Manipulator with functions of grabbing and bottling blocky flexible materials

Abstract

The utility model relates to the technical field of fermented bean curd bottling, in particular to a manipulator with functions of grabbing and bottling blocky flexible materials, which comprises a third lifting part, a fourth lifting part and a second transverse moving part for controlling the third lifting part and the fourth lifting part to transversely move, a third grabbing part for grabbing fermented bean curd B2 and putting the fermented bean curd B2 into a fermented bean curd bottle is connected to the lower portion of the third lifting part, a fourth grabbing part for grabbing fermented bean curd B5 and putting the fermented bean curd B5 into a fermented bean curd bottle is connected to the lower portion of the fourth lifting part, and the third grabbing part comprises a first clamping stepping motor, a second distribution assembly and a first clamping jaw assembly; the two first clamping jaw assemblies grab a piece of fermented bean curd, and under the action of the first clamping stepping motor, the second distribution assembly controls the two first clamping jaw assemblies to clamp the fermented bean curd. The bottle filling device has the technical effect of improving the bottle filling efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of fermented bean curd bottling, in particular to a manipulator with the functions of grabbing and bottling block-shaped flexible materials. Background Art

[0002] Fermented tofu is a food made from small blocks of tofu, fermented, and salted. Its soft texture makes it difficult to package and store. In the tofu production industry, finished tofu is typically stored in glass bottles. A typical glass bottle is square at the bottom with a round opening at the top. Each bottle contains twelve blocks of fermented tofu (salted tofu), divided into two layers, each containing six blocks. The layers are numbered: the upper layer is labeled B1, B2, B3, B4, B5, and B6. B1, B3, B4, and B6 are located at the four corners of the bottle, with B2 located between B1 and B3, and B5 between B4 and B6. The fermented bean curd in the lower layer is T1, T2, T3, T4, T5 and T6. Fermented bean curd T1, T3, T4 and T6 are respectively located at the four corners of the fermented bean curd bottle. Fermented bean curd T2 is located between fermented bean curd T1 and T3, and fermented bean curd T5 is located between fermented bean curd T4 and T6.

[0003] Twelve pieces of fermented bean curd are picked up in four steps. First, the fermented bean curd B1, B3, B4, and B6 at the four corners of the lower layer are picked up and stacked in the fermented bean curd bottle. Then, the two pieces of fermented bean curd B4 and B6 in the middle of the lower layer are picked up and stacked in the fermented bean curd bottle. Then, the fermented bean curd T1, T3, T4, and T6 at the four corners of the upper layer are picked up and stacked in the fermented bean curd bottle. Finally, the fermented bean curd T4 and T6 in the middle of the upper layer are picked up and stacked in the fermented bean curd bottle. A picking mechanism is now designed to pick up the fermented bean curd B2 and B5 in the middle of the lower layer and stack them in the fermented bean curd bottle. Utility Model Content

[0004] The embodiment of the utility model provides a robot arm with the function of grabbing and bottling block-shaped flexible materials, which has the technical effect of improving bottling efficiency and reducing food safety and hygiene risks.

[0005] The utility model is a manipulator for grabbing and bottling bulk flexible materials, which adopts the following technical solutions:

[0006] A robot with the function of grabbing and bottling block-shaped flexible materials includes a third lifting part, a fourth lifting part, and a second lateral movement part for controlling the lateral movement of the third and fourth lifting parts. A third grabbing part for grabbing fermented bean curd B2 and placing it into a fermented bean curd bottle is connected below the third lifting part. A fourth grabbing part for grabbing fermented bean curd B5 and placing it into the fermented bean curd bottle is connected below the fourth lifting part. The third grabbing part includes a first clamping stepping motor, a second distributing assembly, and a first clamping claw assembly. Two first clamping claw assemblies grab a block of fermented bean curd. Under the action of the first clamping stepping motor, the second distributing assembly controls the two first clamping claw assemblies to clamp the fermented bean curd.

[0007] Furthermore, a second mounting plate is fixed to one side of the first clamping stepper motor, the second shifting assembly is mounted on the second mounting plate, the first clamping jaw assembly includes a B2 clamping jaw arm, a B2 clamping jaw arm connecting plate and a B2 clamping jaw, the B2 clamping jaw arm connecting plate is fixed between the B2 clamping jaw and the B2 clamping jaw, and the first clamping stepper motor controls the action of the second shifting assembly, thereby controlling the two B2 clamping jaws to clamp or release the fermented tofu.

[0008] Furthermore, the second shifting assembly includes a second main shifting rod and two second shifting rods, a second shifting vertical guide rail and a second shifting transverse guide rail located below the second shifting vertical guide rail are fixed on the second mounting plate, the second main shifting rod is slidably connected to the second shifting vertical guide rail, the second main shifting rod is provided with a second elongated hole, the output shaft of the first clamping stepping motor is connected to the clamping screw, the clamping screw is threadedly connected to the clamping nut slide, the second shifting active rod is fixed on the clamping nut slide, the second shifting active rod is inserted into the second elongated hole, two second shifting sliders are slidably connected to the second shifting transverse guide rail, each second shifting slider corresponds to a second shifting rod, one end of the second shifting rod is hinged to the second shifting slider, the other end of the second shifting rod is hinged to the bottom of the first main shifting rod, and the B2 clamping claw arm is fixed to the bottom of the second shifting slider.

[0009] Furthermore, a spring connecting rod is fixed on the second mounting plate, and a second return spring is connected to the spring connecting rod and the top of the second shifting active rod.

[0010] Furthermore, the second transverse movement part includes a second suspension frame and a second transverse movement plate located below the second suspension frame and slidably connected to the second suspension frame. The second suspension frame is provided with a second transverse movement component for driving the second transverse movement plate. The second transverse movement plate is provided with a second transverse micro-motion component. The second transverse micro-motion component can drive the third lifting part and the fourth lifting part to move towards or away from each other.

[0011] Furthermore, the structure of the second lifting part is the same as that of the first lifting part. The first lifting part includes a first lifting guide rail seat, a U-shaped mounting plate and a first lifting assembly. The first lifting guide rail seat is connected to the first lateral micro-motion assembly. The first lifting assembly is installed on the first lifting guide rail seat and drives the U-shaped mounting plate to move up and down. The clamping and shifting stepper motor is fixed to the U-shaped mounting plate. The U-shaped mounting plate of the second lifting part is fixed to the first clamping and shifting stepper motor.

[0012] Furthermore, the structure of the fourth lifting portion is the same as that of the first lifting portion, and the structure of the fourth grabbing portion is the same as that of the third grabbing portion.

[0013] Furthermore, a top plate is provided above the second transverse moving part, and a first grabbing mechanism is provided on the top plate, which is located on one side of the second transverse moving part. The first grabbing mechanism includes a first transverse moving part, a first lifting part and a second lifting part. The first transverse moving part includes a first suspension frame, a first transverse moving assembly and a first transverse micro-motion assembly. A first transverse moving plate is provided below the first suspension frame. The first transverse moving assembly drives the first transverse moving plate to move. The first transverse micro-motion assembly is installed below the first transverse moving plate and can drive the first lifting part and the second lifting part to move toward or away from each other. A first grabbing part that grabs fermented tofu B1 and B3 and can push the fermented tofu B1 and B3 separately to the two corners of the fermented tofu bottle is connected below the first lifting part. A second grabbing part that grabs fermented tofu B4 and B6 and can push the fermented tofu B4 and B6 separately to the other two corners of the fermented tofu bottle is connected below the second lifting part.

[0014] Compared with the prior art, the present invention has the following technical effects:

[0015] 1. The third grabbing part and the fourth grabbing part grab fermented bean curd B2 and B5 respectively, and put fermented bean curd B2 and B5 into the fermented bean curd bottles respectively, putting fermented bean curd B2 between fermented bean curd B1 and B3, and putting fermented bean curd B5 between fermented bean curd B4 and B6.

