CN111296516A

CN111296516A - Baked steamed stuffed bun making and baking robot

Info

Publication number: CN111296516A
Application number: CN202010283285.XA
Authority: CN
Inventors: 袁利峰; 其他发明人请求不公开姓名
Original assignee: Individual
Current assignee: Yu Xiang
Priority date: 2020-04-13
Filing date: 2020-04-13
Publication date: 2020-06-19
Anticipated expiration: 2040-04-13
Also published as: CN111296516B

Abstract

The invention discloses a baked steamed stuffed bun making and baking robot which comprises a making mechanism, a code disc mechanism and a baking mechanism, wherein the making mechanism is used for making steamed stuffed buns, the code disc mechanism is used for placing the made steamed stuffed buns in a baking tray, and the baking mechanism is used for baking the steamed stuffed buns in the baking tray; the making mechanism comprises a dough making component, a dough conveying component, a dough extruding component, a meat stuffing adding component and a wrapping component; the dough making assembly is used for making dough blocks and placing the dough blocks on the dough block conveying assembly, the dough block extruding assembly is used for pressing the dough blocks on the dough block conveying assembly into wrappers, the meat stuffing adding assembly is used for adding meat stuffing to the wrappers, and the wrapping assembly is used for wrapping the wrappers filled with the meat stuffing; the robot for making and baking the steamed stuffed buns not only operates automatically, has high efficiency, but also has good sanitary condition.

Description

Baked steamed stuffed bun making and baking robot

Technical Field

The invention belongs to the field of food machinery, and particularly relates to a steamed stuffed bun making and baking robot.

Background

Xinjiang baked steamed stuffed buns are popular food in Xinjiang, are different from the traditional steamed stuffed buns in a steam heating mode, and are processed in a baking mode. The baked steamed stuffed bun has crisp outer skin and delicious and juicy meat stuffing, and is a popular snack. The traditional method for making Xinjiang baked steamed stuffed buns comprises dough kneading, wrapper rolling, meat stuffing wrapping and baking, so that multiple persons are required to cooperatively make the Xinjiang baked steamed stuffed buns, and labor is greatly consumed; moreover, an oven must be prepared, which is liable to cause atmospheric pollution and poor in sanitary conditions.

Disclosure of Invention

The invention aims to provide a robot for making and baking steamed stuffed buns, which not only operates automatically and has high efficiency, but also has good sanitary condition.

In order to achieve the purpose, the invention provides the following technical scheme:

a robot for making and baking baked steamed stuffed buns comprises a making mechanism, a code disc mechanism and a baking mechanism, wherein the making mechanism is used for making the steamed stuffed buns, the code disc mechanism is used for placing the made steamed stuffed buns in a baking tray, and the baking mechanism is used for baking the steamed stuffed buns in the baking tray; the making mechanism comprises a dough making component, a dough conveying component, a dough extruding component, a meat stuffing adding component and a wrapping component; the dough making assembly is used for making dough blocks and placing the dough blocks on the dough block conveying assembly, the dough block extruding assembly is used for pressing the dough blocks on the dough block conveying assembly into wrappers, the meat stuffing adding assembly is used for adding meat stuffing to the wrappers, and the wrapping assembly is used for wrapping the wrappers filled with the meat stuffing; the robot for making and baking the steamed stuffed buns can automatically make and bake the steamed stuffed buns, can greatly reduce the labor input, and has high operation efficiency and good sanitary condition.

In a further technical scheme, the dough piece manufacturing assembly comprises a first bottom plate, two first supporting plates which are vertically arranged are arranged on the first bottom plate side by side, a first flat plate is arranged at the upper ends of the two first supporting plates, a dough cylinder is arranged on the first flat plate through a first support, an inverted cone cylinder is arranged at an opening at the lower end of the dough cylinder, a dough outlet cylinder extends downwards from the lower end of the inverted cone cylinder, and a dough cutting assembly is arranged at the lower end of the dough outlet cylinder; the upper end opening part of face jar is equipped with the second support, the axial fixity along the face jar is equipped with the face piece cylinder on the second support, the flexible end fixed mounting of face piece cylinder has the clamp plate, and when the face piece cylinder stretches out, the clamp plate stretches into the dough of face jar in with the face jar from a face section of thick bamboo extrusion, the dough cutting subassembly is used for cutting off the dough of a face section of thick bamboo lower extreme extrusion and falls to on the face piece conveying subassembly.

In a further technical scheme, the dough cutting assembly comprises a cutting motor, a fixed disc is radially arranged on the outer circumferential side surface of the dough outlet cylinder close to the lower end, an annular rotary disc is rotatably connected to the outer circumferential side surface of the fixed disc in the circumferential direction of the fixed disc, a cutting gear ring is fixedly mounted on the outer circumferential side surface of the annular rotary disc, a motor frame is arranged on the outer side of the dough outlet cylinder above the fixed disc, the cutting motor is fixedly mounted on the motor frame, a cutting gear meshed with the cutting gear ring is fixedly mounted on an output shaft of the cutting motor, and the lower ends of the annular rotary disc and the fixed disc and the lower end of the dough outlet cylinder are located in the same; a first cutter bar and a second cutter bar are hinged on the lower end face of the fixed disc, a first cutter is arranged at the lower end of the noodle outlet barrel of the first cutter bar, and a second cutter is arranged at the lower end of the noodle outlet barrel of the second cutter bar; the annular turntable is provided with a first power groove and a second power groove along the radial direction, the first cutter bar is provided with a first convex column extending into the first power groove, and the second cutter bar is provided with a second convex column extending into the second power groove; when the annular turntable rotates, the first cutter bar is driven to drive the first cutter to move through the matching of the first power groove and the first convex column, and the second cutter bar is driven to drive the second cutter to move through the matching of the second power groove and the second convex column; the moving directions of the first cutter and the second cutter are opposite.

In a further technical scheme, the dough conveying assembly comprises a conveying chain, a first chain wheel, a second chain wheel and a first motor, wherein one end of the first flat plate is provided with two first wheel frames along the vertical direction, the other end of the first flat plate is provided with two second wheel frames along the vertical direction, the first chain wheel is rotatably connected between the two first wheel frames, the second chain wheel is rotatably connected between the two second wheel frames, the conveying chain is installed between the first chain wheel and the second chain wheel, the first motor is fixedly installed on one of the first wheel frames and fixedly connected with the first chain wheel, and the first motor is used for driving the first chain wheel to rotate; a plurality of panels for placing the dough blocks are uniformly arranged on the conveying chain at intervals. First motor drives the conveying chain through first sprocket and rotates in this setting, and the conveying chain drives the panel and removes and stops being used for accepting the face piece under a play face section of thick bamboo, and the conveying chain that carries the face piece continues to advance, with face piece motion face piece extrusion subassembly below to extrude the face piece into the face skin.

In a further technical scheme, the dough extruding assembly comprises a door-shaped frame, the door-shaped frame is fixedly installed on the first flat plate and is close to the downstream end of the conveying chain, an extruding cylinder is fixedly installed on the door-shaped frame along the vertical direction, an extruding plate is fixedly installed at the telescopic end of the extruding cylinder, and the extruding plate is located right above the conveying chain and is used for extruding the dough on the panel into dough sheets; an extrusion supporting plate is arranged on the inner ring of the conveying chain in the door-shaped frame;

the flour spreading machine comprises a first bracket, a door-shaped frame, a flour spreading motor, a plurality of flour outlet holes, a cover plate, a flour spreading motor, a brush and a plurality of flour outlet holes, wherein the first flour spreading component for spreading flour on a panel is fixedly arranged on the side face close to the upstream end of a conveying chain, the door-shaped frame is fixedly arranged on the side face close to the downstream end of the conveying chain, the first flour spreading component and the second flour spreading component are identical in structure and comprise flour barrels fixedly arranged on the first bracket and the door-shaped frame, the bottom of each flour barrel is positioned right above the conveying chain, a plurality of flour outlet holes are formed in the bottom of each flour barrel, a cover plate is fixedly arranged at an opening at the upper end of each flour barrel, the flour spreading motor is fixedly arranged on each cover plate, an output shaft of the flour spreading motor extends into each flour barrel and is fixedly arranged on the corresponding flour outlet;

first bottom plate is equipped with face skin conveying assembly in the below of transfer chain low reaches end, face skin conveying assembly includes face skin conveyer belt, face skin transfer gear, second motor, first bottom plate is equipped with two first vertical boards and two vertical boards of second in the below of transfer chain low reaches end, face skin transfer gear rotates to be connected between two first vertical boards, and the upper end of two vertical boards of second is equipped with face skin transfer gear along the axial extension of perpendicular to face skin transfer gear, the face skin conveyer belt sets up between face skin transfer gear and face skin transfer gear, second motor fixed mounting on one of them first vertical board and with face skin transfer gear fixed connection, the second motor is used for driving face skin transfer gear to rotate.

