A leaf pressing device

Abstract

The application discloses a leaf pressing device, and relates to the technical field of mechanical arms, which comprises a frame, a first shaft arranged between opposite sides of the frame, a third shaft arranged in parallel with the first shaft, an execution component, a second shaft arranged in parallel between the first shaft and the third shaft, the first shaft and the second shaft being connected through a connecting rod, the second shaft and the third shaft being connected through a connecting rod, a first driving element for driving the second shaft to rotate around the first shaft, a second driving element for driving the third shaft to rotate around the second shaft, a tensioning device, a fixed end of the tensioning device being arranged on the frame, a tensioning end of the tensioning device being connected with the third shaft to limit the third shaft from rotating circumferentially, and a control device, the first driving element and the second driving element being connected with the control device. The device can effectively solve the problem that different rows of leaf materials are brought up due to the crossing of the leaf materials in the leaf material grabbing process, and improve the grabbing efficiency and weight.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm, more particularly, to a leaf pressing device. BACKGROUND

[0002] In the related art, in the production process of leafy materials, for example, on the leafy material production line, the leafy materials need to be grabbed by a grabbing device and transported to the next production and processing link. The leafy materials are usually stacked by hand. Due to the different weights of the petiole and the leaf surface of the leaves, when the leafy materials are stacked into a high pile, the side may collapse. At this time, the materials need to be cross-stacked. However, cross-stacking may cause cross-belt problems when grabbing the materials, which may affect the grabbing efficiency and weight.

[0003] In summary, how to solve the problem of lifting different rows of leafy materials due to the cross of leafy materials in the leafy material grabbing process is a problem that needs to be solved by the technical personnel in the field at present. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a leaf pressing device which can effectively solve the problem of lifting different rows of leafy materials due to the cross of leafy materials in the leafy material grabbing process, and improve the grabbing efficiency and weight.

[0005] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0006] A leaf pressing device comprises:

[0007] a frame;

[0008] a first shaft arranged between opposite sides of the frame;

[0009] a third shaft arranged in parallel with the first shaft;

[0010] a second shaft arranged in parallel between the first shaft and the third shaft, and the first shaft and the second shaft and the second shaft and the third shaft are connected by connecting rods;

[0011] an execution component for pressing leafy materials, the execution component being arranged below the third shaft;

[0012] a first driving member for driving the second shaft to rotate around the first shaft, the fixed end of the first driving member being arranged on the frame, and the moving end of the first driving member being connected with the first shaft;

[0013] a second driving member for driving the third shaft to rotate around the second shaft, the fixed end of the second driving member being arranged on the frame, and the moving end of the second driving member being connected with the second shaft;

[0014] a tensioning device, a fixed end of the tensioning device is arranged on the frame, a tensioning end of the tensioning device is connected with the third shaft to limit the third shaft from rotating circumferentially;

[0015] a control device, the first driving member and the second driving member are connected with the control device.

[0016] In an embodiment, the first driving member comprises a first motor arranged on the frame, a first synchronous wheel sleeved on an outer circumferential portion of an output shaft of the first motor, a second synchronous wheel sleeved on an outer circumferential portion of the first shaft, and a first synchronous belt wound around the outer circumferential portions of the first synchronous wheel and the second synchronous wheel.

[0017] A pair of first connecting rods are arranged between the two ends of the first shaft and the two ends of the second shaft, and the first motor is connected with the control device.

[0018] In an embodiment, one end of the first connecting rod is sleeved on an outer circumferential portion of the end portion of the first shaft through a shaft sleeve, and the other end of the first connecting rod is rotationally connected with the end portion of the second shaft.

[0019] In an embodiment, the second driving member comprises a second motor arranged on the frame, a third synchronous wheel sleeved on an outer circumferential portion of an output shaft of the second motor, a first synchronous idler wheel sleeved on an outer circumferential portion of the first shaft, a second synchronous belt wound around the outer circumferential portions of the first synchronous idler wheel and the third synchronous wheel, a fourth synchronous wheel sleeved on an outer circumferential portion of the second shaft, and a third synchronous belt wound around the outer circumferential portions of the first synchronous idler wheel and the fourth synchronous wheel.

