CN111616598B

CN111616598B - Pu' er tea making machine and tea making method

Info

Publication number: CN111616598B
Application number: CN202010557287.3A
Authority: CN
Inventors: 张学昌; 谷石玫; 高学敏; 陆俊杰; 施岳定
Original assignee: Zhejiang University of Science and Technology ZUST
Current assignee: Zhejiang University of Science and Technology ZUST
Priority date: 2020-06-18
Filing date: 2020-06-18
Publication date: 2022-01-18
Anticipated expiration: 2040-06-18
Also published as: CN111616598A

Abstract

The invention discloses a Pu' er tea making machine and a tea making method, wherein the tea making machine comprises a block cutting and feeding component and a boiling component; the cutting block feeding assembly comprises a turntable and a crank rocker mechanism, and the rack is provided with an electric saw, a probe and a mechanical claw through an X-direction ball screw pair, a Y-direction ball screw pair and two Z-direction ball screw pairs; a rocker of the crank rocker mechanism is provided with a weighing disc; the brewing assembly comprises a first main rotating arm and a second main rotating arm, the arm body of the first main rotating arm is fixed with the brewing cup, and the arm body of the second main rotating arm is fixed with the justice cup; the brewing assembly also comprises a water pipe for communicating the boiler and the steeping cup; the key of the method is as follows: the tea cake is cut into small tea blocks by the rotation of the turntable and the mutual matching of the three ball screw pairs in the XYZ direction; automatically putting the small tea blocks into the soaking cup, and automatically pouring the tea water into the justice cup after the tea blocks are boiled. The tea making machine and the tea making method can automatically complete tea cake cutting, small tea block quantitative feeding, tea water brewing and tea block separation.

Description

Pu' er tea making machine and tea making method

Technical Field

The invention relates to the technical field of automatic tea making mechanical equipment, in particular to a Pu' er tea making machine and a tea making method using the same.

Background

Tea culture is long-flowing in China, but popularization at the present stage suffers from certain bottleneck, mainly because the traditional tea culture is manually soaked, the procedures are various, and particularly, the Pu' er tea is brewed. Firstly, a Pu' er tea cake is required to be cut into small tea blocks, then, a certain amount of small tea blocks are put into a brewing cup, and a certain amount of water is injected to meet the proportion of tea leaves and water; and the small tea blocks of the ordinary Pu 'er tea can be brewed for 10-15 times, the good Pu' er tea can be brewed for 20 times, the first brewing time is shorter and is generally 10s, and the second brewing time is longer and is generally 15 s. In conclusion, the brewing process is complicated in steps, much in details, too slow in speed, time-consuming and labor-consuming, obviously not in line with the fast-paced life needs of the current society, and therefore difficult to popularize. Especially in the business occasions with large passenger flow such as restaurants, tea houses and the like, a large amount of tea water is often required to be brewed every day, but the pure manual operation has low efficiency and low speed, only one cup or a plurality of cups can be brewed by one person at a time, and the tea cannot be poured in batches at all, so that the labor cost is high and the burden is heavy. In a word, the existing pure manual type manual brewing is obviously difficult to meet the requirements of commercial use and popularization.

Certainly, some automatic tea making machines exist in the prior art, but the automatic tea making machines work on the principle of a coffee machine, the tea making process is simple hot water brewing, so that key factors such as tea making time, brewing temperature and proportion of small tea blocks and water in each step cannot be controlled, the natural quality of brewed tea is not high, the taste and nutrition of tea are damaged, the quality and essence of tea culture cannot be achieved at all, and the tea and tea materials cannot be quickly separated after being brewed, so that the coffee machine type quick brewing is entirely cost-saving and end-saving, and even health is influenced due to overlong brewing time.

Disclosure of Invention

The invention aims to solve the technical problem of providing a Pu' er tea making machine which can automatically complete cutting of tea cakes, quantitative feeding of small tea blocks, tea water brewing and separation of tea water and tea blocks, is fast, efficient and convenient, and can strictly control factors such as brewing temperature, brewing time, tea material and water ratio and the like in each brewing process so as to improve the taste and quality of soaking.

The invention provides a Pu' er tea making machine, which comprises a rack, wherein a block cutting and feeding component and a brewing component are arranged on the rack;

the block cutting and feeding assembly comprises a turntable which is rotatably arranged on the rack and used for placing and fixing Pu' er tea cakes, two parallel X-direction ball screw pairs are further arranged on the rack, two X-direction rotors of the two X-direction ball screw pairs are jointly connected with a Y-direction ball screw pair, the Y-direction ball screw pair is provided with two Y-direction rotors, each Y-direction rotor is provided with a Z-direction ball screw pair, a Z-direction rotor of one Z-direction ball screw pair is provided with an electric saw, and a Z-direction rotor of the other Z-direction ball screw pair is provided with a probe for identifying small tea blocks and a mechanical claw for grabbing the small tea blocks; the block cutting and feeding assembly also comprises a crank rocker mechanism, and a rocker of the crank rocker mechanism is provided with a weighing disc which is used for receiving the blanking of the mechanical claw and weighing the mass of the fallen small tea blocks when the rocker is vertical;

the brewing assembly comprises a first main rotating arm and a second main rotating arm, each main rotating arm comprises a main rotating arm motor arranged on the rack, a first driven gear rotatably arranged on the rack and an arm body fixed on the first driven gear, and an output gear of the main rotating arm motor is meshed with the first driven gear; a soaking cup and a flip motor are fixed at the free end of the arm body of the first main rotary arm, the soaking cup is provided with a first cup opening used for receiving the blanking of the weighing plate when the rocker is inclined, the output shaft of the flip motor is provided with a swing rod, a first flip cover used for shielding the first cup opening is arranged on the swing rod, and a tea leaking opening is formed between the first flip cover and the first cup opening; a fairway cup and another flip motor are fixed at the free end of the arm body of the second main rotary arm, the fairway cup is provided with a second cup opening for receiving tea water leaking from the tea opening when the soaking cup is inclined, the output shaft of the flip motor is also provided with a swing rod, and the swing rod is provided with a second flip for sealing the second cup opening; the justice cup is also provided with a tea outlet; the soaking cup and the highway cup are both provided with electric heating wires;

the frame is also provided with a boiler, the brewing assembly also comprises a water pipe used for communicating the boiler and the brewing cup, and the water pipe is provided with a water pump.

