Large plate bean curd self-cooling production system and production process

Abstract

The application provides a large-plate bean curd self-pressure cooling production system and a production process, and relates to the technical field of bean curd production. The turnover basket carrying the bean curd formed by slurry impact is sent to the first conveying line, and the turnover basket is stacked in multiple layers by the stacking mechanical arm. The turnover basket conveyed to the end of the first conveying line is turned over by the turning-over mechanical arm, the upper and lower positions of the turnover basket are exchanged, so that all the bean curds can be squeezed and dehydrated by the weight of the turnover basket itself. The multiple-layer turnover baskets conveyed to the end of the second conveying line are unloaded into single-layer turnover baskets by the unloading mechanical arm and then enter the third conveying line. The turnover baskets at the end of the third conveying line are pushed into the cooling water tank by the turnover frame, the turnover baskets in the cooling water tank are pushed to the end of the cooling water tank by the way of front basket on top of rear basket, until reaching the end and being manually taken out, the self-pressure cooling production of the large-plate bean curd is completed, the automation degree of production is greatly improved, the production capacity is improved, the labor intensity of workers is reduced, and the quality and consistency of the bean curd are improved.

Description

Technical Field

[0001] This invention relates to the field of tofu production technology, specifically to a self-pressurized cooling production system and process for large-format tofu. Background Technology

[0002] The production process of large-format tofu involves placing the tofu, which has been shaped by slurry preparation, into a transfer basket for dehydration. The tofu and the transfer basket are then sent to a cooling water tank for cooling before finally being removed from the cooling water tank and stored in the warehouse.

[0003] The entire production process of large-format tofu is mostly done manually, with a low degree of automation, resulting in low production capacity, high labor intensity for workers, and easy contamination of the tofu, affecting its quality and consistency. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a self-pressurized cooling production system and process for large-format tofu, solving the problem of low automation in large-format tofu production.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A self-pressurized cooling production system and process for large-format tofu, the production system comprising: a first conveyor line, a second conveyor line, a third conveyor line, and a cooling water tank;

[0009] A stacking robot is installed at the front of the first conveyor line, a dumping robot is installed at the junction of the first and second conveyor lines, a unloading robot is installed at the end of the second conveyor line, and a transfer frame is installed at the junction of the third conveyor line and the cooling water tank.

[0010] Preferably, a lifting baffle is provided at the front end of the first conveyor line, and the lifting baffle is driven by a lifting cylinder.

[0011] Preferably, the stacking manipulator includes: a stacking support, a stacking lifting frame, a stacking flipping claw, and a stacking cylinder;

[0012] The stacking basket support is fixed at the front end of the first conveyor line. The stacking basket lifting frame is connected to the stacking basket support through a lifting cylinder. Both sides of the stacking basket lifting frame are connected to stacking basket flipping claws through stacking basket flipping shafts. The stacking basket flipping shafts are equipped with stacking basket flipping arms. The cylinder body of the stacking basket cylinder is hinged to the stacking basket lifting frame, and the output rod of the stacking basket cylinder is hinged to the free end of the stacking basket flipping arm, so that the stacking basket cylinder can drive the stacking basket flipping claws to flip, thereby realizing the opening and gripping of the stacking basket flipping claws.

[0013] Preferably, the basket-turning robot includes: a basket-turning bracket, a basket-turning sliding frame, a basket-turning lifting frame, a basket-turning flipping claw, and a basket-turning cylinder;

[0014] The basket-turning bracket is fixed at the end of the first conveyor line and the beginning of the second conveyor line. A crossbar is set above the basket-turning bracket on the first conveyor line to block and position the turnover basket. The basket-turning sliding frame is horizontally slidably connected to the basket-turning bracket, and a cylinder is set on the basket-turning bracket to drive the horizontal displacement of the basket-turning sliding frame. The basket-turning sliding frame is connected to the basket-turning lifting frame through a lifting cylinder. Both sides of the basket-turning lifting frame are connected to basket-turning claws through basket-turning flip shafts, and basket-turning flip shafts are equipped with basket-turning flip arms. The cylinder body of the basket-turning cylinder is hinged to the basket-turning lifting frame, and the output rod of the basket-turning cylinder is hinged to the free end of the basket-turning flip arm, so that the basket-turning cylinder can drive the basket-turning claws to flip, realizing the opening and gripping of the basket-turning claws.