[0020] A pair of second connecting rods are arranged between the two ends of the second shaft and the two ends of the third shaft, and the second motor is connected with the control device.

[0021] In an embodiment, one end of the second connecting rod is sleeved on an outer circumferential portion of the end portion of the second shaft through a shaft sleeve, and the other end of the second connecting rod is fixedly connected with the end portion of the third shaft.

[0022] In an embodiment, the end portion of the second shaft is sleeved with the shaft sleeve of the second connecting rod, and the shaft sleeve of the second connecting rod and the shaft sleeve of the first connecting rod are rotationally connected through a pin.

[0023] In one embodiment, the tensioning device comprises a fifth synchronous pulley sleeved on the outer circumferential portion of the third shaft, a second synchronous idler sleeved on the outer circumferential portion of the first shaft, a third synchronous idler sleeved on the outer circumferential portion of the second shaft, a fixed synchronous pulley fixed on the frame, a fourth synchronous belt wound around the outer circumferential portions of the fixed synchronous pulley and the second synchronous idler, a fifth synchronous belt wound around the outer circumferential portions of the second synchronous idler and the third synchronous idler, and a sixth synchronous belt wound around the outer circumferential portions of the third synchronous idler and the fifth synchronous pulley.

[0024] In one embodiment, the frame comprises an upper fixed plate and a lower fixed plate parallel to the upper fixed plate, and a pair of support plates are arranged between the two ends of the upper fixed plate and the two ends of the lower fixed plate.

[0025] The first shaft is arranged between the two support plates, and the fixed ends of the first driving member, the second driving member and the tensioning device are arranged between the upper fixed plate and the lower fixed plate through a support.

[0026] In one embodiment, the execution component is connected to the third shaft through a pressure sensor, and the execution component is located below the third shaft, and the pressure sensor is connected to the control device.

[0027] In one embodiment, the execution component comprises a robot gripper or a robot pressure tool.

[0028] When the leaf pressing device is used, the robot and the frame can be connected, the spatial movement of the frame is realized through the robot, and the leaf-shaped material is gripped by the gripper of the robot. When the gripper grips the leaf-shaped material, the first driving member is controlled to operate, so that the second shaft rotates around the first shaft with the connecting rod as the radius and the first shaft as the center, and the second driving member is controlled to operate, so that the third shaft rotates around the second shaft with the connecting rod as the radius and the second shaft as the center, thereby realizing the stretching or shrinking operation of the execution component relative to the frame, and then the next row of leaf-shaped material is pressed by the execution component, so as to avoid the phenomenon that the different rows of leaf-shaped material are lifted.

[0029] In addition, under the action of the tensioning device, the third shaft and the execution component do not rotate circumferentially, that is, the third shaft and the execution component only rotate around the second shaft with the connecting rod as the radius and the second shaft as the center, but the third shaft and the execution component do not rotate circumferentially, so even if the first shaft and the second shaft rotate, the angle of the third shaft and the execution component is always unchanged, and the execution component does not rotate circumferentially during the stretching or shrinking process, that is, the execution component is always in a pressed state, which ensures that it can effectively press the leaf-shaped material and avoid that the next row of leaf-shaped material is lifted when the gripper of the robot grips the leaf-shaped material.

[0030] However, when the leafy material does not need to be pressed by the execution component, the first driving member and the second driving member can be controlled to operate reversely to fold the execution component relative to the frame, so as to reduce the volume of the device when it is retracted, and facilitate the storage of the device.

[0031] In summary, the leaf pressing device provided by the present application can effectively solve the problem of different rows of leafy materials caused by the crossing of the leafy materials during the grabbing process, and improve the grabbing efficiency and weight. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0033] Figure 1 The structure diagram of the leaf pressing device provided by the present application is shown in the figure.