The invention aims to solve another technical problem of providing a method for brewing Pu 'er tea by using a Pu' er tea brewing machine, which can automatically complete cutting of tea cakes, quantitative feeding of small tea blocks, brewing of tea water and separation of tea water and tea blocks, is quick, efficient and convenient, and can strictly control factors such as brewing temperature, brewing time, proportion of tea materials and water and the like in each brewing process so as to improve the brewing taste and quality.

Another technical solution of the present invention is to provide a method for making pu-er tea by using the pu-er tea making machine of the present application, which comprises the steps of:

the Pu' er tea cake is placed and temporarily fixed on a turntable, an electric saw descends along a Z-direction ball screw pair to be attached to the tea cake, the X-direction ball screw pair realizes longitudinal cutting of the tea cake, and the Y-direction ball screw pair realizes transverse movement of the cutting position of the electric saw, so that the complete tea cake is cut into parallel tea strips; rotating the turntable by 90 degrees, repeating the cutting process, and cutting the tea strips into small tea blocks in a rectangular array;

the three ball screw pairs in the XYZ directions also meet the motion of three degrees of freedom of the mechanical claw, the probe judges whether small tea blocks exist below the mechanical claw or not, once the small tea blocks exist, the mechanical claw is closed to grab the small tea blocks, the mechanical claw is moved to the position above the weighing disc through the three ball screw pairs, and the mechanical claw is loosened to realize the blanking of the weighing disc;

the weighing plate weighs the weight of the fallen small tea blocks, the crank rocker mechanism is driven after the weight meets the boiling requirement, the rocker is inclined to pour the small tea blocks in the weighing plate into the first cup mouth of the soaking cup, and automatic quantitative putting of tea materials is achieved;

then, a water pump is driven to introduce hot water into the soaking cup from a boiler through a water pipe, the first turnover cover is closed, the water pump can ensure that the water inflow meets the proportion of tea materials and water, the boiler ensures that the water inflow temperature meets the requirement, and an electric heating wire in the soaking cup ensures that the boiling temperature continuously meets the requirement; after the tea is boiled for a certain time, the first main rotating arm is driven to incline the brewing cup, tea water is poured into a second cup opening of the justice cup from the tea leakage opening, the separation of tea leaves and the tea water is realized, and then the second turnover cover is closed; the electric heating wires in the brewing cup keep the temperature of the retained tea to ensure the taste of subsequent multi-path brewing, the electric heating wires in the justice cup keep the temperature of the tea water to ensure the taste of drinking, and a user connects the tea from the tea outlet of the justice cup to drink the tea.

Compared with the prior art, the Pu 'er tea making machine and the Pu' er tea making method have the following advantages.

The tea making machine and the tea boiling method automatically realize accurate cutting and material distribution of Pu' er tea cakes, accurate and quantitative putting of small tea blocks, tea water boiling and separation of the tea blocks and the tea water; the process is completely free of manual operation, high in automation degree, fast and efficient, the function of fast and continuous multi-cup tea making is realized, the labor cost is saved, and the fast-paced requirement of modern life is met; the objective requirement of brewing a large amount of tea water in a large-passenger-flow business occasion is met; more importantly, the tea making machine and the tea making method can strictly control a series of key factors such as the boiling temperature, the boiling time and the tea material-water ratio of each boiling process, so that the effect and the taste of the brewed tea water are close to those of manual brewing, the quality of the tea water is improved to the maximum extent, the essence of tea culture is retained, and the tea making machine and the tea making method have greater commercial popularization value; moreover, the device pours the tea water in the soaking cup into the justice cup, so that the tea water is separated from the tea material, excessive boiling is avoided, the health of a drinker is guaranteed, the drinking taste is guaranteed by the electric heating wire in the justice cup, the temperature of the preserved Pu ' er tea material is kept by the electric heating wire in the soaking cup, the influence of the preserved Pu ' er tea material on the subsequent multi-path boiling taste is avoided, the performance of the Pu ' er tea material for boiling and soaking for multiple paths is fully exerted, and the tea material is not wasted; moreover, the application has the obvious advantages that the power source of the application adopts the motor instead of any oil cylinder or air cylinder, and an oil pressure or air pressure driving system is omitted; the structure is compact and refined, and the volume and the dead weight are reduced.

The three ball screw pairs in the XYZ directions are preferably: the X-direction ball screw assembly comprises two X-direction guide rails fixed on the rack, two X-direction rotors are respectively in sliding fit with the two X-direction guide rails, a Y-direction guide rail is fixed between the two X-direction rotors, an X-direction motor is fixed at the end part of the X-direction guide rail, an X-direction lead screw is fixed on an output shaft of the X-direction motor, and the X-direction lead screw is screwed with the X-direction rotors on the same side; a Y-direction motor of the Y-direction ball screw assembly is fixed at one end of the Y-direction guide rail, a Y-direction screw is fixed on an output shaft of the Y-direction motor, and two Y-direction rotors are screwed on the Y-direction screw; and a Z-direction guide rail of each Z-direction ball screw pair is fixed with the corresponding Y-direction rotor, a Z-direction motor of the Z-direction ball screw pair is fixed at the upper end of the Z-direction guide rail, a Z-direction screw is fixed on the Z-direction motor through an output shaft, and the Z-direction rotor is screwed on the Z-direction screw. The three driving pairs are stable and reliable in operation, compact in structure and reasonable in layout, promote each other in function, and jointly complete the functions of cutting the tea cakes and grabbing and putting the tea blocks.

The mechanical claw structure is preferred, and comprises a fixing plate fixed on a Z-direction rotor, a second driven gear is rotatably arranged on the fixing plate, a mechanical finger is fixed on the second driven gear, a tea grabbing motor is arranged on the fixing plate, a tea grabbing driving gear is fixed on an output shaft of the tea grabbing motor, a mechanical finger is also fixed on the tea grabbing driving gear, and the tea grabbing driving gear is meshed with the second driven gear; like this, grab tea motor drive and grab tea driving gear and second driven gear, drive opening and shutting of two mechanical fingers, realized tealeaves and grabbed the function of putting, and above-mentioned gripper need not to adopt SMC pneumatic finger, has left out parts such as supporting atmospheric pressure station for compact structure has further reduced volume and dead weight, has reduced the cost.