Through the technical scheme, the panel loaded with the dough blocks moves to the position right below the extrusion plate under the action of the conveying chain, the extrusion cylinder is controlled to extend out, and the extrusion plate extrudes the dough blocks into dough sheets; in addition, the first flour spreading component is arranged, so that the face plate moves to the position right below the flour outlet barrel, the face spreading motor is controlled to drive the brush to rotate, flour in the flour barrel is controlled to fall onto the face plate when the brush rotates, and flour blocks can be prevented from being stuck on the face plate when being extruded into flour wrappers; the second flour spreading component is arranged, so that the extruded dough sheets are conveyed to a position between the dough sheet conveying belts, the brush is driven to rotate by controlling the flour spreading motor, flour in the dough barrel is controlled to fall onto the dough sheets when the brush rotates, and the dough sheets falling onto the dough sheet conveying belts can be prevented from being stuck on the dough sheet conveying belts; wherein, the second motor sends the dough cover to the meat stuffing adding component through the dough cover conveying wheel and then sends to the wrapping component.

In a further technical scheme, the meat stuffing adding component comprises a meat stuffing barrel, the lower end of the meat stuffing barrel is provided with an inverted cone stuffing barrel, the lower end of the inverted cone stuffing barrel extends to be provided with a first stuffing discharging barrel, the lower end of the first stuffing discharging barrel is provided with a second stuffing discharging barrel, the diameter of the first stuffing discharging barrel is larger than that of the second stuffing discharging barrel, a conical surface of the inverted cone stuffing barrel extends to be provided with a third support fixedly arranged on a first bottom plate, and the second stuffing discharging barrel is positioned right above the dough cover conveying belt; the meat stuffing machine is characterized in that a meat stuffing motor is fixedly installed at an opening at the upper end of the meat stuffing cylinder through a fourth support, a threaded rod is fixedly installed at an output shaft of the meat stuffing motor, the lower end of the threaded rod is rotatably connected in the first stuffing discharging cylinder, and the threaded rod is used for extruding meat stuffing located in the meat stuffing cylinder and the inverted cone stuffing cylinder out of the second stuffing discharging cylinder and falling on dough sheets.

Through above-mentioned technical scheme, the wrapper conveyer belt sends the wrapper to the second and goes out under the filling section of thick bamboo and stop, and control meat filling motor rotates, and meat filling motor drives the threaded rod and rotates the meat filling that goes out in the meat filling section of thick bamboo from the second and extrude and fall on the wrapper.

In a further technical scheme, the wrapping assembly comprises a first transmission assembly and a second transmission assembly, the first bottom plate is provided with a second bottom plate below the downstream end of the dough cover conveyor belt, a first slide rail is arranged on the second bottom plate along the conveying direction of the dough cover conveyor belt, the first transmission assembly comprises a first conveyor belt, a first transmission wheel, a second transmission wheel, a third motor and a first transmission frame connected to the first slide rail in a sliding manner, and a first cylinder used for driving the first transmission frame to move along the first slide rail is arranged on the first bottom plate; the first conveying wheel is rotatably connected to one end of the first conveying frame, the second conveying wheel is rotatably connected to the other end of the first conveying frame, the first conveying belt is installed between the first conveying wheel and the second conveying wheel, the third motor is fixedly installed on the first conveying frame and fixedly connected with the first conveying wheel, and the third motor is used for driving the first conveying wheel to rotate; a first wrapping and clamping motor is fixedly mounted on the first conveying frame through a fifth support, and the first wrapping and clamping motor is positioned below the upstream end of the first conveying belt; a first gear is fixedly mounted on an output shaft of the first wrapping and clamping motor, and a second gear meshed with the first gear is connected to the fifth support in a rotating mode; the first conveying frame is hinged to a first folded plate and a second folded plate on two sides of the first conveying belt respectively, a first belt wheel for driving the first folded plate to turn over is arranged on the side face of the first folded plate, and a second belt wheel for driving the second folded plate to turn over is arranged on the side face of the second folded plate; a third belt wheel is arranged on the end face of the first gear, a fourth belt wheel is arranged on the end face of the second gear, a first synchronous belt is arranged between the third belt wheel and the first belt wheel, and a second synchronous belt is arranged between the fourth belt wheel and the second belt wheel; the first wrapping and clamping motor rotates to drive the first folded plate and the second folded plate to simultaneously turn over so as to realize the first wrapping and folding of the dough cover;

a second sliding rail is arranged below the first conveying belt on the first conveying frame along the movement direction of the first conveying belt, a second conveying frame is connected to the second sliding rail in a sliding mode, and a second air cylinder used for driving the second conveying frame to move along the second sliding rail is arranged on the first conveying frame; the second transmission assembly comprises a second conveyor belt, a third conveyor wheel, a fourth conveyor wheel and a fourth motor, the third conveyor wheel is rotatably connected to one end of the second conveying frame, the fourth conveyor wheel is rotatably connected to the other end of the second conveying frame, the second conveyor belt is installed between the third conveyor wheel and the fourth conveyor wheel, the second conveyor belt is perpendicular to the first conveyor belt, and the upstream end of the second conveyor belt is located below the downstream end of the first conveyor belt; the fourth motor is fixedly arranged on the second conveying frame and is fixedly connected with the third conveying wheel, and the fourth motor is used for driving the third conveying wheel to rotate; a second clamping motor is fixedly mounted on the second conveying frame through a sixth support and is positioned below the upstream end of the second conveying belt; a third gear is fixedly mounted on an output shaft of the second clamping motor, and a fourth gear meshed with the third gear is connected to the sixth support in a rotating mode; a third folded plate and a fourth folded plate are respectively hinged to two sides of the second conveying frame, a fifth belt wheel for driving the third folded plate to turn is arranged on the side surface of the third folded plate, and a sixth belt wheel for driving the fourth folded plate to turn is arranged on the side surface of the fourth folded plate; a seventh belt pulley is arranged on the end face of the third gear, an eighth belt pulley is arranged on the end face of the fourth gear, a third synchronous belt is arranged between the seventh belt pulley and the fifth belt pulley, and a fourth synchronous belt is arranged between the eighth belt pulley and the sixth belt pulley; the second package presss from both sides the motor and rotates and drive third folded plate and fourth folded plate and overturn simultaneously and realize the second package of face skin and roll over.

Through the technical scheme, when the packaging assembly works, the first folded plate, the second folded plate, the third folded plate and the fourth folded plate are all in a horizontal position; when the dough cover containing the meat stuffing moves onto the first conveying belt under the action of the dough cover conveying belt, the first wrapping and clamping motor drives the first gear to rotate, the first gear drives the second gear to rotate when rotating, so that the first folded plate and the second folded plate are respectively driven to be folded and folded in opposite directions through the third belt pulley, the first synchronous belt, the first belt pulley, the fourth belt pulley, the second synchronous belt and the second belt pulley, the meat stuffing is preliminarily wrapped, and the first folded plate and the second folded plate are controlled to reset through the first wrapping and clamping motor; then a third motor drives a first conveyor belt to convey the primarily wrapped steamed stuffed buns to a second conveyor belt, then a second wrapping clamp motor is controlled to drive a third gear to rotate, the third gear rotates to drive a fourth gear to rotate, and accordingly a seventh belt wheel, a third synchronous belt, a fifth belt wheel, an eighth belt wheel, a fourth synchronous belt and a sixth belt wheel respectively drive a third folded plate and a fourth folded plate to be folded in opposite directions to wrap meat stuffing completely, and then the fourth motor drives the second conveyor belt to convey the completely wrapped steamed stuffed buns to a code disc mechanism.

