CN117121957A - Tea leaf fixed-height pile fermentation robot integrating infrared induction and pile fermentation method thereof - Google Patents
Tea leaf fixed-height pile fermentation robot integrating infrared induction and pile fermentation method thereof Download PDFInfo
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Abstract
The invention relates to a black tea making technology, in particular to an infrared induction integrated tea fixed high pile fermentation robot and a pile fermentation method thereof, wherein the robot comprises a basic frame structure and a box body fixedly arranged above the basic frame structure, one side of the basic frame structure is provided with a stacking mechanism and a lifting mechanism, and the lifting mechanism is used for conveying tea leaves at the bottom of the box body upwards into the stacking mechanism; the stacking mechanism is provided with an upper opening and a lower opening, tea leaves at the bottom of the box body are conveyed upwards through the lifting mechanism and fall into the stacking mechanism from the upper opening of the stacking mechanism, and are discharged through the lower opening of the stacking mechanism. The tea is continuously conveyed into the stacking mechanism by the lifting mechanism, the tea enters the stacking mechanism from the upper opening of the stacking mechanism and is discharged from the lower opening of the stacking mechanism, and in the pile fermentation process, the aperture of the lower opening of the stacking mechanism is continuously reduced along with the increase of the height of the tea pile on the ground, so that the conicity of the tea pile fermentation is larger.
Description
Technical Field
The invention relates to an integrated infrared sensing tea leaf fixed-height pile fermentation robot and a pile fermentation method thereof.
Background
The pile fermentation technology is one kind of black tea producing process, and the pile fermentation principle is that the biochemical power of microbe extracellular enzyme and the physical and chemical power of heat enzyme produce one series of complicated chemical changes in the tea components to form the special black tea flavor.
The specific process of piling is that the tea leaves are piled into 70 with the height of about the inside and then are sprayed with water, then the linen is covered, the effect of the tea ferment is promoted, the tea leaves are fermented in a damp-heat environment, and the tea leaves are spread out and dried after the fermentation is completed. The color of the tea leaves subjected to pile fermentation is chestnut brown due to the difference of pile fermentation degrees; in the fermentation process, the tea is changed from green to yellow, and then from yellow to chestnut red, chestnut black and chestnut brown.
Then, the pile fermentation treatment is basically carried out manually in the industry at present, the taper of the cone pile is larger, so that the tea leaves in the cone pile cannot absorb heat in time, and meanwhile, the tea leaves at the deepest part of the cone pile cannot be effectively contacted with the ambient air, so that the fermentation is incomplete; the result is that the color of the piled tea leaves is gradually lightened from right to inner, and the fermentation is incomplete.
Disclosure of Invention
The invention aims to provide an integrated infrared-sensing tea leaf high-altitude pile fermentation robot and a pile fermentation method thereof, so as to solve the problem of uneven fermentation caused by too small pile fermentation taper in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an integrated infrared-sensing tea leaf fixed-height pile fermentation robot, comprising:
a base frame structure;
the box body is used for loading fresh tea leaves to be piled, and is arranged on the basic frame body structure;
the lifting mechanism is used for conveying tea leaves at the bottom of the box body upwards to the stacking mechanism;
the stacking mechanism and the lifting mechanism are arranged on one side of the basic frame body structure, the stacking mechanism is provided with an upper opening and a lower opening, tea leaves at the bottom of the box body are conveyed upwards through the lifting mechanism and fall into the stacking mechanism from the upper opening of the stacking mechanism, and are discharged through the lower opening of the stacking mechanism;
the stacking mechanism is mechanically interlocked with the lifting mechanism, so that the caliber of a lower opening of the stacking mechanism is continuously reduced in the process that the lifting mechanism conveys tea leaves upwards.
The above integrated infrared sensing tea leaf fixed high pile fermentation robot comprises: an infrared sensing module is arranged on one side of the base frame body structure, which is close to the stacking mechanism, and a travelling mechanism is arranged on the lower part of the base frame body structure, and the travelling mechanism and the stacking mechanism are communicated with the infrared sensing module;
when the height of the tea leaves piled by the piling mechanism reaches a preset height, the infrared sensing module is triggered, the piling mechanism acts reversely, and meanwhile, the travelling mechanism drives the basic frame body structure to travel; the lower opening caliber of the stacking mechanism is continuously increased by the reverse action of the stacking mechanism until the initial value is reached; in the process of the reverse action of the stacking mechanism, the lifting mechanism is disconnected with the stacking mechanism and keeps static;
The infrared sensing module comprises a timing unit.
The above integrated infrared sensing tea leaf fixed high pile fermentation robot comprises: the running gear includes:
the walking motor is arranged below the basic frame body structure; the two ends of the traveling motor are connected with traveling shafts, the ends of the traveling shafts are provided with moving wheels, and the traveling motor is communicated with the infrared sensing module and the timing unit;
the universal wheels are arranged on two sides of the underframe;
the foundation frame body structure comprises a frame and a surrounding frame fixed on the frame, wherein a fork frame and a side frame are fixed on the surrounding frame;
the box body is fixedly arranged on the basic frame body structure through the fork frame and the side frame;
the surrounding frame is also fixed with a bracket, and a steering handle is fixed on the bracket.
