Multifunctional combined clamp for assisting cake pressing

Abstract

The utility model relates to a multifunctional combined clamp assisting in cake pressing, which is arranged on a mechanical arm and comprises a support, a clamping and dumping device, an inner flying paper suction device, a tea grabbing device and a tea smoothing device. The support is U-shaped, and a mounting hole is formed in the bottom of the support and used for being mounted on a mechanical arm. The inner flying paper suction device, the tea leaf grabbing device and the tea leaf smoothing device are arranged on the outer surfaces of side arms on the two sides of the support respectively; the clamping and dumping device is installed in the support and can clamp a tea barrel with tea leaves and pour the tea leaves in the tea barrel into the cake pressing mold through movement of the mechanical arm. The functions of barrel pouring, smoothing, tea grabbing, tea placing and inner flying paper sucking and placing are integrated on the clamp, the clamp is driven by the mechanical arm to move to be matched with all the functions on the clamp, automation of the tea cake pressing process is completed, and the situation that due to non-uniform manual intervention operation, the quality of processed tea cakes is not uniform is avoided. And the overall quality of the product can be improved.

Description

Technical Field

[0001] The utility model relates to the field of Pu'er tea cake production equipment, in particular to a multifunctional combined clamp for assisting cake pressing. Background Art

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

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

[0004] Prior art CN117502528A and CN112777074A disclose devices that automatically perform cake pressing. However, the equipment disclosed in CN112777074A occupies a large area and requires numerous additional mechanisms to replace manual cake pressing. Each workstation requires a corresponding device. However, the pressing process requires a holding time, making this impractical for many tea processing plants due to limited space. Furthermore, the processing methods differ significantly from traditional processes, requiring the entire equipment to be replaced, which is costly and unsuitable for most production plants. Furthermore, the mechanisms in these disclosed devices cannot completely smooth the top surface of the tea leaves in the mold to achieve the optimal cake shape within a short period of time, resulting in uneven cake density and reduced tea cake quality. Furthermore, when extracting the inner fly paper, they cannot guarantee that only one sheet of fly paper is extracted at a time. Consequently, when pressing two sheets of fly paper, the tea cake must be unwound and re-pressed, resulting in severe breakage and reduced tea cake quality. Therefore, a new device for assisting tea cake pressing is needed. Summary of the Invention

[0005] To solve the above problems, the present utility model provides a multifunctional combined fixture for assisting in pressing tea cakes, which can be installed at the front end of a robotic arm and can perform functions such as barrel inversion, leveling, tea leaf grasping, tea leaf placing, and sucking and placing inner flying papers. The entire fixture combines the function of the robotic arm's displacement to assist in realizing the automatic tea cake pressing process. Specifically, the object of the present utility model is achieved as follows:

[0006] A multifunctional combined fixture for assisting in pressing tea cakes is provided and installed on a robotic arm. The fixture is controlled to perform multi-angle displacement by the movement of the robotic arm, and includes: a bracket, a clamping and dumping device, an inner flying paper sucking device, a tea leaf grasping device, and a tea leaf leveling device;

[0007] The bracket is in a "U" shape and has mounting holes at the bottom for mounting on the robotic arm; the inner flying paper sucking device, the tea leaf grasping device, and the tea leaf leveling device are respectively installed on the outer surfaces of the two side arms of the bracket; the inner flying paper sucking device is used to suck the inner flying paper and place it into the tea cake pressing mold; the tea leaf grasping device can grasp the tea leaves in the tea cake pressing mold; the tea leaf leveling device is used to level the tea leaves poured into the tea cake pressing mold to form the shape before pressing the tea cake; the clamping and dumping device is installed inside the bracket, and the clamping and dumping device can clamp the tea barrel with tea leaves and pour the tea leaves in the tea barrel into the tea cake pressing mold through the movement of the robotic arm.

