A driving structure of a tamping device and a tamping device having the driving structure

Abstract

The application relates to a driving structure of a ramming device and a ramming device with the driving structure, and relates to the technical field of ramming equipment. The driving structure comprises a lifting motor, a ramming motor, a mounting plate and a vertically arranged driving screw, the mounting plate is located on one side of the driving screw, and the mounting plate is screwed on the driving screw through a lifting nut; the lifting motor is a right-angle speed reducer connected to the upper end of the driving screw and used for driving the driving screw to rotate forwards and backwards; the ramming motor is fixed on the mounting plate, and a ramming rod capable of reciprocating up and down is connected to the output shaft of the ramming motor. The application further discloses a ramming device with the driving structure. The ramming device and the driving structure are stable and reliable, are not prone to damage, have few parts, and are high in assembly efficiency.

Description

Technical Field

[0001] This application relates to the field of tamping equipment technology, and in particular to a drive structure for a tamping device and a tamping device having the drive structure. Background Technology

[0002] A mortar and pestle is a tool used to crush or grind ingredients in a mortar or pestle. In beverage processing, for example, it's a key piece of equipment for crushing and mixing raw materials. As people's living standards improve, consumers have increasingly higher demands for the taste and quality of beverages. Traditional mortars and pestles have, to some extent, met the needs of beverage processing and driven the industry's development. Traditional mortars and pestles typically use a motor-driven lifting structure, with belt transmission to move the pestle up and down. However, with technological advancements and rising market demands for beverage quality, the mortar's force and stability have become crucial aspects requiring improvement. While various mortar and pestle designs have emerged in recent years, the overall situation remains unsatisfactory, and the industry urgently needs a more efficient and stable drive structure to meet production demands.

[0003] In existing technologies, there are two main common solutions for driving the tamping mechanism. Solution one uses a small motor to drive the drive wheel, which in turn drives the driven wheel via a belt. This driven wheel then drives the lifting screw to raise and lower the tamping mechanism. This solution is relatively simple in structure and was widely used in early beverage processing machinery, reducing manufacturing costs to some extent. Solution two uses gear transmission instead of belt transmission, using a gear set to transmit motor power to the lifting screw. This solution improves transmission efficiency and is used in applications requiring a certain level of tamping precision and efficiency.

[0004] However, existing technologies have significant drawbacks. Belt drives are susceptible to reaction forces, causing the driven pulley to rotate, which severely affects the tamping effect. Furthermore, belts are prone to breakage, have a short lifespan, and require frequent replacement, increasing operating costs and maintenance workload. In addition, existing structures have numerous assembly parts, making installation complex and inefficient. Moreover, the small motors lack sufficient power to drive high-power tamping motors, limiting the application of tamping mechanisms in scenarios requiring high tamping force. Utility Model Content

[0005] To improve the stability and reliability of the tamping device drive, this application provides a drive structure for the tamping device and a tamping device having the drive structure.

[0006] Firstly, the driving structure of the tamping device provided in this application adopts the following technical solution:

[0007] A driving structure for a tamping device includes a lifting motor, a tamping motor, a mounting plate, and a vertically arranged drive screw. The mounting plate is located on one side of the drive screw and is screwed onto the drive screw via a lifting nut. The lifting motor is a right-angle geared motor connected to the upper end of the drive screw for driving the drive screw to rotate forward and backward. The tamping motor is fixed on the mounting plate, and a tamping rod capable of reciprocating up and down is connected to the output shaft of the tamping motor.

[0008] By adopting the above technical solution, the belt drive is eliminated in the lifting drive of the mounting plate, avoiding the problem of belt breakage; moreover, the integrated right-angle geared motor structure reduces the number of assembly parts, greatly improves installation efficiency, and makes the structure more compact; during the tamping process, the driven wheel no longer rotates under the reaction force, and the tamping effect is more stable; in addition, this application can use a large motor to directly drive the lifting and moving of the mounting plate, with sufficient power to drive the lifting and moving of a high-power tamping motor.

[0009] Optionally, the right-angle geared motor includes a drive motor and a reducer integrated together. The output shaft of the drive motor and the input shaft of the reducer are both arranged horizontally and coaxially, and the output shaft of the reducer is arranged vertically downward. The upper end of the drive screw is circumferentially fixed by a flat key.