[0015] Preferably, the unloading robot and the stacking robot have the same structure.

[0016] Preferably, the end section of the second conveyor line is provided with a first pushing component, the first pushing component including: a pushing frame and a pushing claw;

[0017] The pusher frame is connected to the second conveyor line via a horizontal cylinder. The pusher frame is hinged with several pusher claws. The pusher frame is equipped with a stop block that restricts the pusher claws from flipping forward. A reset torsion spring is provided between the pusher frame and the pusher claws. The reset torsion spring drives the pusher claws to flip forward and stand upright.

[0018] Preferably, the third conveyor line is provided with a second pushing component, which has the same structure as the first pushing component. The second pushing component moves horizontally back and forth, and each reciprocation pushes the turnover basket on the third conveyor line backward by one station.

[0019] Preferably, the transfer frame includes: a fixed frame, a lifting frame, a pushing frame, and a pushing frame;

[0020] The cooling water tank is equipped with multiple layers of brackets;

[0021] The mounting bracket is fixed to the front section of the cooling water tank;

[0022] The lifting frame and the fixed frame are vertically slidably connected; the pushing frame and the fixed frame are slidably connected front and back; and the pushing frame and the lifting frame are slidably connected front and back.

[0023] The lifting frame is driven by a lifting cylinder to move up and down relative to the fixed frame.

[0024] The push-in frame is driven by a horizontal cylinder to move back and forth relative to the fixed frame.

[0025] The ejector frame is driven by a horizontal cylinder to move back and forth relative to the lifting frame;

[0026] The pusher frame is equipped with a pusher claw that can freely flip backward;

[0027] The ejector is equipped with an ejector claw that can freely flip backward;

[0028] The lifting frame can be lowered into the cooling water tank and dock with the multi-layer brackets inside the cooling water tank.

[0029] The push-in claw is hinged to the push-in frame, and the push-in frame is provided with a stop bar in front of the push-in claw to restrict the push-in claw from rotating forward; the push-out claw is hinged to the push-out frame, and the push-out frame is also provided with a stop bar in front of the push-out claw to restrict the push-out claw from rotating forward.

[0030] Preferably, a water receiving tray is provided below the first, second, and third conveyor lines, the water receiving tray is sloped, and the bottom of the water receiving tray drains water through a drain pipe.

[0031] A self-pressurized cooling process for producing large-format tofu, the process comprising the following steps:

[0032] S1. Place the tofu formed by slurrying into a turnover basket. The turnover baskets are stacked in multiple layers during the transportation process. While being transported, the weight of the upper turnover baskets is used to squeeze and dehydrate the tofu in the lower turnover baskets.

[0033] S2. During the conveying process, the positions of the upper and lower layers of the multi-layered turnover baskets are switched, and the tofu originally located in the upper turnover basket is squeezed and dehydrated.

[0034] S3. During the transportation process, the multi-layered stacked turnover baskets are unloaded into a single layer;

[0035] S4. Push the single-layer turnover basket into the cooling water tank for cooling;

[0036] S5. The turnover baskets in the cooling water tank are often pushed to the end of the cooling water tank by the method of the front basket pushing the rear basket.

[0037] S6. Remove the turnover basket that has reached the end of the cooling water tank.

