Tea cake pressing auxiliary robot system

Abstract

The utility model relates to a tea cake pressing auxiliary robot system which comprises a mechanical arm used for controlling a clamp to conduct multi-angle displacement. The clamp is arranged on the 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 bracket is U-shaped, and a mounting hole is formed in the bottom of the bracket; 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 arranged in the bracket; the cake pressing workbench is provided with a mold and a pressing head, and the tea leaves are pressed downwards through the pressing head to be pressed and formed after being poured into the mold. By means of the tea cake auxiliary robot system, automation of the tea cake pressing process is achieved, 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 products can be improved.

Description

Technical Field

[0001] This utility model relates to the field of Pu'er tea cake production equipment, and in particular to a tea cake pressing auxiliary robot system. Background Technology

[0002] Compressed Pu-erh tea is the main form of Pu-erh tea products. Most Pu-erh tea products sold on the market, whether raw or ripe, are sold in compressed form, such as cakes, tuocha, and bricks, with cakes accounting for the largest share. The pressing process is a crucial final step in the refining and processing of Pu-erh tea. Typically, a pressing machine presses blended tea leaves into Pu-erh tea cakes of different sizes, which are then subsequently roasted and packaged to form standardized compressed Pu-erh tea products. Currently, tea companies use semi-automatic pressing and shaping machines that integrate pressing and shaping.

[0003] The tea cake pressing machine requires manual assistance during operation. The manual operation process is as follows: A worker takes the steamed tea barrel and pours the tea leaves into the pressing machine mold; then, the empty barrel is placed on the empty barrel conveyor line; the tea leaves on the upper surface of the mold are smoothed; next, the inner label is placed on top of the tea leaves, and a small pinch of tea leaves is taken from the mold to cover the inner label; finally, a cotton cloth is placed on top of the tea leaves, and the pressing machine start button is pressed manually. The mold retracts to the pressing station for pressing, and the pressed tea cake is then held under pressure. After the tea cake enters the holding pressure state at this station, the worker moves to the next station of the pressing machine and repeats the above process. After the tea cake has completed holding pressure, the mold retracts to the unloading station, the pressing machine pushes the tea cake out of the mold, and the worker removes the tea cake and places it on the worktable. Other workers then perform subsequent tasks such as putting the tea cake in shrink bags and mounting it on racks.

[0004] Existing technologies CN117502528A and CN112777074A disclose devices for automatically completing the pressing of tea cakes. However, the equipment in CN112777074A occupies a large area and requires the addition of many mechanisms to replace manual labor in the pressing process. Furthermore, each workstation requires a corresponding device. During pressing, a holding time is required, which many tea processing plants cannot implement due to space limitations. Additionally, some processing methods differ significantly from traditional techniques, necessitating the replacement of the entire equipment, resulting in high replacement costs and making it unsuitable for most production plants. Moreover, the mechanisms in the disclosed equipment cannot completely smooth the surface of the tea leaves within the mold in a short time to form the optimal pressing shape, leading to uneven density and reduced tea cake quality. Simultaneously, when picking up the inner paper, it cannot guarantee that only one inner paper is picked up at a time, requiring the tea cake to be unpacked and repressed when two inner papers are pressed in, causing significant breakage and further reducing tea cake quality. Furthermore, all the disclosed technologies require manual handling of the steamed tea barrels, pouring the tea leaves into the pressing machine mold, and then using pressing auxiliary devices for subsequent operations, which cannot complete the entire fully automated process. Therefore, a new tea pressing auxiliary robot system needs to be designed to complete the auxiliary operation of pressing Pu'er tea cakes. Summary of the Invention

[0005] To address the aforementioned problems, this utility model provides a tea cake pressing robot system that uses a robotic arm to replace manual labor in assisting with tea cake pressing. Compared to existing technologies, it features a clamping and tilting device to pour tea leaves from the tea barrel into the mold for pressing; and a paper feeding mechanism to ensure that only one sheet of inner paper is picked up and used at a time. Specifically, the purpose of this utility model is achieved as follows:

[0006] A tea cake pressing robot system includes:

[0007] A robotic arm is used to control a gripper to perform multi-angle displacement.

[0008] A clamp, mounted on a robotic arm, includes a support, a clamping and tilting device, an inner paper suction device, a tea gripping device, and a tea smoothing device. The robotic arm allows the clamp to be moved. The support is U-shaped with mounting holes at the bottom for mounting on the robotic arm. The inner paper suction device, the tea gripping device, and the tea smoothing device are respectively mounted on the outer surfaces of the side arms of the support. The inner paper suction device is used to suck up the inner paper and place it into the mold. The tea gripping device can pick up the tea leaves in the mold. The tea smoothing device is used to smooth the tea leaves poured into the mold to form the shape before pressing. The clamping and tilting device is installed inside the support and can clamp the tea barrel containing tea leaves and pour the tea leaves from the tea barrel into the mold by moving the robotic arm.

[0009] The pressing table is equipped with molds and a pressing head. After the tea leaves are poured into the molds, they are pressed down by the pressing head to form the shape.