The crank rocker mechanism preferably comprises a rocker and a crank motor arranged on the rack, the rocker consists of a vertical rod and an inclined rod which are integrated, a connecting part of the vertical rod and the inclined rod is hinged with the rack, a shelf is arranged at the top of the vertical rod, the weighing disc is connected on the shelf, and a pressure sensor is arranged between the shelf and the weighing disc; an output shaft of the crank motor is provided with an eccentric wheel, and the eccentric wheel is hinged with an inclined rod of the rocker through a first-stage connecting rod, a second-stage connecting rod and a third-stage connecting rod; firstly, the pressure sensor is reasonable in installation position, so that the tea block weighing device is convenient to assemble, can accurately sense the weight of the tea blocks in the weighing plate, realizes quantitative control of the tea blocks, and provides a premise for controlling the concentration of the tea blocks and water; and the crank rocker mechanism is simple in structure and reliable in action, the rocker is switched between a vertical state and an inclined state by rotating the eccentric wheel, and the function of feeding tea materials to the soaking cup by the weighing plate is automatically realized.

The structure of the main radial arm is preferably as follows: the arm body of each main spiral arm comprises an upper arm and a lower arm, a first transition frame is fixed on a first driven gear, the upper end of the upper arm is in threaded connection with the first transition frame, the lower end of the upper arm is in threaded connection with the rear end of the lower arm, a soaking cup or a highway cup is fixed at the front end of the lower arm, and a shell of a flip motor is also fixed at the front end of the lower arm; thus, the main rotary arm motor is driven to drive the first driven gear, and the slow shaking of the soaking cup or the justice cup is realized through the arm body, so that the tea water is promoted to be uniform; and realize the action that the slope steeps the cup and pours tea to the justice cup, moreover, because be the spiro union between first transition frame, upper arm and the underarm, so can adjust three's contained angle, ensure the tea material and put in and the tea topple over the accurate of each position when empting.

Preferably, a water supply spiral arm is arranged on the rack, the water supply spiral arm comprises a third driven gear which is rotatably arranged on the rack, a water supply motor which is arranged on the rack, a front arm, a middle arm and a rear arm, an output gear of the water supply motor is meshed with the third driven gear, a second transition frame is fixed on the third driven gear, the upper end of the front arm is in threaded connection with the second transition frame, the lower end of the front arm is connected with the upper end of the middle arm through a first joint motor, the lower end of the middle arm is connected with the rear arm through a second joint motor, a water pipe is a flexible pipeline, the inlet of the water pipe is connected with a boiler, and the outlet of the water pipe is fixed with the rear arm; therefore, the three-freedom-degree adjustment of the water pipe outlet is realized by the two joint motors and the water supply motor, the water pipe outlet can be just opposite to the first cup opening of the soaking cup, the direction of the water pipe outlet is adjustable, and the premise is provided for the subsequent cup washing process.

Preferably, the rack is rotatably provided with a rear driven gear, the rack is provided with a tea dividing motor, an output shaft of the tea dividing motor is provided with a front driving gear, the front driving gear and the rear driven gear are sleeved with a synchronous belt, the synchronous belt is provided with a plurality of cup holders with pits, a tea cup is rotatably placed in each pit, and when the cup holders are positioned at the tea receiving stations, the cup holders are positioned right below the tea outlets of the justice cups; therefore, the tea distributing motor drives the synchronous belt and the cup stand to automatically convey tea water to the hands of a drinker from the tea receiving station, and the automatic tea conveying function is realized.

Preferably, the rack is provided with a mounting rack, the mounting rack is provided with a transposition motor, an output shaft of the transposition motor is provided with a swing frame, the swing frame is fixedly provided with a vertical guide pipe, the guide pipe is in sliding fit with a lifting rod, the upper end of the lifting rod is provided with a clamping plate clamped at the upper opening of the guide pipe, the lower end of the lifting rod is connected with a clamp for clamping a teacup, the clamp is provided with a magnetic block, and the swing frame is provided with an electromagnet for adsorbing the magnetic block and the clamp; thus, after the clamp clamps the cup body in the cup stand, the electromagnet is electrified, the adsorption clamp and the cup body ascend to separate from the cup stand, the transposition motor is driven to rotate the swing frame by 90 degrees, the cup body is located at a washing station, such as a waste water port located at the center of the synchronous belt, and the water supply spiral arm is driven.

The structure of the clamp is preferred, the clamp comprises a supporting plate fixed with the lower end of the lifting rod, a clamping guide rail is fixed on the supporting plate, a clamping motor is arranged on the supporting plate, an output gear of the clamping motor is connected with a first transmission gear through a first belt, the first transmission gear is fixed with a clamping screw rod, a clamping rotor is in sliding fit with the clamping guide rail, the clamping rotor is screwed with the clamping screw rod, a clamping arm is arranged on the clamping rotor, and a fixing arm is fixed on the supporting plate; the clamping arm is rotatably provided with a driven rotating handle, the fixed arm is provided with a rotor motor, an output gear of the rotor motor is connected with a second transmission gear through a second belt, and the second transmission gear is provided with a driving rotating handle.

The working principle of the clamp is that the clamping motor is driven, the first transmission gear is driven through the first belt, the clamping screw rod is rotated, the clamping rotor is driven to transversely move, the driven rotating handle of the clamping arm is close to the driving rotating handle of the fixed arm, and therefore the side wall of the teacup is clamped tightly; when the clamp is adsorbed and lifted by the electromagnet and rotates to a washing station by the transposition motor and the swing frame to be washed by the outlet of the water pipe, the revolving cup motor is driven to drive the second transmission gear through the belt, so that the driving revolving handle rotates, and the cup mouth of the teacup inclines downwards to pour the residual tea in the cup to the waste water port because the side wall of the teacup is clamped by the driving revolving handle and the driven revolving handle at the moment; after the cup is washed, the cup rotating motor and the transposition motor are reversely driven, so that the cup opening of the teacup faces upwards and is reset above the cup stand, the electromagnet is powered off, the swing frame and the clamp fall back under the dead weight, the teacup falls back into the pit of the cup stand again, at the moment, the cup rotating motor is driven to drive the driving rotating handle to rotate, a new function is realized, namely, the teacup is limited in the pit, the driving rotating handle can drive the teacup to rotate in the pit, the lip seal of the cup opening of the teacup is rubbed off, and the function of thoroughly cleaning the teacup is achieved.