[0034] Figure 2 The front view of the execution component relative to the frame in the retracted state is shown in the figure. Figure 1

[0035] Figure 3 The side view of the execution component relative to the frame in the retracted state is shown in the figure. Figure 2

[0036] Figure 4 The front view of the execution component relative to the frame in the extended state and when the extension degree is small is shown in the figure. Figure 1

[0037] Figure 5 The side view of the execution component relative to the frame in the extended state and when the extension degree is small is shown in the figure. Figure 4

[0038] Figure 6 The front view of the execution component relative to the frame in the extended state and when the extension degree is large is shown in the figure. Figure 1

[0039] Figure 7 The side view of the execution component relative to the frame in the extended state and when the extension degree is large is shown in the figure. Figure 6

[0040] Figures 1-7 In the figure:

[0041] ​​​​​​1 is a frame, 101 is an upper fixed plate, 102 is a lower fixed plate, 20 is a support plate, 301 is a second motor, 302 is a third synchronous wheel, 303 is a second synchronous belt, 304 is a first synchronous idler wheel, 305 is a third synchronous belt, 306 is a fourth synchronous wheel, 307 is a first connecting rod, 308 is a second shaft, 401 is a first motor, 402 is a first synchronous wheel, 403 is a first synchronous belt, 404 is a second synchronous wheel, 405 is a first shaft, 501 is a fixed synchronous wheel, 502 is a fourth synchronous belt, 503 is a second synchronous idler wheel, 504 is a fifth synchronous belt, 505 is a third synchronous idler wheel, 506 is a sixth synchronous belt, 507 is a fifth synchronous wheel, 508 is a second connecting rod, 509 is an execution component, 510 is a pressure sensor, and 511 is a third shaft. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0043] The core of the present application is to provide a leaf pressing device, which can effectively solve the problem of different rows of leaf-shaped materials caused by the intersection of leaf-shaped materials during the grabbing process of the leaf-shaped materials, and improve the grabbing efficiency and weight.

[0044] Please refer to Figures 1 to 7 , wherein, Figure 1 is a structure diagram of the leaf pressing device provided by the present application; Figure 2 is Figure 1 is a front view of the execution component relative to the frame in the retracted state; Figure 3 is Figure 2 is a side view of Figure 4 is Figure 1 is a front view of the execution component relative to the frame in the extended state and when the extension degree is small; Figure 5 is Figure 4 is a side view of Figure 6 is Figure 1 is a front view of the execution component relative to the frame in the extended state and when the extension degree is large; Figure 7 is Figure 6 is a side view of

[0045] The present embodiment provides a leaf pressing device, comprising:

[0046] a frame 1;

[0047] a first shaft 405 arranged between the opposite sides of the frame 1;

[0048] an execution component 509 for extruding the tobacco leaf material;

[0049] a third shaft 511 parallel to the first shaft 405;

[0050] a second shaft 308 parallel to the first shaft 405 and the third shaft 511, and the first shaft 405 and the second shaft 308 and the second shaft 308 and the third shaft 511 are connected by connecting rods;

[0051] the execution component 509 for extruding the leaf material, the execution component 509 being arranged below the third shaft 511;

[0052] a first driving member for driving the second shaft 308 to rotate around the first shaft 405, the fixed end of the first driving member being arranged on the frame 1, and the moving end of the first driving member being connected with the first shaft 405;

[0053] a second driving member for driving the third shaft 511 to rotate around the second shaft 308, the fixed end of the second driving member being arranged on the frame 1, and the moving end of the second driving member being connected with the second shaft 308;

[0054] a tensioning device, the fixed end of the tensioning device being arranged on the frame 1, and the tensioning end of the tensioning device being connected with the third shaft 511 to limit the circumferential rotation of the third shaft 511;

[0055] a control device, the first driving member and the second driving member being connected with the control device.