[0010] Furthermore, the tea-smoothing device includes a clamping frame, a rotary motor, a rotating shaft fixing component, a cover plate, and smoothing blades. Slide rails and sliding air rods are mounted on the outer surfaces of the side arms of the support frame. The slide rails and sliding air rods are parallel to each other and extend in the same direction as the side arms of the support frame. The clamping frame is mounted on the slide rail, and the sliding air rod is fixedly connected to the clamping frame. The sliding air rod can drive the clamping frame to slide on the slide rail. The rotating shaft fixing component is fixedly mounted on the clamping frame, and the rotary motor is fixedly mounted on the clamping frame. The output end of the rotating shaft of the rotary motor passes through the rotating shaft fixing component and is fixedly connected to one side of the cover plate. The output end of the rotating shaft of the rotary motor can rotate within the rotating shaft fixing component. The smoothing blades are mounted on the other side of the cover plate opposite to the output end of the rotating shaft of the rotary motor. The cover plate is circular. By moving the robotic arm, the cover plate can extend into the mold to cover the tea leaves inside the mold, and the rotating motor drives the smoothing blades to rotate and smooth the tea leaves.

[0011] Further, the smoothing blade includes a first blade and a second blade that are intersecting 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 several sheet-like comb teeth with their joints on the same plane, the teeth of the sheet-like 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 sheet-like comb tooth gradually shortens and the inclination angle gradually decreases along the center of the cover plate outwards, and the twist angle of each sheet-like comb tooth gradually decreases along the center of the cover plate outwards; the second blade includes two rows of long comb teeth and one row of short comb teeth made of flexible material, with the short comb teeth located between the two rows of long comb teeth; the second blade is 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 along the center of the cover plate outwards.

[0012] Furthermore, the outer surfaces of the side arms on both sides of the bracket are provided with slide rails and sliding air rods; the inner paper suction device and the tea gripping device are mounted on the slide rails via a mounting frame, the sliding air rod is fixedly connected to the mounting frame, and the sliding air rod can drive the mounting frame to slide on the slide rails; the inner paper suction device includes a suction head mounted on the mounting frame; the tea gripping device includes a gripping head mounted on the mounting frame; the suction head and the gripping head operate in the same direction and are spaced apart, the distance being less than the radius of the mold.

[0013] Furthermore, it also includes a paper feeding mechanism; the paper feeding mechanism includes a paper tray frame, a paper dispensing box, and a paper pusher; the paper tray frame includes a horizontally arranged mounting bar, and the paper dispensing box is mounted on the mounting bar; the paper dispensing box has a paper feeding opening on its upper surface, a paper dispensing opening at its front end, and a paper pushing opening at its rear end; the upper and lower edges of the paper dispensing opening are provided with baffles, and the inner surface of the baffles is the same as the plane of the paper dispensing opening; the paper dispensing opening is also provided with a paper separating mechanism for separating the inner fly paper; the paper pusher can push the inner fly paper forward from the paper pushing opening to the paper dispensing opening; the top of the paper pusher is provided with a pusher plate, and the surface of the pusher plate is the same size and shape as the surface of the inner fly paper; the inner side wall of the paper dispensing box has a guide groove along the direction of movement of the inner fly paper, and the sides of the pusher plate are provided with guide strips corresponding to the guide grooves; the bottom of the paper dispensing box is provided with a mounting hole for mounting the paper dispensing box on the paper tray frame.

[0014] Furthermore, the paper separating mechanism includes a paper pressing block, a rotating shaft, and a torsion spring; the upper and lower ends of the vertical edge of the paper dispensing opening of the paper tray are vertically fixed with rotating shaft sleeves, and the upper and lower ends of the side of the paper pressing block are vertically provided with rotating shaft insertion ports; the distance between the rotating shaft insertion ports is less than the distance between the rotating shaft sleeves on the same side of the paper dispensing opening; both the paper pressing block and the paper dispensing box have adjustment holes on their tops, and the adjustment holes are evenly distributed in a fan shape with the rotating shaft sleeves and rotating shaft insertion ports as their centers; the torsion spring has both ends pointing downwards. The bending mechanism allows the paper to be inserted into the adjustment holes at the top of the paper dispenser and the paper pressure block, respectively. During installation, the rotating shaft passes through the rotating shaft sleeve and is then inserted into the rotating shaft socket on the paper pressure block. The rotating shaft and the rotating shaft socket are interference-fitted. The torsion spring is sleeved on the top of the rotating shaft and fixed by bolts and nuts. The two ends of the torsion spring are inserted downwards into the corresponding adjustment holes at the top of the paper dispenser and the paper pressure block, respectively. After the paper pressure block is installed, one side of the paper pressure block is tangent to the plane where the paper dispenser is located and forms an acute angle.

[0015] Furthermore, the paper separating mechanism includes a paper separating roller and a paper separating motor; the upper and lower ends of the vertical edge of the paper taking port of the paper taking box are respectively provided with shaft mounting positions; the paper separating roller is installed on the shaft mounting position, the output end of the paper separating motor is connected to the shaft of the paper separating roller, and the paper separating motor can drive the paper separating roller to rotate; after installation, the surface of the paper separating roller is tangent to the vertical edge of the paper taking port; the outer surface of the paper separating roller is set as a brush structure.

[0016] Furthermore, the clamping and tilting device includes two-end cylinders, shock-absorbing pads, clamping arms, and a vibration motor; the bracket has a transverse mounting plate inside connecting the two side arms of the bracket, and the surface of the transverse mounting plate is parallel to the bottom of the bracket; the two-end cylinders are mounted on the transverse mounting plate, and each end of the two-end cylinder has a mounting plate, which is connected to the clamping arm and the shock-absorbing pad is provided at the connection point; the clamping arm has a frame-shaped clamping part, and the clamping part has an inner arc surface with the same diameter as the tea barrel; a vibration motor is installed inside the clamping part; after the clamping arms are installed, the arc surfaces of the clamping parts of the two clamping arms are arranged opposite each other; the two-end cylinders can drive the clamping arms to separate or close; the opening and closing trajectory of the clamping arms is perpendicular to the side arms of the bracket.