Drawings

FIG. 1 is a schematic structural diagram of the Pu' er tea making machine of the invention.

Fig. 2 is a schematic front view structure diagram of the Pu' er tea making machine of the invention.

Fig. 3 is a schematic structural diagram of a block cutting and feeding assembly of the Pu' er tea making machine.

Fig. 4 is a schematic view of a partial structure of a block cutting and feeding component of the Pu' er tea making machine.

Fig. 5 is a front view enlarged structure schematic diagram of the mechanical claw of the Pu' er tea making machine.

Fig. 6 is a schematic front view structure diagram of a crank rocker mechanism of the Pu' er tea making machine.

Fig. 7 is a schematic structural diagram of a brewing assembly of the Pu' er tea making machine.

FIG. 8 is a schematic structural view of a tea feeding and cleaning assembly of the Pu' er tea making machine of the invention.

FIG. 9 is a schematic view of a partial sectional structure of a tea feeding and cleaning assembly of the Pu' er tea making machine of the invention.

FIG. 10 is an enlarged partial sectional structural view of the clamp of the Pu' er tea making machine of the invention.

Shown in the figure are 1, a frame, 2, a turntable, 3, an X-direction ball screw pair, 3.1, an X-direction rotor, 3.2, an X-direction guide rail, 3.3, an X-direction motor, 3.4, an X-direction screw, 4, a Y-direction ball screw pair, 4.1, a Y-direction rotor, 4.2, a Y-direction guide rail, 4.3, a Y-direction motor, 4.4, a Y-direction screw, 5, a Z-direction ball screw pair, 5.1, a Z-direction rotor, 5.2, a Z-direction guide rail, 5.3, a Z-direction motor, 5.4, a Z-direction screw, 6, an electric saw, 6.1, a tea cutting motor, 6.2, a tea saw, 7, a small tea block, 8, a probe, 9, a mechanical claw, 9.1, a fixed plate, 9.2, a second driven gear, 9.3, a mechanical finger, 9.4, a tea-catching motor, 9.5, a tea-catching driving gear, 10, a crank-rocker mechanism, 10.1, a crank, a rocker, 10.2, a first-level connecting rod, a shelf, a second-level connecting rod, a third-level connecting rod connecting mechanism, 10.3, a third-level connecting rod connecting, 11. a weighing plate, 12, a first main rotary arm, 13, a second main rotary arm, 13.1, a main rotary arm motor, 13.2, a first driven gear, 13.3, a flip motor, 13.4, a swing rod, 13.5, an upper arm, 13.6, a lower arm, 13.7, a first transition frame, 14, a steeping cup, 15, a first flip cover, 16, a tea leaking opening, 17, a way cup, 18, a second flip cover, 19, a tea outlet, 20, a boiler, 21, a water pipe, 22, a water supply rotary arm, 22.1, a third driven gear, 22.2, a water supply motor, 22.3, a front arm, 22.4, a middle arm, 22.5, a rear arm, 22.6, a second transition frame, 22.7, a first joint motor, 22.8, a second joint motor, 23, a rear driven gear, 24, a tea dividing motor, 25, a front driving gear, 26, a synchronous belt, 27, a cup holder, 28, a cup holder, 29, a teacup 30, a guide frame, a

lifting guide rod

33, 34. the tea-making machine comprises a clamping plate, 35, a clamp, 35.1, a supporting plate, 35.2, a clamping guide rail, 35.3, a clamping motor, 35.4, a first belt, 35.5, a first transmission gear, 35.6, a clamping lead screw, 35.7, a clamping rotor, 35.8, a clamping arm, 35.9, a fixing arm, 36, a magnetic block, 37, an electromagnet, 38, a driven rotating handle, 39, a rotating cup motor, 40, a second belt, 41, a second transmission gear, 42, a driving rotating handle, 43, a waste water outlet, 44, a tea rotating motor, 45, a guide block, 46 and a fixing column.

Detailed Description

The invention is further described with reference to the following figures and specific examples.

As shown in figures 1-10, the Pu' er tea making machine comprises a frame 1, wherein the frame 1 is provided with a block cutting and feeding component, a brewing component and a tea conveying and cleaning component.

The material subassembly is thrown to the cutting includes that rotatable the carousel 2 that is used for shelving fixed pu' er tea cake of installing in frame 1, and specific saying so, installs in frame 1 and changes tea motor 44, changes the output shaft of tea motor 44 and is connected with carousel 2, is equipped with the shell fragment formula clip that is used for cliping the tea cake on carousel 2, perhaps, the tea cake is nailed on carousel 2 with little nail.

Two parallel X-direction ball screw pairs 3 are further mounted on the rack 1, and two X-direction rotors 3.1 of the two X-direction ball screw pairs 3 are connected with a Y-direction ball screw pair 4 together. Specifically, the X-direction ball screw pair 3 includes two X-direction guide rails 3.2 fixed on the frame 1, two X-direction rotors 3.1 are respectively in sliding fit with the two X-direction guide rails 3.2, two ends of a Y-direction guide rail 4.2 of the Y-direction ball screw pair 4 are fixed with the two X-direction rotors 3.1, an X-direction motor 3.3 is fixed at the end of the left X-direction guide rail 3.2, an X-direction screw 3.4 is fixed at an output shaft of the X-direction motor 3.3, and the X-direction screw 3.4 is screwed with the X-direction rotor 3.1 on the same side; the other X-directional rotor 3.1 as a driven part may not engage the spindle but only slidably engage the other X-directional guide 3.2.