The above integrated infrared sensing tea leaf fixed high pile fermentation robot comprises: the stacking mechanism includes:
the cone barrel can vertically lift;
the circular arc cone sheet group is arranged on the outer surface of the cone barrel in a sliding manner, and the taper of the circular arc cone sheet group is the same as that of the cone barrel;
the circular arc cone sheet group comprises a plurality of first circular arc cone sheets and a plurality of second circular arc cone sheets, wherein the first circular arc cone sheets and the second circular arc cone sheets are distributed at intervals, and the inner diameter of the first circular arc cone sheets is equal to the outer diameter of the second circular arc cone sheets;
The upper parts of the outer walls of the first circular arc conical sheet and the second circular arc conical sheet are horizontally and fixedly provided with sliding rods which are in sliding fit with sliding sleeves, and the sliding sleeves are distributed on the hoops along the circumference at equal intervals; the hoops are fixed on the basic frame body structure through the vertical frames;
the center of the inner wall of the first circular arc conical sheet is provided with a first convex rib, and the outer wall of the conical barrel is provided with a first groove for sliding fit of the same convex rib;
the center of the inner wall of the second circular arc conical sheet is provided with a second convex rib, and the outer wall of the conical barrel is provided with a second groove which is used for being in sliding fit with the second convex rib;
the upper ends of the first convex rib and the second convex rib are respectively provided with a wing block, the two sides of the first groove are provided with a first rail, the two sides of the second groove are provided with a second rail, the wing blocks at the upper end of the first convex rib are in sliding fit with the first rail, and the wing blocks at the upper end of the second convex rib are in sliding fit with the second rail.
The above integrated infrared sensing tea leaf fixed high pile fermentation robot comprises: the stacking mechanism further comprises a pile fermentation motor arranged on the outer side of the vertical frame, the output end of the pile fermentation motor is connected with a lead screw, the lead screw is in threaded fit with a threaded sleeve, the upper part of the threaded sleeve is fixed with a lifting table, and a barrel is fixed on the lifting table;
the upper parts of the round barrel and the conical barrel are concentrically fixed, rail rods are respectively fixed on two sides of the lifting table, the rail rods are in sliding fit with two sides of the vertical frame, and the pile fermentation motor is communicated with the infrared induction module.
The above integrated infrared sensing tea leaf fixed high pile fermentation robot comprises: the lifting mechanism comprises two mounting frames fixedly arranged on the basic frame body structure, and a first rotating roller, a second rotating roller, a third rotating roller, a fourth rotating roller and a fifth rotating roller are rotatably arranged between the two mounting frames;
the first rotating roller, the second rotating roller, the third rotating roller, the fourth rotating roller and the fifth rotating roller form a rotating roller group, a lifting belt is arranged on the rotating roller group, a plurality of anti-skid partitions are arranged on the lifting belt along the width direction of the lifting belt, and the plurality of anti-skid partitions are arranged at equal intervals; side stops are arranged on two sides of the lifting belt;
the stacking mechanism establishes a mechanical interlock with a fifth roller in the lifting mechanism.
The above integrated infrared sensing tea leaf fixed high pile fermentation robot comprises: the bottom of the box body is provided with a tea outlet, and a bag blocking piece is arranged between the tea outlet and the lifting belt;
one surface of the packing baffle close to the lifting belt is parallel to the lifting belt, the packing baffle is arranged at the lower part of the box body, a concave cavity is formed in the lower part of the packing baffle, a guide surface is arranged at the bottom of the concave cavity, and the guide surface is perpendicular to the lifting belt;
the lower extreme of package fender has set up the plane of scraping, and the plane of scraping is laminated in the upper edge of anti-skidding cut off, and scrapes the length of plane along lifting belt running direction and be greater than the interval of two adjacent anti-skidding cuts off.
The above integrated infrared sensing tea leaf fixed high pile fermentation robot comprises: the output end of the pile fermentation motor is connected with a screw rod through a worm, a side edge frame is arranged at the lower part of the vertical frame, a transmission shaft is rotatably arranged on the side edge frame, and a worm wheel matched with the worm is arranged in the center of the transmission shaft;
the transmission shaft is sleeved with a regular triangle gear ring and a driving belt pulley, the inner wall of the regular triangle gear ring is integrally provided with a fixed key, the surface of the transmission shaft is provided with a key slot along the axis direction of the transmission shaft, and the fixed key is in sliding fit with the key slot;
the inner wall of the driving belt wheel is provided with a ring-shaped concave rail which is rotationally embedded with the convex ring on the surface of the transmission shaft; an inverse triangle gear ring is coaxially and integrally arranged on one surface of the driving pulley, which faces the regular triangle gear ring, and the inverse triangle gear ring is matched with the regular triangle gear ring;
the transmission shaft is further provided with a circle of stop ladder, the transmission shaft is sleeved with a cylindrical spring, one end of the cylindrical spring is attached to the stop ladder, the other end of the cylindrical spring is attached to the right triangle gear ring, and the driving belt wheel is connected with a driven belt wheel fixed at the end part of the fifth rotating roller through a transmission belt.