[0008] Further, the tea leaf leveling device includes a clamping frame, a rotating motor, a rotating shaft fixing member, a cover plate, and leveling blades; the clamping frame is installed on the side arm of the bracket, the rotating shaft fixing member is fixedly installed on the clamping frame, the rotating motor is fixedly installed on the clamping frame, the output end of the rotating shaft of the rotating motor passes through the rotating shaft fixing member and is fixedly connected to one side of the cover plate; the output end of the rotating shaft of the rotating motor can rotate within the rotating shaft fixing member; the leveling blades are arranged and installed on the other side of the cover plate relative to the output end of the rotating shaft of the rotating motor; the cover plate is circular, and by moving the robotic arm, the cover plate can be extended into the mold to cover the tea leaves in the mold, and the rotating motor is driven to rotate the leveling blades to level the tea leaves.

[0009] Further, slide rails and sliding air rods are installed on the outer surfaces of the two side arms of the bracket. The slide rails and the sliding air rods are parallel to each other and are in the same direction as the extension direction of the side arms of the bracket; the clamping frame is installed on the slide rails, and the sliding air rod is fixedly connected to the clamping frame, and the sliding air rod can drive the clamping frame to slide on the slide rails

[0010] Furthermore, the smoothing blade includes a first blade and a second blade that are cross-arranged and installed on one side of the cover plate; the first blade passes through the center of the cover plate and is centrally symmetrically distributed with the center of the cover plate as the center; the first blade includes a plurality of flaky comb teeth whose connections are in the same plane, and the tooth bodies of the flaky comb teeth are inclined in the direction opposite to the rotation direction of the cover plate and twisted at a certain angle in the direction opposite to the rotation direction of the cover plate; the length of each flaky comb tooth gradually shortens from the center of the cover plate to the outside, the inclination angle gradually decreases, and the twisting angle of each flaky comb tooth gradually decreases from the center of the cover plate to the outside.

[0011] Furthermore, the second blade includes two rows of long comb teeth and one row of short comb teeth made of flexible material, and the short comb teeth are located between the two rows of long comb teeth; the second blade is arranged and installed on both sides of the first blade with the center of the cover plate as the symmetrical point; the length of the comb teeth on the second blade gradually shortens from the center of the cover plate to the outside.

[0012] Furthermore, it also includes a mounting frame, which is arranged on the side arm of the bracket; the inner flying paper suction device includes a suction head arranged on the mounting frame; the tea leaf grabbing device includes a clamping head arranged on the mounting frame; the suction head and the clamping head have the same operating direction and there is a certain distance between them, and the distance is smaller than the radius of the mold.

[0013] Furthermore, slide rails and sliding gas rods are installed on the outer surfaces of the side arms on both sides of the bracket; the inner flying paper suction device and the tea leaf grabbing device are installed on the slide rails through a mounting frame, and the sliding gas rods are fixedly connected to the mounting frame, and the sliding gas rods can drive the mounting frame to slide on the slide rails.

