CN215531413U - Artificial intelligence jellied bean curd machine - Google Patents

Abstract

The utility model discloses an artificial intelligent uncongealed beancurd machine which comprises a soybean milk processing module, a uncongealed beancurd full-automatic forming module, an intelligent uncongealed beancurd meal separating manipulator, an automatic bowl feeding module and a seasoning automatic feeding control module; the soybean milk processing module comprises a soybean soaking barrel, a rotary lifting flood dragon, a pulping machine and a steam generator. According to the utility model, by designing the soybean milk processing module, the full-automatic uncongealed tofu forming module, the intelligent uncongealed tofu separate-eating manipulator, the automatic bowl feeding module and the automatic seasoning feeding control module, intelligent soybean soaking, grinding, accurate conveying of grinding water, bean dreg re-grinding, steam generator management, soybean milk heating, soybean milk transition, accurate feeding of uncongealed tofu forming materials, automatic uniform mixing of mixed liquid, uncongealed tofu forming, uncongealed tofu separate-eating, uncongealed tofu weighing, vessel disinfection, automatic in-place of vessels, uncongealed tofu bowl loading and accurate feeding of seasonings can be realized, accurate metering of hot soybean milk separate eating can be realized, and manual intervention is not required in the whole process, so that the whole working efficiency is greatly improved.

Description

Artificial intelligence jellied bean curd machine

Technical Field

The utility model relates to the field of uncongealed beancurd production and processing, in particular to an artificial intelligent uncongealed beancurd machine.

Background

The jellied bean curd is also called as water bean curd, is a famous traditional special snack, is a high-nutrition food prepared by utilizing soybean protein, is often mixed with bean curd jelly and bean curd jelly, is frequently eaten with salt in the north according to different tastes in various places, is preferred to be sweet in the south, is characterized by being tender and soft in the bean curd, so the jellied bean curd is called as jellied bean curd, so the jellied bean curd needs to be cooked by mild fire and cannot overflow (a defoaming agent special for bean products can be added to eliminate foam and edible oil can also be added to the jellied bean curd), the jellied bean curd cannot be burnt, bitter and astringent, and the jellied bean curd needs to be cooked by sharp fire when being steamed by boiling the pot, the jellied bean curd needs to be cooked by fresh mutton slices and good ground soup, the duration of fire is well controlled, and the jellied bean curd cannot be stewed by the technological method for stewing meat, so that the freshness of the marinating can be kept.

The traditional uncongealed beancurd production and processing needs manual operation, so that not only are production and processing personnel required to have abundant experience, but also each process needs manual operation, time and labor are wasted, the fatigue strength of the operating personnel is enhanced, the whole quality of the uncongealed beancurd is affected by carelessness, and the waste of the whole pot of uncongealed beancurd is caused;

therefore, it is highly desirable to provide an artificial intelligent uncongealed tofu machine to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The technical problem to be solved by the utility model is that the traditional production and processing of the uncongealed tofu needs manual operation, so that not only are rich experiences of production and processing personnel needed, but also each process needs manual operation, time and labor are wasted, the fatigue strength of the operating personnel is enhanced, the whole quality of the uncongealed tofu is affected slightly carelessly, and the waste of the uncongealed tofu in a whole pot is caused.

In order to solve the technical problems, the utility model adopts a technical scheme that: providing an artificial intelligent uncongealed beancurd machine, which comprises a soybean milk processing module, a uncongealed beancurd full-automatic forming module, an intelligent uncongealed beancurd meal distributing manipulator, an automatic bowl feeding module and a seasoning automatic feeding control module;

the soybean milk processing module comprises a soybean soaking barrel, a rotary lifting dragon, a soybean milk grinding machine, a steam generator and a soybean milk barrel, a connecting pipeline is arranged between the soybean milk grinding machine and the soybean milk barrel, a steam pipeline is connected between the soybean milk barrel and the steam generator, a liquid level sensor and a temperature sensor are respectively arranged at the center of the soybean milk barrel, a shunt pipe is fixedly connected to the bottom of one side of the soybean milk barrel, a first conveying pump, a second conveying pump, a first flowmeter, a first electromagnetic valve, a second electromagnetic valve and a third electromagnetic valve are respectively arranged in the middle of the shunt pipe, a water pipe is arranged at the top of the center of the soybean milk grinding machine, a fourth electromagnetic valve, a second flowmeter and a variable flow micro pump are respectively arranged in the middle of the water pipe, and a soybean residue preparation disc is arranged on one side of the soybean milk grinding machine;

the soybean soaking machine is characterized in that a temperature control heating belt and a temperature sensor are additionally arranged outside a soybean soaking barrel to help accurately control the soybeans to be soaked and fully expanded in winter, a bearing sensor is additionally arranged at the bottom of the soybean soaking barrel to accurately measure the total amount of the soybeans and control the weight of added water, the soybean soaking and expanding can be better quantified, an electromagnetic valve is simultaneously arranged at the bottom of the soybean soaking barrel to automatically drain excessive water after the soybeans are soaked and expanded, and then a stepping motor is used for accurately controlling, rotating and lifting a flood dragon to convey the soybeans which are soaked and expanded;

the soybean conveyed by the rotary lifting auger enters a soybean milk mill, the soybean milk mill is started, a fourth electromagnetic valve of a water pipe is opened, a variable flow micropump operates, accurate water supply is realized through a second flow meter, the variable flow water supply can better control the soybean milk yield, the concentration of soybean milk and the stable quality are ensured, the soybean milk is discharged and then enters a connecting pipeline through a connecting pipeline filter screen for standby, the separated soybean dregs after the soybean milk is ground by the soybean milk mill are stored in a soybean dreg preparation disc, when the liquid level of the soybean milk reaches a certain liquid level, a liquid level sensor in a soybean milk barrel monitors that the soybean milk is ground by adding water for the second time, the purpose of grinding the soybean dregs for the second time is more soybean milk, the separation of primary grinding dregs and milk is not thorough, and 20% more soybean milk can be obtained after the secondary grinding;

