Fermented bean curd bottling equipment and bottling method

Abstract

The invention relates to the technical field of fermented bean curd bottling, in particular to fermented bean curd bottling equipment and a bottling method.The fermented bean curd bottling equipment comprises an equipment rack and an index plate operating mechanism, and a first grabbing mechanism, a second grabbing mechanism, a third grabbing mechanism and a fourth grabbing mechanism are installed on a top plate; the first grabbing mechanism can grab the fermented bean curds B1, B3, B4 and B6 at the same time and put the fermented bean curds B1 and B3 and the fermented bean curds B4 and B6 into the four corners of a fermented bean curd bottle respectively, and therefore positions are reserved for the fermented bean curds B2 and B5 to enter the bottle. The first grabbing mechanism can grab fermented bean curds T1, T3, T4 and T6, the second grabbing mechanism can grab fermented bean curds B2 and B5 at the same time and put the fermented bean curds B2 and B5 into fermented bean curd bottles respectively, the third grabbing mechanism can grab fermented bean curds T1, T3, T4 and T6 at the same time and put the fermented bean curds T1, T3, T4 and T6 into the fermented bean curd bottles respectively, and the fourth grabbing mechanism can grab fermented bean curds T2 and T5 at the same time and put the fermented bean curds T2 and T5 into the fermented bean curd bottles respectively. The device has the technical effects that the bottling efficiency is improved, and the food safety and sanitation risk is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of fermented bean curd bottling, in particular to fermented bean curd bottling equipment and a bottling method. Background Art

[0002] Fermented bean curd is a food made from small pieces of tofu, fermented and pickled. It has a soft texture and is difficult to package and store. In the fermented bean curd production industry, it is usually stored in glass bottles. The common fermented bean curd glass bottle is square at the bottom and has a round opening at the top. There are twelve pieces of fermented bean curd (salt dough) in the fermented bean curd bottle. The fermented bean curd in the fermented bean curd bottle is divided into two layers, with six pieces of fermented bean curd in each layer. The upper and lower layers of fermented bean curd are numbered respectively. The upper layer of fermented bean curd is B1, B2, B3, B4, B5, B6. Fermented bean curd B1, B3, B4, B6 are located at the four corners of the fermented bean curd bottle respectively. Fermented bean curd B2 is located between fermented bean curd B1 and B3, and fermented bean curd B5 is located between fermented bean curd B4 and B6. The fermented bean curd in the lower layer is T1, T2, T3, T4, T5 and T6. Fermented bean curd T1, T3, T4 and T6 are respectively located at the four corners of the fermented bean curd bottle. Fermented bean curd T2 is located between fermented bean curd T1 and T3, and fermented bean curd T5 is located between fermented bean curd T4 and T6.

[0003] In fermented bean curd production enterprises, most industrial production lines mainly adopt manual filling to fill the fermented bean curd salt dough. Manual filling has problems such as low production efficiency, high manual bottling costs, and great food safety and hygiene risks. Summary of the invention

[0004] The embodiment of the present invention provides a fermented bean curd bottling device and a bottling method, which has the technical effects of improving bottling efficiency and reducing food safety and sanitation risks.

[0005] On the one hand, a fermented bean curd bottling device of the present invention adopts the following technical scheme: A fermented bean curd bottling device comprises a device frame and a dividing plate operating mechanism, wherein the device frame comprises a bottom bracket, a support rod and a top plate, the support rod is fixed between the bottom bracket and the top plate, the dividing plate operating mechanism is installed on the bottom bracket, and a first grabbing mechanism, a second grabbing mechanism, a third grabbing mechanism and a fourth grabbing mechanism are installed on the top plate; The indexing plate operation mechanism clamps and transfers the fermented bean curd bottle, and the first grabbing mechanism can grab the fermented bean curd B1, B3, B4, and B6 at the same time, and put the fermented bean curd B1 and B3 as well as B4 and B6 into the fermented bean curd bottle respectively. The first grabbing mechanism can separate the fermented bean curd B1 and B3 as well as separate the fermented bean curd B4 and B6, thereby making room for the fermented bean curd B2 and B5 to be put into the bottle; The second grabbing mechanism can grab fermented bean curd B2 and B5 at the same time, and put fermented bean curd B2 and B5 into the fermented bean curd bottle respectively. The third grabbing mechanism can grab fermented bean curd T1, T3, T4, T6 at the same time, and put fermented bean curd T1 and T3, T4, T6 into the fermented bean curd bottle respectively. The fourth grabbing mechanism can grab fermented bean curd T2 and T5 at the same time, and put fermented bean curd T2 and T5 into the fermented bean curd bottle respectively.

[0006] On the other hand, the present invention also discloses a method for bottling fermented bean curd, comprising the following steps: S1. Put the empty fermented bean curd bottle on the indexing plate operating mechanism and clamp it, and the indexing plate operating mechanism rotates the fermented bean curd bottle to the bottom of the first grasping mechanism.

[0007] S2, the first grabbing mechanism grabs the fermented bean curd B1, B3, B4, and B6 and stacks them on the four corners of the fermented bean curd bottle, and then the indexing plate operation mechanism rotates the fermented bean curd bottle to the bottom of the second grabbing mechanism; The indexing plate operation mechanism also includes a paddle-into-bottle connecting rod mechanism. After the first grasping mechanism puts the fermented bean curd B1, B3, B4, and B6 into the fermented bean curd bottle, the inner clamping claw of the first grasping mechanism will separate the fermented bean curd B1 and B3, separate the fermented bean curd B4 and B6, and push the four pieces of fermented bean curd to the four corners of the fermented bean curd bottle, respectively. At this time, the bottle-introducing paddle of the paddle-into-bottle connecting rod mechanism is inserted into the fermented bean curd bottle and blocked on the inner side of the inner clamping claw arm. After that, the inner clamping claw of the first grasping mechanism extends out of the fermented bean curd bottle, and then the paddle-into-bottle connecting rod mechanism rotates together with the fermented bean curd bottle to the bottom of the second grasping mechanism. After the second grasping mechanism puts the fermented bean curd into the fermented bean curd bottle and the clamping claw of the second grasping mechanism is pulled out from the fermented bean curd bottle, the bottle-introducing paddle of the paddle-into-bottle connecting rod mechanism is pulled out from the fermented bean curd bottle.

[0008] S3, the second grabbing mechanism grabs the fermented bean curd B2 and B5, and puts the fermented bean curd B2 between the fermented bean curd B1 and B3, and puts the fermented bean curd B5 between the fermented bean curd B4 and B6, and then the indexing plate operation mechanism rotates the fermented bean curd bottle to the bottom of the third grabbing mechanism; The indexing plate operation mechanism includes a indexing plate body and a bottle rotation trajectory control mechanism. A follower planetary turntable is installed on the indexing plate body, and the fermented bean curd bottle is clamped on the follower planetary turntable. In the process of the indexing plate body rotating from under the second gripping mechanism to the third gripping mechanism, the follower planetary turntable rotates 90 degrees under the action of the bottle rotation trajectory control mechanism, so that the upper layer of fermented bean curd and the lower layer of fermented bean curd are arranged vertically.

[0009] S4, the third grabbing mechanism grabs the fermented bean curd T1, T3, T4, and T6 and stacks them on the four corners of the fermented bean curd bottle, and then the indexing plate operation mechanism rotates the fermented bean curd bottle to the bottom of the fourth grabbing mechanism S5, the fourth grabbing mechanism grabs the fermented bean curd T2 and T5, and puts the fermented bean curd T2 between the fermented bean curd T1 and T3, and puts the fermented bean curd T5 between the fermented bean curd T4 and T6, and then the indexing plate operation mechanism rotates the fermented bean curd bottle to the lower bottle position.

[0010] Compared with the prior art, the present invention has the following technical effects: 1. The fermented bean curd bottling equipment of the present invention can completely replace manual bottling, greatly improve the production efficiency of bottling, and avoid food hygiene and other problems caused by manual production factors.

[0011] 2. After the first grasping mechanism can put the fermented bean curd B1, B3, B4, and B6 into the fermented bean curd bottle, the inner clamping claw of the first grasping mechanism will separate the fermented bean curd B1 and B3, and separate the fermented bean curd B4 and B6, and when the outer clamping claw is lifted, the outer clamping claw can be squeezed inward to facilitate the outer clamping claw to be pulled out of the fermented bean curd bottle.

[0012] 3. The second grabbing mechanism can put the fermented bean curd B2 and B5 into the fermented bean curd bottles respectively, put the fermented bean curd B2 between the fermented bean curd B1 and B3, and put the fermented bean curd B5 between the fermented bean curd B4 and B6.

[0013] 4. The third grabbing mechanism can put fermented bean curd T1, T3 and fermented bean curd T4, T6 into the fermented bean curd bottle in turn. After the third grabbing mechanism puts the fermented bean curd T1 and T3 into the fermented bean curd bottle, it separates them and leaves a circulation channel for T4 and T6, and then stacks T4 and T6 in sequence through this channel.

[0014] 5. The fourth grabbing mechanism puts the fermented bean curd T2 and T5 into the fermented bean curd bottle respectively. When stacking the last piece of fermented bean curd T5, the fermented bean curd T5 can be rotated to facilitate the fermented bean curd T5 to enter the corresponding position in the fermented bean curd bottle.

[0015] 6. The indexing plate operating mechanism can make the fermented bean curd bottle revolve, so that the fermented bean curd bottle can rotate at each work station.

[0016] The fermented bean curd bottle can also be rotated relative to the indexing plate body, so that the fermented bean curd bottle is rotated 90 degrees relative to the indexing plate body, so that the upper layer of fermented bean curd and the lower layer of fermented bean curd are arranged vertically. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present invention, and do not constitute a limitation of the present invention. In the drawings: Figure 1 A top view of a fermented bean curd bottle containing an upper layer of fermented bean curd according to the present invention; Figure 2 A top view of a fermented bean curd bottle containing a lower layer of fermented bean curd according to the present invention; Figure 3 A three-dimensional diagram showing the overall structure of the present invention; Figure 4 A bottom view showing the overall structure of the present invention; Figure 5 A three-dimensional diagram showing the indexing plate operating mechanism of the present invention; Figure 6 A top view of the indexing plate operating mechanism of the present invention; Figure 7 This is a front view of the indexing plate operating mechanism of the present invention; Figure 8 To reflect Figure 7 Cross-section of the middle BB; Fig. 9 A schematic diagram showing a bottle rotation trajectory control mechanism in the present invention; Fig.10 To reflect Figure 7 Cross-section of the middle CC; Fig.11 A schematic diagram of a paddle position control and protection mechanism according to the present invention; Fig.12 A schematic diagram of a rotary clamping mechanism in the present invention; Fig.13 A schematic diagram showing the rotary mandrel and the torsion return spring in the present invention; Fig.14 A schematic diagram of a paddle-into-bottle connecting rod mechanism according to the present invention; Fig.15 A schematic diagram of a first grabbing mechanism in the present invention; Fig.16 A schematic diagram showing the first transverse shifting portion in the present invention; Fig.17 This is a schematic diagram of the overall structure of the first lifting part, the second lifting part, the first grabbing part and the second grabbing part in the present invention; Fig.18 This is a schematic diagram showing the overall structure of the first lifting part and the first grabbing part in the present invention; Fig.19 This is a schematic diagram showing the structure of the first gripping portion in the present invention; Fig. 20 This is a schematic diagram showing the structure of the inner clip assembly in the present invention; Fig.21 This is a schematic diagram showing the structure of the first distribution component in the present invention; Fig. 22 This is a schematic diagram showing the structure of the second grabbing mechanism in the present invention; Fig.23A schematic diagram showing the overall structure of the third lifting part, the fourth lifting part, the third grabbing part and the fourth grabbing part in the present invention; Fig.24 This is a schematic diagram showing the structure of the third gripping portion in the present invention; Fig.25 This is a schematic diagram showing the structure of the second distribution assembly in the present invention; Fig.26 This is a schematic diagram showing the structure of the third grabbing mechanism in the present invention; Fig. 27 This is a schematic diagram showing the structure of the fifth lifting part, the sixth lifting part and the seventh lifting part in the present invention; Fig.28 This is a schematic diagram showing the overall structure of the fifth lifting part and the fifth grabbing part in the present invention; Fig.29 A schematic diagram showing the overall structure of the sixth lifting portion and the sixth grabbing portion in the present invention; Fig.30 A schematic diagram showing the structure of the clamping jaw transverse micro-motion assembly and the clamping jaw longitudinal micro-motion assembly in the present invention; Fig.31 A schematic diagram showing the structure of the third connecting plate and the fourth connecting plate in the present invention; Fig.32 This is a schematic diagram showing the structure of the fourth grabbing mechanism in the present invention; Fig.33 A schematic diagram showing the structure of the eighth lifting part, the ninth lifting part, the eighth grasping part and the ninth grasping part in the present invention; Fig.34 A schematic diagram of the structure of the second clamping jaw assembly in the present invention; Fig.35 This is a schematic diagram showing the structure of the T5 micro-rotating part of the present invention; Fig.36 The schematic diagram is a structural diagram showing the action of the fermented bean curd T5 of the present invention when it is put into a bottle.

