Tea cake pressing auxiliary robot system

Abstract

The invention relates to a tea cake pressing auxiliary robot system which comprises a mechanical arm used for controlling a clamp to conduct multi-angle displacement. The clamp is arranged on the mechanical arm and comprises a support, a clamping and dumping device, an inner flying paper suction device, a tea grabbing device and a tea smoothing device; the bracket is U-shaped, and a mounting hole is formed in the bottom of the bracket; the inner flying paper suction device, the tea leaf grabbing device and the tea leaf smoothing device are arranged on the outer surfaces of side arms on the two sides of the support respectively; the clamping and dumping device is arranged in the bracket; the cake pressing workbench is provided with a mold and a pressing head, and the tea leaves are pressed downwards through the pressing head to be pressed and formed after being poured into the mold. By means of the tea cake auxiliary robot system, automation of the tea cake pressing process is achieved, the situation that due to non-uniform manual intervention operation, the quality of processed tea cakes is not uniform is avoided, and the overall quality of products can be improved.

Description

Technical Field

[0001] The present invention relates to the field of Pu'er tea cake production equipment, in particular to a tea cake pressing auxiliary robot system. Background Art

[0002] Compressed Pu'er tea is the primary form of Pu'er tea. Most Pu'er tea products sold on the market, whether raw or cooked, are sold in compressed tea form, such as cakes, lumps, and bricks, with cakes accounting for the largest proportion. The Pu'er tea cake pressing process is a crucial step at the end of the Pu'er tea refining process. A cake press typically presses blended tea leaves into Pu'er tea cakes of varying specifications, which are then baked and packaged to create the final, standard Pu'er tea compressed tea product. Currently, the Pu'er tea cake presses used by tea companies are all semi-automatic, all-in-one pressing and shaping machines.

[0003] The cake press still requires manual assistance during operation. The manual operation process is as follows: manually take the steamed tea barrel and pour the tea leaves into the cake press mold; then put the empty barrel on the empty barrel conveyor line; then smooth the tea leaves on the upper surface of the mold; then take the inner tea leaves and place them on the tea leaves, and then grab a small handful of tea leaves from the mold to cover the inner tea leaves; finally, grab a piece of cotton cloth to cover the tea leaves, manually press the start button of the cake press, and the mold returns to the pressing station for pressing. After the pressing is completed, the tea cake is kept under pressure. After the tea cake at this station enters the pressure-holding state, the worker moves to the next station of the cake press and repeats the above process. At the station where the tea cake has completed the pressure-holding, the mold withdraws to the barrel-pour station, and the cake press pushes the tea cake out of the mold. The tea cake is manually taken out and placed on the workbench, while other people carry out subsequent work such as shrink-bagging and racking the tea cake.

[0004] Prior art CN117502528A and CN112777074A disclose devices that automatically perform cake pressing. However, the equipment disclosed in CN112777074A occupies a large area and requires the installation of numerous mechanisms to replace manual cake pressing assistance. Each workstation also requires a corresponding device. However, the pressing process requires a holding time, making many tea processing plants unable to implement this modification due to space constraints. Furthermore, some processing methods differ significantly from traditional processes, requiring the replacement of the entire equipment set, which is costly and unsuitable for most production plants. Furthermore, the mechanisms in these disclosed devices are unable to completely smooth the top surface of the tea leaves in the mold to form the optimal cake shape within a short period of time, resulting in uneven cake density and reduced tea cake quality. Furthermore, when extracting the inner fly paper, they are unable to ensure that only one sheet of inner fly paper is extracted at a time. Consequently, when pressing two sheets of inner fly paper, the tea cake needs to be untied and re-pressed, resulting in severe breakage and reduced tea cake quality. In addition, the disclosed technologies all require manual labor to take the steamed tea barrel, pour the tea leaves into the cake pressing machine mold, and then use the cake pressing auxiliary device to perform subsequent operations, which cannot complete the entire automatic process. Therefore, it is necessary to redesign a tea cake pressing auxiliary robot system to complete the Pu'er tea cake pressing auxiliary operation. Summary of the Invention

[0005] To address the aforementioned issues, the present invention provides a tea cake pressing robot system, which utilizes a robotic arm to replace manual labor in assisting tea cake pressing. Compared to existing technologies, this system incorporates a clamping and pouring mechanism to pour tea leaves from the tea bucket into the mold for pressing; a paper feeding mechanism ensures that only one sheet of paper is drawn up for use at a time. Specifically, the present invention achieves its objectives by:

[0006] A tea cake pressing auxiliary robot system, comprising:

[0007] A robotic arm, used to control the fixture to move at multiple angles;

[0008] The clamp is arranged and installed on the robotic arm, and includes a bracket, a clamping and dumping device, an inner flying paper suction device, a tea leaf grabbing device and a tea leaf smoothing device; the robotic arm can displace the clamp; the bracket is in the shape of a "凵" and is provided with a mounting hole at the bottom for being installed on the robotic arm; the inner flying paper suction device, the tea leaf grabbing device and the tea leaf smoothing device are respectively arranged and installed on the outer surfaces of the side arms on both sides of the bracket; the inner flying paper suction device is used to suck the inner flying paper and put it into the mold; the tea leaf grabbing device can grab the tea leaves in the mold; the tea leaf smoothing device is used to smooth the tea leaves poured into the mold to form the shape before pressing the cake; the clamping and dumping device is arranged and installed inside the bracket, and the clamping and dumping device can clamp the tea barrel with tea leaves and pour the tea leaves in the tea barrel into the mold through the movement of the robotic arm;

[0009] The cake pressing workbench is equipped with a mold and a pressing head. After the tea leaves are poured into the mold, the pressing head presses down to press the tea leaves into shape.

