An automatic boxing device and boxing method for processing bean curd in a paste

Abstract

The application discloses an automatic boxing device and boxing method for processing bean curd in a wrapping paste, which comprises a first conveying assembly for uniformly conveying cut old bean curd, a second conveying assembly arranged outside a discharging end of the first conveying assembly to convey a box body, a supporting assembly horizontally arranged above the two conveying assemblies, a lifting and moving assembly movably arranged on the supporting assembly and capable of reciprocating and lifting between the two conveying assemblies, and a plurality of vacuum suction assemblies arranged below the lifting and moving assembly. The controller drives the lifting and moving assembly to move and lift and drives the vacuum suction assemblies to vacuum-suck the bean curd blocks and move the bean curd blocks to above the second conveying assembly. When the plurality of vacuum suction assemblies are lowered to a specified height, the vacuum suction assemblies automatically spread outward to keep aligned with the box body and release the bean curd blocks. The automatic boxing device and boxing method can uniformly suck and stack the cut bean curd blocks in the box body, and facilitate subsequent processing.

Description

Technical Field

[0001] This invention relates to the field of soybean food processing technology, specifically to an automatic boxing device and boxing method for processing tofu with a coating. Background Technology

[0002] Baojiang tofu is a soy product with a unique flavor. Its typical processing technology includes the following steps: First, cut firm tofu into uniform blocks; then, put the cut tofu blocks into special packaging boxes or soaking boxes; next, pour alkaline water (such as baking soda solution) or other soaking liquid into the box, so that the tofu can be soaked, fermented or treated at low temperature in the liquid for a certain period of time, and a thin and elastic "skin" gradually forms on the surface of the tofu, while the inside maintains a delicate and porous structure; finally, carry out subsequent processes such as draining the liquid and packaging.

[0003] Currently, all existing processing enterprises use manual boxing, where workers stand next to a conveyor belt and pick up tofu pieces cut into chunks and evenly place them into boxes on another conveyor belt. However, this method is inefficient and poses hygiene risks due to manual operation.

[0004] Based on this, in order to improve the efficiency of packaging tofu blocks, some companies have tried to use mechanical automation structures to package tofu blocks. For example, patent publication number "CN224184570U" ​​discloses a fully automatic tofu cutting and packaging machine. This packaging machine uses multiple cylinders to push the tofu blocks into boxes. However, this method is limited to packaging single pieces of tofu. It cannot achieve this function when multiple pieces of tofu are evenly placed in the same box. Some processing companies also use vacuum adsorption to adsorb, clamp, and transfer the tofu blocks to the top of the box. However, in the conveying process of the cut tofu, due to the cutting process, adjacent tofu blocks are often closely arranged (the gap is only 1~3mm, i.e., the gap through which the cutter passes). On the box conveyor line, in order to accommodate the subsequently injected soaking liquid and ensure the stability of the conveying between boxes, the accommodating space of adjacent boxes has a large interval (usually 10~30mm, and the top of the box is usually equipped with a frame). When multiple tofu blocks need to be loaded into multiple boxes simultaneously, existing devices either employ the inefficient method of "suctioning one block at a time and transporting them sequentially" or require the addition of a specialized variable-pitch mechanism (such as an adjustable-pitch suction cup assembly or an intermediate transfer platform). These variable-pitch mechanisms are complex in structure, occupy a large space, and require a long debugging time. Summary of the Invention

[0005] Therefore, to address the aforementioned shortcomings, this invention provides an automatic boxing device and method for processing tofu with a crisp coating. During the descent of the vacuum adsorption components via a lifting and moving assembly, the device utilizes the arc-shaped protrusion at the top of the enclosure to engage with the inclined surface on the side of the adsorption components, pushing each adsorption component outwards and automatically widening the spacing between the tofu blocks to match the spacing within the box's accommodating cavity. When the adsorption components rise, they automatically return to a tight arrangement under the action of an elastic element, eliminating the need for an independent pitch-changing mechanism. Furthermore, the arc-shaped protrusion also acts as a mechanical guide during descent, ensuring precise positioning of each adsorption component relative to the box. This structure effectively improves the automation level, product qualification rate, and production efficiency of the tofu boxing process.

[0006] This invention is implemented as follows: First, an automatic boxing device for processing tofu with a coating is provided, comprising: The first conveying component evenly conveys the cut tofu into blocks. The second conveying assembly is located outside the discharge end of the first conveying assembly and is used to convey the box body; A support component is disposed above the discharge end of the first conveying component and above the second conveying component; The lifting and moving component is movably mounted on the support component to achieve reciprocating movement and lifting between the discharge end of the first conveying component and the top of the second conveying component; Several vacuum adsorption components are positioned directly below the lifting and moving component and move synchronously with it. The lifting and moving component is controlled by a controller. When the lifting and moving component moves and descends above the discharge end of the first conveying component to keep the vacuum adsorption components in contact with the tofu, the controller drives the vacuum adsorption components to operate and generate negative pressure to adsorb the tofu. When the vacuum adsorption components have stably adsorbed the tofu and move with the lifting and moving component above the second conveying component, the vacuum adsorption components descend with the lifting and moving component to a designated height. Then, the several vacuum adsorption components automatically spread outward to align each vacuum adsorption component with each uniformly conveyed box and release the tofu blocks. When the vacuum adsorption components rise from below with the lifting and moving component to a height exceeding the designated height, the several vacuum adsorption components automatically close to prepare for vacuum adsorption of the tofu blocks on the first conveying component.

[0007] Specifically, the second conveying component has barriers on both sides of its conveying surface, and a first power device is installed on any one of the barriers. When the first power device moves to a first limit position, it extends above the conveying surface to block the box. When the first power device moves to a second limit position, it retracts to the outside of the barriers to convey the box. An arc-shaped protrusion is provided at the top of the barriers corresponding to the vacuum adsorption component. The specified height refers to the height at which the bottom of the vacuum adsorption component contacts the barriers. When several vacuum adsorption components move with the lifting and lowering component and descend to contact the arc-shaped protrusion, the arc-shaped protrusion pushes the several vacuum adsorption components away from the outside to form outward diffusion. After the vacuum adsorption components separate from the arc-shaped protrusion, the vacuum adsorption components return to their original positions, causing the vacuum adsorption components to automatically close.

