Intelligent pressurizing tea leaf rolling system

Abstract

The invention relates to an intelligent pressurizing tea leaf rolling system, which explores an efficient automatic rolling pressure regulation and control strategy based on a rolling system structure and an automatic control technology, constructs the intelligent pressurizing tea leaf rolling system, explores a pressure change rule under a rolling working condition through a rolling test, and can obtain a regulation and control pressure value with excellent rolling quality. During rolling, the tea leaves in the rolling barrel are subjected to pressurized rolling through the pressurized rolling device, the grabbing detection device can detect the rolling degree of the rolled tea leaves and detect whether the rolled tea leaves meet preset rolling requirements or not, if the requirements are met, the cover plate is opened, and the rolled tea leaves fall off through the discharging opening and then are collected; if the requirement is not met, rolling is continued through the pressurizing rolling device, discharging is carried out until the preset rolling requirement is met, and otherwise, the rolling process is repeated. 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 pressure tea rolling 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, the traditional rolling machine relies on manual actual processing experience for pressure, and has 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 pressure tea rolling system.

[0004] To solve the above technical problems, the present application adopts the following technical scheme: An intelligent pressure tea rolling system, comprising a support rack, a rolling disc, a rolling barrel, a rotating lifting device, a grabbing detection device and a pressure rolling 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, which 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 and the pressure rolling device; the rotating lifting device 4 is used to drive the pressure rolling device 6 to move into the rolling barrel 3 and to ascend or descend in the rolling barrel 3, so as to press and roll the tea in the rolling barrel 3, or to drive the grabbing detection device 5 to move into the rolling barrel 3 and to ascend or descend in the rolling barrel 3, so as to detect the rolling degree of the tea in the rolling barrel; the rotating lifting device is used to drive the rolling barrel to move horizontally on the rolling disc when the pressure rolling device presses and rolls the tea in the rolling barrel, and to drive the grabbing detection device to move into the rolling barrel after a preset time after the pressure rolling, wherein 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 requirement, and if so, 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 to unload and collect the tea after rolling, and 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, while driving the pressure rolling device to continue to roll in the rolling barrel, and after a preset time, the grabbing detection device is used to detect the rolling degree of the tea after rolling, until the preset rolling requirement is met, and then the tea is unloaded, 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, a fixed end of the first connecting rod mechanism is hinged to the support rack, and a movable end of the first connecting rod mechanism is hinged to the rolling barrel, the fixed end of the first connecting rod mechanism is connected to the driving motor, a lifting mechanism is vertically arranged on the movable end of the first connecting rod mechanism, a pressure rolling device and a rotating lifting device are arranged on the lifting mechanism, the lifting mechanism is used for driving the pressure rolling device and the grabbing detection device to ascend or descend, and is also used for driving the pressure rolling device and the grabbing detection device to move on a horizontal plane, so that the pressure rolling device or the grabbing detection device is located in the rolling barrel, and the driving motor is used for driving the first connecting rod mechanism to horizontally rotate by vertical rotation, and driving the rolling barrel to move on the upper surface of the rolling disc.

[0006] As an implementation form, the horizontal rotating mechanism comprises a second connecting rod mechanism, the second connecting rod mechanism is horizontally arranged, a fixed end of the second connecting rod mechanism is hinged to the support rack, and a movable end of the second connecting rod mechanism is hinged to the outer side of the rolling barrel.

[0007] Further, the grabbing detection device comprises a flexible mechanical claw, the flexible mechanical claw comprises a flexible claw tip and a connecting rod driving mechanism, a plurality of movable ends of the connecting rod driving mechanism are each provided with a flexible claw tip, the connecting rod driving mechanism is used for driving a plurality of flexible claw tips to close or separate, the flexible claw tip is made of a flexible material by an integral forming method, and the shape of the flexible claw tip is a hollow frame shape of an inverted triangle.