when the liquid level sensor monitors that the liquid level of the soybean milk in the soybean milk barrel reaches a certain range, the steam generator is started, steam is conveyed to the soybean milk through the steam pipeline to heat the soybean milk, and the soybean milk grinder continuously operates until the liquid level sensor monitors that the soybean milk in the soybean milk barrel reaches a set liquid level;

the temperature sensor continuously monitors the temperature change of the soybean milk, after the heating temperature of the soybean milk reaches a set temperature, the steam generator is turned off, the steam generator is turned on after waiting for a certain time, the intermittent heating of the soybean milk is carried out, the steam energy can be saved by the intermittent heating, the boiling overflow of the soybean milk is prevented, and meanwhile, the fishy smell of the raw soybean milk can be removed by the continuous heating of the soybean milk; after the soybean milk is heated, the first electromagnetic valve is opened, so that the soybean milk is conveyed into a cup through the first flowmeter, the first conveying pump and the second electromagnetic valve without being molded by the bean curd jelly; and opening the first electromagnetic valve after the soybean milk is heated, so that the soybean milk is conveyed to the full-automatic uncongealed beancurd forming module through the first flowmeter, the second conveying pump and the third electromagnetic valve.

The full-automatic jellied bean curd forming module comprises a bearing rotary table, wherein a first heat-preserving barrel, a second heat-preserving barrel, a third heat-preserving barrel, a fourth heat-preserving barrel, a fifth heat-preserving barrel and a sixth heat-preserving barrel are respectively arranged at the top of the bearing rotary table;

the feeding combination comprises a bin and a mixing bin, a third stepping motor is arranged on one side of the bin, a first weighing sensor is mounted in the center of the bottom of the bin, a rotary discharging shaft corresponding to the third stepping motor is arranged in the center of the bin, a fifth electromagnetic valve is mounted in the center of the bottom of the mixing bin, a first micro pump and a flow sensor are respectively arranged in the center of a connecting pipe on one side of the mixing bin, a sixth electromagnetic valve is mounted at the bottom of the mixing bin, and an ultrasonic liquid level sensor is mounted at the bottom of one side of the mixing bin;

the soybean milk is stored in a first heat-preserving barrel, a second heat-preserving barrel, a third heat-preserving barrel, a fourth heat-preserving barrel, a fifth heat-preserving barrel and a sixth heat-preserving barrel through a soybean milk outlet pipe, the data is accurately counted through the feeding combination of the soybean milk processing part of a bearing turntable, a feed bin is dragged by a third feeding motor to rotate a discharging shaft to continuously feed the soybean milk to a mixing bin, the soybean milk is always measured by a weighing sensor, and when the measurement is met, the third feeding motor is stopped; opening a fifth electromagnetic valve, adding quantitative warm water through a first micro pump and a flow sensor for mixing, after the mixing is completed, opening a sixth electromagnetic valve to add the mixture into a first heat-preserving container, a second heat-preserving container, a third heat-preserving container, a fourth heat-preserving container, a fifth heat-preserving container and a sixth heat-preserving container, dragging the whole bearing turntable to rotate and move by a first stepping motor, stopping the first stepping motor after the sixth heat-preserving container moves to a second stepping motor position, and stopping the second stepping motor to do forward and reverse rotation movement after the stopping to reach the specified operation time, wherein the second stepping motor does forward and reverse movement to ensure that the added feed liquid can be uniformly mixed without manual intervention.

The intelligent uncongealed tofu separate-serving manipulator comprises a raw material barrel, a supporting arm is arranged at the rear end of the raw material barrel, a tenth stepping motor is arranged in the center of the outer wall of the supporting arm, a second rack slide bar is arranged at the top of the supporting arm, an eighth stepping motor and a ninth stepping motor are respectively installed at the center of the second rack sliding rod, the first rack sliding rod is fixedly connected with both ends of the second rack sliding rod, a fourth stepping motor is arranged on one side of the bottom of the first rack sliding rod, a second weighing sensor is arranged at the bottom end of the first rack sliding rod, the bottom of the first rack sliding rod is respectively provided with a fifth stepping motor, a sixth stepping motor, a first scoop, an elliptical guide rail, a second scoop, an upper sliding block, a lower sliding block and a seventh stepping motor, an ultrasonic liquid level meter is installed in the center of the bottom of the raw material barrel, and an eleventh stepping motor is installed at the bottom of the raw material barrel;

the tenth stepping motor drags the rotation degree of the supporting arm, the fourth stepping motor drags the first rack sliding rod to move downwards, the downward movement data are given by measuring data by the ultrasonic level meter, meanwhile, the eighth stepping motor drags the second rack sliding rod to move, the movement data start from the middle position of the raw material barrel, after the upward movement is in place, the sixth stepping motor drags the first scoop to vertically downwards by rotating, the number of the first scoop is one or more, the fifth stepping motor drags the upper and lower sliding blocks of the first scoop to move on the elliptical guide rail by rotating, after the movement is in place, the sixth stepping motor drags the first scoop to rotate by 90 degrees, the eleventh stepping motor drags the raw material barrel by rotating while the sixth stepping motor drags the first scoop to rotate by 90 degrees, the two actions are synchronously completed, and the first step of containing the uncongealed beancurd is completed; the fifth stepping motor rotates again to drag the upper sliding block and the lower sliding block of the first scoop to move on the elliptical guide rail, after the first scoop is in a high position, the seventh stepping motor drags the second scoop to rotate for 90 degrees, waiting is carried out in a low position, at the moment, the weighing sensor counts the total amount of the uncongealed beancurd of the first scoop, the weight reaches the rear loading bowl, if the weight is not enough, the eleventh stepping motor rotates to drag the raw material barrel while the sixth stepping motor drags the first scoop to rotate for 90 degrees, and the two actions are completed synchronously; taking the uncongealed beancurd, and after the weight of the uncongealed beancurd is reached, dragging the support arm by a tenth stepping motor to rotate for preparing to be bowl-loaded; the tenth step motor drags the support arm to rotate 180 degrees while another arm can repeat above action, and the arm can be one or many, establishes many purposes and improves work efficiency save time.