[0008] Specifically, the support assembly includes a bracket and a crossbeam; the crossbeam is horizontally positioned above the discharge end of the first conveying assembly and the second conveying assembly; the lifting and moving assembly is placed on the crossbeam and moves back and forth in a straight line along the length of the crossbeam.

[0009] Specifically, the lifting and moving component includes: The support plate is placed horizontally above the crossbeam and rolls in contact with the crossbeam via rollers at its four bottom corners; A rack is mounted on a support and is arranged parallel to the crossbeam; The second power unit is mounted on the support plate, and its drive end is equipped with a gear that meshes with the rack; The lifting plate is set parallel to the bottom of the support plate, and a guide column penetrating the support plate is set at its top; The third power unit is mounted on the support plate, and its telescopic end passes through the support plate and connects to the lifting plate.

[0010] Specifically, several vacuum adsorption components are arranged side-by-side below the lifting plate and linearly distributed along the conveying direction of the second conveying component; each vacuum adsorption component specifically includes: Support blocks are located below the lifting platform; A connecting block is located above the lifting plate, with both ends extending downward through the lifting plate and connecting to the support block; The vacuum tube is connected at one end to the side of the connecting block and at the other end to an external vacuum pump and control system. The slot is provided on the side of the connecting block corresponding to the conveying direction of the second conveying component; The insert is located on the opposite surface of the slot in the connecting block, and its position corresponds to the slot. An elastic element is sleeved on the outer end of the insert block, with one end fixed to the connecting block and the other end connected to the connecting block of the adjacent vacuum adsorption assembly. Several vacuum suction cups are arranged in a matrix at the bottom of the support block; Each support block has a boss on both outer walls along the conveying direction of the second conveying assembly. The boss corresponds to the position of the enclosure of the second conveying assembly. Each boss has an inclined surface on its outer side. The inclined surface is used to slide and cooperate with the arc-shaped protrusion on the enclosure to push the vacuum adsorption assembly away from the outside when descending.

[0011] Specifically, airflow channels are provided inside the connecting block and the support block; each vacuum suction cup is equipped with a vacuum pressure gauge and a throttle valve.

[0012] Secondly, based on the aforementioned automatic boxing device, an automatic boxing method for tofu with a crispy coating is also provided, which includes the following steps: S1: The first conveying component and the second conveying component respectively convey and position the tofu block and the box; S2: Based on the basic data of the tofu block and the actual adsorption requirements of the vacuum adsorption component, the controller determines the preset adsorption pressure of the vacuum adsorption component, the preset descent speed of the lifting and moving component, and the preset moving speed, respectively. S3: The lifting and moving component drives the vacuum adsorption component to descend to the discharge end of the first conveying component at a preset descent speed. The vacuum adsorption component adsorbs the tofu block at a preset adsorption pressure and then lifts it up. S4: The lifting and moving component moves to above the second conveying component at a preset moving speed, and then drives the vacuum adsorption component to descend. When it descends to the specified height, the vacuum adsorption component automatically spreads outward to align each vacuum adsorption component with each box. S5: The vacuum adsorption component releases the vacuum, and the tofu block falls into the corresponding box due to gravity. S6: The lifting and moving component is raised and reset, several vacuum adsorption components automatically close, the second conveying component releases the box to the next station, the empty box enters the boxing position, and steps S1~S6 are executed in a cycle.

[0013] Specifically, the controller determines the preset adsorption pressure based on the weight of the tofu block and the adsorption conditions of a single vacuum adsorption component in the following manner: , In the above formula, To preset the adsorption pressure, It is the acceleration due to gravity. For safety reasons, This represents the maximum mass among all the adsorbed tofu blocks. The leakage coefficient is used to correct for the effect of gas leakage between the vacuum suction cup and the tofu block surface caused by surface unevenness and free moisture on the adsorption force. This refers to the total effective adsorption area of ​​a single vacuum adsorption component. To compensate for the pressure.

[0014] Specifically, the controller determines the preset descent speed based on the compressive strength and thickness of the tofu block in the following manner: , In the above formula, To preset the descent speed, Take the minimum value among the maximum allowable descent speeds calculated for all the tofu blocks. This is the dynamic impact reduction factor. For the first The compressive strength of block tofu For the first The contact area of ​​a block of tofu. To allow for compression ratio, For the first The thickness of a block of tofu The equivalent kinematic mass of a single vacuum adsorption component is the sum of the masses of all moving parts that rise and fall together with the vacuum adsorption component and participate in the contact impact.

[0015] Specifically, the controller determines the preset moving speed in the following way: , In the above formula, To preset the movement speed, Let be the coefficient of friction between the tofu block and the vacuum suction cup. It is the acceleration due to gravity. The horizontal transfer distance between the lifting and moving component and the discharge end of the first conveying component and the second conveying component.

[0016] Compared with the prior art, the present invention has the following advantages: First, this automatic boxing device uses several vacuum adsorption components movably positioned directly below the lifting and moving assembly. The arc-shaped protrusion at the top of the second conveying assembly's barrier engages with the inclined surface of the vacuum adsorption components' sides, enabling the adsorption components to automatically spread outwards during descent. When the vacuum adsorption components adsorb tofu blocks, adjacent components remain tightly pressed together under the action of elastic elements. At this point, each vacuum adsorption component and its vacuum suction cup corresponds precisely to the position of the tofu block after cutting, facilitating individual adsorption of the tofu block (since there are gaps between the tofu blocks, multiple tofu blocks cannot be adsorbed simultaneously by a single vacuum suction cup). After adsorption is complete, the device is lifted and moved above the box. The lifting and moving assembly lowers the adsorption components to the arc-shaped protrusion on the barrier. The arc-shaped protrusion slides and engages with the inclined surface on the protrusion, pushing each vacuum adsorption component away from the outside, widening the distance between adjacent adsorption components to match the spacing of the box arrangement. After releasing the tofu block, the adsorption components rise and separate from the arc-shaped protrusion, automatically returning to their original position under the action of elastic elements, with adjacent components re-adhering tightly, ready for the next adsorption.