[0008] Further, a pressure sensor is arranged on the cover plate, the pressure sensor is used for detecting whether the rolling barrel moves to the cover plate, and the cover plate is opened after the pressure sensor detects that the rolling barrel moves to the cover plate during discharging.

[0009] Further, a second pressure sensor is arranged on the inner side of the flexible claw tip of the flexible mechanical claw, the flexible mechanical claw is used for clamping the rolled tea leaf ball, and the rolling degree of the tea leaf ball is determined through the pressure detection value of the second pressure sensor.

[0010] Further, the pressure rolling device comprises a vertical connecting rod, a pressure cover and a third pressure sensor, the pressure cover is a disc and has a shape and size completely consistent with the hollow cross section of the rolling barrel, the vertical connecting rod is fixedly arranged at the center of the middle part of the pressure cover, the third pressure sensor is arranged on the bottom surface of the pressure cover, and the third pressure sensor is used for detecting the pressure during rolling of the pressure cover.

[0011] Further, a rolling start protection device is arranged on the inner side of the rolling barrel, the rolling start protection device is used for detecting whether the pressure cover is completely closed with the rolling barrel, and the rotating lifting device and the pressure rolling device are started to roll only when the rolling start protection device detects that the pressure cover is completely closed with the rolling barrel.

[0012] The beneficial effects of the present application are as follows: The application is based on the exploration of efficient and automatic rolling pressure regulation strategy based on the rolling system structure and automatic control technology, the construction of intelligent pressure rolling tea rolling system, the exploration of pressure change law under rolling conditions through rolling test, and the derivation of regulation pressure value with excellent rolling quality. The tea in the rolling barrel is rolled by the pressure rolling device during rolling. The bottom surface of the cover plate of the pressure rolling device is provided with a third pressure sensor, which can detect the pressure of the pressure cover rolling. Automatic pressure regulation and pressure monitoring during rolling are realized. The rolling start protection device is designed on the inner side of the rolling barrel. When the rolling start protection device detects that the pressure cover and the rolling barrel are completely closed, the rotating lifting device and the pressure rolling device can be started to roll. This design can effectively prevent tea leakage caused by incomplete closure. The grabbing detection device can detect the rolling degree of the tea after rolling, detect whether the rolled tea meets the preset rolling requirements, open the cover plate if the requirements are met, and drop the rolled tea through the discharge port and collect it. If the requirements are not met, the tea is continuously rolled by the pressure rolling device until the preset rolling requirements are met, and then the tea is discharged. Otherwise, the rolling process is repeated. The rolling quality is ensured to meet the standard, the tea processing automation level is enhanced, the tea rolling quality is improved, and the economic risk of tea industry is reduced.

[0013] The application will be described in detail below with reference to the accompanying drawings and examples. SCHEMATIC DRAWING

[0014] Fig. 1 It is a schematic diagram of the stereoscopic structure of the pressure rolling state of the application. Fig. 2 It is a schematic diagram of the top view structure of the application. Fig. 3 It is a schematic diagram of the side view structure of the application.

[0015] The list of accessories represented by each number in the figure is as follows: 1, support rack; 2, rolling disc; 3, rolling barrel; 4, rotating lifting device; 41, driving motor; 42, first connecting rod mechanism; 43, lifting mechanism; 5, grabbing detection device; 6, pressure rolling device; 7, horizontal rotating mechanism; 71, second connecting rod mechanism; 8, cover plate DETAILED DESCRIPTION

[0016] The following examples facilitate better understanding of the application, but do not limit the application.