[0014] During use, the robotic arm 2 drives the clamp 1 to the location where the inner flying paper is placed and rotates it to the appropriate angle, so that the suction head 132 is facing the inner flying paper and sucking it. The clamp 1 then moves to the vicinity of the conveyor belt, and the clamping arms 143 move to the sides above the tea barrel 4. After that, the bracket 11 is moved downward, so that the clamping arms 143 are evenly spaced on both sides of the tea barrel 4, and the large end of the material guide port 146 covers the opening of the tea barrel 4. Then, the cylinders 141 at both ends are activated to pull the clamping arms 143 together, clamping the tea barrel 4 through the inner curved surface of the clamping portion. The mechanical wall is then moved to the mold 3 above the cake pressing workbench, and the robotic arm 2 is rotated to pour the tea leaves from the tea barrel 4 into the mold 3 through the material guide port 146. Then the sliding air rods 112 installed on the side arms on both sides of the bracket 11 drive the inner flying paper suction device, the tea leaf grabbing device and the tea leaf smoothing device to move forward to the end. After the mechanical arm 2 adjusts its position, it moves the cover plate 124 of the tea leaf smoothing device to above the opening of the mold 3, and then starts the rotating motor 122 and moves the mechanical arm 2 at the same time, so that the smoothing blades move downward as the cover plate 124 rotates, and the tea leaves in the mold 3 are smoothed to the shape of the cake to be pressed through the flexible comb teeth of the second blade 126 and the lamellar comb teeth of the first blade 125; when smoothing, since the tea leaves have the characteristics of mutual adhesion and hooking, the tea leaves are first pulled apart to a certain extent after being contacted by the flexible comb teeth of the second blade 126, and then the tea leaves are pulled apart from the inside to the outside while being smoothed by the lamellar comb teeth of the first blade 125, and finally the tea leaves in the mold 3 are pulled into a downwardly concave arc surface. The principle here is that because the tea cake needs to be pressed into an upper curved surface with a carp's back during pressing, the tea leaves on the outside of the tea cake move downward more than the middle part during the pressing process. After the tea leaves on the outside of the tea cake move downward, they are squeezed into the middle of the tea cake, resulting in an excess of tea leaves in the middle of the tea cake and an upward bulge to form the upper curved surface shape of a carp's back. Therefore, if the tea leaves are smoothed into a uniform plane before pressing, it will result in an excess of tea leaves in the middle during pressing. The density of the pressed tea cake is uneven, with the density of the middle part being greater than that of the edge part, which reduces the overall quality of the product. In addition, the uneven density of the tea cake will further lead to uneven aging of the tea leaves during aging, affecting the quality of the tea. Then, the robot arm 2 drives the cover plate 124 and the smoothing blade to move upward until they move outside the mold 3. During the movement, the rotary motor 122 keeps rotating. The robotic arm 2 is moved to move the clamping head 133 and the suction head 132 into the mold 3. The clamping head 133 clamps a part of the tea leaves in the center of the mold 3, and the suction head 132 places the sucked inner flying paper on the surface of the tea leaves in the mold 3. The clamping head 133 puts the clamped tea leaves down to cover the inner flying paper. Finally, the clamp 1 is withdrawn, the empty barrel is put back into the empty barrel recycling line, and the cake pressing head is started to press down to press the cake.

[0015] The beneficial effects of the utility model are as follows:

[0016] (1) The functions of pouring the bucket, smoothing, grabbing the tea leaves, placing the tea leaves, and sucking and placing the inner flying paper are integrated into the fixture. The mechanical arm drives the fixture to move and coordinate with each function on the fixture to complete the automation of the tea cake pressing process, avoiding the inconsistent operation caused by manual intervention and resulting in inconsistent tea cake quality after processing. This helps to improve the overall quality of the product.

[0017] (2) The tea leaves to be pressed into cakes in the mold are first smoothed into a shape most suitable for pressing cakes by using a specific smoothing blade provided on the tea smoothing mechanism, that is, an overall downwardly concave arc surface, so that the overall density of the pressed tea cake with the carp back arc surface is uniform, avoiding the situation where the density in the middle of the tea cake is high and the density on both sides is low.

[0018] (3) By installing a vibration motor in the clamping and pouring device, the tea barrel is fully vibrated and shaken when pouring. In addition, the anti-stick surface inside the tea barrel prevents the tea leaves from sticking to the inner surface of the tea barrel, ensuring that the tea leaves in the tea barrel can be completely poured into the mold during each pouring process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the installation of the robotic arm and fixture of the utility model;

[0020] Figure 2 This is a schematic diagram of the clamp in use according to the present invention;

[0021] Figure 3 This is a schematic diagram of the three-dimensional structure of the clamp of the utility model;

[0022] Figure 4 This is a schematic diagram of the three-dimensional structure of the clamp of the present invention from another angle;

[0023] Figure 5 This is an exploded view of the fixture of the present invention;

[0024] Figure 6 This is a schematic diagram of the clamping and dumping device of the present invention in use;

[0025] Figure 7 This is a schematic diagram of the vibration motor in use according to the present invention;

[0026] Figure 8 This is a schematic diagram of the tea barrel structure of the utility model;

[0027] Figure 9 This is a schematic diagram of the inner flying paper suction device and tea leaf grabbing device of the present invention in use;