In a further technical scheme, the code disc mechanism comprises a code disc conveying assembly arranged below the downstream end of the second conveying belt, the code disc conveying assembly comprises a code disc frame and a code disc conveying belt, a first code disc wheel, a second code disc wheel and a third code disc wheel are connected in the code disc frame in a rotating mode, first convex blocks are arranged on two sides of the code disc frame, a first code disc rod is connected in each first convex block in a sliding mode along the horizontal direction, a fourth code disc wheel parallel to the axis of the first code disc wheel is connected between the two first code disc rods in a rotating mode, and the axes of the first code disc wheel and the fourth code disc wheel are in the same horizontal plane; a first coded disc cylinder is arranged on the coded disc frame along the axial direction of the first coded disc rod, and the telescopic end of the first coded disc cylinder is fixedly connected with the first coded disc rod; first code disc grooves are formed in two sides of the code disc frame along the vertical direction, second code disc rods are connected in the two first code disc grooves in a sliding mode, and fifth code disc wheels are connected to the second code disc rods in the code disc frame in a rotating mode; the coded disc conveying belt is arranged among the first coded disc wheel, the second coded disc wheel, the third coded disc wheel, the fourth coded disc wheel and the fifth coded disc wheel, and a coded disc motor for driving the first coded disc wheel to rotate is fixedly arranged on the side surface of the coded disc frame; second convex blocks are arranged at the upper ends of the first code disc grooves on the two sides of the code disc rack, a third code disc rod is connected in each second convex block in a sliding mode, the lower end of each third code disc rod is fixedly connected with the end portion of each second code disc rod, a first spring is arranged between each second code disc rod and each second convex block, and the first springs are used for forcing the second code disc rods to move downwards; when the first code wheel cylinder extends out, the fourth code wheel is driven to move towards the direction far away from the first code wheel, the fifth code wheel moves upwards under the action of the code wheel conveyor belt, and the first spring is compressed; when the first code wheel cylinder contracts, the fourth code wheel is driven to move towards the direction close to the first code wheel, and the fifth code wheel moves downwards under the action of the first spring.

Through the technical scheme, the second conveying belt conveys the completely wrapped steamed stuffed buns to the code disc conveying belt, the code disc conveying belt is driven to rotate through the code disc motor, and meanwhile, the position of the downstream end of the code disc conveying belt is controlled through the first code disc air cylinder, so that the completely wrapped steamed stuffed buns are sequentially stacked in the baking tray.

In a further technical scheme, the code disc mechanism further comprises a baking disc conveying assembly, the baking disc conveying assembly comprises a conveying frame, one end of the conveying frame is rotatably connected with a first conveying wheel, the other end of the conveying frame is rotatably connected with a second conveying wheel, and the first conveying wheel and the second conveying wheel are parallel to each other and are positioned in the same horizontal plane; a conveying belt used for conveying the baking tray into the baking mechanism is arranged between the first conveying wheel and the second conveying wheel, and the conveying belt is positioned below the downstream end of the coded disc conveying belt; a conveying motor for driving the first conveying wheel to rotate is fixedly mounted on the side face of the conveying frame; the conveying frame is provided with a first plate frame for placing baking trays at the upstream end of the conveying belt, first plate grooves are formed in the left side and the right side of the first plate frame in the vertical direction, a moving plate is connected in the first plate grooves in a sliding mode, first convex plates are arranged on the two sides of the first plate frame between the upper end and the lower end of each first plate groove, first screw rods in threaded connection with the moving plate are connected between the two first convex plates in a rotating mode, a first lifting motor fixedly connected with the first screw rods is fixedly installed on one first convex plate, and the first lifting motor is used for driving the first screw rods to rotate; a conveying frame is arranged between the first plate frame and the conveying frame, a guide sliding rod is arranged on the conveying frame along the movement direction of the conveying belt, a sliding block is connected to the guide sliding rod in a sliding mode, and a second screw rod used for driving the sliding block to slide along the guide sliding rod and a conveying motor used for driving the second screw rod to rotate are arranged on the conveying frame; two carrying cylinders are arranged on the sliding block side by side along the vertical direction, and the telescopic end of each carrying cylinder is provided with a sucker used for sucking and putting down the baking tray.

According to the technical scheme, the carrying cylinder extends out to suck and contract the baking tray in the first tray frame through the sucking disc, then the carrying motor drives the sliding block to move to the position above the conveying belt along the sliding guide rod through the second screw rod, then the carrying cylinder extends out to control the sucking disc to place the baking tray on the conveying belt, then the carrying cylinder contracts again, the carrying motor rotates reversely, and the carrying motor drives the sliding block to move to the position above the first tray frame through the second screw rod to repeat the operation; controlling a conveying motor to drive a conveying belt to convey the baking tray to the lower part of the downstream end of the coded disc conveying belt; in addition, with the reduction of the quantity of baking trays in the first tray frame, the first lifting motor drives the first screw rod to rotate, and the first screw rod drives the moving plate to move upwards when rotating, so that the baking trays are sucked through the suckers when the carrying cylinder extends out.

In a further technical scheme, the steamed stuffed bun baking mechanism comprises a third bottom plate, two side plates are arranged on the third bottom plate side by side along the vertical direction, and a box shell is arranged between the two side plates on the third bottom plate; a first rotating shaft and a second rotating shaft which are parallel to each other are rotatably connected between the two side plates, and a sixth motor for driving the first rotating shaft to rotate is fixedly installed on one side plate; a first rotating disc and a second rotating disc which are positioned in the box shell are fixedly arranged on the first rotating shaft, and a third rotating disc and a fourth rotating disc which are positioned in the box shell are fixedly arranged on the second rotating shaft; a first hanging belt is arranged between the first rotary table and the third rotary table, and a second hanging belt is arranged between the second rotary table and the fourth rotary table; a plurality of hanging trays for placing baking trays are uniformly and rotatably connected between the first hanging belt and the second hanging belt at intervals along the circumferential direction of the first hanging belt, and an electric heating pipe is arranged in the box shell and used for heating and baking the steamed stuffed buns in the baking trays; a first notch is formed in the side face of the box shell, and the downstream end of the conveying belt extends into the box shell through the first notch and is used for conveying baking trays containing the steamed stuffed buns into the hanging plate; the symmetry is equipped with second breach and third breach on the both sides face of case shell, second breach department fixed mounting has the cylinder board, be equipped with the propelling movement cylinder along the axial of first pivot on the cylinder board, the flexible end of propelling movement cylinder is equipped with the push plate that is located the case shell, when the propelling movement cylinder stretches out, the overware that will be located the platform sling is gone out from the propelling movement of third breach.

Through the technical scheme, when the baking tray is placed, the sixth motor stops rotating and one empty hanging tray moves to the first notch; the baking tray with the steamed stuffed buns is conveyed to the first hanging plate from the first gap under the action of the conveying belt, the conveying motor stops rotating, the sixth motor is controlled to drive the hanging plate to rotate, the steamed stuffed buns are baked through the electric heating pipe, meanwhile, the other empty hanging plate is rotated to the first gap, and then the conveying motor is controlled to rotate to continuously convey the baking tray with the steamed stuffed buns to the hanging plate from the first gap; when the steamed stuffed bun in the baking tray is cooked and needs to be taken out, the hanging plate with the baking tray is controlled by the sixth motor to move to the third notch and stop, and then the pushing cylinder is controlled to extend out, so that the baking tray is taken out through the pushing plate.

Advantageous effects

Compared with the prior art, the technical scheme of the invention has the following advantages:

(1) the dough is extruded through the dough block cylinder, and then the dough extruded from the lower end of the dough outlet cylinder is cut off and falls onto the panel through the cutting motor, so that the automatic cutting of dough blocks is realized;

(2) the dough blocks are automatically extruded into dough sheets by the extrusion cylinder;

(3) the meat stuffing motor drives the threaded rod to rotate so as to extrude the meat stuffing in the meat stuffing cylinder out of the second stuffing discharging cylinder and fall on the dough sheet without manual operation;

(4) the automatic making of the steamed stuffed buns is realized through the first transmission assembly and the second transmission assembly.

