Bean curd blank block grabbing mechanism

Abstract

A bean curd blank block grabbing mechanism relates to the technical field of bean curd bottling devices and comprises a blank grabbing and conveying mechanism, a blank grabbing and conveying mechanism and a blank conveying mechanism, the blank grabbing and conveying mechanism is used for grabbing bean curd blank blocks located on a blank grabbing station and conveying the bean curd blank blocks to a blank receiving station of a clamp-shaped bottling mechanism; a supporting frame is erected at the bottling position, and the blank grabbing and conveying mechanism comprises a lifting blank grabbing assembly and a transverse moving assembly which is transversely arranged on the supporting frame and used for driving the lifting blank grabbing assembly to move between a blank grabbing station and a blank receiving station in a reciprocating mode. According to the utility model, the production efficiency and the product quality are improved, the labor cost and the rejection rate are reduced, and the device is an important improvement on the prior art.

Description

Technical Field

[0001] The utility model relates to the technical field of tofu bottling devices, in particular to a tofu embryo block grabbing mechanism. Background Art

[0002] Tofu, also known as fermented tofu, fermented bean curd, and moldy tofu, is a seasoning and side dish made from soybeans through processing, grinding, dough making, culture, and fermentation. It is a traditional Chinese folk delicacy. In the production process of tofu embryo blocks, the bottling process of tofu embryo blocks is indispensable.

[0003] In the existing technology, the grabbing and transportation of tofu embryo blocks may still rely on manual or semi-automatic equipment. This method is not only inefficient, but also easily affected by human factors, resulting in unstable production speed and difficulty in meeting the needs of large-scale production.

[0004] In manual or semi-automatic operations, it is often difficult to ensure the accuracy and stability of the tofu embryo grasping process, which can easily lead to problems such as breakage and misalignment, affecting the quality and appearance of the final product. In addition, manual operation can also lead to poor consistency between different batches of products.

[0005] Existing tofu block grabbing and conveying equipment may have a low degree of automation, cannot adapt to tofu blocks of different sizes and shapes, and lack flexibility. This results in frequent equipment replacement or parameter adjustments during the production process, increasing production costs and time.

[0006] With increasing market demand and intensified competition, companies need to achieve efficient and continuous production to meet customer needs. However, existing tofu block grabbing and conveying equipment may not meet this demand, resulting in low production efficiency and insufficient production capacity. Utility Model Content

[0007] The purpose of the utility model is to propose a tofu embryo block grabbing mechanism to solve the technical defects of the prior art in that tofu embryo block grabbing is performed manually or semi-automatically, the efficiency is low, the grabbing accuracy and stability are insufficient, the degree of automation is low, the flexibility is lacking, and the requirements of efficient and continuous production cannot be met.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0009] A tofu embryo block grabbing mechanism, characterized by comprising:

[0010] a tofu embryo conveying mechanism, the tofu embryo conveying mechanism being used to grab the tofu embryo block located on the embryo grabbing station and convey the tofu embryo block to the embryo receiving station of the clamp-shaped bottling mechanism;

[0011] A support frame is provided at the bottling position, and the embryo grabbing and conveying mechanism includes a lifting embryo grabbing component and a transverse movement component laterally arranged on the support frame for driving the lifting embryo grabbing component to move back and forth between the embryo grabbing station and the embryo receiving station.

[0012] Furthermore, the transverse movement assembly includes a transverse beam mounted horizontally on the support frame, a first transverse rail and a transverse rack are laterally fixed on the front side of the transverse beam, a fixed plate is slidingly provided on the first transverse rail, a transverse movement motor is fixed on the fixed plate, the output shaft of the transverse movement motor is fixedly connected to the transverse movement gear, and the transverse movement gear is meshed and transmission-connected with the transverse rack.

[0013] Furthermore, the lifting and embryo-grabbing assembly includes a lifting cylinder vertically fixed on the front side of the fixed plate, the gas rod of the lifting cylinder is fixedly connected to the top of the grabbing base plate, the bottom of the grabbing base plate is fixedly provided with a second cross rail along the horizontal direction, and a number of grabbing units are slidably fitted on the second cross rail, and the side of the grabbing base plate is provided with an adjustment cylinder for adjusting the grabbing spacing of the grabbing units.