The automatic bowl feeding module comprises a steam pipe, a bowl tray, a fifteenth stepping motor, a conveying belt, a thirteenth stepping motor and an air suction pipe, wherein a steam nozzle is installed at the bottom of the steam pipe, a twelfth stepping motor is installed at the bottom end of the bowl tray, a lead screw is arranged on one side of the bowl tray, a fourteenth stepping motor is fixedly connected to the bottom end of the lead screw, a conveying arm corresponding to the bowl tray is installed on the outer wall of the lead screw, and a negative pressure suction nozzle is arranged at the bottom of one end of the air suction pipe;

the steam is used for sterilizing and disinfecting the bowl at high temperature through the steam pipe and the steam nozzle, the twelfth stepping motor drags the bowl tray to rotate and set, the fourteenth stepping motor rotates to drive the screw rod to rotate, thereby driving the conveying arm to ascend to support the bowl to the position, the negative pressure suction nozzle sucks the bottom of the bowl, the thirteenth stepping motor rotates by 180 degrees, and the bowl sucked by the negative pressure suction nozzle is released to the conveyor belt, the fifteenth stepping motor conveys the bowl to the right position, the tenth stepping motor drags the supporting arm to rotate 180 degrees to prepare for loading the bowl, the twelfth stepping motor rotates again to drag the upper slide block and the lower slide block of the first scoop to move on the elliptical guide rail, and after the bowl reaches the low position, the thirteenth step motor drags the first scoop to rotate by 90 degrees, the first scoop is used for loading the uncongealed beancurd into a bowl, after the completion, and the twelfth stepping motor rotates again, the fifteenth stepping motor drags the second scoop to rotate by 90 degrees, and the second scoop is used for loading the uncongealed tofu into the bowl, so that the bowl loading is completed.

The seasoning automatic feeding control module comprises a seasoning box, a peristaltic pump and a discharge hole, a conveyor belt drags the packaged uncongealed tofu to reach an appointed position to prepare seasoning, the seasoning of the seasoning box is accurately controlled by the peristaltic pump and is put into a bowl through the discharge hole, the uncongealed tofu is packaged in the bowl, the seasoning box corresponds to the peristaltic pump and is a multi-group combination, the peristaltic pump controls accurate feeding of the stepping motor, the same taste of finished products is guaranteed, and meanwhile, the rotation of the stepping motor can be adjusted to control the amount of the seasoning put into the peristaltic pump to realize personalized customization of taste.

Preferably, the shunt pipe is formed by combining a plurality of shunt pipes.

Preferably, the first heat-preserving container, the second heat-preserving container, the third heat-preserving container, the fourth heat-preserving container, the fifth heat-preserving container and the sixth heat-preserving container are all uniformly distributed on the top of the bearing turntable.

Preferably, the support arm comprises a bottom fixed column and a top rotary column, and the top rotary column is rotatably connected with the bottom fixed column.

Preferably, a plurality of groups of limiting rods corresponding to the bowls are fixedly connected to the periphery of the top of the bowl tray.

Preferably, the seasoning box and the discharge port are arranged on the top of the conveying platform in a symmetrical structure.

The utility model has the following beneficial effects:

according to the utility model, by designing the soybean milk processing module, the full-automatic uncongealed tofu forming module, the intelligent uncongealed tofu separate-eating manipulator, the automatic bowl feeding module and the automatic seasoning feeding control module, intelligent soybean soaking, grinding, accurate conveying of grinding water, bean dreg re-grinding, steam generator management, soybean milk heating, soybean milk transition, accurate feeding of uncongealed tofu forming materials, automatic uniform mixing of mixed liquid, uncongealed tofu forming, uncongealed tofu separate-eating, uncongealed tofu weighing, vessel disinfection, automatic in-place of vessels, uncongealed tofu bowl loading and accurate feeding of seasonings can be realized, accurate metering of hot soybean milk separate eating can be realized, and manual intervention is not required in the whole process, so that the whole working efficiency is greatly improved.

Drawings

FIG. 1 is a schematic view of the structure of a soybean milk processing module according to the present invention;

FIG. 2 is a schematic structural diagram of a fully automatic molding module for uncongealed tofu according to the present invention;

FIG. 3 is a schematic structural view of a feeding assembly of the present invention;

FIG. 4 is a schematic structural diagram of an intelligent uncongealed tofu meal distribution manipulator of the present invention;

FIG. 5 is a schematic structural diagram of an automatic bowl feeding module according to the present invention;

FIG. 6 is a schematic structural view of a bowl tray of the present invention;

fig. 7 is a schematic structural diagram of the automatic seasoning feeding control module of the present invention.