The above integrated infrared sensing tea leaf fixed high pile fermentation robot comprises: the infrared sensing module also comprises a controller, a wireless transmitter and an inclined frame which are arranged on the basic frame body structure;
The timing unit comprises a timer arranged on the basic frame body structure, an infrared probe is arranged on the inclined frame, and the infrared probe is communicated with the controller through a wireless transmitter;
the controller is respectively in unidirectional communication with the pile fermentation motor and the walking motor; the pile fermentation motor and the walking motor establish feedback communication with the controller through a timer.
A method of performing pile fermentation using a pile fermentation robot as described above, comprising the steps of:
step1, carrying out no-load operation fitting, starting a pile fermentation motor when no tea leaves exist in the box body, checking whether the circular arc cone sheet groups interfere when gathering each other, and if so, correcting the first circular arc cone sheet and/or the second circular arc cone sheet to ensure that the circular arc cone sheet groups do not interfere when gathering each other;
step2, tea loading, namely starting a pile fermentation motor to adjust the circular arc cone sheet group to an initial position (the cone barrel reaches the lowest end of the stroke); filling tea leaves to be piled into the box body, checking whether the height of the infrared probe meets the pile-piling height requirement, and simultaneously, testing the smooth discharge condition of the tea outlet and the lower opening of the piling mechanism;
step3, sensitivity detection, namely checking the communication sensitivity among the infrared probe, the controller, the timer and the wireless transmitter under the condition that the pile-fermentation motor and the walking motor are not powered on, and judging whether the delay time value of analog signal transmission and feedback falls into a normal error range; if the delay time is too long, the timing duration of the timer can be correspondingly reduced;
Step4, starting pile fermentation, and simultaneously, connecting a pile fermentation motor, a walking motor, a controller, an infrared probe, a timer and a wireless transmitter to perform pile fermentation; after the first cone stack is formed, manually checking whether the height of the cone stack accords with the expected height; if not, the delay time of the timer can be properly increased until the height of the cone stack reaches the preset height;
step5, after the piling is completed, the piling motor, the walking motor, the controller, the infrared probe, the timer and the wireless transmitter are powered off at the same time after the tea leaves in the box body are completely discharged, and the whole machine is manually controlled and pushed to move to a warehouse by matching with the universal wheels.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, tea is continuously conveyed into the stacking mechanism by utilizing the lifting mechanism, the tea enters the stacking mechanism from the upper opening of the stacking mechanism and is discharged from the lower opening of the stacking mechanism, and in the pile fermentation process, as the height of the tea pile on the ground is increased, the aperture of the lower opening of the stacking mechanism is continuously reduced, so that the conicity of the tea for pile fermentation is larger, namely the cone pile of the tea for pile fermentation is sharper; under the same pile-fermentation height, when the robot is adopted for pile-fermentation, the transverse thickness of the tea cone pile is smaller, which is beneficial to the fermentation of tea ferment in a damp-heat environment.
Drawings
Figure 1 is an isometric view of an integrated infrared-sensing tea fixed height pile fermentation robot.
Fig. 2 is a schematic structural diagram of an integrated infrared-sensing tea leaf fixed-height pile fermentation robot.
Fig. 3 is a schematic structural diagram of a stacking mechanism in the tea fixed-height pile fermentation robot integrating infrared induction.
Fig. 4 is a schematic structural view of another orientation of a stacking mechanism in an integrated infrared-sensing tea leaf fixed-height pile fermentation robot.
Fig. 5 is a schematic structural diagram of the integrated infrared sensing tea leaf fixed-height pile fermentation robot after separation of a cone barrel and a circular arc cone sheet group.
Fig. 6 is a schematic structural view of the disassembled cone and circular cone set.
Fig. 7 is an enlarged view at a in fig. 6.
Fig. 8 is a schematic view of the structure of fig. 6 in another orientation.
Fig. 9 is an enlarged view at B in fig. 8.
Fig. 10 is a schematic structural view of a circular arc cone slice group in an integrated infrared sensing tea fixed-height pile fermentation robot.
Fig. 11 is a schematic structural view of the integrated infrared sensing tea leaf fixed-height pile fermentation robot after the box body is removed.
Fig. 12 is a schematic view of the structure of fig. 11 with the bracket removed.
Fig. 13 is a schematic structural diagram of an infrared induction module in the integrated infrared induction tea fixed-height pile fermentation robot.
Fig. 14 is a schematic view of another view of the belt from fig. 13 after removal.
Fig. 15 is a schematic view of the structure of the drive shaft and the driving pulley when engaged with the right triangle ring gear.
Fig. 16 is a schematic view of the structure of fig. 15 with portions broken away.