[0010] - tached to said driving mechanism, a floating feeder mounted on 'said mechanism, means for raising and lowering the casing vertically relative to the engine, means for swinging endsat the rear of the sides of the vehicle for swinging ends at the rear of the vehicle.

[0011] Furthermore, the smoothing blade includes a first blade and a second blade which are arranged crosswise and installed on one side of the cover plate; the first blade passes through the center of the cover plate and is symmetrically distributed with the center of the cover plate as the center; the first blade includes a plurality of plate-like comb teeth whose connections are in the same plane, and the tooth body of the plate-like comb teeth is inclined in the direction opposite to the rotation direction of the cover plate and twisted at a certain angle in the direction opposite to the rotation direction of the cover plate; the length of each plate-like comb tooth gradually shortens outward from the center of the cover plate, the inclination angle gradually decreases, and the twisting angle of each plate-like comb tooth gradually decreases outward from the center of the cover plate; the second blade includes two rows of long comb teeth and one row of short comb teeth made of flexible material, and the short comb teeth are located between the two rows of long comb teeth; the second blade is arranged and installed on both sides of the first blade with the center of the cover plate as the symmetrical point; the length of the comb teeth on the second blade gradually shortens outward from the center of the cover plate.

[0012] Furthermore, slide rails and sliding gas rods are installed on the outer surfaces of the side arms on both sides of the bracket; the inner flying paper suction device and the tea leaf grabbing device are installed on the slide rails through a mounting frame, and the sliding gas rod is fixedly connected to the mounting frame, and the sliding gas rod can drive the mounting frame to slide on the slide rails; the inner flying paper suction device includes a suction head installed on the mounting frame; the tea leaf grabbing device includes a clamping head installed on the mounting frame; the suction head and the clamping head have the same operating directions and there is a certain interval between them, and the interval is smaller than the radius of the mold.

[0013] The foldable paper tray has a plurality of paper feeding means and a plurality of paper feeding means, and the plurality of paper feeding means have a plurality of paper feeding means and a plurality of paper feeding means.

[0014] Furthermore, the paper separation mechanism includes a paper pressing block, a rotating shaft and a torsion spring; the upper and lower ends of the vertical edges of the paper outlet of the paper box are vertically fixed with rotating shaft sleeves, and the upper and lower ends of the side surfaces of the paper pressing block are vertically provided with rotating shaft sockets; the distance between the rotating shaft sockets is smaller than the distance between the rotating shaft sleeves on the same side of the paper outlet; the paper pressing block and the top of the paper box are both provided with adjustment holes, and the adjustment holes are evenly distributed in a fan shape with the axis of the rotating shaft sleeve and the rotating shaft socket as the center of the circle; the two ends of the torsion spring are downward The bending can be inserted into the adjustment holes on the top of the paper taking box and the paper pressing block respectively; during installation, the rotating shaft is passed through the rotating shaft sleeve and inserted into the rotating shaft socket on the paper pressing block, and the rotating shaft and the rotating shaft socket are interference fit, and the torsion spring is sleeved on the top of the rotating shaft and fixed by bolts and nuts; the two ends of the torsion spring are downwardly inserted into the corresponding adjustment holes on the top of the paper taking box and the paper pressing block respectively; after the paper pressing block is installed, one side of the paper pressing block is tangent to the plane where the paper taking port is located and forms an acute angle.

[0015] Furthermore, the paper separation mechanism includes a paper separation roller and a paper separation motor; the upper and lower ends of the vertical edge of the paper taking port of the paper box are respectively provided with a shaft mounting position; the paper separation roller is installed on the shaft mounting position, and the output end of the paper separation motor is connected to the shaft of the paper separation roller, and the paper separation motor can drive the paper separation roller to rotate; after the paper separation roller is installed, its surface is tangent to the vertical edge of the paper taking port; the outer surface of the paper separation roller is set as a brush structure.

[0016] Furthermore, the clamping and tipping device includes two-end cylinders, shock-absorbing gaskets, clamping arms and vibration motors; a transverse mounting plate is provided inside the bracket to connect the two side arms of the bracket, and the surface of the transverse mounting plate is parallel to the bottom of the bracket; the two-end cylinders are arranged and installed on the transverse mounting plate, and mounting plates are provided at both ends of the two-end cylinders, and the two mounting plates are respectively connected to the clamping arms and the shock-absorbing gaskets are provided at the connection points; the clamping arm is provided with a frame-shaped clamping part, and the clamping part is provided with an inner arc surface with the same diameter as the tea barrel; a vibration motor is provided in the clamping part; after the clamping arm is installed, the arc surfaces of the clamping parts of the two clamping arms are arranged opposite to each other; the two-end cylinders can drive the clamping arms to separate or close; the clamping arm separation and closing trajectory is perpendicular to the side arms of the bracket.

[0017] Furthermore, a material guide port is provided in the bracket; the material guide port is connected and installed on the side arms on both sides of the bracket; the material guide port is funnel-shaped, and when the clamping arm clamps the tea barrel, the material guide port is located directly above the tea barrel, and at this time the large end of the material guide port is connected to the opening of the tea barrel.

[0018] Furthermore, a number of hexagonal prism protrusions are evenly spaced on the inner surface of the tea barrel, and a food-grade non-stick coating is coated on the recessed portion, and the non-stick coating includes a Teflon coating or a ceramic coating.

