Feedback type motor control method and tea rolling device

Abstract

The invention discloses a tea leaf rolling device adopting a feedback type motor control method, which comprises a rolling disc, a fixed end block for mounting and connecting a base is arranged outside the rolling disc, a transmission track is arranged at the bottom of the rolling disc, a driving motor is arranged at the top end of the transmission track, and a driving shaft is connected to the output end of the top end of the driving motor. A plurality of driven shafts connected to the top of the fixed end block are arranged outside the twisting disc, a butt joint ring frame is arranged on the driving shaft and the driven shafts, and a transmission frame is arranged at the top end of the butt joint ring frame. The tea leaf rolling machine has the advantages that the processing quality is ensured, the tea leaf breakage rate is obviously reduced by simulating the manual rolling action and matching with the elastic pressing plate, the blockage is effectively prevented and the tea leaves are conveniently collected by virtue of the airflow blowing design after processing, and the efficient and sanitary continuous production is realized.

Description

Technical Field

[0001] This invention relates to the field of tea production technology, and in particular to a feedback motor control method and a tea rolling device. Background Technology

[0002] Tea rolling machines are core equipment in the tea industry used to break down tea cell tissues and shape tea leaves. They use mechanical pressure to curl the tea leaves into shape and promote the exudation of internal substances. They are widely used in the processing of black tea, green tea, oolong tea, and other types of tea.

[0003] Tea rolling is one of the core processes in the initial processing of tea. It aims to break the cell structure of the leaves through external force, causing the tea juice to overflow and adhere to the leaf surface, while simultaneously curling the leaves into shape. This is crucial for the formation of the tea's flavor, aroma, and appearance. Traditional hand rolling is inefficient, labor-intensive, and difficult to guarantee consistent quality. Therefore, mechanized rolling has become an inevitable direction for the industry's development.

[0004] However, existing equipment often uses manual pressure with a top gravity cap, which improves efficiency, but the control of kneading pressure and time is rough, which can easily lead to uneven leaf breakage, loose strips, or over-fermentation, affecting the uniformity and quality stability of the finished tea. Tea juice and broken leaves can easily remain in the gaps of the pressure device, making cleaning difficult. Long-term accumulation may breed microorganisms and cause cross-contamination. Moreover, during operation, parameters such as kneading pressure, time, and speed are mostly adjusted manually based on experience, lacking a real-time monitoring and feedback system, making it difficult to accurately reproduce the optimal process curve. The physical properties of tea leaves, such as moisture content and flexibility, change continuously during kneading, but most equipment cannot automatically adapt and adjust parameters. Improper control of pressure or time can easily lead to excessive damage to the cell walls of tea leaves, excessive loss of tea juice, resulting in a weak taste and increased fragmentation rate in the finished tea, affecting the adaptability of the process. Therefore, a feedback motor control method and a tea kneading device are proposed. Summary of the Invention

[0005] This invention addresses the problem of uneven tea kneading and unstable tea quality by providing a feedback motor control method and a tea kneading device.

[0006] The technical solution adopted by this invention to solve the above-mentioned technical problems is: a feedback motor control method, characterized in that: The feedback motor control method is characterized by: S1, starting device, drive motor, control motor, servo motor reset, in control unit, preset the standard visual state of tea leaves after kneading, and the corresponding process parameter range; S2, during the kneading process, the camera fixed at the bottom of the docking ring continuously collects images of the tea leaves in the feeding bucket. The image processing module in the control unit analyzes the collected images and calculates the looseness or strip rate of the tea leaves in real time as a quantitative feedback signal of "kneading efficiency". S3. Compare the real-time kneading efficiency data obtained from step two with the standard state threshold set in step one. If the real-time feedback shows that the tea leaves are loose and have not reached the predetermined tightness, it is determined that the kneading is insufficient and the kneading intensity needs to be increased. If the real-time feedback shows that the tea leaves are excessively broken or clumped, it is determined that the kneading intensity needs to be reduced or protective actions need to be taken. If the real-time feedback is within the standard range, the current motor parameters are maintained. S4. Based on the judgment result of step three, the control unit generates instructions to independently or jointly regulate the following motors. When it is judged that the kneading is insufficient, the current or speed of the servo motor is increased, so that the oscillation force and frequency of the transmission gear driving the swing shaft are increased, thereby enhancing the squeezing frequency and kneading force of the kneading plate on the tea leaves. The control motor drives the movable gear to feed the transmission shaft downward, driving the entire drive chamber and the feed cover plate to move downward, increasing the depth of action of the kneading plate in the tea leaves and expanding the kneading range. When it is judged that the kneading is excessive, the output of the servo motor is reduced, the kneading pressure and frequency are reduced, and the transmission shaft can be slightly raised to adjust the kneading space and prevent further damage to the tea leaves. S5. After performing the adjustment in step four, the system automatically returns to step two, and once again captures the adjusted tea state image through the camera, and performs analysis, judgment, and control to form a closed-loop control circuit. This process is repeated until the tea state reaches and stabilizes within the preset standard range, completing a batch of kneading operations.