[0017] This structure and its movement mechanism enable automatic separation of the tofu blocks after adsorption and gripping, facilitating alignment with the lower box. The structure is simple and easy to maintain. Through the sliding cooperation of the arc-shaped protrusion and the inclined surface, the adsorption component is mechanically ensured to precisely align with the box at the end of its descent. The arc-shaped protrusion provides a smooth transition guide, avoiding jamming or impact. This structure does not rely on complex sensors and control systems, exhibits strong resistance to environmental factors such as ambient light and dust, and demonstrates high long-term operational stability.

[0018] Secondly, the vacuum adsorption assembly uses several vacuum suction cups arranged in a matrix, and each vacuum suction cup is equipped with a vacuum pressure gauge and a throttle valve, which can be adjusted and monitored at a single point according to the actual adsorption state, further improving the adaptability to tofu blocks with different surface conditions.

[0019] Furthermore, the boxing method corresponding to this automatic boxing device, through the arrangement of various mechanical components and the signal control of each moving component with the controller, can adaptively determine the preset adsorption pressure, preset descent speed, and preset moving speed based on the actual information of the cut tofu blocks and the actual parameters of the tofu blocks. By preset adsorption pressure, it can ensure that the pressure is sufficient to avoid indentation or cracking of the tofu surface under the premise of sufficient adsorption force, based on the weight of the tofu blocks and the adsorption conditions of individual vacuum adsorption components. By preset descent speed, it can limit the compressive strength and thickness of the tofu blocks to prevent excessive impact and compression of the tofu blocks when the adsorption components descend. By preset moving speed, it can allow the tofu blocks to move in the suspended state formed by adsorption, avoiding the tofu blocks falling or shifting due to excessive inertial force during horizontal movement. This method allows the same device to adapt to different batches and different specifications of cut tofu blocks without the need for repeated manual parameter adjustments. While ensuring boxing efficiency, it also reduces the breakage rate, ensuring the efficiency and quality of the tofu processing.

[0020] In summary, this automatic boxing device solves the problems of mismatched time intervals, poor alignment accuracy, and complex equipment structure in the existing automatic boxing of tofu with a crisp texture. It has multiple advantages, including compact structure, reliable operation, high boxing quality, and adaptability to the special process of tofu with a crisp texture. Based on this automatic boxing device, its boxing method can quickly realize the synchronous automatic adsorption and transfer of multiple tofu blocks. After being placed in the box, the tofu blocks are automatically and evenly distributed, avoiding the low efficiency of adsorbing individual tofu blocks and the problem of requiring multiple sensors and complex control systems to accurately adsorb and place individual tofu blocks. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the detailed embodiments of the invention to explain the invention, but do not constitute any limitation on the invention. In the drawings: Figure 1 This is a schematic diagram of an automatic cartoning device; Figure 2 A structural schematic diagram of the automatic cartoning device viewed from the front. Figure 3 This is a schematic diagram of the second conveying component in an automatic cartoning device; Figure 4 This is a structural diagram of the support components and lifting / moving components in an automatic boxing device; Figure 5 This is a structural diagram of the support assembly, lifting and moving assembly, and multiple vacuum adsorption assemblies in an automatic cartoning device. Figure 6 A schematic diagram of a single vacuum adsorption component installed on a lifting and moving component in an automatic cartoning device; Figure 7 This is a schematic diagram of a single vacuum adsorption component in an automatic cartoning device (the vacuum tube is shown in a disconnected manner due to its considerable length). Figure 8 A schematic diagram of a single vacuum adsorption component in an automatic cartoning device, viewed from the front. Figure 9 for Figure 8 Schematic diagram of the cross-sectional structure of the middle AA section; Figure 10 This is a schematic diagram of the structure of the automatic cartoning device when the vacuum adsorption component moves above the second conveying component (for ease of display, a partial schematic diagram is shown). Figure 11 for Figure 10 A schematic diagram of the structure in which the arc-shaped protrusion on the second conveying component pushes the vacuum adsorption component outward when the vacuum adsorption component descends; Figure 12 This is a flowchart illustrating the automated boxing method. In the picture: 100. First conveying assembly; 200. Second conveying assembly; 201. Enclosure; 202. First power unit; 203. Arc-shaped protrusion; 300. Support component; 301. Bracket; 302. Crossbeam; 400. Lifting and moving assembly; 401. Support plate; 402. Roller; 403. Second power unit; 404. Rack; 405. Gear; 406. Third power unit; 407. Guide column; 408. Lifting plate; 409. Photoelectric sensor; 500. Vacuum adsorption assembly; 501. Connecting block; 502. Vacuum tube; 503. Slot; 504. Insert block; 505. Elastic element; 506. Support block; 507. Boss; 508. Angled surface; 509. Vacuum suction cup; 600. Box body. Detailed Implementation

[0022] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the present invention and are not intended to limit the present invention in any way. The accompanying drawings in the present invention are only for illustrative purposes and to facilitate understanding of the embodiments and are not intended to limit the present invention in any way.

[0023] It should be noted that the structures, proportions, sizes, etc. illustrated in the accompanying drawings of this specification are only used to complement the content disclosed in the specification, so that those skilled in the art can understand and read them, and are not intended to limit the conditions under which the present invention can be implemented. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0024] As described in the background section, most tofu processing enterprises currently use manual handling for packaging tofu blocks. Some mechanical devices push the tofu blocks into the box or use vacuum suction to pick them up. However, these mechanical devices can only push or suction one tofu block at a time, making it impossible to push or suction multiple small tofu blocks, such as those with a patina, simultaneously. Even if some mechanical structures use multiple suction cups at the bottom to suction and move multiple tofu blocks simultaneously, the spacing between the tofu blocks is smaller than the spacing between adjacent boxes, causing some tofu blocks to fail to align precisely with the box, thus affecting the packaging process.

[0025] Based on the above reasons, and to solve the above problems, the present invention provides the following solution: Example 1, Please see the appendix Figure 1 ~Appendix Figure 11 An automatic boxing device for processing tofu with a coating includes a first conveying component 100, a second conveying component 200, a support component 300, a lifting and moving component 400, and several vacuum adsorption components 500.