[0019] During use, a complete stack of inner-leaf paper is placed into the paper drawer 41 through the paper placement opening 411 above the drawer 41, with the upper surface of the inner-leaf paper facing the drawer 412. The paper pusher is then activated to press against the inner-leaf paper stack, securing it to the paper stop 414 at the drawer 412. The force of the pusher is then adjusted to an appropriate level. The steamed tea leaves from the previous station are transported from the conveyor belt to the vicinity of the pressing table 3. The robotic arm 2 then moves the clamp 1 to the side of the paper feed mechanism 4 and rotates it to the appropriate angle, aligning the suction head 132 with the drawer 412, to remove the inner-leaf paper from the drawer 41. When the inner flying paper is sucked out, a paper separation mechanism further prevents two sheets from being pulled out at once. The principle of both the paper pressing block 421 and the paper separation roller 431 is to separate the first sheet of inner flying paper that is sucked in from the inner flying paper that is stuck behind it by moving the edges of the inner flying paper. This allows the stuck inner flying paper to be separated and continue to be pressed behind the paper stopper 414 when the first sheet of inner flying paper is sucked out. The clamp 1 then moves to the vicinity of the conveyor belt, and the clamping arms 143 move to the sides above the tea barrel 5. The bracket 11 then moves downward, positioning the clamping arms 143 evenly spaced on both sides of the tea barrel 5, with the wide end of the material guide 146 covering the opening of the tea barrel 5. The cylinders 141 at both ends then activate to pull the clamping arms 143 together, clamping the tea barrel 5 via the inner curved surface of the clamping portion. The mechanical wall then moves to above the mold 31 of the cake pressing table 3. The mechanical arm 2 rotates, causing the tea leaves to pour from the tea barrel 5 into the mold 31 through the material guide 146. Then the sliding air rods 112 installed on the side arms on both sides of the bracket 11 drive the inner flying paper suction device, the tea leaf grabbing device and the tea leaf smoothing device to move forward to the end. After the mechanical arm 2 adjusts its position, it moves the cover plate 124 of the tea leaf smoothing device to above the opening of the mold 31, and then starts the rotating motor 122 and moves the mechanical arm 2 at the same time, so that the smoothing blades move downward as the cover plate 124 rotates, and the tea leaves in the mold 31 are smoothed to the shape of the cake to be pressed through the flexible comb teeth of the second blade 126 and the lamellar comb teeth of the first blade 125; when smoothing, since the tea leaves have the characteristics of mutual adhesion and hooking, the tea leaves are first pulled apart to a certain extent after being contacted by the flexible comb teeth of the second blade 126, and then the tea leaves are pulled apart from the inside to the outside while being smoothed by the lamellar comb teeth of the first blade 125, and finally the tea leaves in the mold 31 are pulled into a downwardly concave arc surface. The principle here is that when pressing tea cakes, they need to be pressed into an upper arc shape with a carp's back. During the pressing process, the tea leaves on the outside of the tea cake move downward more than the middle part. After the tea leaves on the outside of the tea cake move downward, they will be squeezed toward the middle of the tea cake, causing too much tea leaves in the middle of the tea cake and bulging upward to form the upper arc shape of a carp's back. Therefore, if the tea leaves are smoothed into a uniform plane before pressing, there will be too much tea leaves in the middle during pressing, and the density of the tea cake after pressing will be uneven, with the density of the middle part being greater than that of the edge part, which will reduce the overall quality of the product. In addition, the uneven density of the tea cake will further lead to uneven aging of the tea during the aging process, affecting the quality of the tea.Then, the robot arm 2 drives the cover plate 124 and the smoothing blade to move upward until they are outside the mold 31. During this movement, the rotary motor 122 keeps rotating. The robot arm 2 moves the clamping head 133 and the suction head 132 into the mold 31. The clamping head 133 clamps a portion of tea leaves in the center of the mold 31. The suction head 132 places the sucked inner leaf paper on the surface of the tea leaves in the mold 31. The clamping head 133 lowers the clamped tea leaves to cover the inner leaf paper. Finally, the clamp 1 is withdrawn, the empty barrel is returned to the empty barrel recycling line, and the pressing head 32 is activated to press down to press the cake.

[0020] The beneficial effects of the present invention are as follows:

[0021] (1) The tea cake-assisted robot system is used to automate the tea cake pressing process, avoiding inconsistent manual intervention and the resulting inconsistent quality of the tea cakes after processing. This helps improve the overall quality of the product.

[0022] (2) The tea leaves to be pressed into cakes in the mold are first smoothed into a shape most suitable for pressing cakes by using a specific smoothing blade provided on the tea smoothing mechanism, that is, an overall downwardly concave arc surface, so that the overall density of the pressed tea cake with the carp back arc surface is uniform, avoiding the situation where the density in the middle of the tea cake is high and the density on both sides is low.

[0023] (3) The inner flying paper stack is placed horizontally through the paper feeding mechanism to eliminate the influence of the inner flying paper stack's own gravity, ensuring that the thrust of the paper pushing rod and the suction force of the suction head are always in a balanced state, ensuring that the suction head only absorbs one piece of inner flying paper each time; at the same time, the paper separation mechanism at the paper taking port of the paper taking box further ensures that only one piece of paper is taken; avoid the situation where multiple sheets of inner flying paper are put in at the same time when pressing the tea cake, reduce the scrap rate and improve product quality.