[0014] Furthermore, each of the grabbing units includes a sliding seat slidably connected to the second cross rail, a grabbing cylinder is fixed vertically downward at the bottom of the sliding seat, a pin top plate is horizontally arranged on the bottom side of the grabbing cylinder, and two rows of pins are symmetrically arranged vertically downward on both sides of the pin top plate along its length direction, and each pin in the same row is evenly spaced, and the bottom end of each pin has a pointed end portion for convenient insertion into the tofu embryo block, and a embryo block pushing plate is vertically slidably connected to the pin, and the air rod of the grabbing cylinder is fixedly connected to the embryo block pushing plate.

[0015] Furthermore, an adjustment positioning block is provided between two adjacent sliding seats, and a long hole is horizontally provided in the middle of the adjustment positioning block. The two sides of the adjustment positioning block are positioned on the adjacent sliding seats through column head screws and the long holes. The column head screws can be moved laterally along the long holes, and the air rod of the adjustment cylinder is fixed to the outermost side of the sliding seat.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] This utility model proposes a tofu embryo grabbing mechanism that integrates automated components such as a lifting and gripping assembly and a transverse movement assembly to achieve automatic grabbing and conveying of tofu embryos. This mechanism not only improves production efficiency and product quality, but also reduces labor costs and scrap rates, representing a significant improvement over existing technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 It is a structural diagram of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the hidden support frame of the utility model;

[0021] Figure 3 This is a structural diagram of the embryo grabbing and conveying mechanism of the utility model;

[0022] Figure 4 This is a schematic diagram of the partial explosion structure of the embryo grabbing and conveying mechanism of the present invention;

[0023] Figure 5 This is a structural diagram of the lifting embryo grabbing component of the utility model;

[0024] Figure 6 This is a schematic diagram of the partial explosion structure of the lifting embryo grabbing component of the utility model;

[0025] Figure 7 This is a schematic structural diagram of the grabbing unit of the utility model;

[0026] Figure 8 This is a schematic diagram of the structure of the grabbing unit of the utility model in another state;

[0027] Figure 9 This is a schematic diagram of the coordination structure between the clamp-shaped bottle loading mechanism and the bottle taking mechanism of the utility model;

[0028] Figure 10 This is a schematic structural diagram of the clamp-shaped bottling mechanism of the utility model;

[0029] Figure 11 This is a schematic diagram of the bottle taking mechanism structure of the utility model;

[0030] Figure 12 This is a schematic diagram of the partial explosion structure of the clamp-shaped bottling mechanism of the utility model;

[0031] Figure 13 This is a schematic structural diagram of the clamp-shaped bottling mechanism of the utility model in an open state;

[0032] Figure 14 This is a structural diagram of the bottling conveyor of the utility model.

[0033] In the figure: 1. Bottle feeding mechanism, 11. Bottle feeding conveyor, 12. Bottle filling conveyor, 13. Bottle discharging conveyor, 14. Guardrail, 15. Bracket, 16. Bottle removal port, 17. Front bottle blocking assembly, 171. Barrier, 172. Connecting rod, 173. Bottle blocking cylinder, 18. Rear bottle blocking assembly, 2. Glass bottles, 3. Support frame, 4. Clamp-shaped bottle filling mechanism, 41. Vertical frame, 42. Lower arc-shaped enclosure, 421. Lower hinged prism, 43. Middle arc-shaped enclosure, 431. Middle hinged rib groove, 432. Middle hinged prism, 44. Upper arc-shaped enclosure, 441. Upper hinged rib groove, 45. Telescopic cylinder, 46. Enclosure ear, 47. Embossed push cylinder, 48 . Bottling push plate, 49. Arc-shaped clamping wall, 5. Bottle retrieval structure, 51. Rotating cylinder, 52. Mounting plate, 53. Bottle retrieval cylinder, 54. Bottle retrieval block, 55. Vacuum suction head, 6. Preform delivery mechanism, 7. Tofu preform block, 8. Preform grabbing and conveying mechanism 81. Crossbeam, 82. First cross rail, 83. Transverse rack, 84. Fixed plate, 85. Transverse movement motor, 86. Lifting cylinder, 87. Grasping base plate, 88. Adjusting cylinder, 89. Grasping unit, 891. Sliding seat, 892. Grasping cylinder, 893. Pin top plate, 894. Pin, 895. Preform block push plate, 896. Adjusting positioning block, 897. Column head screw, 898. Long hole. DETAILED DESCRIPTION