[0028] Figure 10 This is a schematic diagram of the three-dimensional structure of the leveling device of the present invention;

[0029] Figure 11This is a schematic diagram of the use state of the leveling device of the utility model;

[0030] Figure 12 This is a schematic diagram of the use state of the leveling blade of the utility model;

[0031] Figure 13 This is a schematic diagram of the upper surface of tea leaves in the mold after the smoothing blades of the utility model are smoothed;

[0032] Figure 14 This is the front view of the tea cake described in the present invention;

[0033] Figure 15 This is a schematic diagram of the mold in use according to the present invention.

[0034] In the picture:

[0035] 1—clamp, 11—bracket, 111—slide rail, 112—sliding air rod, 113—transverse mounting plate, 141—two-end air cylinder, 142—shock-absorbing gasket, 143—clamping arm, 144—vibration motor, 145—mounting plate, 146—material guide port, 121—clamping frame, 122—rotating motor, 123—rotating shaft fixing member, 124—cover plate, 125—first blade, 126—second blade, 131—mounting frame, 132—suction head, 133—clamping head;

[0036] 2—Robotic arm; 3—Mold; 4—Tea barrel. DETAILED DESCRIPTION

[0037] In order to make the technical means, creative features and objectives achieved by the present invention easy to understand, the technical solution of the present invention is further explained below in combination with one of the embodiments and specific implementation methods of a multifunctional combination clamp for assisting cake pressing provided by the present invention.

[0038] like Figure 1-15 As shown, the specific embodiments given for the present utility model are as follows:

[0039] A multifunctional combined clamp for assisting cake pressing is installed on a robotic arm 2. The robotic arm 2 moves and controls the clamp 1 to move at multiple angles. The clamp comprises: a bracket 11, a clamping and dumping device, an inner flying paper suction device, a tea leaf grabbing device and a tea leaf smoothing device.

[0040] A robotic arm 2 is mounted next to the cake-pressing table, controlling the multi-angle movement of the fixture 1. Finished tea barrels 4 are transported to the cake-pressing workshop via a conveyor belt. The cake-pressing table is equipped with a mold 3 and a pressing head. After tea leaves are poured into the mold 3, the pressing head presses down to form the tea leaves. The lower surface of the pressing head is shaped like a carp's back, and the bottoms of both the pressing head and the mold 3 are covered with gauze.

[0041] The fixture 1 is arranged and installed at the front end of the robotic arm 2, and includes a bracket 11, a clamping and tilting device, an inner flying paper suction device, a tea leaf grasping device, and a tea leaf leveling device; the robotic arm 2 can drive the fixture 1 to displace at multiple angles. The bracket 11 is in a "U" shape, and mounting holes are provided at the bottom for mounting on the robotic arm 2. The inner flying paper suction device and the tea leaf grasping device are arranged and installed on the outer surface of the side arm on one side of the bracket 11, and the tea leaf leveling device is respectively arranged and installed on the outer surface of the side arm on the other side of the bracket 11. Slide rails 111 and sliding air rods 112 are arranged and installed on the outer surfaces of the side arms on both sides of the bracket 11; the slide rails 111 and the sliding air rods 112 are parallel to each other and are in the same direction as the extension direction of the side arm of the bracket 11. The inner flying paper suction device and the tea leaf grasping device are arranged and installed on the slide rails 111 through a mounting frame 131, and the sliding air rod 112 is fixedly connected to the mounting frame 131. The sliding air rod 112 can drive the mounting frame 131 to slide on the slide rails 111; the inner flying paper suction device includes a suction head 132 arranged and installed on the mounting frame 131; the tea leaf grasping device includes a clamping head 133 arranged and installed on the mounting frame 131; the operating directions of the suction head 132 and the clamping head 133 are the same and there is a certain interval between them, and this interval is smaller than the radius of the mold 3. After sucking the inner flying paper by the suction head 132, it is placed into the mold 3 during the auxiliary cake pressing; the clamping head 133 can grab the tea leaves in the mold 3; after the inner flying paper is placed, it is released and the grabbed tea leaves are covered on the surface of the inner flying paper. Here, the suction head 132 is a negative pressure suction head 132 or a Bernoulli principle suction head 132.