[0007] A tea kneading device including a feedback motor control method, comprising a kneading disc; The kneading disc is provided with a fixed end block for mounting and connecting the base. The bottom of the kneading disc is provided with a transmission track. The top of the transmission track is provided with a drive motor, and the output end of the drive motor is connected to a drive shaft. The kneading disc is provided with a number of driven shafts connected to the top of the fixed end block. The drive shaft and the driven shaft are provided with docking ring frames. The top of the docking ring frame is provided with a transmission frame. The docking ring frame is provided with a feeding bucket inside. The transmission frame contains a movable transmission shaft with a movable ring at its bottom. The bottom of the movable ring is connected to a drive chamber, and a feed cover plate is fitted at the bottom of the drive chamber for pushing and kneading the tea leaves. The device uses a camera to provide real-time feedback on the tea leaves' condition and intelligently adjusts the kneading force and frequency to ensure processing quality. Its simulated manual kneading action, combined with an elastic pressure plate, significantly reduces the tea leaf breakage rate. The post-processing airflow blowing design effectively prevents clogging and facilitates tea leaf collection, achieving efficient and hygienic continuous production.

[0008] A further preferred embodiment of the present invention is: the bottom of the docking ring frame is provided with a plurality of docking holes, and a camera is provided inside the docking holes to form a detection mechanism to provide feedback on the kneading efficiency of the tea leaves; The feed hopper is fitted with a transmission ring, and the bottom of the transmission ring is connected to several transmission protrusions. The bottom of the docking ring frame is equipped with a detection mechanism with a camera, which is used to monitor the kneading efficiency and control the kneading force to avoid affecting the tea processing quality due to improper force.

[0009] A further preferred embodiment of the present invention is as follows: a mesh ring is provided inside the kneading disc, and several elastic levers are connected to the mesh ring. An extension shaft corresponding to the transmission protrusion is provided on one side of each elastic lever. Several connecting pipes are connected to the outside of the kneading disc. A conveying channel is provided on the edge of the kneading disc and the corresponding part of the connecting pipes. A connecting pipe communicating with an external air pressure device is connected to the outside of the connecting pipes. After kneading, the tea leaves are blown towards the center by airflow for easy collection.

[0010] A further preferred embodiment of the present invention is as follows: a set of supporting vertical rods are provided on the outside of the docking ring frame, the transmission frame is provided at the top of the supporting vertical rods, the transmission frame is designed with limit tubes on both sides, the top of the feed cover plate is designed with a set of limit inserts, and the limit inserts are movably inserted into the limit tubes and connected to the transmission frame through the supporting vertical rods. The feed cover plate cooperates with the limit tubes through the limit inserts to maintain its stability during up and down movement.

[0011] A further preferred embodiment of the present invention is as follows: a support plate is provided at the top of the transmission frame, a control motor is provided on one side of the support plate, a movable gear is provided on the transmission frame, the movable gear is engaged with a drive gear provided at the output end of the control motor, the transmission shaft is threaded into the movable gear, a circular groove is provided at the bottom of the transmission shaft, and a concentrically arranged transmission shaft and transmission tube are respectively movably engaged in the circular groove. The up and down movement of the feed cover is adjusted by the control motor, thereby controlling the kneading feed amount and force. The transmission frame has a built-in reset frame, which is located directly above the drive chamber and is used to buffer the drive chamber during reset to reduce collisions.