[0016] 2. By setting a second return spring, when the second shifting active rod moves upward, the second main shifting rod can move upward quickly under the action of the second return spring, thereby clamping the fermented tofu. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present invention, and do not constitute a limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 The present invention is a top view of a fermented bean curd bottle containing an upper layer of fermented bean curd;

[0019] Figure 2The present invention is a top view of a fermented bean curd bottle containing a lower layer of fermented bean curd;

[0020] Figure 3 A three-dimensional diagram showing the overall structure of the present invention;

[0021] Figure 4 A bottom view showing the overall structure of the present invention;

[0022] Figure 5 This is a three-dimensional diagram showing the operating mechanism of the indexing plate in the present utility model;

[0023] Figure 6 This is a top view of the indexing disc operating mechanism of the present invention;

[0024] Figure 7 This is a front view of the indexing disc operating mechanism of the present invention;

[0025] Figure 8 To reflect Figure 7 Cross-section of the middle BB;

[0026] Figure 9 This is a schematic diagram showing the bottle rotation trajectory control mechanism in the present invention;

[0027] Figure 10 To reflect Figure 7 Cross-section of the middle CC;

[0028] Figure 11 A schematic diagram illustrating the paddle position control and protection mechanism of the present invention;

[0029] Figure 12 A schematic diagram illustrating the rotary clamping mechanism of the present invention;

[0030] Figure 13 A schematic diagram illustrating the rotary core shaft and the torsion return spring in the present invention;

[0031] Figure 14 A schematic diagram illustrating the connecting rod mechanism for the paddle to bottle entry in the present invention;

[0032] Figure 15 A schematic diagram illustrating the first gripping mechanism of the present invention;

[0033] Figure 16 A schematic diagram illustrating the first transverse moving portion of the present invention;

[0034] Figure 17 This is a schematic diagram showing the overall structure of the first lifting part, the second lifting part, the first grabbing part and the second grabbing part in the present invention;

[0035] Figure 18This is a schematic diagram showing the overall structure of the first lifting portion and the first grabbing portion in the present invention;

[0036] Figure 19 This is a schematic diagram showing the structure of the first gripping portion of the present invention;

[0037] Figure 20 This is a schematic diagram showing the structure of the inner clip assembly of the present invention;

[0038] Figure 21 This is a schematic diagram showing the structure of the first distribution component in the present invention;

[0039] Figure 22 This is a schematic diagram showing the structure of the second gripping mechanism in the present invention;

[0040] Figure 23 This is a schematic diagram illustrating the overall structure of the third lifting portion, the fourth lifting portion, the third gripping portion, and the fourth gripping portion in the present invention;

[0041] Figure 24 This is a schematic diagram showing the structure of the third gripping portion of the present invention;

[0042] Figure 25 This is a schematic diagram illustrating the structure of the second distribution component in the present invention.

[0043] Explanation of reference numerals: 1. Equipment frame; 11. Bottom bracket; 12. Support rod; 13. Top plate; 2. Indexing plate operating mechanism; 21. Indexing plate body; 211. First station; 212. Second station; 213. Third station; 214. Fourth station; 215. Fifth station; 216. Sixth station; 217. Seventh station; 218. Eighth station; 219. Mounting hole; 22. Rotary clamping mechanism; 221. Follower planetary turntable; 2211. Blocking block; 2212. Third clearance groove; 222. Fixed plate; 2221. Rotating mandrel; 2222. Inserting groove; 223. Bottle insertion guide block; 2231. First clearance groove; 224. Support and fixing assembly; 2241. Support and fixing block; 2 242. Clamping jaw center hinge axis; 2243. Second clearance groove; 2244. Positioning guide core shaft; 225. Bottle clamping jaw assembly; 2251. Upper connecting rod; 2252. Lower connecting rod; 2253. Clamping block; 226. Compression return spring; 227. Compression return spring protective cover; 228. Rotation track lever assembly; 2281. Steering lever; 2282. Guide wheel; 2283. Torsion return spring; 23. Bottle paddle feeding linkage; 231. Bottle feeding paddle; 232. Lifting linkage; 233. First intermediate pull rod; 234. Second intermediate pull rod; 235. Third intermediate pull rod; 236. Guide pull rod; 237. Guide pull rod seat; 238. Fixed hinge support; 239. Lifting angle pull plate; 2391 , guide cam; 24, bottom support plate; 241, intermittent drive motor; 242, rotating shaft; 25, clamping pneumatic guide drive mechanism; 26, bottle rotation trajectory control mechanism; 261, guide ring plate; 262, ring plate support rod; 263, second trajectory groove; 2631, arc groove; 2632, broken line groove; 2633, straight line groove; 27, paddle position control and protection mechanism; 271, cylinder; 272, first trajectory groove; 2721, upper groove; 2722, lower groove; 28, paddle plate; 3, first grasping mechanism; 31, first transverse moving part; 311, first suspension frame; 312, first transverse moving plate; 313, first transverse moving assembly; 314, first transverse micro-motion assembly; 315, first transverse micro-motion plate; 32 , first lifting part; 321, first lifting guide rail seat; 322, U-shaped mounting plate; 323, first lifting assembly; 3231, lifting stepper motor; 3232, lifting ball screw; 3233, lifting nut slide; 3234, lifting guide rail; 3235, first supporting plate; 33, first grasping part; 331, clamping and shifting stepper motor; 3311, outer clamping jaw lifting screw; 3312, inner clamping jaw lifting screw; 3313, inner clamping jaw lifting nut; 3314, first mounting plate; 332, outer clamp assembly; 3321, outer clamp lifting connecting plate; 3322, outer clamping jaw wall; 3323, outer clamping jaw arm connecting plate; 3324, outer clamping jaw; 333, inner clamp assembly; 3331, inner clamping jaw arm;3332, inner clamp arm connecting plate; 3333, inner clamp; 334, clamping assembly; 3341, mounting rod; 3342, roller; 3343, upper clamping slide; 3344, lower clamping slide; 335, first shift assembly; 3351, first main shift lever; 3352, first shift lever; 3353, first shift vertical guide rail; 3354, first shift transverse guide rail; 3355, first shift slider ; 3356, first connecting shaft; 3357, second connecting shaft; 3358, first shifting active rod; 3359, first return spring; 336, first elongated hole; 34, second lifting portion; 35, second gripping portion; 4, second gripping mechanism; 41, second transverse moving portion; 411, second suspension bracket; 412, second transverse moving plate; 413, second transverse moving assembly; 414, second transverse micro-motion assembly; 415, second transverse micro-motion assembly Moving plate; 42, third lifting unit; 43, third gripping unit; 431, first clamping stepping motor; 4311, second mounting plate; 4312, third mounting plate; 4313, clamping screw; 4314, clamping nut slide; 432, second shifting assembly; 4321, second main shifting lever; 43211, main shifting slider; 4322, second shifting lever; 4323, third connecting shaft; 4324, fourth connecting shaft; 4325, second shifting vertical guide rail; 4326, second shifting transverse guide rail; 4327, second shifting active lever; 4328, second return spring; 4329, second shifting slider; 433, first clamping jaw assembly; 4331, B2 clamping jaw arm; 4332, B2 clamping jaw arm connecting plate; 4333, B2 clamping jaw; 44, fourth lifting unit; 45, fourth gripping unit; 5, third gripping mechanism; 6, fourth gripping mechanism. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the schematic embodiments of the present invention and their description are used to explain the present invention, but are not intended to limit the present invention.

[0045] Reference Figure 1 and Figure 2 The bottle containing the fermented tofu (salt dough) is a common glass bottle for fermented tofu, with a square bottom and a round opening at the top. The fermented tofu is divided into two layers in the bottle, with six pieces of fermented tofu placed in the bottom layer and six pieces of fermented tofu placed in the top layer. To facilitate the description of the fermented tofu being grasped, the fermented tofu in the upper and lower layers are numbered separately. The fermented tofu in the lower layer is designated B1, B2, B3, B4, B5, and B6. The fermented tofu in the upper layer is designated T1, T2, T3, T4, T5, and T6. The fermented tofu in the bottom layer is arranged perpendicular to the fermented tofu in the upper layer.

[0046] Reference Figure 3 and Figure 4 A fermented bean curd bottling device includes an equipment frame 1, a rotating index plate mechanism 2, a first grabbing mechanism 3, a second grabbing mechanism 4, a third grabbing mechanism 5, a fourth grabbing mechanism 6, and an electrical intelligent control system. The fermented bean curd bottling device of the present invention can be used to bottle 12 pieces of fermented bean curd in a certain order.