In the figure: 1. a soybean milk processing module; 101. a bean soaking barrel; 102. rotating the lifting dragon; 103. pulping machine; 104. linking the pipelines; 105. a steam generator; 106. a steam line; 107. a liquid level sensor; 108. a soybean milk barrel; 109. a first delivery pump; 110. a second delivery pump; 111. a first flow meter; 112. a first solenoid valve; 113. a second solenoid valve; 114. a third electromagnetic valve; 115. a water pipe; 116. a fourth solenoid valve; 117. a second flow meter; 118. a variable flow rate micro pump; 119. preparing a material plate of bean dregs; 120. a temperature sensor; 2. a full-automatic molding module for the uncongealed tofu; 201. a load-bearing turntable; 202. A first heat-preserving barrel; 203. a second heat-preserving container; 204. a first stepper motor; 205. a second stepping motor; 206. a third heat-preserving container; 207. a pulp outlet pipe; 208. a fourth heat-preserving container; 209. a fifth heat-preserving barrel; 210. a sixth heat-preserving container; 211. feeding and combining; 21101. a storage bin; 21102. a third step motor; 21103. a first weighing sensor; 21104. rotating the discharging shaft; 21105. a fifth solenoid valve; 21106. a first micro pump; 21107. a flow sensor; 21108. a mixing bin; 21109. a sixth electromagnetic valve; 21110. an ultrasonic liquid level sensor; 3. the intelligent uncongealed tofu separate-serving manipulator; 301. a first rack slide bar; 302. a fourth stepping motor; 303. a second load cell; 304. a fifth stepping motor; 305. a sixth stepping motor; 306. a first scoop; 307. an elliptical guide rail; 308. a second scoop; 309. an upper slide block and a lower slide block; 310. a seventh stepping motor; 311. a second rack slide bar; 312. an eighth stepping motor; 313. a ninth step motor; 314. a tenth stepping motor; 315. a support arm; 316. A raw material barrel; 317. an ultrasonic liquid level meter; 318. an eleventh step motor; 4. an automatic bowl feeding module; 401. a steam pipe; 402. a steam spray head; 403. a bowl tray; 404. a twelfth step motor; 405. a thirteenth stepping motor; 406. a negative pressure suction nozzle; 407. a transfer arm; 408. a fourteenth step motor; 409. a screw rod; 410. a fifteenth stepping motor; 411. a conveyor belt; 5. a seasoning automatic feeding control module; 501. a seasoning box; 502. a peristaltic pump; 503. and (4) a discharge port.

Detailed Description

The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the utility model easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the utility model.

Referring to fig. 1-7, the artificial intelligent uncongealed beancurd machine comprises a soybean milk processing module 1, a uncongealed beancurd full-automatic forming module 2, an intelligent uncongealed beancurd meal distributing manipulator 3, an automatic bowl feeding module 4 and a seasoning automatic feeding control module 5;

as shown in fig. 1, the soymilk processing module 1 comprises a soymilk making barrel 101, a rotary lifting dragon 102, a soymilk grinder 103, a steam generator 105 and a soymilk barrel 108, a linking pipe 104 is installed between the soymilk grinder 103 and the soymilk barrel 108, a steam pipe 106 is connected between the soymilk barrel 108 and the steam generator 105, a liquid level sensor 107 and a temperature sensor 120 are respectively installed at the center of the soymilk barrel 108, a shunt tube is fixedly connected to the bottom of one side of the soymilk barrel 108, the shunt tube is formed by combining a plurality of shunt tubes, a first delivery pump 109 and a second delivery pump 110 are respectively installed at the middle part of the shunt tube, the soybean milk grinder comprises a first flow meter 111, a first electromagnetic valve 112, a second electromagnetic valve 113 and a third electromagnetic valve 114, wherein a water pipe 115 is arranged at the top of the center of the soybean milk grinder 103, a fourth electromagnetic valve 116, a second flow meter 117 and a variable micro pump 118 are respectively arranged in the middle of the water pipe 115, and a soybean dreg preparation disc 119 is arranged on one side of the soybean milk grinder 103;

a temperature control heating belt and a temperature monitor are additionally arranged outside the soybean soaking barrel 101 to help the soybeans to be soaked and fully controlled in winter, a bearing sensor is additionally arranged at the bottom of the soybean soaking barrel 101 to accurately measure the total amount of the soybeans and control the weight of water to be added, the soybean soaking and foaming can be better quantified, an electromagnetic valve is simultaneously arranged at the bottom of the soybean soaking barrel 101 to automatically drain excessive water after the soybeans are soaked and foamed, and then a stepping motor is used for accurately controlling, rotating and lifting the flood dragon 102 to convey the soaked and foamed soybeans;

the soybeans conveyed by the rotary lifting auger 102 enter a pulping machine 103, the pulping machine 103 is started, a fourth electromagnetic valve 116 of a water pipe 115 is opened, a variable flow rate micro pump 118 runs, accurate water supply is achieved through a second flow meter 117, the variable flow rate water supply can better control the pulp discharging rate and guarantee the concentration and stable quality of the soybean milk, the soybean milk is discharged and then enters a link pipeline 104 through a filter screen of the link pipeline 104 for standby, the separated soybean dregs after the soybeans are ground by the pulping machine 103 are stored in a soybean dreg preparation disc 119, when the liquid level of the soybean milk is monitored by a liquid level sensor 107 in a soybean milk barrel 108 to reach a certain liquid level, the soybean dregs in the soybean dreg preparation disc 119 are ground by adding water for the second time, the purpose of grinding the soybean dregs is more pulp discharge, the once ground dregs are not completely separated, and 20% more soybean milk can be obtained after the secondary grinding;

when the liquid level sensor 107 monitors that the liquid level of the soybean milk in the soybean milk barrel 108 reaches a certain range, the steam generator 105 is started, steam is conveyed to the soybean milk through the steam pipeline 106 to be heated, and the soybean milk grinder 103 continuously runs until the liquid level sensor 107 monitors that the soybean milk in the soybean milk barrel 108 reaches a set liquid level and stops;

at this time, the temperature sensor 120 continuously monitors the temperature change of the soybean milk, when the heating temperature of the soybean milk reaches the set temperature, the steam generator 105 is turned off, the steam generator 105 is turned on after waiting for a certain time, the intermittent heating can save steam energy and prevent the soybean milk from boiling and overflowing, and meanwhile, the continuous heating of the soybean milk can remove the fishy smell of raw soybean milk; after the soybean milk is heated, the first electromagnetic valve 112 is opened, so that the soybean milk is conveyed into a cup through the first flowmeter 111, the first conveying pump 109 and the second electromagnetic valve 113 without making the bean curd jelly into a shape; after the soybean milk is heated, the first electromagnetic valve 112 is opened, so that the soybean milk is conveyed to the full-automatic uncongealed tofu forming module 2 through the first flowmeter 111, the second conveying pump 110 and the third electromagnetic valve 114.