Fig. 17 is a schematic view of the structure of fig. 16 in another orientation.
Figure 18 is a schematic view of the local structure of the lifting mechanism in the integrated infrared sensing tea fixed high pile fermentation robot.
Figure 19 is a schematic diagram of the structure of the integrated infrared sensing tea fixed height pile fermentation robot when the lifting mechanism is matched with the box body and the bag baffle.
Fig. 20 is a schematic view of the structure of the case when the case is detached on the basis of fig. 19.
Fig. 21 is a schematic view of the structure of fig. 20 in another orientation.
Fig. 22 is a schematic view of the structure when the lifting mechanism and the stopper are separated.
In the figure:
101-a frame; 102-surrounding the frame; 103-a fork; 104-side frames; 105-reinforcing ribs; 106-a bracket; 107-steering handle;
201-a box body; 202-a stopper; 203-scraping plane; 204-a cavity; 205—a guide surface; 206-a tea outlet;
301-a vertical frame; 302-pile fermentation motor; 303-screw; 304-a threaded sleeve; 305-lifting platform; 306-rail bar; 307-drums; 308-cone barrel; 309-hoops; 310-sliding sleeve; 311-slide bar; 312-number one circular arc cone; 313-second circular arc cone; 314-first convex ribs; 315-groove number one; 316-second convex ribs; 317-groove number two; 318-wing blocks; 319-track number one; 320-track number two;
401-lifting belt; 402-anti-slip partition; 403-side gear; 404-mounting frame; 405-a first rotating roller; 406-a second roller; 407-third roller; 408-fourth roller; 409-fifth roller; 410-a bracket;
501-worm; 502-worm gear; 503-side frames; 504-a drive shaft; 505-right triangle ring gear; 506-a driving pulley; 507-annular groove track; 508-convex ring; 509-a fixed bond; 510-keyway; 511-a cylindrical spring; 512-stop steps; 513-a drive belt;
601-an infrared probe; 602-inclined frame; 603-a controller; 604-a timer; 605-a wireless transmitter; 701-a walking motor; 702—a walking axis; 703-a moving wheel; 704-universal wheels; 705-chassis.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1 to 22, as an embodiment of the present invention, the integrated infrared sensing tea fixed-height pile fermentation robot includes a base frame structure and a box 201 fixedly disposed above the base frame structure, wherein the box 201 is used for loading fresh tea leaves to be piled fermentation.
A stacking mechanism and a lifting mechanism are arranged on one side of the basic frame body structure, and the lifting mechanism is used for conveying tea leaves at the bottom of the box body 201 upwards into the stacking mechanism; the stacking mechanism is provided with an upper opening and a lower opening, tea leaves at the bottom of the box 201 are conveyed upwards through the lifting mechanism and fall into the stacking mechanism from the upper opening of the stacking mechanism, and are discharged through the lower opening of the stacking mechanism.
The upper opening is circular, the lower opening is circular with multiple circular arcs, and the lower opening is formed by multiple circular arcs; in the embodiment of the invention, the lower opening has six sections of circular arcs, wherein the diameters of three sections of circular arcs are the same, and the diameters of the other three sections of circular arcs are the same.
Since the case 201 needs to be loaded with tea leaves, it is large in volume and high in height, and therefore, in order to ensure that the tea leaves in the case 201 can be all transported to the stacking mechanism by the lifting mechanism, it must be discharged from the bottom of the case 201.
It should be noted that although the bottom of the case 201 is higher than the stacking mechanism by raising the case 201, the tea leaves can automatically slide into the stacking mechanism by gravity; however, this will result in extremely high height of the box 201, which on the one hand will result in an increase in the center of gravity of the robot, which is not beneficial to increase the overall stability; on the other hand it is inconvenient to add tea leaves to the cabinet 201.
The stacking mechanism is mechanically interlocked with the lifting mechanism, so that the aperture of the lower opening of the stacking mechanism is continuously reduced in the process that the lifting mechanism conveys tea leaves upwards.
According to the invention, tea is continuously conveyed into the stacking mechanism by utilizing the lifting mechanism, the tea enters the stacking mechanism from the upper opening of the stacking mechanism and is discharged from the lower opening of the stacking mechanism, and in the pile fermentation process, as the height of the tea pile on the ground is increased, the aperture of the lower opening of the stacking mechanism is continuously reduced, so that the conicity of the tea for pile fermentation is larger, namely the cone pile of the tea for pile fermentation is sharper; under the same pile-fermentation height, when the robot is adopted for pile-fermentation, the transverse thickness of the tea cone pile is smaller, which is beneficial to the fermentation of tea ferment in a damp-heat environment.