[0038] (III) Beneficial Effects

[0039] This invention provides a self-pressurized cooling production system and process for large-format tofu. Compared with existing technologies, it has the following advantages:

[0040] In this invention, a turnover basket carrying tofu formed from slurry is fed into the first conveyor line. A stacking robot stacks the turnover baskets in multiple layers, using the weight of the upper turnover baskets to squeeze and dehydrate the tofu in the lower turnover baskets. A turning robot turns the turnover baskets at the end of the first conveyor line, that is, it first moves several upper turnover baskets to the second conveyor line, and then moves the remaining lower turnover baskets to stack on top of the previous upper turnover baskets, realizing the exchange of the upper and lower positions of the turnover baskets, so that all the tofu can pass through the turnover baskets by itself. The tofu is dehydrated by compression. The multi-layer turnover baskets, which are conveyed to the end of the second conveyor line, are unloaded into single-layer turnover baskets by a basket unloading robot and then enter the third conveyor line. The transfer frame pushes the turnover baskets at the end of the third conveyor line into the cooling water tank. The turnover baskets in the cooling water tank are pushed to the end of the cooling water tank by the front basket pushing the rear basket, until they reach the end and are manually removed. This completes the self-pressure cooling production of large-plate tofu, which greatly improves the automation level of production, increases production capacity, reduces the labor intensity of workers, and improves the quality and consistency of tofu. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is an isometric view of the production system in an embodiment of the present invention;

[0043] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0044] Figure 3 for Figure 1 Enlarged view of point B in the middle;

[0045] Figure 4 for Figure 1 Enlarged view of point C in the middle;

[0046] Figure 5 This is an isometric view of the stacking robot arm in an embodiment of the present invention;

[0047] Figure 6 This is an isometric view of the basket-turning robot arm that removes the side fences in an embodiment of the present invention;

[0048] Figure 7 This is a front view of the basket-turning robot in an embodiment of the present invention;

[0049] Figure 8 This is an isometric view of the transfer frame in an embodiment of the present invention;

[0050] Figure 9 This is an isometric view of the transfer frame from another angle in an embodiment of the present invention;

[0051] Figure 10 for Figure 9 Enlarged view of point D in the middle;

[0052] The reference numerals in the figure are set as follows: First conveyor line 10, lifting baffle 11, second conveyor line 20, pushing frame 21, pushing claw 22, third conveyor line 30, stacking basket robot 40, stacking basket support 41, stacking basket lifting frame 42, stacking basket flipping claw 43, stacking basket cylinder 44, stacking basket flipping shaft 45, stacking basket flipping arm 46, basket turning robot 50, basket turning support 51, basket turning sliding frame 52, basket turning lifting frame 53, basket turning claw 54, basket turning cylinder 55, horizontal bar 56, basket turning shaft 57, basket turning arm 58, unloading robot 60, transfer frame 70, fixed frame 71, lifting frame 72, pushing frame 73, pushing claw 731, pushing frame 74, pushing claw 741, cooling water tank 80, multi-layer bracket 81, water receiving tray 90. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] This application provides a self-pressurized cooling production system and process for large-format tofu, which solves the problem of low automation in large-format tofu production.

[0055] The technical solution in this application is to solve the above-mentioned technical problems, and the general idea is as follows:

[0056] In this embodiment of the invention, a turnover basket carrying tofu formed from slurry is fed into the first conveyor line. A stacking robot stacks the turnover baskets in multiple layers, using the weight of the upper turnover baskets to squeeze and dehydrate the tofu in the lower turnover baskets. A turning robot turns the turnover baskets at the end of the first conveyor line, that is, it first moves several upper turnover baskets to the second conveyor line, and then moves the remaining lower turnover baskets to stack on top of the previous upper turnover baskets, realizing the exchange of the upper and lower positions of the turnover baskets, so that all the tofu can be turned over. The baskets are dehydrated by their own weight; the multi-layer turnover baskets at the end of the second conveyor line are unloaded into single-layer turnover baskets by a basket unloading robot and then enter the third conveyor line. The transfer frame pushes the turnover baskets at the end of the third conveyor line into the cooling water tank. The turnover baskets in the cooling water tank are pushed to the end of the cooling water tank by the front basket pushing the rear basket, until they reach the end and are manually removed. This completes the self-pressure cooling production of large-plate tofu, which greatly improves the automation level of production, increases production capacity, reduces the labor intensity of workers, and improves the quality and consistency of tofu.