[0010] By adopting the above technical solutions, the right-angle geared motor with a reducer can achieve self-locking, resisting the rotational effect caused by the reaction force during tamping, thus making the tamping effect more stable; by eliminating belt drive, the problem of belt breakage is avoided; the integrated right-angle geared motor structure reduces assembly parts and greatly improves installation efficiency; and the horizontal arrangement of the right-angle geared motor allows the height of the entire tamping device to be reduced, making the structure more compact; the right-angle geared motor has a higher horsepower than the synchronous motor, providing sufficient power to drive the lifting and moving of a high-power tamping motor.

[0011] Optionally, the mounting plate is vertically arranged, and the upper end of the mounting plate has a flange bent to one side. The lifting nut is horizontally fixed in the middle of the flange. The tamping motor is horizontally fixed at the lower end or near the lower end of the mounting plate. Guide components for guiding the mounting plate to move up and down are also provided on both sides of the mounting plate.

[0012] By adopting the above technical solution, the mounting plate is set vertically with a flange at the top and a lifting nut in the middle, which is conducive to a reasonable structural layout; the tamping motor is fixed horizontally at or near the bottom of the mounting plate, which facilitates the tamping operation of the tamping rod; the guide components on both sides of the mounting plate can guide the mounting plate to move up and down, ensuring the stability of the mounting plate's lifting and lowering.

[0013] Optionally, the lower end of the mounting plate has a folded edge bent to one side, the folded edge being located directly below the flange; the guide assembly includes two guide rods, the two guide rods sliding through the flange and the folded edge, the two guide rods being close to both sides of the mounting plate respectively, and the tamping motor being located between the two guide rods; each of the two guide rods is fitted with a buffer spring for cushioning the lifting and lowering movement of the mounting plate.

[0014] By adopting the above technical solution, in the drive structure of the tamping device, the mounting plate is provided with a folded edge and a flange connected to the guide rod, so that the mounting plate moves smoothly up and down under the guidance of the guide rod, ensuring the stability of the tamping motor operation; the buffer spring is sleeved on the guide rod, which plays a buffering role in the lifting and lowering movement of the mounting plate, reducing vibration and impact, improving the reliability and service life of the device, and also improving the stability of the tamping effect.

[0015] Optionally, a first sensor and a second sensor are provided at an interval on one side of the mounting plate, and a first detection element is fixed on the mounting plate that can move up and down with the mounting plate and be detected by the first sensor and the second sensor respectively.

[0016] By adopting the above technical solution, a first sensor and a second sensor are set at intervals on one side of the mounting plate. Together with a first detection component that can move up and down with the mounting plate, the upper and lower limit positions of the mounting plate can be accurately detected and controlled, making the tamping device more precise and reliable in operation and improving safety.

[0017] Optionally, a vertical slide rail is fixed on the side of the mounting plate opposite to the drive screw, and a slider is slidably connected to the slide rail; a swing arm extending radially outward is connected to the output shaft of the tamping motor, and the outer end of the swing arm is connected to the slider via a connecting rod; a connecting arm extending away from the slide rail is fixed to the slider, the upper end of the tamping rod is fixed to the outer end of the connecting arm, and a tamping hammer head is fixed to the lower end of the tamping rod.

[0018] By adopting the above technical solution, the rotational motion of the tamping motor is converted into the reciprocating up-and-down movement of the tamping rod by utilizing the cooperation of the swing arm, connecting rod, slider and connecting arm. The tamping hammer head at the top of the tamping hammer head can enhance the tamping effect. The whole structure is stable and reliable, and the cost is low.

[0019] Optionally, the connecting rod is provided with a first connector and a second connector at both ends, the outer end of the swing arm is fixedly provided with a first connecting pin, one end of the first connector has a first sleeve screwed to the lower end of the connecting rod; the other end of the first connector is ball-jointed to the first connecting pin; the slider is fixedly provided with a second connecting pin, one end of the second connector has a second sleeve screwed to the upper end of the connecting rod; the other end of the second connector is ball-jointed to the second connecting pin.

[0020] By adopting the above technical solution, the two ends of the connecting rod are hinged to the swing arm and the slider ball respectively through the first connector and the second connector, which can flexibly adapt to swing and displacement changes, ensuring smooth and stable movement of the tamping rod. Furthermore, the length of the entire connecting rod assembly can be adjusted to improve its adaptability.

[0021] Optionally, a third sensor and a fourth sensor are provided at an interval on one side of the slider, and a second detection element is fixed on the slider, which can move up and down with the slider and be detected by the third sensor and the fourth sensor respectively.