[0012] A further preferred embodiment of the present invention is as follows: a fastening groove is provided on one side of the drive chamber, and a snap-fit ​​plate is installed inside the fastening groove. A servo motor is connected inside the snap-fit ​​plate. A set of transmission gears is movably arranged on the snap-fit ​​plate. One side of the transmission gear is connected to the output end of the servo motor. The transmission gears rotate in opposite directions. A docking shaft is fixedly installed on each transmission gear. A fixed rod is connected to each docking shaft. A set of swing shafts is sleeved on the fixed rods. The swing shafts are respectively connected to the outside of the transmission shaft and the transmission tube, and play a driving role to control the force frequency of kneading, so as to avoid the tea leaves being over-squeezed and broken or not kneaded properly.

[0013] A further preferred embodiment of the present invention is as follows: an auxiliary kneading mechanism is provided inside the feed cover plate, and the auxiliary kneading mechanism consists of a connecting plate, a docking plate, and a kneading pressure plate. The top of the connecting plate is connected to several connecting shafts that are locked at the bottom of the feed cover plate. The docking plate is located at the bottom of the connecting plate. The kneading pressure plate is elastic and is externally connected to a locking ring frame, which is connected to the outer end of the docking plate and is used to cooperate with the monitoring module to adjust the kneading intensity and frequency.

[0014] A further preferred embodiment of the present invention is as follows: the connecting plate and the docking plate are provided with a plurality of sliding grooves, and a transmission block is locked inside the sliding groove. The top of the transmission block is movably locked with a hinge shaft, and the hinge shaft is movably disposed outside the transmission tube. The docking plate is provided with a compression tube, and the bottom expansion end of the compression tube abuts against the kneading pressing plate. The bottom of the transmission block is provided with a connecting end block, and a reset shaft is engaged between the connecting end blocks. The reset shaft is evenly distributed with extrusion discs, and the extrusion discs abut against the top of the kneading plate. This is used to adjust the kneading pressure, evenly distribute the tea leaves, and shake off residual debris after processing.

[0015] A further preferred embodiment of the present invention is as follows: the bottom of the kneading pressing plate is provided with several annular grooves, and the outer clamping ring frame of the kneading pressing plate is provided with annular grooves, and a scraper can be connected inside the annular grooves to reduce the tea residue on the inner wall of the feeding barrel and to assist in cleaning.

[0016] Compared with the prior art, the advantages of the present invention are as follows: 1. This invention monitors the tea leaves in real time using cameras and other detection mechanisms, and feeds the information back to the control system. The system can then automatically adjust the drive motor, servo motor, and other actuators to dynamically control the feed rate, force intensity, and frequency of the kneading process. This closed-loop control effectively prevents excessive kneading force from causing tea leaf breakage or insufficient kneading from causing under-kneading, ensuring consistency in the processing and the superior quality of the finished tea.

[0017] 2. This invention uses a servo motor to drive the swing shaft to reciprocate through a transmission gear set, which drives the kneading plate to perform compound actions such as pressing, loosening, and turning similar to manual kneading. This makes the pressure application gentler and more uniform, and can better achieve a balance between kneading and extracting juice and maintaining the integrity of the leaves, thus greatly reducing the generation of tea leaves.

[0018] 3. The transmission protrusion of this invention drives the elastic lever to periodically move the mesh ring, preventing tea fiber from clogging the mesh. The scraper on the edge of the kneading and pressing plate can scrape off the residue on the barrel wall. After processing, the continuous reciprocating operation of the extrusion disc can shake off the residual debris, reducing the frequency of manual cleaning, avoiding cross-contamination caused by bacteria growth from residues, and ensuring long-term stable operation of the equipment and production hygiene.

[0019] 4. This invention achieves a high degree of automation in the entire process from putting tea leaves into the feeding hopper, automatic kneading, status monitoring to parameter adjustment, automatic lifting and lowering of the feeding cover, automatic execution of kneading action, and auxiliary collection after processing, reducing the dependence on the experience and physical strength of operators.

[0020] 5. After the kneading process is completed, the external air pressure device can blow air into the kneading area through the connecting pipe and the mesh ring, which can easily and quickly blow the kneaded tea leaves to the central area, making it convenient for centralized collection or direct introduction into the next process. Compared with the traditional method of manual picking or mechanical scraping, it realizes the rapid and low-residue separation of tea leaves from the working surface, simplifies the collection steps, and improves the overall smoothness of operation. Attached Figure Description