[0042] The tea leaf leveling device is used to level the tea leaves poured into the mold 3 to form the shape before cake pressing; the clamping and tilting device is arranged and installed inside the bracket 11, and the clamping and tilting device can clamp the tea barrel 4 with tea leaves and pour the tea leaves in the tea barrel 4 into the mold 3;

[0043] The tea smoothing device includes a clamping frame 121, a rotating motor 122, a rotating shaft fixing member 123, a cover plate 124 and a smoothing blade; the outer surfaces of the side arms on both sides of the bracket 11 are provided with slide rails 111 and sliding air rods 112, the slide rails 111 and the sliding air rods 112 are parallel to each other and consistent with the extension direction of the side arms of the bracket 11; the clamping frame 121 is installed on the slide rails 111, the sliding air rods 112 are fixedly connected to the clamping frame 121, and the sliding air rods 112 can drive the clamping frame 121 to slide on the slide rails 111; the rotating shaft fixing member 123 is fixedly arranged on the clamping frame 12 1, the rotating motor 122 is fixedly mounted on the clamping frame 121, and the output end of the rotating shaft of the rotating motor 122 passes through the rotating shaft fixing member 123 and is fixedly connected to one side of the cover plate 124; the output end of the rotating shaft of the rotating motor 122 can rotate in the rotating shaft fixing member 123; the smoothing blade is arranged on the other side of the cover plate 124 relative to the output end of the rotating shaft of the rotating motor 122; the cover plate 124 is circular, and the cover plate 124 can be extended into the mold 3 to cover the tea leaves in the mold 3 by moving the robot arm 2, and the smoothing blade is driven by the rotating motor 122 to rotate to smooth the tea leaves.

[0044] The smoothing blade includes a first blade 125 and a second blade 126 which are arranged crosswise and mounted on one side of the cover plate 124; the first blade 125 passes through the center of the cover plate 124 and is symmetrically distributed with the center of the cover plate 124 as the center; the first blade 125 includes a plurality of flaky comb teeth whose connections are in the same plane, and the flaky comb tooth bodies are inclined in the direction opposite to the rotation direction of the cover plate 124 and twisted at a certain angle in the direction opposite to the rotation direction of the cover plate 124; the length of each flaky comb tooth gradually shortens outward from the center of the cover plate 124, the inclination angle gradually decreases, and the twisting angle of each flaky comb tooth gradually decreases outward from the center of the cover plate 124; the second blade 126 includes two rows of long comb teeth and one row of short comb teeth made of flexible material, and the short comb teeth are located between the two rows of long comb teeth; the second blade 126 is arranged and mounted on both sides of the first blade 125 with the center of the cover plate 124 as the symmetrical point; the length of the comb teeth on the second blade 126 gradually shortens outward from the center of the cover plate 124.

[0045] The clamping and tipping device includes two-end cylinders 141, shock-absorbing gaskets 142, clamping arms 143, vibration motors 144 and material guide ports 146; a horizontal mounting plate 113 is provided inside the bracket 11 to connect the two side arms of the bracket 11, and the surface of the horizontal mounting plate 113 is parallel to the bottom of the bracket 11; the two-end cylinders 141 are arranged and installed on the horizontal mounting plate 113, and mounting plates 145 are provided at both ends of the two-end cylinders 141. The two mounting plates 145 are respectively connected to the clamping arms 143 and shock-absorbing gaskets 142 are provided at the connection points; the clamping arms 143 are provided with a frame-shaped clamping portion, and the clamping portion is provided with an inner arc surface with the same diameter as the tea barrel 4; a vibration motor 144 is installed in the clamping portion; after the clamping arms 143 are installed, the arc surfaces of the clamping portions of the two clamping arms 143 are arranged opposite to each other; the two-end cylinders 141 can drive the clamping arms 143 to separate or close; the separation and closing trajectory of the clamping arms 143 is perpendicular to the two side arms of the bracket 11. The material guide port 146 is connected and installed on the side arms on both sides of the bracket 11; the material guide port 146 is funnel-shaped, and when the clamping arm 143 clamps the tea barrel 4, the material guide port 146 is located directly above the tea barrel 4, and at this time the large end of the material guide port 146 is connected to the opening of the tea barrel 4.