[0057] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0058] Example:

[0059] like Figures 1-10 As shown, the present invention provides a self-pressurized cooling production system for large-format tofu, the production system comprising: a first conveyor line 10, a second conveyor line 20, a third conveyor line 30, and a cooling water tank 80;

[0060] A stacking robot 40 is installed at the front of the first conveyor line 10, a basket-discharging robot 50 is installed at the junction of the first conveyor line 10 and the second conveyor line 20, a basket-unloading robot 60 is installed at the end of the second conveyor line 20, and a transfer frame 70 is installed at the junction of the third conveyor line 30 and the cooling water tank 80.

[0061] The turnover baskets, carrying the formed tofu from the slurry, are fed into the first conveyor line 10. A stacking robot 40 stacks the turnover baskets in multiple layers, using the weight of the upper baskets to squeeze and dehydrate the tofu in the lower baskets. A turning robot 50 turns the turnover baskets at the end of the first conveyor line 10, first moving several upper baskets to the second conveyor line 20, then moving the remaining lower baskets and stacking them on top of the previous upper baskets, thus swapping the upper and lower positions of the turnover baskets. This ensures that all the tofu is squeezed by the weight of the baskets themselves. Dehydration; the multi-layer turnover baskets conveyed to the end of the second conveyor line 20 are unloaded into single-layer turnover baskets by the unloading robot 60 and then enter the third conveyor line 30. The transfer frame 70 pushes the turnover baskets at the end of the third conveyor line 30 into the cooling water tank 80. The turnover baskets in the cooling water tank 80 are pushed to the end of the cooling water tank 80 by the front basket pushing the rear basket until they reach the end and are then manually removed, completing the self-pressure cooling production of large-plate tofu. This greatly improves the automation level of production, increases production capacity, reduces the labor intensity of workers, and improves the quality and consistency of tofu.

[0062] The distance between the bottom plates of adjacent turnover baskets is less than the thickness of the undehydrated tofu, so that the tofu can be squeezed and dehydrated when the turnover baskets are stacked together.

[0063] like Figure 1 , Figure 2 , Figure 5 As shown, a lifting baffle 11 is provided at the front end of the first conveyor line 10, and the lifting baffle 11 is driven by a lifting cylinder.

[0064] The stacking manipulator 40 includes: a stacking support 41, a stacking lifting frame 42, a stacking flipping claw 43, and a stacking cylinder 44;

[0065] The stacking basket support 41 is fixed at the front end of the first conveyor line 10. The stacking basket lifting frame 42 is connected to the stacking basket support 41 through a lifting cylinder. Both sides of the stacking basket lifting frame 42 are connected to stacking basket flipping claws 43 through stacking basket flipping shafts 45. The stacking basket flipping shafts 45 are equipped with stacking basket flipping arms 46. The cylinder body of the stacking basket cylinder 44 is hinged to the stacking basket lifting frame 42. The output rod of the stacking basket cylinder 44 is hinged to the free end of the stacking basket flipping arm 46, so that the stacking basket cylinder 44 can drive the stacking basket flipping claws 43 to flip, thereby realizing the opening and gripping of the stacking basket flipping claws 43.

[0066] During the conveying process on the first conveyor line 10, the turnover basket is blocked and positioned by the lifting baffle 11. The stacking cylinder 44 drives the stacking flip claw 43 to open, stacking the turnover baskets previously grabbed onto the turnover baskets below. Then the stacking lifting frame 42 descends, and the stacking flip claw 43 grabs all the stacked turnover baskets from the bottom. The stacking lifting frame 42 rises and resets. The above actions are repeated several times. After the stacking is completed, the lifting baffle 11 descends, and the stacked turnover baskets are conveyed downstream.