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be regarded as a limitation on the scope of the present invention. In addition, unless specifically indicated, the drawings are only schematic representations of the composition or structure of the described objects and may contain exaggerated displays, and the drawings are not necessarily drawn to scale.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 A magnified view of the structure at point A in the middle; Figure 3 This is a schematic diagram of a partial structure of the mesh ring of the present invention; Figure 4 This is a schematic diagram of the bottom structure of the connecting frame of the present invention; Figure 5 This is a schematic diagram of the disassembled structure of the docking ring frame and the feeding barrel of the present invention; Figure 6 This is a schematic diagram of the exploded disassembly structure of the feed cover plate of the present invention; Figure 7 For the present invention Figure 6 A magnified schematic diagram of the structure at point B in the middle; Figure 8 This is a schematic diagram of the internal structure of the feed cover plate of the present invention; Figure 9 For the present invention Figure 8 A magnified schematic diagram of the structure at point C in the middle; Figure 10 This is a schematic diagram of the internal structure of the drive unit of the present invention; Figure 11 For the present invention Figure 10 A magnified schematic diagram of the structure at point D in the middle; Figure 12 This is a schematic diagram of the disassembled transmission frame structure of the present invention.

[0023] In the diagram: 1. Twisting disc; 2. Docking ring frame; 3. Transmission frame; 4. Drive chamber; 5. Feed cover plate; 11. Connecting base; 12. Transmission track; 13. Grid ring; 131. Elastic lever; 14. Docking pipe; 15. Connecting pipe; 21. Feeding bucket; 22. Transmission ring; 23. Supporting vertical rod; 31. Support plate; 32. Control motor; 33. Transmission shaft; 34. Movable gear; 35. Reset frame; 41. Clip plate; 411. Servo motor; 42. Transmission gear; 43. Docking shaft; 44. Swing shaft; 51. Transmission shaft; 52. Transmission pipe; 53. Connecting plate; 54. Docking disc; 55. Transmission clip; 551. Connecting end block; 56. Reset shaft; 57. Compression pipe; 58. Twisting press plate. Detailed Implementation

[0024] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are merely descriptive and exemplary and should not be construed as limiting the scope of protection of the present invention.

[0025] It should be noted that similar labels in the following figures indicate similar items; therefore, once an item is defined in one figure, it may not be further defined and explained in subsequent figures.

[0026] Example 1, specifically as follows: A feedback motor control method, characterized in that: S1, starting device, drive motor, control motor, servo motor reset, in control unit, preset the standard visual state of tea leaves after kneading, and the corresponding process parameter range; S2, During the kneading process, the camera fixed at the bottom of the docking ring 2 continuously collects images of the tea leaves in the feeding bucket 21. The image processing module in the control unit analyzes the collected images and calculates the looseness or strip rate of the current tea leaves in real time as a quantitative feedback signal of "kneading efficiency". S3. Compare the real-time kneading efficiency data obtained from step two with the standard state threshold set in step one. If the real-time feedback shows that the tea leaves are loose and have not reached the predetermined tightness, it is determined that the kneading is insufficient and the kneading intensity needs to be increased. If the real-time feedback shows that the tea leaves are excessively broken or clumped, it is determined that the kneading intensity needs to be reduced or protective actions need to be taken. If the real-time feedback is within the standard range, the current motor parameters are maintained. S4. Based on the judgment result of step three, the control unit generates instructions to independently or jointly regulate the following motors. When it is judged that the kneading is insufficient, the current or speed of the servo motor 411 is increased, so that the transmission gear 42 drives the swing shaft 44 to increase the swing force and frequency, thereby enhancing the squeezing frequency and kneading force of the kneading plate 58 on the tea leaves. The control motor 32 drives the movable gear 34 to feed the transmission shaft 33 downward, driving the entire drive chamber 4 and the feed cover plate 5 to move downward, increasing the depth of action of the kneading plate 58 in the tea leaves and expanding the kneading range. When it is judged that the kneading is excessive, the output of the servo motor 411 is reduced, the kneading pressure and frequency are reduced, and the transmission shaft 33 can be slightly raised to adjust the kneading space and prevent further damage to the tea leaves. S5. After performing the adjustment in step four, the system automatically returns to step two, and once again captures the adjusted tea state image through the camera, and performs analysis, judgment, and control to form a closed-loop control circuit. This process is repeated until the tea state reaches and stabilizes within the preset standard range, completing a batch of kneading operations.