The Y-direction ball screw pair 4 is provided with two Y-direction rotors 4.1. Specifically, a Y-direction motor 4.3 of the Y-direction ball screw pair 4 is fixed at one end of a Y-direction rail 4.2, a Y-direction screw 4.4 is fixed on an output shaft of the Y-direction motor 4.3, two Y-direction rotors 4.1 are screwed on the Y-direction screw 4.4, and the two Y-direction rotors 4.1 are both in sliding fit with the Y-direction rail 4.2.

Each Y-direction rotor 4.1 is provided with a Z-direction ball screw pair 5. Specifically, a Z-directional guide rail 5.2 of each Z-directional ball screw pair 5 is fixed to a corresponding Y-directional rotor 4.1, a Z-directional motor 5.3 of each Z-directional ball screw pair 5 is fixed to the upper end of the Z-directional guide rail 5.2 of the same group, a Z-directional screw 5.4 is fixed to each Z-directional motor 5.3 through an output shaft, a Z-directional rotor 5.1 is screwed onto each Z-directional screw 5.4, and each Z-directional rotor 5.1 is in sliding fit with the Z-directional guide rail 5.2 of the same group. An electric saw 6 is arranged on a Z-direction rotor 5.1 of one Z-direction ball screw pair 5 of the two Z-direction ball screw pairs 5, specifically, a tea cutting motor 6.1 is arranged on the Z-direction rotor 5.1, and a tea saw 6.2 is arranged on an output shaft of the tea cutting motor 6.1. A probe 8 for identifying the small tea blocks 7 and a mechanical claw 9 for grabbing the small tea blocks 7 are arranged on a Z-direction rotor 5.1 of the other Z-direction ball screw pair 5 of the two Z-direction ball screw pairs 5; the probe 8 can adopt a camera for judging whether the small tea blocks 7 exist below the mechanical claw 9. The mechanical claw 9 comprises a fixing plate 9.1 fixed on the Z-direction rotor 5.1, a second driven gear 9.2 is rotatably mounted on the fixing plate 9.1, a mechanical finger 9.3 is fixed on the second driven gear 9.2, a tea-grabbing motor 9.4 is mounted on the fixing plate 9.1, a tea-grabbing driving gear 9.5 is fixed on an output shaft of the tea-grabbing motor 9.4, the mechanical finger 9.3 is also fixed on the tea-grabbing driving gear 9.5, and the tea-grabbing driving gear 9.5 is meshed with the second driven gear 9.2.

The block cutting and feeding assembly further comprises a crank and rocker mechanism 10, and a rocker 10.1 of the crank and rocker mechanism 10 is provided with a weighing disc 11 which is used for receiving the blanking of the mechanical claw 9 and weighing the falling small tea blocks 7 when the rocker 10.1 is vertical. Specifically, the crank and rocker mechanism 10 comprises a rocker 10.1 and a crank motor 10.2 mounted on the rack 1, the rocker 10.1 is composed of a vertical rod and an inclined rod which are integrally formed, a connecting part of the vertical rod and the inclined rod is hinged with the rack 1, a shelf 10.3 is arranged at the top of the vertical rod, the weighing disc 11 is connected on the shelf 10.3, and a pressure sensor is arranged between the weighing disc 11 and the shelf 10.3; an output shaft of a crank motor 10.2 is provided with an eccentric wheel 10.4, the eccentric wheel 10.4 is hinged with an inclined rod of a rocker 10.1 through a primary connecting rod 10.5, a secondary connecting rod 10.6 and a tertiary connecting rod 10.7, a guide block 45 is fixed on the frame 1, the guide block 45 is provided with a transverse guide hole, and the secondary connecting rod 10.6 is in sliding fit in the guide hole.

The brewing assembly comprises a first 12 and a second 13 main radial arm which are identical in structure except for the difference in the cups secured to the free ends. Specifically, each main swing arm comprises a main swing arm motor 13.1 arranged on the frame 1, a first driven gear 13.2 rotatably arranged on the frame 1 and an arm body fixed on the first driven gear 13.2, wherein the arm body comprises an upper arm 13.5 and a lower arm 13.6, and an output gear of the main swing arm motor 13.1 is meshed with the first driven gear 13.2; the first driven gear 13.2 is fixed with a first transition frame 13.7, the upper end of the upper arm 13.5 is in threaded connection with the first transition frame 13.7, and the lower end of the upper arm 13.5 is in threaded connection with the rear end of the lower arm 13.6.

The free end of the arm body of the first swing arm 12, i.e. the front end of the lower arm 13.6, is fixed with the steeping cup 14, and the front end of the lower arm 13.6 is also provided with a flip motor 13.3, in other words, the housing of the flip motor 13.3 is fixed at the front end of the lower arm 13.6. The soaking cup 14 is provided with a first cup opening for receiving the blanking of the weighing plate 11 when the rocker 10.1 inclines, the output shaft of the flip motor 13.3 is provided with a swing rod 13.4, the swing rod 13.4 is provided with a first flip 15 for shielding the first cup opening, and a tea leakage opening 16 is arranged between the first flip 15 and the first cup opening; the tea leaking port is provided with a filter screen for shielding the tea blocks to filter the tea water.

A fairway cup 17 is fixed at the free end of the arm body of the second main rotary arm 13, namely the front end of the lower arm 13.6, a flip motor 13.3 is also arranged at the front end of the lower arm 13.6 of the second main rotary arm 13, the fairway cup 17 is provided with a second cup mouth for receiving tea water leaking from the tea leaking port 16 when the soaking cup 14 inclines, the output shaft of the flip motor 13.3 is also provided with a swing rod 13.4, and the swing rod 13.4 is provided with a second flip 18 for sealing the second cup mouth; the justice cup 17 is also provided with a tea outlet 19; the tea outlet 19 is provided with an electromagnetic valve for controlling the opening and the closing.

The soaking cup 14 and the justice cup 17 are provided with electric heating wires.

The frame 1 is also provided with a boiler 20, the brewing assembly further comprises a water pipe 21 for communicating the boiler 20 and the brewing cup 14, and the water pipe 21 is provided with a water pump.