[0067] like Figure 6 , Figure 7 As shown, the basket-turning robot 50 includes: a basket-turning bracket 51, a basket-turning sliding frame 52, a basket-turning lifting frame 53, a basket-turning flipping claw 54, and a basket-turning cylinder 55;

[0068] The basket-turning bracket 51 is fixed at the end of the first conveyor line 10 and the front of the second conveyor line 20. A crossbar 56 is provided above the first conveyor line 10 to block and position the turnover basket. The basket-turning sliding frame 52 is horizontally slidably connected to the basket-turning bracket 51, and a cylinder is provided on the basket-turning bracket 51 to drive the basket-turning sliding frame 52 to move horizontally. The basket-turning sliding frame 52 is connected to the basket-turning lifting frame 53 through a lifting cylinder. Both sides of the basket-turning lifting frame 53 are connected to basket-turning claws 54 through basket-turning rotating shafts 57. The basket-turning rotating shafts 57 are provided with basket-turning rotating arms 58. The cylinder body of the basket-turning cylinder 55 is hinged to the basket-turning lifting frame 53, and the output rod of the basket-turning cylinder 55 is hinged to the free end of the basket-turning rotating arm 58, so that the basket-turning cylinder 55 can drive the basket-turning claws 54 to rotate, realizing the opening and gripping of the basket-turning claws 54.

[0069] The turnover basket is blocked and positioned at the end of the first conveyor line 10 by the crossbar 56. After the basket-turning robot 50 grabs several turnover baskets from the upper layer, the basket-turning lifting frame 53 rises, the basket-turning sliding frame 52 moves above the second conveyor line 20, the basket-turning lifting frame 53 descends, and the basket-turning flipping claw 54 opens to place the turnover basket on the second conveyor line 20. Then, the remaining turnover baskets on the first conveyor line 10 are transported and stacked on the previous upper layer turnover baskets, realizing the exchange of the upper and lower layer positions of the turnover baskets.

[0070] like Figure 1 , Figure 3 As shown, the unloading robot 60 and the stacking robot 40 have the same structure;

[0071] The second conveyor line 20 is provided with a first pushing component at its end. The first pushing component includes a pushing frame 21 and a pushing claw 22.

[0072] The pusher frame 21 is connected to the second conveyor line 20 via a horizontal cylinder. The pusher frame 21 is hinged with several pusher claws 22. The pusher frame 21 is provided with a stop block that restricts the pusher claws 22 from flipping forward. A reset torsion spring is provided between the pusher frame 21 and the pusher claws 22. The reset torsion spring drives the pusher claws 22 to flip forward and stand upright.

[0073] The unloading process is as follows: the horizontal cylinder drives the pusher 21 to move forward, the pusher 22 flips backward to lie horizontally when it encounters the turnover basket, the pusher 22 moves forward to the front of the turnover basket and then resets to stand upright under the action of the reset torsion spring, the unloading robot 60 grabs and lifts the second layer of turnover baskets from the bottom, the pusher 21 moves backward, so that the bottom turnover basket is pushed out by the pusher 22, the unloading robot 60 puts down the turnover basket, and repeats the above actions several times to complete the unloading.

[0074] like Figure 4 As shown, the third conveyor line 30 is equipped with a second pushing component. The second pushing component has the same structure as the first pushing component. The second pushing component moves horizontally back and forth, and each reciprocation pushes the turnover basket on the third conveyor line 30 backward by one station.

[0075] like Figures 8-10 As shown, the transfer frame 70 includes: a fixed frame 71, a lifting frame 72, a pushing frame 73, and a pushing frame 74;

[0076] The cooling water tank 80 is provided with multiple layers of brackets 81;

[0077] The fixing bracket 71 is fixed to the front section of the cooling water tank 80;

[0078] The lifting frame 72 is vertically slidably connected to the fixed frame 71, the pushing frame 73 is slidably connected to the fixed frame 71 in the front and back, and the pushing frame 74 is slidably connected to the lifting frame 72 in the front and back.

[0079] The lifting frame 72 is driven by a lifting cylinder to move up and down relative to the fixed frame 71;

[0080] The pusher 73 is driven by a horizontal cylinder to move back and forth relative to the fixed frame 71.

