple sets of second, third, and fourth control instructions.

[0048] The implementation principle of a robotic fancy bun covering machine in an embodiment of the present application is: after the staff starts the equipment, the PLC control device receives the start signal and sends a first control signal to each leather material feeder 3. The extrusion component 32 in any leather material feeder 3 squeezes the dough in the storage box 31 into the separation chamber, and the drive shaft 333 drives the paddle 334 to separate the large dough into small segments, and squeezes it out 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 drives the product forward. When the product to be covered passes through any photoelectric sensor 21, the photoelectric sensor 21 outputs a signal to the PLC control device. The PLC control device outputs a second control instruction, a third control instruction and a fourth control instruction according to the signal, thereby controlling the material-grabbing robot 5 corresponding to the photoelectric sensor 21, so that the positioning frame 55 of the material-grabbing robot 5 moves to the preset position on the corresponding conveyor belt 4, and 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 on the inner side of the outer mold 57 is embedded in the outer mold 57. After cutting is complete, the vertical drive assembly 54 drives the positioning frame 55 to move vertically. Simultaneously, the lateral sliding assembly 52 and the longitudinal sliding assembly 53 drive 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 to be processed. The pneumatic cylinder 58 then drives the inner mold 59 downward, pushing the dough sheet embedded in the outer mold 57 onto the surface of the product to be processed. At this point, the conveyor belt 2 continues to advance, moving the product at the first station to the next station for further covering. This method of covering the product multiple times helps to increase the automation of the covering process, thereby improving production efficiency.

[0049] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A manipulator fancy bun covering machine, characterized by: The invention comprises a frame (1) and a PLC control device, wherein a conveyor belt (2) is mounted on the frame (1), a leather material supply machine (3) for supplying single-color leather is arranged on one side of the conveyor belt (2), a material picking robot (5) is arranged between the leather material supply machine (3) and the conveyor belt (2), a photoelectric sensor (21) for detecting the passage of a product to be processed is arranged on the upper side of the conveyor belt (2), the PLC control device and the leather material supply machine (3), the material picking robot (5) and the photoelectric sensor (21) are all connected by telecommunication, the leather material supply machine (3), the material picking robot (5) and the photoelectric sensor (21) form a workstation, and the leather material supply machine (3), the material picking robot (5) and the photoelectric sensor (21) are arranged at intervals on both sides of the width direction of the conveyor belt (2) along the forward direction of the conveyor belt (2) to form a plurality of workstations; After receiving the start signal, the PLC control device outputs a first control instruction; The PLC control device outputs a first control instruction to the leather material supply machine (3) at the first station in the forward direction of the conveyor belt (2), and the leather material supply machine (3) supplies dough after receiving the first control instruction; The photoelectric sensor (21) at the first station in the forward direction of the conveyor belt (2) is used to detect whether a product to be processed passes on the conveyor belt (2), and if so, outputs a signal that a product to be processed passes to the PLC control device; The PLC control device receives and outputs a second control instruction to the corresponding material picking robot (5) based on the output signal of the photoelectric sensor (21); after receiving the second control instruction, the material picking robot (5) controls the material picking robot (5) to pick up the dough and place it on the product to be processed; The PLC control device detects whether the material taking robot (5) completes the placing action. If so, it outputs a first control instruction to the leather material supply machine (3) at the next station in the forward direction of the conveyor belt (2), and repeats the above steps to complete multiple covering of the product to be processed.