The water pipe 21 may be actuated by a water supply arm. Specifically, the water supply spiral arm 22 comprises a third driven gear 22.1 rotatably mounted on the frame 1, a water supply motor 22.2 mounted on the frame 1, a front arm 22.3, a middle arm 22.4 and a rear arm 22.5, an output gear of the water supply motor 22.2 is engaged with the third driven gear 22.1, a second transition frame 22.6 is fixed on the third driven gear 22.1, the upper end of the front arm 22.3 is screwed with the second transition frame 22.6, the lower end of the front arm 22.3 is connected with the upper end of the middle arm 22.4 through a first joint motor 22.7, namely, a shell of the first joint motor 22.7 is fixed with the middle arm 22.4, and an output shaft is fixed with the front arm 22.3; the lower end of the middle arm 22.4 is connected with the rear arm 22.5 through a second joint motor 22.8, namely, the shell of the second joint motor 22.8 is fixed with the rear arm 22.5, and the output shaft is fixed with the middle arm 22.4; the water pipe 21 is a flexible pipeline, the inlet of the water pipe 21 is connected with the boiler 20, and the outlet of the water pipe 21 is fixed with the rear arm 22.5.

The tea feeding and cleaning assembly is structured as follows.

The machine frame 1 is rotatably provided with a rear driven gear 23, the machine frame 1 is provided with a tea dividing motor 24, an output shaft of the tea dividing motor 24 is provided with a front driving gear 25, the front driving gear 25 and the rear driven gear 23 are sleeved with a synchronous belt 26, and a waste water outlet 43 is hollowed out between the middle position of the synchronous belt 26, namely the front driving gear 25 and the rear driven gear 23. The synchronous belt 26 is provided with a plurality of cup holders 27 with pits, a teacup 28 is rotatably arranged in each pit, and when the cup holder 27 is positioned at the tea receiving station, the teacup 28 in the cup holder 27 is positioned right below the tea outlet 19 of the justice cup 17.

The machine frame 1 is further provided with a fixed column 46, an installation frame 29 is fixedly suspended on the fixed column 46 in a hanging mode, the installation frame 29 is provided with a transposition motor 30, an output shaft of the transposition motor 30 faces downwards and is fixedly provided with a swing frame 31, the swing frame 31 is fixedly provided with a vertical guide pipe 32, a lifting rod 33 is in sliding fit with the guide pipe 32, a clamping plate 34 clamped at the upper opening of the guide pipe 32 is arranged at the upper end of the lifting rod 33, the lower end of the lifting rod 33 is connected with a clamp 35 used for clamping a teacup 28, a magnetic block 36 is arranged on the clamp 35, and an electromagnet 37 used for adsorbing the magnetic block 36 and the clamp 35 is arranged on the swing frame 31. Of course, the lifting of the clamp 35 can also be realized by a cylinder or a vertical ball screw pair.

The clamp 35 comprises a supporting plate 35.1 fixed with the lower end of the lifting rod 33, a clamping guide rail 35.2 is fixed on the supporting plate 35.1, a clamping motor 35.3 is arranged on the supporting plate 35.1, an output gear of the clamping motor 35.3 is connected with a first transmission gear 35.5 through a first belt 35.4, the first transmission gear 35.5 is fixed with a clamping screw 35.6, a clamping rotor 35.7 is matched on the clamping guide rail 35.2 in a sliding manner, the clamping rotor 35.7 is screwed with the clamping screw 35.6, a clamping arm 35.8 is arranged on the clamping rotor 35.7, and a fixing arm 35.9 is fixed on the supporting plate 35.1; a driven rotating handle 38 is rotatably arranged on the clamping arm 35.8, a revolving cup motor 39 is arranged on the fixed arm 35.9, an output gear of the revolving cup motor 39 is connected with a second transmission gear 41 through a second belt 40, and a driving rotating handle 42 is arranged on the second transmission gear 41.

As can be known from general knowledge, in order to control the rotation speed of each motor, the tea maker further comprises a main controller such as a PLC chip, wherein the main controller is in signal connection with all the motors, and of course, the main controller is also in signal connection with the probe 8, the solenoid valve, the heating wire, the water pump, the boiler and the like.

As shown in fig. 1 to 10, the method for making Pu 'er tea by using the Pu' er tea making machine of the invention comprises the following steps.

The Pu' er tea cake is placed and temporarily fixed on the turntable 2, if the tea cake is clamped on the turntable 2 by a clamping piece, the electric saw 6 descends along the Z-direction ball screw pair 5 to fit the tea cake, the longitudinal cutting of the tea cake is realized along the X-direction ball screw pair 3, and the transverse movement of the cutting position of the electric saw 6 is realized along the Y-direction ball screw pair 4, so that the complete tea cake is cut into parallel tea strips; the turntable 2 is then rotated through 90 degrees and the cutting process is repeated to cut the tea strips into rectangular arrays of tea pieces 7.

The three ball screw pairs in the XYZ directions also meet the movement of three degrees of freedom of the mechanical claw 9, the probe 8 judges whether the small tea blocks 7 exist below the mechanical claw 9, if so, the mechanical claw 9 is closed to grab the small tea blocks 7, the mechanical claw 9 is moved to the position above the weighing plate 11 through the three ball screw pairs in the XYZ directions, and the weighing plate 11 is blanked by loosening the mechanical claw 9.

The weighing plate 11 weighs the weight of the fallen small tea blocks 7, the crank rocker mechanism 10 is driven after the weight meets the boiling and brewing requirements, the rocker 10.1 is inclined to pour the small tea blocks 7 in the weighing plate 11 into the first cup mouth of the soaking cup 14, and automatic quantitative putting of tea materials is achieved.

Then, a water pump is driven to introduce hot water into the soaking cup 14 from a boiler 20 through a water pipe 21, the first turnover cover 15 is closed, the water pump can ensure that the water inflow meets the proportion of tea materials and water, the boiler 20 ensures that the water inflow temperature meets the requirement, and the electric heating wires in the soaking cup 14 ensure that the boiling temperature continuously meets the requirement; after the boiling time is reached, the first main rotating arm 12 is driven to incline the brewing cup 14, tea water is poured into a second cup opening of the justice cup 17 from the tea leakage opening 16, the separation of tea leaves and the tea water is realized, and then the second turnover cover 18 is closed; the electric heating wires in the soaking cup 14 preserve heat of the retained tea leaves to ensure the taste of subsequent multi-stage boiling, the electric heating wires in the justice cup 17 preserve heat of the tea water to ensure the taste of drinking, and a user drinks the tea from the tea outlet 19 of the justice cup 17.