[0081] The ejector 74 is driven by a horizontal cylinder to move back and forth relative to the lifting frame 72.

[0082] The pusher 73 is provided with a pusher claw 731 that can be freely flipped backward;

[0083] The ejector 74 is provided with an ejector claw 741 that can freely flip backward;

[0084] The lifting frame 72 can be lowered into the cooling water tank 80 and dock with the multi-layer bracket 81 inside the cooling water tank 80.

[0085] The working process of the transfer frame is as follows: the push-in frame 73 moves backward, and the push-in claw 731 pushes the turnover basket at the end of the third conveyor line 30 into the lifting frame 72. During the process, the push-out claw 741 is pushed open by the turnover basket and flips over, which does not affect the turnover basket entering the lifting frame 72; the push-in frame 73 moves forward and resets. When the push-in claw 731 is blocked by the turnover basket added at the end of the third conveyor line 30, it flips over, which does not affect the reset of the push-in frame 73; the lifting frame 72 is lowered into the cooling water tank 80 and aligned with one layer of the multi-layer bracket 81. The push-out frame 74 moves backward, and the push-out claw 741 pushes the turnover basket on the lifting frame 72 into the multi-layer bracket 81.

[0086] like Figure 10 As shown, the push-in claw 731 is hinged to the push-in frame 73, and the push-in frame 73 is provided with a stop bar in front of the push-in claw 731 to restrict the push-in claw 731 from flipping forward; the push-out claw 741 is hinged to the push-out frame 74, and the push-out frame 74 is also provided with a stop bar in front of the push-out claw 741 to restrict the push-out claw 741 from flipping forward.

[0087] like Figure 1 , Figure 4 As shown, a water receiving tray 90 is provided below the first conveyor line 10, the second conveyor line 20 and the third conveyor line 30. The water receiving tray 90 is used to catch the water that comes out of the tofu. The water receiving tray 90 is set on a slope and the water is led out through a drain pipe at the bottom of the water receiving tray 90.

[0088] This invention provides a self-pressurized cooling process for producing large-format tofu, the process comprising the following steps:

[0089] S1. Place the tofu formed by slurrying into a turnover basket. The turnover baskets are stacked in multiple layers during the transportation process. While being transported, the weight of the upper turnover baskets is used to squeeze and dehydrate the tofu in the lower turnover baskets.

[0090] S2. During the conveying process, the positions of the upper and lower layers of the multi-layered turnover baskets are switched, and the tofu originally located in the upper turnover basket is squeezed and dehydrated.

[0091] S3. During the transportation process, the multi-layered stacked turnover baskets are unloaded into a single layer;

[0092] S4. Push the single-layer turnover basket into the cooling water tank for cooling;

[0093] S5. The turnover baskets in the cooling water tank are often pushed to the end of the cooling water tank by the method of the front basket pushing the rear basket.

[0094] S6. Remove the turnover basket that has reached the end of the cooling water tank.

[0095] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0096] In this embodiment of the invention, a turnover basket carrying tofu formed from slurry is fed into the first conveyor line. A stacking robot stacks the turnover baskets in multiple layers, using the weight of the upper turnover baskets to squeeze and dehydrate the tofu in the lower turnover baskets. A turning robot turns the turnover baskets at the end of the first conveyor line, that is, it first moves several upper turnover baskets to the second conveyor line, and then moves the remaining lower turnover baskets to stack on top of the previous upper turnover baskets, realizing the exchange of the upper and lower positions of the turnover baskets, so that all the tofu can be turned over. The baskets are dehydrated by their own weight; the multi-layer turnover baskets at the end of the second conveyor line are unloaded into single-layer turnover baskets by a basket unloading robot and then enter the third conveyor line. The transfer frame pushes the turnover baskets at the end of the third conveyor line into the cooling water tank. The turnover baskets in the cooling water tank are pushed to the end of the cooling water tank by the front basket pushing the rear basket, until they reach the end and are manually removed. This completes the self-pressure cooling production of large-plate tofu, which greatly improves the automation level of production, increases production capacity, reduces the labor intensity of workers, and improves the quality and consistency of tofu.

