Manipulating assembly, fermented bean curd bottling device and fermented bean curd bottling control system

Abstract

The present invention discloses a manipulation component, a fermented bean curd bottling device and a fermented bean curd bottling control system, belonging to the field of fermented bean curd processing. The manipulation component includes a control handle, and further includes: a mounting plate fixedly arranged at the lower end of the control handle; a first electric telescopic rod fixedly arranged at the lower end of the mounting plate; a pin fixedly arranged at the output end of the first electric telescopic rod; and second electric telescopic rods symmetrically and fixedly connected to the lower end of the mounting plate. The present invention can accurately and automatically judge the distance between the push plate and the object, adjust it, and perform automatic insertion and extraction without button control, thereby effectively preventing damage caused by excessive extrusion of the object by the push plate during manual operation, and eliminating the need for manual slow movement to make the push plate fit the object, thus effectively improving the insertion and extraction efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of fermented bean curd processing, and particularly to a manipulation component, a fermented bean curd bottling device, and a fermented bean curd bottling control system. Background Art

[0002] A manipulation component refers to an element used to operate and control certain mechanisms.

[0003] During the manufacturing process of fermented bean curd with rice sauce, it includes operation processes such as raw material preparation, auxiliary material acceptance, selecting soybeans, cleaning and soaking, grinding, boiling, solidifying and forming, pressing, cutting, pickling, desalting, steaming embryos, inoculating, making koji, filling fermented bean curd embryos, adding seasonings, vacuum sealing, and heat preservation fermentation.

[0004] When bottling fermented bean curd, it is necessary to place the raw material embryos of fermented bean curd in a glass bottle. During the bottling process, in order to add VC capsules (in the shape of rice grains or soybeans) to slow down the Maillard reaction of fermented bean curd from turning black, during the operation process, after laying a layer of fermented bean curd, then laying a layer of rice-grain-shaped VC capsules on the upper side of the fermented bean curd, and a manipulation component is required to cooperate during the bottling process.

[0005] Currently, during the bottling process of fermented bean curd, most use manual direct grasping or simple tool-assisted bottling, with low efficiency and difficult to ensure hygiene. Generally, the method of manually holding a needle to pick up fermented bean curd is adopted, and then a push plate is installed on the upper side of the needle, and the push plate is used for limiting to prevent the needle from inserting too much. However, in the specific operation of this method, the staff needs to accurately control the force. When picking up fermented bean curd, if the speed is too fast, it may cause the push plate to overly squeeze the fermented bean curd and cause damage, and it may also cause the needle to insert into the next fermented bean curd. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a manipulation component, a fermented bean curd bottling device, and a fermented bean curd bottling control system that can overcome the above problems or at least partially solve the above problems.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] The operating assembly includes a control handle, and further includes: a mounting plate fixedly arranged at the lower end of the control handle; a first electric telescopic rod fixedly arranged at the lower end of the mounting plate; a pin fixedly arranged at the output end of the first electric telescopic rod; second electric telescopic rods symmetrically and fixedly connected to the lower end of the mounting plate, and the first electric telescopic rod and the second electric telescopic rods are arranged in the same direction; a push plate arranged on the lower sides of the two second electric telescopic rods, and the pin is slidably connected to the push plate; a distance sensor fixedly arranged on the lower side of the push plate; a controller fixedly arranged on the control handle; wherein, the control handle is used to drive the operating assembly to move and make the push plate move towards or away from the object to be inserted or taken, and the pin is used to be inserted into the object to be inserted or taken; the distance sensor is used to detect the distance between the push plate and the object to be inserted or taken in real time and transmit the distance data to the controller; the controller is used to control and adjust the telescopic lengths of the first electric telescopic rod and the second electric telescopic rods.

[0009] To facilitate the detection of the pressure between the push plate and the fermented bean curd, further, a baffle is further included. The baffle is symmetrically provided with sliding grooves. The upper end of the push plate is slidably arranged in the sliding grooves. A plurality of pressure sensors are arranged between the baffle and the sliding grooves. The baffle is fixedly connected to the output end of the second electric telescopic rod. The pressure sensors are used to monitor the pressure between the push plate and the object to be inserted or taken in real time and transmit the pressure data to the controller.