[0027] Example 2, please refer to Figures 1-12 Specifically, a tea kneading device including a feedback motor control method includes a kneading disc 1; The kneading disc 1 is provided with a fixed end block for mounting and connecting the base 11. The bottom of the kneading disc 1 is provided with a transmission track 12. The top of the transmission track 12 is provided with a drive motor, and the top output end of the drive motor is connected to a drive shaft. The kneading disc 1 is provided with several driven shafts connected to the top of the fixed end block. The drive shaft and the driven shaft are provided with a docking ring frame 2. The top of the docking ring frame 2 is provided with a transmission frame 3. The docking ring frame 2 is provided with a feeding bucket 21 inside. The transmission frame 3 has a transmission shaft 33 inside, and a movable ring is provided at the bottom of the transmission shaft 33. The bottom end of the movable ring is connected to the drive chamber 4. The bottom of the drive chamber 4 is fitted with a feed cover plate 5 for pushing and kneading tea leaves. This device uses a camera to provide real-time feedback on the tea leaf status and intelligently adjusts the kneading force and frequency to ensure processing quality. Its simulated manual kneading action, combined with an elastic pressure plate, significantly reduces the tea leaf breakage rate. With the help of the airflow blowing design after processing, it effectively prevents blockage and facilitates tea leaf collection, realizing efficient and hygienic continuous production.

[0028] like Figure 5As shown, the bottom of the docking ring frame 2 is provided with several docking holes, and a camera is installed inside the docking hole to form a detection mechanism to provide feedback on the kneading efficiency of the tea leaves, thereby playing a detection role and preventing the kneading force from being too large or too small, thus affecting the overall processing quality. The feed hopper 21 is fitted with a transmission ring 22. The bottom of the transmission ring 22 is connected to several transmission protrusions. The transmission protrusions can drive the elastic lever 131 and are used to clean the mesh ring 13 during subsequent maintenance.

[0029] like Figure 2 and Figure 3 As shown, the kneading disc 1 has a mesh ring 13 inside, and several elastic levers 131 are connected to the mesh ring 13. An extension shaft corresponding to the transmission protrusion is provided on one side of the elastic lever 131, which can interact with the transmission protrusion at the top to drive the mesh ring 13 to move, reducing the possibility of tea leaves and other materials entering the gaps inside the mesh ring 13 during the kneading process. Several connecting pipes 14 are connected to the outside of the kneading disc 1. The edge of the kneading disc 1 and the corresponding part of the connecting pipes 14 are provided with a conveying channel. The connecting pipes 14 are connected to a connecting pipe 15 that connects to an external air pressure device. After the kneading is completed, air is blown along the mesh ring 13 by the external air pressure device, which can blow the kneaded tea leaves and other materials to the center, making it easier for subsequent collection and processing.

[0030] like Figure 4 As shown, a set of supporting vertical rods 23 are provided on the outside of the docking ring frame 2, and the transmission frame 3 is located at the top of the supporting vertical rods 23. Limiting tubes are designed on both sides of the transmission frame 3, and a set of limiting inserts are designed at the top of the feed cover plate 5. The limiting inserts are movably inserted into the limiting tubes. With the cooperation of the supporting vertical rods 23 and the movable ring, the feed cover plate 5 is not in a moving state during the up and down reciprocating process.

[0031] like Figure 5 As shown, a support plate 31 is provided at the top of the transmission frame 3, and a control motor 32 is provided on one side of the support plate 31. A movable gear 34 is provided on the transmission frame 3. The movable gear 34 is engaged with the drive gear provided at the output end of the control motor 32. The transmission shaft 33 is threaded into the movable gear 34. A circular groove is provided at the bottom of the transmission shaft 33, and a concentrically arranged transmission shaft 51 and transmission pipe 52 are respectively movably engaged in the groove. With the help of the control motor 32, the feed cover plate 5 is driven to move up and down. The amount of kneading and the kneading force of the tea can be controlled during the operation. The transmission frame 3 has a built-in reset frame 35, which is located directly above the drive chamber 4. The reset frame 35 can be used to abut against the top of the drive chamber 4 to buffer during the reset process and reduce the impact.