[0056] It should be noted that the frame 1 can be connected with a robot or a mechanical arm to realize the movement of the frame in space under the action of the robot. Moreover, the control device can be remotely connected with the first driving member and the second driving member to remotely control the operation of the first driving member and the second driving member. Of course, the control device can also be installed on the frame 1, and the control device and the first driving member and the second driving member are connected by an electric circuit to enable the control device to control the cooperative operation of the two driving members.

[0057] In actual application, the shape, structure, position, etc. of the frame 1, the first shaft 405, the execution component 509, the third shaft 511, the second shaft 308, the first driving member, the second driving member, the tensioning device and the control device can be determined according to actual conditions and actual needs.

[0058] When the leaf pressing device is used, the robot and the frame 1 can be connected so that the frame 1 is moved in space by the robot, and the leaf-shaped materials are grabbed by the gripper of the robot. When the gripper grabs the leaf-shaped materials, the first driving member is controlled to operate so that the second shaft 308 rotates around the first shaft 405 with the connecting rod as the radius and the first shaft 405 as the center, and the second driving member is controlled to operate so that the third shaft 511 rotates around the second shaft 308 with the connecting rod as the radius and the second shaft 308 as the center, so that the execution component 509 is stretched or retracted relative to the frame 1, and then the next row of leaf-shaped materials is pressed by the execution component 509, so that the phenomenon that different rows of leaf-shaped materials are lifted is avoided.

[0059] In addition, the third shaft 511 and the execution component 509 do not rotate in the circumferential direction under the action of the tensioning device, that is, the third shaft 511 and the execution component 509 only rotate around the second shaft 308 with the connecting rod as the radius and the second shaft 308 as the center, but the third shaft 511 and the execution component 509 do not rotate in the circumferential direction. Therefore, even if the first shaft 405 and the second shaft 308 rotate, the angle of the third shaft 511 and the execution component 509 is always unchanged, and the execution component 509 does not rotate in the circumferential direction during the stretching or retraction process, that is, the execution component 509 is always in a pressing state, which ensures that it can effectively press the leaf-shaped materials and avoid that the next row of leaf-shaped materials is lifted when the gripper of the robot grabs the leaf-shaped materials.

[0060] However, when the leaf-shaped materials do not need to be pressed by the execution component 509, the first driving member and the second driving member can be controlled to operate in the opposite direction to retract and fold the execution component 509 relative to the frame 1, so that the volume of the device during the retraction is reduced, and the device is convenient to store.

[0061] In summary, the leaf pressing device provided by the application can effectively solve the problem that different rows of leaf-shaped materials are lifted due to the intersection of the leaf-shaped materials during the grabbing process, and improve the grabbing efficiency and weight.

[0062] It should be noted that when the number of the second shaft 308 is 1, the device can be considered as a two-stage folding structure, and the longest stretching size is equal to or greater than the sum of the lengths of two connecting rods. The number of the second shaft 308 can also be greater than 1. Assuming that the number of the second shaft 308 is 2, the first second shaft 308 is connected to the first shaft 405 through a connecting rod, the second second shaft 308 is connected to the third shaft 511 through a connecting rod, and the adjacent two second shafts 308 are also connected through a connecting rod. The second second shaft 308 can rotate around the first second shaft 308 with the connecting rod as the radius and the first second shaft 308 as the center.

[0063] Therefore, the device can be folded in two stages or in multiple stages. However, the number of the second shafts 308 should not be too large to avoid a complicated structure. The number of the second shafts 308 can be determined according to actual needs.

[0064] In one embodiment, the first driving member comprises a first motor 401 arranged on the frame 1, a first synchronous wheel 402 sleeved on the outer circumferential portion of the output shaft of the first motor 401, a second synchronous wheel 404 sleeved on the outer circumferential portion of the first shaft 405, a first synchronous belt 403 wound on the outer circumferential portions of the first synchronous wheel 402 and the second synchronous wheel 404, and a pair of first connecting rods 307 arranged between the two ends of the first shaft 405 and the two ends of the second shaft 308. The first motor 401 is connected to the control device.