As shown in fig. 2-3, the full-automatic tofu pudding module 2 includes a bearing turntable 201, the top of the bearing turntable 201 is respectively provided with a first heat-preserving container 202, a second heat-preserving container 203, a third heat-preserving container 206, a fourth heat-preserving container 208, a fifth heat-preserving container 209 and a sixth heat-preserving container 210, the first heat-preserving container 202, the second heat-preserving container 203, the third heat-preserving container 206, the fourth heat-preserving container 208, the fifth heat-preserving container 209 and the sixth heat-preserving container 210 are all uniformly distributed on the top of the bearing turntable 201, the top of the bearing turntable 201 is respectively provided with a first stepping motor 204 and a second stepping motor 205, the top of the bearing turntable 201 is provided with a slurry outlet pipe 207, and one side of the top of the bearing turntable 201 is provided with a feeding assembly 211;

the feeding assembly 211 comprises a stock bin 21101 and a mixing bin 21108, a third stepping motor 21102 is arranged on one side of the stock bin 21101, a first weighing sensor 21103 is mounted in the center of the bottom of the stock bin 21101, a rotary discharging shaft 21104 corresponding to the third stepping motor 21102 is arranged in the center of the stock bin 21101, a fifth electromagnetic valve 21105 is mounted in the center of the bottom of the mixing bin 21108, a first micro pump 21106 and a flow sensor 21107 are respectively arranged in the center of a connecting pipe on one side of the mixing bin 21108, a sixth electromagnetic valve 21109 is mounted at the bottom of the mixing bin 21108, and an ultrasonic liquid level sensor 21110 is mounted at the bottom on one side of the mixing bin 21108;

the soybean milk is stored in a first heat-preserving barrel 202, a second heat-preserving barrel 203, a third heat-preserving barrel 206, a fourth heat-preserving barrel 208, a fifth heat-preserving barrel 209 and a sixth heat-preserving barrel 210 through a soybean milk outlet pipe 207, the data accurately counted by a feeding combination 211 of the soybean milk processing part of a bearing turntable 201 is stored, a storage bin 21101 is dragged by a third feeding motor 21102 to rotate a discharging shaft 21104 to continuously feed materials to a mixing bin 21108, the materials are always metered by a first weighing sensor 21103, and when the metering is met, the third feeding motor 21102 is stopped; opening a fifth electromagnetic valve 21105, adding quantitative warm water through a first micro pump 21106 and a flow sensor 21107 for mixing, after the mixing is finished, opening a sixth electromagnetic valve 21109 to add the mixture into the first heat-preserving container 202, the second heat-preserving container 203, the third heat-preserving container 206, the fourth heat-preserving container 208, the fifth heat-preserving container 209 and the sixth heat-preserving container 210, dragging the bearing turntable 201 to integrally rotate by the first stepping motor 204, stopping the first stepping motor 204 after the sixth heat-preserving container 210 moves to the position of the second stepping motor 205, and performing forward and reverse rotation on the second stepping motor 205 after the stopping to stop the specified running time, wherein the purpose of performing forward and reverse movement on the second stepping motor 205 is that the added feed liquid can be uniformly mixed without manual intervention.

As shown in fig. 4, the intelligent uncongealed tofu meal distribution manipulator 3 includes a raw material barrel 316, a supporting arm 315 is disposed at the rear end of the raw material barrel 316, the supporting arm 315 includes a bottom fixing column and a top rotating column, the top rotating column is rotatably connected with the bottom fixing column, a tenth stepping motor 314 is disposed at the center of the outer wall of the supporting arm 315, a second rack slide bar 311 is disposed at the top of the supporting arm 315, an eighth stepping motor 312 and a ninth stepping motor 313 are respectively disposed at the center of the second rack slide bar 311, a first rack slide bar 301 is fixedly connected to both ends of the second rack slide bar 311, a fourth stepping motor 302 is disposed at one side of the bottom of the first rack slide bar 301, a second weighing sensor 303 is disposed at the bottom of the first rack slide bar 301, a fifth stepping motor 304, a sixth stepping motor 305, a first scoop 306, an elliptical guide rail 307, a second scoop 308, an upper slider 309, a lower slider, a third stepping motor 313, a fourth stepping motor 302, a fourth stepping motor 312, a fourth stepping motor, a fifth stepping motor, a fourth stepping motor, a sixth stepping motor, a fourth stepping motor, a sixth stepping motor, a fourth stepping motor, A seventh stepping motor 310, wherein an ultrasonic liquid level meter 317 is installed at the center of the bottom of the raw material barrel 316, and an eleventh stepping motor 318 is installed at the bottom of the raw material barrel 316;