[0010] When the distance sensor detects that the distance between the push plate and the object to be inserted or taken is a first set distance, the controller controls the second electric telescopic rod to expand or contract to make the push plate contact the object to be inserted or taken; when the pressure sensor detects that the pressure between the push plate and the object to be inserted or taken is a first set pressure value, the controller controls the first electric telescopic rod to expand or contract to drive the pin to be inserted into the object to be inserted or taken; when the pressure sensor detects that the pressure between the push plate and the object to be inserted or taken is greater than the first set pressure value, the controller simultaneously controls and adjusts the telescopic lengths of the first electric telescopic rod and the second electric telescopic rods.

[0011] A fermented bean curd bottling device includes an operating assembly, and further includes a plurality of blocking rods. A laying gap is arranged between two adjacent blocking rods. The upper sides of the blocking rods are symmetrically provided with guiding angles. A feeding assembly is arranged between the baffle and the push plate. The material enters the laying gap through the feeding assembly, wherein the object to be inserted or taken is the fermented bean curd.

[0012] For the convenience of adding VC capsules, further, the feeding component includes a feeding box fixedly arranged on the baffle plate. An inlet pipe is fixedly connected to the upper side of the feeding box. A communication cavity is arranged on one side of the push plate. A plurality of air injection pipes communicating with the communication cavity are arranged inside the push plate. A first electromagnetic valve is arranged inside the air injection pipe. An air inlet pipe is fixedly connected to the baffle plate. A flexible pipe is arranged between the air inlet pipe and the communication cavity. A first sliding pipe is hermetically and slidably connected to the upper side of the air inlet pipe. A second sliding pipe is hermetically and slidably connected to the upper side of the inlet pipe. The first sliding pipe and the second sliding pipe are fixedly connected. An air supply pipe is arranged at the upper end of the first sliding pipe. A feeding pipe is arranged at the upper end of the second sliding pipe. A fixing plate is fixedly connected to the baffle plate. A plurality of mesh holes are arranged on the fixing plate.

[0013] For the convenience of positioning the fermented bean curd, further, a first positioning plate is arranged on one side of the push plate. Second positioning plates are symmetrically arranged on both sides of the first positioning plate. Guide angles are arranged on both the first positioning plate and the second positioning plates.

[0014] To prevent the VC capsules from blocking the mesh holes, further, a plurality of inclined plates are fixedly connected to the lower side of the fixing plate, and the inclined plates incline away from the air injection pipes. The vertical projection of the inclined plates on the fixing plate covers at least the plurality of mesh holes.

[0015] For the convenience of fixing the fermented bean curd, preferably, an air storage cavity is arranged inside the first positioning plate. An air bag sheet is arranged on one side of the air storage cavity. A communication pipe is arranged between the air storage cavity and the communication cavity. A second electromagnetic valve is arranged inside the communication pipe.

[0016] Further, an elastic mesh cloth is arranged between the lower end of the inclined plate and the fixing plate.

[0017] For the convenience of laying the VC capsules, further, a plurality of flow dividing plates are arranged inside the feeding box. Inclined platforms are symmetrically arranged inside the push plate.

[0018] The present invention also provides a fermented bean curd bottling control system, which includes the above-mentioned fermented bean curd bottling device, and further includes a material taking module, a material placing module and a pressure detection module. The material taking module includes a distance detection module, a telescopic module and a picking module. The material placing module includes a feeding module and a contraction module; the distance detection module is used for detecting the distance between the push plate and the fermented bean curd in real time; the telescopic module is used for adjusting the distance change between the push plate and the fermented bean curd; the pressure detection module is used for detecting the pressure between the push plate and the fermented bean curd in real time; the picking module is used for driving the insertion needle to insert into the fermented bean curd; the feeding module is used for providing materials to the upper side of the fermented bean curd; the contraction module is used for driving the insertion needle to contract.