(5) Meanwhile, the automatic stacking of the steamed stuffed buns is realized through the code disc assembly, and the automatic baking of the steamed stuffed buns is realized through the baking assembly.

Drawings

FIGS. 1-3 are schematic structural views of the present invention;

FIGS. 4-6 are schematic structural views of a manufacturing mechanism according to the present invention;

FIGS. 7-13 are schematic structural views of a dough piece making assembly of the present invention;

FIG. 14 is a schematic structural view of a dough piece transfer assembly of the present invention;

FIGS. 15-16 are schematic views of the dough piece pressing assembly of the present invention;

FIGS. 17-18 are schematic views of the meat stuffing assembly of the present invention;

FIG. 19 is a schematic view of the construction of the wrapper transport assembly of the present invention;

FIGS. 20-24 are schematic illustrations of the construction of a containment assembly of the present invention;

FIGS. 25-31 are schematic structural views of a code wheel mechanism of the present invention;

fig. 31-35 are schematic structural views of the grilling mechanism of the present invention.

Detailed Description

Referring to fig. 1-35, a baked bun making and baking robot includes a making mechanism 1, a code disc mechanism 2, and a baking mechanism 3, where the making mechanism 1 is used for making a bun, the code disc mechanism 2 is used for placing the made bun in a baking tray, and the baking mechanism 3 is used for baking the bun in the baking tray; the making mechanism 1 comprises a dough making component 10, a dough conveying component 11, a dough extruding component 12, a meat stuffing adding component 13 and a wrapping component 14; the dough making assembly 10 is used for making dough and placing the dough on the dough conveying assembly 11, the dough extruding assembly 12 is used for pressing the dough on the dough conveying assembly 11 into dough sheets, the meat stuffing adding assembly 13 is used for adding meat stuffing to the dough sheets, and the wrapping assembly 14 is used for wrapping the dough sheets filled with the meat stuffing.

The dough block making assembly 10 comprises a first base plate 101, two first supporting plates 102 which are vertically arranged are arranged on the first base plate 101 side by side, a first flat plate 103 is arranged at the upper ends of the two first supporting plates 102, a dough cylinder 105 is arranged on the first flat plate 103 through a first support 104, an inverted cone cylinder 106 is arranged at an opening at the lower end of the dough cylinder 105, a dough outlet cylinder 107 is arranged at the lower end of the inverted cone cylinder 106 in a downward extending manner, and a dough cutting assembly is arranged at the lower end of the dough outlet cylinder 107; the upper end opening part of face jar 105 is equipped with second support 108, be equipped with face piece cylinder 109 along the axial fixity of face jar 105 on the second support 108, the flexible end fixed mounting of face piece cylinder 109 has clamp plate 109a, and when face piece cylinder 109 stretches out, clamp plate 109a stretches into in the face jar 105 with the dough in the face jar 105 from a dough section of thick bamboo 107 extrusion, the dough cutting subassembly is used for cutting off the dough of a dough section of thick bamboo 107 lower extreme extrusion and falls to on face piece conveying subassembly 11.

The dough cutting assembly comprises a cutting motor 110, a fixed disc 107a is arranged on the outer circumferential side surface of the dough outlet cylinder 107 close to the lower end in the radial direction, an annular rotary disc 10a is connected to the outer circumferential side surface of the fixed disc 107a in a rotating mode along the circumferential direction of the fixed disc 107a, a cutting gear ring 10b is fixedly installed on the outer circumferential side surface of the annular rotary disc 10a, a motor frame 10c is arranged on the outer side of the dough outlet cylinder 107 above the fixed disc 107a, the cutting motor 110 is fixedly installed on the motor frame 10c, a cutting gear 10d meshed with the cutting gear ring 10b is fixedly installed on an output shaft of the cutting motor 110, and the lower ends of the annular rotary disc 10a and the fixed disc 107a and the lower end of the dough outlet; a first cutter bar 10e and a second cutter bar 10f are hinged to the lower end face of the fixed disc 107a, a first cutter 10e1 is arranged at the lower end of the noodle outlet cylinder 107 of the first cutter bar 10e, and a second cutter 10f1 is arranged at the lower end of the noodle outlet cylinder 107 of the second cutter bar 10 f; the annular turntable 10a is provided with a first power groove 10a1 and a second power groove 10a2 along the radial direction, the first cutter rod 10e is provided with a first convex column 10e2 extending into the first power groove 10a1, and the second cutter rod 10f is provided with a second convex column 10f2 extending into the second power groove 10a 2; when the annular turntable 10a rotates, the first knife rod 10e is driven to drive the first knife 10e1 to move through the matching of the first power groove 10a1 and the first convex column 10e2, and the second knife rod 10f is driven to drive the second knife 10f1 to move through the matching of the second power groove 10a2 and the second convex column 10f 2; the first cutter 10e1 and the second cutter 10f1 move in opposite directions.

The dough conveying assembly 11 comprises a conveying chain 111, first chain wheels 112, second chain wheels 113 and a first motor 114, wherein one end of the first flat plate 103 is provided with two first wheel frames 115 along the vertical direction, the other end of the first flat plate is provided with two second wheel frames 116 along the vertical direction, the first chain wheel 112 is rotatably connected between the two first wheel frames 115, the second chain wheel 113 is rotatably connected between the two second wheel frames 116, the conveying chain 111 is installed between the first chain wheel 112 and the second chain wheels 113, the first motor 114 is fixedly installed on one of the first wheel frames 115 and is fixedly connected with the first chain wheel 112, and the first motor 114 is used for driving the first chain wheel 112 to rotate; the conveyor chain 111 is provided with a plurality of panels 117 at regular intervals for placing the dough pieces.

The dough extruding assembly 12 comprises a door-shaped frame 121, the door-shaped frame 121 is fixedly mounted on the first flat plate 103 and is close to the downstream end of the conveying chain 111, an extruding cylinder 122 is fixedly mounted on the door-shaped frame 121 along the vertical direction, an extruding plate 123 is fixedly mounted at the telescopic end of the extruding cylinder 122, and the extruding plate 123 is positioned right above the conveying chain 111 and is used for extruding the dough on the panel 117 into dough sheets 01; the inside of the gantry 121 is provided with a press support plate 124 at the inner circumference of the conveyor chain.

The first carriage 104 is fixedly provided at a side thereof near the upstream end of the conveyor chain 111 with a first flour application assembly 15 for applying flour to the panels 117, the gate frame 121 is fixedly provided at a side thereof near the downstream end of the conveyor chain 111 with a second flour application assembly 16 for applying flour to the wrappers, the first and second

flour applying assemblies

15 and 16 are each constructed identically to include a flour bucket 151 fixedly mounted to the first bracket 104 and the gate frame 121, the bottom of the dough barrel 151 is positioned right above the conveying chain 111, the bottom of the dough barrel 151 is provided with a plurality of dough outlet holes 152, a cover plate 153 is fixedly arranged at an opening at the upper end of the noodle bucket 151, a noodle sprinkling motor 154 is fixedly arranged on the cover plate 153, an output shaft of the flour sprinkling motor 154 extends into the flour bucket 151 and is fixedly provided with a brush 155, the lower end of the brush 155 is abutted against the bottom of the flour bucket 151, and the flour is sent out from the flour outlet 152 through the brush 155 when the flour scattering motor 154 rotates.

First bottom plate 101 is equipped with face skin conveying assembly 17 in the below of conveying chain 111 downstream end, face skin conveying assembly 17 includes face skin conveyer belt 171, face skin transfer gear 172, second motor 173, first bottom plate 101 is equipped with two first vertical boards 174 and two vertical boards 175 of second in the below of conveying chain 111 downstream end, face skin transfer gear 172 rotates to be connected between two first vertical boards 174, and the axial extension of the upper end edge perpendicular to face skin transfer gear 172 of two vertical boards 175 is equipped with face skin transfer gear 176, face skin conveyer belt 171 sets up between face skin transfer gear 172 and face skin transfer gear 176, second motor 173 fixed mounting on one of them first vertical board 174 and with face skin transfer gear 172 fixed connection, second motor 173 is used for driving face skin transfer gear 172 to rotate.