[0034] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0036] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0037] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0038] like Figure 1-14 As shown, a tofu embryo block bottling device is used to automatically bottle tofu embryo blocks 7, comprising:

[0039] The bottle feeding mechanism 1 is used to feed and remove glass bottles 2 before and after bottling;

[0040] The bottle-picking mechanism 5 is used to automatically grab the glass bottle 2 located on the bottle-grabbing position of the bottle-feeding mechanism 1 and transport the glass bottle 2 from the bottle-grabbing position to the bottling position;

[0041] The clamp-shaped bottling mechanism 4 is used to receive a plurality of arranged tofu embryo blocks 7, clamp the tofu embryo blocks 7 into the shape of the bottle mouth of the glass bottle 2, and push the formed tofu embryo blocks into the bottle to form a bottling action;

[0042] The embryo delivery mechanism 6 is used to deliver the arranged tofu embryo blocks 7 to the embryo grabbing station;

[0043] The embryo grabbing and conveying mechanism 8 is used to grab the tofu embryo block 7 located on the embryo grabbing station and convey the tofu embryo block 7 to the embryo receiving station of the clamp-shaped bottling mechanism 4.

[0044] This utility model proposes a tofu embryo block bottling device that, through a highly integrated automated design, completely overturns the traditional manual bottling model. The coordinated operation of the bottle feeding mechanism, bottle retrieval mechanism, clamping bottling mechanism, embryo feeding mechanism, and embryo grabbing and conveying mechanism realizes a continuous and automated operation process from the automatic feeding, grabbing, and positioning of glass bottles to the precise grabbing, arrangement, clamping and forming of the tofu embryo blocks, and finally pushing them into the bottle. This process greatly shortens the production cycle and significantly improves production efficiency, making large-scale, high-efficiency tofu embryo block bottling production possible. This device not only improves production efficiency, but also ensures bottling quality and product hygiene, while reducing labor costs and scrap rates. It is a significant improvement to traditional technology.

[0045] As a further optional feature of the present invention, a support frame 3 is installed at the bottling station. The preform grabbing and conveying mechanism 8 includes a lifting and lowering preform grabbing assembly and a transverse movement assembly, positioned transversely to the support frame 3, for driving the lifting and lowering preform grabbing assembly back and forth between the grabbing and receiving stations. The coordinated operation of the lifting and lowering preform grabbing assembly and the transverse movement assembly enables rapid and accurate transfer of preforms between the grabbing and receiving stations. This automated transfer method significantly improves production efficiency and reduces manual intervention and waiting time.

[0046] As a further optional mode of the present invention, the transverse movement assembly includes a crossbeam 81 horizontally mounted on the support frame 3, and a first cross rail 82 and a cross rack 83 are laterally fixedly arranged on the front side of the cross beam 81. A fixed plate 84 is slidingly arranged on the first cross rail 82, and a transverse movement motor 85 is fixedly arranged on the fixed plate 84. The output shaft of the transverse movement motor 85 is fixedly connected to the transverse movement gear, and the transverse movement gear is meshed and transmission-connected with the transverse rack 83.

[0047] When the embryo-grabbing and lifting assembly needs to be moved, the control system issues a command to activate the transverse motor 85. Once activated, the transverse motor 85's output shaft rotates the transverse gear. Because the transverse gear meshes with the transverse rack 83, the rotating transverse gear generates linear motion along the rack's direction. Driven by the meshing of the transverse gear and transverse rack 83, the fixed plate 84 slides along the first transverse rail 82. This sliding is smooth and controllable, ensuring the stability and accuracy of the embryo-grabbing and lifting assembly during movement. By controlling the forward and reverse rotation of the transverse motor 85, the fixed plate 84 and the embryo-grabbing and lifting assembly fixed thereto can be reciprocated between the embryo-grabbing and embryo-receiving stations. To move toward the embryo-receiving station, the transverse motor 85 rotates forward; to return to the embryo-grabbing and embryo-receiving station, the transverse motor 85 rotates reversely. When the embryo-grabbing and lifting assembly reaches a designated position (e.g., the embryo-grabbing or embryo-receiving station), the control system issues a stop command, deactivating the transverse motor 85. The fixed plate 84 and the embryo-grabbing and lifting assembly stop and remain in their current positions.