[0018] Description of reference numerals: 1. Equipment frame; 11. Bottom bracket; 12. Support rod; 13. Top plate; 2. Indexing plate operation mechanism; 21. Indexing plate body; 211. First station; 212. Second station; 213. Third station; 214. Fourth station; 215. Fifth station; 216. Sixth station; 217. Seventh station; 218. Eighth station; 219. Mounting hole; 22. Rotary clamping mechanism; 221. Follower planetary turntable; 2211. Blocking block; 2212. Third clearance groove; 222. Fixed plate; 2221. Rotating mandrel; 2222. Insertion groove; 223. Bottle insertion guide block; 2231. First clearance groove; 224. Support and fixing assembly; 2241. Support and fixing block; 2 242, jaw center hinge axis; 2243, second clearance groove; 2244, positioning guide mandrel; 225, bottle jaw assembly; 2251, upper connecting rod; 2252, lower connecting rod; 2253, clamping block; 226, compression return spring; 227, compression return spring protective cover; 228, rotation track lever assembly; 2281, steering lever; 2282, guide wheel; 2283, torsion return spring; 23, paddle bottle entry connecting rod mechanism; 231, bottle entry paddle; 232, lifting connecting rod; 233, first intermediate pull rod; 234, second intermediate pull rod; 235, third intermediate pull rod; 236, guide pull rod; 237, guide pull rod seat; 238, fixed hinge support; 239, lifting angle pull plate; 2391 , guide cam; 24, bottom support plate; 241, intermittent drive motor; 242, rotating shaft; 25, clamping pneumatic guide drive mechanism; 26, bottle rotation trajectory control mechanism; 261, guide ring plate; 262, ring plate support rod; 263, second trajectory groove; 2631, arc groove; 2632, broken line groove; 2633, straight line groove; 27, paddle position control protection mechanism; 271, cylinder; 272, first trajectory groove; 2721, upper groove; 2722, lower groove; 28, paddle plate; 3, first grasping mechanism; 31, first transverse moving part; 311, first suspension frame; 312, first transverse moving plate; 313, first transverse moving assembly; 314, first transverse micro-motion assembly; 315, first transverse micro-motion plate; 32 , first lifting part; 321, first lifting guide rail seat; 322, U-shaped mounting plate; 323, first lifting assembly; 3231, lifting stepper motor; 3232, lifting ball screw; 3233, lifting nut slide; 3234, lifting guide rail; 3235, first support plate; 33, first grasping part; 331, clamping and shifting stepper motor; 3311, outer clamp lifting screw; 3312, inner clamp lifting screw; 3313, inner clamp lifting nut; 3314, first mounting plate; 332, outer clamp assembly; 3321, outer clamp lifting connecting plate; 3322, outer clamp arm; 3323, outer clamp arm connecting plate; 3324, outer clamp; 333, inner clamp assembly; 3331, inner clamp arm;3332, inner clamp arm connecting plate; 3333, inner clamp; 334, clamping assembly; 3341, mounting rod; 3342, roller; 3343, upper clamping slider; 3344, lower clamping slider; 335, first sub-selection assembly; 3351, first main sub-selection pull rod; 3352, first sub-selection pull rod; 3353, first sub-selection vertical guide rail; 3354, first sub-selection transverse guide rail; 3355, first sub-selection slider; 3356, first connecting shaft; 3357, second connecting shaft; 3358, first sub-selection active rod; 3359, first return spring; 336, first long strip hole; 34, second lifting part; 35, second grabbing part; 4, second grabbing mechanism; 41, second lateral moving part; 411, second suspension bracket ; 412, second transverse shift plate; 413, second transverse shift assembly; 414, second transverse micro-motion assembly; 415, second transverse micro-motion plate; 42, third lifting part; 43, third grasping part; 431, first clamping stepping motor; 4311, second mounting plate; 4312, third mounting plate; 4313, clamping screw; 4314, clamping screw nut slide; 432, second sub-selection assembly; 4321, second main shifting rod; 43211, main shifting slider; 4322, second sub-selection rod; 4323, third connecting shaft; 4324, fourth connecting shaft; 4325, second sub-selection vertical guide rail; 4326, second sub-selection transverse guide rail; 4327, second sub-selection active rod; 4328, second return spring; 4329, first Two-way dial slider; 433, first clamping jaw assembly; 4331, B2 clamping jaw arm; 4332, B2 clamping jaw arm connecting plate; 4333, B2 clamping jaw; 44, fourth lifting part; 45, fourth grabbing part; 5, third grabbing mechanism; 51, third transverse moving part; 511, third suspension frame; 512, third transverse moving plate; 513, third transverse moving assembly; 52, fifth lifting part; 53, fifth grabbing part; 54, sixth lifting part; 541, second lifting guide rail seat; 542, second lifting assembly; 543, clamping jaw transverse micro-motion assembly; 5431, transverse micro-motion stepping motor; 5432, transverse micro-motion ball screw; 5433, transverse micro-motion nut slide; 5434, first connecting plate; 544, clamping jaw longitudinal micro-motion assembly; 5 441, longitudinal micro-motion stepping motor; 5442, longitudinal micro-motion ball screw; 5443, longitudinal micro-motion screw nut slide; 5444, longitudinal micro-motion clamping slide; 5445, longitudinal micro-motion secondary slide; 5446, secondary slide return spring; 5447, second connecting plate; 5448, fifth connecting plate; 545, third connecting plate; 546, fourth connecting plate; 5461, stopper; 5462, adjusting screw; 55, sixth gripping part; 551, T4 clamping claw arm; 552, clamping claw arm connecting plate; 553, T4 clamping claw; 56, seventh lifting part; 57, seventh gripping part; 6, fourth gripping mechanism; 61, fourth transverse moving part; 611, fourth suspension frame; 612, fourth transverse moving plate; 613, fourth transverse moving assembly;614, fourth transverse micro-motion assembly; 615, fourth transverse micro-motion plate; 62, eighth lifting part; 63, eighth grabbing part; 64, ninth lifting part; 65, ninth grabbing part; 651, second clamping stepping motor; 652, third distribution assembly; 653, second clamping claw assembly; 6531, T5 clamping claw arm; 6532, T5 clamping claw arm connecting plate; 6533, T5 clamping claw; 6534, fifth hinge shaft; 66, T5 micro-motion rotating part; 661, rotating micro-motion lead screw motor; 662, rotating micro-motion screw nut; 663, first connecting rod; 6631, first hinge shaft; 664, second connecting rod; 6641, second hinge shaft; 665, third connecting rod; 6651, third hinge shaft; 666, fourth connecting rod; 6661, fourth hinge shaft. ; DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0020] Reference Figure 1 and Figure 2 The bottle for holding the fermented bean curd (salt dough) is a common glass bottle for holding fermented bean curd, which is square at the bottom and has a round opening at the top. The fermented bean curd is divided into two layers, upper and lower, in the bottle, with six pieces of fermented bean curd placed in the lower layer and six pieces of fermented bean curd placed in the upper layer. In order to facilitate the description of the captured fermented bean curd, the present invention labels the fermented bean curd on the upper and lower layers respectively. The fermented bean curd on the lower layer is B1, B2, B3, B4, B5, and B6. The fermented bean curd on the upper layer is T1, T2, T3, T4, T5, and T6. The lower layer of fermented bean curd is arranged vertically to the upper layer of fermented bean curd.

[0021] Reference Figure 3 and Figure 4 A fermented bean curd bottling device comprises a device frame 1, a dividing plate operating mechanism 2, a first grabbing mechanism 3, a second grabbing mechanism 4, a third grabbing mechanism 5, a fourth grabbing mechanism 6 and an electrical intelligent control system. By using the fermented bean curd bottling device of the present invention, 12 pieces of fermented bean curd are put into bottles in a certain order to realize the fermented bean curd bottling.

[0022] The function of the electrical intelligent control system is to enable the equipment to achieve precise transportation and movement through the interaction of power drive and control elements such as PLC, sensors, photoelectric switches, stepper motors, drivers and servo mechanisms, so as to realize the production actions required by the equipment.

[0023] The main function of the equipment frame 1 is to support the whole equipment and connect several related modules. Two groups of fermented bean curd bottling production lines are arranged on the equipment frame 1. The equipment frame 1 includes a bottom bracket 11, a support rod 12 and a top plate 13. The support rod 12 is fixed to the side wall of the bottom bracket 11, and the top plate 13 is fixed to the top of the support rod 12. The main function of the indexing plate operation mechanism 2 is to switch the fermented bean curd bottles relative to each grasping mechanism and the positions of the upper bottle, the rotating bottle and the lower bottle, and to make them operate continuously to form an automated production line.

[0024] Reference Figure 5-Figure 14 The indexing plate operation mechanism 2 includes an indexing plate body 21, a rotating clamping mechanism 22, a paddle bottle entry connecting rod mechanism 23, a bottom support plate 24, a clamping pneumatic guide driving mechanism 25, a paddle bottle entry pneumatic driving mechanism, a bottle rotation trajectory control mechanism 26 and a paddle position control protection mechanism 27. The bottom support plate 24 is fixed to the bottom bracket 11 by bolts, a rotating shaft 242 is fixed to the bottom support plate 24, the indexing plate body 21 is fixed to the top of the rotating shaft 242, and an intermittent driving motor 241 for driving the rotating shaft 242 to rotate is fixed to the bottom of the bottom support plate 24.

[0025] The dividing plate body 21 is a circular plate. According to the production process requirements and the structural characteristics of the dividing plate operating mechanism 2, the dividing plate body 21 is divided into eight working position spaces in the circumferential direction. Each spatial position corresponds to a workstation. The eight workstations are the first workstation 211, the second workstation 212, the third workstation 213, the fourth workstation 214, the fifth workstation 215, the sixth workstation 216, the seventh workstation 217 and the eighth workstation 218.

[0026] Next, the work contents of the above eight workstations are explained in detail.

[0027] First station 211: Load the bottle and position and clamp it. This step is the basis for the next station. The indexing plate body 21 is equipped with a photoelectric recognition detection device to determine whether the indexing plate at this station is loaded with bottles. If the detection shows that the bottle is loaded, the indexing plate body 21 rotates and rotates to the second station 212 according to the work cycle time requirements.

[0028] The second station 212: grab and transfer fermented bean curd B1, B3, B4, B6 to the bottle and pack them in order and position. After packing, the indexing plate body 21 rotates to the third station 213 according to the work cycle time requirement.

[0029] The third station 213: grab and transfer the fermented bean curd B2 and B5 to the bottle and pack them in order and position. After packing is completed, the indexing plate body 21 rotates to the fourth station 214 according to the work cycle time requirement.

[0030] The fourth station 214 is a bottle rotation station and has no actual process function. The bottle and the fixture are rotated 90 degrees relative to the indexing turntable under the action of the bottle rotation trajectory control mechanism 26 under the indexing turntable body 21 and enter the fifth station 215.

[0031] The fifth station 215: grab and transfer the fermented bean curd T1, T3, T4, T6 to the bottle and pack them in order and position. After packing is completed, the indexing plate body 21 rotates to the sixth station 216 according to the work cycle time requirement.

[0032] The sixth station 216: grab and transfer the fermented bean curd T2 and T5 to the bottle and pack them in order and position. After the packing is completed, the indexing plate body 21 rotates to the seventh station 217 according to the work beat time requirement.

[0033] The seventh station 217 is a bottle rotation station and has no actual process function. The bottle and the fixture are rotated 90 degrees relative to the indexing turntable under the action of the bottle rotation trajectory control mechanism 26 under the indexing turntable body 21 and enter the eighth station 218.

[0034] The eighth station 218: the rotating clamping mechanism 22 releases the fermented bean curd bottle and puts the fermented bean curd bottle into the bottle. The photoelectric recognition detection device is used to detect whether the indexing plate of this station has successfully put the bottle into the bottle. After the bottle is successfully put into the bottle, the indexing plate body 21 rotates according to the work cycle time requirements and returns to the first station 211, and the next work cycle begins.

[0035] The function of the first grabbing mechanism 3 is to grab the fermented bean curd of the lower layer B1, B3, B4, and B6 into the bottle, and its working position is the second station 212, and the first grabbing mechanism 3 is located directly above the second station 212. The function of the second grabbing mechanism 4 is to grab the fermented bean curd of the lower layer B2 and B5 into the bottle, and its working position is the third station 213, and the second grabbing mechanism 4 is located directly above the third station 213. The function of the third grabbing mechanism 5 is to grab the fermented bean curd of the upper layer T1, T3, T4, and T6 into the bottle, and its working position is the fifth station 215, and the third grabbing mechanism 5 is located directly above the fifth station 215. The function of the fourth grabbing mechanism 6 is to grab the fermented bean curd of the upper layer T2 and T5 into the bottle, and its working position is the sixth station 216, and the fourth grabbing mechanism 6 is located directly above the sixth station 216.

[0036] A rotating clamping mechanism 22 is provided on each workspace on the indexing plate body 21, and the rotating clamping mechanism 22 positions and clamps the fermented bean curd bottle. A plurality of mounting holes 219 are evenly provided on the indexing plate body 21, and each rotating clamping mechanism 22 corresponds to a mounting hole 219. The rotating clamping mechanism 22 includes a fixed plate 222 and a follower planetary turntable 221, the fixed plate 222 is located below the indexing plate body 21, and the fixed plate 222 is fixedly connected to the bottom of the indexing plate body 21. A rotating mandrel 2221 is rotatably connected above the fixed plate 222, the follower planetary turntable 221 is located in the mounting hole 219, and the follower planetary turntable 221 is fixed to the top of the rotating mandrel 2221.