[0017] Furthermore, the support is also provided with a material guide port; the material guide port is connected and installed on the side arms on both sides of the support; the material guide port is funnel-shaped, and when the clamping arm holds the tea barrel, the material guide port is located directly above the tea barrel, and at this time the larger end of the material guide port is connected to the opening of the tea barrel.

[0018] Furthermore, the inner surface of the tea canister is provided with several hexagonal prism protrusions evenly spaced apart, and the recessed parts are coated with a food-grade non-stick coating, which includes a Teflon coating or a ceramic coating.

[0019] In use, first place a stack of inner flyers into the paper dispensing box 41 through the paper inlet 411 above the paper dispensing box 41, with the top surface of the inner flyers facing the paper dispensing inlet 412. Then, activate the pusher to hold the stack of inner flyers in place at the baffle plate 414 of the paper dispensing inlet 412; then adjust the pushing force of the pusher to a suitable level. The tea leaves steamed at the previous station are conveyed by the conveyor belt to the vicinity of the pressing table 3. The robotic arm 2 moves the clamp 1 to the side of the paper feeding mechanism 4 and rotates it to a suitable angle so that the suction head 132 is directly facing the paper dispensing inlet 412 of the paper dispensing box 41, sucking the inner flyers out of the paper dispensing box 41. When the inner paper is sucked out, the paper separating mechanism further prevents two inner papers from being pulled out at once. The principle of the paper pressing block 421 or the paper separating roller 431 is to separate the first inner paper that is sucked up from the inner paper that is stuck to the back of the first inner paper by moving the edge of the inner paper. When the first inner paper that is sucked up is pulled out, the stuck inner paper is separated and continues to be pressed behind the baffle plate 414. Then the clamp 1 moves to the vicinity of the conveyor belt, so that the clamping arms 143 move to the two sides above the tea barrel 5 and then the bracket 11 moves downward, so that the clamping arms 143 are evenly spaced on both sides of the tea barrel 5 and the large end of the guide port 146 covers the opening of the tea barrel 5. Then the cylinders 141 at both ends are activated to pull the clamping arms 143 together, clamping the tea barrel 5 through the inner arc surface of the clamping part. Then the mechanical wall is moved to the mold 31 of the pressing table 3, and the mechanical arm 2 is rotated to pour the tea leaves from the tea barrel 5 into the mold 31 along the guide port 146. Next, the sliding air rods 112 installed on the side arms of the bracket 11 drive the inner paper suction device, tea gripping device and tea smoothing device to move forward to the end. After the robotic arm 2 adjusts its position, it moves the cover plate 124 of the tea smoothing device to above the opening of the mold 31. Then, the rotary motor 122 is started, and the robotic arm 2 is moved at the same time, so that the smoothing blade moves downward with the rotation of the cover plate 124. The tea in the mold 31 is smoothed into the shape of the cake to be pressed by the flexible comb teeth of the second blade 126 and the sheet comb teeth of the first blade 125. When smoothing, because the tea has the characteristics of mutual adhesion and hooking, the tea is first pulled apart to a certain extent after the flexible comb teeth of the second blade 126 come into contact with the tea. Then, the tea is spread apart from the inside to the outside while being smoothed by the sheet comb teeth of the first blade 125. Finally, the tea in the mold 31 is spread into a downward concave arc surface. The reason for this is that when tea cakes are pressed, they need to be formed into an upward arc shape resembling a carp's back. During the pressing process, the tea leaves on the outer side of the tea cake move downwards more than those in the middle. After the outer tea leaves move downwards, they are squeezed towards the middle of the tea cake, resulting in too much tea leaves in the middle and causing it to bulge upwards, forming the upward arc shape of a carp's back. Therefore, if the tea leaves are flattened into a uniform plane before pressing, there will be too much tea leaves in the middle during pressing. This results in an uneven density of the pressed tea cake, with the density in the middle being greater than that at the edges, reducing the overall quality of the product. Furthermore, the uneven density of the tea cake will further lead to uneven aging during the tea's aging process, affecting the quality of the tea.Then, the robotic arm 2 moves the cover plate 124 and the smoothing blade upwards until they are outside the mold 31. During the movement, the rotary motor 122 keeps rotating. The robotic arm 2 moves the gripping head 133 and the suction head 132 into the mold 31. The gripping head 133 grips a portion of the tea leaves in the center of the mold 31, and the suction head 132 places the suction paper on the surface of the tea leaves in the mold 31. The gripping head 133 then lowers the gripped tea leaves to cover the inner paper. Finally, the clamp 1 is removed, the empty barrel is returned to the empty barrel recycling line, and the pressing head 32 is started to press down to press the cake.

[0020] The beneficial effects of this utility model are as follows:

[0021] (i) Using a tea cake assistive robot system automates the tea cake pressing process, avoiding inconsistent quality of tea cakes due to inconsistent manual operation. This helps improve the overall product quality.