[0048] As a further optional mode of the present invention, the lifting and embryo grabbing assembly includes a lifting cylinder 86 vertically fixed on the front side of the fixed plate 84, the gas rod of the lifting cylinder 86 is fixedly connected to the top of the grabbing base plate 87, and the bottom of the grabbing base plate 87 is fixedly provided with a second cross rail 871 along the horizontal direction, and a number of grabbing units 89 are slidably fitted on the second cross rail 871. The side of the grabbing base plate 87 is provided with an adjusting cylinder 88 for adjusting the grabbing spacing of the grabbing units 89.

[0049] During the initial stage, the lifting cylinder 86 is inactive, with its pneumatic rod fully retracted. Therefore, the gripping base 87 and all its components (including the second cross rail 871 and gripping units 89) are at their highest position, away from the tofu block. At this point, the regulating cylinder 88 has also adjusted the gripping spacing between the gripping units 89 according to preset or current needs to ensure accurate and effective gripping of the tofu block. When the system receives the gripping command, the lifting cylinder 86 is first activated. The pneumatic rod of the lifting cylinder 86 begins to extend, pushing the gripping base 87 and all its components vertically downward, gradually approaching the tofu block. During this process, the second cross rail 871 and its gripping units 89 remain relatively stationary, awaiting contact with the material. During the descent of the gripping base 87, if the preset gripping spacing is found to be inconsistent with the actual tofu block, the spacing between the gripping units 89 can be fine-tuned by controlling the regulating cylinder 88. This step is optional and depends on the specific application scenario and material characteristics. When the grabbing substrate 87 and the grabbing unit 89 thereon descend to a predetermined height (ie, the height in contact with the tofu embryo block), the grabbing mechanism of the grabbing unit 89 starts to work, contacts the surface of the material and firmly grabs the tofu embryo block.

[0050] As a further optional embodiment of the present invention, each of the grabbing units 89 includes a sliding seat 891 slidably connected to the second cross rail 871, and a grabbing cylinder 892 is fixed vertically downward at the bottom of the sliding seat 891, and a pin top plate 893 is horizontally provided on the bottom side of the grabbing cylinder 892, and two rows of pins 894 are symmetrically provided vertically downward on both sides of the pin top plate 893 along its length direction. Each of the pins 894 in the same row is evenly spaced, and the bottom end of each pin 894 has a pointed end portion for facilitating the insertion of the tofu embryo block 7, and a embryo block push plate 895 is vertically slidably connected to the pin 894, and the air rod of the grabbing cylinder 892 is fixedly connected to the embryo block push plate 895.

[0051] In each grabbing unit 89, the sliding seat 891 is adjusted to its proper position on the second cross-rail 871 by the adjusting cylinder 88 to ensure that the spacing between the grabbing units 89 meets the current operational requirements. At this point, the grabbing cylinder 892 is inactive, and its air rod is retracted. Therefore, the pin top plate 893 and the two rows of pins 894 are also in a high position. Although the tips of the pins 894 are ready to be inserted into the tofu block 7, they have not yet made contact. As the entire grabbing base plate 87 descends (driven by the lifting cylinder 86), the grabbing units 89 also descend until the tips of the pins 894 are close to the top of the tofu block 7. During this stage, the sliding seat 891 remains stationary on the cross-rail and does not participate in any horizontal movement. When the grabbing unit 89 reaches the predetermined position (i.e., the tips of the pins 894 are in contact or nearly in contact with the surface of the tofu block 7), the lifting cylinder 86 becomes active, and its air rod begins to extend. Because the tips of the pins 894 are sharp, they are initially pushed into the tofu block 7. The even spacing of the pins 894 ensures that they penetrate the tofu block 7 evenly, providing a stable gripping point for gripping. At this stage, the tofu block 7 is securely held by the two rows of pins 894, ready for subsequent movement. Once the tofu block 7 is successfully gripped, the entire gripping base 87 (including all gripping units 89 and the gripped tofu block 7) is driven upward by the lifting cylinder 86 and laterally by the traversing assembly, transporting the tofu block 7 to the tofu block receiving station. Once the tofu block 7 is moved to the tofu block receiving station, the pneumatic rod of the gripping cylinder 892 begins to extend. This pushes the block push plate 895 downward, pushing the tofu block 7 off the pins 894 and leaving it in the target location. The gripping unit 89 then returns to its initial position, ready for the next gripping operation.