[0022] By adopting the above technical solution, the third and fourth sensors on one side of the slider, in conjunction with the second detection element, can accurately detect the up and down movement position of the slider, which helps to precisely control the up and down movement of the tamping rod, improve the accuracy and stability of the tamping process, and ensure the tamping effect and safety.

[0023] Secondly, the sealing machine provided in this application adopts the following technical solution:

[0024] A tamping device includes a frame and the aforementioned drive structure; the frame has an upper positioning plate and a lower positioning plate spaced apart vertically; the upper and lower ends of the drive screw are rotatably connected to the upper and lower positioning plates via planar bearings; the lifting motor is horizontally positioned above the upper positioning plate, and the tamping motor is horizontally positioned below the lower positioning plate.

[0025] By adopting the above technical solutions, the drive wheel and belt are eliminated, the number of assembly parts is reduced, and the installation efficiency is improved. The synchronous motor is replaced with a right-angle geared motor, which provides sufficient power to drive a high-power tamping motor. It also has a self-locking function, which can resist the rotational effect caused by the reaction force during tamping, making the tamping effect more stable. The upper and lower ends of the drive screw are rotatably connected to the upper and lower positioning plates through plane bearings, which ensures the smoothness of the drive screw rotation. At the same time, the positions of the lifting motor and the tamping motor are reasonably arranged, optimizing the overall structural layout of the device.

[0026] Optionally, a base is fixed to the bottom of the frame, and a rotating cup holder is provided on the base. The rotating cup holder is rotatably mounted on the base via a flange bearing. The rotating cup holder is located directly below the tamping rod. A rotating cup motor for driving the rotating cup holder to rotate is also provided on the base.

[0027] By adopting the above technical solution, the rotating cup seat located directly below the tamping rod can be rotated, thereby allowing the tamping rod to tamp the rotating raw material, further improving the uniformity and effect of tamping.

[0028] In summary, this application includes at least one of the following beneficial technical effects:

[0029] 1. This application eliminates the drive pulley and belt, reducing assembly parts and improving installation efficiency.

[0030] 2. In this application, the drive is achieved through an integrated right-angle geared motor structure, which makes the structure more compact. Furthermore, the right-angle geared motor is arranged laterally, which allows the height of the entire tamping device to be reduced.

[0031] 3. In this application, a right-angle geared motor is used instead of a synchronous motor. During the tamping process, the driven wheel is no longer subject to the reaction force and rotates, resulting in a more stable tamping effect.

[0032] 4. This application eliminates the drive pulley and belt, avoiding the risk of belt breakage, reducing maintenance costs, and improving production efficiency. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural schematic diagram of the tamping device in this application.

[0034] Figure 2 This is a first-view schematic diagram of the internal structure of the tamping device in this application.

[0035] Figure 3 This is a second-view internal structural diagram of the tamping device in this application.

[0036] Figure 4 This is a third-view internal structural diagram of the tamping device in this application.

[0037] Figure 5 This is a partial cross-sectional structural schematic diagram of the tamping device in this application.

[0038] In the picture:

[0039] 10. Frame; 11. Base; 12. Upper positioning plate; 13. Lower positioning plate;

[0040] 20. Enclosure; 21. Front cover; 22. Control buttons; 23. Display screen;

[0041] 30. Rotating cup holder;

[0042] 40. Pounding stick; 41. Pounding hammer head;

[0043] 50. Lifting motor; 51. Right-angle geared motor; 511. Drive motor; 512. Reducer;

[0044] 60. Pound the motor;

[0045] 70. Mounting plate; 71. Lifting nut; 72. Flanged edge; 73. Folded edge; 74. First inspection piece;

[0046] 80. Drive screw; 81. Surface bearing;

[0047] 90. Linkage assembly; 91. Slide rail; 92. Slider; 921. Second detection element; 93. Swing arm; 94. Linkage rod; 941. First connector; 942. Second connector; 943. First connecting pin; 944. Second connecting pin; 945. First sleeve; 946. Second sleeve; 95. Connecting arm;

[0048] 100. Guide assembly; 101. Guide rod; 102. Buffer spring;

[0049] 110. Flat key;

[0050] 120. Flange bearings;

[0051] 130. Rotor motor;

[0052] 140. Drive wheel;

[0053] 150. Driven wheel;

[0054] 160. Drive belt;

[0055] 170. First sensor;

[0056] 180. Second sensor;

[0057] 190. The third sensor;

[0058] 200. The fourth sensor. Detailed Implementation

[0059] The following will be combined with the appendix Figure 1 - Appendix Figure 5 The technical solutions in the embodiments of this utility model are clearly and completely described herein. The described embodiments are only possible technical implementations of this utility model and not all possible implementations. Those skilled in the art can obtain other embodiments in conjunction with the embodiments of this utility model without creative effort, and these embodiments are also within the protection scope of this utility model.

