A wobble-plate machine of dough that base on existed normal machine is developed to satisfy many requirements including safety and hygiene, efficiency and lower cost in production line of steamed bread. Design scheme of the whole machine is made according to the working environment , and a 3D model is built based on Pro/E. This machine consists of manipulator which can complete grasp, separate, place and press, frame and driving cylinder etc. According to its basic construction and working principles, driving plan is designed, flow chart and pneumatic system schematic can also be shown. The virtual simulation experiment in ADAMS proves the feasibility of design scheme. This study will supply technology support for further automatic production line of steamed bread.

Publication Date


First Page


Last Page





[1] 周全申, 朱庆方, 朱克庆. 旋转溜管式生面团自动排放机[J]. 郑州粮食学院学报, 1999, 20(1): 22~24.
[2] 周全申, 朱克庆, 李广玉. 旋转推板式生面团自动排放机构[J]. 郑州粮食学院学报, 1998, 19(1): 41~44.
[3] 李彦蓉. 馒头成型机的研究与设计[J]. 农机化研究, 2008(4): 111~113.
[4] 黄贤新. 工业机器人机械手设计[J]. 装备制造技术, 2012(3): 220~221.
[5] Pettersson A, Davis S, Gray J O, et al. Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes[J]. Journal of Food Engineering, 2010, 98(3): 332~338.
[6] Bhagata U, Shirinzadeha B, Clark L, et al. Design and analysis of a novel flexure-based 3-DOF mechanism[J]. Mechanism and Machine Theory, 2014, 74: 173~187.
[7] 左健民. 液压与气压传动[M]. 北京: 机械工业出版社, 1999: 4~5.
[8] 张萍萍. 基于PLC的气动机械手控制系统设计[D]. 四川: 电子科技大学, 2013.
[9] 李常品, 曾胜, 康成良.两工位全自动平衡机气动控制系统的设计[J]. 组合机床与自动化加工技术, 2008(10): 64~67.
[10] 管小清, 吕志强. 工业码垛机器人动力学仿真分析与研究[J]. 食品与机械, 2013, 29(1): 149~151.
[11] 陈赛克, 凌轩. 基于Solidworks齿轮连杆机构的运动仿真[J]. 食品与机械, 2012, 28(6): 177~179.
[12] 张少文, 吴学梅. 新型烹饪机器人锅具运动机构的设计及运动学仿真[J]. 食品与机械, 2013, 29(4): 92~94.



To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.