[0019] Compared with the prior art, the present invention provides a manipulation component, which has the following beneficial effects:

[0020] 1. It can accurately and automatically judge the distance between the pushing plate and the object, regulate it, and perform automatic insertion and extraction without button control, thus effectively preventing damage caused by excessive extrusion of the object by the pushing plate during manual operation, and eliminating the need for manual slow movement to make the pushing plate fit the object, thereby effectively improving the insertion and extraction efficiency.

[0021] 2. The VC capsules are quantitatively supplied into the feeding pipe through an external feeding mechanism, and finally enter between the baffle and the pushing plate through the feeding box, causing most of the VC capsules to fall into the first laying gap. Then, the controller controls the start of an external air pump and opens the first solenoid valve. Under the action of the gas, the VC capsules are blown into other laying gaps, so that a certain amount of VC capsules are evenly laid in each laying gap, and the VC capsules are regularly laid according to the laying gaps, creating multiple parallel gaps between two pieces of fermented bean curd, facilitating full contact between the subsequently added seasoning liquid and the fermented bean curd.

[0022] 3. Through the coordinated operation of the distance sensor, the first electric telescopic rod, and the second electric telescopic rod, it is possible to prevent the pushing plate from excessively squeezing the fermented bean curd, and lay the VC capsules during the process of moving the manipulation mechanism, effectively improving the bottling efficiency of the fermented bean curd.

[0023] For the parts not involved in this device, they are the same as or can be implemented using the prior art. The present invention can accurately and automatically judge the distance between the pushing plate and the object, regulate it, and perform automatic insertion and extraction without button control, thus effectively preventing damage caused by excessive extrusion of the object by the pushing plate during manual operation, and eliminating the need for manual slow movement to make the pushing plate fit the object, thereby effectively improving the insertion and extraction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of the present invention;

[0025] Figure 2 is a schematic partial structural diagram of the present invention;

[0026] Figure 3 is a schematic cross-sectional view of the present invention Figure 1 ;

[0027] Figure 4 is of the present invention Figure 3 an enlarged schematic view of part A;

[0028] Figure 5 is a schematic cross-sectional view of the present invention;

[0029] Figure 6 is an unfolded schematic structural diagram of the present invention;

[0030] Figure 7This is the system flow chart of the present invention.

[0031] In the figure: 1. Control handle; 101. Controller; 102. Mounting plate; 103. First electric telescopic rod; 104. Insertion pin; 105. Second electric telescopic rod; 2. Pushing plate; 201. Distance sensor; 202. Tilt table; 203. Stop bar; 204. Laying gap; 205. Flow guiding angle; 206. Connecting cavity; 207. Air jet pipe; 208. First solenoid valve; 209. Hose; 210. Air inlet pipe; 211. First sliding pipe; 212. Air supply pipe; 3. First positioning plate; 301. Second positioning plate; 302. Guiding angle; 303. Air storage cavity; 304. Airbag sheet; 305. Connecting pipe; 306. Second solenoid valve; 4. Baffle plate; 401. Chute; 402. Pressure sensor; 403. Fixed plate; 404. Mesh hole; 405. Tilt plate; 406. Elastic mesh cloth; 5. Feeding box; 501. Shunt plate; 502. Feed pipe; 503. Second sliding pipe; 504. Feeding pipe. Specific embodiments

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0033] Embodiment 1: Refer to Figures 1-6 , the manipulation assembly includes a control handle 1, and further includes: a mounting plate 102 fixedly arranged at the lower end of the control handle 1; a first electric telescopic rod 103 fixedly arranged at the lower end of the mounting plate 102; an insertion pin 104 fixedly arranged at the output end of the first electric telescopic rod 103; second electric telescopic rods 105 symmetrically and fixedly connected to the lower end of the mounting plate 102, and the first electric telescopic rod 103 and the second electric telescopic rods 105 are arranged in the same direction; a pushing plate 2 arranged on the lower side of the two second electric telescopic rods 105, and the insertion pin 104 is slidably connected to the pushing plate 2; a distance sensor 201 fixedly arranged on the lower side of the pushing plate 2; a controller 101 fixedly arranged on the control handle 1. Among them, the control handle 1 is used to drive the manipulation assembly to move and make the pushing plate 2 move towards or away from the object to be inserted or taken, and the insertion pin 104 is used to be inserted into the object to be inserted or taken; the distance sensor 201 is used to detect the distance between the pushing plate 2 and the object to be inserted or taken in real time and transmit the distance data to the controller 101; the controller 101 is used to control and adjust the telescopic movement of the first electric telescopic rod 103 and the second electric telescopic rods 105.

