Intelligent tea rolling and discharging system

Abstract

The invention relates to an intelligent tea leaf rolling and discharging system which comprises a supporting rack, a rolling disc, a rolling barrel, a rotary lifting device and a grabbing detection device, the grabbing detection device adopts a flexible mechanical claw, and the rolling degree of rolled tea leaves can be detected through a second pressure sensor; detecting whether the rolled tea leaves meet a preset rolling requirement, if the requirement is met, opening the cover plate, and if the requirement is not met, continuously rolling the rolled tea leaves through the pressurizing rolling device until the preset rolling requirement is met, and otherwise, repeating the rolling process. The rolling quality is ensured to reach the standard, the automation level of tea processing is enhanced, the tea rolling quality is improved, and the economic risk of the tea industry is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tea processing device, and particularly relates to an intelligent tea rolling and discharging system. BACKGROUND

[0002] In the commercialization processing stage of tea, rolling pressure is a key factor to determine the quality of tea rolling. In the process of rolling tea by the traditional rolling machine, whether the rolling meets the requirements depends on the actual processing experience of manual work, and there are problems such as unstable quality of raw products, low processing efficiency and low intelligent degree. SUMMARY

[0003] The present application aims at solving the above problems, and provides an intelligent tea rolling and discharging system.

[0004] To solve the above technical problems, the present application adopts the following technical scheme: An intelligent tea rolling and discharging system, comprising a support rack, a rolling disc, a rolling barrel, a rotating lifting device and a grabbing detection device, wherein the upper surface of the support rack is provided with the rolling disc, and the outer side is provided with the rotating lifting device and a horizontal rotating mechanism; the upper surface of the rolling disc is placed with the rolling barrel, and the rolling barrel is used for placing tea to be rolled; the rotating ends of the rotating lifting device and the horizontal rotating mechanism are connected to the outer side of the rolling barrel; the lifting end of the rotating lifting device is further connected with the grabbing detection device; the rotating lifting device is used to drive the grabbing detection device to move into the rolling barrel and to ascend or descend in the rolling barrel, so as to detect the rolling degree of the tea in the rolling barrel; the rotating lifting device is used to drive the grabbing detection device to move into the rolling barrel after a preset time after rolling; the grabbing detection device is used to detect the rolling degree of the tea in the rolling barrel, to detect whether the rolled tea meets the preset rolling requirements; if yes, the rotating lifting device pushes the rolling barrel to move to the cover plate in the center of the rolling disc, opens the cover plate, and discharges and collects the tea after rolling; if not, the rotating lifting device continues to push the rolling barrel to rotate horizontally on the upper surface of the support rack, and to move horizontally on the upper surface of the support rack, and continues to roll, until the preset rolling requirements are met, and then discharges the tea, otherwise, the rolling process is repeated.

[0005] Further, the rotating lifting device comprises a driving motor, a first connecting rod mechanism and a lifting mechanism, the first connecting rod mechanism is horizontally arranged, and the fixed end is hinged to the support rack, and the movable end is hinged to the rolling barrel; the fixed end of the first connecting rod mechanism is connected to the driving motor, and the movable end is vertically provided with the lifting mechanism; the lifting mechanism is provided with the rotating lifting device; the lifting mechanism is used to drive the grabbing detection device to ascend or descend, so that the grabbing detection device is located in the rolling barrel; the driving motor is used to drive the first connecting rod mechanism to rotate horizontally by vertical rotation, and to drive the rolling barrel to move on the upper surface of the rolling disc.

[0006] Further, the horizontal rotating mechanism comprises a second linkage mechanism, which is horizontally arranged and has a fixed end hinged to the support rack and a movable end hinged to the outside of the rubbing barrel.

[0007] Further, the grabbing detection device comprises a flexible mechanical claw, which comprises flexible claw tips and a linkage driving mechanism, a plurality of movable ends of the linkage driving mechanism are provided with the flexible claw tips, the linkage driving mechanism is used for driving the plurality of flexible claw tips to be closed or separated, and the flexible claw tips are made of flexible material by an integral forming method and are in the shape of an inverted triangular hollow frame.