Claims

1. The Pu' er tea making machine is characterized in that: the cutting and brewing machine comprises a rack (1), wherein a cutting and feeding assembly and a brewing assembly are arranged on the rack (1);

the block cutting and feeding assembly comprises a turntable (2) which is rotatably arranged on a rack (1) and used for placing and fixing Pu' er tea cakes, two parallel X-direction ball screw pairs (3) are further arranged on the rack (1), two X-direction rotors (3.1) of the two X-direction ball screw pairs (3) are jointly connected with a Y-direction ball screw pair (4), the Y-direction ball screw pair (4) is provided with two Y-direction rotors (4.1), each Y-direction rotor (4.1) is provided with a Z-direction ball screw pair (5), a Z-direction rotor (5.1) of one Z-direction ball screw pair (5) is provided with an electric saw (6), and a Z-direction rotor (5.1) of the other Z-direction ball screw pair (5) is provided with a probe (8) for identifying small tea blocks (7) and a mechanical claw (9) for grabbing the small tea blocks (7); the block cutting and feeding assembly also comprises a crank and rocker mechanism (10), and a rocker (10.1) of the crank and rocker mechanism (10) is provided with a weighing disc (11) which is used for receiving the blanking of the mechanical claw (9) and weighing the mass of the fallen small tea blocks (7) when the rocker (10.1) is vertical;

the brewing assembly comprises a first main rotating arm (12) and a second main rotating arm (13), each main rotating arm comprises a main rotating arm motor (13.1) arranged on the rack (1), a first driven gear (13.2) rotatably arranged on the rack (1) and an arm body fixed on the first driven gear (13.2), and an output gear of the main rotating arm motor (13.1) is meshed with the first driven gear (13.2); a soaking cup (14) and a flip motor (13.3) are fixed at the free end of the arm body of the first main rotating arm (12), the soaking cup (14) is provided with a first cup opening used for receiving blanking of the weighing plate (11) when the rocker (10.1) inclines, the output shaft of the flip motor (13.3) is provided with a swing rod (13.4), a first flip cover (15) used for shielding the first cup opening is arranged on the swing rod (13.4), and a tea leaking opening (16) is arranged between the first flip cover (15) and the first cup opening; a fairway cup (17) and another flip motor (13.3) are fixed at the free end of the arm body of the second main rotating arm (13), the fairway cup (17) is provided with a second cup opening for receiving tea water leaking from the tea leaking opening (16) when the soaking cup (14) inclines, the output shaft of the flip motor (13.3) is also provided with a swing rod (13.4), and the swing rod (13.4) is provided with a second flip (18) for sealing the second cup opening; the justice cup (17) is also provided with a tea outlet (19); the soaking cup (14) and the justice cup (17) are respectively provided with an electric heating wire;

the frame (1) is also provided with a boiler (20), the brewing assembly also comprises a water pipe (21) used for communicating the boiler (20) and the soaking cup (14), and the water pipe (21) is provided with a water pump.

2. The Pu' er tea making machine according to claim 1, wherein: the X-direction ball screw pair (3) comprises two X-direction guide rails (3.2) fixed on the rack (1), two X-direction rotors (3.1) are respectively in sliding fit with the two X-direction guide rails (3.2), a Y-direction guide rail (4.2) is fixed between the two X-direction rotors (3.1), an X-direction motor (3.3) is fixed at the end part of the X-direction guide rail (3.2), an X-direction screw (3.4) is fixed on an output shaft of the X-direction motor (3.3), and the X-direction screw (3.4) is screwed with the X-direction rotor (3.1) on the same side;

a Y-direction motor (4.3) of the Y-direction ball screw pair (4) is fixed at one end of the Y-direction guide rail (4.2), a Y-direction screw (4.4) is fixed on an output shaft of the Y-direction motor (4.3), and two Y-direction rotors (4.1) are screwed on the Y-direction screw (4.4);

a Z-direction guide rail (5.2) of each Z-direction ball screw pair (5) is fixed with a corresponding Y-direction rotor (4.1), a Z-direction motor (5.3) of the Z-direction ball screw pair (5) is fixed at the upper end of the Z-direction guide rail (5.2), a Z-direction screw (5.4) is fixed on the Z-direction motor (5.3) through an output shaft, and the Z-direction rotor (5.1) is screwed on the Z-direction screw (5.4).

3. The Pu' er tea making machine according to claim 1, wherein: the gripper (9) is including fixing fixed plate (9.1) on Z to rotor (5.1), rotatable installation has second driven gear (9.2) on fixed plate (9.1), fixed mechanical finger (9.3) on second driven gear (9.2), install on fixed plate (9.1) and grab tea motor (9.4), the output shaft of grabbing tea motor (9.4) is fixed with grabs tea driving gear (9.5), grab also fixed mechanical finger (9.3) on tea driving gear (9.5), grab tea driving gear (9.5) and second driven gear (9.2) meshing.

4. The Pu' er tea making machine according to claim 1, wherein: the crank rocker mechanism (10) comprises a rocker (10.1) and a crank motor (10.2) arranged on the rack (1), the rocker (10.1) is composed of an integrated vertical rod and an integrated diagonal rod, a connecting part of the vertical rod and the diagonal rod is hinged with the rack (1), a shelf (10.3) is arranged at the top of the vertical rod, the weighing disc (11) is connected to the shelf (10.3), and a pressure sensor is arranged between the two; an output shaft of the crank motor (10.2) is provided with an eccentric wheel (10.4), and the eccentric wheel (10.4) is hinged with an inclined rod of the rocker (10.1) through a primary connecting rod (10.5), a secondary connecting rod (10.6) and a tertiary connecting rod (10.7).