[0017] As Figs. 1-3As shown, an intelligent pressurized tea kneading system includes a support frame 1, a kneading disc 2, a kneading drum 3, a rotating lifting device 4, a gripping detection device 5, and a pressurized kneading device 6. The support frame 1 has a kneading disc 2 on its upper surface, and a rotating lifting device 4 and a horizontal rotating mechanism 7 on its outer side. The kneading drum 3 is placed on the upper surface of the kneading disc 2, and the kneading drum 3 is used to hold the tea leaves to be kneaded. The rotating ends of the rotating lifting device 4 and the horizontal rotating mechanism 7 are both connected to the outside of the kneading drum 3. The lifting end of the rotating lifting device 4 is also connected to the gripping detection device 5 and the pressurized kneading device 6. The rotating lifting device 4 is used to move the pressurized kneading device 6 into the kneading drum 3 and raise or lower it within the kneading drum 3 to pressurize and knead the tea leaves inside, or to move the gripping detection device 5 into the kneading drum 3 and raise or lower it within the kneading drum 3 to detect the degree of kneading of the tea leaves inside the kneading drum 3. The rotating lifting device 4 is used to move the pressurized kneading device 6 into the kneading drum 3 and raise or lower it within the kneading drum 3 to pressurize and knead the tea leaves inside the kneading drum 3. When the tea leaves in the kneading drum 3 are kneaded under pressure, the kneading drum 3 moves horizontally on the kneading disc 2. After the preset time has elapsed after the pressure kneading, the kneading drum 3 moves to the cover plate 8 at the discharge port of the kneading disc 2, and the gripping detection device 5 moves into the kneading drum 3. The gripping detection device 5 is used to detect the degree of kneading of the tea leaves after kneading, and to detect whether the tea leaves have met the preset kneading requirements. If they have, the lifting device 4 is rotated to push the kneading drum 3 to the cover plate 8 at the center of the kneading disc 2. The cover plate 8 is then opened to unload and collect the kneaded tea leaves. If the requirements have not been met, the kneading drum 3 continues to rotate horizontally on the upper surface of the support frame 1, and the kneading drum 3 moves horizontally on the upper surface of the support frame 1. At the same time, the pressure kneading device 6 continues to knead the tea leaves in the kneading drum 3. After the preset time, the gripping detection device 5 is used again to detect the degree of kneading of the tea leaves after kneading. The tea leaves are only discharged after the preset kneading requirements have been met. Otherwise, the kneading process is repeated.

[0018] 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 a pressure kneading device 6 and a rotating lifting device 4. The lifting mechanism 43 is used to drive the pressure kneading device 6 and the gripping detection device 5 to rise or fall, and is also used to drive the pressure kneading device 6 and the gripping detection device 5 to move on the horizontal plane, so that the pressure kneading device 6 or 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 to drive the kneading drum 3 to move on the upper surface of the kneading disc 2.

[0019] As an implementation, the horizontal rotating mechanism 7 comprises a second linkage mechanism 71, which is horizontally arranged and has a fixed end hinged to the support frame 1 and a movable end hinged to the outer side of the rubbing and twisting barrel 3.

[0020] As an implementation, the grabbing detection device 5 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 flexible claw tips, the linkage 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 by an integral forming method and have a shape of an inverted triangular hollow frame.

[0021] As an implementation, the cover plate 7 is provided with a first pressure sensor, which is used for detecting whether the rubbing and twisting barrel 3 moves to the cover plate 7, and the cover plate 7 is opened after detecting that the rubbing and twisting barrel 3 moves to the cover plate 7 during discharging.

[0022] As an implementation, the inner side of the flexible claw tip of the flexible mechanical claw 51 is provided with a second pressure sensor, the flexible mechanical claw 51 is used for clamping the rubbed tea ball, and the rubbing degree of the tea ball is determined by the pressure detection value of the second pressure sensor.

[0023] As an implementation, the pressure rubbing device 6 comprises a vertical connecting rod, a pressure cover and a third pressure sensor, the pressure cover is a disc and has a shape and size completely consistent with the hollow cross section of the rubbing and twisting barrel 3, the bottom end of the vertical connecting rod is fixedly arranged at the center of the pressure cover, the bottom surface of the pressure cover is arranged with the third pressure sensor, and the third pressure sensor is used for detecting the pressure of the pressure cover during rubbing.