[0008] Further, the cover plate is provided with a pressure sensor, the pressure sensor is used for detecting whether the rubbing barrel moves to the cover plate, and the cover plate is opened after the rubbing barrel is detected to move to the cover plate during discharging.

[0009] Further, the inside of the flexible claw tip of the flexible mechanical claw is provided with a second pressure sensor, the flexible mechanical claw is used for clamping the rubbed tea group, and the rubbing degree of the tea group is determined through the pressure detection value of the second pressure sensor.

[0010] The present application has the following beneficial effects: The grabbing detection device of the present application adopts the flexible mechanical claw, the rubbing degree of the tea after rubbing is detected through the second pressure sensor, whether the rubbed tea meets the preset rubbing requirement is detected, if the requirement is met, the cover plate is opened, the rubbed tea falls through the discharge port and is collected, if the requirement is not met, the rubbing is continuously performed through the pressure rubbing device, until the preset rubbing requirement is met, then the discharging is performed, otherwise the rubbing process is repeated. The rubbing quality is ensured to meet the standard, the tea processing automation level is enhanced, the rubbing quality of the tea is improved, and the economic risk of the tea industry is reduced.

[0011] The present application will be described in detail below in combination with the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0012] Fig. 1 It is a schematic diagram of the three-dimensional structure when the present application is rubbed and detected; Fig. 2 It is a schematic diagram of the three-dimensional structure when the present application is pressure rubbed.

[0013] The accessory list represented by each number in the figure is as follows: 1, support rack; 2, rubbing disc; 3, rubbing barrel; 4, rotating lifting device; 41, driving motor; 42, first linkage mechanism; 43, lifting mechanism; 5, grabbing detection device; 51, flexible mechanical claw; 6, horizontal rotating mechanism; 61, second linkage mechanism; 7, cover plate DETAILED DESCRIPTION

[0014] The following examples are provided to help you better understand the present invention, but they are not intended to limit the invention.

[0015] like Figs. 1-2 As shown, an intelligent tea kneading and unloading system includes a support frame 1, a kneading disc 2, a kneading drum 3, a rotating lifting device 4, and a gripping detection device 5. The kneading disc 2 is mounted on the upper surface of the support frame 1, and the rotating lifting device 4 and a horizontal rotating mechanism 6 are mounted on its outer side. The kneading drum 3 is placed on the upper surface of the kneading disc 2, and the tea leaves to be kneaded are placed inside the kneading drum 3. The rotating ends of the rotating lifting device 4 and the horizontal rotating mechanism 6 are both connected to the outside of the kneading drum 3. The gripping detection device 5 is also connected to the lifting end of the rotating lifting device 4. The rotating lifting device 4 is used to move the gripping detection device 5 into the kneading drum 3 and raise or lower it within the kneading drum 3 to knead the tea leaves inside the kneading drum 3. The degree of kneading is detected; the rotating lifting device 4 is used to move the gripping detection device 5 into the kneading barrel 3 after the preset time has elapsed after kneading. The gripping detection device 5 is used to detect the degree of kneading of the tea leaves in the kneading barrel 3, and to detect whether the kneaded tea leaves have met the preset kneading requirements. If they have, the rotating lifting device 4 pushes the kneading barrel 3 to the cover plate 7 in the center of the kneading disc 2, and the cover plate 7 is opened to unload and collect the kneaded tea leaves. If the requirements have not been met, the kneading barrel 3 is pushed to rotate horizontally on the upper surface of the support frame 1, and the kneading barrel 3 is pushed to move horizontally on the upper surface of the support frame 1, and the kneading continues until the preset kneading requirements are met before unloading. Otherwise, the kneading process is repeated.