[0022] (ii) By using the specific smoothing blades set on the tea smoothing mechanism, the tea leaves to be pressed in the mold are first smoothed to the most suitable shape for pressing, that is, the whole is a downward concave arc surface, so that the pressed tea cake with the arc surface of the carp's back is uniform in density, avoiding the situation that the density of the middle of the tea cake is large and the density of the sides is small.

[0023] (III) By using the paper feeding mechanism to place the inner flyer stack horizontally, the influence of the inner flyer stack's own weight is eliminated, ensuring that the pushing force of the paper pusher and the suction force of the suction head are always in balance, ensuring that the suction head only picks up one inner flyer at a time; at the same time, the paper separation mechanism at the paper dispensing port of the paper box further ensures that only one paper is picked up; this avoids the situation where multiple inner flyers are put in at the same time when pressing tea cakes, reducing the scrap rate and improving product quality.

[0024] (iv) By installing a vibration motor in the clamping and tilting device, the tea barrel is fully vibrated and shaken during the pouring process. In addition, the tea barrel itself has an anti-stick surface, which 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 every time the tea is poured. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the system described in this utility model;

[0026] Figure 2 This is a schematic diagram of the system in use according to the present invention;

[0027] Figure 3 This is a schematic diagram of the installation of the robotic arm and clamp described in this utility model;

[0028] Figure 4 This is a three-dimensional structural diagram of the clamp described in this utility model;

[0029] Figure 5 This is a three-dimensional structural diagram of the clamp described in this utility model from another angle;

[0030] Figure 6 This is an exploded view of the fixture described in this utility model;

[0031] Figure 7 This is a schematic diagram showing the clamping and tilting device of this utility model in use;

[0032] Figure 8 This is a schematic diagram showing the vibration motor of this utility model in use;

[0033] Figure 9 This is a schematic diagram of the tea barrel structure described in this utility model;

[0034] Figure 10 This is a schematic diagram showing the usage status of the inner paper suction device and tea leaf gripping device described in this utility model;

[0035] Figure 11 This is a three-dimensional structural diagram of the smoothing device described in this utility model;

[0036] Figure 12 This is a schematic diagram showing the smoothing device described in this utility model in use;

[0037] Figure 13 This is a schematic diagram showing the smoothing blade of this utility model in use;

[0038] Figure 14 This is a schematic diagram of the upper surface of the tea leaves inside the mold after the leaves have been smoothed, as described in this utility model.

[0039] Figure 15 This is a schematic diagram of the overall structure of the paper feeding mechanism described in this utility model;

[0040] Figure 16 This is a three-dimensional structural diagram of the first embodiment of the paper dispenser of this utility model;

[0041] Figure 17 This is an exploded view of the first embodiment of the paper dispenser of this utility model;

[0042] Figure 18 This is a schematic diagram of the first embodiment of the paper dispenser of this utility model in use.

[0043] Figure 19 This is an exploded view of the second embodiment of the paper dispenser of this utility model;

[0044] Figure 20 This is a schematic diagram showing the second embodiment of the paper dispenser of this utility model in use.

[0045] Figure 21This is a schematic diagram of the suction head of this utility model sucking up the internal fly paper from the paper dispenser;

[0046] Figure 22 This is a schematic diagram of the pressing table of this utility model in use;

[0047] Figure 23 This is a front view of the tea cake described in this utility model;

[0048] In the picture:

[0049] 1—Clamping fixture, 11—Bracket, 111—Slide rail, 112—Sliding air rod, 113—Horizontal mounting plate, 141—Two-end cylinder, 142—Shock-absorbing pad, 143—Clamping arm, 144—Vibration motor, 145—Mounting plate, 146—Guide port, 121—Snap-fit ​​frame, 122—Rotary motor, 123—Rotating shaft fixing component, 124—Cover plate, 125—First blade, 126—Second blade, 131—Mounting frame, 132—Suction head, 133—Clamping head;

[0050] 2—Robotic arm;

[0051] 3—Paper pressing table; 31—Mold; 32—Pressing head;

[0052] 4—Paper feeding mechanism; 41—Paper tray; 411—Paper outlet; 412—Paper pick-up outlet; 413—Paper pusher; 414—Guide plate; 415—Push plate; 416—Guide groove; 417—Guide strip; 421—Paper pressing block; 422—Rotating shaft; 423—Torsion spring; 424—Rotating shaft sleeve; 425—Rotating shaft insertion port; 426—Adjusting hole; 431—Paper separating roller; 432—Paper separating motor; 44—Mounting crossbar; 45—Paper box frame; 5—Tea canister. Detailed Implementation

[0053] To make the technical means, creative features, and objectives of this utility model easier to understand, the technical solution of this utility model will be further explained below with reference to one embodiment and specific implementation method of a tea cake pressing robot system provided by this utility model.

[0054] like Figure 1-23 As shown, the specific embodiments of this utility model are as follows:

[0055] A tea cake pressing robot system includes a robotic arm 2, a clamp 1, a pressing worktable 3, and a paper feeding mechanism 4.

[0056] Robotic arm 2 is installed next to the pressing table 3 to control the multi-angle displacement of clamp 1; the tea barrels 5 processed at the front end of the production line are transported to the pressing workshop via conveyor belt. The pressing table 3 is equipped with a mold 31 and a pressing head 32. After the tea leaves are poured into the mold 31, they are pressed into shape by the pressing head 32. The lower surface of the pressing head 32 is shaped like a carp's back, and both the bottom of the pressing head 32 and the mold 31 are covered with gauze.