2. The manipulator fancy bun covering machine according to claim 1, characterized in that: The leather material feeding machine (3) includes a storage box (31), a feeding port (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, a discharge nozzle (34) is provided on the feeding port, an extrusion assembly (32) for extruding the dough from the discharge nozzle (34) through the feeding port is also provided in the storage box (31), the discharge nozzle (34) and the storage box (31) are detachably fixed, a conveyor belt (4) is provided below the side of the discharge nozzle (34) facing away from the storage box (31), the material taking robot (5) is provided above the conveyor belt (4), and the driving motor of the conveyor belt (4) is electrically connected to the PLC control device; The first control instruction controls the extrusion component (32) to extrude the dough in the storage box (31) from the discharge nozzle (34) to form the dough into dough skin and move it to the corresponding conveyor belt (4); The PLC control device outputs a second control instruction 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) completes the placement action. If so, the PLC control device outputs a third control instruction to the drive motor of the corresponding conveyor belt (4). The third control instruction 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 robot-arm fancy bun covering machine according to claim 2, characterized in that: The extrusion assembly (32) comprises an extrusion roller (321), the extrusion roller (321) being arranged horizontally in the storage box (31), an extrusion roller (321) for driving the extrusion roller (321) to rotate around its own axis is provided on a side of the storage box (31) away from the feeding port, a spiral blade is wound around the extrusion roller (321), the feeding port is located at one end in the axis direction of the extrusion roller (321), a rotating motor for driving the extrusion roller (321) to rotate is provided at one end away from the feeding port, and the PLC control device is electrically connected to the rotating motor; The first control instruction output by the PLC control device also controls the rotary motor, which drives the squeezing roller (321) to rotate around its own axis to squeeze the dough in the storage box (31).

4. The robot-arm fancy bun covering machine according to claim 3, characterized in that: Two squeezing rollers (321) are arranged at intervals along the horizontal radial direction, and the two squeezing rollers (321) rotate in a direction approaching each other on the side. Two rotating motors are arranged corresponding to the squeezing rollers (321), and the rotation directions of the output shafts of the two rotating motors are opposite.

5. The robot-arm fancy bun covering machine according to claim 2, characterized in that: The feeding port of the storage box (31) is also connected to a separator seat (33), a separator cavity is formed in the separator seat (33), a driving shaft (333) is provided in the separator cavity, a control motor for driving the drive shaft (333) to rotate around its own axis is provided in the drive shaft (333), and the control motor is connected to the PLC control device by telecommunication. A discharge port (336) is provided on the separator seat (33), and 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 radial direction of the drive shaft (333). 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 axial direction of the drive shaft (333), and the paddle (334) is pressed against the side wall of the separation cavity along its own wide band direction away from the drive shaft (333); After the PLC control device outputs the first control instruction and a set time interval passes, it outputs the fourth control instruction to the control motor, and the control motor drives the paddle (334) to rotate and cut the dough in the separation chamber until the separated dough is squeezed out of the discharge nozzle (34) in sequence.

6. The robot-arm fancy bun covering machine according to claim 1, characterized in that: The material-retrieving manipulator (5) includes a mounting frame (51) and a positioning frame (55), wherein the mounting frame (51) is fixed on the frame body (1), and the mounting frame (51) is further provided with a transverse sliding assembly (52) for driving the positioning frame (55) to move along the width direction of the conveyor belt (2), and the transverse sliding assembly (52) is provided with a longitudinal sliding assembly (53) for driving the positioning frame (55) to move along the forward direction of the conveyor belt (2), and the positioning frame (55) is provided with a material-retrieving assembly for taking the formed dough, and the transverse sliding assembly (52) and the longitudinal sliding assembly (53) are both connected to the PLC control device by telecommunication; The PLC control device controls the lateral sliding component (52) and the longitudinal sliding component (53) based on a second control instruction outputted in response to an output signal of the corresponding photoelectric sensor (21), and the lateral sliding component (52) and the longitudinal sliding component (53) control the positioning frame (55) to slide in the lateral and / or longitudinal directions.

7. The robot-arm fancy bun covering machine according to claim 6, characterized in that: The material taking assembly includes an outer mold (57) for pressing the dough skin, the longitudinal sliding assembly (53) is provided with a vertical driving assembly (54) for driving the outer mold (57) to move in the vertical direction, an inner mold (59) is further provided in the outer mold (57), and the positioning frame (55) is provided with a pushing assembly for pushing the inner mold (59) to move in the vertical direction, and the vertical driving assembly (54) and the pushing assembly are respectively connected to the PLC control device by telecommunication; The PLC control device outputs a second control instruction based on the output signal of the corresponding photoelectric sensor (21), and the vertical drive component (54) drives the positioning frame (55) to slide downward in the vertical direction based on the second control instruction until the outer mold (57) cuts the dough skin, and at this time, the dough 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 instruction until the formed dough is separated from the outer mold (57) and then adhered to the surface of the product to be processed.

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