[0047] The function of the electrical intelligent control system is to enable the equipment to achieve precise transportation and movement through the interaction of electric drive and control elements such as PLC, sensors, photoelectric switches, stepper motors, drivers and servo mechanisms, so as to realize the production actions required by the equipment.

[0048] The equipment frame 1 primarily supports the entire machine and connects several related modules. Two fermented bean curd bottling production lines are installed on the frame. The frame comprises a bottom bracket 11, support rods 12, and a top plate 13. Support rods 12 are secured to the side walls of bottom bracket 11, and top plate 13 is affixed to the tops of support rods 12. The indexing plate mechanism 2 primarily switches the fermented bean curd bottles relative to the various gripping mechanisms and positions for loading, rotating, and unloading bottles, enabling continuous operation to form an automated production line.

[0049] Reference Figure 5-Figure 14 The indexing plate operating mechanism 2 includes an indexing plate body 21, a rotary clamping mechanism 22, a paddle bottle entry connecting rod mechanism 23, a bottom support plate 24, a clamping pneumatic guide drive mechanism 25, a paddle bottle entry pneumatic drive mechanism, a bottle rotation trajectory control mechanism 26, and a paddle position control and protection mechanism 27. The bottom support plate 24 is fixed to the bottom bracket 11 by bolts. A rotating shaft 242 is fixed to the bottom support plate 24. The indexing plate body 21 is fixed to the top of the rotating shaft 242. An intermittent drive motor 241 that drives the rotating shaft 242 is fixed to the bottom of the bottom support plate 24.

[0050] The dividing plate body 21 is a circular plate. According to the production process requirements and the structural characteristics of the dividing plate operating mechanism 2, the dividing plate body 21 is divided into eight working position spaces in the circumferential direction. Each spatial position corresponds to a work station. These eight work stations are the first work station 211, the second work station 212, the third work station 213, the fourth work station 214, the fifth work station 215, the sixth work station 216, the seventh work station 217 and the eighth work station 218.

[0051] Below, the work content of the above eight workstations is explained in detail.

[0052] First station 211: Bottles are loaded and positioned and clamped. This step is the foundation for the next station. A photoelectric detection device is installed on the indexing plate 21 to determine whether the indexing plate at this station is loaded with bottles. If so, the indexing plate 21 rotates according to the required work cycle time to the second station 212.

[0053] The second station 212: grabs and transfers fermented bean curd B1, B3, B4, B6 to bottles and packs them in the order and position required. After packing is completed, the indexing plate body 21 rotates to the third station 213 according to the work cycle time requirement.

[0054] The third station 213: grab and transfer fermented bean curd B2 and B5 to the bottle and pack them in the order and position. After packing is completed, the indexing plate body 21 rotates to the fourth station 214 according to the working cycle time requirement.

[0055] The fourth station 214 is a bottle rotation station and has no actual process function. The bottle and fixture are rotated 90 degrees relative to the indexing turntable by the bottle rotation trajectory control mechanism 26 below the indexing turntable body 21 and enter the fifth station 215.

[0056] The fifth station 215: grabs and transfers fermented bean curd T1, T3, T4, T6 to the bottle and packs them in the order and position required. After packing is completed, the indexing plate body 21 rotates to the sixth station 216 according to the work cycle time requirement.

[0057] The sixth station 216: grab and transport fermented bean curd T2, T5 to the bottle and pack them in the order and position. After packing is completed, the indexing plate body 21 rotates to the seventh station 217 according to the working cycle time requirement.

[0058] Station 7 217: This station is a bottle rotation station and has no actual process function. The bottle and fixture are rotated 90 degrees relative to the indexing turntable by the bottle rotation trajectory control mechanism 26 below the indexing turntable body 21 and enter the eighth station 218.

[0059] At the eighth station 218, the clamping mechanism 22 rotates to release the fermented bean curd bottle and unloads it. A photoelectric detection device detects whether the indexing plate has successfully unloaded a bottle. Once the bottle has been successfully unloaded, the indexing plate body 21 rotates according to the required cycle time and returns to the first station 211, beginning the next cycle.

[0060] The first grabbing mechanism 3 is responsible for grabbing the lower layers of fermented tofu (B1, B3, B4, and B6) into bottles. Its working position is the second station 212, and the first grabbing mechanism 3 is located directly above the second station 212. The second grabbing mechanism 4 is responsible for grabbing the lower layers of fermented tofu (B2 and B5) into bottles. Its working position is the third station 213, and the second grabbing mechanism 4 is located directly above the third station 213. The third grabbing mechanism 5 is responsible for grabbing the upper layers of fermented tofu (T1, T3, T4, and T6) into bottles. Its working position is the fifth station 215, and the third grabbing mechanism 5 is located directly above the fifth station 215. The fourth grabbing mechanism 6 is responsible for grabbing the upper layers of fermented tofu (T2 and T5) into bottles. Its working position is the sixth station 216, and the fourth grabbing mechanism 6 is located directly above the sixth station 216.

[0061] Each workspace on the indexing plate body 21 is provided with a rotary clamping mechanism 22, which positions and clamps the fermented bean curd bottle. A plurality of mounting holes 219 are evenly distributed on the indexing plate body 21, with each rotary clamping mechanism 22 corresponding to one mounting hole 219. The rotary clamping mechanism 22 includes a fixed plate 222 and a follower planetary turntable 221. The fixed plate 222 is located below the indexing plate body 21 and is fixedly connected to the bottom of the indexing plate body 21. A rotary core shaft 2221 is rotatably connected above the fixed plate 222. The follower planetary turntable 221 is located in the mounting hole 219 and is fixed to the top of the rotary core shaft 2221.

[0062] A bottle placement guide block 223 is fixed on the follower planetary turntable 221. The bottle placement guide block 223 is U-shaped, and the fermented bean curd bottle is located in the U-shaped cavity of the bottle placement guide block 223. A first clearance groove 2231 is opened on the bottle placement guide block 223.

[0063] A support and fixing assembly 224 is fixed beneath the fixed plate 222. This assembly includes a support and fixing block 2241 and a central hinge axis 2242 for the clamping jaws. The rotary core shaft 2221 passes through the fixed plate 222 and is fixed to the support and fixing block 2241. A second clearance groove 2243 is defined in the support and fixing block 2241, and the central hinge axis 2242 for the clamping jaws is fixed to the wall of the second clearance groove 2243. A bottle clamping jaw assembly 225 is mounted on the support and fixing block 2241. The bottle clamping jaw assembly 225 includes an upper connecting rod 2251 and a lower connecting rod 2252. Two upper connecting rods 2251 and two lower connecting rods 2252 are provided, intersecting each other and articulated at the intersection via the central hinge axis 2242 for the clamping jaws.

[0064] A positioning guide spindle 2244 is fixed to the bottom of the support and fixing block 2241. A compression return spring protective sleeve 227 is sleeved on the bottom of the positioning guide spindle 2244. A compression return spring 226 is fixed between the bottom of the support and fixing block 2241 and the compression return spring protective sleeve 227. The compression return spring sleeve 227 sleeves on the positioning guide spindle 2244. A lower connecting rod 2252 corresponds to each upper connecting rod 2251. One end of the lower connecting rod 2252 is hinged to the bottom end of the upper connecting rod 2251, and the other end of the lower connecting rod 2252 is hinged to the compression return spring protective sleeve 227.

[0065] The follower planetary turntable 221 has a third clearance slot 2212 for the upper connecting rod 2251 to rotate. The upper connecting rod 2251 passes through the first clearance slot 2231. The top of the upper connecting rod 2251 passes through the third clearance slot 2212 of the follower planetary turntable 221 and the first clearance slot 2231 of the bottle insertion guide block 223. A clamping block 2253 is fixed to the top of each upper connecting rod 2251 on the side closest to each other, contacting the fermented bean curd bottle. Below the first station 211 and below the eighth station 218, a clamping pneumatic guide drive mechanism 25 is installed. This pneumatic guide drive mechanism 25 drives the compression return spring protective sleeve 227 upward, thereby releasing the two upper connecting rods 2251 from the fermented bean curd bottle. The clamping pneumatic guide drive mechanism 25 is a first pneumatic cylinder, whose piston rod pushes the compression return spring protective sleeve 227 upward. The piston rod of the first cylinder can contact the bottom of the compression return spring protection sleeve 227, but there is no connection relationship between them.