[0034] To facilitate the detection of the pressure between the push plate 2 and the object to be inserted and removed (such as fermented bean curd), the manipulation assembly further includes a baffle 4. Symmetrically arranged sliding grooves 401 are provided on the baffle 4. The upper end of the push plate 2 is slidably arranged in the sliding grooves 401. A plurality of pressure sensors 402 are arranged between the baffle 4 and the sliding grooves 401. The baffle 4 is fixedly connected to the output end of the second electric telescopic rod 105. The pressure sensor 402 is used to monitor the pressure between the push plate 2 and the object to be inserted and removed in real time and transmit the pressure data to the controller 101.

[0035] Moreover, when the distance sensor 201 detects that the distance between the push plate 2 and the object to be inserted and removed is the first set distance, the controller 101 controls the second electric telescopic rod 105 to extend and retract so that the push plate 2 contacts the object to be inserted and removed; when the pressure sensor 402 detects that the pressure between the push plate 2 and the object to be inserted and removed is the first set pressure value, the controller 101 controls the first electric telescopic rod 103 to extend and retract to drive the insertion needle 104 to insert into the object to be inserted and removed; when the pressure sensor 402 detects that the pressure between the push plate 2 and the object to be inserted and removed is greater than the first set pressure value, the controller 101 simultaneously controls and adjusts the extension and retraction of the first electric telescopic rod 103 and the second electric telescopic rod 105.

[0036] When performing the picking and inserting operation, an operator manually holds the control handle 1 to control the entire manipulation assembly to move the manipulation assembly to a suitable position. During the picking and inserting operation, the operator first moves the push plate 2 to the upper side of the object to be picked and inserted through the control handle 1, and then moves the control handle 1 downward to gradually approach the object to be picked and inserted. During this process, the distance sensor 201 is used to detect the distance between the push plate 2 and the object in real time and transmit the distance data to the controller 101. When the operator moves the control handle 1 downward too fast, the controller 101 obtains that the descending speed of the push plate 2 is too fast. At this time, the controller 101 controls the second electric telescopic rod 105 to contract, so that the speed of the push plate 2 approaching the object becomes slower. After the push plate 2 contacts the object, the pressure sensors 402 are used to detect the pressure of the push plate 2 on the object to be picked and inserted. When the pressure reaches the first set pressure value, the controller 101 controls the first electric telescopic rod 103 to drive the insertion needle 104 to insert into the object. And when the pressure of the push plate 2 is greater than the first set pressure value, the controller 101 controls the first electric telescopic rod 103 and the second electric telescopic rod 105 to expand and contract, reducing the extrusion pressure of the push plate 2 on the object to be picked and inserted, and ensuring that the insertion needle 104 and the object (such as fermented bean curd) remain stationary. After the first electric telescopic rod 103 drives the insertion needle 104 to complete the picking and inserting operation, the controller 101 controls the first electric telescopic rod 103 and the second electric telescopic rod 105 to contract quickly. At this time, after the operator observes that the insertion needle 104 has picked up the object, the operator moves the control handle 1 to move the object to the set position, and then releases the picking of the object by contracting the first electric telescopic rod 103, so that the object is separated from the push plate 2. It can accurately and automatically judge the distance between the push plate 2 and the object, adjust it, and perform automatic picking and inserting without button control, thus effectively preventing the push plate 2 from excessively squeezing the object during manual operation and causing damage, and there is no need for the operator to slowly move to make the push plate 2 fit the object, thereby effectively improving the picking and inserting efficiency.