[0016] In one embodiment, the rotating lifting device 4 includes a drive motor 41, a first linkage mechanism 42, and a lifting mechanism 43. The first linkage mechanism 42 is horizontally arranged, with its fixed end hinged to the support frame 1 and its movable end hinged to the kneading drum 3. The fixed end of the first linkage mechanism 42 is connected to the drive motor 41, and the movable end is vertically arranged with the lifting mechanism 43. The lifting mechanism 43 is equipped with the rotating lifting device 4. The lifting mechanism 43 is used to drive the gripping detection device 5 to rise or fall, so that the gripping detection device 5 is located inside the kneading drum 3. The drive motor 41 is used to drive the first linkage mechanism 42 to rotate horizontally by vertical rotation, and drive the kneading drum 3 to move on the upper surface of the kneading disc 2.

[0017] In one embodiment, the horizontal rotation mechanism 6 includes a second linkage mechanism 61, which is horizontally arranged with its fixed end hinged to the support frame 1 and its movable end hinged to the outside of the kneading drum 3.

[0018] As an implementation, the grabbing detection device 5 comprises a flexible mechanical claw 51, which comprises flexible claw tips and a connecting rod driving mechanism, a plurality of flexible claw tips are arranged on the movable ends of the connecting rod driving mechanism, the connecting rod driving mechanism is used for driving the plurality of flexible claw tips to close or separate, the flexible claw tips are made of a flexible material in one piece, and the shape is a hollow frame shape of an inverted triangle.

[0019] As an implementation, the cover plate 7 is provided with a first pressure sensor, which is used to detect whether the rubbing barrel 3 has moved to the cover plate 7, and the cover plate 7 is opened after detecting that the rubbing barrel 3 has moved to the cover plate 7 during discharging.

[0020] As an implementation, the inner side of the flexible claw tip of the flexible mechanical claw 51 is provided with a second pressure sensor, which is used to clamp the rubbed tea ball, and the rubbing degree of the tea ball is determined through the pressure detection value of the second pressure sensor.

[0021] Flexible mechanical claw structure design of grabbing detection device The two V-shaped longitudinal surfaces of the mechanical claw, the grabbing object of the flexible mechanical claw is tea, the finger part needs to have flexibility and adaptability, and the fruit and vegetable skin will not be damaged during the grabbing process, and polyurethane rubber material is selected as the grabbing finger manufacturing material. The polyurethane rubber material is a three-liquid material, and the required hardness can be selected by adjusting the material composition ratio. The selected material has a Shore hardness of 60A, and the selected material has good elasticity and toughness, which meets the design requirements of the flexible mechanical claw finger. The finger manufacturing process adopts a complex mold process, which needs two pouring operations. First, a prototype mold needs to be made using a 3D printer, and the prototype mold needs to be completely consistent with the final flexible finger and smooth on the surface to ensure the accuracy and surface smoothness of the final flexible finger. After assembling the prototype mold and the container mold, the silicone material is poured, and after the silicone material is solidified and formed, the prototype mold is removed from the complex mold, and the complex mold should be avoided during the process. Damage, get the silicone material complex mold. Then the polyurethane rubber material is poured into the silicone material complex mold in a vacuum state according to the adjusted composition ratio, and after the material is solidified and formed, the flexible finger structure required can be obtained after demolding. The finger made of polyurethane rubber material through this process has the characteristics of high softness, strong adaptability and strong deformation recovery ability, which meets the functional requirements of the flexible mechanical claw finger of the invention for soft grabbing and adaptive grabbing, and can be used to complete the fruit and vegetable grabbing and hardness sensing task.

[0022] The above describes the best mode of the present application, wherein the parts not described in detail are the common knowledge of the ordinary skilled in the art. The scope of protection of the present application is defined by the content of the claims, and any equivalent transformation based on the technical inspiration of the present application is also within the scope of protection of the present application.