[0060] Reference Figure 1 , Figure 2 and Figure 3 As shown in the embodiment of this application, a tamping device includes a frame 10 and a housing 20, with the housing 20 covering the frame 10. A base 11 is provided at the bottom of the frame 10, and upper positioning plates 12 and lower positioning plates 13, which are parallel to each other, are respectively provided at the upper and middle parts of the frame 10. The upper positioning plates 12 and lower positioning plates 13 are located inside the housing 20. A rotating cup holder 30 for placing utensils such as mortars or pestles is provided on the upper front side of the base 11. A vertical tamping rod 40 is provided directly above the base 30. A tamping hammer head 41 is fixed at the lower end of the tamping rod 40. A drive structure for driving the tamping rod 40 and the tamping hammer head 41 to move up and down and to tamp back and forth is provided inside the housing 20. A front cover 21 is also provided on the front side of the housing 20. The front cover 21 is located on the upper front side of the housing 20 and covers the upper end of the tamping rod 40. A control button 22 and a display screen 23 are provided on the front side of the front cover 21.

[0061] Reference Figure 2 , Figure 3 and Figure 4 As shown, the drive structure in this application includes a lifting motor 50, a tamping motor 60, a mounting plate 70, and a vertically arranged drive screw 80. The upper and lower ends of the drive screw 80 are rotatably connected to the upper positioning plate 12 and the lower positioning plate 13 respectively via a plane bearing 81. The lifting motor 50 is horizontally arranged above the upper positioning plate 12, and the tamping motor 60 is horizontally arranged below the lower positioning plate 13. The mounting plate 70 is located on one side of the drive screw 80 and is screwed onto the drive screw 80 via a lifting nut 71. In this application, the lifting motor 50 is a right-angle reduction motor 51 connected to the upper end of the drive screw 80 to drive the drive screw 80 to rotate forward and backward. The tamping motor 60 is fixed on the mounting plate 70, and the output shaft of the tamping motor 60 is connected to the tamping rod 40 via a connecting rod assembly 90, thereby driving the tamping rod 40 to move up and down reciprocally.

[0062] Furthermore, refer to Figure 2 , Figure 3 and Figure 4As shown, the mounting plate 70 is vertically arranged, and the upper end of the mounting plate 70 has a flange 72 bent to one side. The lifting nut 71 is horizontally fixed in the middle of the flange 72. The tamping motor 60 is horizontally fixed at or near the lower end of the mounting plate 70. The lower end of the mounting plate 70 has a folded edge 73 bent to one side, and the folded edge 73 is located directly below the flange 72. Guide components 100 for guiding the mounting plate 70 to move up and down are also provided on both sides of the mounting plate 70. The guide components 100 include two guide rods 101, which slide through the flange 72 and the folded edge 73. The two guide rods 101 are close to the two sides of the mounting plate 70, and the tamping motor 60 is located between the two guide rods 101. Buffer springs 102 are sleeved on both guide rods 101 to buffer the lifting and lowering movement of the mounting plate 70.

[0063] Reference Figure 2 and Figure 4 As shown, the linkage assembly 90 includes a slide rail 91, a slider 92, a swing arm 93, a connecting rod 94, and a connecting arm 95. The slide rail 91 is vertically fixed on the side of the mounting plate 70 away from the drive screw 80. The slider 92 is slidably connected to the slide rail 91. The swing arm 93 is fixed to the output shaft of the tamping motor 60 and extends radially outward along the output shaft of the tamping motor 60. The outer end of the swing arm 93 is connected to the slider 92 via the connecting rod 94. The connecting arm 95 is fixed to the slider 92 and extends away from the slide rail 91. The upper end of the tamping rod 40 is fixed to the outer end of the connecting arm 95. In this application, the rotational motion of the tamping motor 60 is converted into the reciprocating up-and-down movement of the tamping rod 40 by the cooperation of the swing arm 93, the connecting rod 94, the slider 92, and the connecting arm 95.