[0037] Embodiment 2: Refer to Figures 1-6 , a fermented bean curd bottling device, including a manipulation assembly, further including a plurality of retaining rods 203. A laying gap 204 is provided between two adjacent retaining rods 203. Flow guiding angles 205 are symmetrically arranged on the upper side of the retaining rods 203. A feeding assembly is provided between the baffle 4 and the push plate 2. The material enters the laying gap 204 through the feeding assembly. The above-mentioned material is, for example, a VC capsule.

[0038] The feeding assembly includes a feeding box 5 fixedly arranged on the baffle 4. An inlet pipe 502 is fixedly connected to the upper side of the feeding box 5. A communication cavity 206 is arranged on one side of the push plate 2. A plurality of air injection pipes 207 communicating with the communication cavity 206 are arranged inside the push plate 2. A first solenoid valve 208 is arranged in the air injection pipe 207, and the controller 101 is control-connected to the first solenoid valve 208. An air inlet pipe 210 is fixedly connected to the baffle 4. A hose 209 is arranged between the air inlet pipe 210 and the communication cavity 206. The upper side of the air inlet pipe 210 is hermetically slidably connected with a first sliding pipe 211. The upper side of the inlet pipe 502 is hermetically slidably connected with a second sliding pipe 503. The first sliding pipe 211 and the second sliding pipe 503 are fixedly connected. An air supply pipe 212 is arranged at the upper end of the first sliding pipe 211. A feeding pipe 504 is arranged at the upper end of the second sliding pipe 503. A fixing plate 403 is fixedly connected to the baffle 4. A plurality of mesh holes 404 are arranged on the fixing plate 403. Among them, the above-mentioned mesh holes 404 are, for example, mesh holes.

[0039] During specific implementation, granular VC capsules are quantitatively supplied into the feeding pipe 504 through an external feeding mechanism, and the air supply pipe 212 is connected to an external air pump.

[0040] In a specific embodiment, when performing the bottle filling operation on fermented bean curd, the cut raw materials of fermented bean curd are laid flat in the raw material tray, and then the operator manually holds the control handle 1 to perform the bottle filling operation. Since the raw materials of fermented bean curd are stacked in multiple pieces, when taking the materials, the operator holds the control handle 1 to move the push plate 2 directly above the raw materials of fermented bean curd, and then moves the control handle 1 downward. The distance sensor 201 continuously detects the distance between the push plate 2 and the fermented bean curd. Among them, when the distance between the fermented bean curd and the push plate 2 reaches three centimeters, the controller 101 adjusts the second electric telescopic rod 105 to make the push plate 2 slowly contact the fermented bean curd, and the pressure sensor 402 detects the pressure of the push plate 2 on the fermented bean curd. When the pressure reaches the set value, the first electric telescopic rod 103 quickly drives the needle 104 to insert into the fermented bean curd. When the pressure sensor 402 detects that the pressure of the push plate 2 on the fermented bean curd is greater than the set value, the controller 101 controls the first electric telescopic rod 103 and the second electric telescopic rod 105 to adjust synchronously to prevent the push plate 2 from excessively squeezing the fermented bean curd. And when the first electric telescopic rod 103 drives the needle 104 to complete the picking operation, the controller 101 controls the first electric telescopic rod 103 and the second electric telescopic rod 105 to quickly contract synchronously, so that the picked fermented bean curd is separated from the fermented bean curd below. At this time, the operator moves the operating mechanism to the bottle through the control handle 1. During the movement, the controller 101 controls the first electric telescopic rod 103 and the second electric telescopic rod 105 to extend, and stops when the distance between the push plate 2 and the mounting plate 102 reaches the set value.

[0041] During the movement, the VC capsules are quantitatively supplied to the feed pipe 504 through the external feeding mechanism, and finally enter between the baffle 4 and the push plate 2 through the feed box 5, so that most of the VC capsules fall into the first laying gap 204, and then the controller 101 controls the external air pump to start, and opens the first solenoid valve 208, and the VC capsules are blown into other laying gaps 204 under the action of gas, so that a certain amount of VC capsules are evenly laid in each laying gap 204.

[0042] The VC capsules are laid regularly according to the laying gaps 204 so that there are multiple parallel gaps between two fermented bean curds, so that the seasoning liquid added later can fully contact with the fermented bean curd.