[0065] Therefore, the control device can control the first motor 401 to operate to drive the first synchronous wheel 402 to rotate, and then drive the second synchronous wheel 404 to rotate synchronously through the first synchronous belt 403. When the second synchronous wheel 404 rotates, the first shaft 405 can be driven to rotate. At this time, the first shaft 405 can drive the second shaft 308 to rotate through the first connecting rod 307, that is, the second shaft 308 rotates around the first shaft 405 with the first connecting rod 307 as the radius and the first shaft 405 as the center.

[0066] In one embodiment, one end of the first connecting rod 307 is sleeved on the outer circumferential portion of the end portion of the first shaft 405 through a shaft sleeve, and the other end of the first connecting rod 307 is rotatably connected to the end portion of the second shaft 308. Therefore, when the first shaft 405 rotates circumferentially, the second shaft 308 can be driven to rotate around the first shaft 405 through the first connecting rod 307, and the first connecting rod 307 does not affect the circumferential rotation of the second shaft 308.

[0067] In one embodiment, the second driving member comprises a second motor 301 arranged on the frame 1, a third synchronous wheel 302 sleeved on the outer circumferential portion of the output shaft of the second motor 301, a first synchronous idler wheel 304 sleeved on the outer circumferential portion of the first shaft 405, a second synchronous belt 303 wound on the outer circumferential portions of the first synchronous idler wheel 304 and the third synchronous wheel 302, a fourth synchronous wheel 306 sleeved on the outer circumferential portion of the second shaft 308, a third synchronous belt 305 wound on the outer circumferential portions of the first synchronous idler wheel 304 and the fourth synchronous wheel 306, and a pair of second connecting rods 508 arranged between the two ends of the second shaft 308 and the two ends of a third shaft 511. The second motor 301 is connected to the control device.

[0068] Therefore, the control device can control the second motor 301 to operate to drive the third synchronous wheel 302 to rotate, and then drive the first synchronous idler wheel 304 to rotate synchronously through the second synchronous belt 303, the first synchronous idler wheel 304 can drive the third synchronous belt 305 to rotate when rotating, the third synchronous belt 305 can drive the fourth synchronous wheel 306 to rotate, and the fourth synchronous wheel 306 can drive the second shaft 308 to rotate in the circumferential direction when rotating. When the second shaft 308 rotates in the circumferential direction, the third shaft 511 will rotate around the second shaft 308 with the second connecting rod 508 as the radius and the second shaft 308 as the center.

[0069] In one embodiment, one end of the second connecting rod 508 is sleeved on the outer circumferential part of the end of the second shaft 308 through a shaft sleeve, and the other end of the second connecting rod 508 is fixedly connected with the end of the third shaft 511. Therefore, when the second shaft 308 rotates in the circumferential direction, the third shaft 511 can be driven to rotate around the second shaft 308 through the second connecting rod 508.

[0070] In one embodiment, the end of the second shaft 308 is sleeved with the shaft sleeve of the second connecting rod 508, and the shaft sleeve of the second connecting rod 508 and the shaft sleeve of the first connecting rod 307 are rotationally connected through a pin.

[0071] In one embodiment, the tensioning device includes a fifth synchronous wheel 507 sleeved on the outer circumferential part of the third shaft 511, a second synchronous idler wheel 503 sleeved on the outer circumferential part of the first shaft 405, a third synchronous idler wheel 505 sleeved on the outer circumferential part of the second shaft 308, a fixed synchronous wheel 501 fixedly arranged on the frame 1, a fourth synchronous belt 502 wound around the outer circumferential parts of the fixed synchronous wheel 501 and the second synchronous idler wheel 503, a fifth synchronous belt 504 wound around the outer circumferential parts of the second synchronous idler wheel 503 and the third synchronous idler wheel 505, and a sixth synchronous belt 506 wound around the outer circumferential parts of the third synchronous idler wheel 505 and the fifth synchronous wheel 507. The structure of the device is as shown in Figure 1 .