As a further scheme of the invention, referring to fig. 1 and 2, an infrared sensing module is further arranged on one side of the base frame structure close to the stacking mechanism, and a travelling mechanism is arranged at the lower part of the base frame structure, and the travelling mechanism and the stacking mechanism are both communicated with the infrared sensing module;
when the height of the tea leaves piled by the piling mechanism reaches a preset height, the infrared sensing module is triggered, the piling mechanism acts reversely, and meanwhile, the travelling mechanism drives the basic frame body structure to travel; the lower opening caliber of the stacking mechanism is continuously increased by the reverse action of the stacking mechanism until the initial value is reached; in the process of reverse action of the stacking mechanism, the lifting mechanism is disconnected with the stacking mechanism and kept still;
The infrared sensing module comprises a timing unit.
The height of the pile fermentation can be monitored through the arranged infrared sensing module, if the height reaches the preset height, the infrared sensing module respectively sends sensing signals to the travelling mechanism and the stacking mechanism, the timing unit starts timing, and the stacking mechanism acts reversely to enable the caliber of the lower opening of the stacking mechanism to be continuously increased; the travelling mechanism drives the whole robot to perform travelling transposition, and in the process, the lifting mechanism and the stacking mechanism are separated from mechanical interlocking and kept still.
When the timing unit reaches the preset time length, the caliber of the lower opening of the stacking mechanism is increased to the initial size, the running mechanism also stops working, the stacking mechanism moves forward again and drives the lifting mechanism to convey tea leaves, and therefore the purpose of infrared fixed-height equidistant piling can be achieved.
As a further aspect of the present invention, referring to fig. 1 and 2, the base frame structure includes a frame 101 and a surrounding frame 102 fixed on the frame 101, where a fork 103 and a side frame 104 are fixed on the surrounding frame 102;
the box 201 is fixedly arranged on the basic frame structure through the fork 103 and the side frame 104; specifically, the fork 103 is fixed to the enclosure frame 102, and the fork 103 forms a triangle in the width direction of the enclosure frame 102, so that a stable support can be formed in the width direction of the enclosure frame 102 for the case 201.
Reinforcing ribs 105 are fixedly supported between the top and the bottom of the side frame 104, the reinforcing ribs 105 and the side frame 104 form a triangle in the length direction of the surrounding frame 105, and the box 201 is stably supported in the length direction of the surrounding frame 102.
As a still further solution of the present invention, referring to fig. 2 and 11, the travelling mechanism includes a travelling motor 701 mounted below the base frame structure, the travelling motor 701 is a double-headed motor, two ends of the travelling motor 701 are connected with travelling shafts 702, moving wheels 703 are mounted at the ends of the travelling shafts 702, and the travelling motor 701 communicates with an infrared sensing module and a timing unit;
the travelling mechanism further comprises a bottom frame 705 arranged below the basic frame body structure, and universal wheels 704 are arranged on two sides of the bottom frame 705; a bracket 106 is also fixed on the surrounding frame 102, and a steering handle 107 is fixed on the bracket 106;
wherein, two remove round 703 and two universal wheels 704 respectively distribute in the below four corners of basic support body structure.
When the infrared sensing module is triggered, the walking motor 701 is started and drives the walking shaft 702 to rotate, so that the whole robot is driven to walk and shift, and the walking path of the robot is adjusted by utilizing the cooperation of the universal wheels 704 and the steering handle 107; after the timing unit reaches the preset timing time, the timing unit sends a signal to the infrared sensing module to control the running motor 701 to stop working.
As a still further aspect of the present invention, referring to fig. 3 to 10, the stacking mechanism includes a liftable cone 308 and an arc cone group sliding on the outer surface of the cone 308, where the taper of the arc cone group is the same as the taper of the cone 308;
the circular arc cone group comprises a plurality of first circular arc cone pieces 312 and a plurality of second circular arc cone pieces 313, the first circular arc cone pieces 312 and the second circular arc cone pieces 313 are distributed at intervals, and the inner diameter of the first circular arc cone pieces 312 is equal to the outer diameter of the second circular arc cone pieces 313;
the upper parts of the outer walls of the first circular arc conical sheet 312 and the second circular arc conical sheet 313 are horizontally and fixedly provided with sliding rods 311, the sliding rods 311 are in sliding fit with sliding sleeves 310, and the sliding sleeves 310 are circumferentially distributed on the hoops 309 at equal intervals; the hoops 309 are secured to the base frame structure by the uprights 301.
In the example given in the drawing of the present invention, the number one circular arc cone 312 is three, the number two circular arc cone 313 is also three, and the inner wall of the number one circular arc cone 312 is attached to the outer wall of the number two circular arc cone 313; under the constraint of the sliding rod 311 and the sliding sleeve 310, the first circular arc taper piece 312 and the second circular arc taper piece 313 can only move along the radial direction; because the circular arc cone sheet group slides on the outer surface of the cone 308, the first circular arc cone sheet 312 and the second circular arc cone sheet 313 gather or separate from each other in the lifting process of the cone 308, and the gathering or separating amplitude in the radial direction is the same, so that the lower opening of the circular arc cone sheet group is ensured to be always in a circular shape.