[0043] The fermented bean curd is manually placed in the area to be placed through the operating mechanism. When the fermented bean curd contacts the bottom or the lower side of the bottle, the pressure sensor 402 detects that its pressure reaches the set value. At this time, the controller 101 controls the first electric telescopic rod 103 to contract, releasing the insertion of the fermented bean curd, so that the fermented bean curd is spread flat in the bottle, and a layer of VC capsules can be laid on the upper side of the fermented bean curd.

[0044] The coordinated operation of the distance sensor 201, the first electric telescopic rod 103 and the second electric telescopic rod 105 can prevent the push plate 2 from excessively squeezing the fermented bean curd, and VC capsules can be laid during the process of moving the operating mechanism, thereby effectively improving the bottling efficiency of the fermented bean curd.

[0045] Example 3: Reference Figures 1-6 A fermented bean curd bottling device is basically the same as Example 2, and further, a first positioning plate 3 is provided on one side of the push plate 2, and second positioning plates 301 are symmetrically provided on both sides of the first positioning plate 3, and guide angles 302 are provided on the first positioning plate 3 and the second positioning plate 301.

[0046] An air storage cavity 303 is provided in the first positioning plate 3 , an airbag sheet 304 is provided on one side of the air storage cavity 303 , a connecting pipe 305 is provided between the air storage cavity 303 and the connecting cavity 206 , and a second solenoid valve 306 is provided in the connecting pipe 305 .

[0047] In the specific implementation, the first positioning plate 3 and the second positioning plate 301 are used for pre-positioning, so that the push plate 2 can be accurately located above the fermented bean curd, so that the fermented bean curd can be inserted and removed accurately, and the side gaps caused by inaccurate positioning can be prevented, thereby preventing the laid VC capsules from falling from the side gaps.

[0048] When the push plate 2 fits with the fermented bean curd and the pressure sensor 402 detects that the pressure of the push plate 2 on the fermented bean curd reaches the set value, the controller 101 controls the opening of the external air pump, and the second solenoid valve 306 in the connecting pipe 305 is opened to slightly expand the airbag piece 304, applying a certain squeezing pressure to one side of the fermented bean curd, so as to effectively limit the fermented bean curd and prevent it from falling.

[0049] The pin 104 is flat and flaky, and the pin 104 is parallel to the airbag piece 304.

[0050] Embodiment 4: Refer to Figures 1-6 , a fermented bean curd bottling device, which is basically the same as Embodiment 2. Further, a plurality of inclined plates 405 are fixedly connected to the lower side of the fixed plate 403, and the inclined plates 405 are inclined away from the jet pipe 207. The vertical projection of the inclined plates 405 on the fixed plate 403 at least covers the plurality of mesh holes 404, so that the inclined plates 405 can block the mesh holes 404. The end of the inclined plate 405 is fixedly arranged between two groups of mesh holes 404, and the end face of the inclined plate 405 is used to block the mesh holes 404.

[0051] An elastic mesh cloth 406 is arranged between the lower end of the inclined plate 405 and the fixed plate 403.

[0052] A plurality of flow dividing plates 501 are arranged in the feeding box 5, and inclined platforms 202 are symmetrically arranged in the push plate 2.

[0053] When the jet pipe 207 sprays gas to lay the VC capsules, the gas is discharged through the upper mesh holes 404, and the VC capsules are blocked by the plurality of inclined plates 405 to prevent the VC capsules from entering the mesh holes 404 and affecting the discharge of the gas. And the arrangement of the plurality of inclined plates 405 facilitates the VC capsules to accurately fall into the corresponding laying gaps 204.

[0054] Among them, it should be noted that during the process of the jet pipe 207 jetting gas, the jet pipe 207 jets gas intermittently. The controller 101 controls the intermittent start of the first solenoid valve 208. Intermittent jetting can make the VC capsules in contact with the inclined plate 405 fall, improving the laying efficiency.

[0055] Since the exhaust direction is upward, some VC capsules may contact the elastic mesh cloth 406. The elastic mesh cloth 406 deforms upward under the action of the gas and can block the VC capsules. When the jet pipe 207 stops supplying gas, the elastic mesh cloth 406 resets, so that the VC capsules on the elastic mesh cloth 406 fall and enter the laying gap 204 through the diversion angle 205.