The meat stuffing adding assembly 13 comprises a meat stuffing barrel 131, wherein the lower end of the meat stuffing barrel 131 is provided with an inverted cone stuffing barrel 132, the lower end of the inverted cone stuffing barrel 132 is provided with a first stuffing discharging barrel 133 in an extending manner, the lower end of the first stuffing discharging barrel 133 is provided with a second stuffing discharging barrel 134, the diameter of the first stuffing discharging barrel 133 is larger than that of the second stuffing discharging barrel 134, the conical surface of the inverted cone stuffing barrel 132 is provided with a third support 135 fixedly arranged on the first bottom plate 101 in an extending manner, and the second stuffing discharging barrel 134 is positioned right above the wrapper conveyor belt 171; a meat stuffing motor 137 is fixedly installed at an opening at the upper end of the meat stuffing cylinder 131 through a fourth support 136, a threaded rod 138 with the lower end rotatably connected in the first stuffing discharging cylinder 133 is fixedly installed at an output shaft of the meat stuffing motor 137, and the threaded rod 138 is used for extruding meat stuffing in the meat stuffing cylinder 131 and the inverted cone stuffing cylinder 132 out of the second stuffing discharging cylinder 134 and falling on dough sheets.

The wrapping assembly 14 comprises a first transmission assembly and a second transmission assembly, the second base plate 141 is arranged below the downstream end of the wrapper conveyor belt 171 of the first base plate 101, a first slide rail 142 is arranged on the second base plate 141 along the conveying direction of the wrapper conveyor belt 171, the first transmission assembly comprises a first conveyor belt 143a, a first transmission wheel 144a, a second transmission wheel 145a, a third motor 146a and a first transmission frame 147a connected to the first slide rail 142 in a sliding manner, and a first cylinder 14a for driving the first transmission frame 147a to move along the first slide rail 142 is arranged on the first base plate 101; the provision of the first cylinder 14a allows control of the position of the first transfer assembly; the first transmission wheel 144a is rotatably connected to one end of the first transmission frame 147a, the second transmission wheel 145a is rotatably connected to the other end of the first transmission frame 147a, the first transmission belt 143a is installed between the first transmission wheel 144a and the second transmission wheel 145a, the third motor 146a is fixedly installed on the first transmission frame 147a and is fixedly connected with the first transmission wheel 144a, and the third motor 146a is used for driving the first transmission wheel 144a to rotate; a first wrapping and clamping motor 14b is fixedly mounted on the first conveying frame 147a through a fifth support 148a, and the first wrapping and clamping motor 14b is positioned below the upstream end of the first conveying belt 143 a; a first gear 14c is fixedly mounted on an output shaft of the first wrapping and clamping motor 14b, and a second gear 14d meshed with the first gear 14c is connected to the fifth bracket 148a in a rotating mode; the first conveying frame 147a is hinged to a first folding plate 14e and a second folding plate 14f at two sides of the first conveying belt 143a, a first belt wheel 14e1 for driving the first folding plate 14e to turn over is arranged at the side surface of the first folding plate 14e, and a second belt wheel 14f1 for driving the second folding plate 14f to turn over is arranged at the side surface of the second folding plate 14 f; a third belt pulley 14c1 is arranged on the end surface of the first gear 14c, a fourth belt pulley 14d1 is arranged on the end surface of the second gear 14d, a first synchronous belt 14g is arranged between the third belt pulley 14c1 and the first belt pulley 14e1, and a second synchronous belt 14h is arranged between the fourth belt pulley 14d1 and the second belt pulley 14f 1; the first wrapping and clamping motor 14b rotates to drive the first folded plate 14e and the second folded plate 14f to simultaneously overturn so as to realize the first wrapping and folding of the dough cover.

A second slide rail 14i is arranged below the first conveyor belt 143a on the first conveyor frame 147a along the moving direction of the first conveyor belt 143a, a second conveyor frame 147b is connected to the second slide rail 14i in a sliding manner, and a second air cylinder 14j for driving the second conveyor frame 147b to move along the second slide rail 14i is arranged on the first conveyor frame 147 a; the second transmission assembly comprises a second conveyor belt 143b, a third conveyor wheel 144b, a fourth conveyor wheel 145b and a fourth motor 146b, the third conveyor wheel 144b is rotatably connected to one end of a second conveyor frame 147b, the fourth conveyor wheel 145b is rotatably connected to the other end of the second conveyor frame 147b, the second conveyor belt 143b is installed between the third conveyor wheel 144b and the fourth conveyor wheel 145b, the second conveyor belt 143b is perpendicular to the first conveyor belt 143a, and the upstream end of the second conveyor belt 143b is located below the downstream end of the first conveyor belt 143 a; the fourth motor 146b is fixedly mounted on the second conveying frame 147b and is fixedly connected with the third conveying wheel 144b, and the fourth motor 146b is used for driving the third conveying wheel 144b to rotate; a second clamping motor 14m is fixedly mounted on the second conveying frame 147b through a sixth support 14k, and the second clamping motor 14m is positioned below the upstream end of the second conveying belt 143 b; a third gear 14n is fixedly mounted on an output shaft of the second clamping motor 14m, and a fourth gear 14p meshed with the third gear 14n is connected to the sixth bracket 14k in a rotating mode; the second conveying frame 147b is hinged with a third folding plate 14q and a fourth folding plate 14r at two sides of the second conveying belt 143b, a fifth belt wheel 14q1 for driving the third folding plate 14q to turn is arranged at the side surface of the third folding plate 14q, and a sixth belt wheel 14r1 for driving the fourth folding plate 14r to turn is arranged at the side surface of the fourth folding plate 14 r; a seventh belt pulley 14n1 is arranged on the end surface of the third gear 14n, an eighth belt pulley 14p1 is arranged on the end surface of the fourth gear 14p, a third synchronous belt 14s is arranged between the seventh belt pulley 14n1 and the fifth belt pulley 14q1, and a fourth synchronous belt 14t is arranged between the eighth belt pulley 14p1 and the sixth belt pulley 14r 1; the second wrapping and clamping motor 14m rotates to drive the third folding plate 14q and the fourth folding plate 14r to simultaneously overturn to realize the second wrapping and folding of the dough cover.

The code disc mechanism 2 comprises a code disc conveying assembly arranged below the downstream end of the second conveying belt 143b, the code disc conveying assembly comprises a code disc frame 21 and a code disc conveying belt 22, a first code disc wheel 23, a second code disc wheel 24 and a third code disc wheel 25 are rotationally connected in the code disc frame 21, first convex blocks 21a are arranged on two sides of the code disc frame 21, a first code disc rod 26 is connected in each first convex block 21a in a sliding mode along the horizontal direction, a fourth code disc wheel 27 parallel to the axis of the first code disc wheel 23 is rotationally connected between the two first code disc rods 26, and the axes of the first code disc wheel 23 and the fourth code disc wheel 27 are in the same horizontal plane; a first coded disc cylinder 28 is arranged on the coded disc frame 21 along the axial direction of the first coded disc rod 26, and the telescopic end of the first coded disc cylinder 28 is fixedly connected with the first coded disc rod 26; two sides of the code disc rack 21 are provided with first code disc grooves 21b along the vertical direction, two first code disc grooves 21b are connected with second code disc rods 29 in a sliding manner, and fifth code disc wheels 211 are rotatably connected on the second code disc rods 29 in the code disc rack 21; the code disc conveyor belt 22 is arranged among a first code disc wheel 23, a second code disc wheel 24, a third code disc wheel 25, a fourth code disc wheel 27 and a fifth code disc wheel 211, and a code disc motor 212 for driving the first code disc wheel 23 to rotate is fixedly arranged on the side surface of the code disc frame 21; second lugs 21c are arranged at the upper ends of the first pallet grooves 21b on the two sides of the pallet frame 21, a third pallet rod 213 is connected in each second lug 21c in a sliding mode, the lower end of each third pallet rod 213 is fixedly connected with the end of each second pallet rod 29, a first spring 214 is arranged between each second pallet rod 29 and each second lug 21c, and each first spring 214 is used for forcing each second pallet rod 29 to move downwards; when the first code disc cylinder 28 extends, the fourth code disc wheel 27 is driven to move away from the first code disc wheel 23, the fifth code disc wheel 211 moves upwards under the action of the code disc conveyor belt 22, and the first spring 214 is compressed; when the first code wheel cylinder 28 contracts, the fourth code wheel 27 is driven to move towards the direction close to the first code wheel 23, and the fifth code wheel 211 moves downwards under the action of the first spring 214.