[0097] It should be noted that in this document, "front" and "back" are determined according to the sequence of the production line, with the turnover baskets moving from "front" to "back" on the production line. Relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0098] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-pressurized cooling production system for large-format tofu, characterized in that, The production system includes: a first conveyor line (10), a second conveyor line (20), a third conveyor line (30), and a cooling water tank (80); The first conveyor line (10) is equipped with a stacking robot (40) at the front end. The stacking robot (40) stacks the turnover baskets in multiple layers and uses the weight of the upper turnover baskets to squeeze and dehydrate the tofu in the lower turnover baskets. A basket-pouring robot (50) is installed at the junction of the first conveyor line (10) and the second conveyor line (20), a basket-unloading robot (60) is installed at the end of the second conveyor line (20), and a transfer frame (70) is installed at the junction of the third conveyor line (30) and the cooling water tank (80). The basket-turning robot (50) turns the turnover baskets that are transported to the end of the first conveyor line (10). That is, it first moves several upper turnover baskets to the second conveyor line (20), and then moves the remaining lower turnover baskets to stack on the previous upper turnover baskets, so as to realize the exchange of the upper and lower positions of the turnover baskets, so that all the tofu can be squeezed and dehydrated by the weight of the turnover baskets themselves. The multi-layer turnover baskets that are transported to the end of the second conveyor line (20) are unloaded into single-layer turnover baskets by the basket-unloading robot (60) and enter the third conveyor line (30). The transfer frame (70) pushes the turnover baskets at the end of the third conveyor line (30) into the cooling water tank (80). The first conveyor line (10) is provided with a lifting baffle (11) at the front end, and the lifting baffle (11) is driven by a lifting cylinder.

2. The self-pressurized cooling production system for large-format tofu as described in claim 1, characterized in that, The stacking manipulator (40) includes: a stacking support (41), a stacking lifting frame (42), a stacking flipping claw (43), and a stacking cylinder (44). The stacking basket support (41) is fixed at the front end of the first conveyor line (10). The stacking basket lifting frame (42) is connected to the stacking basket support (41) through a lifting cylinder. Both sides of the stacking basket lifting frame (42) are connected to stacking basket flipping claws (43) through stacking basket flipping shafts (45). The stacking basket flipping shafts (45) are equipped with stacking basket flipping arms (46). The cylinder body of the stacking basket cylinder (44) is hinged to the stacking basket lifting frame (42). The output rod of the stacking basket cylinder (44) is hinged to the free end of the stacking basket flipping arm (46), so that the stacking basket cylinder (44) can drive the stacking basket flipping claws (43) to flip, thereby realizing the opening and gripping of the stacking basket flipping claws (43).

3. The self-pressurized cooling production system for large-format tofu as described in claim 1, characterized in that, The basket-turning robot (50) includes: a basket-turning bracket (51), a basket-turning sliding frame (52), a basket-turning lifting frame (53), a basket-turning flipping claw (54), and a basket-turning cylinder (55); The basket-turning bracket (51) is fixed at the end of the first conveyor line (10) and the front of the second conveyor line (20). A crossbar (56) is provided above the first conveyor line (10) on the basket-turning bracket (51), which blocks and positions the turnover basket. The basket-turning sliding frame (52) is horizontally slidably connected to the basket-turning bracket (51), and a cylinder is provided on the basket-turning bracket (51) to drive the basket-turning sliding frame (52) to move horizontally. The basket-turning sliding frame (52) and the basket-turning lifting frame (53) are connected by... The lifting cylinder is connected, and the two sides of the basket lifting frame (53) are connected to the basket turning claw (54) through the basket turning shaft (57). The basket turning shaft (57) is equipped with the basket turning arm (58). The cylinder body of the basket turning cylinder (55) is hinged to the basket lifting frame (53), and the output rod of the basket turning cylinder (55) is hinged to the free end of the basket turning arm (58), so that the basket turning cylinder (55) can drive the basket turning claw (54) to turn, thereby realizing the opening and gripping of the basket turning claw (54).