[0064] Reference Figure 2 As shown, the connecting rod 94 has a first connector 941 and a second connector 942 at both ends. A first connecting pin 943 is fixed to the outer end of the swing arm 93. One end of the first connector 941 has a first sleeve 945 screwed to the lower end of the connecting rod 94; the other end of the first connector 941 is ball-jointed to the first connecting pin 943. A second connecting pin 944 is fixed to the slider 92. One end of the second connector 942 has a second sleeve 946 screwed to the upper end of the connecting rod 94; the other end of the second connector 942 is ball-jointed to the second connecting pin 944. The two ends of the connecting rod 94 are ball-jointed to the swing arm 93 and the slider 92 respectively via the first connector 941 and the second connector 942, allowing for flexible adaptation to swing and displacement changes, ensuring smooth and stable movement of the tamping rod 40. The length of the entire connecting rod assembly 90 can also be adjusted to improve its adaptability.

[0065] Combination Figure 5As shown, the right-angle geared motor 51 includes a drive motor 511 and a reducer 512 integrated together. The output shaft of the drive motor 511 and the input shaft of the reducer 512 are both arranged horizontally and coaxially, while the output shaft of the reducer 512 is arranged vertically downwards. The upper end of the drive screw 80 is circumferentially fixed by a flat key 110. The right-angle geared motor 51 with the reducer 512 can achieve self-locking, resisting the rotational effect caused by the reaction force during tamping, making the tamping effect more stable. By eliminating belt drive, the problem of belt breakage is avoided. The integrated right-angle geared motor 51 structure reduces the number of assembly parts and greatly improves installation efficiency. Furthermore, the horizontal arrangement of the right-angle geared motor 51 allows the height of the entire tamping device to be reduced, making the structure more compact. The right-angle geared motor 51 has a higher horsepower than the synchronous motor, providing sufficient power to drive the lifting and lowering movement of the high-power tamping motor 60.

[0066] Reference Figure 4 and Figure 5 As shown, the rotating cup holder 30 is rotatably mounted on the base 11 via a flange bearing 120. The rotating cup holder 30 is located directly below the tamping rod 40. A rotating cup motor 130 for driving the rotating cup holder 30 is located on the base 11 below the tamping motor 60. The rotating cup motor 130 is vertically oriented downwards, and a drive wheel 140 is fixed on the output shaft of the rotating cup motor 130. A driven wheel 150 is located at the bottom of the rotating cup holder 30, and a transmission belt 160 is sleeved between the drive wheel 140 and the driven wheel 150. When the rotating cup motor 130 rotates, it can drive the rotating cup holder 30 to rotate through the drive wheel 140, the transmission belt 160, and the driven wheel 150, thereby allowing the tamping rod 40 to tamp the rotating raw material, improving the uniformity and effect of tamping.

[0067] Reference Figure 4 and Figure 5As shown, a first sensor 170 and a second sensor 180 are arranged vertically at intervals on one side of the mounting plate 70. A first detection element 74 is fixed on the mounting plate 70, which can move up and down with the mounting plate 70 and be detected by the first sensor 170 and the second sensor 180 respectively. This allows for accurate detection and control of the upper and lower limit positions of the mounting plate 70, making the tamping device operate more precisely and reliably, and improving safety. A third sensor 190 and a fourth sensor 200 are arranged vertically at intervals on one side of the slider 92. A second detection element 921 is fixed on the slider 92, which can move up and down with the slider 92 and be detected by the third sensor 190 and the fourth sensor 200 respectively. This helps to accurately control the vertical movement stroke of the tamping rod 40, further improving the accuracy and stability of the tamping process, and ensuring the tamping effect and safety. In this application, the first sensor 170, the second sensor 180, the third sensor 190, and the fourth sensor 200 can be horseshoe photoelectric sensors or magnetic sensors, and the first detection element 74 and the second detection element 921 are metal baffles or magnetic elements corresponding to the above sensors.

[0068] The implementation principle is as follows: In this application, the belt drive is eliminated in the lifting drive of the mounting plate 70, thus avoiding the problem of belt breakage; moreover, it is driven by an integrated right-angle reduction motor 51 structure, which reduces the number of assembly parts, greatly improves the installation efficiency, and makes the structure more compact; during the tamping process, no driven wheel is subjected to reaction force to rotate, so the tamping effect is more stable; in addition, in this application, a large motor can be used to directly drive the lifting and moving of the mounting plate 70, which has sufficient power and can drive the lifting and moving of the high-power tamping motor 60.

[0069] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A driving structure for a tamping device, comprising a lifting motor (50), a tamping motor (60), a mounting plate (70), and a vertically arranged driving screw (80), wherein the mounting plate (70) is located on one side of the driving screw (80) and the mounting plate (70) is screwed onto the driving screw (80) by a lifting nut (71); characterized in that, The lifting motor (50) is a right-angle reduction motor (51) connected to the upper end of the drive screw (80) for driving the drive screw (80) to rotate forward and backward; the tamping motor (60) is fixed on the mounting plate (70), and a tamping rod (40) that can move up and down is connected to the output shaft of the tamping motor (60).