[0024] As an implementation, the inner side of the rubbing and twisting barrel 3 is arranged with a rubbing start protection device, which is used for detecting whether the pressure cover and the rubbing and twisting barrel are completely closed, and the rotating lifting device and the pressure rubbing device are started to rub only when the rubbing start protection device detects that the pressure cover and the rubbing and twisting barrel are completely closed.

[0025] 1. Structure design of intelligent pressure rubbing system The pressure modes of the tea rolling system include lever counterweight type pressure, single-arm screw rod type pressure and double-arm screw rod type pressure, and the pressure is generally manually operated by a screw rod hand wheel, so it is difficult to ensure the pressure accuracy and rolling quality. In order to realize the intelligent detection and processing function of tea processing, the screw rod hand wheel pressure is changed to the pressure adjustment of a worm screw rod elevator controlled by a motor, and a mechanical claw part is additionally added at the motor pulley, which is used for real-time detection of the rolling pressure of tea in the processing stage. When testing and grabbing the internal pressure of the tea ball at any stage, the pressure cap can be opened by the motor, and the mechanical claw is placed in the rolling barrel to test whether the internal pressure of the tea ball reaches the actual pressure requirement. If the requirement is not met, the motor controls the mechanical claw to reset and pressurize the rolling cap pressure. The worm screw rod elevator with a suitable size is selected, a driving force is provided by the motor, a third pressure sensor is arranged on the bottom surface of the cover plate of the pressure rolling device, the pressure rolling pressure during rolling can be detected, automatic pressure adjustment and pressure monitoring during rolling are realized. A rolling start protection device is designed on the inner side of the rolling barrel. When the rolling start protection device detects that the pressure cap is completely closed with the rolling barrel, the rotating lifting device and the pressure rolling device can be started to roll. This design can effectively avoid tea leakage caused by incomplete closure.

[0026] 2. Tea rolling pressure model construction Under the actual rolling condition, the pressure cap moves along the Z-axis direction of the spatial coordinate system under the adjustment of the worm screw rod elevator, and the pressure applied to the tea in the rolling barrel by the pressure cap is determined by the relative position of the pressure cap and the tea. When the contact is close, the applied pressure is large, and when the contact is far away, the applied pressure is small. Because too large or too small applied pressure cannot meet the actual production requirement, it is necessary to explore the change rule of the rolling pressure during rolling and construct a tea rolling pressure model.

[0027] When tea is rolled in the rolling barrel, the motion process and stress state are complex. The tea in the barrel is regarded as a whole, which is subjected to the interaction force between the rolling barrel wall and the tea, the friction force of the rolling disc ridge bone to the tea, the gravity of the tea, the pressure of the pressure cap, the centrifugal force of the tea with the rolling rotation, etc. It is difficult to determine the initial conditions and boundary conditions of the simulation, and the existing virtual simulation technology is difficult to realize the model construction.

[0028] The present application takes the tea loading capacity at the height of 4 / 5 in the conventional rolling barrel as an example, selects the tea old leaves with sufficient test samples as the research object, explores the pressure change rule under the rolling condition through rolling test, constructs a tea rolling pressure model, obtains the regulation pressure value with excellent rolling quality, and sets the regulation pressure value as the preset rolling requirement value.

[0029] 3. Flexible mechanical claw structure The two V-shaped longitudinal surfaces constituting the mechanical claw, the flexible mechanical claw grasps the object, tea, and needs to ensure that the finger part has flexibility and adaptability, and will not cause damage to the fruit and vegetable skin during the grasping process, and polyurethane rubber material is selected as the grasping 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 70A, 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 times of mold pouring operation. 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, so as 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 needs to be 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, demolding is carried out to obtain the required flexible finger structure. 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 present application for soft grasping and adaptive grasping, and can be used to complete the fruit and vegetable grasping and hardness sensing task.