[0056] The flow dividing plates 501 can pre-divert the VC capsules, facilitating subsequent jetting and laying.

[0057] Example 5: Refer to Figure 7 , the fermented bean curd bottling control system, including a fermented bean curd bottling device, further includes a material taking module, a material discharging module and a pressure detection module. The material taking module includes a distance detection module, a telescopic module and a picking module. The material discharging module includes a feeding module and a contraction module; the distance detection module is used to detect the distance between the push plate 2 and the fermented bean curd in real time; the telescopic module is used to adjust the distance change between the push plate 2 and the fermented bean curd; the pressure detection module is used to detect the pressure between the push plate 2 and the fermented bean curd in real time; the picking module is used to drive the insertion needle 104 to insert into the fermented bean curd; the feeding module is used to provide materials to the upper side of the fermented bean curd; the contraction module is used to drive the insertion needle 104 to contract.

[0058] In the specific implementation manner, the above-mentioned distance detection module is realized, for example, by the distance sensor 201 in the above-mentioned fermented bean curd bottling device. The above-mentioned telescopic module is realized, for example, by the controller 101 in the above-mentioned fermented bean curd bottling device controlling the telescopic movement of the second electric telescopic rod 105. The pressure detection module is realized, for example, by the pressure sensor 402 in the above-mentioned fermented bean curd bottling device. The picking module is realized by the controller 101 in the above-mentioned fermented bean curd bottling device controlling the first electric telescopic rod 103 to drive the insertion needle 104 to extend into the fermented bean curd. The feeding module is realized by the feeding assembly in the above-mentioned fermented bean curd bottling device. The contraction module is realized by the controller 101 in the above-mentioned fermented bean curd bottling device controlling the first electric telescopic rod 103 to drive the insertion needle 104 to contract.

[0059] As mentioned above, only the specific implementation manner of the present invention is preferably described, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A fermented bean curd bottling device, comprising: Manipulating assembly, the manipulating assembly includes a control handle (1), characterized in that it further includes: A mounting plate (102) fixedly arranged at the lower end of the control handle (1); A first electric telescopic rod (103) fixedly arranged at the lower end of the mounting plate (102); A plug pin (104) fixedly arranged at the output end of the first electric telescopic rod (103); Second electric telescopic rods (105) symmetrically and fixedly connected to the lower end of the mounting plate (102); and the first electric telescopic rod (103) and the second electric telescopic rods (105) are arranged in the same direction; A push plate (2) arranged on the lower side of the two second electric telescopic rods (105), and the plug pin (104) is slidably connected to the push plate (2); A distance sensor (201) fixedly arranged on the lower side of the push plate (2); A controller (101) fixedly arranged on the control handle (1); Wherein, the control handle (1) is used to drive the manipulating assembly to move, and make the push plate (2) move towards or away from the object to be inserted and taken, and the plug pin (104) is used to be inserted into the object to be inserted and taken; the distance sensor (201) is used to detect the distance between the push plate (2) and the object to be inserted and taken in real time, and transmit the distance data to the controller; the controller (101) is used to control and adjust the telescopic movement of the first electric telescopic rod and the second electric telescopic rods; It further includes a baffle (4), symmetrically provided with sliding grooves (401) on the baffle (4), the upper end of the push plate (2) is slidably arranged in the sliding grooves (401), a plurality of pressure sensors (402) are arranged between the baffle (4) and the sliding grooves (401), the baffle (4) is fixedly connected to the output end of the second electric telescopic rod (105), and the pressure sensors (402) are used to monitor the pressure between the push plate (2) and the object to be inserted and taken in real time, and transmit the pressure data to the controller (101); It further includes a plurality of blocking rods (203), a laying gap (204) is arranged between two adjacent blocking rods (203), a guiding angle (205) is symmetrically arranged on the upper side of the blocking rods (203), a feeding component is arranged between the baffle (4) and the push plate (2), and the material enters the laying gap (204) through the feeding component, wherein the object to be inserted and taken is fermented bean curd; The feeding assembly includes a feeding box (5) fixedly arranged on the baffle (4). An inlet pipe (502) is fixedly connected to the upper side of the feeding box (5). A communication cavity (206) is arranged on one side of the push plate (2). A plurality of air injection pipes (207) communicating with the communication cavity (206) are arranged inside the push plate (2). A first solenoid valve (208) is arranged in the air injection pipe (207). The controller (101) is control-connected to the first solenoid valve (208). An air inlet pipe (210) is fixedly connected to the baffle (4). A hose (209) is arranged between the air inlet pipe (210) and the communication cavity (206). A first sliding pipe (211) is hermetically and slidably connected to the upper side of the air inlet pipe (210). A second sliding pipe (503) is hermetically and slidably connected to the upper side of the inlet pipe (502). The first sliding pipe (211) is fixedly connected to the second sliding pipe (503). An air supply pipe (212) is arranged at the upper end of the first sliding pipe (211). A feeding pipe (504) is arranged at the upper end of the second sliding pipe (503). A fixing plate (403) is fixedly connected to the baffle (4). A plurality of mesh holes (404) are arranged on the fixing plate (403); A first positioning plate (3) is arranged on one side of the push plate (2). Second positioning plates (301) are symmetrically arranged on both sides of the first positioning plate (3). Guide angles (302) are arranged on both the first positioning plate (3) and the second positioning plates (301).