[0046] The inner surface of the tea barrel 4 is evenly spaced with a number of hexagonal prism protrusions, and the concave portion is coated with a food-grade non-stick coating, which includes a Teflon coating or a ceramic coating.

[0047] During use, the robotic arm 2 drives the clamp 1 to the location where the inner flying paper is placed and rotates it to the appropriate angle, so that the suction head 132 is facing the inner flying paper and sucking it. The clamp 1 then moves to the vicinity of the conveyor belt, and the clamping arms 143 move to the sides above the tea barrel 4. After that, the bracket 11 is moved downward, so that the clamping arms 143 are evenly spaced on both sides of the tea barrel 4, and the large end of the material guide port 146 covers the opening of the tea barrel 4. Then, the cylinders 141 at both ends are activated to pull the clamping arms 143 together, clamping the tea barrel 4 through the inner curved surface of the clamping portion. The mechanical wall is then moved to the mold 3 above the cake pressing workbench, and the robotic arm 2 is rotated to pour the tea leaves from the tea barrel 4 into the mold 3 through the material guide port 146. Then the sliding air rods 112 installed on the side arms on both sides of the bracket 11 drive the inner flying paper suction device, the tea leaf grabbing device and the tea leaf smoothing device to move forward to the end. After the mechanical arm 2 adjusts its position, it moves the cover plate 124 of the tea leaf smoothing device to above the opening of the mold 3, and then starts the rotating motor 122 and moves the mechanical arm 2 at the same time, so that the smoothing blades move downward as the cover plate 124 rotates, and the tea leaves in the mold 3 are smoothed to the shape of the cake to be pressed through the flexible comb teeth of the second blade 126 and the lamellar comb teeth of the first blade 125; when smoothing, since the tea leaves have the characteristics of mutual adhesion and hooking, the tea leaves are first pulled apart to a certain extent after being contacted by the flexible comb teeth of the second blade 126, and then the tea leaves are pulled apart from the inside to the outside while being smoothed by the lamellar comb teeth of the first blade 125, and finally the tea leaves in the mold 3 are pulled into a downwardly concave arc surface. The principle here is that because the tea cake needs to be pressed into an upper curved surface with a carp's back during pressing, the tea leaves on the outside of the tea cake move downward more than the middle part during the pressing process. After the tea leaves on the outside of the tea cake move downward, they are squeezed into the middle of the tea cake, resulting in an excess of tea leaves in the middle of the tea cake and an upward bulge to form the upper curved surface shape of a carp's back. Therefore, if the tea leaves are smoothed into a uniform plane before pressing, it will result in an excess of tea leaves in the middle during pressing. The density of the pressed tea cake is uneven, with the density of the middle part being greater than that of the edge part, which reduces the overall quality of the product. In addition, the uneven density of the tea cake will further lead to uneven aging of the tea leaves during aging, affecting the quality of the tea. Then, the robot arm 2 drives the cover plate 124 and the smoothing blade to move upward until they move outside the mold 3. During the movement, the rotary motor 122 keeps rotating. The robotic arm 2 is moved to move the clamping head 133 and the suction head 132 into the mold 3. The clamping head 133 clamps a part of the tea leaves in the center of the mold 3, and the suction head 132 places the sucked inner flying paper on the surface of the tea leaves in the mold 3. The clamping head 133 puts the clamped tea leaves down to cover the inner flying paper. Finally, the clamp 1 is withdrawn, the empty barrel is put back into the empty barrel recycling line, and the cake pressing head is started to press down to press the cake.