[0030] The above is an example of the best embodiment of the present application, wherein the parts not described in detail are the common knowledge of ordinary skilled in the art. The protection scope of the present application is subject to the content of the claims, and any equivalent transformation based on the technical inspiration of the present application is also within the protection scope of the present application.

Claims

1. An intelligent pressurized tea rolling system, characterized in that, The device includes a support frame (1), a kneading disc (2), a kneading barrel (3), a rotating lifting device (4), a gripping and detection device (5), and a pressure kneading device (6). The support frame (1) has a kneading disc (2) on its upper surface and a rotating lifting device (4) and a horizontal rotating mechanism (7) 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 the tea leaves to be kneaded. The rotating ends of the rotating lifting device (4) and the horizontal rotating mechanism (7) are both connected to the kneading barrel (3). On the outside, the lifting end of the rotating lifting device (4) is also connected to a gripping detection device (5) and a pressure kneading device (6). The rotating lifting device (4) is used to move the pressure kneading device (6) into the kneading barrel (3) and rise or fall within the kneading barrel (3) to knead the tea leaves in the kneading barrel (3) under pressure, or to move the gripping detection device (5) into the kneading barrel (3) and rise or fall within the kneading barrel (3) to detect the degree of kneading of the tea leaves in the kneading barrel (3). (4) When the pressure kneading device (6) kneads the tea leaves in the kneading barrel (3) under pressure, it drives the kneading barrel (3) to move horizontally on the kneading disc (2), and after the pressure kneading reaches the preset time, it drives the gripping detection device (5) to move into the kneading barrel (3). The gripping detection device (5) is used to detect the degree of kneading of the tea leaves in the kneading barrel (3) and detect whether the kneaded tea leaves meet the preset kneading requirements. If they do, the lifting device (4) is rotated to push the kneading barrel (3) to the center of the kneading disc (2). On the plate (8), open the cover plate (8) to unload and collect the kneaded tea leaves. If the requirements are not met, continue to push the kneading barrel (3) to rotate horizontally on the upper surface of the support frame (1) and push the kneading barrel (3) to move horizontally on the upper surface of the support frame (1). At the same time, drive the pressure kneading device (6) to continue kneading in the kneading barrel (3). After the preset time, use the grabbing detection device (5) to detect the degree of kneading of the kneaded tea leaves again until the preset kneading requirements are met before unloading. Otherwise, repeat the kneading process.

2. The intelligent pressure tea rolling 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 a pressure kneading device (6) and a rotating lifting device (4). The lifting mechanism (43) is used to drive the pressure kneading device (6) and the grasping detection device (5) to rise or fall, and is also used to drive the pressure kneading device (6) and the grasping detection device (5) to move on the horizontal plane, so that the pressure kneading device (6) or the grasping 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 pressure tea rolling system according to claim 1, characterized in that, The horizontal rotation mechanism (7) includes a second linkage mechanism (71), 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 pressure tea rolling system according to claim 1, characterized in that, The gripping and detection device (5) includes a flexible mechanical claw, 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 pressurized tea rolling 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 tea ball and determine the degree of kneading of the tea ball by the pressure detection value of the second pressure sensor.

7. The intelligent tea kneading and unloading system according to claim 1, characterized in that, The pressure kneading device (6) includes a vertical connecting rod, a pressure cover and a third pressure sensor. The pressure cover is a disc and its shape and size are completely consistent with the hollow cross-section of the kneading barrel (3). The bottom end of the vertical connecting rod is fixedly set at the center of the pressure cover. The bottom surface of the pressure cover is provided with a third pressure sensor, which is used to detect the pressure applied during kneading.

8. The intelligent pressurized tea rolling system according to claim 1, characterized in that, The inner side of the kneading drum (3) is provided with a kneading start protection device. The kneading start protection device is used to check whether the pressure cover and the kneading drum are completely closed. Only when the kneading start protection device detects that the pressure cover and the kneading drum are completely closed can the rotating lifting device and the pressure kneading device be started to knead.

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