[0057] The clamp 1 is mounted on the front end of the robotic arm 2 and includes a bracket 11, a clamping and tilting device, an inner paper suction device, a tea leaf gripping device, and a tea leaf smoothing device; the robotic arm 2 can drive the clamp 1 to move at multiple angles. The bracket 11 is U-shaped and has mounting holes at the bottom for mounting on the robotic arm 2. The inner paper suction device and the tea leaf gripping device are mounted on the outer surface of one side arm of the bracket 11, and the tea leaf smoothing devices are mounted on the outer surface of the other side arm of the bracket 11. Slide rails 111 and sliding pneumatic rods 112 are mounted on the outer surfaces of the side arms of the bracket 11; the slide rails 111 and the sliding pneumatic rods 112 are parallel to each other and consistent with the extension direction of the side arms of the bracket 11. The inner wrapper suction device and the tea leaf gripping device are mounted on the slide rail 111 via the mounting bracket 131. The sliding air rod 112 is fixedly connected to the mounting bracket 131, and the sliding air rod 112 can drive the mounting bracket 131 to slide on the slide rail 111. The inner wrapper suction device includes a suction head 132 mounted on the mounting bracket 131; the tea leaf gripping device includes a gripping head 133 mounted on the mounting bracket 131. The suction head 132 and the gripping head 133 operate in the same direction and are spaced apart, with the distance being less than the radius of the mold 31. After the inner wrapper is sucked up by the suction head 132, it is placed into the mold 31 during the auxiliary pressing process; the gripping head 133 can pick up the tea leaves in the mold 31; after the inner wrapper is placed in, it is released to cover the surface of the inner wrapper with the gripped tea leaves. Here, the suction head 132 is a negative pressure suction head 132 or a Bernoulli principle suction head 132.

[0058] The tea-smoothing device is used to smooth the tea leaves poured into the mold 31 to form the shape before pressing; the clamping and tilting device is installed inside the support 11. The clamping and tilting device can clamp the tea barrel 5 containing tea leaves and pour the tea leaves in the tea barrel 5 into the mold 31.

[0059] The tea-smoothing device includes a clamping frame 121, a rotary motor 122, a rotating shaft fixing component 123, a cover plate 124, and smoothing blades. A slide rail 111 and a sliding air rod 112 are mounted on the outer surfaces of the side arms of the support 11. The slide rail 111 and the sliding air rod 112 are parallel to each other and extend in the same direction as the side arms of the support 11. The clamping frame 121 is mounted on the slide rail 111, and the sliding air rod 112 is fixedly connected to the clamping frame 121, allowing the sliding air rod 112 to drive the clamping frame 121 to slide on the slide rail 111. The rotating shaft fixing component 123 is fixedly mounted on the clamping frame 121. The rotary motor 122 is fixedly mounted on the clip bracket 121. The output end of the rotary motor 122 passes through the shaft fixing member 123 and is fixedly connected to one side of the cover plate 124. The output end of the rotary motor 122 can rotate within the shaft fixing member 123. The smoothing blade is set and mounted on the other side of the cover plate 124 relative to the output end of the rotary motor 122. The cover plate 124 is circular. By moving the robotic arm 2, the cover plate 124 can be extended into the mold 31 to cover the tea leaves inside the mold 31. The rotary motor 122 drives the smoothing blade to rotate and smooth the tea leaves.

[0060] The smoothing blades include a first blade 125 and a second blade 126 that are intersected 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 includes several sheet-like comb teeth with their joints on the same plane. The teeth are inclined in the opposite direction to the rotation direction of the cover plate 124 and twisted at a certain angle in the opposite direction to the rotation direction of the cover plate 124. The length of each sheet-like comb tooth gradually shortens and the inclination angle gradually decreases as it moves outward from the center of the cover plate 124. The twist angle of each sheet-like comb tooth also gradually decreases as it moves 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. The short comb teeth are located between the two rows of long comb teeth. The second blade 126 is 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 as it moves outward from the center of the cover plate 124.

[0061] The paper feeding mechanism 4 includes a paper tray frame 45, a paper takeout box 41, and a paper pusher; the paper tray frame 45 includes a horizontally arranged mounting bar 44, and the paper takeout box 41 is mounted on the mounting bar 44. The paper tray 41 has a paper feeding opening 411 on its upper surface, a paper taking opening 412 at its front end, and a paper pushing opening 413 at its rear end. The paper taking opening 412 has baffles 414 on its upper and lower edges, and the inner surface of the baffles 414 is the same as the plane of the paper taking opening 412. The paper taking opening 412 is also provided with a paper separating mechanism for separating the inner fly paper. The paper pushing rod can push the inner fly paper forward from the paper pushing opening 413 to the paper taking opening 412. The top of the paper pushing rod is provided with a paper pushing plate 415, and the surface of the paper pushing plate 415 is the same size and shape as the surface of the inner fly paper. The paper tray 41 has a guide groove 416 on its inner side wall along the direction of movement of the inner fly paper, and guide strips 417 are provided on both sides of the paper pushing plate 415 corresponding to the guide groove 416. The bottom of the paper tray 41 has a mounting hole for mounting the paper tray 41 on the paper tray frame 45.