Note that when cone 308 moves down to the low end of its travel, the side edges of first circular arc cone 312 and second circular arc cone 313 are aligned; because the radians of the first circular arc conical sheet 312 and the second circular arc conical sheet 313 are 60 degrees, the circular arc conical sheet group reaches the maximum expansion amplitude; in the process of ascending the cone 308, the first circular arc cone piece 312 and the second circular arc cone piece 313 are gathered together, and the side edges of the gathered first circular arc cone piece 312 and second circular arc cone piece 313 are partially overlapped; since the inner diameter of the first circular arc tapered piece 312 is equal to the outer diameter of the second circular arc tapered piece 313, no collision occurs when the side edges of the first circular arc tapered piece 312 and the second circular arc tapered piece 313 overlap, and thus, no jamming occurs.
A first rib 314 is arranged in the center of the inner wall of the first circular arc conical piece 312, and a first groove 315 for sliding fit with the first rib 314 is arranged on the outer wall of the conical barrel 308, so that the first circular arc conical piece 312 can only move linearly along the conical angle of the conical barrel 308;
correspondingly, the center of the inner wall of the second circular arc conical piece 313 is provided with a second convex rib 316, and the outer wall of the conical barrel 308 is provided with a second groove 317 for sliding fit with the second convex rib 316, so that the second circular arc conical piece 313 can only move linearly along the cone angle of the conical barrel 308.
The upper ends of the first protruding rib 314 and the second protruding rib 316 are respectively provided with a wing block 318, wherein a first track 319 is arranged on two sides of the first groove 315, a second track 320 is arranged on two sides of the second groove 317, the wing blocks 318 on the upper end of the first protruding rib 314 are in sliding fit with the first track 319, and the wing blocks 318 on the upper end of the second protruding rib 316 are in sliding fit with the second track 320.
The wing blocks 318 fixedly arranged at the upper ends of the first convex rib 314 and the second convex rib 316 are respectively matched with the first track 319 and the second track 320, so that the distance between the first circular arc conical sheet 312 and the outer surface of the conical barrel 308 is constant, and similarly, the distance between the second circular arc conical sheet 313 and the outer surface of the conical barrel 308 is also constant; i.e., to ensure that the circular arc cone set slides over the outer surface of the cone 308.
In the pile fermentation process, the height of the cone barrel 308 is continuously increased to continuously gather the circular arc cone sheet groups, so that the caliber of the lower end port (namely the lower port of the stacking mechanism) of the circular arc cone sheet groups is continuously reduced; in the process that tea leaves are piled on the ground through the lower opening, the discharge caliber of the tea leaves is continuously reduced along with the increase of the tea leaf pile-fermentation height, the cone angle of the tea leaf pile-fermentation is increased, the thickness of the cone pile is further reduced, and the heating and fermentation of the tea leaves in the cone pile are facilitated.
As a still further solution of the present invention, referring to fig. 3, 4 and 5, the stacking mechanism further includes a pile motor 302 mounted on the outer side of the stand 301, an output end of the pile motor 302 is connected with a screw 303, the screw 303 is in threaded engagement with a threaded sleeve 304, an upper portion of the threaded sleeve 304 is fixed with a lifting table 305, and a barrel 307 is fixed on the lifting table 305;
the drum 307 is concentrically fixed with the upper part of the cone 308, and rail rods 306 are respectively fixed at two sides of the lifting platform 305, the rail rods 306 are in sliding fit with two sides of the vertical frame 301, and the pile fermentation motor 302 is communicated with the infrared induction module.
The working condition of the pile fermentation motor 302 is controlled by utilizing the infrared sensing module and the timing unit, and the pile fermentation motor 302 works to drive the screw 303 to rotate clockwise or anticlockwise so as to drive the threaded sleeve 304 to lift; when the threaded sleeve 304 ascends, the lifting table 305 is utilized to drive the barrel 307 to ascend, and finally the cone 308 is driven to ascend; correspondingly, the threaded sleeve 304 drives the cone 308 to descend when descending; the rail 306 plays a role in guiding the lifting table 305, and keeps the drum 307 and the cone 308 concentric with the circular arc cone set all the time.
As a still further aspect of the present invention, referring to fig. 18 to 22, the lifting mechanism includes two mounting frames 404 fixedly disposed on the base frame structure, and a first rotating roller 405, a second rotating roller 406, a third rotating roller 407, a fourth rotating roller 408, and a fifth rotating roller 409 are rotatably disposed between the two mounting frames 404;
the first rotating roller 405, the second rotating roller 406, the third rotating roller 407, the fourth rotating roller 408 and the fifth rotating roller 409 form a rotating roller group, a lifting belt 401 is arranged on the rotating roller group, a plurality of anti-slip partitions 402 are arranged on the lifting belt 401 along the width direction of the lifting belt, and the plurality of anti-slip partitions 402 are arranged at equal intervals; side stops 403 are arranged on two sides of the lifting belt 401;
the stacking mechanism establishes a mechanical interlock with a fifth roller 409 in the lifting mechanism.