[0072] Therefore, the fixed synchronous wheel 501 is fixed and does not rotate in the circumferential direction, the fourth synchronous belt 502 is tensioned to pull the second synchronous idler wheel 503, avoiding the second synchronous idler wheel 503 from rotating in the circumferential direction, and then the fifth synchronous belt 504 is tensioned to pull the third synchronous idler wheel 505, avoiding the third synchronous idler wheel 505 from rotating in the circumferential direction, and then the sixth synchronous belt 506 is tensioned to pull the fifth synchronous wheel 507, avoiding the fifth synchronous wheel 507 from rotating in the circumferential direction. Therefore, no matter how the first shaft 405 and the second shaft 308 rotate, the angle of the execution component 509 remains unchanged. That is, the device adopts the relative motion principle of synchronous wheels, synchronous belts, and synchronous idler wheels, and can realize the posture of the execution component 509 unchanged, only stretching or shrinking motion.

[0073] The first motor 401 and the second motor 301 can be servo motors. By controlling the operation of the two servo motors, the stretching or contraction movement of the execution component 509 relative to the frame 1 can be realized, and the posture of the execution component 509 remains unchanged, always in a state of being able to squeeze the leafy material. Moreover, the servo motor has high control accuracy and sensitive response, which can improve the operation efficiency and accuracy of the device.

[0074] In one embodiment, the frame 1 includes an upper fixed plate 101 and a lower fixed plate 102 arranged in parallel below the upper fixed plate 101. A pair of support plates 20 is arranged between the two ends of the upper fixed plate 101 and the two ends of the lower fixed plate 102. The first shaft 405 is arranged between the two support plates 20, and the fixed ends of the first driving member, the second driving member, and the tensioning device are arranged between the upper fixed plate 101 and the lower fixed plate 102 through the support.

[0075] It should be noted that the upper fixed plate 101 is detachably connected with the mechanical arm of the robot. The robot further includes a grabbing device for grabbing the leafy material. The grabbing device is connected with the frame 1 and can be opened and closed to grab or release the leafy material. The grabbing device can be lifted. The mechanical arm is used to transport the device and the grabbing device to the production line, so that manual transportation of the device and the grabbing device to the production line is not required, effectively saving labor costs.

[0076] It should be further noted that when the leafy material needs to be grabbed, first, the mechanical arm can be used to drive the frame 1 to move in space to move the grabbing device and the device above the leafy material. The leaf pressing device in the initial state is in a contracted state, and the structure is as shown in Figure 2 and Figure 3 .

[0077] Then, the grabbing device can be controlled to open to grab the leafy material. At the same time, the first motor 401 and the second motor 301 can be controlled to operate to stretch the execution component 509, so that it extends and moves downward to the leafy material in other rows to press the leafy material in other rows with the execution component 509. The structure is as shown in Figures 4-7 It can be seen from the figure that no matter how the first shaft 405 and the second shaft 308 are selected, the posture of the execution component 509 remains unchanged, always in a vertical pressing state.

[0078] Finally, the grabbing device is controlled to close to clamp the leafy material, and the grabbing device is controlled to rise. At this time, the tobacco in other rows is pressed by the execution component 509, avoiding the phenomenon that the leafy material in other rows is taken out when the grabbing device takes out the leafy material, that is, the device can separate the taken leafy material from the other leafy material taken out of the leafy material frame, thereby solving the problem of taking out different rows of leafy material due to the intersection of leafy material during the grabbing process, improving the grabbing efficiency and weight.