[0037] A bottle entry guide block 223 is fixed on the follower planetary turntable 221. The bottle entry guide block 223 is U-shaped, and the fermented bean curd bottle is located in the U-shaped cavity of the bottle entry guide block 223. A first clearance groove 2231 is provided on the bottle entry guide block 223.

[0038] A support and fixing assembly 224 is fixed below the fixing plate 222. The support and fixing assembly 224 includes a support and fixing block 2241 and a clamping jaw central hinge shaft 2242. The rotary mandrel 2221 passes through the fixing plate 222 and is fixed to the support and fixing block 2241. A second clearance groove 2243 is provided on the support and fixing block 2241. The clamping jaw central hinge shaft 2242 is fixed to the groove wall of the second clearance groove 2243. A bottle clamping jaw assembly 225 is provided on the support and fixing block 2241. The bottle clamping jaw assembly 225 includes an upper connecting rod 2251 and a lower connecting rod 2252. Two upper connecting rods 2251 and two lower connecting rods 2252 are provided. The two upper connecting rods 2251 are cross-arranged and hinged at the cross position through the clamping jaw central hinge shaft 2242.

[0039] A positioning guide mandrel 2244 is fixed to the bottom of the support and fixing block 2241, a compression return spring protection sleeve 227 is sleeved on the bottom of the positioning guide mandrel 2244, a compression return spring 226 is fixed between the bottom of the support and fixing block 2241 and the compression return spring protection sleeve 227, and the compression return spring sleeve 227 is sleeved on the positioning guide mandrel 2244. One lower connecting rod 2252 corresponds to one upper connecting rod 2251, one end of the lower connecting rod 2252 is hinged to the bottom end of the upper connecting rod 2251, and the other end of the lower connecting rod 2252 is hinged to the compression return spring protection sleeve 227.

[0040] The follower planetary turntable 221 is provided with a third clearance groove 2212 for the upper connecting rod 2251 to rotate. The upper connecting rod 2251 passes through the first clearance groove 2231, and the top of the upper connecting rod 2251 passes through the third clearance groove 2212 on the follower planetary turntable 221 and the first clearance groove 2231 on the bottle entry guide block 223. The tops of the two upper connecting rods 2251 close to each other are fixed with clamping blocks 2253, and the clamping blocks 2253 are in contact with the fermented bean curd bottle. A clamping pneumatic guide drive mechanism 25 is arranged below the first station 211 and below the eighth station 218. The clamping pneumatic guide drive mechanism 25 can drive the compression return spring protection cover 227 to rise, so that the two upper connecting rods 2251 release the fermented bean curd bottle. The clamping pneumatic guide drive mechanism 25 is a first cylinder, and the piston rod of the first cylinder can push the compression return spring protection cover 227 to rise. The piston rod of the first cylinder can contact the bottom of the compression return spring protection sleeve 227, but there is no connection relationship.

[0041] Before placing the fermented bean curd bottle on the first station 211, the first cylinder piston rod needs to be lifted upward to loosen the two upper connecting rods 2251. After placing the fermented bean curd bottle on the first station 211, the cylinder piston rod is lowered. The compression return spring protective sleeve 227 moves downward under the action of the compression return spring 226, so that the two upper connecting rods 2251 clamp the fermented bean curd bottle. When the fermented bean curd bottle rotates to the eighth station 218, the fermented bean curd bottle needs to be removed. The first cylinder under the eighth station 218 pushes the compression return spring protective sleeve 227 to move upward, so that the two upper connecting rods 2251 loosen the fermented bean curd bottle, and the fermented bean curd bottle filled with fermented bean curd is removed.

[0042] The rotating clamping mechanism 22 further includes a rotating track lever assembly 228, which includes a steering lever 2281 and a guide wheel 2282. The steering lever 2281 is fixed on the side wall of the supporting fixed block 2241, and the guide wheel 2282 is rotatably connected to the steering lever 2281. The bottle rotating track control mechanism 26 includes a guide ring plate 261 and a ring plate support rod 262. The ring plate support rod 262 is fixed between the guide ring plate 261 and the bottom support plate 24. Four ring plate support rods 262 are arranged around the guide ring plate 261. A second track groove 263 is opened at the bottom of the guide ring plate 261, and the guide wheel 2282 slides along the second track groove 263. A torsion return spring 2283 is arranged between the bottom of the follower planetary turntable 221 and the fixed plate 222, and a blocking block 2211 is fixed to the bottom of the follower planetary turntable 221, and one end of the torsion return spring 2283 abuts against the blocking block 2211; a plug-in slot 2222 is opened on the top surface of the fixed plate 222, and the other end of the torsion return spring 2283 is inserted into the plug-in slot 2222.

[0043] When the follower planetary turntable 221 rotates from the third station 213 to the fifth station 215 along with the indexing plate body 21, the follower planetary turntable 221 rotates 90 degrees. When the follower planetary turntable 221 rotates, the guide wheel 2282 moves along the second track groove 263, and the steering lever 2281 rotates 90 degrees, so that the follower planetary turntable 221 and the fermented bean curd bottle rotate 90 degrees.

[0044] The second track groove 263 includes an arc groove 2631, a fold line groove 2632 and a straight line groove 2633. The arc grooves 2631 at both ends separate the fold line groove 2632 and the straight line groove 2633. The arc groove 2631, the straight line groove 2633, the arc groove 2631 and the straight line groove 2633 form the second track groove 263. The fold line groove 2632 is located above the fourth station 214. When the guide wheel 2282 of the steering lever 2281 passes through the fold line groove 2632, the steering lever 2281 starts to turn slowly. When the steering lever 2281 reaches the fifth station 215, the steering lever 2281 rotates 90 degrees (compared to the steering lever 2281 on the first station 211), so that the fermented bean curd bottle rotates 90 degrees. When the follower planetary turntable 221 rotates from the sixth station 216 to the eighth station 218, the guide wheel 2282 on the steering lever 2281 passes through the arc groove 2631, the straight groove 2633 and the arc groove 2631. Under the action of the torsion return spring 2283, the steering lever 2281 drives the follower planetary turntable 221 to rotate 90 degrees.

[0045] Each workspace corresponds to a paddle bottle entry link mechanism 23, which includes a bottle entry paddle 231, a lifting link 232 and a guide rod seat 237. The guide rod seat 237 is fixed to the indexing plate body 21 by bolts, and a fixed hinge support 238 is fixed to the guide rod seat 237. The bottom of the bottle entry paddle 231 is hinged to the fixed hinge support 238. A guide rod 236 is provided on the guide rod seat 237, and the guide rod 236 passes through the guide rod seat 237. A lifting angle pull plate 239 is fixed to the bottom of the guide rod 236, and a paddle bottle entry pneumatic drive mechanism for driving the lifting angle pull plate 239 to rise and fall is fixed to the bottom support plate 24.

[0046] A third intermediate rod 235 is hinged at the top end of the guide rod 236, and a second intermediate rod 234 is hinged on the fixed hinge support 238. The third intermediate rod 235 is hinged to the middle position of the second intermediate rod 234 on the side away from the top end of the guide rod 236. A first intermediate rod 233 is arranged above the second intermediate rod 234. One end of the first intermediate rod 233 is hinged to one end of the second intermediate rod 234 away from the fixed hinge support 238, and the first intermediate rod 233 is hinged to the bottle-entering paddle 231.

[0047] When the paddle-entering bottle pneumatic drive mechanism 23 drives the lifting angle pull plate 239 to move downward, the bottle-entering paddle 231 is inserted into the fermented bean curd bottle to support the fermented bean curd B1, B3, B4, B6 or the fermented bean curd T1, T3, T4, T6 to prevent the fermented bean curd in the fermented bean curd bottle from tipping over (the bottle-entering paddle 231 needs to be inserted into the fermented bean curd bottle before the gripper is lifted to prevent the fermented bean curd from tipping over, which will be described in detail when the subsequent grabbing mechanism moves).

[0048] The pneumatic drive mechanism for the paddle to enter the bottle is a second cylinder, and two paddle plates 28 arranged up and down are fixed on the piston rod of the second cylinder. The paddle position control protection mechanism is a cylinder 271, which is fixed on the bottom support plate 24. The top of the cylinder 271 supports the indexing plate body 21. The outer wall of the cylinder 271 is provided with a first track groove 272. A guide cam 2391 is fixed on the lifting angle pull plate 239, and the guide cam 2391 slides along the first track groove 272. The first track groove 272 includes an upper groove 2721 and a lower groove 2722. The upper groove 2721 and the lower groove 2722 are both provided with two sections. The upper groove 2721, the lower groove 2722, the upper groove 2721 and the lower groove 2722 form a circle to form the first track groove 272. A pneumatic drive mechanism for picking up the bottle is set at the position where the upper groove 2721 and the lower groove 2722 communicate. When the guide cam 2391 slides from the upper groove 2721 to the lower groove 2722, the guide cam 2391 slides between the two paddle plates 28, and the lower paddle plate 28 supports the guide cam 2391.

[0049] When the follower planetary turntable 221 moves from the first station 211 to the second station 212 or when the follower planetary turntable 221 moves from the fifth station 215 to the sixth station 216, the guide cam 2391 slides from the upper groove 2721 to the lower groove 2722, and the guide cam 2391 slides from the upper groove 2721 to the lower paddle plate 28. When the bottle-entering paddle 231 needs to be inserted into the fermented bean curd bottle, the piston rod of the second cylinder moves downward, thereby driving the two paddle plates 28 to move downward, thereby driving the guide cam 2391, so that the bottle-entering paddle 231 rotates downward and enters the fermented bean curd bottle.

[0050] Afterwards, the bottle-entering paddle 231 rotates with the fermented bean curd bottle. When the second gripping mechanism 4 or the fourth gripping mechanism 6 puts the fermented bean curd into the bottle, the bottle-entering paddle 231 is pulled out of the fermented bean curd bottle.

[0051] Reference Fig.15 , Fig.16 and Fig.17The first grabbing mechanism 3 includes a first transverse moving part 31, a first lifting part 32, a first grabbing part 33, a second lifting part 34 and a second grabbing part 35. The first lifting part 32 has the same structure as the second lifting part 34, and the first grabbing part 33 has the same structure as the second grabbing part 35. The first grabbing part 33 is installed below the first lifting part 32, and the second grabbing part 35 is installed below the second lifting part 34.

[0052] The function of the first transverse moving part 31 is to move the first lifting part 32 and the second lifting part 34 laterally as a whole, as well as the relative movement between the two groups of fermented bean curd B1, B3 and the two groups of fermented bean curd B4, B6, so that the fermented bean curd B1, B3 and the two groups of fermented bean curd B4, B6 move towards or away from each other.

[0053] The first transverse moving part 31 includes a first suspension frame 311, a first transverse moving assembly 313 and a first transverse fine-motion assembly 314. The first suspension frame 311 is fixed to the bottom of the top plate 13 by bolts. The first transverse moving assembly 313 is installed on the first suspension frame 311. A first transverse moving plate 312 is slidably connected to the bottom of the first suspension frame 311. The first transverse moving assembly 313 can drive the first transverse moving plate 312 to slide along the length direction of the first suspension frame 311. The first transverse moving assembly 313 includes a stepping motor and a lead screw. A slider slidably connected to the first suspension frame 311 is fixed to the top of the first transverse moving plate 312. The lead screw is threadedly connected to the slider. The stepping motor and the lead screw are connected by a belt and a pulley.

[0054] The first transverse fine motion assembly 314 is installed below the first transverse moving plate 312. The first transverse fine motion assembly 314 includes a stepping motor and a lead screw. Two first transverse fine motion plates 315 are arranged on the lead screw. The lead screw can drive the two first transverse fine motion plates 315 to move closer to or away from each other. The first lifting part 32 is installed below one of the first transverse fine motion plates 315, and the second lifting part 34 is installed below the other first transverse fine motion plate 315.

[0055] Reference Fig.18 The first lifting part 32 includes a first lifting rail seat 321 and a first lifting assembly 323. The first lifting rail seat 321 is fixed to the first transverse micro-motion plate 315 by bolts. A U-shaped mounting plate 322 is installed at the bottom of the first lifting rail seat 321. The first lifting assembly 323 is installed on the first lifting rail seat 321 and can drive the U-shaped mounting plate 322 to rise and fall. The first grabbing part 33 is installed on the U-shaped mounting plate 322. The U-shaped mounting plate 322 on the second lifting part 34 is located in the U-shaped cavity of the U-shaped mounting plate 322 of the first lifting part 32.

[0056] The first lifting assembly 323 includes a lifting stepper motor 3231, a lifting ball screw 3232 and a lifting screw nut slide 3233. The lifting stepper motor 3231 is fixed on the first lifting guide rail seat 321. The lifting ball screw 3232 is connected to the output shaft of the lifting stepper motor 3231. The lifting screw nut slide 3233 is threadedly connected to the lifting ball screw 3232. A lifting guide rail 3234 is fixed on the first lifting guide rail seat 321. The lifting screw nut slide 3233 is slidably connected to the lifting guide rail 3234. A first support plate 3235 for supporting the lifting ball screw 3232 is fixed on the first lifting guide rail seat 321.