[0026] The first conveying component 100 can be a belt conveyor or a chain conveyor. Several spaced disc cutters and reciprocating horizontal cutters can be set above the feed end of the first conveying component 100 to cut large pieces of firm tofu into smaller pieces. A cooling fan can be set above the middle of the first conveying component 100 to cool the cut tofu pieces and blow away surface moisture, so that the vacuum suction cup can be attached to the tofu pieces for vacuum suction. After being cut, the firm tofu forms tofu pieces with a size of about 20mm×20mm×15mm (i.e., the length and width are both 20mm and the height is 15mm), with a moisture content of about 85%~90%, and the surface has a certain degree of stickiness and porous structure.

[0027] The second conveying component 200 is located outside the discharge end of the first conveying component 100 and is perpendicular to the conveying direction of the first conveying component 100. The second conveying component 200 also adopts a chain plate conveyor or a belt conveyor. A box 600 is placed on its conveying surface. The box 600 is made of food-grade plastic. A frame should be provided at the opening end of the box 600 to facilitate subsequent sealing.

[0028] Please refer to the appendix carefully. Figure 3 The second conveying assembly 200 has barriers 201 on both sides of the conveying surface, and a first power device 202, which is a telescopic blocking cylinder, is installed on either side of the barrier 201. When the piston rod of the blocking cylinder extends to the first limit position, its end extends above the conveying surface to block and position the box 600; when the piston rod retracts to the second limit position, its end retracts to the inside of the barrier 201, and the box 600 can continue to be conveyed forward. In actual production, when multiple boxes 600 are conveyed sequentially on the conveying surface of the second conveying assembly 200, since the opening end of the box 600 is provided with a frame, that is, there is a gap between the outer walls of adjacent boxes 600, the piston rod of the blocking cylinder can pass through the gap during the conveying process to block the box 600 that does not contain tofu blocks, thereby realizing the automated boxing of tofu blocks.

[0029] Arc-shaped protrusions 203 are provided on the top of the side enclosures 201 of the second conveying component 200 and at the corresponding positions of the vacuum adsorption component 500. The outline of the arc-shaped protrusions 203 is arc-shaped or involute-shaped, so as to push the vacuum adsorption component 500 outward when it descends, so that the tofu blocks adsorbed under each vacuum adsorption component 500 are precisely aligned with each box 600, and the boxing is realized.

[0030] Please refer to the appendix carefully. Figure 4 and attached Figure 5The support assembly 300 includes a bracket 301 and a crossbeam 302. The bracket 301 is a portal frame structure, welded from stainless steel square tubing, with its bottom directly fixed to the workshop floor. The crossbeam 302 is horizontally fixed to the top of the bracket 301, and its length covers the entire working area from the discharge end of the first conveying assembly 100 to above the second conveying assembly 200.

[0031] The lifting and moving assembly 400 is installed on the crossbeam 302 and can reciprocate linearly along the length of the crossbeam 302 as well as be lifted vertically.

[0032] Specifically, the lifting and moving assembly 400 includes a support plate 401, a rack 404, a second power unit 403, a lifting plate 408, and a third power unit 406. The support plate 401 is horizontally positioned above the crossbeam 302, with rollers 402 mounted at its four bottom corners. The rollers 402 roll in contact with the top surface of the crossbeam 302 to reduce frictional resistance. The rack 404 is fixed to the bracket 301 and parallel to the crossbeam 302. The second power unit 403 is a servo motor mounted on the support plate 401, with a gear 405 at its drive end. The gear 405 meshes with the rack 404, driving the support plate 401 to reciprocate along the crossbeam 302 via the forward and reverse rotation of the servo motor. The lifting plate 408 is positioned parallel to the support plate 401 below it, with four guide posts 407 at its top. The guide posts 407 penetrate the support plate 401 and slide in contact with linear bearings mounted on the support plate 401 to ensure the guiding accuracy of the lifting movement. The third power unit 406 is a servo electric cylinder, which is installed on the support plate 401. Its telescopic end passes through the support plate 401 and is connected to the top of the lifting plate 408, driving the lifting plate 408 to rise and fall vertically.

[0033] Several vacuum adsorption components 500 are arranged side by side below the lifting plate 408 and linearly distributed along the conveying direction of the second conveying component 200. The initial spacing between adjacent vacuum adsorption components 500 is equal to the spacing between the tofu blocks on the first conveying component 100.

[0034] Please refer to the appendix carefully. Figure 6 ~Appendix Figure 9Specifically, each vacuum adsorption assembly 500 includes a support block 506, a connecting block 501, a vacuum tube 502, a slot 503, an insert block 504, an elastic element 505, and several vacuum suction cups 509. The connecting block 501 is positioned above the lifting plate 408, with both ends extending downwards through elongated through-holes in the lifting plate 408 to connect with the support block 506. These elongated through-holes are perpendicular to the conveying direction of the second conveying assembly 200, allowing the connecting block 501 and the support block 506 to move laterally within a certain range. One end of the vacuum tube 502 is connected to the side of the connecting block 501, and the other end is connected to an external vacuum pump and controller via a vacuum hose. The connecting block 501 and the support block 506 have interconnected airflow channels. The vacuum tube 502 communicates with the airflow channels in the support block 506 through the airflow channels in the connecting block 501, and ultimately connects to each vacuum suction cup 509.

[0035] Slot 503 is located on the side of connecting block 501 facing the adjacent vacuum adsorption assembly 500. Insert block 504 is located on the side of connecting block 501 away from slot 503, and its position corresponds to the slot 503 of the adjacent vacuum adsorption assembly 500. Elastic member 505 is a compression spring, sleeved on the outer end of insert block 504, one end of which is fixed to connecting block 501, and the other end abuts against connecting block 501 of adjacent vacuum adsorption assembly 500. In the initial state, elastic member 505 is in its natural length or slightly compressed state, so that adjacent vacuum adsorption assemblies 500 are tightly pressed together, and the distance between adjacent support blocks 506 is equal to the arrangement spacing of tofu blocks.

[0036] Several vacuum suction cups 509 are arranged in a 6×4 matrix at the bottom of the support block 506. They are made of food-grade silicone, and the effective adsorption diameter of a single vacuum suction cup 509 is 15~18mm (ensuring that the adsorption surface can fully contact the top of the tofu block, avoiding the adsorption surface being suspended and unable to draw a vacuum). Each vacuum suction cup 509 is connected to the airflow channel inside the support block 506 through an independent branch pipe. Each branch pipe is equipped with a vacuum pressure gauge and a throttle valve to monitor the adsorption status in real time and adjust the uniformity of the vacuum degree of each vacuum suction cup 509.