[0062] There are two schemes for the paper separating mechanism. One embodiment includes a paper pressing block 421, a rotating shaft 422, and a torsion spring 423. The paper taking port 41 of the paper taking box 41 has a rotating shaft sleeve 424 vertically fixed at the upper and lower ends of the vertical edge. The paper pressing block 421 has a rotating shaft insertion port 425 vertically arranged at the upper and lower ends of the side. The distance between the rotating shaft insertion ports 425 is less than the distance between the rotating shaft sleeves 424 on the same side of the paper taking port 412. The top of the paper pressing block 421 and the paper taking box 41 are both provided with adjustment holes 426, and the adjustment holes 426 are evenly distributed in a fan shape with the axis of the rotating shaft sleeve 424 and the axis of the rotating shaft insertion port 425 as the center. The torsion spring 423, with its two ends bent downwards, can be inserted into the adjustment holes 426 on the top of the paper dispenser 41 and the pressure block 421, respectively. During installation, the rotating shaft 422 is inserted into the rotating shaft socket 425 on the pressure block 421 after passing through the rotating shaft sleeve 424. The rotating shaft 422 and the rotating shaft socket 425 are interference-fitted. The torsion spring 423 is fitted on the top of the rotating shaft 422 and fixed with bolts and nuts. The two ends of the torsion spring 423 are inserted downwards into the corresponding adjustment holes 426 on the top of the paper dispenser 41 and the pressure block 421, respectively. After installation, one side of the pressure block 421 is tangent to the plane of the paper dispenser 412, forming an acute angle. A brush is also provided on the inner wall of the pressure block 421 to further help separate the inner fly paper.

[0063] Another embodiment of the paper separating mechanism includes a paper separating roller 431 and a paper separating motor 432; the upper and lower ends of the vertical edge of the paper taking port 412 of the paper taking box 41 are respectively provided with shaft mounting positions; the paper separating roller 431 is installed on the shaft mounting position, and the output end of the paper separating motor 432 is connected to the shaft of the paper separating roller 431, so that the paper separating motor 432 can drive the paper separating roller 431 to rotate; after installation, the surface of the paper separating roller 431 is tangent to the vertical edge of the paper taking port 412; the outer surface of the paper separating roller 431 is set as a brush structure.

[0064] The clamping and tilting device includes two-end cylinders 141, shock-absorbing pads 142, clamping arms 143, a vibrating motor 144, and a guide port 146. A transverse mounting plate 113 is provided inside the support 11, connecting the two side arms of the support 11. The surface of the transverse mounting plate 113 is parallel to the bottom of the support 11. The two-end cylinders 141 are mounted on the transverse mounting plate 113, with mounting plates 145 at both ends. The two mounting plates 145 are respectively connected to the clamping arms 143, and shock-absorbing pads 142 are provided at the connection points. The clamping arms 143 have a frame-shaped clamping part with an inner arc surface of the same diameter as the tea barrel 5. A vibrating motor 144 is installed inside the clamping part. After installation, the arc surfaces of the clamping parts of the two clamping arms 143 are positioned opposite each other. The two-end cylinders 141 can drive the clamping arms 143 to separate or close. The opening and closing trajectory of the clamping arms 143 is perpendicular to the two side arms of the support 11. The feed inlet 146 is connected and installed on the two side arms of the bracket 11. The feed inlet 146 is funnel-shaped. When the clamping arm 143 clamps and holds the tea barrel 5, the feed inlet 146 is located directly above the tea barrel 5, and at this time the large end of the feed inlet 146 is connected to the opening of the tea barrel 5.

[0065] The inner surface of the tea barrel 5 is evenly spaced with several hexagonal prism protrusions, and the recessed parts are coated with a food-grade non-stick coating, which includes a Teflon coating or a ceramic coating.