[0057] Reference Figure 18-Figure 21 The first gripping part 33 includes a clamping and shifting stepping motor 331, an outer clamp assembly 332, an inner clamp assembly 333, a clamping assembly 334 and a first shifting assembly 335. The clamping and shifting stepping motor 331 is fixed to the U-shaped mounting plate 322, and a first mounting plate 3314 is fixed to the side wall of the clamping and shifting stepping motor 331. The clamping and shifting stepping motor 331 is a bidirectional output motor. The upper part of the clamping and shifting stepping motor 331 is connected to the outer clamping claw lifting screw 3311, and the lower part of the clamping and shifting stepping motor 331 is connected to the inner clamping claw lifting screw 3312, and the upper and lower screws have opposite spiral directions.

[0058] The outer clamp assembly 332 includes an outer clamp lifting connecting plate 3321, an outer clamp arm 3322, an outer clamp arm connecting plate 3323 and an outer clamp 3324. The outer clamp lifting connecting plate 3321 is located above the clamping and shifting stepping motor 331 and is threadedly connected to the outer clamp lifting screw 3311. Both sides of the outer clamp lifting connecting plate 3321 are fixed to the outer clamp arm 3322. The outer clamp arm 3322 is L-shaped as a whole. The top of the vertical part of the outer clamp arm 3322 is fixed to the outer clamp lifting connecting plate 3321, the end of the horizontal part of the outer clamp arm 3322 is fixed to the outer clamp arm connecting plate 3323, and the outer clamp 3324 is fixed to the bottom of the outer clamp arm connecting plate 3323.

[0059] The inner clamp assembly 333 is located between the two outer clamp arms 3322. The inner clamp assembly 333 includes an inner clamp arm 3331, an inner clamp arm connecting plate 3332 and an inner clamp 3333. The top of the inner clamp arm connecting plate 3332 is fixed to the inner clamp arm 3331, and the bottom of the inner clamp arm connecting plate 3332 is fixed to the inner clamp 3333.

[0060] The function of the first distribution assembly 335 is to clamp the fermented bean curd B1 and B3 and put them into the bottle, and then move the fermented bean curd B1 and B3 to both sides respectively, so as to make way for the fermented bean curd B2 and B5 to be bottled. Before moving the fermented bean curd B1 and B3, the outer clamping claw 3324 needs to be pulled out of the bottle. The first distribution assembly 335 includes a first main pull rod 3351, a first distribution pull rod 3352 and a first distribution slider 3355. The first mounting plate 3314 is fixed with a first distribution vertical guide rail 3353 on one side close to the clamping distribution stepping motor 331. The first main pull rod 3351 is fixed with a slider on one side close to the first mounting plate 3314, and the slider is slidably connected with the first distribution vertical guide rail 3353. The first main pull rod 3351 is provided with a first elongated hole 336, and the first elongated hole 336 is arranged in a vertical direction. The inner clamp lifting nut 3313 located below the clamping and shifting stepping motor 331 is threadedly connected to the inner clamping claw lifting screw 3312 , and a first shifting active rod 3358 is fixed on the inner clamp lifting nut 3313 , and the first shifting active rod 3358 is inserted into the first elongated hole 336 .

[0061] The two first sub-shifting pull rods 3352 are located below the first main shifting pull rod 3351. A first connecting shaft 3356 is fixed to the bottom of the first main shifting pull rod 3351, and a second connecting shaft 3357 is fixed to the top of the first main shifting pull rod 3351. A first sub-shifting transverse guide rail 3354 is fixed to the bottom of the first mounting plate 3314, and two first sub-shifting sliders 3355 are slidably connected to the first sub-shifting transverse guide rail 3354.

[0062] One end of one of the first dividing pull rods 3352 is rotatably connected to the first connecting shaft 3356, and the other end of the first dividing pull rod 3352 is rotatably connected to the top of one of the first dividing sliders 3355; one end of the other first dividing pull rod 3352 is also rotatably connected to the first connecting shaft 3356, and the other end of the first dividing pull rod 3352 is rotatably connected to the top of the other first dividing slider 3355. One first dividing slider 3355 corresponds to one inner clamping claw arm 3331, and the first dividing slider 3355 is fixed to the inner clamping claw arm 3331. A first return spring 3359 is arranged above the first connecting shaft 3356, and the first return spring 3359 is a tension spring. One end of the first return spring 3359 is hooked on the second connecting shaft 3357. A spring connecting rod is fixed on the first mounting plate 3314, and the other end of the first return spring 3359 is hooked on the spring connecting rod.

[0063] After putting fermented bean curd B1, B3, B4, and B6 into the bottle, you need to separate B1 and B3, and B4 and B6, to make room for B2 and B5. After putting the fermented bean curd B1, B3, B4 and B6 on the bottom of the bottle, the clamping and shifting stepping motor 331 drives the outer clamping claw lifting screw 3311 and the inner clamping claw lifting screw 3312 to rotate, and the inner clamp lifting screw 3313 moves downward, and the inner clamp lifting screw nut 3313 drives the first shifting active rod 3358 to move downward, and when the first shifting active rod 3358 moves to the bottom of the first long hole 336, the first shifting active rod 3358 abuts against the bottom end hole wall of the first long hole 336, drives the first main shifting pull rod 3351 to move downward, and the first main shifting pull rod 3351 drives the first shifting pull rod 3352 to move downward, and the first shifting slider 3355 corresponding to the first shifting pull rod 3352 slides along the first shifting transverse guide rail 3354, thereby driving the inner clamping claw arm 3331 and the inner clamping claw 3333 to move, so that the two inner clamping claws 3333 move in a direction away from each other. Thus, the fermented bean curds B1 and B3 are separated, and the fermented bean curds B4 and B6 are separated.

[0064] The clamping assembly 334 includes a roller 3342, an upper clamping slider 3343 and a lower clamping slider 3344. A mounting rod 3341 is fixed to the side wall of the U-shaped mounting plate 322. The roller 3342 is mounted at the bottom of the mounting rod 3341. The roller 3342 contacts the side wall of the outer clamping claw arm 3322. The upper clamping slider 3343 and the lower clamping slider 3344 are both fixed to the outer clamping claw arm 3322. When it is necessary to clamp the fermented bean curd, the outer clamping claw arm 3322 moves downward for a distance, and the roller 3342 contacts the lower clamping slider 3344, sliding from the inclined surface of the lower clamping slider 3344 to the vertical surface of the lower clamping slider 3344, thereby squeezing the outer clamping claw arm 3322. When the outer clamp arm 3322 moves downward, the inner clamp lifting nut 3313 moves upward, thereby driving the first main pull rod 3351 to move upward. When the first main pull rod 3351 is at the top, the inner clamp 3333 is closest to the corresponding outer clamp 3324, and the outer clamp 3324 arm and the inner clamp 3333 arm work together to clamp the fermented tofu.

[0065] When the inner clamp lifting screw nut 3313 descends, the outer clamp lifting connecting plate 3321 rises, the outer clamp arm 3322 rises with the outer clamp lifting connecting plate 3321, and the roller 3342 is separated from the upper clamping slider 3343. At this time, the outer clamp 3324 is separated from the fermented bean curd, and then the outer clamp 3324 continues to move upward with the outer clamp arm 3322. After the lower clamping slider 3344 on the outer clamp arm 3322 contacts the roller 3342, the two outer clamps 3324 move in a direction close to each other, so as to facilitate the outer clamp 3324 to be drawn out from the bottle mouth. After the outer clamp 3324 is drawn out from the bottle mouth, the first sub-shifting active rod 3358 presses against the bottom end of the first long hole 336 and drives the first main shifting pull rod 3351 to move downward.

[0066] The working steps of the first gripping mechanism 3 are: Step 1: Grab fermented bean curd B1, B3, B4, and B6; The grabbing of fermented bean curd B1, B3, B4, and B6 is carried out simultaneously. In this embodiment, the grabbing of fermented bean curd B1 is used as an example for explanation. First, before the fermented bean curd is grabbed, the clamping and shifting stepping motor 331 lifts the outer clamp lifting connecting plate 3321 to the top, and the outer clamping claw 3324 arm and the lower clamping slider 3344 move upward. When the lower clamping slider 3344 moves upward, it contacts the roller 3342. The roller 3342 contacts the inclined surface of the lower clamping slider 3344 first, and then contacts the vertical plane above the inclined surface. Under the action of the roller 3342, the outer clamping claw arm 3322 moves inward. The action at this time is not clamping, but an avoidance action during the lifting process of the clamp after the fermented bean curd is stacked, so as to facilitate the extraction from the bottle mouth. Under the above position conditions, the clamping and shifting stepping motor 331 drives the inner clamp lifting nut 3313 to move downward. When the outer clamp lifting connecting plate 3321 is at the highest point of the stroke, the inner clamp lifting nut 3313 is at the lowest point of the stroke, the first main shifting rod 3351 is at the lower limit position, the two first shifting sliders 3355 are in a separated state, and the two inner clamping claws 3333 are in a separated state. At this time, the first reset spring 3359 is in a stretched state.

[0067] After that, the outer clamp arm connecting plate 3323 and the outer clamp 3324 continue to move downward, the roller 3342 contacts the upper clamping slider 3343, and the roller 3342 squeezes the upper clamping slider 3343, so that the outer clamp arm 3322 is elastically deformed and moves inward, thereby driving the outer clamp 3324 to move inward. When the outer clamp lifting connecting plate 3321 drives the outer clamp arm 3322 and the outer clamp 3324 to move downward, the inner clamp lifting nut 3313 drives the first distribution active rod 3358 to move upward, so that the first distribution active rod 3358 loses its contact with the bottom of the first long hole 336. As the first distribution active rod 3358 moves upward, the first main pull rod 3351 moves upward quickly under the action of the first return spring 3359. When the first distribution active rod 3358 moves to the top of the first long hole 336 with the inner clamp lifting screw nut 3313 and contacts the top wall of the first long hole 336, the first reset spring 3359 is reset, and the two first distribution sliders 3355 are in a natural merged state. The two inner clamping claws 3333 are at the closest distance. At this time, under the action of the outer clamping claw 3324 and the inner clamping claw 3333, the fermented bean curd is completely clamped, preparing for the next step of lifting and transfer.

[0068] Step 2: Transfer fermented bean curd B1, B3, B4, and B6; The transfer of fermented bean curd is completed by the first transverse moving part 31, the first lifting part 32 and the second lifting part 34. When the fermented bean curd is grabbed by the first grabbing mechanism 3, under the action of the first lifting stepping motor 3231, the lifting screw nut slide 3233 drives the U-shaped mounting plate 322 to move vertically upward to lift the fermented bean curd B1, B3, B4 and B6; under the action of the first transverse moving part 31, the first lifting part 32 and the second lifting part 34 move toward the bottle mouth on the indexing plate body 2, thereby driving the first grabbing part 33 and the second grabbing part 35 to move toward the bottle mouth until the fermented bean curd moves to the top of the fermented bean curd bottle mouth. When the fermented bean curd moves to the top of the bottle mouth, the first lifting part 32 and the second lifting part 34 are required to continue to lower the fermented bean curd to the inside of the bottle and move it to a limited position for stacking in the stacking order.

[0069] Step 3: Pack the fermented bean curd; The packing of fermented bean curd can be started from the time when the fermented bean curd is put into the bottle. Under the action of the first lifting part 32, the fermented bean curd B1 and B3 are moved downwards and stop when the fermented bean curd is 3-5mm away from the bottom of the bottle. Next, the first transverse moving part 31 moves the first lifting part 32 and the first grabbing part 33 toward the front wall of the bottle and stops when the fermented bean curd is about 1.5cm away from the front wall. Figure 1 and attached Figure 2 In the figure, the front wall, rear wall, left wall and right wall are represented by a, b, c and d respectively.

[0070] After that, it continues to move downward under the action of the first lifting part 32 until the fermented bean curd contacts the bottom of the bottle. At this time, while this position remains unchanged, another group of fermented bean curd B4 and B6 in this step moves to the top of the fermented bean curd bottle mouth after the grabbing and transferring process. At this time, the second lifting part 34 and the second grabbing part 35 move under the action of the first lateral micro-motion component 314. Under the joint action of the first lateral moving part 31 and the first lateral micro-motion component 314, the fermented bean curd B1 and B3 can be kept stationary, and the fermented bean curd B4 and B6 can move toward the center of the bottle mouth.

[0071] The first lateral micro-motion component 314 can drive the two first lateral micro-motion plates 315 to move away from each other. If the fermented bean curd B4 and B6 move toward the center of the bottle mouth, the fermented bean curd B1 and B3 will also move away from the center of the bottle mouth. In order to prevent the fermented bean curd B1 and B3 from moving, the first lateral movement part 31 drives the fermented bean curd B1 and B3 to move, thereby offsetting the movement of the fermented bean curd B1 and B3. While the first lateral movement part 31 drives the fermented bean curd B1 and B3 to move, the fermented bean curd B4 and B6 move toward the center of the bottle mouth, thereby moving the fermented bean curd B4 and B6 to just above the center of the bottle mouth.