the tenth stepping motor 314 drags the supporting arm 315 to rotate 180 degrees, the fourth stepping motor 302 drags the first rack slide bar 301 to move downwards, the data of the downward movement is given by the ultrasonic liquid level meter 317 for measuring data, at the same time, the eighth stepping motor 312 drags the second rack bar 311 to move, the moving data starts from the middle position of the raw material barrel 316, after the above movement is in place, the sixth stepping motor 305 rotates to drag the first scoop 306 to vertically move downwards, the number of the first scoops 306 is 1 or more, the fifth stepping motor 304 rotates to drag the upper and lower sliding blocks 309 of the first scoop 306 to move on the elliptical guide rail 307, after the movement is in place, the sixth stepping motor 305 drags the first scoop 306 to rotate 90 degrees, when the sixth stepping motor 305 drags the first scoop 306 to rotate by 90 degrees, the eleventh stepping motor 318 rotates and drags the raw material barrel 316, the two actions are completed synchronously, and the first step of containing the uncongealed beancurd is completed; the fifth stepping motor 304 rotates again to drag the upper and lower sliding blocks 309 of the first scoop 306 to move on the elliptical guide rail 307, after the soybean curd jelly reaches the high position, the seventh stepping motor 310 drags the second scoop 308 to rotate for 90 degrees, and waits at the low position, at this time, the second weighing sensor 303 measures the total amount of the soybean curd jelly of the first scoop 306, the weight reaches the rear loading bowl, if the weight is not enough, the eleventh stepping motor 318 rotates to drag the raw material barrel 316 while the sixth stepping motor 305 drags the first scoop 306 to rotate for 90 degrees, and the two actions are completed synchronously; taking the uncongealed beancurd, and after the weight of the uncongealed beancurd is reached, dragging the supporting arm 315 by the tenth stepping motor 314 to rotate 180 degrees to prepare for bowl loading; the tenth stepping motor 314 drags the support arm 315 to rotate 180 degrees while another mechanical arm can repeat the above actions, and the number of the mechanical arms can be one or more, so as to improve the working efficiency and save time.

As shown in fig. 5, the automatic bowl feeding module 4 comprises a steam pipe 401, a bowl tray 403, a fifteenth stepping motor 410, a conveyor belt 411, a thirteenth stepping motor 405 and an air suction pipe, wherein a steam nozzle 402 is installed at the bottom of the steam pipe 401, a twelfth stepping motor 404 is installed at the bottom end of the bowl tray 403, a lead screw 409 is arranged on one side of the bowl tray 403, a fourteenth stepping motor 408 is fixedly connected to the bottom end of the lead screw 409, a conveyor arm 407 corresponding to the bowl tray 403 is installed on the outer wall of the lead screw 409, and a negative pressure suction nozzle 406 is arranged at the bottom end of one end of the air suction pipe; as shown in fig. 6, a plurality of sets of limiting rods corresponding to the bowls are fixedly connected to the periphery of the top of the bowl tray 403;

steam is used for sterilizing and disinfecting bowls at high temperature through a steam pipe 401 and a steam nozzle 402, a twelfth stepping motor 404 drags a bowl tray 403 to rotate and set, a fourteenth stepping motor 408 rotates to drive a screw rod 409 to rotate, so as to drive a conveying arm 407 to ascend to hold the bowls in position, a negative pressure suction nozzle 406 sucks the bottom of the bowls, a thirteenth stepping motor 405 rotates by 180 degrees and releases the bowls sucked by the negative pressure suction nozzle 406 to a conveying belt 411, a fifteenth stepping motor 410 conveys the bowls in position, a tenth stepping motor 314 drags a supporting arm 315 to rotate by 180 degrees to prepare for bowl loading, a twelfth stepping motor 404 rotates again to drag an upper sliding block 309 of a first scoop 306 to move on an elliptical guide rail 307, after the lower position is reached, the thirteenth stepping motor 405 drags the first scoop 306 to rotate by 90 degrees to load the first scoop 306 with beancurd, after the loading is completed, the twelfth stepping motor 404 rotates again, a fifteenth stepping motor 410 drags a second scoop 308 to rotate by 90 degrees, and (5) loading the jellied bean curd into a bowl by using the second scoop 308.

As shown in fig. 7, the seasoning automatic feeding control module 5 includes a seasoning box 501, a peristaltic pump 502 and a discharge port 503, the seasoning box 501 and the discharge port 503 are symmetrically arranged on the top of the conveying platform, the conveying belt 411 drags the packaged uncongealed tofu to reach a designated position for seasoning, the seasoning of the seasoning box 501 is accurately controlled by the peristaltic pump 502 and is put into a bowl through the discharge port 503, the uncongealed tofu is completely loaded into the bowl, the seasoning box 501 corresponds to the peristaltic pump 502 and is combined into a plurality of groups, the peristaltic pump 502 controls accurate feeding for the stepping motor, so as to ensure the same taste of the finished product, and meanwhile, the rotation of the stepping motor can be adjusted to control how much seasoning is put into the peristaltic pump 502 to realize personalized taste customization.