[0024] (4) By installing a vibration motor in the clamping and pouring device, the tea barrel is fully vibrated and shaken when pouring. In addition, the anti-stick surface inside the tea barrel prevents the tea leaves from sticking to the inner surface of the tea barrel, ensuring that the tea leaves in the tea barrel can be completely poured into the mold during each pouring process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the overall structure of the system of the present invention;

[0026] Figure 2 This is a schematic diagram of the system in use according to the present invention;

[0027] Figure 3 This is a schematic diagram of the installation of the robotic arm and fixture of the present invention;

[0028] Figure 4 This is a schematic diagram of the three-dimensional structure of the clamp of the present invention;

[0029] Figure 5This is a schematic diagram of the three-dimensional structure of the clamp of the present invention from another angle;

[0030] Figure 6 This is an exploded view of the fixture of the present invention;

[0031] Figure 7 This is a schematic diagram of the clamping and dumping device of the present invention in use;

[0032] Figure 8 This is a schematic diagram of the vibration motor in use according to the present invention;

[0033] Figure 9 This is a schematic structural diagram of the tea barrel of the present invention;

[0034] Figure 10 This is a schematic diagram of the inner flying paper suction device and tea leaf grabbing device of the present invention in use;

[0035] Figure 11 This is a schematic diagram of the three-dimensional structure of the leveling device of the present invention;

[0036] Figure 12 This is a schematic diagram of the use state of the leveling device of the present invention;

[0037] Figure 13 This is a schematic diagram of the use state of the leveling blade of the present invention;

[0038] Figure 14 This is a schematic diagram of the upper surface of tea leaves in the mold after the smoothing of the leaves according to the present invention;

[0039] Figure 15 This is a schematic diagram of the overall structure of the paper feeding mechanism of the present invention;

[0040] Figure 16 This is a schematic diagram of the three-dimensional structure of the first embodiment of the paper removal box of the present invention;

[0041] Figure 17 This is an exploded view of the structure of the first embodiment of the paper box of the present invention;

[0042] Figure 18 This is a schematic diagram of the first embodiment of the paper removal box of the present invention in use;

[0043] Figure 19 This is an exploded view of the structure of the second embodiment of the paper box of the present invention;

[0044] Figure 20 This is a schematic diagram of the second embodiment of the paper removal box of the present invention in use;

[0045] Figure 21 This is a schematic diagram of the suction head of the present invention sucking the flying paper from the paper box;

[0046] Figure 22 This is a schematic diagram of the cake pressing workbench in use according to the present invention;

[0047] Figure 23 This is a front view of the tea cake of the present invention;

[0048] In the picture:

[0049] 1—clamp, 11—bracket, 111—slide rail, 112—sliding air rod, 113—transverse mounting plate, 141—two-end air cylinder, 142—shock-absorbing gasket, 143—clamping arm, 144—vibration motor, 145—mounting plate, 146—material guide port, 121—clamping frame, 122—rotating motor, 123—rotating shaft fixing member, 124—cover plate, 125—first blade, 126—second blade, 131—mounting frame, 132—suction head, 133—clamping head;

[0050] 2—Robotic arm;

[0051] 3-cake pressing table, 31-die, 32-pressing head;

[0052] 4—paper feeding mechanism, 41—paper taking box, 411—paper placing port, 412—paper taking port, 413—paper pushing port, 414—paper stopper, 415—paper pushing port, 416—guide groove, 417 guide bar, 421—paper pressing block, 422—rotating shaft, 423—torsion spring, 424—rotating shaft sleeve, 425—rotating shaft socket, 426—adjusting hole, 431—paper separating roller, 432—paper separating motor, 44—mounting cross bar, 45—paper box rack; 5—tea barrel. DETAILED DESCRIPTION

[0053] In order to make the technical means, creative features and objectives achieved by the present invention easy to understand, the technical solution of the present invention is further explained below in combination with one of the embodiments and specific implementation methods of a tea cake pressing auxiliary robot system provided by the present invention.

[0054] like Figure 1-23 As shown, the specific embodiments given for the present invention are as follows:

[0055] A tea cake pressing auxiliary robot system comprises a robotic arm 2, a clamp 1, a cake pressing workbench 3 and a paper feeding mechanism 4.

[0056] A robotic arm 2 is mounted next to a pressing table 3, controlling the multi-angle movement of the fixture 1. Finished tea barrels 5 are transported to the pressing workshop via a conveyor belt. The pressing table 3 is equipped with a mold 31 and a pressing head 32. After tea leaves are poured into the mold 31, the pressing head 32 presses down to form the tea leaves. The lower surface of the pressing head 32 is shaped like a carp's back, and the bottoms of both the pressing head 32 and the mold 31 are covered with gauze.

[0057] The clamp 1 is installed at the front end of the robotic arm 2, and includes a bracket 11, a clamping and dumping device, an inner flying paper suction device, a tea leaf grabbing device and a tea leaf smoothing device; the robotic arm 2 can drive the clamp 1 to move at multiple angles. The bracket 11 is in the shape of a "凵", and a mounting hole is provided at the bottom for installation on the robotic arm 2. The inner flying paper suction device and the tea leaf grabbing device are installed on the outer surface of the side arm on one side of the bracket 11, and the tea leaf smoothing device is respectively installed on the outer surface of the side arm on the other side of the bracket 11. Slide rails 111 and sliding gas rods 112 are installed on the outer surfaces of the side arms on both sides of the bracket 11; the slide rails 111 and the sliding gas rods 112 are parallel to each other and consistent with the extension direction of the side arms of the bracket 11. The inner paper suction device and tea leaf grabbing device are mounted on the slide rail 111 via a mounting frame 131. A sliding air rod 112 is fixedly connected to the mounting frame 131, and the sliding air rod 112 can drive the mounting frame 131 to slide on the slide rail 111. The inner paper suction device includes a suction head 132 mounted on the mounting frame 131; the tea leaf grabbing device includes a clamping head 133 mounted on the mounting frame 131. The suction head 132 and the clamping head 133 operate in the same direction and are separated by a certain distance, which is smaller than the radius of the mold 31. After the inner paper is sucked by the suction head 132, it is placed into the mold 31 during the auxiliary cake pressing process. The clamping head 133 can grab the tea leaves in the mold 31. After the inner paper is placed, it is released to cover the clamped tea leaves on the surface of the inner paper. The suction head 132 here is a negative pressure suction head 132 or a Bernoulli principle suction head 132.