[0072] After moving to the center of the bottle mouth, it starts to move downward under the action of the second lifting part 34 until the lower surface of the fermented bean curd B4 and B6 is 3 mm away from the upper surface of the fermented bean curd B1 and B3. In this state, the fermented bean curd B4 and B6 are moved toward the rear wall of the bottle under the action of the first lateral movement component 313 and the first lateral micro-motion component 314. It stops after being about 1.5 mm away from the rear wall. Then, the second lifting part 34 drives the fermented bean curd B4 and B6 to move downward until the fermented bean curd contacts the bottom of the bottle. In this working state, all the outer clamping jaws 3324 of the first grasping mechanism 3 become loosened and move upward for a distance. When the outer clamping jaws 3324 are lifted by about 22 mm, the inner clamp lifting nut 3313 drives the first distribution active rod 3358 to move downward. The empty stroke ends, and the first distribution active rod 3358 presses the first main pull rod 3351 downward, so that the inner clamping jaws 3333 are separated, and the fermented bean curd is moved to separate the two pieces of fermented bean curd in the same group. The fermented bean curd is pushed along the bottom of the bottle until it is close to the two side walls of the fermented bean curd bottle, and the fermented bean curd B1, B3, B4, and B6 codes of this process are completed.

[0073] Afterwards, the bottle-entering paddle 231 on the indexing plate body rotates to enter the bottle under the drive of the second cylinder and blocks the inner position of the inner clamping claw 3333. Afterwards, all the clamping claws of the two groups of grippers are lifted to the outside of the bottle mouth under the reverse action of their respective lifting parts and return to the zero position to wait for the next working cycle. At the same time, the bottle rotates with the indexing plate body to enter the next working position. The bottle-entering paddle 231 remains in the bottle dispensing position.

[0074] At the third workstation 213, the fermented bean curd B2 and B5 are grabbed and transferred to bottles by the second grabbing mechanism and packed in order and according to the position requirements.

[0075] Reference Figure 22-Figure 25 The second grasping mechanism 4 includes a second transverse moving part 41, a third lifting part 42, a third grasping part 43, a fourth lifting part 44 and a fourth grasping part 45. The third grasping part 43 is installed below the third lifting part 42. The third lifting part 42 can drive the third grasping part 43 to rise and fall. The fourth grasping part 45 is installed below the fourth lifting part 44. The fourth lifting part 44 can drive the fourth grasping part 45 to rise and fall.

[0076] The function of the second transverse moving part 41 is to make the third lifting part 42 and the fourth lifting part 44 move laterally as a whole, and the relative movement between the two fermented bean curds B2 and B5. The second transverse moving part 41 includes a second suspension frame 411, a second transverse moving assembly 413 and a second transverse micro-motion assembly 414. The second suspension frame 411 is fixed to the bottom of the top plate 13 by bolts. The second transverse moving assembly 413 is installed on the second suspension frame 411. The second suspension frame 411 is slidably connected with a second transverse plate 412 below. The second transverse moving assembly 413 can drive the second transverse plate 412 to slide along the length direction of the second suspension frame 411. The second transverse moving assembly 413 has the same structure as the first transverse moving assembly 313, and the second transverse micro-motion assembly 414 has the same structure as the first transverse micro-motion assembly 314.

[0077] Two second transverse fine motion plates 415 are arranged on the lead screw of the second transverse fine motion assembly 414, and the second transverse fine motion assembly 414 can drive the two second transverse fine motion plates 415 to move in the direction of approaching or moving away from each other. The third lifting part 42 has the same structure as the first lifting part 32. The fourth lifting part 44 is also the same as the first lifting part 32. The first lifting guide rail seat 321 of the third lifting part 42 is fixed to one of the second transverse fine motion plates 415 by bolts, and the first lifting guide rail seat 321 of the fourth lifting part 44 is fixed to the other second transverse fine motion plate 415 by bolts. The fourth grabbing part 45 has the same structure as the third grabbing part 43.

[0078] The third gripping part 43 includes a first clamping stepper motor 431, a second shifting assembly 432 and a first clamping claw assembly 433. A second mounting plate 4311 is fixed to one side of the first clamping stepper motor 431, and a third mounting plate 4312 is fixed to the other side of the first clamping stepper motor 431. The second shifting assembly 432 includes a second main shifting pull rod 4321 and a second shifting pull rod 4322. A main shifting slider 43211 is fixed to the top of the second main shifting pull rod 4321. The first clamping stepper motor 431 is fixed to the U-shaped mounting plate 322 of the B2 lifting mechanism. A second shifting vertical guide rail 4325 and a second shifting transverse guide rail 4326 are fixed to the second mounting plate 4311. The second shifting transverse guide rail 4326 is located below the second shifting vertical guide rail 4325. A clamping screw 4313 is connected below the first clamping stepper motor 431 , a clamping nut slide 4314 is threadedly connected to the clamping screw 4313 , a slider is fixed to one side of the clamping nut slide 4314 , and a slide rail for the slider to slide is fixed to the third mounting plate 4312 .

[0079] The second main shifting rod 4321 is located on one side of the second sub-shifting vertical guide rail 4325, the main shifting slider 43211 is slidably connected to the second sub-shifting vertical guide rail 4325, the third connecting shaft 4323 is fixed to the bottom of the second main shifting rod 4321, the fourth connecting shaft 4324 is fixed to the top of the main shifting slider 43211, the second main shifting rod 4321 is provided with a second long hole, the second sub-shifting active rod 4327 is fixed to the clamping screw nut slide 4314, and the second sub-shifting active rod 4327 is inserted into the second long hole. One end of the two second sub-shifting rods 4322 are both rotatably connected to the third connecting shaft 4323, Two second dividing sliders 4329 are slidably connected to the second dividing transverse guide rail 4326, one dividing pull rod is rotatably connected to one of the second dividing sliders 4329, and the other dividing pull rod is rotatably connected to the other dividing slider; when the second main dividing pull rod 4321 moves upward, the two first dividing sliders move toward each other, and when the second main dividing pull rod 4321 moves upward, the two second dividing sliders 4329 move away from each other.

[0080] A connecting rod is fixed on the second mounting plate 4311 , and a second return spring 4328 is arranged between the connecting rod and the fourth connecting shaft 4324 . The second return spring 4328 is a tension spring, one end of the second return spring 4328 is hooked on the connecting rod, and the other end of the second return spring 4328 is hooked on the fourth connecting shaft 4324 .

[0081] The first clamping jaw assembly 433 includes a B2 clamping jaw arm 4331, a B2 clamping jaw arm connecting plate 4332 and a B2 clamping jaw 4333. Each second distribution slider 4329 is fixedly connected with a B2 clamping jaw arm 4331. The B2 clamping jaw arm connecting plate 4332 is fixed to the bottom of the B2 clamping jaw arm 4331. The B2 clamping jaw 4333 is fixed to the bottom of the B2 clamping jaw arm connecting plate 4332. The two B2 clamping jaws 4333 clamp the fermented bean curd B2.

[0082] When clamping the fermented bean curd B2, the first clamping stepper motor 431 drives the clamping screw 4313 to move downward, and the clamping screw 4313 drives the clamping nut slide 4314 to move downward. When the clamping nut slide 4314 drives the second main shifting rod 4321 to move downward, the two second shifting rods 4322 push the two second shifting slide blocks 4329 to move away from each other, so that the distance between the two B2 clamping jaws 4333 of the same group is wider than the thickness of one fermented bean curd. Then the third lifting part 42 drops to a certain height, and the first clamping stepper motor 431 drives the clamping screw 4313 to move, thereby driving the second shifting active rod 4327 to move upward. When the second shifting active rod 4327 is pressed against the top side wall of the second long hole, and the second return spring 4328 restores its deformation, the two B2 clamping jaws 4333B2 clamp the fermented bean curd B2.

[0083] Working steps of the second gripping mechanism 4: Step 1: Grabbing of fermented bean curd B2 and B5: Grabbing of fermented bean curd B2 and B5 is carried out simultaneously, and the second grasping mechanism 4 is at the zero position above the fermented bean curd jig before the fermented bean curd B2 is grasped. When the electronic control system issues a grasping command, the third grasping part 43 and the fourth grasping part 45 are lowered to a certain position under the action of their respective lifting parts, and then the first clamping stepper motor 431 drives the clamping screw 4313 to move downward, so that the width between the two B2 clamping claws 4333 in a group is greater than the thickness of the fermented bean curd, and then the third grasping part 43 and the fourth grasping part 45 are lowered to a certain position to grasp the fermented bean curd B2 and B5.

[0084] Step 2: Transfer of fermented tofu B2 and B5: The transfer of the fermented bean curd B2 and B5 is completed by the second transverse moving part 41. After the fermented bean curd B2 and B5 are grabbed by their respective grabbing parts, the fermented bean curd B2 and B5 are lifted to a certain height by their respective lifting parts, and the second transverse moving part 41 transfers the fermented bean curd B2 to just above the center of the bottle mouth.

[0085] Step 3: Place fermented tofu B2 and B5: When the fermented bean curd B2 is moved to just above the center of the bottle mouth, the third lifting part 42 drives the fermented bean curd B2 into the bottle. When the bottom of the fermented bean curd B2 stops moving downward at about 3 mm away from the bottom of the bottle, the fermented bean curd B2 is moved to a position about 1.5 mm away from the front wall of the bottle by the action of the second transverse moving part 41 and then moves downward again by the action of the third lifting part 42 until the lower surface of the fermented bean curd touches the bottom. At this time, while this position remains unchanged, another piece of fermented bean curd B5 in this section starts to move, and under the action of the second lateral movement component 413 and the second lateral micro-motion component 414, the fermented bean curd B2 is kept stationary, and the fermented bean curd B5 is moved to just above the center of the bottle mouth, and then the fourth lifting part 44 drives the fermented bean curd B5 to move downward until the fermented bean curd B5 stops 3 mm away from the lower surface; then, under the action of the second lateral movement component 413 and the second lateral micro-motion component 414, the fermented bean curd B5 is moved toward the rear wall of the bottle and stops at about 1.5 mm away from the rear wall, and then the fourth lifting part 44 moves the fermented bean curd B5 downward until the fermented bean curd B5 touches the bottom (the fermented bean curd in the fermented bean curd bottle is symmetrical with respect to the bottle front, back, left and right and flush up and down).

[0086] After the fermented bean curd B5 touches the bottom, the clamping screw nut slide 4314 of the third gripping part 43 and the fourth gripping part 45 moves downward, so that the B2 clamping claw 4333 gradually changes from a clamped state to a loosened state, thus completing the loading of the fermented bean curd B2 and B5 in this step. At this time, the third lifting part 42 and the fourth lifting part 44 are started, and the B2 clamping claws 4333 on both sides of the fermented bean curd are lifted to the outside of the bottle mouth, returned to the working zero point, and wait for the next working cycle to start. Subsequently, the indexing plate paddle is pulled out of the bottle.

[0087] After that, the indexing plate body rotates, and the fermented bean curd bottles (including fermented bean curd B1, B2, B3, B4, B5, B6) rotate with the indexing plate body to the fourth station 214. At the fourth station 214, there is no gripper to perform filling action, which can be understood as an empty station. However, under the action of the bottle rotation trajectory control mechanism 26, during the transition from the third station 213 to the fifth station 215, the fermented bean curd bottles complete a 90-degree rotation (counterclockwise in the top view) relative to the indexing plate (with the indexing plate body as a reference). At the fifth station 215, the third gripping mechanism 5 grabs and transfers the fermented bean curd T1, T3, T4, and T6 to the bottles and packs them in order and according to the position requirements.

[0088] Reference Figure 26-Figure 31 The third grabbing mechanism 5 includes a third lateral moving part 51, a fifth lifting part 52, a fifth grabbing part 53, a sixth lifting part 54, a sixth grabbing part 55, a seventh lifting part 56 and a seventh grabbing part 57. The fifth lifting part 52 is located near the center of the indexing plate body 1, and the sixth lifting part 54 is arranged in parallel with the seventh lifting part 56 and is located at a position of the fifth lifting part 51 away from the center of the indexing plate body 1.

[0089] The fifth grabbing portion 53 is used to grab the fermented bean curd T1 and T3, and the fifth grabbing portion 53 is installed below the fifth lifting portion 52. The sixth grabbing portion 55 is used to grab the fermented bean curd T4, and the sixth grabbing portion 55 is installed below the sixth lifting portion 54. The seventh grabbing portion 57 is used to grab the fermented bean curd T6, and the seventh grabbing portion 57 is installed below the seventh lifting portion 56.

[0090] The third transverse moving part 51 includes a third suspension frame 511, a third transverse moving assembly 513 and a third transverse moving plate 512. The third suspension frame 511 is fixed to the top plate 13 by bolts. The third transverse moving plate 512 is located below the third suspension frame 511 and is slidably connected to the third suspension frame 511. The third transverse moving assembly 513 is installed on the third suspension frame 511 and drives the third transverse moving plate 512 to slide along the length direction of the third suspension frame 511. The third transverse moving assembly 513 has the same structure as the first transverse moving assembly 313.