[0066] In use, first, place a stack of inner flyers into the paper dispensing box 41 through the paper inlet 411 above the paper dispensing box 41, with the surface of the inner flyers facing the paper dispensing inlet 412. Then, activate the pusher to hold the stack of inner flyers in place at the baffle plate 414 of the paper dispensing inlet 412; then adjust the pushing force of the pusher to a suitable level. Then, the tea leaves steamed at the previous station are conveyed by the conveyor belt to the vicinity of the pressing table 3. The robotic arm 2 moves the clamp 1 to the side of the paper feeding mechanism 4 and rotates it to a suitable angle so that the suction head 132 is directly facing the paper dispensing inlet 412 of the paper dispensing box 41, and sucks the inner flyers out of the paper dispensing box 41. When the inner paper is sucked out, the paper separating mechanism further prevents two inner papers from being pulled out at once. The principle of the paper pressing block 421 or the paper separating roller 431 is to separate the first inner paper that is sucked up from the inner paper that is stuck to the back of the first inner paper by moving the edge of the inner paper. When the first inner paper that is sucked up is pulled out, the stuck inner paper is separated and continues to be pressed behind the baffle plate 414. Then the clamp 1 moves to the vicinity of the conveyor belt, so that the clamping arms 143 move to the two sides above the tea barrel 5 and then the bracket 11 moves downward, so that the clamping arms 143 are evenly spaced on both sides of the tea barrel 5 and the large end of the guide port 146 covers the opening of the tea barrel 5. Then the cylinders 141 at both ends are activated to pull the clamping arms 143 together and clamp the tea barrel 5 through the inner arc surface of the clamping part. Then the mechanical wall is moved to the mold 31 of the pressing table 3, and the mechanical arm 2 is rotated to pour the tea leaves from the tea barrel 5 into the mold 31 through the guide port 146. Then, the sliding air rods 112 installed on the side arms of the bracket 11 drive the inner paper suction device, tea gripping device and tea smoothing device to move forward to the end. After the robotic arm 2 adjusts its position, it moves the cover plate 124 of the tea smoothing device to above the opening of the mold 31. Then, the rotary motor 122 is started, and the robotic arm 2 is moved at the same time, so that the smoothing blade moves downward with the cover plate 124. The second blade 126 flexible comb teeth and the first blade 125 sheet comb teeth smooth the tea in the mold 31 into the shape of the cake to be pressed. When smoothing, since the tea has the characteristics of mutual adhesion and hooking, the second blade 126 flexible comb teeth first contact the tea and pull the tea apart to a certain extent. Then, while smoothing through the first blade 125 sheet comb teeth, the tea is pulled apart from the inside to the outside. Finally, the tea in the mold 31 is pulled into a downward concave arc surface. The reason for this is that when tea cakes are pressed, they need to be formed into an upward arc shape resembling a carp's back. During the pressing process, the tea leaves on the outer side of the tea cake move downwards more than those in the middle. After the outer tea leaves move downwards, they are squeezed towards the middle of the tea cake, resulting in too much tea leaves in the middle and causing it to bulge upwards, forming the upward arc shape of a carp's back. Therefore, if the tea leaves are flattened into a uniform plane before pressing, there will be too much tea leaves in the middle during pressing. This results in an uneven density of the pressed tea cake, with the density in the middle being greater than that at the edges, reducing the overall quality of the product. Furthermore, the uneven density of the tea cake will further lead to uneven aging during the tea's aging process, affecting the quality of the tea.Then, the robotic arm 2 moves the cover plate 124 and the smoothing blade upwards until they are outside the mold 31. During the movement, the rotary motor 122 keeps rotating. The robotic arm 2 moves the gripping head 133 and the suction head 132 into the mold 31. The gripping head 133 grips a portion of the tea leaves in the center of the mold 31, and the suction head 132 places the suction paper on the surface of the tea leaves in the mold 31. The gripping head 133 then lowers the gripped tea leaves to cover the inner paper. Finally, the clamp 1 is removed, the empty barrel is returned to the empty barrel recycling line, and the pressing head 32 is started to press down to press the cake.

[0067] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of this utility model and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of this utility model should be included within its protection scope. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. A tea cake pressing robot system, characterized in that, include: A robotic arm (2) is used to control the gripper (1) to perform multi-angle displacement; The clamp (1) is mounted on the robotic arm (2) and includes a bracket (11), a clamping and tilting device, an inner paper suction device, a tea gripping device, and a tea smoothing device; the robotic arm (2) can move the clamp (1); the bracket (11) is U-shaped and has mounting holes at the bottom for mounting on the robotic arm (2); the inner paper suction device, the tea gripping device, and the tea smoothing device are respectively mounted on the outer surface of the side arms on both sides of the bracket (11); the inner paper suction device is used to suck up the inner paper and put it into the mold (31); the tea gripping device can pick up the tea in the mold (31); the tea smoothing device is used to smooth the tea poured into the mold (31) to form the shape before pressing; the clamping and tilting device is mounted inside the bracket (11) and can clamp the tea barrel (5) with tea and pour the tea in the tea barrel (5) into the mold (31) by moving the robotic arm (2); The pressing workbench (3) is equipped with a mold (31) and a pressing head (32). After the tea leaves are poured into the mold (31), they are pressed down by the pressing head (32) to form the tea leaves.

2. The tea cake pressing robot system as described in claim 1, characterized in that: The tea smoothing device includes a snap-fit ​​bracket (121), a rotary motor (122), a rotating shaft fixing component (123), a cover plate (124), and smoothing blades; 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 are consistent with the extension direction of the side arms of the bracket (11); The snap-fit ​​bracket (121) is mounted on the slide rail (111), and the sliding gas spring (112) is fixedly connected to the snap-fit ​​bracket (121). The sliding gas spring (112) can drive the snap-fit ​​bracket (121) to slide on the slide rail (111). The rotating shaft fixing member (123) is fixedly mounted on the snap-fit ​​bracket (121), and the rotary motor (122) is fixedly mounted on the snap-fit ​​bracket (121). The output end of the rotating shaft of the rotary motor (122) passes through the rotating shaft fixing member (123) and the cover plate. (124) One side is fixedly connected; the output end of the rotating shaft of the rotary motor (122) can rotate inside the rotating shaft fixing part (123); the smoothing blade is set and installed on the other side of the cover plate (124) relative to the output end of the rotating shaft of the rotary motor (122); the cover plate (124) is circular, and by moving the mechanical arm (2), the cover plate (124) can be extended into the mold (31) to cover the tea leaves inside the mold (31), and the smoothing blade is driven to rotate by the rotary motor (122) to smooth the tea leaves.

3. The tea cake pressing robot system as described in claim 2, characterized in that: The smoothing blades include a first blade (125) and a second blade (126) that are intersected 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) includes a plurality of plate-shaped comb teeth whose joints are on the same plane, the tooth bodies of the plate-shaped comb teeth are inclined in the opposite direction of the rotation of the cover plate (124) and twisted at a certain angle in the opposite direction of the rotation of the cover plate (124); each plate-shaped comb tooth... The length gradually decreases outward from the center of the cover plate (124), the tilt angle gradually decreases, and the torsion angle of each blade-shaped 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, with the short comb teeth located between the two rows of long comb teeth; the second blade (126) is installed 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 decreases outward from the center of the cover plate (124).