[0037] Each support block 506 has a boss 507 on both outer walls, and the boss 507 corresponds to the position of the enclosure 201 on both sides of the second conveying assembly 200. Each boss 507 has a slope 508 on its outer side, which slides with the arc-shaped protrusion 203 on the top of the enclosure 201 through the slope 508.

[0038] Please refer to the appendix carefully. Figure 10 and attached Figure 11To ensure that the arc-shaped protrusion 203 can push multiple vacuum adsorption components 500 to spread outwards in sequence, the vacuum adsorption component 500 in the middle is fixedly installed on the lifting plate 408 (i.e., the number of vacuum adsorption components is odd). The vacuum adsorption components 500 at both ends correspond to the slots 503 of the adjacent vacuum adsorption components 500 in sequence through the insert block 504 and the elastic element 505. This arrangement not only facilitates the multiple vacuum adsorption components 500 to spread outwards in sequence, but also forms a positioning reference for the vacuum adsorption component 500 in the middle, which is convenient for alignment with the box body 600, thereby driving all vacuum adsorption components 500 to be aligned with the box body 600.

[0039] Meanwhile, to ensure that the arc-shaped protrusion 203 has sufficient room for movement when pushing the vacuum adsorption assembly 500 outward, one end of the arc-shaped protrusion 203 is a rounded end and the other end is a vertical end (the vacuum adsorption assembly closest to the center is the vertical end). The rounded end contacts the inclined surface 508 of the protrusion 507, thereby pushing the vacuum adsorption assembly 500 outward. The inclined surfaces of adjacent vacuum adsorption assemblies 500 have opposite inclination directions and are opposite to the vertical end of the arc-shaped protrusion 203, thus having sufficient room for movement. This ensures that when all vacuum adsorption assemblies 500 spread outward, the distance between any two adjacent vacuum adsorption assemblies 500 remains consistent, thereby achieving precise alignment with the box 600 below.

[0040] In this embodiment, during actual use, the lifting and moving component 400 drives the vacuum adsorption component 500 to descend, the vacuum suction cup 509 contacts the top surface of the tofu block, and vacuum adsorption is established through the control controller and its external vacuum negative pressure system. Subsequently, the lifting and moving component 400 raises the vacuum adsorption component 500, and the tofu block is adsorbed and lifted.

[0041] The lifting and moving component 400 drives the vacuum adsorption component 500 to move horizontally from the discharge end of the first conveying component 100 to above the second conveying component 200, until the protrusions 507 on both sides of the vacuum adsorption component 500 correspond to the enclosure 201 of the second conveying component 200 (as shown in the attached figure). Figure 5 and attached Figure 6 As can be seen, a photoelectric sensor 409 is provided on the bottom of the lifting plate 408 to detect whether the vacuum adsorption component 500 is aligned with the second conveying component 200 or the first conveying component 100 (to release or adsorb tofu blocks). At this time, the lifting moving component 400 stops moving and drives the vacuum adsorption component 500 to descend. During the descent, the inclined surface 508 of each vacuum adsorption component 500 contacts the arc-shaped protrusion 203. The arc-shaped protrusion 203 applies a normal thrust perpendicular to the inclined surface 508 to the inclined surface 508. The horizontal component of this thrust pushes the vacuum adsorption component 500 outward away from the adjacent vacuum adsorption component 500.

[0042] If the photoelectric sensor does not detect the tofu block at the discharge end of the first conveying component, the controller will pause operation and issue a warning signal; if the box positioning deviation exceeds the set threshold, the controller will issue an alarm and stop operation, waiting for manual intervention.

[0043] As the lifting and moving component 400 continues to descend, the protrusion 507 slides along the contour of the arc-shaped protrusion 203, and the distance between the vacuum adsorption components 500 gradually increases, eventually aligning each vacuum adsorption component 500 with the box 600. At this point, the lifting and moving component 400 stops operating, and atmospheric pressure is introduced into the vacuum pipeline of the vacuum adsorption component 500, achieving vacuum breaking. The tofu block falls into the corresponding box 600 by gravity, completing the automatic boxing process. After boxing, the lifting and moving component 400 drives the vacuum adsorption component 500 to rise until the inclined surface 508 separates from the arc-shaped protrusion 203. At this point, under the rebound force of the elastic element 505, the vacuum adsorption component 500 begins to return to its original position, waiting for the next tofu block adsorption and boxing operation.

[0044] Example 2, Please refer to the appendix carefully. Figure 12 Based on Example 1, this example provides an automatic boxing method for tofu with a coating, including the following steps: S1: The first conveying component and the second conveying component respectively convey and position the tofu block and the box; The first conveying component 100 evenly conveys the cut tofu pieces to its discharge end, while the second conveying component 200 conveys the box 600 to the position corresponding to the vacuum adsorption component 500 and positions it.

[0045] The second conveying component 200 can be used for intermittent conveying, advancing one station distance each time. The station distance is equal to the width dimension of the box 600. When the box 600 reaches the predetermined position, the blocking cylinder of the first power unit 202 extends to block and position the box 600.

[0046] S2: Based on the basic data of the tofu block and the actual adsorption requirements of the vacuum adsorption component, the controller determines the preset adsorption pressure of the vacuum adsorption component, the preset descent speed of the lifting and moving component, and the preset moving speed, respectively. S3: The lifting and moving component drives the vacuum adsorption component to descend to the discharge end of the first conveying component at a preset descent speed. The vacuum adsorption component adsorbs the tofu block at a preset adsorption pressure and then lifts it up. When the vacuum adsorption component 500 descends to its end, the vacuum suction cup 509 contacts the top surface of the tofu block, the vacuum pump starts, and a vacuum adsorption force is formed to adsorb the tofu block. At the same time, the third power unit 406 drives several vacuum adsorption components 500 to rise to a suitable height at a preset descent speed.