[0058] The tea smoothing device is used to smooth the tea leaves poured into the mold 31 into the shape before pressing; the clamping and pouring device is arranged inside the bracket 11, and the clamping and pouring device can clamp the tea barrel 5 with tea leaves and pour the tea leaves in the tea barrel 5 into the mold 31;

[0059] The tea smoothing device includes a clamping frame 121, a rotating motor 122, a rotating shaft fixing member 123, a cover plate 124 and a smoothing blade; the outer surfaces of the side arms on both sides of the bracket 11 are provided with slide rails 111 and sliding air rods 112, the slide rails 111 and the sliding air rods 112 are parallel to each other and consistent with the extension direction of the side arms of the bracket 11; the clamping frame 121 is installed on the slide rails 111, the sliding air rods 112 are fixedly connected to the clamping frame 121, and the sliding air rods 112 can drive the clamping frame 121 to slide on the slide rails 111; the rotating shaft fixing member 123 is fixedly arranged on the clamping frame 121 The rotating motor 122 is fixedly mounted on the clamping frame 121, and the output end of the rotating shaft of the rotating motor 122 passes through the rotating shaft fixing piece 123 and is fixedly connected to one side of the cover plate 124; the output end of the rotating shaft of the rotating motor 122 can rotate in the rotating shaft fixing piece 123; the smoothing blade is arranged on the other side of the cover plate 124 relative to the output end of the rotating shaft of the rotating motor 122; the cover plate 124 is circular, and the cover plate 124 can be extended into the mold 31 to cover the tea leaves in the mold 31 by moving the robotic arm 2, and the smoothing blade is driven by the rotating motor 122 to rotate to smooth the tea leaves.

[0060] The smoothing blade includes a first blade 125 and a second blade 126 which are arranged crosswise and mounted on one side of the cover plate 124; the first blade 125 passes through the center of the cover plate 124 and is symmetrically distributed with the center of the cover plate 124 as the center; the first blade 125 includes a plurality of flaky comb teeth whose connections are in the same plane, and the flaky comb tooth bodies are inclined in the direction opposite to the rotation direction of the cover plate 124 and twisted at a certain angle in the direction opposite to the rotation direction of the cover plate 124; the length of each flaky comb tooth gradually shortens outward from the center of the cover plate 124, the inclination angle gradually decreases, and the twisting angle of each flaky comb tooth gradually decreases outward from the center of the cover plate 124; the second blade 126 includes two rows of long comb teeth and one row of short comb teeth made of flexible material, and the short comb teeth are located between the two rows of long comb teeth; the second blade 126 is arranged and mounted on both sides of the first blade 125 with the center of the cover plate 124 as the symmetrical point; the length of the comb teeth on the second blade 126 gradually shortens outward from the center of the cover plate 124.

[0061] The paper feeding mechanism 4 includes a paper box frame 45 , a paper taking box 41 and a paper pushing rod; the paper box frame 45 includes a transversely arranged mounting crossbar 44 , and the paper taking box 41 is arranged and mounted on the mounting crossbar 44 . A paper placing port 411 is provided on the upper surface of the paper taking box 41, a paper taking port 412 is provided at the front end, and a paper pushing port 413 is provided at the rear end; paper stoppers 414 are provided at the upper and lower edges of the paper taking port 412, and the inner plate surface of the paper stoppers 414 is in the same plane as the paper taking port 412; the paper taking port 412 is also provided with a paper separating mechanism for separating the inner flying paper; the paper pushing rod can push the inner flying paper forward from the paper pushing port 413 to the paper taking port 412; a paper pushing plate 415 is provided at the top of the paper pushing rod, and the plate surface of the paper pushing plate 415 is the same size and shape as the surface of the inner flying paper; a guide groove 416 is provided on the inner side wall of the paper taking box 41 along the moving direction of the inner flying paper, and guide strips 417 are provided on both sides of the paper pushing plate 415 corresponding to the guide groove 416; a mounting hole is provided at the bottom of the paper taking box 41 for mounting the paper taking box 41 on the paper box rack 45.

[0062] There are two schemes for the paper separation mechanism, one of which includes a paper pressing block 421, a rotating shaft 422 and a torsion spring 423; rotating shaft sleeves 424 are vertically fixedly provided at the upper and lower ends of the vertical edges of the paper outlet 412 of the paper box 41, and rotating shaft sockets 425 are vertically provided at the upper and lower ends of the side of the paper pressing block 421; the distance between the rotating shaft sockets 425 is smaller than the distance between the rotating shaft sleeves 424 on the same side of the paper outlet 412; the paper pressing block 421 and the top of the paper box 41 are both provided with adjustment holes 426, and the adjustment holes 426 are evenly distributed in a fan shape with the axis of the rotating shaft sleeve 424 and the rotating shaft socket 425 as the center of the circle; The ends of the torsion spring 423 are bent downward and inserted into the adjustment holes 426 at the top of the paper removal box 41 and the paper pressing block 421, respectively. During installation, the rotating shaft 422 is inserted through the rotating shaft sleeve 424 and into the rotating shaft socket 425 on the paper pressing block 421. The rotating shaft 422 and the rotating shaft socket 425 form an interference fit. The torsion spring 423 is sleeved on the top of the rotating shaft 422 and secured with bolts and nuts. The ends of the torsion spring 423 are inserted downward into the corresponding adjustment holes 426 at the top of the paper removal box 41 and the paper pressing block 421, respectively. After the paper pressing block 421 is installed, one side of the paper pressing block 421 is tangent to the plane of the paper removal port 412, forming an acute angle. A brush is also provided on the inner wall of the paper pressing block 421 to further help separate the paper from the paper.