4. The self-pressurized cooling production system for large-format tofu as described in claim 1, characterized in that, The unloading robot (60) has the same structure as the stacking robot (40).

5. The self-pressurized cooling production system for large-format tofu as described in claim 1, characterized in that, The second conveyor line (20) is provided with a first pushing component at the end, the first pushing component including: a pushing frame (21) and a pushing claw (22); The pusher (21) is connected to the second conveyor line (20) by a horizontal cylinder. The pusher (21) is hinged with a number of push claws (22). The pusher (21) is provided with a stop block that restricts the push claws (22) from flipping forward. A reset torsion spring is provided between the pusher (21) and the push claws (22). The reset torsion spring drives the push claws (22) to flip forward to stand upright.

6. The self-pressurized cooling production system for large-format tofu as described in claim 5, characterized in that, The third conveyor line (30) is equipped with a second pushing component. The second pushing component has the same structure as the first pushing component. The second pushing component moves horizontally back and forth, and each reciprocation pushes the turnover basket on the third conveyor line (30) backward by one station.

7. The self-pressurized cooling production system for large-format tofu as described in claim 1, characterized in that, The transfer frame (70) includes: a fixed frame (71), a lifting frame (72), a pushing frame (73), and a pushing frame (74); The cooling water tank (80) is provided with a multi-layer bracket (81). The fixing bracket (71) is fixed to the front section of the cooling water tank (80); The lifting frame (72) is vertically slidably connected to the fixed frame (71), the pushing frame (73) is slidably connected to the fixed frame (71) in the front and back, and the pushing frame (74) is slidably connected to the lifting frame (72) in the front and back. The lifting frame (72) is driven to move up and down relative to the fixed frame (71) by a lifting cylinder; The pusher (73) is driven by a horizontal cylinder to move back and forth relative to the fixed frame (71); The ejector (74) is driven by a horizontal cylinder to move back and forth relative to the lifting frame (72); The pusher (73) is provided with a pusher claw (731) that can be freely flipped backward. The ejector (74) is provided with an ejector claw (741) that can be freely flipped backward. The lifting frame (72) can be lowered into the cooling water tank (80) and dock with the multi-layer bracket (81) inside the cooling water tank (80); The push-in claw (731) is hinged to the push-in frame (73), and the push-in frame (73) is provided with a stop bar in front of the push-in claw (731) to restrict the push-in claw (731) from flipping forward; the push-out claw (741) is hinged to the push-out frame (74), and the push-out frame (74) is also provided with a stop bar in front of the push-out claw (741) to restrict the push-out claw (741) from flipping forward.

8. The self-pressurized cooling production system for large-format tofu as described in claim 1, characterized in that, A water receiving tray (90) is provided below the first conveyor line (10), the second conveyor line (20) and the third conveyor line (30). The water receiving tray (90) is set on a slope and the bottom of the water receiving tray (90) drains water through a drain pipe.

9. A self-pressurized cooling production process for large-format tofu, using the self-pressurized cooling production system for large-format tofu as described in any one of claims 1-8, characterized in that, The production process includes the following steps: S1. Place the tofu formed by slurrying into a turnover basket. The turnover baskets are stacked in multiple layers during the transportation process. While being transported, the weight of the upper turnover baskets is used to squeeze and dehydrate the tofu in the lower turnover baskets. S2. During the conveying process, the positions of the upper and lower layers of the multi-layered turnover baskets are switched, and the tofu originally located in the upper turnover basket is squeezed and dehydrated. S3. During the transportation process, the multi-layered stacked turnover baskets are unloaded into a single layer; S4. Push the single-layer turnover basket into the cooling water tank for cooling; S5. The turnover baskets in the cooling water tank are pushed to the end of the cooling water tank by the front basket pushing the rear basket. S6. Remove the turnover basket that has reached the end of the cooling water tank.

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