[0052] As a further optional embodiment of the present invention, an adjustment positioning block 896 is provided between two adjacent sliding seats 891, and a long hole 898 is horizontally provided in the middle of the adjustment positioning block 896. The two sides of the adjustment positioning block 896 are positioned on the adjacent sliding seats 891 through the cooperation of column head screws 897 and the long holes 898. The column head screws 897 can be moved horizontally along the long holes 898, and the air rod of the adjustment cylinder 88 is fixed to the side of the outermost sliding seat 891.

[0053] When the relative position between the sliding seats needs to be adjusted, the adjusting cylinder 88 is first started. The air rod of the adjusting cylinder 88 pushes or pulls the outermost sliding seat 891 to move through its telescopic movement. Since the two sides of the adjusting positioning block 896 are connected to the adjacent sliding seats 891 through the column screws 897, and the column screws can move along the long hole 898, the sliding seat will drive the adjusting positioning block to move together when it moves. In this process, the column screw 897 will move horizontally along the long hole 898 to adapt to the position change between the sliding seats. By adjusting the telescopic amount of the air rod of the adjusting cylinder 88, the relative position between the sliding seats can be precisely controlled to achieve the desired positioning effect. After the sliding seat moves to the predetermined position, the sliding seat can be further fixed by adjusting the position of the column screw 897 in the long hole 898 to ensure its stability. The tightening effect of the column screw can prevent the sliding seat from unnecessary movement or offset during subsequent work.

[0054] As a further optional embodiment of the present invention, a horizontal plate is horizontally mounted on the support frame 3, and a vertical frame 41 is vertically mounted on the horizontal plate. The clamp-shaped bottling mechanism 4 includes a lower arc-shaped enclosure 42 horizontally mounted on the vertical frame 41, a left movable enclosure assembly and a right movable enclosure assembly symmetrically arranged on both sides of the lower arc-shaped enclosure 42, and a telescopic assembly symmetrically arranged on both sides of the support frame 3 for driving the left movable enclosure assembly and the right movable enclosure assembly to perform enclosing and unfolding actions. It also includes a preform pushing assembly fixedly arranged on the rear side of the lower arc-shaped enclosure 42 for bottling actions. The left movable enclosure assembly and the right movable enclosure assembly have the same structure. The left movable enclosure assembly includes a middle arc-shaped enclosure 43 and an upper arc-shaped enclosure 44. The lower end of the middle arc-shaped enclosure 43 is rotatably connected to the left side of the lower arc-shaped enclosure 42, and the upper end of the middle arc-shaped enclosure 43 is rotatably connected to the lower end of the upper arc-shaped enclosure 44. The lower arc-shaped enclosure 42 is symmetrically provided with lower hinged prisms 421 on both sides, the lower end of the middle arc-shaped enclosure 43 is correspondingly provided with a middle hinged groove 431 which is hingedly matched with the lower hinged prism 421, the upper end of the middle arc-shaped enclosure 43 is provided with a middle hinged prism 432, and the lower end of the upper arc-shaped enclosure 44 is correspondingly provided with an upper hinged groove 441 which is hingedly matched with the middle hinged prism 432. When the left movable enclosure assembly, the right movable enclosure assembly and the lower arc-shaped enclosure 42 are in the enclosed state, a circular clamp-shaped inner cavity with a forward opening is formed; when the left movable enclosure assembly, the right movable enclosure assembly and the lower arc-shaped enclosure 42 are in the expanded state, they are in a straight line structure.

[0055] In the initial state, the left and right movable panel assemblies are located on either side of the lower curved panel 42 and are both extended. At this point, the left movable panel assembly (including the middle curved panel 43 and the upper curved panel 44) is symmetrical with the right movable panel assembly, forming a straight-line structure with the circular clamp-shaped inner cavity open. The tofu block is accurately placed on the tofu receiving station.

[0056] When bottling is required, the telescopic assemblies on both sides begin to operate, pushing the left and right movable panel assemblies inward simultaneously. The lower end of the middle curved panel 43 is hingedly connected to the lower hinged prisms 421 on either side of the lower curved panel 42 via the middle hinged rib 431, allowing the middle curved panel 43 to rotate around the lower hinged prisms 421. Simultaneously, the upper end of the middle curved panel 43 is hingedly connected to the upper hinged rib 441 at the lower end of the upper curved panel 44 via the middle hinged prism 432, allowing the upper curved panel 44 to rotate around the middle hinged prism 432. As the telescopic assemblies push, the left and right movable panel assemblies gradually close inward until they fit tightly against the lower curved panel 42, thereby clamping and shaping the square tofu blocks into a circular structure. Because the tofu blocks have a certain degree of deformability, the clamping and shaping process is not damaged.