[0063] Another embodiment of the paper separation mechanism includes a paper separation roller 431 and a paper separation motor 432; the upper and lower ends of the vertical edges of the paper removal port 412 of the paper removal box 41 are respectively provided with shaft mounting positions; the paper separation roller 431 is installed on the shaft mounting position, and the output end of the paper separation motor 432 is connected to the shaft of the paper separation roller 431, and the paper separation motor 432 can drive the paper separation roller 431 to rotate; after the paper separation roller 431 is installed, its surface is tangent to the vertical edge of the paper removal port 412; the outer surface of the paper separation roller 431 is set to a brush structure.

[0064] The clamping and pouring device comprises two-end air cylinders 141, shock-absorbing pads 142, clamping arms 143, vibration motors 144 and material guiding openings 146. The support 11 is internally provided with a transverse mounting plate 113 connecting the two side arms of the support 11, the plate surface of the transverse mounting plate 113 is parallel to the bottom of the support 11. The two-end air cylinders 141 are arranged on the transverse mounting plate 113, and the two-end air cylinders 141 are provided with mounting pieces 145 at the two ends, the two mounting pieces 145 are respectively connected with the clamping arms 143, and the connecting portions are provided with shock-absorbing pads 142. The clamping arms 143 are provided with frame-shaped clamping portions, the clamping portions are provided with inner arc surfaces with the same diameter as the tea barrel 5. The vibration motors 144 are arranged in the clamping portions. The clamping arms 143 are arranged in pairs after installation, and the arc surfaces of the clamping portions of the two clamping arms 143 are oppositely arranged. The two-end air cylinders 141 can drive the clamping arms 143 to separate or close. The separation and closing trajectories of the clamping arms 143 are perpendicular to the two side arms of the support 11. The material guiding openings 146 are arranged on the two side arms of the support 11. The material guiding openings 146 are funnel-shaped, and when the clamping arms 143 clamp the tea barrel 5, the material guiding openings 146 are located directly above the tea barrel 5, and the large end of the material guiding openings 146 is connected with the opening of the tea barrel 5 at this time.

[0065] The inner surface of the tea barrel 5 is uniformly and spacedly provided with a plurality of hexagonal prisms, and the recessed portions are coated with a food-grade non-stick coating layer, which comprises a Teflon coating layer or a ceramic coating layer.

[0066] During use, a complete stack of inner-leaf tea leaves is placed into the paper drawer 41 through the paper placement opening 411 above the drawer 41, with the inner-leaf tea leaves facing the drawer 412. The paper pusher is then activated to press against the inner-leaf tea leaves, securing them to the paper stop 414 at the drawer 412. The force of the pusher is then adjusted to an appropriate level. The steamed tea leaves from the previous station are then transported from the conveyor belt to the vicinity of the pressing table 3. The robotic arm 2 then moves the clamp 1 to the side of the paper feed mechanism 4 and rotates it to the appropriate angle, so that the suction head 132 faces the drawer 412, removing the inner-leaf tea leaves from the drawer 41. When the inner flying paper is sucked out, a paper separation mechanism further prevents two sheets from being pulled out at once. The principle of the paper pressing block 421 or the paper separation roller 431 is to separate the first sheet of inner flying paper from the inner flying paper stuck behind it by moving the edges of the inner flying paper. When the first sheet of inner flying paper is sucked out, the sticking inner flying paper is separated and continues to be pressed behind the paper stop 414. The clamp 1 then moves to the vicinity of the conveyor belt, and the clamping arms 143 move to the sides above the tea barrel 5. The bracket 11 is then moved downward, so that the clamping arms 143 are evenly spaced on both sides of the tea barrel 5, and the large end of the material guide 146 covers the opening of the tea barrel 5. The cylinders 141 at both ends are then activated to pull the clamping arms 143 together, clamping the tea barrel 5 through the inner curved surface of the clamping portion. The mechanical wall is then moved above the mold 31 of the cake pressing table 3. The mechanical arm 2 is rotated to pour the tea leaves from the tea barrel 5 into the mold 31 through the material guide 146. Then the sliding air rods 112 installed on the side arms on both sides of the bracket 11 drive the inner flying paper suction device, the tea leaf grabbing device and the tea leaf smoothing device to move forward to the end. After the mechanical arm 2 adjusts its position, the cover plate 124 of the tea leaf smoothing device is moved above the opening of the mold 31, and then the rotating motor 122 is started and the mechanical arm 2 is moved at the same time, so that the smoothing blade moves downward with the rotation of the cover plate 124, and the tea leaves in the mold 31 are smoothed to the shape of the cake to be pressed through the flexible comb teeth of the second blade 126 and the lamellar comb teeth of the first blade 125; when smoothing, since the tea leaves have the characteristics of mutual adhesion and hooking, the tea leaves are first pulled apart to a certain extent after being contacted by the flexible comb teeth of the second blade 126, and then the tea leaves are pulled apart from the inside to the outside while being smoothed by the lamellar comb teeth of the first blade 125, and finally the tea leaves in the mold 31 are pulled into a downwardly concave arc surface. The principle here is that when pressing tea cakes, they need to be pressed into an upper arc shape with a carp's back. During the pressing process, the tea leaves on the outside of the tea cake move downward more than the middle part. After the tea leaves on the outside of the tea cake move downward, they will be squeezed toward the middle of the tea cake, causing too much tea leaves in the middle of the tea cake and bulging upward to form the upper arc shape of a carp's back. Therefore, if the tea leaves are smoothed into a uniform plane before pressing, there will be too much tea leaves in the middle during pressing, and the density of the tea cake after pressing will be uneven, with the density of the middle part being greater than that of the edge part, which will reduce the overall quality of the product. In addition, the uneven density of the tea cake will further lead to uneven aging of the tea during the aging process, affecting the quality of the tea.Then, the robot arm 2 drives the cover plate 124 and the smoothing blade to move upward until they are outside the mold 31. During this movement, the rotary motor 122 keeps rotating. The robot arm 2 moves the clamping head 133 and the suction head 132 into the mold 31. The clamping head 133 clamps a portion of tea leaves in the center of the mold 31. The suction head 132 places the sucked inner leaf paper on the surface of the tea leaves in the mold 31. The clamping head 133 lowers the clamped tea leaves to cover the inner leaf paper. Finally, the clamp 1 is withdrawn, the empty barrel is returned to the empty barrel recycling line, and the pressing head 32 is activated to press down to press the cake.