[0079] In one embodiment, the execution component 509 is connected with the third shaft 511 through the pressure sensor 510, and the execution component 509 is located below the third shaft 511, and the pressure sensor 510 is connected with the control device.

[0080] It should be noted that a shaft sleeve can be sleeved in the middle of the third shaft 511, the pressure sensor 510 is installed at the bottom of the shaft sleeve, the execution component 509 is installed at the bottom of the pressure sensor 510, and the posture of the execution component 509 is in a pressed state.

[0081] In one embodiment, the execution component 509 includes a robot gripper or a robot pressure tool. Since the execution component 509 in the present application is mainly used to press the leafy material, it can be set as a robot gripper or a robot pressure tool to apply a certain pressure to the leafy material.

[0082] It should be further noted that the pressure sensor 510 is a device capable of sensing a pressure signal and converting the pressure signal into an outputtable electrical signal according to a certain rule. When the pressure sensor 510 detects the pressure value of the execution component 509, the pressure sensor 510 can generate a pressure value electrical signal and send the pressure value electrical signal to the robot or the control device, wherein the robot and the control device are connected, so that the robot adjusts the pressing degree of the execution component 509 according to the pressure value, so that the pressure value of the execution component 509 is within a preset pressure value range.

[0083] When the pressure value of the execution component 509 exceeds the maximum value of the preset pressure value range, the leafy material may be crushed by the execution component 509, thereby increasing the defective rate of the leafy material; and when the pressure value is less than the minimum value of the preset pressure range, the execution component 509 may not be able to provide sufficient pressure to separate the grabbed leafy material from other leafy materials brought up in the leafy material frame, therefore, the pressure value of the execution component 509 needs to be detected in real time by the pressure sensor 510.

[0084] It should be noted that the first motor 401 and the second motor 301, the first synchronous wheel 402 and the second synchronous wheel 404 and the third synchronous wheel 302 and the fourth synchronous wheel 306 and the fifth synchronous wheel 507, the first synchronous belt 403 and the second synchronous belt 303 and the third synchronous belt 305 and the fourth synchronous belt 502 and the fifth synchronous belt 504 and the sixth synchronous belt 506, the first synchronous idler 304 and the second synchronous idler 503 and the third synchronous idler 505, the first connecting rod 307 and the second connecting rod 508, the first shaft 405 and the second shaft 308 and the third shaft 511, wherein the first, second, third, fourth, fifth and sixth are only to distinguish the different positions, and there is no sequence.

[0085] In addition, it should be noted that the "up and down" and the like of the present application are based on the orientation or position relationship shown in the drawings, and are only for the convenience of simplifying the description and understanding, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

[0086] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. Any combination of all the embodiments provided by the present application is within the protection scope of the present application, and is not described here.

[0087] The above describes the leaf pressing device provided by the present application in detail. The principles and implementation modes of the present application are described by applying specific examples. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core idea. It should be pointed out that for ordinary skilled persons in the technical field, some improvements and modifications can be made to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A leaf pressing apparatus, characterized in that, The utility model relates to a kind of leafy vegetable material extruding machine, including: Frame (1); First shaft (405), it is between the opposite sides of the frame (1) is equipped; Third shaft (511), it is parallelly distributed with the first shaft (405); Second shaft (308), it is parallelly equipped between the first shaft (405) and the third shaft (511), and the first shaft (405) and the second shaft (308) between and the second shaft (308) and the third shaft (511) between are connected by connecting rod; Execution component (509), it is used for extruding leafy material, the execution component (509) is equipped below the third shaft (511), the execution component (509) is connected with the third shaft (511) by pressure sensor (510), and the execution component (509) is below the third shaft (511); First driving part, it is used for driving the second shaft (308) to rotate around the first shaft (405), the fixed end of the first driving part is equipped on the frame (1), and the moving end of the first driving part is connected with the first shaft (405); Second driving part, it is used for driving the third shaft (511) to rotate around the second shaft (308), the fixed end of the second driving part is equipped on the frame (1), and the moving end of the second driving part is connected with the second shaft (308); Tensioning device, the fixed end of the tensioning device is equipped on the frame (1), and the tensioning end of the tensioning device is connected with the third shaft (511) to limit the circumferential rotation of the third shaft (511), and the tensioning device includes the fifth synchronous wheel (507) of the third shaft (511) outer circumferential part, the second synchronous idler (503) of the first shaft (405) outer circumferential part, the third synchronous idler (505) of the second shaft (308) outer circumferential part, the fixed synchronous wheel (501) fixedly arranged on the frame (1), the fourth synchronous belt (502) around the fixed synchronous wheel (501) and the second synchronous idler (503) outer circumferential part, the fifth synchronous belt (504) around the second synchronous idler (503) and the third synchronous idler (505) outer circumferential part and the sixth synchronous belt (506) around the third synchronous idler (505) and the fifth synchronous wheel (507) outer circumferential part; Control device, the first driving part and the second driving part and the pressure sensor (510) are connected with the control device.