[0047] S4: The lifting and moving component moves to above the second conveying component at a preset moving speed, and then drives the vacuum adsorption component to descend. When it descends to the specified height, the vacuum adsorption component automatically spreads outward to align each vacuum adsorption component with each box. The second power unit 403 is activated, driving the support plate 401 to move along the crossbeam 302 toward the second conveying component 200 until the vacuum adsorption component 500 is aligned with the second conveying component 200. The second power unit 403 then stops operating. The third power unit 406 drives several vacuum adsorption components 500 to descend at a preset descending speed. During the descent, the inclined surface 508 of the boss 507 contacts the arc-shaped protrusion 203 on the top of the enclosure 201. The arc-shaped protrusion 203 pushes the vacuum adsorption components 500 away from the outside, increasing the distance between adjacent vacuum adsorption components 500 to maintain the position of the tofu block adsorbed below the vacuum adsorption component 500 corresponding to the box 600. The third power unit 406 then stops operating.

[0048] S5: The vacuum adsorption component releases the vacuum, and the tofu block falls into the corresponding box due to gravity. The controller switches the solenoid valve, allowing atmospheric pressure to flow through the vacuum line. Simultaneously, a small amount of positive pressure air (e.g., 0.01 MPa) can be connected to accelerate vacuum breaking. The tofu block falls into its corresponding container 600 due to gravity. At this point, the distance between the tofu block below the vacuum suction cup 509 and the bottom of the container is very small, meaning the tofu block falls from a short height and suffers no damage.

[0049] S6: The lifting and moving component is raised and reset, several vacuum adsorption components automatically close, the second conveying component releases the box to the next station, the empty box enters the boxing position, and steps S1~S6 are executed in a cycle.

[0050] The third power unit 406 lifts the vacuum adsorption assembly 500. During the lifting process, the inclined surface of the boss 507 separates from the arc-shaped protrusion 203. Under the action of the elastic element 505, the distance between the vacuum adsorption assemblies 500 decreases until adjacent vacuum adsorption assemblies 500 are pressed together, maintaining the same distance from the tofu blocks to be adsorbed. The second power unit 403 reverses and drives the support plate 401 back above the discharge end of the first conveying assembly 100, waiting for subsequent adsorption. At the same time, the blocking cylinder of the first power unit 202 retracts, and the second conveying assembly 200 conveys the box 600 containing tofu to the next station (soaking or coating process). The next empty box 600 enters the boxing position, and the steps S1~S6 are repeated to automate the boxing of tofu blocks.

[0051] Example 3, Based on Example 2, this example provides a method for determining the preset adsorption pressure of the vacuum adsorption component on tofu blocks, as follows: , In the above formula, To preset the adsorption pressure, The acceleration due to gravity is taken as 9.8 m / s². For safety reasons, considering factors such as inertial forces, vibrations, and vacuum fluctuations that the tofu block may experience during lifting and movement, this embodiment takes... =2.5, This represents the maximum mass among all the adsorbed tofu blocks. The leakage coefficient, determined by the vacuum attenuation method, is used to correct for the influence of gas leakage caused by surface unevenness and free moisture between the vacuum suction cup and the tofu block surface on the adsorption force. The coefficient ranges from 0.6 to 0.9. Because of the microscopic unevenness and free moisture on the tofu block surface, a perfectly ideal seal cannot be formed when the vacuum suction cup contacts it, inevitably resulting in gas leakage. This causes the actual effective adsorption force to be less than the theoretically calculated value; therefore, this coefficient is introduced for correction. The specific value depends on the moisture content of the tofu, the surface smoothness, and the cutting quality. When the moisture content of the tofu surface is high or the cut surface is rough, the suction force will be lower. Take the lower value, and vice versa. The pressure attenuation rate was determined by a person skilled in the art using the conventional vacuum attenuation method: a vacuum suction cup was attached to the surface of the tofu block, a vacuum was drawn to a predetermined pressure, and then the valve was closed. The pressure leakage rate per unit time was measured (for example, after drawing a vacuum to -0.06 MPa and closing the valve, the pressure attenuation rate within 30 seconds was recorded, and the relationship between the attenuation rate and the leakage coefficient was used to determine the leakage rate). (Value), the lower the leakage rate, the better. The higher the value, the better for freshly cut, smooth-surfaced firm tofu. Take 0.8, This refers to the total effective adsorption area of ​​a single vacuum adsorption component. To compensate for pressure and overcome factors such as friction loss in the vacuum pipeline, efficiency loss of the vacuum generator, and system leakage, in this embodiment, based on the pipeline length and vacuum pump performance, a suitable design is selected. =5000Pa.

[0052] For example, if a tofu block is 20mm × 20mm × 15mm in size, and the density of firm tofu is approximately 1080kg / m³, then the mass of a single block of tofu is... If 6 × 4 = 24 pieces of tofu are absorbed simultaneously, since the tofu is from the same batch and cut to the same specifications, the quality of each tofu piece is basically the same. .

[0053] Similarly, since each vacuum adsorption component needs to adsorb 24 pieces of tofu simultaneously, each vacuum adsorption component 500 has 24 vacuum suction cups 509. The adsorption end face of a single vacuum suction cup is set to be circular with a diameter of 16mm. Therefore, the effective adsorption area of ​​a single vacuum suction cup 509 is... , .

[0054] Substitute the parameters into the above equation. , .

[0055] Considering the actual engineering margin, the controller sets the preset adsorption pressure to 15000Pa.

[0056] Since multiple vacuum suction cups in each vacuum adsorption component need to simultaneously adsorb multiple tofu blocks, considering that the tofu blocks may have different heights, the vacuum suction cups can be set as corrugated suction cups with a certain amount of compression to compensate for the thickness difference of the tofu blocks.