[0032] like Figure 10 and Figure 11As shown, a snap-fit ​​groove is provided on one side of the drive chamber 4, and a snap-fit ​​plate 41 is installed inside the snap-fit ​​groove. A servo motor 411 is connected inside the snap-fit ​​plate 41. A set of transmission gears 42 are movably arranged on the snap-fit ​​plate 41. One side of the transmission gear 42 is connected to the output end of the servo motor 411. The transmission gears 42 rotate in opposite directions. A docking shaft 43 is fixedly installed on each of the transmission gears 42. A fixed rod is connected to each docking shaft 43, and a set of swing shafts 44 is sleeved on the fixed rod. The swing shafts 44 are respectively connected to the outside of the transmission shaft 51 and the transmission tube 52, and play a driving role. With the help of the servo motor 411, the transmission gears 42 can be controlled to run, which can drive the swing shafts 44 at both ends to reciprocate, thereby controlling the movement of the transmission shaft 51 and the transmission tube 52, so that the transmission block 55 at the bottom and the compression tube 57 are subjected to force and run. This can control the force frequency during the kneading process and reduce the situation where the tea leaves break due to continuous pressing.

[0033] like Figure 6 As shown, the feed cover plate 5 is equipped with an auxiliary kneading mechanism, which consists of a connecting plate 53, a docking plate 54, and a kneading pressure plate 58. The top of the connecting plate 53 is connected to several connecting shafts that are locked at the bottom of the feed cover plate 5. The docking plate 54 is located at the bottom of the connecting plate 53. The kneading pressure plate 58 is elastic and is externally connected to a locking ring frame, which is connected to the outer end of the docking plate 54. With the help of the kneading mechanism, the force intensity and pressing frequency during the tea kneading process can be controlled. It can be controlled in conjunction with the monitoring module to improve the overall processing quality.

[0034] like Figure 8 and Figure 9 As shown, the connecting plate 53 and the docking plate 54 are provided with several sliding grooves, and the sliding grooves are fitted with transmission blocks 55. The top of the transmission blocks 55 is movably connected to a hinge shaft, and the hinge shaft is movably set outside the transmission tube 52. The docking plate 54 is provided with a compression tube 57. The bottom expansion end of the compression tube 57 abuts against the kneading plate 58. After being subjected to force, the compression tube 57, together with the expansion end, squeezes the bottom kneading plate 58 to cause it to deform slightly. This can control the intensity of kneading within a certain distance and reduce the loosening or breakage of tea leaves after kneading. The bottom of the transmission block 55 is provided with a connecting end block 551, and a reset shaft 56 is engaged between the connecting end blocks 551. The reset shaft 56 is evenly distributed with extrusion discs, and the extrusion discs abut against the top of the kneading plate 58. During operation, the transmission tube 52 can drive the transmission block 55 to move, the reset shaft 56 can be stretched under force, and the extrusion discs can squeeze the kneading plate 58, reducing the uneven distribution of tea leaves in some areas during the kneading process. After subsequent processing, the continuous reciprocating movement of the extrusion discs can quickly shake off the tea leaves and other debris remaining at the bottom, reducing the possibility of bacterial growth caused by residue.

[0035] like Figure 8As shown, the bottom of the kneading press plate 58 is provided with several annular grooves, and the outer clamping ring frame of the kneading press plate 58 is provided with annular grooves. A scraper can be connected inside the annular grooves to reduce the tea residue on the inner wall of the feeding barrel 21, which plays an auxiliary cleaning role and avoids the occurrence of residue in subsequent operation.

[0036] In the description of this invention, it should be noted that the terms "upper," "lower," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0037] The present invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the present invention and its core ideas. It should be noted that for those skilled in the art, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A feedback motor control method, characterized by: S1, a starting device drives the motor, controls the motor, and resets the servo motor. In the control unit, the standard visual state of the tea rolling completion is preset, and the corresponding process parameter range is set; S2, during the rolling process, the camera fixed at the bottom of the docking ring frame continuously collects images of the tea in the feeding barrel. The image processing module in the control unit analyzes the collected images and calculates the current tea looseness or strip rate in real time as the quantitative feedback signal of "rolling efficiency"; S3, compare the real-time rolling efficiency data obtained in step two with the standard state threshold set in step one; S4, according to the judgment result of step three, the control unit generates instructions to independently or jointly control the following motors; S5, after executing step four, the system automatically returns to step two, and the camera collects the image of the adjusted tea state again, and analyzes, judges and controls to form a closed loop control circuit.