[0048] It should be understood that the above-described specific embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the scope of protection of the present invention. In addition, the appended claims of the present invention are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. A multifunctional combined clamp for assisting cake pressing, which is mounted on a mechanical arm (2) and controls the clamp (1) to move at multiple angles through the mechanical arm (2), characterized in that: Comprising: A bracket (11), a clamping and tilting device, an inner flying paper sucking device, a tea leaf grasping device, and a tea leaf leveling device; The bracket (11) is in a "U" shape and has mounting holes at the bottom for mounting on the robotic arm (2); the inner flying paper sucking device, the tea leaf grasping device, and the tea leaf leveling device are respectively installed on the outer surfaces of the side arms on both sides of the bracket (11); the inner flying paper sucking device is used to suck the inner flying paper and place it into the pressing mold (3); the tea leaf grasping device can grasp the tea leaves in the pressing mold (3); the tea leaf leveling device is used to level the tea leaves poured into the pressing mold (3) to form the shape before pressing the cake; the clamping and tilting device is installed inside the bracket (11), and the clamping and tilting device can clamp the tea barrel (4) with tea leaves and move the tea barrel (4) through the robotic arm (2) to pour the tea leaves in the tea barrel (4) into the pressing mold (3).

2. The multifunctional combined clamp for assisting cake pressing according to claim 1, characterized in that: The tea leaf leveling device includes a clamping frame (121), a rotating motor (122), a rotating shaft fixing member (123), a cover plate (124), and leveling blades; the clamping frame (121) is installed on the side arm of the bracket (11), the rotating shaft fixing member (123) is fixedly installed on the clamping frame (121), the rotating motor (122) is fixedly installed on the clamping frame (121), and the output end of the rotating shaft of the rotating motor (122) passes through the rotating shaft fixing member (123) and is fixedly connected to one side of the cover plate (124); the output end of the rotating shaft of the rotating motor (122) can rotate inside the rotating shaft fixing member (123); the leveling blades are installed on the other side of the cover plate (124) relative to the output end of the rotating shaft of the rotating motor (122); the cover plate (124) is circular, and by moving the robotic arm (2), the cover plate (124) can be extended into the mold (3) to cover the tea leaves in the mold (3), and the rotating motor (122) is driven to rotate the leveling blades to level the tea leaves.

3. A multifunctional combined clamp for assisting cake pressing according to claim 2, characterized in that: Sliding rails (111) and sliding air rods (112) are installed on the outer surfaces of the side arms on both sides of the bracket (11), the sliding rails (111) and the sliding air rods (112) are parallel to each other and are in the same direction as the extension direction of the side arms of the bracket (11); the clamping frame (121) is installed on the sliding rails (111), the sliding air rod (112) is fixedly connected to the clamping frame (121), and the sliding air rod (112) can drive the clamping frame (121) to slide on the sliding rails (111).

4. The multifunctional combined clamp for assisting cake pressing according to claim 2, characterized in that: The smoothing blade comprises a first blade (125) and a second blade (126) which are arranged crosswise and mounted on one side of the cover plate (124); the first blade (125) passes through the center of the cover plate (124) and is centrally symmetrically distributed with the center of the cover plate (124) as the center; the first blade (125) comprises a plurality of flaky comb teeth whose joints are in the same plane, the flaky comb teeth are inclined in a direction opposite to the rotation direction of the cover plate (124) and twisted at a certain angle in a direction opposite to the rotation direction of the cover plate (124); the length of each flaky comb tooth gradually shortens from the center of the cover plate (124) outward, the tilt angle gradually decreases, and the twist angle of each flaky comb tooth gradually decreases from the center of the cover plate (124) outward.

5. The multifunctional combined clamp for assisting cake pressing according to claim 4, characterized in that: The second blade (126) comprises two rows of long comb teeth and one row of short comb teeth made of a flexible material, and the short comb teeth are located between the two rows of long comb teeth; the second blade (126) is arranged and installed on both sides of the first blade (125) with the center of the cover plate (124) as a symmetrical point; the length of the comb teeth on the second blade (126) gradually shortens from the center of the cover plate (124) outwards.

Images