[0057] Example 4, Based on Example 2, this example provides a method for determining the preset descent speed of the vacuum adsorption component to adsorb or place tofu blocks during descent, as follows: , In the above formula, To preset the descent speed, Take the minimum value among the maximum allowable descent speeds calculated for all the tofu blocks; The dynamic impact reduction factor is used to account for the impact effect when the suction cup assembly descends and contacts the tofu. Since tofu is a viscoelastic material, its dynamic compressive strength is lower than its quasi-static compressive strength. The value is taken as 0.1~0.3, and in this embodiment it is taken as... =0.2; For the first The compressive strength of tofu blocks was measured using a texture analyzer. The quasi-static compressive strength of firm tofu is approximately 0.05~0.15 MPa. In this embodiment, we take... ; For the first The contact area between the tofu block and the vacuum suction cup is defined in this embodiment as a circular cross-section. The contact area between the vacuum suction cup and the tofu is the effective adsorption area of ​​the vacuum suction cup 509. ; The allowable compressibility ratio is the ratio of the maximum allowable compressive deformation of the tofu block to its thickness. This is to prevent structural damage to the tofu block. The value is taken as 0.03~0.05, and in this embodiment it is taken as... =0.04; For the first The thickness of the tofu block in this embodiment =15mm=0.015m; The equivalent kinematic mass of a single vacuum adsorption component is the sum of the masses of all moving parts that rise and fall together with the vacuum adsorption component and participate in the contact impact. This value can be obtained by direct weighing. Specifically, it includes the weight of a single support block 506, the weight of a single connecting block and accessories, and the portion of the total mass of the lifting plate 408 that is distributed to a single component after being divided equally among the total number of vacuum adsorption components. The mass of the follower part in the guide column and the telescopic end of the third power device is relatively small and is ignored in this embodiment.

[0058] In this embodiment, a total of 9 vacuum adsorption components are used. The mass of a single support block 506 is approximately 0.3 kg, the mass of the connecting block 501 and accessories is approximately 0.1 kg, and the mass of the lifting plate 408 (total mass of 1.8 kg) is approximately 0.2 kg. ≈0.6kg.

[0059] Substitute the parameters into the above equation. , , ≤0.089m / s.

[0060] Example 5, Based on Example 2, this example provides a method for determining the preset moving speed of the vacuum adsorption component when it moves through the air after adsorbing tofu blocks, as follows: , In the above formula, To preset the movement speed, Let be the coefficient of friction between the tofu block and the vacuum suction cup. It is the acceleration due to gravity. The horizontal transfer distance between the lifting and moving component and the discharge end of the first conveying component and the second conveying component.

[0061] In this embodiment, The coefficient of friction between the tofu block and the vacuum suction cup is 0.4. The value is 0.5m.

[0062] Substitute the parameters into the above equation. , , ≤1.4 m / s.

[0063] In practical engineering applications, considering the fragile texture of tofu and the system's positioning accuracy requirements, the preset moving speed can be set to 0.8 m / s.

[0064] Example 6, To ensure the uniformity of vacuum level in each vacuum suction cup 509 of the multiple vacuum adsorption components 500, The vacuum pump is connected to the vacuum storage chamber via the main gas pipeline. The vacuum storage chamber is made of stainless steel and is used to buffer vacuum fluctuations. The outlet of the vacuum storage chamber is equipped with a stainless steel flow divider block with 6 to 8 outlets. Each outlet is connected to a vacuum adsorption assembly 500 via an independent vacuum hose.

[0065] Below each vacuum adsorption assembly 500 are arranged multiple vacuum suction cups 509. Each vacuum suction cup 509 is connected to the support block 506 through a branch pipe. Each branch pipe is equipped with a vacuum pressure gauge, a vacuum filter, and a throttle valve. The throttle valve is a needle valve structure used to finely adjust the flow rate and vacuum level of the line. The vacuum filter is used to prevent tofu debris from entering the pipeline. The vacuum pressure gauge is used to monitor the vacuum level of the line in real time and feed the signal back to the controller.

[0066] During the no-load commissioning phase, the vacuum pump was turned on. After the vacuum level in the vacuum storage chamber reached -0.06 MPa, each vacuum adsorption component 500 was turned on one by one, and the no-load vacuum level of each component was recorded. By adjusting the throttle valves of each component, the deviation of the no-load vacuum level of each component was controlled within ±0.005 MPa.

[0067] During load operation, the controller compares the readings of each vacuum pressure sensor in real time. If the vacuum level of a certain sensor is significantly lower than that of the others (deviation exceeding 0.01 MPa), the controller determines that there is a leak or abnormal adsorption in that sensor and takes the following measures: If the vacuum level of the channel is lower than the preset threshold and the duration exceeds 0.5s, the adsorption is deemed to have failed, and the tofu block in that channel will not participate in this transfer. In the release phase of step S5, the vacuum adsorption component 500 where the channel is located will not release the vacuum, and at the same time, it will issue an alarm signal, stop the operation of the entire device, and wait for the staff to remove the tofu block in that channel and remove the box corresponding to that channel. After the removal is completed, the staff will run the device again.

[0068] If multiple vacuum levels drop simultaneously, it is determined that the total vacuum pump capacity is insufficient or the energy storage chamber is leaking. The controller will reduce the overall operating speed or stop operation, and issue an alarm signal to prompt the operator to perform maintenance.

[0069] The above description is a detailed description of the preferred embodiments of the present invention. However, the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modifications made under the technical spirit of the present invention should fall within the patent scope covered by the present invention.

Claims

1. An automatic boxing device for processing tofu with a crisp coating, characterized in that, include: The first conveying component evenly conveys the cut tofu into blocks. The second conveying assembly is located outside the discharge end of the first conveying assembly and is used to convey the box body; A support component is disposed above the discharge end of the first conveying component and above the second conveying component; The lifting and moving component is movably mounted on the support component to achieve reciprocating movement and lifting between the discharge end of the first conveying component and the top of the second conveying component; Several vacuum adsorption components are positioned directly below the lifting and moving component and move synchronously with it. Adjacent vacuum adsorption components are connected by elastic elements. The lifting and moving component is controlled by a controller. When the lifting and moving component moves and descends above the discharge end of the first conveying component to keep the vacuum adsorption components in contact with the tofu, the controller drives the vacuum adsorption components to operate and generate negative pressure to adsorb the tofu. When the vacuum adsorption components have stably adsorbed the tofu and move with the lifting and moving component above the second conveying component, the vacuum adsorption components descend with the lifting and moving component to a specified height. Then, the several vacuum adsorption components automatically spread outward to align each vacuum adsorption component with each uniformly conveyed box and release the tofu. When the vacuum adsorption components rise from below with the lifting and moving component to a height exceeding the specified height, the several vacuum adsorption components automatically close to prepare for vacuum adsorption of the tofu on the first conveying component. The second conveying component has barriers on both sides of the conveying surface, and the top of the barriers has an arc-shaped protrusion. Several vacuum adsorption components have inclined surfaces on their bottom edges that correspond to the positions of the arc-shaped protrusion. The specified height refers to the height at which the bottom inclined surfaces of the vacuum adsorption components contact the barriers. When several vacuum adsorption components move with the lifting and lowering component and descend to contact the arc-shaped protrusion, the arc-shaped protrusion contacts the inclined surfaces of the vacuum adsorption components, pushing each adsorption component away from the outside, so that the spacing between the tofu blocks automatically expands to match the arrangement spacing of the box cavity. When the adsorption components rise, they automatically return to a tight arrangement under the action of the elastic element.