[0066] Before placing the fermented bean curd bottle at the first station 211, the first cylinder piston rod is lifted upward, releasing the two upper connecting rods 2251. After the fermented bean curd bottle is placed at the first station 211, the cylinder piston rod is lowered. The compression return spring protective sleeve 227, under the action of the compression return spring 226, moves downward, causing the two upper connecting rods 2251 to clamp the fermented bean curd bottle. When the fermented bean curd bottle rotates to the eighth station 218, it needs to be removed. The first cylinder below the eighth station 218 pushes the compression return spring protective sleeve 227 upward, causing the two upper connecting rods 2251 to release the fermented bean curd bottle, allowing the fermented bean curd bottle to be removed.

[0067] The rotary clamping mechanism 22 also includes a rotation track lever assembly 228, which includes a steering lever 2281 and a guide wheel 2282. The steering lever 2281 is fixed to the side wall of the support and fixing block 2241, and the guide wheel 2282 is rotatably connected to the steering lever 2281. The bottle rotation track control mechanism 26 includes a guide ring plate 261 and a ring plate support rod 262. The ring plate support rod 262 is fixed between the guide ring plate 261 and the bottom support plate 24. Four ring plate support rods 262 are arranged around the guide ring plate 261. The bottom of the guide ring plate 261 defines a second track groove 263, along which the guide wheel 2282 slides. A torsion return spring 2283 is arranged between the bottom of the follower planetary turntable 221 and the fixed plate 222. A blocking block 2211 is fixed to the bottom of the follower planetary turntable 221, and one end of the torsion return spring 2283 abuts against the blocking block 2211; a plug-in slot 2222 is opened on the top surface of the fixed plate 222, and the other end of the torsion return spring 2283 is inserted into the plug-in slot 2222.

[0068] When the follower planetary turntable 221 rotates from the third station 213 to the fifth station 215 along with the index plate body 21, the follower planetary turntable 221 rotates 90 degrees. When the follower planetary turntable 221 rotates, the guide wheel 2282 moves along the second track groove 263, rotating the steering lever 2281 90 degrees, thereby rotating the follower planetary turntable 221 and the fermented bean curd bottle 90 degrees.

[0069] The second track groove 263 includes an arcuate groove 2631, a folded groove 2632, and a straight groove 2633. The arcuate grooves 2631 at both ends separate the folded groove 2632 from the straight groove 2633. The arcuate grooves 2631, the straight grooves 2633, the arcuate grooves 2631, and the straight grooves 2633 together form the second track groove 263. The folded groove 2632 is located above the fourth station 214. When the guide wheel 2282 of the steering lever 2281 passes through the folded groove 2632, the steering lever 2281 begins to slowly turn. When the steering lever 2281 reaches the fifth station 215, the steering lever 2281 rotates 90 degrees (relative to the steering lever 2281 on the first station 211), thereby rotating the fermented bean curd bottle 90 degrees. When the follower planetary turntable 221 rotates from the sixth station 216 to the eighth station 218, the guide wheel 2282 on the steering lever 2281 passes through the arc groove 2631, the straight groove 2633 and the arc groove 2631. Under the action of the torsion return spring 2283, the steering lever 2281 drives the follower planetary turntable 221 to rotate 90 degrees.

[0070] Each workspace corresponds to a paddle-injection linkage mechanism 23, which includes a bottle-injection paddle 231, a lifting link 232, and a guide rod seat 237. The guide rod seat 237 is fixed to the indexing plate body 21 via bolts. A fixed hinge support 238 is fixed to the guide rod seat 237, and the bottom of the bottle-injection paddle 231 is hinged to the fixed hinge support 238. A guide rod 236 is provided on the guide rod seat 237, extending through the guide rod seat 237. A lifting angled pull plate 239 is fixed to the bottom of the guide rod 236. A pneumatic drive mechanism for the paddle-injection paddle, which drives the lifting angled pull plate 239 upward and downward, is fixed to the bottom support plate 24.

[0071] A third intermediate rod 235 is hinged to the top of the guide rod 236, and a second intermediate rod 234 is hinged to the fixed hinge support 238. The third intermediate rod 235 is hinged to the middle position of the second intermediate rod 234 on the side away from the top of the guide rod 236. A first intermediate rod 233 is arranged above the second intermediate rod 234. One end of the first intermediate rod 233 is hinged to the end of the second intermediate rod 234 away from the fixed hinge support 238. The first intermediate rod 233 is hinged to the bottle-entry paddle 231.

[0072] When the paddle-into-bottle pneumatic drive mechanism 23 drives the lifting angle pull plate 239 to move downward, the bottle-into-bottle paddle 231 is inserted into the fermented bean curd bottle to support the fermented bean curd B1, B3, B4, B6 or the fermented bean curd T1, T3, T4, T6 to prevent the fermented bean curd in the fermented bean curd bottle from tipping over (the bottle-into-bottle paddle 231 needs to be inserted into the fermented bean curd bottle before the gripper is lifted to prevent the fermented bean curd from tipping over, which will be described in detail in the subsequent gripping mechanism action).

[0073] The pneumatic drive mechanism for inserting the paddle into the bottle is a second cylinder, the piston rod of which is fixed with two paddle plates 28, arranged one above the other. The paddle position control and protection mechanism is a cylinder 271, fixed to the bottom support plate 24. The top of cylinder 271 supports the indexing plate body 21. A first track groove 272 is defined on the outer wall of cylinder 271. A guide cam 2391 is fixed to the lifting angle pull plate 239, which slides along the first track groove 272. The first track groove 272 comprises an upper groove 2721 and a lower groove 2722. Each of the upper and lower grooves 2721 and 2722 has two sections, forming a circle formed by the upper and lower grooves 2721 and 2722. A pneumatic drive mechanism for inserting a paddle into a bottle is set at the position where the upper groove 2721 and the lower groove 2722 communicate. When the guide cam 2391 slides from the upper groove 2721 to the lower groove 2722, the guide cam 2391 slides between the two paddle plates 28, and the lower paddle plate 28 supports the guide cam 2391.

[0074] When the follower planetary turntable 221 moves from the first station 211 to the second station 212, or when the follower planetary turntable 221 moves from the fifth station 215 to the sixth station 216, the guide cam 2391 slides from the upper groove 2721 to the lower groove 2722, and the guide cam 2391 slides from the upper groove 2721 to the lower paddle plate 28. When the bottle-entry paddle 231 needs to be inserted into the fermented bean curd bottle, the piston rod of the second cylinder moves downward, thereby driving the two paddle plates 28 to move downward, thereby driving the guide cam 2391, causing the bottle-entry paddle 231 to rotate downward and enter the fermented bean curd bottle.

[0075] Afterwards, the bottle-entering paddle 231 rotates with the fermented bean curd bottle. When the second grabbing mechanism 4 or the fourth grabbing mechanism 6 puts the fermented bean curd into the bottle, the bottle-entering paddle 231 is pulled out of the fermented bean curd bottle.

[0076] Reference Figure 15 、 Figure 16 and Figure 17 The first gripping mechanism 3 includes a first transverse portion 31, a first lifting portion 32, a first gripping portion 33, a second lifting portion 34, and a second gripping portion 35. The first lifting portion 32 and the second lifting portion 34 have the same structure, and the first gripping portion 33 and the second gripping portion 35 have the same structure. The first gripping portion 33 is installed below the first lifting portion 32, and the second gripping portion 35 is installed below the second lifting portion 34.

[0077] The function of the first transverse moving part 31 is to move the first lifting part 32 and the second lifting part 34 laterally as a whole, as well as the relative movement between the fermented tofu B1, B3 and the fermented tofu B4, B6, so that the fermented tofu B1, B3 and the fermented tofu B4, B6 move toward or away from each other.