The lifting belt 401 is driven to run by the rotation of the fifth rotating roller 409, so that tea leaves discharged from the bottom of the box 201 are conveyed to the upper part of the drum 307 and fall into the drum 307, then fall into the circular arc cone group through the cone 308, and finally are discharged through the lower end port of the circular arc cone group.
Wherein two mounting brackets 404 are secured to the base frame structure by brackets 410.
The anti-slip partition 402 can increase friction force between tea leaves and the lifting belt 401 in the running direction of the lifting belt 401, so that the tea leaves are prevented from falling down when conveyed on the lifting belt 401; and the side stops 403 can enclose tea leaves on the lifting belt 401 from two sides of the lifting belt 401.
As a still further aspect of the present invention, referring to fig. 19 to 22, a tea outlet 206 is provided at the bottom of the box 201, and a bag blocking member 202 is further provided between the tea outlet 206 and the lifting belt 401;
one surface of the packing stopper 202, which is close to the lifting belt 401, is parallel to the lifting belt 401, the packing stopper 202 is mounted at the lower part of the box 201, a concave cavity 204 is formed in the lower part of the packing stopper 202, a guide surface 205 is formed at the bottom of the concave cavity 204, and the guide surface 205 is perpendicular to the lifting belt 401;
the lower extreme of package fender 202 has set up and has scraped the plane 203, scrape the plane 203 laminating in the upper edge of anti-skidding cut off 402, and scrape the length of plane 203 along the elevating belt 401 running direction and be greater than the interval of two adjacent anti-skidding cuts off 402.
Tea leaves falling from a tea outlet 206 at the bottom of the box 201 enter the concave cavity 204, and fall onto the lifting belt 401 perpendicular to the lifting belt 401 under the action of the guide surface 205; the tea leaves falling onto the lifting belt 401 are conveyed upwards by the lifting belt 401; the scraping plane 203 is wider than the interval between two adjacent anti-slip partitions 402, so that the tea leaves can be effectively prevented from overflowing from the lower end of the package baffle 202.
As a still further solution of the present invention, referring to fig. 14 to 17, an output end of the pile fermentation motor 302 is connected with the screw 303 through a worm 501, a side frame 503 is installed at a lower portion of the stand 301, a transmission shaft 504 is rotatably installed on the side frame 503, and a worm gear 502 matched with the worm 501 is installed in a center of the transmission shaft 504;
The transmission shaft 504 is sleeved with a regular triangle gear ring 505 and a driving pulley 506, a fixed key 509 is integrally arranged on the inner wall of the regular triangle gear ring 505, a key groove 510 is formed in the surface of the transmission shaft 504 along the axis direction of the transmission shaft, and the fixed key 509 is in sliding fit with the key groove 510;
a ring-shaped concave rail 507 is arranged on the inner wall of the driving pulley 506, and the ring-shaped concave rail 507 is rotationally embedded with a convex ring 508 on the surface of the transmission shaft 504; an inverse triangular gear ring is coaxially and integrally arranged on one surface of the driving pulley 506 facing the regular triangular gear ring 505, and the inverse triangular gear ring is matched with the regular triangular gear ring 505;
the transmission shaft 504 is further provided with a circle of stop step 512, the transmission shaft 504 is sleeved with a cylindrical spring 511, one end of the cylindrical spring 511 is attached to the stop step 512, the other end of the cylindrical spring 511 is attached to the right triangle gear ring 505, and the driving belt wheel 506 is connected with a driven belt wheel fixed at the end part of the fifth rotating roller 409 through a transmission belt 513.
When the pile fermentation motor 302 works, firstly, the worm 501 is driven to rotate, and the screw rod 303 is driven to rotate by the worm 501; when the worm 501 rotates, the worm wheel 502 is driven to rotate, and the worm wheel 502 drives the transmission shaft 504 to rotate; the transmission shaft 504 drives the regular triangle gear ring 505 to rotate through the key groove 510 on the transmission shaft, when the regular triangle gear ring 505 rotates clockwise, the inclined tooth surface on the regular triangle gear ring 505 and the inclined tooth surface on the reverse triangle gear ring are matched and mutually extruded, and as the lifting belt 401 runs with larger resistance (the gravity of tea and the friction among all parts), the regular triangle gear ring 505 can extrude the cylindrical spring 511 and approach the worm gear 502, so that the regular triangle gear ring 505 can not be effectively combined with the reverse triangle gear ring, namely the reverse triangle gear ring can not rotate along with the reverse triangle gear ring; the driving pulley 506 cannot rotate, so the fifth rotating roller 409 cannot rotate, and the lifting belt 401 cannot run finally;
When the regular triangle gear ring 505 rotates anticlockwise, the straight tooth surface on the regular triangle gear ring 505 and the straight tooth surface on the inverse triangle gear ring are mutually matched and extruded, the extrusion acting force between the straight tooth surface and the straight tooth surface on the inverse triangle gear ring is perpendicular to the expansion direction of the cylindrical spring 511, so that the cylindrical spring 511 cannot deform and shrink; at this time, the reverse triangular gear ring is driven to rotate counterclockwise by combining the regular triangular gear ring 505 with the reverse triangular gear ring; finally, the driving pulley 506 is driven to rotate anticlockwise, so that the fifth rotating roller 409 rotates anticlockwise, the lifting belt 401 is driven to move upwards, and tea leaves are conveyed.