Claims

1. An intelligent tea kneading and unloading system, characterized in that, The system includes a support frame (1), a kneading disc (2), a kneading barrel (3), a rotating lifting device (4), and a gripping detection device (5). The support frame (1) has a kneading disc (2) on its upper surface and a rotating lifting device (4) and a horizontal rotating mechanism (6) on its outer side. The kneading barrel (3) is placed on the upper surface of the kneading disc (2). The kneading barrel (3) is used to hold tea leaves to be kneaded. The rotating ends of the rotating lifting device (4) and the horizontal rotating mechanism (6) are both connected to the outside of the kneading barrel (3). The lifting end of the rotating lifting device (4) is also connected to the gripping detection device (5). The rotating lifting device (4) is used to move the gripping detection device (5) into the kneading barrel (3) and raise or lower it within the kneading barrel (3) to knead the tea leaves in the kneading barrel (3). The degree of kneading is detected; the rotating lifting device (4) is used to drive the grabbing detection device (5) to move into the kneading barrel (3) after the preset time has been reached after kneading. The grabbing detection device (5) is used to detect the degree of kneading of the tea in the kneading barrel (3) and detect whether the kneaded tea has reached the preset kneading requirements. If it has, the rotating lifting device (4) pushes the kneading barrel (3) to the cover plate (7) in the center of the kneading plate (2), opens the cover plate (7) to unload and collect the kneaded tea. If it has not reached the requirements, the kneading barrel (3) is pushed to rotate horizontally on the upper surface of the support frame (1) and the kneading barrel (3) is pushed to move horizontally on the upper surface of the support frame (1) and the kneading continues until the preset kneading requirements are reached before unloading. Otherwise, the kneading process is repeated.

2. The intelligent tea kneading and unloading system according to claim 1, characterized in that, The rotating lifting device (4) includes a drive motor (41), a first linkage mechanism (42), and a lifting mechanism (43). The first linkage mechanism (42) is horizontally arranged, with its fixed end hinged to the support frame (1) and its movable end hinged to the kneading drum (3). The fixed end of the first linkage mechanism (42) is connected to the drive motor (41), and the movable end is vertically arranged with the lifting mechanism (43). The lifting mechanism (43) is equipped with the rotating lifting device (4). The lifting mechanism (43) is used to drive the gripping detection device (5) to rise or fall, so that the gripping detection device (5) is located inside the kneading drum (3). The drive motor (41) is used to drive the first linkage mechanism (42) to rotate horizontally by vertical rotation, and drive the kneading drum (3) to move on the upper surface of the kneading disc (2).

3. The intelligent tea kneading and unloading system according to claim 1, characterized in that, The horizontal rotation mechanism (6) includes a second linkage mechanism (61), which is horizontally arranged and has its fixed end hinged to the support frame (1) and its movable end hinged to the outside of the kneading drum (3).

4. The intelligent tea kneading and unloading system according to claim 1, characterized in that, The gripping and detection device (5) includes a flexible mechanical claw (51), which includes a flexible claw tip and a linkage drive mechanism. Each of the multiple movable ends of the linkage drive mechanism is provided with a flexible claw tip. The linkage drive mechanism is used to drive the multiple flexible claw tips to close or separate. The flexible claw tip is made of flexible material by an integral molding method and is shaped as an inverted triangular hollow frame.

5. The intelligent tea kneading and unloading system according to claim 1, characterized in that, The cover plate (7) is provided with a first pressure sensor. The first pressure sensor is used to detect whether the kneading drum (3) has moved onto the cover plate (7). When feeding, the cover plate (7) opens after detecting that the kneading drum (3) has moved onto the cover plate (7).

6. The intelligent tea kneading and unloading system according to claim 1, characterized in that, The flexible mechanical claw (51) has a second pressure sensor on the inner side of its flexible claw tip. The flexible mechanical claw (51) is used to clamp the kneaded tea ball and determine the degree of kneading of the tea ball by the pressure detection value of the second pressure sensor.

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