[0078] The first transverse portion 31 includes a first suspension frame 311, a first transverse assembly 313, and a first transverse fine-motion assembly 314. The first suspension frame 311 is fixed to the bottom of the top plate 13 by bolts. The first transverse assembly 313 is mounted on the first suspension frame 311. A first transverse plate 312 is slidably connected to the bottom of the first suspension frame 311. The first transverse assembly 313 can drive the first transverse plate 312 to slide along the length of the first suspension frame 311. The first transverse assembly 313 includes a stepper motor and a lead screw. A slider slidably connected to the first suspension frame 311 is fixed to the top of the first transverse plate 312. The lead screw is threadedly connected to the slider. The stepper motor and the lead screw are connected by a belt and a pulley.

[0079] The first transverse fine-motion assembly 314 is mounted below the first transverse plate 312. It includes a stepper motor and a lead screw. Two first transverse fine-motion plates 315 are mounted on the lead screw, which can drive the two first transverse fine-motion plates 315 toward or away from each other. The first lift 32 is mounted below one of the first transverse fine-motion plates 315, and the second lift 34 is mounted below the other first transverse fine-motion plate 315.

[0080] Reference Figure 18 The first lifting section 32 includes a first lifting rail base 321 and a first lifting assembly 323. The first lifting rail base 321 is fixed to the first transverse micro-motion plate 315 via bolts. A U-shaped mounting plate 322 is mounted on the bottom of the first lifting rail base 321. The first lifting assembly 323 is mounted on the first lifting rail base 321 and is capable of driving the U-shaped mounting plate 322 up and down. The first gripping section 33 is mounted on the U-shaped mounting plate 322. The U-shaped mounting plate 322 of the second lifting section 34 is located in the U-shaped cavity of the U-shaped mounting plate 322 of the first lifting section 32.

[0081] The first lifting assembly 323 includes a lifting stepper motor 3231, a lifting ball screw 3232, and a lifting nut slide 3233. The lifting stepper motor 3231 is fixed to the first lifting guide rail seat 321. The lifting ball screw 3232 is connected to the output shaft of the lifting stepper motor 3231. The lifting nut slide 3233 is threadedly connected to the lifting ball screw 3232. A lifting guide rail 3234 is fixed to the first lifting guide rail seat 321. The lifting nut slide 3233 is slidably connected to the lifting guide rail 3234. A first support plate 3235 is fixed to the first lifting guide rail seat 321 to support the lifting ball screw 3232.

[0082] Reference Figures 18-21 The first gripping portion 33 includes a clamping and shifting stepper motor 331, an outer clamp assembly 332, an inner clamp assembly 333, a clamping assembly 334, and a first shifting assembly 335. The clamping and shifting stepper motor 331 is fixed to the U-shaped mounting plate 322. A first mounting plate 3314 is fixed to the side wall of the clamping and shifting stepper motor 331. The clamping and shifting stepper motor 331 is a bidirectional output motor. The outer clamping jaw lifting screw 3311 is connected to the upper part of the clamping and shifting stepper motor 331, and the inner clamping jaw lifting screw 3312 is connected to the lower part of the clamping and shifting stepper motor 331. The upper and lower screws rotate in opposite directions.

[0083] The outer clamp assembly 332 includes an outer clamp lifting connecting plate 3321, an outer clamp arm 3322, an outer clamp arm connecting plate 3323 and an outer clamp 3324. The outer clamp lifting connecting plate 3321 is located above the clamping and shifting stepping motor 331 and is threadedly connected to the outer clamp lifting screw 3311. Both sides of the outer clamp lifting connecting plate 3321 are fixed to the outer clamp arm 3322. The outer clamp arm 3322 is L-shaped as a whole. The top of the vertical part of the outer clamp arm 3322 is fixed to the outer clamp lifting connecting plate 3321, the end of the horizontal part of the outer clamp arm 3322 is fixed to the outer clamp arm connecting plate 3323, and the outer clamp 3324 is fixed to the bottom of the outer clamp arm connecting plate 3323.

[0084] The inner clamp assembly 333 is located between the two outer clamp arms 3322. The inner clamp assembly 333 includes an inner clamp arm 3331, an inner clamp arm connecting plate 3332 and an inner clamp 3333. The top of the inner clamp arm connecting plate 3332 is fixed to the inner clamp arm 3331, and the bottom of the inner clamp arm connecting plate 3332 is fixed to the inner clamp 3333.

[0085] The function of the first dividing assembly 335 is to clamp the fermented bean curd B1 and B3 and place them in the bottle, and then move the fermented bean curd B1 and B3 to the sides to make way for the fermented bean curd B2 and B5 to be bottled. Before moving the fermented bean curd B1 and B3, the outer clamping claw 3324 needs to be pulled out of the bottle. The first dividing assembly 335 includes a first main shifting rod 3351, a first shifting rod 3352, and a first shifting slider 3355. A first shifting vertical guide rail 3353 is fixed to the side of the first mounting plate 3314 near the clamping shifting stepping motor 331. A slider is fixed to the side of the first main shifting rod 3351 near the first mounting plate 3314, and the slider is slidably connected to the first shifting vertical guide rail 3353. A first elongated hole 336 is formed on the first main shifting rod 3351, and the first elongated hole 336 is arranged in a vertical direction. The inner clamp lifting nut 3313 located below the clamping and shifting stepping motor 331 is threadedly connected to the inner clamping claw lifting screw 3312 . The first shifting active rod 3358 is fixed on the inner clamp lifting nut 3313 , and the first shifting active rod 3358 is inserted into the first elongated hole 336 .

[0086] Two first dispatch levers 3352 are located below the first main dispatch lever 3351. A first connecting shaft 3356 is fixed to the bottom of the first main dispatch lever 3351, and a second connecting shaft 3357 is fixed to the top of the first main dispatch lever 3351. A first dispatch transverse guide rail 3354 is fixed to the bottom of the first mounting plate 3314, and two first dispatch sliders 3355 are slidably connected to the first dispatch transverse guide rail 3354.

[0087] One end of one of the first dispatching levers 3352 is rotatably connected to the first connecting shaft 3356, and the other end of the first dispatching lever 3352 is rotatably connected to the top of one of the first dispatching sliders 3355. Another first dispatching lever 3352 also has one end rotatably connected to the first connecting shaft 3356, and the other end of the first dispatching lever 3352 is rotatably connected to the top of the other first dispatching slider 3355. Each first dispatching slider 3355 corresponds to an inner clamping arm 3331, and the first dispatching slider 3355 is fixed to the inner clamping arm 3331. A first return spring 3359 is disposed above the first connecting shaft 3356. The first return spring 3359 is a tension spring, one end of which is hooked to the second connecting shaft 3357. A spring connecting rod is fixed to the first mounting plate 3314, and the other end of the first return spring 3359 is hooked to the spring connecting rod.

[0088] After putting fermented tofu B1, B3, B4, and B6 into the bottle, you need to separate B1 and B3, and B4 and B6, to make room for B2 and B5. After the fermented tofu B1, B3, B4 and B6 are placed on the bottom of the bottle, the clamping and shifting stepping motor 331 drives the outer clamping claw lifting screw 3311 and the inner clamping claw lifting screw 3312 to rotate, and the inner clamp lifting nut 3313 moves downward, and the inner clamp lifting nut 3313 drives the first shifting active rod 3358 to move downward. When the first shifting active rod 3358 moves to the bottom of the first elongated hole 336, the first shifting active rod 3358 abuts against the bottom end hole wall of the first elongated hole 336, driving the first main shifting rod 3351 to move downward, and the first main shifting rod 3351 drives the first shifting rod 3352 to move downward, and the first shifting slider 3355 corresponding to the first shifting rod 3352 slides along the first shifting transverse guide rail 3354, thereby driving the inner clamping claw arm 3331 and the inner clamping claw 3333 to move, so that the two inner clamping claws 3333 move away from each other. Thus, fermented bean curds B1 and B3 are separated, and fermented bean curds B4 and B6 are separated.