2. The bottled device for fermented bean curd according to claim 1, characterized in that, When the distance sensor (201) detects that the distance between the push plate (2) and the object to be inserted and taken is a first set distance, the controller (101) controls the telescopic movement of the second electric telescopic rod (105) to make the push plate (2) contact the object to be inserted and taken; when the pressure sensor (402) detects that the pressure between the push plate (2) and the object to be inserted and taken is a first set pressure value, the controller (101) controls the telescopic movement of the first electric telescopic rod (103) to drive the insertion needle (104) to insert into the object to be inserted and taken; when the pressure sensor (402) detects that the pressure between the push plate (2) and the object to be inserted and taken is greater than the first set pressure value, the controller (101) simultaneously controls and adjusts the telescopic movement of the first electric telescopic rod (103) and the second electric telescopic rod (105).

3. The bottle filling device for fermented bean curd according to claim 1, characterized in that, A plurality of inclined plates (405) are fixedly connected to the lower side of the fixing plate (403), and the inclined plates (405) incline away from the air injection pipes (207). The vertical projection of the inclined plates (405) on the fixing plate (403) at least covers the plurality of mesh holes (404); An elastic mesh cloth (406) is arranged between the lower end of the inclined plate (405) and the fixing plate (403).

4. A fermented bean curd bottling device according to claim 1, characterized in that, A gas storage cavity (303) is provided inside the first positioning plate (3). An airbag sheet (304) is provided on one side of the gas storage cavity (303). A communication pipe (305) is provided between the gas storage cavity (303) and the communication cavity (206). A second solenoid valve (306) is provided inside the communication pipe (305). The controller (101) is controllably connected to the second solenoid valve (306).

5. The bottled device for fermented bean curd according to claim 1, characterized in that, A plurality of flow dividing plates (501) are provided inside the feeding box (5). Tilted platforms (202) are symmetrically provided inside the push plate (2).

6. A fermented bean curd bottling control system, comprising the fermented bean curd bottling device described in claim 1, characterized in that, It further includes a material taking module, a material placing module, and a pressure detection module. The material taking module includes a distance detection module, a telescopic module, and a picking and inserting module. The material placing module includes a feeding module and a contraction module; The distance detection module is used to detect the distance between the push plate (2) and the fermented bean curd in real time; The telescopic module is used to adjust the distance change between the push plate (2) and the fermented bean curd; The pressure detection module is used to detect the pressure between the push plate (2) and the fermented bean curd in real time; The picking and inserting module is used to drive the inserting needle (104) to insert into the fermented bean curd; The feeding module is used to provide materials to the upper side of the fermented bean curd; The contraction module is used to drive the inserting needle (104) to contract.

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