[0091] The structure of the fifth lifting part 52 is the same as that of the first lifting part 32 , the structure of the fifth grabbing part 53 is the same as that of the first grabbing part 33 , and the first lifting guide rail seat 321 of the fifth lifting part 52 is fixed to the third transverse plate 512 by bolts.

[0092] The sixth lifting part 54 includes a second lifting rail seat 541, a second lifting assembly 542, a clamping jaw transverse fine motion assembly 543 and a clamping jaw longitudinal fine motion assembly 544. The second lifting rail seat 541 is fixed to the third transverse moving plate 512 by bolts. The second lifting assembly 542 has the same structure as the first lifting assembly 323 and is installed on the second lifting rail seat 541. A first connecting plate 5434 is fixed to the lifting nut slide 3233 of the second lifting assembly 542, and the clamping jaw transverse fine motion assembly 543 is installed on the first connecting plate 5434.

[0093] The longitudinal fine-motion assembly 544 of the clamping jaw is located below the transverse fine-motion assembly 543 of the clamping jaw. The transverse fine-motion assembly 543 of the clamping jaw includes a transverse fine-motion stepping motor 5431, a transverse fine-motion ball screw 5432 and a transverse fine-motion nut slide 5433. The transverse fine-motion stepping motor 5431 is fixed on the first connecting plate 5434. The transverse fine-motion ball screw 5432 is connected to the output shaft of the transverse fine-motion stepping motor 5431. The transverse fine-motion nut slide 5433 is installed on the transverse fine-motion ball screw 5432. A second connecting plate 5447 is fixed on the transverse fine-motion nut slide 5433.

[0094] The clamping jaw longitudinal fine motion assembly 544 includes a longitudinal fine motion stepping motor 5441, a longitudinal fine motion ball screw 5442, a longitudinal fine motion nut slide 5443, a longitudinal fine motion clamping slide rail 5444, a longitudinal fine motion secondary slide rail 5445 and a secondary slide rail return spring 5446. The longitudinal fine motion stepping motor 5441 is fixed on the second connecting plate 5447, and the longitudinal fine motion ball screw 5442 is connected to the output shaft of the longitudinal fine motion stepping motor 5441.

[0095] A third connecting plate 545 is fixed to the side of the first connecting plate 5434 away from the transverse micro-motion stepping motor 5431, a longitudinal micro-motion secondary slide rail 5445 is slidably connected to the third connecting plate 545, a fourth connecting plate 546 is fixed to the side of the longitudinal micro-motion secondary slide rail 5445 away from the third connecting plate 545, a longitudinal micro-motion clamping slide rail 5444 is slidably connected to the fourth connecting plate 546, and a longitudinal micro-motion nut slide 5443 is fixedly connected to the longitudinal micro-motion clamping slide rail 5444. A stopper 5461 is fixed to the end of the third connecting plate 545 away from the clamping direction, and a stopper 5461 is fixed to the end of the fourth connecting plate 546 close to the clamping direction, and an adjusting screw 5462 is provided on the stopper 5461, and the adjusting screw 5462 is threadedly connected to the stopper 5461. A fifth connecting plate 5448 is fixed on the side wall of the second connecting plate 5447 , and a secondary slide rail return spring 5446 is connected between the longitudinal micro-motion secondary slide rail 5445 and the fifth connecting plate 5448 .

[0096] The sixth gripping part 55 includes a T4 clamp arm 551, a T4 clamp arm connecting plate 552 and a T4 clamp 553, wherein one T4 clamp arm 551 is fixedly connected to the longitudinal fine-motion clamping slide rail 5444, the other T4 clamp arm 551 is fixed to the longitudinal fine-motion secondary slide rail 5445, the T4 clamp arm connecting plate 552 is fixed below the T4 clamp arm 551, and the T4 clamp 553 is fixed at the bottom of the T4 clamp arm connecting plate 552.

[0097] When the fermented bean curd T4 is clamped, the longitudinal micro-motion stepping motor 5441 drives the longitudinal micro-motion nut slide 5443 to move, driving the longitudinal micro-motion clamping slide 5444 to move, thereby moving one of the T4 clamping jaws 553, while the other T4 clamping jaw 553 is stationary. When the longitudinal micro-motion clamping slide 5444 moves to the end of the adjusting screw 5462 on the stopper 5461 of the fourth connecting plate 546, the longitudinal micro-motion clamping slide 5444 drives the longitudinal micro-motion secondary slide 5445 to move, and the longitudinal micro-motion secondary slide 5445 is subjected to the reverse pulling force of the secondary slide return spring 5446. As the pulling force of the secondary slide return spring 5446 increases, the fermented bean curd T4 is clamped. The two T4 clamping jaws 553 clamp the fermented bean curd T4 under the drive of the longitudinal micro-motion clamping slide 5444 and the longitudinal micro-motion secondary slide 5445 respectively.

[0098] When the fermented bean curd T4 is loosened, the longitudinal micro-motion stepper motor 5441 drives the longitudinal micro-motion nut slide 5443 to move in the reverse direction, and when one end of the longitudinal micro-motion secondary slide rail 5445 moves to the end of the adjusting screw 5462 on the stopper 5461 of the third connecting plate 545, the secondary slide rail reset spring 5446 returns to its original length. The function of the adjusting screw 5462 is to adjust the tension of the secondary slide rail reset spring 5446 when it is stretched, so as to avoid damage to the fermented bean curd caused by excessive tension. The seventh lifting part 56 has the same structure as the sixth lifting part 54, and the seventh grabbing part 57 has the same structure as the sixth grabbing part 55.

[0099] The working steps of the third gripping mechanism 5 are: Step 1: Grab fermented bean curd T1, T2, T3, and T4; The grabbing of fermented bean curd T1, T2, T3, and T4 is carried out at the same time, but the stacking of fermented bean curd T1, T2, T3, and T4 is completely different, and there are differences in the timing, which are introduced separately here. First, due to the objective needs of the process route of grabbing and stacking fermented bean curd, the stacking direction of the fermented bean curd salt dough on the upper layer is relatively vertical to that on the lower layer. In addition, due to space limitations, the stacking order of the fermented bean curd T1, T1, T2, T3, and T4 on the second layer is to stack T1 and T3 first, then T4, and finally T6.

[0100] The grabbing, moving and stacking of fermented bean curd T1 and T3 are the same as those of fermented bean curd B1 and B3, except that the stacking height is one fermented bean curd block higher than the bottom layer.

[0101] The grabbing of fermented bean curd T4 and T6 is a left-right symmetrical structural action, so the grabbing action of fermented bean curd T4 is taken as an example for explanation. First, the third transverse shifting part 51 drives the sixth lifting part 54 and the sixth grabbing part 55 from the zero position of the control system to just above the fermented bean curd jig, and the sixth lifting part 54 drives the sixth grabbing part 55 to move downward. According to the specific design, the clamping claws of each gripper component are theoretically located just above the corresponding clamped fermented bean curd (salt block). When the sixth grabbing part 55 drops to a certain height, each piece of fermented bean curd salt block to be clamped is in the optimal grabbing space of each specific claw of the gripper. Fermented bean curd T1, T3, T3, and T6 are grabbed at the same time. When grabbing fermented bean curd T4, the longitudinal micro-motion stepper motor 5441 drives the longitudinal micro-motion nut slide 5443 to slide, and the longitudinal micro-motion nut slide 5443 drives the longitudinal micro-motion clamping slide 5444 to move, thereby driving one of the T4 clamping claws 553 to move. When the longitudinal micro-motion clamping slide 5444 moves to the position of the stopper 5461, the longitudinal micro-motion clamping slide 5444 drives the longitudinal micro-motion secondary slide 5445 to move. When the longitudinal micro-motion secondary slide 5445 moves a certain distance with the longitudinal micro-motion clamping slide 5444, the fermented bean curd T4 is clamped under the action of the two T4 clamping claws 553. At this time, the longitudinal micro-motion secondary slide 5445 is pulled by the secondary slide return spring 5446. Fermented bean curd T6 is also clamped by the same placement. After the fermented bean curd T1, T3, T3, and T6 are clamped, they are ready for the next step of "fermented bean curd transfer".

[0102] Step 2: Transfer of fermented bean curd T1, T3, T4, and T6; The transfer of fermented bean curd T1, T3, T4, T6 is completed by the third transverse moving part 51, the sixth lifting part 54 and the seventh lifting part 56. After the fermented bean curd T1, T3, T4, T6 are grabbed, the fifth lifting part 52, the sixth lifting part 54 and the seventh lifting part 56 act simultaneously to lift the fermented bean curd to a certain height, and then the third transverse moving part 51 moves all the fermented bean curd toward the mouth of the fermented bean curd bottle, so that the center of mass of the combination of fermented bean curd T1 and T3 is located directly above the center of the mouth of the fermented bean curd bottle, and the third transverse moving part 51 stops working. Then the fifth lifting part 52 drives the fifth grabbing part 53 to move downward, and the fermented bean curd T1 and T3 are moved downward. After the fermented bean curd T1 and T3 are stacked, the fermented bean curd T4 and T6 are stacked respectively.

[0103] Step 3: Packing fermented tofu T1, T3, T4, and T6 The stacking of fermented bean curd T1, T3, T4, and T6 is also defined by starting from the transfer of fermented bean curd into the bottle. After the fermented bean curd T1 and T3 are loaded into the fermented bean curd bottle, the fermented bean curd T1 and T3 continue to move downward under the action of the fifth lifting part 52, and stop moving when the lower surface of the fermented bean curd T1 and T3 is 5 mm away from the upper surface of the lower layer of fermented bean curd. Then, under the action of the third transverse moving part 51, the fermented bean curd T1T3 is moved to the left side wall inside the fermented bean curd bottle, and stops after a certain distance of about 1.5 mm from the left side wall, and then continues to descend under the action of the fifth lifting part 52 until the lower surface of the fermented bean curd contacts the upper surface of the lower layer of fermented bean curd. In this state, the fifth lifting part 52 stops moving, the clamping and distributing stepping motor 331 of the fifth grabbing part 53 is started, and the outer clamping claws 3324 of the fermented bean curd T1T3 are loosened and lifted until all of them are extracted from the side of the fermented bean curd and the fermented bean curd T1T3 is distributed to the predetermined stacking position. At this time, the inner clamping claws 3333 of the fermented bean curd T1T3 are still in the fermented bean curd bottle and have not been extracted.

[0104] At this time, fermented bean curd T4T6 has been moved to the top of the bean curd bottle mouth (not the center position) in the previous process step. Due to the spatial position relationship between fermented bean curd T4 and T6, fermented bean curd T4 and T6 cannot be put into the bottle at the same time. Since T4 and T6 are pure mirror image process paths, only the timing is different, so only T4 will be introduced here for explanation.

[0105] Under the action of the horizontal micro-motion component 543 and the vertical micro-motion component 544 of the clamping jaws of the sixth lifting part 54, the fermented bean curd T4 moves toward the center of the mouth of the fermented bean curd bottle until the fermented bean curd and the T4 clamping jaws 553 can be vertically inserted into the bottle (without interfering with or colliding with the edge of the mouth of the bottle). At this time, the sixth lifting part 54 is started, and the sixth lifting part 54 moves the fermented bean curd T4 downward until the lower surface of the fermented bean curd T4 is 3-5mm away from the upper surface of the lower layer of fermented bean curd. At this time, the horizontal micro-motion stepping motor 5431 is started by reverse driving, and the fermented bean curd T4 moves in the horizontal reverse direction until the side of the fermented bean curd T4 is 1-1.5mm away from the right side wall of the fermented bean curd bottle.

[0106] At this time, the clamping jaw longitudinal micro-motion assembly 544 is driven in reverse, and the fermented bean curd T4 moves away from the center of the bottle mouth under the support of the two T4 clamping jaws 553 (the clamping force at this time is provided by the secondary slide rail return spring 5446) until the T4 clamping jaws 553T4 are released, and the fermented bean curd T4 moves to the right side of the bottle, close to the bottle wall. After the fermented bean curd T4 is stacked in place, the fermented bean curd T6 is stacked.

[0107] After that, the bottle-entering paddle 231 on the indexing plate body 1 enters the fermented bean curd bottle, and the bottom of the bottle-entering paddle 231 is 3-5 mm away from the upper surface of the lower layer of fermented bean curd, and remains stationary. The sixth lifting part 54 and the seventh lifting part 56 are started, and the sixth gripping part 55 and the seventh gripping part 57 are lifted until the clamping claws return to the zero point. Wait for the next working cycle. After that, the indexing plate body rotates to the sixth station.

[0108] At the sixth station, the fermented bean curd T2 and T5 are grabbed and transported into bottles by the fourth grabbing mechanism 6 and are stacked in order and position.

[0109] Reference Figure 32-Figure 35 The fourth grasping mechanism 6 includes a fourth transverse moving part 61, an eighth lifting part 62, an eighth grasping part 63, a ninth lifting part 64, a ninth grasping part 65 and a T5 fine-motion rotating part 66. The fourth transverse moving part 61 includes a fourth suspension frame 611, a fourth transverse moving plate 612, a fourth transverse moving assembly 613, a fourth transverse fine-motion assembly 614 and a fourth transverse fine-motion plate 615.