[0089] The clamping assembly 334 includes a roller 3342, an upper clamping slider 3343, and a lower clamping slider 3344. A mounting rod 3341 is fixed to the side wall of the U-shaped mounting plate 322. The roller 3342 is mounted on the bottom of the mounting rod 3341 and contacts the side wall of the outer clamping arm 3322. The upper clamping slider 3343 and the lower clamping slider 3344 are both fixed to the outer clamping arm 3322. When the fermented tofu needs to be clamped, the outer clamping arm 3322 moves downward a distance, and the roller 3342 contacts the lower clamping slider 3344, sliding from the inclined surface of the lower clamping slider 3344 to the vertical surface of the lower clamping slider 3344, thereby squeezing the outer clamping arm 3322. When the outer clamp arm 3322 moves downward, the inner clamp lifting nut 3313 moves upward, thereby driving the first main pull rod 3351 to move upward. When the first main pull rod 3351 is at the top, the inner clamp 3333 is closest to the corresponding outer clamp 3324. The outer clamp 3324 arm and the inner clamp 3333 arm work together to clamp the fermented tofu.

[0090] When the inner clamp lifting nut 3313 descends, the outer clamp lifting connecting plate 3321 rises, and the outer clamp arm 3322 rises along with the outer clamp lifting connecting plate 3321, causing the roller 3342 to disengage from the upper clamping slider 3343. At this time, the outer clamp 3324 is separated from the fermented bean curd. The outer clamp 3324 then continues to move upward along with the outer clamp arm 3322. When the lower clamping slider 3344 on the outer clamp arm 3322 contacts the roller 3342, the two outer clamps 3324 move toward each other, thereby facilitating the withdrawal of the outer clamp 3324 from the bottle mouth. After the outer clamp 3324 is withdrawn from the bottle mouth, the first shifting active rod 3358 abuts against the bottom end of the first elongated hole 336, driving the first main shifting pull rod 3351 to move downward.

[0091] The working steps of the first gripping mechanism 3 are:

[0092] Step 1: Grab fermented tofu B1, B3, B4, and B6;

[0093] The grabbing of fermented tofu B1, B3, B4, and B6 is performed simultaneously. This embodiment uses the grabbing of fermented tofu B1 as an example for explanation. First, before the fermented tofu is grabbed, the clamping and distribution stepping motor 331 raises the outer clamp lifting connecting plate 3321 to the top. The outer clamping claw 3324 arm and the lower clamping slider 3344 move upward. As the lower clamping slider 3344 moves upward, it contacts the roller 3342. The roller 3342 first contacts the inclined surface of the lower clamping slider 3344, and then contacts the vertical plane above the inclined surface. Under the action of the roller 3342, the outer clamping claw arm 3322 moves inward. This action is not for clamping, but for avoiding the clamp during the lifting process after the fermented tofu is stacked, so as to facilitate its removal from the bottle mouth. Under the above-mentioned position conditions, the clamping and shifting stepping motor 331 drives the inner clamp lifting nut 3313 to move downward. When the outer clamp lifting connecting plate 3321 is at the highest point of the stroke, the inner clamp lifting nut 3313 is at the lowest point of the stroke, the first main shifting rod 3351 is at the lower limit position, the two first shifting sliders 3355 are in a separated state, and the two inner clamping claws 3333 are in a separated state. At this time, the first return spring 3359 is in a stretched state.

[0094] Afterwards, the outer clamp arm connecting plate 3323 and the outer clamp 3324 continue to move downward, and the roller 3342 contacts the upper clamping slider 3343. The roller 3342 squeezes the upper clamping slider 3343, causing the outer clamp arm 3322 to elastically deform and move inward, thereby driving the outer clamp 3324 to move inward. As the outer clamp lifting connecting plate 3321 drives the outer clamp arm 3322 and the outer clamp 3324 to move downward, the inner clamp lifting nut 3313 drives the first active lever 3358 to move upward, causing the first active lever 3358 to lose its contact with the bottom of the first elongated hole 336. As the first active lever 3358 moves upward, the first main lever 3351 moves rapidly upward under the action of the first return spring 3359. When the first shifting active rod 3358 moves with the inner clamp lifting screw 3313 to the top of the first elongated hole 336 and contacts the top wall of the first elongated hole 336, the first return spring 3359 resets, and the two first shifting sliders 3355 are in a naturally merged state. The two inner clamping jaws 3333 are now closest to each other. At this time, the outer clamping jaws 3324 and the inner clamping jaws 3333 fully clamp the fermented tofu, preparing for the next step of lifting and transfer.

[0095] Step 2: Transfer fermented tofu B1, B3, B4, and B6;

[0096] The transfer of the fermented tofu is accomplished by the first transverse moving section 31, the first lifting section 32, and the second lifting section 34. Once the fermented tofu is grasped by the first grasping mechanism 3, the first lifting stepper motor 3231 drives the lifting nut slide 3233 to move the U-shaped mounting plate 322 vertically upward, lifting the fermented tofu B1, B3, B4, and B6. Under the action of the first transverse moving section 31, the first and second lifting sections 32 and 34 move toward the bottle opening on the indexing plate body 2, thereby driving the first grasping section 33 and the second grasping section 35 toward the bottle opening until the fermented tofu is directly above the bottle opening. Once the fermented tofu is directly above the bottle opening, the first and second lifting sections 32 and 34 continue to lower the fermented tofu into the bottle and move it to a defined position for stacking according to the stacking order.

[0097] Step 3: Pack the fermented tofu;

[0098] The packing of fermented bean curd can be started from the time when the fermented bean curd is put into the bottle. Under the action of the first lifting part 32, the fermented bean curd B1 and B3 are moved downwards and stop when the fermented bean curd is 3-5mm away from the bottom of the bottle. Next, the first transverse moving part 31 moves the first lifting part 32 and the first grabbing part 33 toward the front side wall of the bottle and stops when the fermented bean curd is about 1.5cm away from the front side wall. The four side walls of the fermented bean curd bottle are the front side wall, the rear side wall, the left side wall and the right side wall. Figure 1 and attached Figure 2 In the figure, the front wall, back wall, left wall and right wall are represented by a, b, c and d respectively.

[0099] Afterwards, the first lifting unit 32 continues to move downward until the fermented tofu contacts the bottom of the bottle. At this point, while maintaining this position, another set of fermented tofu B4 and B6 in this process step, after undergoing the grabbing and transfer process, moves to the top of the fermented tofu bottle mouth. At this point, the second lifting unit 34 and the second grabbing unit 35 begin to move under the action of the first transverse micro-motion assembly 314. The combined action of the first transverse micro-motion assembly 314 allows fermented tofu B1 and B3 to remain stationary while fermented tofu B4 and B6 move toward the center of the bottle mouth.

[0100] The first lateral micro-motion component 314 can drive the two first lateral micro-motion plates 315 to move away from each other. If the fermented tofu B4 and B6 move toward the center of the bottle mouth, the fermented tofu B1 and B3 will also move away from the center of the bottle mouth. In order to prevent the fermented tofu B1 and B3 from moving, the first lateral movement part 31 drives the fermented tofu B1 and B3 to move, thereby offsetting the movement of the fermented tofu B1 and B3. At the same time as the first lateral movement part 31 drives the fermented tofu B1 and B3 to move, the fermented tofu B4 and B6 move toward the center of the bottle mouth, thereby moving the fermented tofu B4 and B6 to just above the center of the bottle mouth.

[0101] After moving directly above the center of the bottle mouth, the second lifting member 34 begins to move downward until the lower surfaces of the fermented tofu B4 and B6 are 3 mm away from the upper surfaces of the fermented tofu B1 and B3. In this state, the first lateral movement assembly 313 and the first lateral micro-motion assembly 314 move the fermented tofu B4 and B6 toward the rear sidewall of the bottle. They stop approximately 1.5 mm from the rear sidewall. The second lifting member 34 then drives the fermented tofu B4 and B6 downward until the fermented tofu contacts the bottom of the bottle. In this working state, all the outer clamping jaws 3324 of the first grasping mechanism 3 become loose and move upward a distance. When the outer clamping jaws 3324 are lifted by about 22 mm, the inner clamp lifting nut 3313 drives the first shifting active rod 3358 to move downward and the idle stroke ends. The first shifting active rod 3358 squeezes the first main shifting rod 3351 downward, thereby separating the inner clamping jaws 3333, shifting the fermented tofu, separating the two pieces of fermented tofu in the same group, and pushing the fermented tofu along the bottom of the bottle until it is close to the two side walls of the fermented tofu bottle, thus completing this step of packing the fermented tofu B1, B3, B4, and B6.