5. The Pu' er tea making machine according to claim 1, wherein: the arm body of each main spiral arm comprises an upper arm (13.5) and a lower arm (13.6), a first transition frame (13.7) is fixed on a first driven gear (13.2), the upper end of the upper arm (13.5) is in threaded connection with the first transition frame (13.7), the lower end of the upper arm (13.5) is in threaded connection with the rear end of the lower arm (13.6), an immersion cup (14) or a highway cup (17) is fixed at the front end of the lower arm (13.6), and a shell of a flip motor (13.3) is also fixed at the front end of the lower arm (13.6).

6. The Pu' er tea making machine according to claim 1, wherein: be equipped with water supply spiral arm (22) on frame (1), water supply spiral arm (22) are including rotatable third driven gear (22.1) of installing in frame (1), install water supply motor (22.2) on frame (1), forearm (22.3), well arm (22.4) and postbrachium (22.5), the output gear and the meshing of third driven gear (22.1) of water supply motor (22.2), be fixed with second transition frame (22.6) on third driven gear (22.1), forearm (22.3) upper end and second transition frame (22.6) spiro union, forearm (22.3) lower extreme is connected with well arm (22.4) upper end through first joint motor (22.7), well arm (22.4) lower extreme is connected with postbrachium (22.5) through second joint motor (22.8), water pipe (21) are flexible pipeline, water pipe (21) entry is connected with boiler (20), water pipe (21) export and postbrachium (22.5) are fixed.

7. The Pu' er tea making machine according to claim 1 or 6, wherein: frame (1) is gone up the rotatable back driven gear (23) of installing, be equipped with branch tea motor (24) on frame (1), the output shaft that divides tea motor (24) is equipped with preceding driving gear (25), the cover has hold-in range (26) on preceding driving gear (25) and back driven gear (23), be equipped with a plurality of saucer (27) of taking the pit on hold-in range (26), a teacup (28) have been rotationally placed in every pit, when saucer (27) are located and connect the tea station, this saucer (27) are located under the tea outlet (19) of fairway cup (17).

8. The Pu' er tea making machine according to claim 7, wherein: frame (1) is equipped with mounting bracket (29), mounting bracket (29) is equipped with transposition motor (30), the output shaft of transposition motor (30) is equipped with rocker (31), rocker (31) are fixed with vertical stand pipe (32), stand pipe (32) sliding fit has lifter (33), lifter (33) upper end is equipped with cardboard (34) of card in stand pipe (32) suitable for reading, lifter (33) lower extreme is connected with anchor clamps (35) that are used for cliping teacup (28), be equipped with magnetic path (36) on anchor clamps (35), be equipped with on rocker (31) and be used for adsorbing electro-magnet (37) of magnetic path (36) and anchor clamps (35).

9. The Pu' er tea making machine according to claim 8, wherein: the clamp (35) comprises a supporting plate (35.1) fixed with the lower end of the lifting rod (33), a clamping guide rail (35.2) is fixed on the supporting plate (35.1), a clamping motor (35.3) is arranged on the supporting plate (35.1), an output gear of the clamping motor (35.3) is connected with a first transmission gear (35.5) through a first belt (35.4), the first transmission gear (35.5) is fixed with a clamping lead screw (35.6), a clamping rotor (35.7) is in sliding fit on the clamping guide rail (35.2), the clamping rotor (35.7) is screwed with the clamping lead screw (35.6), a clamping arm (35.8) is arranged on the clamping rotor (35.7), and a fixed arm (35.9) is fixed on the supporting plate (35.1); a driven rotating handle (38) is rotatably arranged on the clamping arm (35.8), a rotor motor (39) is arranged on the fixed arm (35.9), an output gear of the rotor motor (39) is connected with a second transmission gear (41) through a second belt (40), and a driving rotating handle (42) is arranged on the second transmission gear (41).

10. The method for making Pu 'er tea by using the Pu' er tea making machine according to claim 1, which is characterized in that: the method comprises the following steps:

pu' er tea cakes are placed and temporarily fixed on a turntable (2), a Z-direction ball screw pair (5) descends an electric saw (6) to be attached to the tea cakes, the X-direction ball screw pair (3) realizes longitudinal cutting of the tea cakes, and a Y-direction ball screw pair (4) realizes transverse movement of the cutting position of the electric saw (6), so that the complete tea cakes are cut into parallel tea strips; rotating the turntable (2) by 90 degrees, repeating the cutting process, and cutting the tea strips into small tea blocks (7) in a rectangular array;

the three ball screw pairs in the XYZ directions also meet the movement of three degrees of freedom of the mechanical claw (9), the probe (8) judges whether a small tea block (7) exists below the mechanical claw (9), if so, the mechanical claw (9) is closed to grab the small tea block (7), the mechanical claw (9) is moved to the position above the weighing disc (11) through the three ball screw pairs, and the mechanical claw (9) is released to realize the blanking of the weighing disc (11);

the weighing plate (11) weighs the weight of the fallen small tea blocks (7), when the weight meets the boiling requirement, the crank rocker mechanism (10) is driven, the rocker (10.1) is inclined to pour the small tea blocks (7) in the weighing plate (11) into a first cup opening of the soaking cup (14), and automatic quantitative putting of tea materials is achieved;

then, a water pump is driven to introduce hot water into the soaking cup (14) from a boiler (20) through a water pipe (21), then the first turnover cover (15) is closed, the water pump can ensure that the water inflow meets the proportion of tea materials and water, the boiler (20) ensures that the water inflow temperature meets the requirement, and an electric heating wire in the soaking cup (14) ensures that the boiling temperature continuously meets the requirement; after the boiling time is reached, the first main rotating arm (12) is driven to incline the brewing cup (14), tea water is poured into a second cup opening of the justice cup (17) from the tea leakage opening (16) to realize the separation of the tea leaves and the tea water, and then the second turnover cover (18) is closed; the electric heating wire in the soaking cup (14) keeps the temperature of the retained tea leaves to ensure the taste of subsequent multi-stage boiling, the electric heating wire in the justice cup (17) keeps the temperature of the tea water to ensure the taste of drinking, and a user receives the tea from the tea outlet (19) of the justice cup (17) for drinking.