2. A tea rolling device comprising a feedback motor control method, characterized by, It includes a rolling disc; The rolling disc is provided with a fixed end block connected with the mounting base outside, a transmission track is arranged at the bottom of the rolling disc, a driving motor is arranged at the top of the transmission track, a driving shaft is connected to the top output end of the driving motor, a plurality of driven shafts are connected to the top of the fixed end block outside the rolling disc, and a docking ring frame is arranged on the driving shaft and the driven shaft; The transmission shaft is movably arranged in the transmission frame, the transmission shaft is provided with a movable ring at the bottom, the movable ring is connected with a driving chamber at the bottom end, and a feeding cover plate is clamped at the bottom of the driving chamber for pushing and rolling tea.

3. The tea rolling apparatus according to claim 2, wherein A plurality of docking holes are formed in the bottom of the docking ring frame, and a camera is arranged in the docking hole to form a detection mechanism and feed back the rolling efficiency of the tea; The feeding barrel is provided with a transmission ring outside, and a plurality of transmission protrusions are connected to the bottom of the transmission ring.

4. The tea rolling apparatus according to claim 2, wherein The rolling disc is provided with a grid ring inside, a plurality of elastic push rods are connected to the grid ring, an extension shaft corresponding to the transmission protrusion is arranged on one side of the elastic push rod, a plurality of docking pipes are connected to the outside of the rolling disc, a conveying channel is arranged on the corresponding part of the edge of the rolling disc and the docking pipe, and a connecting pipeline penetrating the external air pressure equipment is connected to the outside of the docking pipe.

5. The tea rolling apparatus according to claim 2, wherein A group of supporting vertical rods are arranged outside the docking ring frame, the transmission frame is arranged at the top of the supporting vertical rods, limit tubes are designed on both sides of the transmission frame, a group of limit insertion rods are designed at the top of the feeding cover plate, and the limit insertion rods are movably inserted into the limit tubes.

6. The tea rolling apparatus according to claim 2, wherein A supporting plate is arranged at the top of the transmission frame, a control motor is arranged on one side of the supporting plate, a movable gear is arranged on the transmission frame, the movable gear is connected with a driving gear arranged on the output end of the control motor, the transmission shaft is threadedly inserted into the movable gear, a circular groove is formed at the bottom of the transmission shaft, and a transmission shaft and a transmission pipe arranged in concentric are movably clamped in the circular groove; The transmission frame is provided with a reset frame, and the reset frame is located directly above the driving chamber.

7. The tea rolling apparatus according to claim 2, wherein The driving chamber is provided with a buckle groove on one side, and a clamping plate is installed in the buckle groove. A servo motor is connected to the clamping plate. A set of transmission gears are movably arranged on the clamping plate. One side of the transmission gears is connected to the output end of the servo motor. The transmission gears rotate in opposite directions. A butt joint shaft is fixedly installed on each transmission gear. A fixed rod is connected to the butt joint shaft. A set of swing shafts are sleeved on the fixed rod. The swing shafts are connected to the transmission shaft and the transmission pipe outside.

8. The tea rolling apparatus according to claim 2, wherein The feeding cover is provided with an auxiliary twisting and rubbing mechanism inside, and the auxiliary twisting and rubbing mechanism is composed of a connecting plate, a butt joint disc and a rubbing and twisting plate. The connecting plate is connected with a plurality of connecting shafts clamped on the bottom of the feeding cover. The butt joint disc is arranged on the bottom of the connecting plate. The rubbing and twisting plate is elastic and connected with a clamping ring frame outside. The clamping ring frame is connected to the outer end of the butt joint disc.

9. The tea rolling apparatus according to claim 8, wherein A plurality of sliding grooves are formed on the connecting plate and the butt joint disc. A transmission clamping block is clamped in the sliding groove. A hinge shaft is movably clamped on the top of the transmission clamping block. The hinge shaft is movably arranged outside the transmission pipe. A compression pipe is arranged on the butt joint disc. The expansion end of the bottom of the compression pipe abuts against the rubbing and twisting plate. A connecting end block is arranged on the bottom of the transmission clamping block. A reset shaft is clamped between the connecting end blocks. A plurality of extrusion discs are uniformly distributed on the reset shaft. The extrusion discs abut against the top of the rubbing and twisting plate.

10. The tea rolling apparatus according to claim 8, wherein A plurality of annular grooves are formed on the bottom of the rubbing and twisting plate. An annular groove is formed on the clamping ring frame outside the rubbing and twisting plate. A scraper can be connected in the annular groove, which is used to reduce the tea residue on the inner wall of the feeding barrel.

Images