The coded disc mechanism 2 further comprises a baking disc conveying assembly, the baking disc conveying assembly comprises a conveying frame 214, one end of the conveying frame 214 is rotatably connected with a first conveying wheel 215, the other end of the conveying frame 214 is rotatably connected with a second conveying wheel 216, and the first conveying wheel 215 and the second conveying wheel 216 are parallel to each other and are positioned in the same horizontal plane; a conveyer belt 217 for conveying the baking tray into the baking mechanism 3 is arranged between the first conveyer wheel 215 and the second conveyer wheel 216, and the conveyer belt 217 is positioned below the downstream end of the code wheel conveyer belt 22; a conveying motor 218 for driving the first conveying wheel 215 to rotate is fixedly mounted on the side surface of the conveying frame 214; the conveying frame 214 is provided with a first tray 219 for holding baking trays at the upstream end of the conveying belt 217, first tray grooves 210 are formed in the left side and the right side of the first tray 219 along the vertical direction, a moving plate 220 is connected in the first tray grooves 210 in a sliding manner, first convex plates 219a are arranged on the two sides of the first tray 219 between the upper end and the lower end of the first tray groove 210, a first screw rod 221 in threaded connection with the moving plate 220 is connected between the two first convex plates 219a in a rotating manner, a first lifting motor 222 fixedly connected with the first screw rod 221 is fixedly installed on one first convex plate 219a, and the first lifting motor 222 is used for driving the first screw rod 221 to rotate; a conveying frame 223 is arranged between the first disk frame 219 and the conveying frame 214, a guide slide bar 224 is arranged on the conveying frame 223 along the moving direction of the conveying belt 217, a slide block 225 is connected on the guide slide bar 224 in a sliding manner, and a second screw 226 for driving the slide block 225 to slide along the guide slide bar 224 and a conveying motor 227 for driving the second screw 226 to rotate are arranged on the conveying frame 223; two carrying cylinders 228 are arranged on the sliding block 225 side by side along the vertical direction, and a suction cup 229 for sucking and putting down the baking tray is arranged at the telescopic end of each carrying cylinder 228.

The steamed stuffed bun baking mechanism 3 comprises a third bottom plate 31, two side plates 32 are arranged on the third bottom plate 31 side by side along the vertical direction, and a box shell 33 is arranged between the two side plates 32 on the third bottom plate 31; a first rotating shaft 34 and a second rotating shaft 35 which are parallel to each other are rotatably connected between the two side plates 32, wherein a sixth motor 36 for driving the first rotating shaft 34 to rotate is fixedly mounted on one side plate 32; a first rotating disc 34a and a second rotating disc 34b which are positioned in the box shell 33 are fixedly arranged on the first rotating shaft 34, and a third rotating disc 35a and a fourth rotating disc 35b which are positioned in the box shell 33 are fixedly arranged on the second rotating shaft 35; a first hanging belt 37 is arranged between the first rotating disc 34a and the third rotating disc 35a, and a second hanging belt 38 is arranged between the second rotating disc 34b and the fourth rotating disc 35 b; a plurality of hanging plates 39 for placing baking trays are uniformly and rotatably connected between the first hanging belt 37 and the second hanging belt 38 along the circumferential direction of the first hanging belt 37 at intervals, and an electric heating pipe (not shown in the prior art) is arranged in the box shell 33 and used for heating and baking the steamed stuffed buns in the baking trays; a first notch 33a is formed in the side surface of the box shell 33, and the downstream end of the conveyer belt 217 extends into the box shell 33 through the first notch 33a and is used for conveying baking trays containing steamed stuffed buns into the hanging plate 39; the symmetry is equipped with second breach 33b and third breach 33c on the both sides face of case shell 33, second breach 33b department fixed mounting has cylinder board 311, the axial along first pivot 34 is equipped with propelling movement cylinder 312 on the cylinder board 311, the flexible end of propelling movement cylinder 312 is equipped with the push plate that is located case shell 33, when propelling movement cylinder 312 stretches out, will be located the overware of hanging scaffold 39 and follow third breach 33c propelling movement and go out.

When the robot for making and baking the baked steamed stuffed bun works, the first motor 114 is controlled to rotate, the first motor 114 drives the transmission chain 111 to rotate through the first chain wheel 112 when rotating, the transmission chain 111 drives the panel 117 to move to the position right below the noodle outlet cylinder 107 to stop, then the noodle block air cylinder 109 extends out, the pressing plate 109a extends into the noodle cylinder 105 to press the dough in the noodle cylinder 105 out of the noodle outlet cylinder 107, then the cutting motor 110 drives the annular turntable 10a to rotate through the meshing of the cutting gear 10d and the cutting gear ring 10b, and when the annular turntable 10a rotates, the first power groove 10a1 is matched with the first convex column 10e2 and the second power groove 10a2 is matched with the second convex column 10f2 to drive the first cutter 10e1 and the second cutter 10f1 to move oppositely, so that the pressed dough at the lower end of the noodle outlet cylinder 107 is cut off and falls onto the panel 117.

The first motor 114 is continuously controlled to rotate, the panel 117 carrying the dough blocks is moved to the position right below the extrusion plate 123 under the action of the conveying chain 111 and stops, and when the dough blocks are moved to the position right below the extrusion plate 123, the next panel 117 moves to the position right below the dough outlet barrel 107; then the extrusion cylinder 122 is controlled to extend out, and the extrusion plate 123 extrudes the dough blocks 02 to form dough sheets; in addition, the first flour spreading component 15 is arranged, so that the face plate 117 moves to a position right below the flour outlet barrel 107, the brush 155 is driven to rotate by controlling the flour spreading motor 154, flour in the flour barrel 151 is controlled to fall onto the face plate 117 when the brush 155 rotates, and flour blocks can be prevented from being stuck on the face plate 117 when being extruded into flour wrappers; the second flour spreading component 16 is arranged, so that the extruded dough sheets are conveyed to the position between the dough sheet conveying belts 171, the brush 155 is driven to rotate by controlling the flour spreading motor 154, the flour in the dough barrel 151 is controlled to fall onto the dough sheets when the brush 155 rotates, and the dough sheets falling on the dough sheet conveying belts 171 can be prevented from being stuck on the dough sheet conveying belts 171; wherein the second motor 173 sends the dough sheet to the lower part of the meat stuffing adding assembly 13 and then to the wrapping assembly 14 through the dough sheet transmission wheel 172.

The second motor 173 drives the dough skin conveyor belt 171 to convey the dough skin to the position right below the second stuffing discharging cylinder 134 and then stops, the meat stuffing motor 137 is controlled to rotate, and the meat stuffing motor 137 drives the threaded rod 138 to rotate so as to extrude the meat stuffing in the meat stuffing cylinder 131 out of the second stuffing discharging cylinder 134 and fall on the dough skin 01; the second motor 173 is then continuously controlled to rotate, so that the dough cover containing the meat stuffing is sent to the wrapping assembly 14.