2. The leaf pressing apparatus of claim 1, wherein The first driving part includes first motor (401) arranged on the frame (1), the first synchronous wheel (402) of the output shaft outer circumferential part of the first motor (401), the second synchronous wheel (404) of the first shaft (405) outer circumferential part, the first synchronous belt (403) around the first synchronous wheel (402) and the second synchronous wheel (404) outer circumferential part; A pair of first connecting rods (307) are arranged between the two ends of the first shaft (405) and the two ends of the second shaft (308), and the first motor (401) and the control device are connected.

3. A leaf pressing apparatus according to claim 2, wherein One end of the first connecting rod (307) is sleeved on the outer circumferential part of the end of the first shaft (405) through a shaft sleeve, and the other end of the first connecting rod (307) is rotationally connected with the end of the second shaft (308).

4. A leaf pressing apparatus according to claim 3, wherein The second driving member comprises a second motor (301) arranged on the frame (1), a third synchronous wheel (302) sleeved on the outer circumferential part of the output shaft of the second motor (301), a first synchronous idler wheel (304) sleeved on the outer circumferential part of the first shaft (405), a second synchronous belt (303) wound on the outer circumferential parts of the first synchronous idler wheel (304) and the third synchronous wheel (302), a fourth synchronous wheel (306) sleeved on the outer circumferential part of the second shaft (308), and a third synchronous belt (305) wound on the outer circumferential parts of the first synchronous idler wheel (304) and the fourth synchronous wheel (306). A pair of second connecting rods (508) are arranged between the two ends of the second shaft (308) and the two ends of the third shaft (511), and the second motor (301) and the control device are connected.

5. A leaf pressing apparatus according to claim 4, wherein, One end of the second connecting rod (508) is sleeved on the outer circumferential part of the end of the second shaft (308) through a shaft sleeve, and the other end of the second connecting rod (508) is fixedly connected with the end of the third shaft (511).

6. A leaf pressing apparatus according to claim 5, wherein The end of the second shaft (308) is sleeved with the shaft sleeve of the second connecting rod (508), and the shaft sleeve of the second connecting rod (508) and the shaft sleeve of the first connecting rod (307) are rotationally connected through a pin.

7. A leaf macerating device according to any one of claims 1 to 6, characterised in that, The frame (1) comprises an upper fixed plate (101) and a lower fixed plate (102) arranged in parallel below the upper fixed plate (101), and a pair of support plates (20) are arranged between the two ends of the upper fixed plate (101) and the two ends of the lower fixed plate (102). The first shaft (405) is arranged between the two support plates (20), and the fixed ends of the first driving member, the second driving member, and the tensioning device are arranged between the upper fixed plate (101) and the lower fixed plate (102) through a support.

8. A leaf macerating device according to any one of claims 1 to 6, characterised in that, The execution component (509) comprises a robot gripper or a robot pressure tool.

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