[0057] After the tofu embryo block is clamped and formed, the embryo pushing assembly starts working. This assembly is located on the rear side of the lower arc-shaped enclosure 42 and is responsible for pushing the clamped and formed tofu embryo block into the glass bottle 2 located on the embryo loading station. Since the size and shape of the circular clamp-shaped inner cavity match the object to be bottled, it can ensure that the tofu embryo can be pushed smoothly into the glass bottle.

[0058] After bottling is completed, the telescopic assembly can work in reverse and return to the initial straight-line structure, waiting for the next clamping and molding process.

[0059] As a further optional feature of the present invention, the rear inner walls of the lower, middle, and upper arc-shaped enclosures 42, 43, and 44 are provided with arc-shaped retaining walls 49. The preform pushing assembly comprises a bottling cylinder 47 and a bottling push plate 48 fixedly mounted at the end of the cylinder rod of the preform pushing cylinder 47. When closed, the bottling push plate 48 is movably accommodated within the clamp-shaped inner cavity. The arc-shaped retaining walls 49 form a retaining ring on the rear side of the clamp-shaped inner cavity after closing, preventing the bottling push plate from falling out.

[0060] As a further optional embodiment of the present invention, the telescopic assembly includes a telescopic cylinder 45, the lower end of the telescopic cylinder 45 is hingedly engaged with the horizontal plate, the gas rod end of the telescopic cylinder 45 is hingedly engaged with the enclosure ear 46, and the enclosure ear 46 is fixedly arranged on the outer side of the upper arc-shaped enclosure 44.

[0061] As a further optional embodiment of the present invention, the bottle picking mechanism 5 includes a rotating cylinder 51 fixed on the horizontal plate, the rotating cylinder 51 is driven and connected to a mounting plate 52, a bottle picking cylinder 53 is fixedly connected to the outer side of the mounting plate 52, a bottle picking cylinder 53 is fixedly connected to the gas rod end of the bottle picking cylinder 53, the bottle picking side of the bottle picking block 54 is correspondingly arranged to be an arc structure adapted to the glass bottle 2, and a vacuum suction head 55 for sucking the glass bottle is provided in the middle of the bottle picking block 54.

[0062] When it is necessary to remove a bottle, the rotating cylinder 51 is first started. The driving end of the rotating cylinder drives the mounting plate 52 and the bottle-removing cylinder 53 and bottle-removing block 54 thereon to rotate to a predetermined position around the axis of the rotating cylinder. After rotating into position, the bottle-removing cylinder 53 starts working. Its gas rod gradually extends, pushing the bottle-removing block 54 to move until the arc-shaped structure of the bottle-removing block 54 fits tightly with the outer contour of the glass bottle 2. At the same time, the vacuum suction head 55 starts working, generating negative pressure to firmly suck the glass bottle 2 onto the bottle-removing block 54. After the glass bottle is successfully sucked, the gas rod of the bottle-removing cylinder 53 begins to contract, and then the rotating cylinder 51 is started again, rotating the mounting plate 52 and the load thereon (including the bottle-removing cylinder 53, the bottle-removing block 54 and the glass bottle) to the embryo receiving station, waiting for the bottling operation.

[0063] As a further optional aspect of the present invention, the bottle feeding mechanism 1 includes a bottle feeding conveyor 11, a bottling conveyor 12, and a bottle discharging conveyor 13 for conveying glass bottles 2. The bottle feeding conveyor 11, the bottling conveyor 12, and the bottle discharging conveyor 13 are synchronous belt conveyor devices, and the conveying channels of the three conveyors are interconnected. Guardrails 14 are mounted on the bottle feeding conveyor 11, the bottling conveyor 12, and the bottle discharging conveyor 13 via brackets 15 to prevent the glass bottles 2 from escaping. A bottle removal port 16 is formed on the side of the bottling conveyor 12 corresponding to the position of the bottle removal mechanism 5. A front bottle blocking assembly 17 and a rear bottle blocking assembly 18 are respectively provided on the front and rear sides of the bottle removal port 16.