When the soybean milk maker is used, soybeans are guided into the soybean soaking barrel 101, the bottom of the soybean soaking barrel 101 is additionally provided with the load-bearing sensor, the total amount of the soybeans can be accurately measured, the weight of added water can be controlled, the soaking of the soybeans can be better quantified, the bottom of the soybean soaking barrel 101 is simultaneously provided with the electromagnetic valve, after the soaking of the soybeans is finished, redundant water is automatically discharged, the soybeans conveyed by the rotating lifting auger 102 enter the pulping machine 103, the pulping machine 103 is started, the fourth electromagnetic valve 116 of the water pipe 115 is opened, the variable flow micro pump 118 operates, water is accurately supplied through the second flow meter 117, after the soybean milk is discharged, the soybean milk enters the linking pipeline 104 through the filter screen of the linking pipeline 104 for standby, the separated soybean milk after the soybean milk is ground by the pulping machine 103 is stored in the soybean milk residue preparation disc 119, when the liquid level of the soybean milk in the soybean milk barrel 108 reaches a certain liquid level, the soybean milk residue in the soybean milk barrel 119 is ground by adding water for the second time, when the liquid level sensor 107 monitors that the liquid level of the soybean milk barrel 108 reaches a certain range, starting a steam generator 105, delivering steam to the soybean milk through a steam pipeline 106 for heating, continuously operating the soybean milk grinder 103 at the moment, and stopping until a liquid level sensor 107 monitors that the soybean milk in a soybean milk barrel 108 reaches a set liquid level; at this time, the temperature sensor 120 continuously monitors the temperature change of the soybean milk, and after the heating of the soybean milk is completed, the first electromagnetic valve 112 is opened, so that the soybean milk is conveyed to the full-automatic uncongealed tofu forming module 2 through the first flowmeter 111, the second conveying pump 110 and the third electromagnetic valve 114; the soybean milk is stored in a first heat-preserving barrel 202, a second heat-preserving barrel 203, a third heat-preserving barrel 206, a fourth heat-preserving barrel 208, a fifth heat-preserving barrel 209 and a sixth heat-preserving barrel 210 through a soybean milk outlet pipe 207, the data accurately counted by a feeding combination 211 of the soybean milk processing part of a bearing turntable 201 is stored, a storage bin 21101 is dragged by a third feeding motor 21102 to rotate a discharging shaft 21104 to continuously feed materials to a mixing bin 21108, the materials are always metered by a first weighing sensor 21103, and when the metering is met, the third feeding motor 21102 is stopped; opening a fifth electromagnetic valve 21105, adding quantitative warm water through a first micro pump 21106 and a flow sensor 21107 for mixing, after the mixing is finished, opening a sixth electromagnetic valve 21109 to add the mixture into the first heat-insulating barrel 202, the second heat-insulating barrel 203, the third heat-insulating barrel 206, the fourth heat-insulating barrel 208, the fifth heat-insulating barrel 209 and the sixth heat-insulating barrel 210, dragging the bearing turntable 201 to integrally rotate by the first stepping motor 204, stopping the first stepping motor 204 after the sixth heat-insulating barrel 210 moves to the position of the second stepping motor 205, and performing forward and reverse rotation on the second stepping motor 205 after the stopping to reach the specified operation time for stopping; the tenth stepping motor 314 drags the supporting arm 315 to rotate 180 degrees, the fourth stepping motor 302 drags the first rack slide bar 301 to move downwards, the data of the downward movement is given by the ultrasonic liquid level meter 317 for measuring data, at the same time, the eighth stepping motor 312 drags the second rack bar 311 to move, the moving data starts from the middle position of the raw material barrel 316, after the above movement is in place, the sixth stepping motor 305 rotates to drag the first scoop 306 to vertically move downwards, the number of the first scoops 306 is 1 or more, the fifth stepping motor 304 rotates to drag the upper and lower sliding blocks 309 of the first scoop 306 to move on the elliptical guide rail 307, after the movement is in place, the sixth stepping motor 305 drags the first scoop 306 to rotate 90 degrees, when the sixth stepping motor 305 drags the first scoop 306 to rotate by 90 degrees, the eleventh stepping motor 318 rotates and drags the raw material barrel 316, the two actions are completed synchronously, and the first step of containing the uncongealed beancurd is completed; the fifth stepping motor 304 rotates again to drag the upper and lower sliding blocks 309 of the first scoop 306 to move on the elliptical guide rail 307, after the soybean curd jelly reaches the high position, the seventh stepping motor 310 drags the second scoop 308 to rotate for 90 degrees, and waits at the low position, at this time, the second weighing sensor 303 measures the total amount of the soybean curd jelly of the first scoop 306, the weight reaches the rear loading bowl, if the weight is not enough, the eleventh stepping motor 318 rotates to drag the raw material barrel 316 while the sixth stepping motor 305 drags the first scoop 306 to rotate for 90 degrees, and the two actions are completed synchronously; taking the uncongealed beancurd, and after the weight of the uncongealed beancurd is reached, dragging the supporting arm 315 by the tenth stepping motor 314 to rotate 180 degrees to prepare for bowl loading; the tenth stepper motor 314 drags the support arm 315 to rotate 180 degrees while another mechanical arm can repeat the above actions; steam is used for sterilizing and disinfecting bowls at high temperature through a steam pipe 401 and a steam nozzle 402, a twelfth stepping motor 404 drags a bowl tray 403 to rotate and set, a fourteenth stepping motor 408 rotates to drive a screw rod 409 to rotate, so as to drive a conveying arm 407 to ascend to hold the bowls in position, a negative pressure suction nozzle 406 sucks the bottom of the bowls, a thirteenth stepping motor 405 rotates by 180 degrees and releases the bowls sucked by the negative pressure suction nozzle 406 to a conveying belt 411, a fifteenth stepping motor 410 conveys the bowls in position, a tenth stepping motor 314 drags a supporting arm 315 to rotate by 180 degrees to prepare for bowl loading, a twelfth stepping motor 404 rotates again to drag an upper sliding block 309 of a first scoop 306 to move on an elliptical guide rail 307, after the lower position is reached, the thirteenth stepping motor 405 drags the first scoop 306 to rotate by 90 degrees to load the first scoop 306 with beancurd, after the loading is completed, the twelfth stepping motor 404 rotates again, a fifteenth stepping motor 410 drags a second scoop 308 to rotate by 90 degrees, the second scoop 308 is used for loading the uncongealed tofu into a bowl, and the bowl loading is completed; the conveyor belt 411 drags the filled uncongealed tofu to reach a designated position for preparing seasoning, the seasoning in the seasoning box 501 is accurately controlled by the peristaltic pump 502 and is put into a bowl through the discharge port 503, the uncongealed tofu is loaded into the bowl, the seasoning box 501 corresponds to the peristaltic pump 502 and is combined into a plurality of groups, the peristaltic pump 502 is controlled by the stepping motor to accurately feed the seasoning, so that the same taste of finished products is ensured, and meanwhile, the rotation of the stepping motor can be adjusted to control the amount of the seasoning put in the peristaltic pump 502 to realize personalized customization of taste.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (6)