[0102] Next, the bottle-feeding paddle 231 on the indexing plate body rotates under the drive of the second cylinder, inserting the bottle and blocking it inside the inner gripper 3333. Afterward, all the grippers of the two sets of grippers, under the opposing action of their respective lifting components, are lifted to the outside of the bottle mouth and return to the zero position, awaiting the next work cycle. Simultaneously, the bottle rotates with the indexing plate body to the next working position. The bottle-feeding paddle 231 remains in the bottle-feeding position.

[0103] At the third workstation 213, the fermented tofu B2 and B5 are grabbed and transferred to bottles by the second grabbing mechanism and packed in order and according to the position requirements.

[0104] Reference Figure 22-Figure 25 The second grabbing mechanism 4 includes a second transverse moving part 41, a third lifting part 42, a third grabbing part 43, a fourth lifting part 44 and a fourth grabbing part 45. The third grabbing part 43 is installed below the third lifting part 42. The third lifting part 42 can drive the third grabbing part 43 to rise and fall. The fourth grabbing part 45 is installed below the fourth lifting part 44. The fourth lifting part 44 can drive the fourth grabbing part 45 to rise and fall.

[0105] The function of the second transverse moving part 41 is to make the third lifting part 42 and the fourth lifting part 44 move laterally as a whole, as well as the relative movement between the two fermented bean curds B2 and B5. The second transverse moving part 41 includes a second suspension frame 411, a second transverse moving assembly 413 and a second transverse micro-motion assembly 414. The second suspension frame 411 is fixed to the bottom of the top plate 13 by bolts. The second transverse moving assembly 413 is installed on the second suspension frame 411. The second suspension frame 411 is slidably connected to the second transverse plate 412 below. The second transverse moving assembly 413 can drive the second transverse plate 412 to slide along the length direction of the second suspension frame 411. The second transverse moving assembly 413 has the same structure as the first transverse moving assembly 313, and the second transverse micro-motion assembly 414 has the same structure as the first transverse micro-motion assembly 314.

[0106] Two second transverse fine motion plates 415 are provided on the lead screw of the second transverse fine motion assembly 414, and the second transverse fine motion assembly 414 is capable of driving the two second transverse fine motion plates 415 to move toward or away from each other. The third lifting portion 42 has the same structure as the first lifting portion 32. The fourth lifting portion 44 is also the same as the first lifting portion 32. The first lifting guide rail seat 321 of the third lifting portion 42 is fixed to one of the second transverse fine motion plates 415 by bolts, and the first lifting guide rail seat 321 of the fourth lifting portion 44 is fixed to the other second transverse fine motion plate 415 by bolts. The fourth gripping portion 45 has the same structure as the third gripping portion 43.

[0107] The third gripping unit 43 includes a first clamping stepper motor 431, a second shifting assembly 432, and a first clamping claw assembly 433. A second mounting plate 4311 is secured to one side of the first clamping stepper motor 431, and a third mounting plate 4312 is secured to the other side of the first clamping stepper motor 431. The second shifting assembly 432 includes a second main shifting lever 4321 and a second shifting lever 4322. A main shifting slider 43211 is secured to the top of the second main shifting lever 4321. The first clamping stepper motor 431 is secured to the U-shaped mounting plate 322 of the B2 lifting mechanism. A second shifting vertical guide rail 4325 and a second shifting transverse guide rail 4326 are secured to the second mounting plate 4311. The second shifting transverse guide rail 4326 is located below the second shifting vertical guide rail 4325. A clamping screw 4313 is connected to the bottom of the first clamping stepper motor 431, and a clamping nut slide 4314 is threadedly connected to the clamping screw 4313. A slider is fixed to one side of the clamping nut slide 4314, and a slide rail for the slider to slide is fixed to the third mounting plate 4312.

[0108] The second main shift lever 4321 is located on one side of the second sub-shift vertical guide rail 4325. The main shift slider 43211 is slidably connected to the second sub-shift vertical guide rail 4325. The third connecting shaft 4323 is fixed to the bottom of the second main shift lever 4321, and the fourth connecting shaft 4324 is fixed to the top of the main shift slider 43211. A second elongated hole is opened on the second main shift lever 4321. The second sub-shift active rod 4327 is fixed to the clamping nut slide 4314. The second sub-shift active rod 4327 is inserted into the second elongated hole. One end of each of the two second sub-shift levers 4322 is rotatably connected to the third connecting shaft 4323.

[0109] Two second dividing sliders 4329 are slidably connected to the second dividing transverse guide rail 4326, one of the dividing pull rods is rotatably connected to one of the second dividing sliders 4329, and the other dividing pull rod is rotatably connected to the other dividing slider; when the second main dividing pull rod 4321 moves upward, the two first dividing sliders move toward each other, and when the second main dividing pull rod 4321 moves upward, the two second dividing sliders 4329 move away from each other.

[0110] A connecting rod is fixed on the second mounting plate 4311 , and a second return spring 4328 is provided between the connecting rod and the fourth connecting shaft 4324 . The second return spring 4328 is a tension spring. One end of the second return spring 4328 is hooked on the connecting rod, and the other end of the second return spring 4328 is hooked on the fourth connecting shaft 4324 .

[0111] The first clamping jaw assembly 433 includes a B2 clamping jaw arm 4331, a B2 clamping jaw connecting plate 4332, and a B2 clamping jaw 4333. Each second shifting slider 4329 is fixedly connected to a B2 clamping jaw arm 4331. The B2 clamping jaw connecting plate 4332 is fixed to the bottom of the B2 clamping jaw arm 4331, and the B2 clamping jaw 4333 is fixed to the bottom of the B2 clamping jaw connecting plate 4332. The two B2 clamping jaws 4333 clamp the fermented tofu B2.

[0112] When clamping the fermented tofu B2, the first clamping stepper motor 431 drives the clamping screw 4313 to move downward, and the clamping screw 4313 drives the clamping nut slide 4314 to move downward. When the clamping nut slide 4314 drives the second main shifting rod 4321 to move downward, the two second shifting rods 4322 push the two second shifting slide blocks 4329 to move away from each other, so that the distance between the two B2 clamping jaws 4333 in the same group is wider than the thickness of one fermented tofu. Then the third lifting part 42 drops to a certain height, and the first clamping stepper motor 431 drives the clamping screw 4313 to move, thereby driving the second shifting active rod 4327 to move upward. When the second shifting active rod 4327 is pressed against the top side wall of the second long hole, and the second return spring 4328 restores its deformation, the two B2 clamping jaws 4333B2 clamp the fermented tofu B2.

[0113] Working steps of the second gripping mechanism 4:

[0114] Step 1: Grasping the fermented tofu B2 and B5: The fermented tofu B2 and B5 are grasped simultaneously. Before the fermented tofu B2 is grasped, the second grasping mechanism 4 is at the zero position above the fermented tofu jig. When the electronic control system issues a grasping command, the third grasping unit 43 and the fourth grasping unit 45 descend to a predetermined position under the action of their respective lifting units. The first clamping stepper motor 431 then drives the clamping screw 4313 downward, ensuring that the width between the two B2 clamping jaws 4333 in a set is greater than the thickness of the fermented tofu. The third grasping unit 43 and the fourth grasping unit 45 then descend to a predetermined position to grasp the fermented tofu B2 and B5.

[0115] Step 2: Transfer of fermented tofu B2 and B5:

[0116] The transfer of fermented tofu B2 and B5 is completed by the second transverse moving part 41. After the fermented tofu B2 and B5 are grabbed by their respective grabbing parts, the fermented tofu B2 and B5 are lifted to a certain height by their respective lifting parts, and the second transverse moving part 41 transfers the fermented tofu B2 to just above the center of the bottle mouth.