In operation of the blank assembly 14, the first 14e and second 14f flaps and the third 14q and fourth 14r flaps are first in a horizontal position; when the dough cover containing the minced meat moves onto the first conveying belt 143a under the action of the dough cover conveying belt 171, the first wrapping and clamping motor 14b drives the first gear 14c to rotate, and the first gear 14c drives the second gear 14d to rotate, so that the first folded plate 14e and the second folded plate 14f are respectively driven to be turned over oppositely through the third belt wheel 14c1, the first synchronous belt 14g, the first belt wheel 14e1, the fourth belt wheel 14d1, the second synchronous belt 14h and the second belt wheel 14f1, the minced meat is primarily wrapped, and then the first folded plate 14e and the second folded plate 14f are controlled to reset through the first wrapping and clamping motor 14 b; the first conveyor belt 143a is driven by the third motor 146a to convey the primarily wrapped stuffed bun to the second conveyor belt 143b, then the second clamping motor 14m is controlled to drive the third gear 14n to rotate, the third gear 14n drives the fourth gear 14p to rotate when rotating, so that through the seventh pulley 14n1, the third timing belt 14s, and the fifth pulley 14q1, the eighth belt wheel 14p1, the fourth synchronous belt 14t and the sixth belt wheel 14r1 respectively drive the third folded plate 14q and the fourth folded plate 14r to be folded oppositely to completely wrap the minced meat, then the second conveyor belt 143b is driven by the fourth motor 146b to feed the completely wrapped steamed stuffed bun onto the code wheel conveyor belt 22, the code wheel conveyor belt 22 is driven to rotate by the code wheel motor 212, meanwhile, the position of the downstream end of the coded disc conveying belt 22 is controlled through the first coded disc air cylinder 28, so that completely wrapped steamed stuffed buns are sequentially stacked in the baking tray.

In addition, the present invention controls the conveying cylinder 228 to extend, and sucks and retracts the bakeware 03 in the first tray 219 by the suction cup 229, then the conveying motor 227 drives the slide block 225 to move along the slide guide rod 224 to the upper side of the conveyor belt 217 by the second screw 226, then the conveying cylinder 228 extends and controls the suction cup 229 to place the bakeware on the conveyor belt 217, then the conveying cylinder 228 retracts again and the conveying motor 227 rotates reversely and drives the slide block 225 to move along the slide guide rod 224 to the upper side of the first tray 219 by the second screw 226, the above operations are repeated to place a plurality of empty bakeware on the conveyor belt 217, and the conveying motor 218 is controlled to drive the conveyor belt 217 to deliver the empty bakeware to the lower side of the downstream end of the code wheel conveyor 22, so as to facilitate the stacking of the bale. With the decrease of the number of baking trays in the first tray frame 219, the first lifting motor 222 drives the first screw rod 221 to rotate, and the first screw rod 221 drives the moving plate 220 to move upward when rotating, so as to suck the baking trays through the suction cup 229 when the carrying cylinder 228 is extended.

When a baking tray filled with the steamed stuffed buns is placed, the sixth motor 36 stops rotating and one of the empty hanging trays 39 moves to the first notch 33 a; the baking tray filled with the steamed stuffed buns is conveyed to the first hanging plate 39 from the first notch 33a under the action of the conveyor belt 217, the conveyor motor 218 stops rotating, the sixth motor 36 is controlled to drive the hanging plate 39 to rotate, the steamed stuffed buns are baked through the electric heating pipe, meanwhile, the other empty hanging plate 39 is rotated to the first notch 33a, and then the conveyor motor 218 is controlled to rotate to continuously convey the baking tray filled with the steamed stuffed buns to the hanging plate 39 from the first notch 33 a; when the steamed stuffed bun in the baking tray is cooked and needs to be taken out, the hanging plate 39 with the baking tray is controlled by the sixth motor 36 to move to the third notch 33c and stop, and then the pushing cylinder 312 is controlled to extend out, so that the baking tray with the steamed stuffed bun is pushed out by the pushing plate.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A robot for making and baking baked steamed stuffed buns is characterized by comprising a making mechanism, a code disc mechanism and a baking mechanism, wherein the making mechanism is used for making the steamed stuffed buns, the code disc mechanism is used for placing the made steamed stuffed buns in a baking tray, and the baking mechanism is used for baking the steamed stuffed buns in the baking tray; the making mechanism comprises a dough making component, a dough conveying component, a dough extruding component, a meat stuffing adding component and a wrapping component; the dough making assembly is used for making dough blocks and placing the dough blocks on the dough block conveying assembly, the dough block extruding assembly is used for pressing the dough blocks on the dough block conveying assembly into wrappers, the meat stuffing adding assembly is used for adding meat stuffing to the wrappers, and the wrapping assembly is used for wrapping the wrappers filled with the meat stuffing.

2. The robot for making and baking the steamed stuffed bun according to claim 1, wherein the dough piece making assembly comprises a first bottom plate, two first supporting plates are arranged on the first bottom plate side by side, a first flat plate is arranged at the upper ends of the two first supporting plates, a dough cylinder is arranged on the first flat plate through a first support, an inverted cone cylinder is arranged at the opening at the lower end of the dough cylinder, a dough outlet cylinder is arranged at the lower end of the inverted cone cylinder in a downward extending manner, and a dough cutting assembly is arranged at the lower end of the dough outlet cylinder; the upper end opening part of face jar is equipped with the second support, the axial fixity along the face jar is equipped with the face piece cylinder on the second support, the flexible end fixed mounting of face piece cylinder has the clamp plate, and when the face piece cylinder stretches out, the clamp plate stretches into the dough of face jar in with the face jar from a face section of thick bamboo extrusion, the dough cutting subassembly is used for cutting off the dough of a face section of thick bamboo lower extreme extrusion and falls to on the face piece conveying subassembly.

3. The robot for making and baking the baked bread as claimed in claim 2, wherein the dough cutting assembly comprises a cutting motor, the dough outlet cylinder is provided with a fixed disc at the outer circumferential side surface close to the lower end along the radial direction, the outer circumferential side surface of the fixed disc is rotatably connected with an annular rotary disc along the circumferential direction of the fixed disc, the outer circumferential side surface of the annular rotary disc is fixedly provided with a cutting gear ring, the outer side of the dough outlet cylinder is provided with a motor frame above the fixed disc, the cutting motor is fixedly arranged on the motor frame, an output shaft of the cutting motor is fixedly provided with a cutting gear meshed with the cutting gear ring, and the lower ends of the annular rotary disc and the fixed disc and the lower end of the dough outlet cylinder are positioned in the; a first cutter bar and a second cutter bar are hinged on the lower end face of the fixed disc, a first cutter is arranged at the lower end of the noodle outlet barrel of the first cutter bar, and a second cutter is arranged at the lower end of the noodle outlet barrel of the second cutter bar; the annular turntable is provided with a first power groove and a second power groove along the radial direction, the first cutter bar is provided with a first convex column extending into the first power groove, and the second cutter bar is provided with a second convex column extending into the second power groove; when the annular turntable rotates, the first cutter bar is driven to drive the first cutter to move through the matching of the first power groove and the first convex column, and the second cutter bar is driven to drive the second cutter to move through the matching of the second power groove and the second convex column; the moving directions of the first cutter and the second cutter are opposite.

4. The baked bun making and baking robot as claimed in claim 3, wherein the dough piece conveying assembly comprises a conveying chain, a first chain wheel, a second chain wheel and a first motor, one end of the first plate is provided with two first wheel frames along the vertical direction, the other end of the first plate is provided with two second wheel frames along the vertical direction, the first chain wheel is rotatably connected between the two first wheel frames, the second chain wheel is rotatably connected between the two second wheel frames, the conveying chain is installed between the first chain wheel and the second chain wheel, the first motor is fixedly installed on one of the first wheel frames and is fixedly connected with the first chain wheel, and the first motor is used for driving the first chain wheel to rotate; a plurality of panels for placing the dough blocks are uniformly arranged on the conveying chain at intervals.

5. The baked bun making and baking robot as claimed in claim 4, wherein the dough piece extruding assembly comprises a door-shaped frame, the door-shaped frame is fixedly mounted on the first flat plate and close to the downstream end of the conveying chain, an extruding cylinder is fixedly mounted on the door-shaped frame along the vertical direction, an extruding plate is fixedly mounted at the telescopic end of the extruding cylinder, and the extruding plate is located right above the conveying chain and is used for extruding the dough pieces on the panel into dough sheets; an extrusion supporting plate is arranged on the inner ring of the conveying chain in the door-shaped frame;

6. The robot of claim 5, wherein the meat stuffing adding assembly comprises a meat stuffing cylinder, the lower end of the meat stuffing cylinder is provided with an inverted cone stuffing cylinder, the lower end of the inverted cone stuffing cylinder extends to form a first stuffing discharging cylinder, the lower end of the first stuffing discharging cylinder is provided with a second stuffing discharging cylinder, the diameter of the first stuffing discharging cylinder is larger than that of the second stuffing discharging cylinder, the conical surface of the inverted cone stuffing cylinder extends to form a third support fixedly arranged on the first bottom plate, and the second stuffing discharging cylinder is positioned right above the dough cover conveyor belt; the meat stuffing machine is characterized in that a meat stuffing motor is fixedly installed at an opening at the upper end of the meat stuffing cylinder through a fourth support, a threaded rod is fixedly installed at an output shaft of the meat stuffing motor, the lower end of the threaded rod is rotatably connected in the first stuffing discharging cylinder, and the threaded rod is used for extruding meat stuffing located in the meat stuffing cylinder and the inverted cone stuffing cylinder out of the second stuffing discharging cylinder and falling on dough sheets.