[0110] The fourth suspension frame 611 is fixed to the bottom of the top plate 13 by bolts, the fourth transverse plate 612 is located below the fourth suspension frame 611, the fourth transverse assembly 613 is installed on the fourth suspension frame 611, the fourth transverse assembly 613 drives the fourth transverse plate 612 to slide along the length direction of the fourth suspension frame 611, and the structure of the fourth transverse assembly 613 is the same as that of the first transverse assembly 313. The fourth transverse micro-motion assembly 614 is installed below the fourth transverse plate 612, and the fourth transverse micro-motion assembly 614 has the same structure as the first transverse micro-motion assembly 314. Two fourth transverse micro-motion plates 615 are arranged below the fourth transverse micro-motion assembly 614, and the fourth transverse micro-motion assembly 614 can drive the two fourth transverse micro-motion plates 615 to move in the direction of approaching or moving away from each other. One of the fourth transverse micro-motion plates 615 is connected to the eighth lifting part 62, and the other fourth transverse micro-motion plate 615 is connected to the ninth lifting part 64.

[0111] The structure of the eighth lifting part 62 is the same as that of the third lifting part 42, and the structure of the eighth grabbing part 63 is the same as that of the third grabbing part 43. The structure of the ninth lifting part 64 is the same as that of the fourth lifting part 44. The ninth grabbing part 65 includes a second clamping stepping motor 651, a third distributing assembly 652 and a second clamping claw assembly 653.

[0112] The third distribution assembly 652 has the same structure as the second distribution assembly 432. The second clamp assembly 653 includes a T5 clamp arm 6531, a T5 clamp arm connecting plate 6532, a T5 clamp 6533 and a fifth hinge shaft 6534. The two T5 clamp arms 6531 are respectively fixed to the two second distribution sliders 4329 in the third distribution assembly 652. The third distribution assembly 652 can drive the two T5 clamp arms 6531 to clamp or release. The T5 clamp arm connecting plate 6532 is fixed below the T5 clamp arm 6531. The fifth hinge shaft 6534 is fixed on the T5 clamp arm connecting plate 6532. The T5 clamp 6533 is rotatably connected to the fifth hinge shaft 6534.

[0113] The function of the T5 micro-rotating part 66 is to tilt the fermented bean curd T5 at a certain angle when putting it into the fermented bean curd bottle to cope with the problem of a small closing part at the mouth of the fermented bean curd bottle. When the fermented bean curd T5 passes through the bottle mouth and enters the bottle, the fermented bean curd T5 is straightened by the T5 micro-rotating part 66.

[0114] The T5 fine-motion rotating part 66 includes a rotating fine-motion lead screw motor 661, a rotating fine-motion nut 662, a first connecting rod 663, a second connecting rod 664, a third connecting rod 665 and a fourth connecting rod 666. The rotating fine-motion lead screw motor 661 is fixed on the second mounting plate 4312 on one side of the second clamping stepper motor 651. A rotating fine-motion nut 662 is arranged below the rotating fine-motion lead screw motor 661. The rotating fine-motion nut 662 is threadedly connected to the lead screw of the rotating fine-motion lead screw motor 661. The rotating fine-motion nut 662 is slidably connected to the second mounting plate 4312. The first connecting rod 663 is fixed at the bottom of the rotating fine-motion nut 662.

[0115] The first connecting rod 663 is provided with a first hinge axis 6631 at the bottom, and the top of the second connecting rod 664 is hinged to the second hinge axis 6641. The second connecting rod 664 is provided with a second hinge axis 6641 at the bottom, and two third connecting rods 665 are provided, and the tops of the two third connecting rods 665 are both hinged to the second hinge axis 6641. Two fourth connecting rods 666 are provided, and the bottom of the third connecting rod 665 is installed with a third hinge axis 6651, one of the fourth connecting rods 666 is hinged to the third hinge axis 6651 on one of the third connecting rods 665, and the other fourth connecting rod 666 is hinged to the third hinge axis 6651 on the other third connecting rod 665. The bottom of the fourth hinge axis 6661 is provided with a fourth hinge axis 6661, and the fourth hinge axis 6661 is hinged to the arm of the T5 clamp 6533. The axial directions of the first hinge axis 6631, the second hinge axis 6641, the third hinge axis 6651 and the fourth hinge axis 6661 are represented by the X, Y and Z axis directions. The axial directions of the first hinge axis 6631 and the fourth hinge axis 6661 are arranged along the Z axis direction, and the second hinge axis 6641 and the third hinge axis 6651 are arranged along the Y axis direction.

[0116] After the fermented bean curd T5 is picked up and transported to the top of the fermented bean curd bottle, the ninth lifting part 64 transports the fermented bean curd T5 downward, and stops when the bottom of the fermented bean curd T5 is 5 mm away from the top of the fermented bean curd T2; the rotating micro-motion screw motor 661 is started, and the rotating micro-motion screw motor 661 drives the screw to rotate, driving the first connecting rod 663 and the second connecting rod 664 to move upward, thereby driving the two third connecting rods 665 to move upward. At the same time, the two third connecting rods 665 The side away from the second connecting rod 664 will move toward each other, thereby driving the two fourth connecting rods 666 to move upward, and there is a tendency for the two fourth connecting rods 666 to move toward each other. The fourth connecting rod 666 drives the fermented bean curd T5 to rotate along the fifth hinge shaft 6534, so that the top of the fermented bean curd T5 is tilted toward the direction of the fermented bean curd T2, and the tilt angle is about 15 degrees; when the middle position of the height direction of the fermented bean curd T5 is flush with the top of the fermented bean curd T2, the micro-motion rotating motor drives the fermented bean curd T5 to straighten, and then the fermented bean curd T5 is placed on the fermented bean curd on the lower layer.

[0117] Working steps of the fourth gripping mechanism 6: Step 1: Grab the fermented tofu T2 and T5 The grabbing of fermented bean curd T2 and T5 is carried out simultaneously, and the grabbing process of fermented bean curd T2 is the same as that of fermented bean curd B2. Since there is a T5 fine-motion rotating part 66 when the fermented bean curd T5 is grabbed, the T5 fine-motion rotating part 66 must actively perform necessary compensation actions when the T5 clamping jaws 6533 are opened and closed. The specific action of compensation is that when the two T5 clamping jaws 6533 are opened, the rotating fine-motion screw motor 661 drives the rotating fine-motion nut 662 to move downward, so that an action of the first connecting rod 663 and the second connecting rod 664 moving downward can be formed, and the action formation needs to be calculated according to the specific opening amplitude of the T5 clamping jaws 6533. When the two T5 clamping jaws 6533 are clamped, the rotating fine-motion screw motor 661 drives the rotating fine-motion nut 662 to move upward, and cooperates with the two T5 clamping jaws 6533 to clamp the fermented bean curd T5, and then enters the next step.

[0118] Step 2: Transfer of fermented tofu T2 and T5 The transfer of fermented bean curd T2 and T5 is realized by the fourth transverse moving part 61, and the fourth transverse moving part 61 can also realize the relative movement between fermented bean curd T2 and T5. The fourth transverse moving part 61 moves the fermented bean curd T2 and T5 toward the bottle mouth of the fermented bean curd bottle, first moves the fermented bean curd T2 to the top of the bottle mouth of the fermented bean curd bottle, and then the eighth lifting part 62 lowers the fermented bean curd T2 to the inside of the bottle and stacks it at a limited position according to the stacking order. The transfer process of the fermented bean curd T5 is the same as that of the fermented bean curd T2.

[0119] Step 3: Packing fermented tofu T2 and T5 Reference Fig.36 , the packing of fermented bean curd T2 and T5 is defined by moving fermented bean curd T2 and T5 into the bottle. First, the fermented bean curd T2 enters the bottle mouth, moves downward under the action of the eighth lifting part 62, and stops when the lower surface of the fermented bean curd T2 is about 3 mm away from the upper surface of the lower layer of fermented bean curd. Next, under the action of the fourth transverse moving component 613, the fermented bean curd T2 is moved to the left wall of the bottle for a certain distance, about 1.5 mm, and then stops, and is moved down again under the action of the eighth lifting part 62 until the fermented bean curd T2 contacts the fermented bean curd of the lower layer. In this state, the fermented bean curd T5 is transported to the top of the mouth of the fermented bean curd bottle after the grabbing and moving process. From now on, the ninth lifting part 64, under the action of the fourth lateral micro-motion component 614 and the fourth lateral movement component 613, moves the fermented bean curd T5 to the center direction of the mouth of the fermented bean curd bottle, and the fermented bean curd T2 remains stationary. When the fermented bean curd T5 moves to a certain position, it moves downward under the action of the ninth lifting part 64 until the lower surface of the fermented bean curd T5 is 5 mm away from the upper surface of the fermented bean curd T2, and then stops moving.

[0120] In this state, under the joint action of the fourth lateral movement component 613, the fourth lateral micro-motion component 614, the ninth lifting part 64, and the T5 micro-motion rotation part 66, the fermented bean curd T-5 is clamped by the lifting and clamping module and rotates counterclockwise by 15 degrees (according to the attached Fig.36 Position 2). Meanwhile, keep the position of fermented bean curd T2 relative to the fermented bean curd bottle unchanged. Next, move the fermented bean curd T2 15 mm in the direction of 15 degrees (diagonally downward) (according to the attached Fig.36 Position 3). Then press vertically downward 3mm, (press the attached Fig.36 Position 4), then rotate 6 degrees clockwise (according to the attached Fig.36 Position 5). Next, move right 0.75 mm (according to the Fig.36 Position 6), then move down 4mm (according to the Fig.36 Position seven), then rotate 9 degrees clockwise (according to the Fig.36 Position seven), and finally move down 13.5mm to touch the bottom (above the bottom fermented bean curd). At this physical state, the fermented bean curd (salt dough) T-2 and T-5 are in place. At this time, the two T2 clamps and the two T5 clamps are released at the same time (separated from the fermented bean curd salt dough), and under the action of their respective lifting parts, their respective gripping parts are lifted out of the bottle and returned to zero position, entering the next working cycle.

[0121] When the gripper is completely pulled out of the bottle, the pick is quickly withdrawn from the fermented bean curd bottle under the control of the automatic program. The indexing plate and the fermented bean curd bottle (12 pieces of fermented bean curd salt dough have been stacked in the bottle according to the predetermined order and position) enter the seventh station according to the beat.

[0122] At the seventh station 217, similar to the fourth station 214, there is no gripper for filling, which can be understood as an empty station. However, under the action of the bottle rotation trajectory control mechanism, the follower planetary turntable completes a 90-degree rotation relative to the indexing plate body (with the indexing plate body as a reference) during the transition from the sixth station 216 to the eighth station 218. As the indexing plate body rotates, the bottle (containing the salt blank of the fermented bean curd) enters the next station (station 8).

[0123] At the eighth station 218, the main action is to unload the bottle. After the bottle filled with fermented bean curd (salt dough) enters the eighth station 218 with the rotation rhythm of the indexing plate body, under the instruction of the relevant control mechanism, the cylinder under the eighth station 218 is controlled to lift up, so that the rotating clamping mechanism 22 of the fermented bean curd bottle is opened, and the fermented bean curd bottle (full capacity) is returned to the relevant subsequent conveyor belt (or other system) by the special mechanism, and goes down along the production line to enter the packaging operation area. At the same time, the indexing plate body circulates and enters the next working cycle.

[0124] The invention also discloses a method for bottling fermented bean curd, comprising the following steps: S1, on the first station 211, the bottle is loaded and clamped, and the indexing plate body 21 rotates the empty bottle to the second station 212; S2, grab and bottle the fermented bean curd B1, B3, B4, and B6; At the second station 212, the first grasping mechanism 3 grasps, moves horizontally and stacks the fermented bean curd B1, B3, B4 and B6, and stacks the fermented bean curd B1, B3, B4 and B6 at the four corners of the bottom layer of the fermented bean curd bottle. Then, the paddle-into-bottle connecting rod mechanism 23 controls the bottle-into-bottle paddle 231 to enter the fermented bean curd bottle. The bottle-into-bottle paddle 231 blocks the inner side of the inner clamping claw arm 3331 to prevent the fermented bean curd from tipping over after the inner clamping claw 3331 exits the fermented bean curd bottle. Then, the indexing plate body rotates the fermented bean curd bottle to the third station 213. S3, grab and bottle the fermented bean curd B2 and B5; At the third station 213, the second grasping mechanism 4 grasps, moves horizontally and stacks the fermented bean curd B2 and B5, and puts the fermented bean curd B2 between the fermented bean curd B1 and B3, and puts the fermented bean curd B5 between the fermented bean curd B4 and B6. Then the indexing body 21 drives the fermented bean curd bottle to the fourth station 214, which is the rotating station of the fermented bean curd bottle. After the fermented bean curd bottle reaches the fifth station 215 from the third station 213, the fermented bean curd bottle rotates 90 degrees. S4, grab and bottle fermented bean curd T1, T3, T4, and T6; At the fifth workstation 215 , the third grabbing mechanism 5 grabs, transfers, and stacks the fermented bean curd T1, T2, T3, and T4; the third grabbing mechanism 5 stacks the fermented bean curd T1, T2, T3, and T4 on the four corners of the upper layer of the fermented bean curd bottle, and then the dividing plate body 21 rotates the fermented bean curd bottle to the sixth workstation 216 .