[0117] Step 3: Arrange fermented tofu B2 and B5:

[0118] When the fermented tofu B2 is moved to just above the center of the bottle mouth, the third lifting part 42 drives the fermented tofu B2 into the bottle. When the bottom of the fermented tofu B2 stops moving downward at about 3 mm away from the bottom of the bottle, under the action of the second transverse moving part 41, the fermented tofu B2 is moved to a position about 1.5 mm away from the front wall of the bottle and stops. Then, under the action of the third lifting part 42, the fermented tofu B2 moves downward again until the lower surface of the fermented tofu touches the bottom. At this time, while this position remains unchanged, another piece of fermented bean curd B5 in this working part starts to move. Under the action of the second transverse movement component 413 and the second transverse micro-motion component 414, the fermented bean curd B2 is kept stationary and the fermented bean curd B5 is moved to just above the center of the bottle mouth. Then the fourth lifting part 44 drives the fermented bean curd B5 to move downward until the fermented bean curd B5 stops 3 mm away from the lower surface; then under the action of the second transverse movement component 413 and the second transverse micro-motion component 414, the fermented bean curd B5 is moved toward the rear wall of the bottle and stops about 1.5 mm away from the rear wall. Then the fourth lifting part 44 moves the fermented bean curd B5 downward until the fermented bean curd B5 touches the bottom (the fermented bean curd in the fermented bean curd bottle is symmetrical with respect to the bottle front, back, left and right and flush up and down).

[0119] After the fermented tofu B5 reaches the bottom, the clamping nut slides 4314 of the third and fourth gripping sections 43 and 45 move downward, gradually loosening the B2 clamping jaws 4333 from a clamped state, thus completing the stacking of the fermented tofu B2 and B5. At this point, the third and fourth lifting sections 42 and 44 activate, raising the B2 clamping jaws 4333 on either side of the fermented tofu to the exterior of the bottle mouth and returning to the zero position, ready for the next cycle. The indexing plate paddle is then withdrawn from the bottle.

[0120] The indexing plate then rotates, and the fermented bean curd bottles (containing fermented bean curd B1, B2, B3, B4, B5, and B6) rotate with the indexing plate to the fourth station 214. At fourth station 214, there are no grippers performing filling operations, making it considered an unoccupied station. However, under the control of the bottle rotation trajectory control mechanism 26, the fermented bean curd bottles complete a 90-degree rotation (counterclockwise in a top view) relative to the indexing plate (using the indexing plate as a reference) during the transition from the third station 213 to the fifth station 215. At fifth station 215, the third gripping mechanism 5 grabs and transfers the fermented bean curd T1, T3, T4, and T6 to the bottles for packing in the required order and position.

[0121] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A manipulator with the function of grabbing and bottling bulk flexible materials, characterized in that: The invention comprises a third lifting part (42), a fourth lifting part (44) and a second transverse moving part (41) for controlling the transverse movement of the third lifting part (42) and the fourth lifting part (44); a third grasping part (43) for grasping fermented bean curd B2 and placing it into a fermented bean curd bottle is connected below the third lifting part (42); a fourth grasping part (45) for grasping fermented bean curd B5 and placing it into the fermented bean curd bottle is connected below the fourth lifting part (44); the third grasping part (43) comprises a first clamping stepping motor (431), a second distribution component (432) and a first clamping claw component (433); the two first clamping claw components (433) grasp a piece of fermented bean curd; under the action of the first clamping stepping motor (431), the second distribution component (432) controls the two first clamping claw components (433) to clamp the fermented bean curd.

2. The manipulator with the function of grabbing and bottling bulk flexible materials according to claim 1 is characterized in that: A second mounting plate (4311) is fixed to one side of the first clamping stepper motor (431), and the second distribution assembly (432) is mounted on the second mounting plate (4311). The first clamping jaw assembly (433) includes a B2 clamping jaw arm (4331), a B2 clamping jaw arm connecting plate (4332), and a B2 clamping jaw (4333). The B2 clamping jaw arm connecting plate (4332) is fixed between the B2 clamping jaw arm (4331) and the B2 clamping jaw (4333). The first clamping stepper motor (431) controls the movement of the second distribution assembly (432), thereby controlling the two B2 clamping jaws (4333) to clamp or release the fermented bean curd.

3. The manipulator with the function of grabbing and bottling bulk flexible materials according to claim 2 is characterized in that: The second shift assembly (432) includes a second main shift pull rod (4321) and two second shift pull rods (4322). A second shift vertical guide rail (4325) and a second shift transverse guide rail (4326) located below the second shift vertical guide rail (4325) are fixed on the second mounting plate (4311). The second main shift pull rod (4321) is slidably connected to the second shift vertical guide rail (4325). A second long strip hole is provided on the second main shift pull rod (4321). A clamping screw (4313) is connected to the output shaft of the first clamping stepping motor (431). A clamping nut slide (431) is threadedly connected to the clamping screw (4313). 4) A second shifting active rod (4327) is fixed on the clamping nut slide (4314), the second shifting active rod (4327) is inserted into the second long strip hole, and two second shifting sliders (4329) are slidably connected to the second shifting transverse guide rail (4326), each second shifting slider (4329) corresponds to a second shifting pull rod (4322), one end of the second shifting pull rod (4322) is hinged to the second shifting slider (4329), and the other end of the second shifting pull rod (4322) is hinged to the bottom of the first main shifting pull rod (3351), and the B2 clamping claw arm (4331) is fixed to the bottom of the second shifting slider (4329).

4. The manipulator with the function of grabbing and bottling bulk flexible materials according to claim 3 is characterized in that: A spring connecting rod is fixed on the second mounting plate (4311), and a second return spring (4328) is connected to the top of the spring connecting rod and the second shifting active rod (4327).

5. The manipulator with the function of grabbing and bottling bulk flexible materials according to any one of claims 1, 2, 3, and 4, characterized in that: The second transverse moving portion (41) includes a second suspension frame (411) and a second transverse moving plate (412) located below the second suspension frame (411) and slidably connected to the second suspension frame (411); a second transverse moving component (413) for driving the second transverse moving plate (412) is provided on the second suspension frame (411); a second transverse micro-motion component (414) is provided on the second transverse moving plate (412); and the second transverse micro-motion component (414) is capable of driving the third lifting portion (42) and the fourth lifting portion (44) to move in a direction toward or away from each other.

6. The manipulator with the function of grabbing and bottling bulk flexible materials according to claim 1 is characterized in that: The structure of the second lifting part (34) is the same as that of the first lifting part (32). The first lifting part (32) includes a first lifting guide rail seat (321), a U-shaped mounting plate (322) and a first lifting assembly (323). The first lifting guide rail seat (321) is connected to the first transverse micro-motion assembly (314). The first lifting assembly (323) is mounted on the first lifting guide rail seat (321) and drives the U-shaped mounting plate (322) to move up and down. The clamping and shifting stepping motor (331) is fixed to the U-shaped mounting plate (322). The U-shaped mounting plate (322) of the second lifting part (34) is fixed to the first clamping and shifting stepping motor (331).

7. The manipulator with the function of grabbing and bottling bulk flexible materials according to claim 6 is characterized in that: The structure of the fourth lifting portion (44) is the same as that of the first lifting portion (32), and the structure of the fourth grabbing portion (45) is the same as that of the third grabbing portion (43).

8. The manipulator with the function of grabbing and bottling bulk flexible materials according to claim 1 is characterized in that: A top plate (13) is provided above the second transverse moving portion (41), and a first grabbing mechanism (3) is provided on the top plate (13) and is located on one side of the second transverse moving portion (41). The first grabbing mechanism (3) includes a first transverse moving portion (31), a first lifting portion (32) and a second lifting portion (34). The first transverse moving portion (31) includes a first suspension frame (311), a first transverse moving assembly (313) and a first transverse micro-motion assembly (314). A first transverse moving plate (312) is provided below the first suspension frame (311), and the first transverse moving assembly (313) drives the first transverse moving plate (312) to move. The first transverse micro-motion component (314) is installed below the first transverse plate (312) and can drive the first lifting part (32) and the second lifting part (34) to move in a direction of approaching or moving away from each other. The first lifting part (32) is connected below to a first grabbing part (33) for grabbing fermented bean curd B1 and B3 and pushing the fermented bean curd B1 and B3 separately to two corners of the fermented bean curd bottle. The second lifting part (34) is connected below to a second grabbing part (35) for grabbing fermented bean curd B4 and B6 and pushing the fermented bean curd B4 and B6 separately to the other two corners of the fermented bean curd bottle.

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