[0064] As the bottle-feeding conveyor 11 continues to operate, glass bottles are transported one by one to the junction with the bottling conveyor 12. Because the conveying channels of the bottle-feeding conveyor 11, bottling conveyor 12, and bottle-discharging conveyor 13 are interconnected, glass bottles can be smoothly transferred from one conveyor to the next (manual transfer by staff is possible, if necessary). As glass bottles enter the bottling conveyor 12, the frontmost bottle is stopped between the front bottle blocking assembly 17 and the rear bottle blocking assembly 18, awaiting removal. After a bottling operation is completed, the bottle removal mechanism places the bottle back onto the bottling conveyor 12, at which point the rear bottle blocking assembly 18 unlocks, allowing the filled bottle to move toward the bottle-discharging conveyor 13.

[0065] As a further optional embodiment of the present invention, the front bottle blocking assembly 17 and the rear bottle blocking assembly 18 have the same structure. The front bottle blocking assembly 17 includes a bottle blocking cylinder 173 fixedly disposed on the side of the bottling conveyor 12. The gas rod end of the bottle blocking cylinder 173 is laterally connected to a connecting rod 172. The connecting rod 172 is fixedly connected to a barrier bar 171. The barrier bar 171 can be movably extended into the conveying channel of the bottling conveyor 12 to form a bottle blocking and bottle releasing action. During use, the bottle blocking cylinder 173 drives the extension and retraction of the barrier bar 171 to achieve the bottle blocking and bottle releasing operation.

[0066] As a further optional embodiment of the present invention, the embryo delivery mechanism 6 is a synchronous belt conveyor device, and the arranged and stacked tofu embryo blocks 7 are transported by the embryo delivery mechanism 6 .

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0068] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A tofu embryo grabbing mechanism, characterized in that: include: a tofu embryo conveying mechanism (8), the tofu embryo conveying mechanism (8) being used to grab the tofu embryo block (7) located at the embryo grabbing station and convey the tofu embryo block (7) to the embryo receiving station of the clamp-shaped bottling mechanism (4); A support frame (3) is provided at the bottling position, and the embryo grabbing and conveying mechanism (8) includes a lifting embryo grabbing component and a transverse movement component arranged transversely on the support frame (3) for driving the lifting embryo grabbing component to move back and forth between the embryo grabbing station and the embryo receiving station; The transverse movement assembly includes a transverse beam (81) mounted transversely on the support frame (3), a first transverse rail (82) and a transverse rack (83) are fixedly arranged transversely on the front side of the transverse beam (81), a fixed plate (84) is slidably arranged on the first transverse rail (82), a transverse movement motor (85) is fixedly arranged on the fixed plate (84), an output shaft of the transverse movement motor (85) is fixedly connected to a transverse movement gear, and the transverse movement gear is meshed and transmission-connected with the transverse rack (83); The lifting embryo grabbing assembly includes a lifting cylinder (86) vertically fixed to the front side of the fixed plate (84), the gas rod of the lifting cylinder (86) is fixedly connected to the top of the grabbing base plate (87), the bottom of the grabbing base plate (87) is fixedly provided with a second cross rail (871) in the transverse direction, and a plurality of grabbing units (89) are slidably fitted on the second cross rail (871), and the side of the grabbing base plate (87) is provided with an adjusting cylinder (88) for adjusting the grabbing spacing of the grabbing units (89).

2. A tofu embryo grabbing mechanism according to claim 1, characterized in that: Each of the grabbing units (89) includes a sliding seat (891) slidably connected to the second cross rail (871), a grabbing cylinder (892) is fixed vertically downward at the bottom of the sliding seat (891), a pin top plate (893) is horizontally arranged on the bottom side of the grabbing cylinder (892), and two rows of pins (894) are symmetrically arranged vertically downward on both sides of the pin top plate (893) along its length direction, and each of the pins (894) in the same row is evenly spaced, and the bottom end of each pin (894) has a tip portion for facilitating insertion of the tofu embryo (7), and a embryo push plate (895) is vertically slidably connected to the pin (894), and the air rod of the grabbing cylinder (892) is fixedly connected to the embryo push plate (895).

3. A tofu embryo grabbing mechanism according to claim 2, characterized in that: An adjusting positioning block (896) is provided between two adjacent sliding seats (891), and a long hole (898) is transversely provided in the middle of the adjusting positioning block (896). Both sides of the adjusting positioning block (896) are positioned on the adjacent sliding seats (891) by means of column head screws (897) and the long holes (898). The column head screws (897) can be moved transversely along the long holes (898), and the gas rod of the adjusting cylinder (88) is fixedly connected to the side of the outermost sliding seat (891).

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