1. Artificial intelligence uncongealed beancurd machine, its characterized in that: the automatic tofu jelly forming machine comprises a soybean milk processing module (1), a tofu jelly full-automatic forming module (2), an intelligent tofu jelly meal distributing mechanical arm (3), an automatic bowl feeding module (4) and a seasoning automatic feeding control module (5);

soybean milk processing module (1) is including bubble beans bucket (101), rotatory promotion flood dragon (102), fiberizer (103), steam generator (105) and beans thick liquid bucket (108), install between fiberizer (103) and beans thick liquid bucket (108) and link pipeline (104), be connected with steam conduit (106) between beans thick liquid bucket (108) and steam generator (105), level sensor (107) and temperature sensor (120) are installed respectively to the center of beans thick liquid bucket (108), beans thick liquid bucket (108) one side bottom fixedly connected with shunt tubes, first delivery pump (109), second delivery pump (110), first flowmeter (111), first solenoid valve (112), second solenoid valve (113) and third solenoid valve (114) are installed respectively to the shunt tubes middle part, the top at fiberizer (103) center is provided with water pipe (115), fourth solenoid valve (116) are installed respectively at the middle part of water pipe (115), A second flowmeter (117) and a variable-flow micro pump (118), wherein one side of the pulping machine (103) is provided with a bean dregs preparation disc (119);

the full-automatic jellied bean curd forming module (2) comprises a bearing turntable (201), wherein a first heat-preserving barrel (202), a second heat-preserving barrel (203), a third heat-preserving barrel (206), a fourth heat-preserving barrel (208), a fifth heat-preserving barrel (209) and a sixth heat-preserving barrel (210) are respectively arranged at the top of the bearing turntable (201), a first stepping motor (204) and a second stepping motor (205) are respectively arranged at the top of the bearing turntable (201), a pulp outlet pipe (207) is arranged at the top of the bearing turntable (201), and a feeding combination (211) is arranged on one side of the top of the bearing turntable (201);

the feeding assembly (211) comprises a storage bin (21101) and a mixing bin (21108), a third step feeding motor (21102) is arranged on one side of the storage bin (21101), a first weighing sensor (21103) is mounted in the center of the bottom of the storage bin (21101), a rotary discharging shaft (21104) corresponding to the third step feeding motor (21102) is arranged in the center of the storage bin (21101), a fifth electromagnetic valve (21105) is mounted in the center of the bottom of the mixing bin (21108), a first micro pump (21106) and a flow sensor (21107) are respectively arranged in the center of a connecting pipe on one side of the mixing bin (21108), a sixth electromagnetic valve (21109) is mounted at the bottom of the mixing bin (21108), and an ultrasonic liquid level sensor (21110) is mounted at the bottom of one side of the mixing bin (21108);

intelligence jellied bean curd divides meal manipulator (3) to include former storage bucket (316), the rear end of former storage bucket (316) is provided with support arm (315), tenth step motor (314) are installed at the center of support arm (315) outer wall, second rack litter (311) are installed at the top of support arm (315), eighth step motor (312) and ninth step motor (313) are installed respectively to the center of second rack litter (311), the first rack litter (301) of the equal fixedly connected with in both ends of second rack litter (311), fourth step motor (302) are installed to first rack litter (301) bottom one side, second weighing sensor (303) are installed to the bottom of first rack litter (301), fifth step motor (304), sixth step motor (305) are installed respectively to the bottom of first rack litter (301), The device comprises a first scoop (306), an elliptical guide rail (307), a second scoop (308), an upper sliding block, a lower sliding block (309) and a seventh stepping motor (310), wherein an ultrasonic liquid level meter (317) is installed at the center of the bottom of a raw material barrel (316), and an eleventh stepping motor (318) is installed at the bottom of the raw material barrel (316);

the automatic bowl feeding module (4) comprises a steam pipe (401), a bowl tray (403), a fifteenth stepping motor (410), a conveying belt (411), a thirteenth stepping motor (405) and an air suction pipe, wherein a steam nozzle (402) is installed at the bottom of the steam pipe (401), the twelfth stepping motor (404) is installed at the bottom end of the bowl tray (403), a lead screw (409) is arranged on one side of the bowl tray (403), the bottom end of the lead screw (409) is fixedly connected with the fourteenth stepping motor (408), a conveying arm (407) corresponding to the bowl tray (403) is installed on the outer wall of the lead screw (409), and a negative pressure suction nozzle (406) is arranged at the bottom of one end of the air suction pipe;

the seasoning automatic feeding control module (5) comprises a seasoning box (501), a peristaltic pump (502) and a discharge hole (503).

2. The artificial intelligence uncongealed beancurd machine according to claim 1, characterized in that: the shunt pipe is formed by combining a plurality of shunt pipes.

3. The artificial intelligence uncongealed beancurd machine according to claim 1, characterized in that: the first heat-preserving container (202), the second heat-preserving container (203), the third heat-preserving container (206), the fourth heat-preserving container (208), the fifth heat-preserving container (209) and the sixth heat-preserving container (210) are uniformly distributed on the top of the bearing turntable (201).

4. The artificial intelligence uncongealed beancurd machine according to claim 1, characterized in that: the supporting arm (315) comprises a bottom fixing column and a top rotating column, and the top rotating column is rotatably connected with the bottom fixing column.

5. The artificial intelligence uncongealed beancurd machine according to claim 1, characterized in that: the top circumference of the bowl tray (403) is fixedly connected with a plurality of groups of limiting rods corresponding to the bowls.

6. The artificial intelligence uncongealed beancurd machine according to claim 1, characterized in that: the seasoning box (501) and the discharge hole (503) are arranged on the top of the conveying platform in a symmetrical structure.

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