4. The tea cake pressing robot system as described in claim 1, characterized in that: It also includes a paper feeding mechanism (4); the paper feeding mechanism (4) includes a paper tray frame (45), a paper take-up box (41) and a paper pusher; the paper tray frame (45) includes a horizontally arranged mounting bar (44), and the paper take-up box (41) is mounted on the mounting bar (44); the paper take-up box (41) has a paper feeding port (411) on its upper surface, a paper take-up port (412) at its front end and a paper pusher port (413) at its rear end; the paper take-up port (412) has baffles (414) on its upper and lower edges, and the inner surface of the baffles (414) is the same as the plane of the paper take-up port (412); the paper take-up port (412) is also provided with It is equipped with a paper separating mechanism for separating inner flyers; the paper pusher can push the inner flyers forward from the paper pusher (413) to the paper take-up port (412); the top of the paper pusher is provided with a pusher plate (415), the surface of the pusher plate (415) is the same size and shape as the surface of the inner flyer; the inner side wall of the paper take-up box (41) is provided with a guide groove (416) along the moving direction of the inner flyer, and the pusher plate (415) is provided with guide strips (417) on both sides corresponding to the guide groove (416); the bottom of the paper take-up box (41) is provided with an installation hole for installing the paper take-up box (41) on the paper box frame (45).

5. The tea cake pressing robot system as described in claim 4, characterized in that: The paper separating mechanism includes a paper pressing block (421), a rotating shaft (422), and a torsion spring (423); the paper taking port (41) of the paper taking box (41) is vertically fixed with rotating shaft sleeves (424) at the upper and lower ends of the vertical edge, and the paper pressing block (421) is vertically fixed with rotating shaft insertion ports (425) at the upper and lower ends of the side; the distance between the rotating shaft insertion ports (425) is less than the distance between the rotating shaft sleeves (424) on the same side of the paper taking port (412); the top of the paper pressing block (421) and the paper taking box (41) are both provided with adjustment holes (426), and the adjustment holes (426) are evenly distributed in a fan shape with the axis of the rotating shaft sleeve (424) and the rotating shaft insertion port (425) as the center; the two ends of the torsion spring (423) can be bent downwards. Insert the paper into the adjustment holes (426) on the top of the paper dispenser (41) and the paper press block (421) respectively; during installation, insert the rotating shaft (422) through the rotating shaft sleeve (424) into the rotating shaft socket (425) on the paper press block (421). The rotating shaft (422) and the rotating shaft socket (425) are interference fit. The torsion spring (423) is sleeved on the top of the rotating shaft (422) and fixed by bolts and nuts. The two ends of the torsion spring (423) are inserted downward into the corresponding adjustment holes (426) on the top of the paper dispenser (41) and the paper press block (421) respectively. After the paper press block (421) is installed, one side of the paper press block (421) is tangent to the plane where the paper dispenser (412) is located and forms an acute angle.

6. The tea cake pressing robot system as described in claim 4, characterized in that: The paper separating mechanism includes a paper separating roller (431) and a paper separating motor (432); the paper taking port (412) of the paper taking box (41) has a rotating shaft mounting position at the upper and lower ends of the vertical edge; the paper separating roller (431) is installed on the rotating shaft mounting position, and the output end of the paper separating motor (432) is connected to the rotating shaft of the paper separating roller (431), and the paper separating motor (432) can drive the paper separating roller (431) to rotate; after the paper separating roller (431) is installed, its surface is tangent to the vertical edge of the paper taking port (412); the outer surface of the paper separating roller (431) is set as a brush structure.

7. The tea cake pressing robot system as described in claim 1, characterized in that: The clamping and tilting device includes two-end cylinders (141), shock-absorbing pads (142), clamping arms (143), and a vibration motor (144); the bracket (11) is provided with a transverse mounting plate (113) inside to connect the two side arms of the bracket (11), and the surface of the transverse mounting plate (113) is parallel to the bottom of the bracket (11); the two-end cylinders (141) are mounted on the transverse mounting plate (113), and mounting plates (145) are provided at both ends of the two-end cylinders (141), and the two mounting plates (145) are respectively The clamping arm (143) is not connected to the clamping arm (143) and the connection is provided with the shock-absorbing pad (142); the clamping arm (143) is provided with a frame-shaped clamping part, and the clamping part is provided with an inner arc surface with the same diameter as the tea barrel (5); a vibration motor (144) is installed in the clamping part; after the clamping arm (143) is installed, the arc surfaces of the clamping parts 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 opening and closing trajectory of the clamping arm (143) is perpendicular to the side arm of the bracket (11).

8. The tea cake pressing robot system as described in claim 7, characterized in that: The bracket (11) is also provided with a guide port (146); the guide port (146) is connected and installed on the side arms on both sides of the bracket (11); the guide port (146) is funnel-shaped, and when the clamping arm (143) clamps the tea barrel (5), the guide port (146) is located directly above the tea barrel (5), and at this time the large end of the guide port (146) is connected to the opening of the tea barrel (5).

9. The tea cake pressing robot system as described in claim 1, characterized in that: The inner surface of the tea barrel (5) is evenly spaced with several hexagonal prism protrusions, and the recessed parts are coated with a food-grade non-stick coating, which includes a Teflon coating or a ceramic coating.

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