[0125] S5. At the sixth station 216, the fourth grasping mechanism 6 grasps, transfers and stacks the fermented bean curd T2 and T5, places the fermented bean curd T2 between fermented bean curd T1 and T3, and places the fermented bean curd T5 between fermented bean curd T4 and T6. Finally, the dividing plate body 21 rotates the fermented bean curd bottle to the eighth station 218, and the robot takes the fermented bean curd bottle filled with fermented bean curd from the eighth station 218.

[0126] The present invention fills a gap in the field of food filling in view of the prior art. At present, in the field of fermented bean curd product production, the manual and semi-manual bottling state is basically continued. The labor intensity of workers is large and the efficiency is relatively low. The breakage rate of fermented bean curd salt dough is high, and special personnel are required to detect and repair the damage. Therefore, the process and equipment specifically used for bottling fermented bean curd (salt dough) involved in this invention greatly improve the production efficiency of the bottling process, can completely replace manual labor, and avoid a series of problems such as food hygiene, waste ratio, employee health, etc. caused by manual production factors that affect corporate benefits and efficiency management. At the same time, the use of automated production and the use of an intelligent control system can effectively enhance the information exchange and communication between the various functional systems of the production line, enhance the control of accident risks, and effectively improve product quality and unit time production capacity.

[0127] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A fermented bean curd bottling device, characterized in that: The device comprises an equipment frame (1) and a dividing plate operating mechanism (2), wherein the equipment frame (1) comprises a bottom bracket (11), a support rod (12) and a top plate (13), wherein the support rod (12) is fixed between the bottom bracket (11) and the top plate (13), the dividing plate operating mechanism (2) is mounted on the bottom bracket (11), and a first grasping mechanism (3), a second grasping mechanism (4), a third grasping mechanism (5) and a fourth grasping mechanism (6) are mounted on the top plate (13); The indexing plate operating mechanism (2) clamps and transfers the fermented bean curd bottle, and the first grasping mechanism (3) can grasp the fermented bean curd B1, B3, B4, and B6 at the same time, and respectively put the fermented bean curd B1 and B3 as well as B4 and B6 into the fermented bean curd bottle. The first grasping mechanism (3) can separate the fermented bean curd B1 and B3 as well as separate the fermented bean curd B4 and B6, thereby making room for the fermented bean curd B2 and B5 to be put into the bottle; The second grasping mechanism (4) can grasp the fermented bean curd B2 and B5 at the same time, and put the fermented bean curd B2 and B5 into the fermented bean curd bottle respectively. The third grasping mechanism (5) can grasp the fermented bean curd T1, T3, T4, T6 at the same time, and put the fermented bean curd T1 and T3, T4, T6 into the fermented bean curd bottle respectively. The fourth grasping mechanism (6) can grasp the fermented bean curd T2 and T5 at the same time, and put the fermented bean curd T2 and T5 into the fermented bean curd bottle respectively.

2. The fermented bean curd bottling equipment according to claim 1, characterized in that: The indexing disk operation mechanism (2) comprises an indexing disk body (21) and a rotary clamping mechanism (22) for clamping the fermented bean curd bottle. The indexing disk body (21) is provided with a plurality of working spaces in a circumferential direction, each spatial position corresponds to a work station, each of the four gripping mechanisms corresponds to a work station, each working space corresponds to a rotary clamping mechanism (22), a bottom support plate (24) is mounted on the bottom bracket (11), a rotating shaft (242) is mounted on the bottom support plate (24), the indexing disk body (21) is fixed to the top end of the rotating shaft (242), and an intermittent driving motor (241) for driving the rotating shaft (242) to rotate is mounted below the bottom support plate (24).

3. The fermented bean curd bottling equipment according to claim 2, characterized in that: The rotary clamping mechanism (22) comprises a follower planetary turntable (221) and a bottle clamping claw assembly (225); each spatial position on the indexing plate body (21) corresponds to a fermented bean curd bottle; the indexing plate operation mechanism (2) further comprises a bottle rotation trajectory control mechanism (26) capable of rotating the follower planetary turntable (221), the bottle clamping claw assembly (225) and the fermented bean curd bottle to a certain angle; The indexing plate operation mechanism (2) further comprises a paddle-into-bottle connecting rod mechanism (23), wherein the paddle-into-bottle connecting rod mechanism (23) comprises a bottle-into paddle (231), and a paddle-into-bottle pneumatic driving mechanism for driving the bottle-into paddle (231) to enter the fermented bean curd bottle is provided on the bottom support plate (24). After the bottle-into paddle (231) is inserted into the fermented bean curd bottle, it supports the inner side walls of the separated fermented bean curds B1 and B3, fermented bean curds B4 and B6, fermented bean curds T1 and T3, and fermented bean curds T4 and T6 in the fermented bean curd bottle, thereby preventing the fermented bean curd from tipping over.

4. The fermented bean curd bottling equipment according to claim 1, characterized in that: The first grasping mechanism (3) comprises a first transverse moving part (31), a first lifting part (32) and a second lifting part (34); the first transverse moving part (31) comprises a first suspension frame (311), a first transverse moving assembly (313) and a first transverse micro-motion assembly (314); a first transverse moving plate (312) is arranged below the first suspension frame (311); the first transverse moving assembly (313) drives the first transverse moving plate (312) to move; and the first transverse micro-motion assembly (314) is installed below the first transverse moving plate (312). The first lifting part (32) and the second lifting part (34) can be driven to move in a direction toward or away from each other. A first grabbing part (33) for grabbing fermented bean curd B1 and B3 and pushing the fermented bean curd B1 and B3 separately to two corners of the fermented bean curd bottle is connected below the first lifting part (32). A second grabbing part (35) for grabbing fermented bean curd B4 and B6 and pushing the fermented bean curd B4 and B6 separately to the other two corners of the fermented bean curd bottle is connected below the second lifting part (34).

5. The fermented bean curd bottling equipment according to claim 4, characterized in that: The first grasping part (33) comprises a clamping and shifting stepping motor (331), an outer clamping assembly (332), an inner clamping assembly (333), a clamping assembly (334) and a first shifting assembly (335). The clamping and shifting stepping motor (331) is connected to the first lifting part (32). Two outer clamping assemblies (332) and two inner clamping assemblies (333) are respectively provided. The two inner clamping assemblies (333) are located between the two outer clamping assemblies (332). The clamping assembly (334) can clamp and release the outer clamping assembly (332) under the action of the clamping and shifting stepping motor (331). The first shifting assembly (335) can control the two inner clamping assemblies (333) to move closer to or farther from each other. An inner clamping assembly (333) and an outer clamping assembly (332) work together to grasp a piece of fermented bean curd.

6. The fermented bean curd bottling equipment according to any one of claims 1, 2, 4 or 5, characterized in that: The second grasping mechanism (4) comprises a third lifting part (42), a fourth lifting part (44) and a second transverse movement part (41) for controlling the transverse movement of the third lifting part (42) and the fourth lifting part (44); a third grasping part (43) for grasping the fermented bean curd B2 and placing it into the fermented bean curd bottle is connected below the third lifting part (42); a fourth grasping part (45) for grasping the fermented bean curd B5 and placing it into the fermented bean curd bottle is connected below the fourth lifting part (44); the third grasping part (43) comprises a first clamping stepping motor (431), a second distribution assembly (432) and a first clamping claw assembly (433); the two first clamping claw assemblies (433) grasp a piece of fermented bean curd; under the action of the first clamping stepping motor (431), the second distribution assembly (432) controls the two first clamping claw assemblies (433) to clamp the fermented bean curd.

7. The fermented bean curd bottling equipment according to any one of claims 1, 2, 4 or 5, characterized in that: The third grabbing mechanism (5) comprises a fifth lifting part (52), a sixth lifting part (54), a seventh lifting part (56) and a third transverse moving part (51) for transversely moving the fifth lifting part (52), the sixth lifting part (54) and the seventh lifting part (56); a fifth grabbing part (53) for grabbing fermented bean curd T1 and T3 and placing them into a fermented bean curd bottle is connected below the fifth lifting part (52); a sixth grabbing part (55) for grabbing fermented bean curd T4 and placing them into a fermented bean curd bottle is connected below the sixth lifting part (54); and a seventh grabbing part (57) for grabbing fermented bean curd T6 and placing them into a fermented bean curd bottle is connected below the seventh lifting part (56).

8. The fermented bean curd bottling equipment according to claim 7, characterized in that: The sixth lifting part (54) includes a second lifting guide rail seat (541), a clamping jaw transverse micro-motion assembly (543) and a clamping jaw longitudinal micro-motion assembly (544) connected below the clamping jaw transverse micro-motion assembly (543); the second lifting guide rail seat (541) is connected to the third transverse moving part (51); the second lifting guide rail seat (541) is provided with a second lifting assembly (542) for driving the clamping jaw transverse micro-motion assembly (543) to move up and down; the sixth grasping part (55) includes two T4 clamping jaws (551); the clamping jaw longitudinal micro-motion assembly (544) can drive the two T4 clamping jaws (551) to clamp or release the fermented bean curd T4.

9. The fermented bean curd bottling equipment according to any one of claims 1, 2, 4 or 5, characterized in that: The fourth gripping mechanism (6) comprises an eighth lifting part (62), a ninth lifting part (64) and a fourth transverse moving part (61) for driving the eighth lifting part (62) and the ninth lifting part (64) to move transversely. The eighth lifting part (62) is connected to an eighth gripping part (63) below, the ninth lifting part (64) is connected to a ninth gripping part (65) below, and the ninth gripping part (65) is provided with a T5 micro-motion rotating part (66) for driving the fermented bean curd to rotate. The T5 micro-motion rotating part (66) is capable of driving the fermented bean curd T5 to rotate, thereby facilitating the placement of the fermented bean curd T5 into the fermented bean curd bottle.

10. A bottling method using the fermented bean curd bottling equipment according to claim 1, characterized in that: The steps include: S1, placing an empty fermented bean curd bottle on the indexing plate operating mechanism (2) and clamping it, and the indexing plate operating mechanism (2) rotates the fermented bean curd bottle to below the first grasping mechanism (3); S2, the first grabbing mechanism (3) grabs the fermented bean curd B1, B3, B4, and B6 and places them on the four corners of the fermented bean curd bottle, and then the indexing plate operation mechanism (2) rotates the fermented bean curd bottle to the bottom of the second grabbing mechanism (4); The indexing plate operation mechanism (2) also includes a paddle-into-bottle connecting rod mechanism (23). After the first grasping mechanism (3) puts the fermented bean curd B1, B3, B4, and B6 into the fermented bean curd bottle, the inner clamping claw (3333) of the first grasping mechanism (3) separates the fermented bean curd B1 and B3, separates the fermented bean curd B4 and B6, and pushes the four pieces of fermented bean curd to the four corners of the fermented bean curd bottle respectively. At this time, the bottle-into-bottle paddle (231) of the paddle-into-bottle connecting rod mechanism (23) is inserted into the fermented bean curd bottle. , blocking the inner side of the inner clamping claw arm (3331), then the inner clamping claw (3333) of the first grasping mechanism (3) extends out of the fermented bean curd bottle, and then the paddle-into-bottle connecting rod mechanism (23) rotates together with the fermented bean curd bottle to the bottom of the second grasping mechanism (4), and after the second grasping mechanism (4) puts the fermented bean curd into the fermented bean curd bottle, the clamping claw of the second grasping mechanism (4) is withdrawn from the fermented bean curd bottle, and then the bottle-into-bottle paddle (231) of the paddle-into-bottle connecting rod mechanism (23) is withdrawn from the fermented bean curd bottle; S3, the second grabbing mechanism (4) grabs the fermented bean curd B2 and B5, and puts the fermented bean curd B2 between the fermented bean curd B1 and B3, and puts the fermented bean curd B5 between the fermented bean curd B4 and B6, and then the indexing plate operation mechanism (2) rotates the fermented bean curd bottle to the bottom of the third grabbing mechanism (5); The indexing disk operation mechanism (2) comprises an indexing disk body (21) and a bottle rotation trajectory control mechanism (26); a follower planetary turntable (221) is mounted on the indexing disk body (21); the fermented bean curd bottle is clamped on the follower planetary turntable (221); when the indexing disk body (21) rotates from below the second gripping mechanism (4) to the third gripping mechanism (5), the follower planetary turntable (221) rotates 90 degrees under the action of the bottle rotation trajectory control mechanism (26), so that the upper layer of fermented bean curd is arranged vertically with the lower layer of fermented bean curd; S4, the third grabbing mechanism (5) grabs the fermented bean curd T1, T3, T4, and T6 and places them on the four corners of the fermented bean curd bottle, and then the indexing plate operation mechanism (2) rotates the fermented bean curd bottle to the bottom of the fourth grabbing mechanism (6); S5, the fourth grabbing mechanism (6) grabs the fermented bean curd T2 and T5, and puts the fermented bean curd T2 between the fermented bean curd T1 and T3, and puts the fermented bean curd T5 between the fermented bean curd T4 and T6, and then the indexing plate operation mechanism (2) rotates the fermented bean curd bottle to the lower bottle position.

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