7. The baked bun making and baking robot of claim 6, wherein the wrapping component comprises a first transmission component and a second transmission component, the first bottom plate is provided with a second bottom plate below the downstream end of the wrapper conveyor belt, a first slide rail is arranged on the second bottom plate along the conveying direction of the wrapper conveyor belt, the first transmission component comprises a first conveyor belt, a first transmission wheel, a second transmission wheel, a third motor and a first transmission frame connected to the first slide rail in a sliding manner, and a first cylinder for driving the first transmission frame to move along the first slide rail is arranged on the first bottom plate; the first conveying wheel is rotatably connected to one end of the first conveying frame, the second conveying wheel is rotatably connected to the other end of the first conveying frame, the first conveying belt is installed between the first conveying wheel and the second conveying wheel, the third motor is fixedly installed on the first conveying frame and fixedly connected with the first conveying wheel, and the third motor is used for driving the first conveying wheel to rotate; a first wrapping and clamping motor is fixedly mounted on the first conveying frame through a fifth support, and the first wrapping and clamping motor is positioned below the upstream end of the first conveying belt; a first gear is fixedly mounted on an output shaft of the first wrapping and clamping motor, and a second gear meshed with the first gear is connected to the fifth support in a rotating mode; the first conveying frame is hinged to a first folded plate and a second folded plate on two sides of the first conveying belt respectively, a first belt wheel for driving the first folded plate to turn over is arranged on the side face of the first folded plate, and a second belt wheel for driving the second folded plate to turn over is arranged on the side face of the second folded plate; a third belt wheel is arranged on the end face of the first gear, a fourth belt wheel is arranged on the end face of the second gear, a first synchronous belt is arranged between the third belt wheel and the first belt wheel, and a second synchronous belt is arranged between the fourth belt wheel and the second belt wheel; the first wrapping and clamping motor rotates to drive the first folded plate and the second folded plate to simultaneously turn over so as to realize the first wrapping and folding of the dough cover;

8. The bun baking and roasting robot of claim 7, wherein the code disc mechanism comprises a code disc conveying assembly arranged below the downstream end of the second conveying belt, the code disc conveying assembly comprises a code disc frame and a code disc conveying belt, a first code disc wheel, a second code disc wheel and a third code disc wheel are rotatably connected in the code disc frame, first convex blocks are arranged on two sides of the code disc frame, a first code disc rod is slidably connected in each first convex block along the horizontal direction, a fourth code disc wheel parallel to the axis of the first code disc wheel is rotatably connected between the two first code disc rods, and the axes of the first code disc wheel and the fourth code disc wheel are in the same horizontal plane; a first coded disc cylinder is arranged on the coded disc frame along the axial direction of the first coded disc rod, and the telescopic end of the first coded disc cylinder is fixedly connected with the first coded disc rod; first code disc grooves are formed in two sides of the code disc frame along the vertical direction, second code disc rods are connected in the two first code disc grooves in a sliding mode, and fifth code disc wheels are connected to the second code disc rods in the code disc frame in a rotating mode; the coded disc conveying belt is arranged among the first coded disc wheel, the second coded disc wheel, the third coded disc wheel, the fourth coded disc wheel and the fifth coded disc wheel, and the coded disc rack is arranged on the coded disc conveying belt; second convex blocks are arranged at the upper ends of the first code disc grooves on the two sides of the code disc rack, a third code disc rod is connected in each second convex block in a sliding mode, the lower end of each third code disc rod is fixedly connected with the end portion of each second code disc rod, a first spring is arranged between each second code disc rod and each second convex block, and the first springs are used for forcing the second code disc rods to move downwards; when the first code wheel cylinder extends out, the fourth code wheel is driven to move towards the direction far away from the first code wheel, the fifth code wheel moves upwards under the action of the code wheel conveyor belt, and the first spring is compressed; when the first code wheel cylinder contracts, the fourth code wheel is driven to move towards the direction close to the first code wheel, and the fifth code wheel moves downwards under the action of the first spring.

9. The robot for making and baking the baked bread as claimed in claim 8, wherein the code wheel mechanism further comprises a baking tray conveying assembly, the baking tray conveying assembly comprises a conveying frame, one end of the conveying frame is rotatably connected with a first conveying wheel, the other end of the conveying frame is rotatably connected with a second conveying wheel, and the first conveying wheel and the second conveying wheel are parallel to each other and are located in the same horizontal plane; a conveying belt used for conveying the baking tray into the baking mechanism is arranged between the first conveying wheel and the second conveying wheel, and the conveying belt is positioned below the downstream end of the coded disc conveying belt; a conveying motor for driving the first conveying wheel to rotate is fixedly mounted on the side face of the conveying frame; the conveying frame is provided with a first plate frame for placing baking trays at the upstream end of the conveying belt, first plate grooves are formed in the left side and the right side of the first plate frame in the vertical direction, a moving plate is connected in the first plate grooves in a sliding mode, first convex plates are arranged on the two sides of the first plate frame between the upper end and the lower end of each first plate groove, first screw rods in threaded connection with the moving plate are connected between the two first convex plates in a rotating mode, a first lifting motor fixedly connected with the first screw rods is fixedly installed on one first convex plate, and the first lifting motor is used for driving the first screw rods to rotate; a conveying frame is arranged between the first plate frame and the conveying frame, a guide sliding rod is arranged on the conveying frame along the movement direction of the conveying belt, a sliding block is connected to the guide sliding rod in a sliding mode, and a second screw rod used for driving the sliding block to slide along the guide sliding rod and a conveying motor used for driving the second screw rod to rotate are arranged on the conveying frame; two carrying cylinders are arranged on the sliding block side by side along the vertical direction, and the telescopic end of each carrying cylinder is provided with a sucker used for sucking and putting down the baking tray.

10. The robot for making and roasting a steamed stuffed bun according to claim 9, wherein the mechanism for roasting a steamed stuffed bun comprises a third bottom plate, two side plates are arranged side by side along a vertical direction on the third bottom plate, and a box casing is arranged between the two side plates on the third bottom plate; a first rotating shaft and a second rotating shaft which are parallel to each other are rotatably connected between the two side plates, and a sixth motor for driving the first rotating shaft to rotate is fixedly installed on one side plate; a first rotating disc and a second rotating disc which are positioned in the box shell are fixedly arranged on the first rotating shaft, and a third rotating disc and a fourth rotating disc which are positioned in the box shell are fixedly arranged on the second rotating shaft; a first hanging belt is arranged between the first rotary table and the third rotary table, and a second hanging belt is arranged between the second rotary table and the fourth rotary table; a plurality of hanging trays for placing baking trays are uniformly and rotatably connected between the first hanging belt and the second hanging belt at intervals along the circumferential direction of the first hanging belt, and an electric heating pipe is arranged in the box shell and used for heating and baking the steamed stuffed buns in the baking trays; a first notch is formed in the side face of the box shell, and the downstream end of the conveying belt extends into the box shell through the first notch and is used for conveying baking trays containing the steamed stuffed buns into the hanging plate; the symmetry is equipped with second breach and third breach on the both sides face of case shell, second breach department fixed mounting has the cylinder board, be equipped with the propelling movement cylinder along the axial of first pivot on the cylinder board, the flexible end of propelling movement cylinder is equipped with the push plate that is located the case shell, when the propelling movement cylinder stretches out, the overware that will be located the platform sling is gone out from the propelling movement of third breach.