2. The driving structure of the tamping device according to claim 1, characterized in that, The right-angle geared motor (51) includes a drive motor (511) and a reducer (512) integrated together. The output shaft of the drive motor (511) and the input shaft of the reducer (512) are both arranged horizontally and coaxially. The output shaft of the reducer (512) is arranged vertically downward. The upper end of the drive screw (80) is circumferentially fixed by a flat key (110).

3. The driving structure of the tamping device according to claim 2, characterized in that, The mounting plate (70) is vertically arranged, and the upper end of the mounting plate (70) has a flange (72) bent to one side. The lifting nut (71) is horizontally fixed in the middle of the flange (72). The tamping motor (60) is horizontally fixed at the lower end or near the lower end of the mounting plate (70). Guide components (100) for guiding the mounting plate (70) to move up and down are also provided on both sides of the mounting plate (70).

4. The driving structure of the tamping device according to claim 3, characterized in that, The lower end of the mounting plate (70) has a folded edge (73) bent to one side, and the folded edge (73) is located directly below the flange (72); the guide assembly (100) includes two guide rods (101), which slide through the flange (72) and the folded edge (73), and the two guide rods (101) are respectively close to the two sides of the mounting plate (70) and the tamping motor (60) is located between the two guide rods (101); each of the two guide rods (101) is fitted with a buffer spring (102) for buffering the lifting and lowering movement of the mounting plate (70).

5. The driving structure of the tamping device according to claim 3, characterized in that, The mounting plate (70) has a first sensor (170) and a second sensor (180) arranged vertically on one side. The mounting plate (70) is fixed with a first detection element (74) that can move up and down with the mounting plate (70) and be detected by the first sensor (170) and the second sensor (180) respectively.

6. The driving structure of the tamping device according to claim 3, characterized in that, The mounting plate (70) is fixed with a vertical slide rail (91) on the side away from the drive screw (80), and a slider (92) is slidably connected on the slide rail (91); a swing arm (93) extending radially outward is connected to the output shaft of the tamping motor (60), and the outer end of the swing arm (93) is connected to the slider (92) through a connecting rod (94); a connecting arm (95) extending away from the slide rail (91) is fixedly connected to the slider (92), the upper end of the tamping rod (40) is fixedly connected to the outer end of the connecting arm (95), and the lower end of the tamping rod (40) is fixedly connected to the tamping hammer head (41).

7. The driving structure of the tamping device according to claim 6, characterized in that, The connecting rod (94) is provided with a first connector (941) and a second connector (942) at both ends. The outer end of the swing arm (93) is fixed with a first connecting pin (943). One end of the first connector (941) has a first sleeve (945) screwed to the lower end of the connecting rod (94). The other end of the first connector (941) is ball-jointed to the first connecting pin (943). The slider (92) is fixed with a second connecting pin (944). One end of the second connector (942) has a second sleeve (946) screwed to the upper end of the connecting rod (94). The other end of the second connector (942) is ball-jointed to the second connecting pin (944).

8. The driving structure of the tamping device according to claim 6, characterized in that, A third sensor (190) and a fourth sensor (200) are arranged at an interval on one side of the slider (92). A second detection element (921) is fixed on the slider (92) and can move up and down with the slider (92) and be detected by the third sensor (190) and the fourth sensor (200) respectively.

9. A tamping device, characterized in that, The device includes a frame (10) and a drive structure as described in any one of claims 1 to 8; the frame (10) has an upper positioning plate (12) and a lower positioning plate (13) that are spaced apart vertically; the upper and lower ends of the drive screw (80) are rotatably connected to the upper positioning plate (12) and the lower positioning plate (13) respectively by a plane bearing (81); the lifting motor (50) is horizontally arranged above the upper positioning plate (12), and the tamping motor (60) is horizontally arranged below the lower positioning plate (13).

10. The tamping device according to claim 9, characterized in that, The bottom of the frame (10) is also fixed with a base (11), and a rotating cup holder (30) is provided on the base (11). The rotating cup holder (30) is rotatably mounted on the base (11) via a flange bearing (120). The rotating cup holder (30) is located directly below the tamping rod (40). The base (11) is also provided with a rotating cup motor (130) for driving the rotating cup holder (30) to rotate.

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