2. The automatic boxing device for processing tofu with a coating as described in claim 1, characterized in that, A first power device is installed on any one of the enclosures; when the first power device moves to the first limit position, it extends above the conveying surface to block the box; when the first power device moves to the second limit position, it retracts to the outside of the enclosure to realize the conveying of the box.

3. The automatic boxing device for processing tofu with a coating as described in claim 2, characterized in that, The support assembly includes a bracket and a crossbeam; the crossbeam is horizontally positioned above the discharge end of the first conveying assembly and the second conveying assembly; the lifting and moving assembly is placed on the crossbeam and moves back and forth in a straight line along the length of the crossbeam.

4. The automatic boxing device for processing tofu with a coating as described in claim 3, characterized in that, The lifting and moving component includes: The support plate is placed horizontally above the crossbeam and rolls in contact with the crossbeam via rollers at its four bottom corners; A rack is mounted on a support and is arranged parallel to the crossbeam; The second power unit is mounted on the support plate, and its drive end is equipped with a gear that meshes with the rack; The lifting plate is set parallel to the bottom of the support plate, and a guide column penetrating the support plate is set at its top; The third power unit is mounted on the support plate, and its telescopic end passes through the support plate and connects to the lifting plate.

5. The automatic boxing device for processing tofu with a coating as described in claim 4, characterized in that, Several vacuum adsorption components are arranged side-by-side below the lifting plate and linearly distributed along the conveying direction of the second conveying component; each vacuum adsorption component specifically includes: Support blocks are located below the lifting platform; A connecting block is located above the lifting plate, with both ends extending downward through the lifting plate and connecting to the support block; The vacuum tube is connected at one end to the side of the connecting block and at the other end to an external vacuum pump and control system. The slot is provided on the side of the connecting block corresponding to the conveying direction of the second conveying component; The insert is located on the opposite surface of the slot in the connecting block, and its position corresponds to the slot. The elastic element is sleeved on the outer end of the insert block, with one end fixed on the connecting block and the other end connected to the connecting block of the adjacent vacuum adsorption component. Several vacuum suction cups are arranged in a matrix at the bottom of the support block; Each support block has a boss on both outer walls along the conveying direction of the second conveying assembly. The boss corresponds to the position of the enclosure of the second conveying assembly. The inclined surface is opened on the outer side of each boss. The inclined surface is used to slide and cooperate with the arc-shaped protrusion on the enclosure to push the vacuum adsorption assembly away from the outside when descending.

6. The automatic boxing device for processing tofu with a coating as described in claim 5, characterized in that, Airflow channels are provided inside the connecting block and the support block; each vacuum suction cup is equipped with a vacuum pressure gauge and a throttle valve.

7. An automatic boxing method for processed tofu, wherein the method uses an automatic boxing device for processing processed tofu as described in any one of claims 1 to 6, characterized in that, Includes the following steps: S1: The first conveying component and the second conveying component respectively convey and position the tofu block and the box; S2: Based on the basic data of the tofu block and the actual adsorption requirements of the vacuum adsorption component, the controller determines the preset adsorption pressure of the vacuum adsorption component, the preset descent speed of the lifting and moving component, and the preset moving speed, respectively. S3: The lifting and moving component drives the vacuum adsorption component to descend to the discharge end of the first conveying component at a preset descent speed. The vacuum adsorption component adsorbs the tofu block at a preset adsorption pressure and then lifts it up. S4: The lifting and moving component moves to above the second conveying component at a preset moving speed, and then drives the vacuum adsorption component to descend. When it descends to the specified height, the vacuum adsorption component automatically spreads outward to align each vacuum adsorption component with each box. S5: The vacuum adsorption component releases the vacuum, and the tofu block falls into the corresponding box due to gravity. S6: The lifting and moving component is raised and reset, several vacuum adsorption components automatically close, the second conveying component releases the box to the next station, the empty box enters the boxing position, and steps S1~S6 are executed in a cycle.

8. The automatic boxing method for tofu with a coating as described in claim 7, characterized in that, The controller determines the preset adsorption pressure in the following manner: ， In the above formula, To preset the adsorption pressure, It is the acceleration due to gravity. K For safety reasons, This represents the maximum mass among all the adsorbed tofu blocks. The leakage coefficient is used to correct for the effect of gas leakage between the vacuum suction cup and the tofu block surface caused by surface unevenness and free moisture on the adsorption force. This refers to the total effective adsorption area of ​​a single vacuum adsorption component. To compensate for the pressure.

9. The automatic boxing method for tofu with a coating as described in claim 7, characterized in that, The controller determines the preset descent speed in the following manner: ， In the above formula, To preset the descent speed, Take the minimum value among the maximum allowable descent speeds calculated for all the tofu blocks. This is the dynamic impact reduction factor. For the first The compressive strength of block tofu For the first The contact area of ​​a block of tofu. To allow for compression ratio, For the first The thickness of a block of tofu The equivalent kinematic mass of a single vacuum adsorption component is the sum of the masses of all moving parts that rise and fall together with the vacuum adsorption component and participate in the contact impact.

10. The automatic boxing method for tofu with a coating as described in claim 7, characterized in that, The controller determines the preset moving speed in the following manner: ， In the above formula, To preset the movement speed, Let be the coefficient of friction between the tofu block and the vacuum suction cup. It is the acceleration due to gravity. The horizontal transfer distance between the lifting and moving component and the discharge end of the first conveying component and the second conveying component.

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