[0067] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. A tea cake pressing auxiliary robot system, characterized in that: Comprising: A robotic arm (2) for controlling the fixture (1) to perform multi-angle displacement; The fixture (1) is arranged and installed on the robotic arm (2), and includes a bracket (11), a clamping and tilting device, an inner flying paper suction device, a tea leaf grasping device, and a tea leaf leveling device; the robotic arm (2) can displace the fixture (1); the bracket (11) is in a "U" shape, and an installation hole is provided at the bottom for installing on the robotic arm (2); the inner flying paper suction device, the tea leaf grasping device, and the tea leaf leveling device are respectively arranged and installed on the outer surfaces of the two side arms of the bracket (11); the inner flying paper suction device is used for sucking the inner flying paper and putting it into the mold (31); the tea leaf grasping device can grasp the tea leaves in the mold (31); the tea leaf leveling device is used for leveling the tea leaves poured into the mold (31) to form the shape before pressing the tea cake; the clamping and tilting device is arranged and installed inside the bracket (11), and the clamping and tilting device can clamp the tea barrel (5) with tea leaves and move the tea leaves in the tea barrel (5) into the mold (31) through the robotic arm (2); A tea cake pressing workbench (3) is provided with a mold (31) and a pressing head (32), and after the tea leaves are poured into the mold (31), the tea leaves are pressed into shape by the downward pressure of the pressing head (32); Sliding rails (111) and sliding air rods (112) are arranged and installed on the outer surfaces of the two side arms of the bracket (11); the inner flying paper suction device and the tea leaf grasping device are arranged and installed on the sliding rails (111) through a mounting frame (131), the sliding air rod (112) is fixedly connected to the mounting frame (131), and the sliding air rod (112) can drive the mounting frame (131) to slide on the sliding rails (111); the inner flying paper suction device includes a suction head (132) arranged and installed on the mounting frame (131); the tea leaf grasping device includes a clamping head (133) arranged and installed on the mounting frame (131); the working directions of the suction head (132) and the clamping head (133) are the same and there is a certain interval between them, and this interval is smaller than the radius of the mold (31).

2. The tea cake pressing auxiliary robot system according to claim 1, characterized in that: The tea smoothing device comprises a clamping frame (121), a rotating motor (122), a rotating shaft fixing member (123), a cover plate (124) and a smoothing blade; the outer surfaces of the side arms on both sides of the bracket (11) are provided with slide rails (111) and sliding air rods (112), the slide rails (111) and the sliding air rods (112) are parallel to each other and consistent with the extension direction of the side arms of the bracket (11); the clamping frame (121) is installed on the slide rails (111), the sliding air rods (112) are fixedly connected to the clamping frame (121), and the sliding air rods (112) can drive the clamping frame (121) to slide on the slide rails (111); the rotating shaft fixing member (123) is fixedly arranged and installed on the clamping frame (121) ), the rotating motor (122) is fixedly mounted on the clamping frame (121), the rotating shaft output end of the rotating motor (122) passes through the rotating shaft fixing member (123) and is fixedly connected to one side of the cover plate (124); the rotating shaft output end of the rotating motor (122) can rotate in the rotating shaft fixing member (123); the smoothing blade is arranged and mounted on the other side of the cover plate (124) relative to the rotating shaft output end of the rotating motor (122); the cover plate (124) is circular, and by moving the mechanical arm (2), the cover plate (124) can be extended into the mold (31) to cover the tea leaves in the mold (31), and the rotating motor (122) drives the smoothing blade to rotate to smooth the tea leaves.

3. The tea cake pressing auxiliary robot system according to claim 2, characterized in that: The smoothing blade comprises a first blade (125) and a second blade (126) which are arranged crosswise and mounted on one side of the cover plate (124); the first blade (125) passes through the center of the cover plate (124) and is centrally symmetrically distributed with the center of the cover plate (124) as the center; the first blade (125) comprises a plurality of flaky comb teeth whose joints are in the same plane, the flaky comb teeth are inclined in the direction opposite to the rotation direction of the cover plate (124) and twisted at a certain angle in the direction opposite to the rotation direction of the cover plate (124); each flaky comb tooth The length gradually shortens outward from the center of the cover plate (124), the inclination angle gradually decreases, and the twist angle of each sheet-shaped comb tooth gradually decreases outward from the center of the cover plate (124); the second blade (126) comprises two rows of long comb teeth and one row of short comb teeth made of a flexible material, and the short comb teeth are located between the two rows of long comb teeth; the second blade (126) is arranged and installed on both sides of the first blade (125) with the center of the cover plate (124) as a symmetrical point; the length of the comb teeth on the second blade (126) gradually shortens outward from the center of the cover plate (124).

4. The tea cake pressing auxiliary robot system according to claim 1, characterized in that: The paper feeding mechanism (4) is also included; the paper feeding mechanism (4) includes a paper box frame (45), a paper taking box (41) and a paper pushing rod; the paper box frame (45) includes a transversely arranged mounting crossbar (44), and the paper taking box (41) is arranged and mounted on the mounting crossbar (44); the upper surface of the paper taking box (41) is provided with a paper placing port (411), a front end is provided with a paper taking port (412), and a rear end is provided with a paper pushing port (413); the upper and lower edges of the paper taking port (412) are provided with a paper stopper (414), and the inner plate surface of the paper stopper (414) is the same plane as that of the paper taking port (412); the paper taking port (412) is also provided with a paper placing port (411) and a paper taking port (412). A paper separation mechanism is provided for separating inner flying paper; the paper pushing rod can push the inner flying paper forward from the paper pushing port (413) to the paper taking port (412); a pushing paper board (415) is provided at the top end of the paper pushing rod, and the surface of the pushing paper board (415) is the same in size and shape as the surface of the inner flying paper; a guide groove (416) is provided on the inner side wall of the paper taking box (41) along the moving direction of the inner flying paper, and guide strips (417) are provided on both sides of the pushing paper board (415) at positions corresponding to the guide groove (416); a mounting hole is provided at the bottom of the paper taking box (41) for mounting the paper taking box (41) on the paper box frame (45).

5. The tea cake pressing auxiliary robot system according to claim 4, characterized in that: The paper separation mechanism comprises a paper pressing block (421), a rotating shaft (422) and a torsion spring (423); a rotating shaft sleeve (424) is vertically fixedly provided at the upper and lower ends of the vertical edge of the paper taking port (412) of the paper taking box (41); a rotating shaft socket (425) is vertically provided at the upper and lower ends of the side of the paper pressing block (421); the distance between the rotating shaft sockets (425) is smaller than the distance between the rotating shaft sleeves (424) on the same side of the paper taking port (412); the paper pressing block (421) and the top of the paper taking box (41) are both provided with adjustment holes (426), and the adjustment holes (426) are evenly distributed in a fan shape with the axis of the rotating shaft sleeve (424) and the rotating shaft socket (425) as the center of the circle; the two ends of the torsion spring (423) are bent downwards to The rotating shaft (422) is inserted into the adjusting holes (426) on the top of the paper taking box (41) and the paper pressing block (421) respectively; when installing, the rotating shaft (422) is passed through the rotating shaft sleeve (424) and then inserted into the rotating shaft socket (425) on the paper pressing block (421); the rotating shaft (422) and the rotating shaft socket (425) are interference fit, and the torsion spring (423) is sleeved on the top of the rotating shaft (422) and fixed by bolts and nuts; the two ends of the torsion spring (423) are downwardly inserted into the corresponding adjusting holes (426) on the top of the paper taking box (41) and the paper pressing block (421); after the paper pressing block (421) is installed, one side of the paper pressing block (421) is tangent to the plane where the paper taking port (412) is located and forms an acute angle.

6. The tea cake pressing auxiliary robot system according to claim 4, characterized in that: The paper separation mechanism comprises a paper separation roller (431) and a paper separation motor (432); the upper and lower ends of the vertical edge of the paper taking port (412) of the paper taking box (41) are respectively provided with a rotating shaft installation position; the paper separation roller (431) is installed on the rotating shaft installation position, the output end of the paper separation motor (432) is connected to the rotating shaft of the paper separation roller (431), and the paper separation motor (432) can drive the paper separation roller (431) to rotate; after the paper separation roller (431) is installed, its surface is tangent to the vertical edge of the paper taking port (412); the outer surface of the paper separation roller (431) is set as a brush structure.

7. The tea cake pressing auxiliary robot system according to claim 1, characterized in that: The clamping and tilting device comprises two-end cylinders (141), a shock-absorbing gasket (142), a clamping arm (143) and a vibration motor (144); a transverse mounting plate (113) is provided inside the bracket (11) to connect the two side arms of the bracket (11), and the surface of the transverse mounting plate (113) is parallel to the bottom of the bracket (11); the two-end cylinders (141) are arranged on the transverse mounting plate (113), and mounting plates (145) are provided at both ends of the two-end cylinders (141), and the two mounting plates (145) are respectively The clamping arm (143) is connected to the clamping arm (143) and the shock-absorbing gasket (142) is provided at the connection; the clamping arm (143) is provided with a frame-shaped clamping portion, and the clamping portion is provided with an inner arc surface with the same diameter as the tea barrel (5); a vibration motor (144) is installed in the clamping portion; after the clamping arm (143) is installed, the arc surfaces of the clamping portions of the two clamping arms (143) are arranged opposite to each other; the two-end cylinder (141) can drive the clamping arm (143) to separate or close; the separation and closing trajectory of the clamping arm (143) is perpendicular to the side arm of the bracket (11).

8. The tea cake pressing auxiliary robot system according to claim 7, characterized in that: A material guide port (146) is further provided in the bracket (11); the material guide port (146) is connected and mounted on the side arms on both sides of the bracket (11); the material guide port (146) is funnel-shaped, and when the clamping arm (143) clamps the tea barrel (5), the material guide port (146) is located directly above the tea barrel (5), and at this time, the large end of the material guide port (146) is connected to the opening of the tea barrel (5).

9. The tea cake pressing auxiliary robot system according to claim 1, characterized in that: The inner surface of the tea barrel (5) is evenly spaced with a number of hexagonal prism protrusions, and the concave portion is coated with a food-grade non-stick coating, wherein the non-stick coating includes a Teflon coating or a ceramic coating.

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