As a still further aspect of the present invention, referring to fig. 13 and 14, the infrared sensing module further includes a controller 603 mounted on the base frame structure, a wireless transmitter 605, and a diagonal frame 602, the diagonal frame 602;
the timing unit comprises a timer 603 arranged on the basic frame body structure, an infrared probe 601 is arranged on the inclined frame 602, and the infrared probe 601 is communicated with the controller 603 through the wireless transmitter 605;
the controller 603 is in unidirectional communication with the pile fermentation motor 302 and the walking motor 701 respectively; the pile fermentation motor 302 and the walking motor 701 establish feedback communication with the controller 603 via a timer 604.
The working principle of the pile fermentation robot in the invention is approximately as follows:
when pile fermentation is carried out, the pile fermentation motor 302 works to drive the worm 501 to rotate, and the rotating worm 501 drives the worm wheel 502 and the screw 303 to rotate; the worm gear 502 drives the regular triangle gear ring 505 to rotate anticlockwise through the transmission shaft 504, and then drives the inverse triangle gear ring and the driving pulley 506 to rotate anticlockwise, and the driving pulley 506 drives the fifth rotating roller 409 to rotate by means of the transmission belt 513, so that the lifting belt 401 operates, and tea discharged from the tea outlet 206 is conveyed upwards to the upper part of the drum 307 and falls into the drum 307; tea leaves falling into the drum 307 enter the cone 308, finally enter a cone tube surrounded by the circular arc cone sheet combination, are discharged from the lower port of the cone tube, and fall to the ground to form a tea cone stack;
the screw 303 drives the threaded sleeve 304 to lift upwards, so as to drive the lifting table 305, the drum 307 and the cone 308 to lift slowly; because the circular arc cone group is constrained by the sliding rod 311 and the sliding sleeve 310, the height of the circular arc cone group is always the same as the height of the hoop 309; the distance between the circular arc cone sheet group and the outer wall of the cone barrel 308 is constant, so that when the cone barrel 308 is lifted, the circular arc cone sheet groups are gathered together, so that the lower port of the circular arc cone sheet group is contracted, namely the caliber of the lower port of the stacking mechanism is continuously reduced; the discharge caliber of the tea is continuously reduced along with the increase of the pile-fermentation height, the taper of the pile-fermentation is improved, the taper diameter of the cone pile is reduced, and the heating or heat dissipation fermentation of the tea in the cone pile is facilitated.
When the height of the cone stack reaches a predetermined height, the infrared probe 601 is triggered and sends a signal to the controller 603 through the wireless transmitter 605; the controller 603 then sends signals to the pile motor 302 and the walking motor 701 respectively, and the pile motor 302 and/or the walking motor 701 trigger the timer 604; the pile fermentation motor 302 receives a signal from the controller 603 and then works reversely, and drives the worm gear 502 and the screw 303 to work reversely; the worm 502 rotates clockwise, and the driving pulley 506 cannot be driven to rotate, so that the fifth rotating roller 409 cannot rotate clockwise; the screw 303 reversely rotates to drive the threaded sleeve 304 to descend, so as to drive the lifting table 305, the round barrel 307 and the conical barrel 308 to slowly descend, and the circular arc conical sheet groups are mutually dispersed in the descending process of the conical barrel 308, so that the lower port of the circular arc conical sheet groups is expanded;
after the timer 604 reaches the preset time duration, a feedback signal is sent to the controller 603, and the controller 603 sends signals to the pile fermentation motor 302 and the walking motor 701 again; the running motor 701 stops running, and the pile fermentation motor 302 changes the working direction again, at this time, the lower port of the circular arc cone sheet group expands to the initial size, and then the second pile fermentation is performed; the pile is re-performed at the second pile position, since the position of the machine has changed.
After the scheme is adopted, gao Wo stacks of tea can be equidistantly arranged, the pile fermentation taper is large, and the tea in the pile fermentation is facilitated to be heated or cooled and fermented.
In addition, the invention also provides a method for piling tea leaves by using the pile-piling robot, which achieves the effect of black tea pile-piling fermentation and comprises the following steps:
step one, no-load operation fitting, namely starting a pile fermentation motor when no tea leaves exist in a box body, checking whether the circular arc conical sheets can interfere when the circular arc conical sheets are gathered together (whether the adjacent circular arc conical sheets are overlapped with each other or not), and if so, correcting the circular arc conical sheets and/or the circular arc conical sheets so as to ensure that the circular arc conical sheets do not interfere when the circular arc conical sheets are gathered together;
step two, tea loading, namely starting a pile fermentation motor to adjust the circular arc cone sheet group to an initial position (the cone barrel reaches the lowest end of the stroke); filling tea leaves to be piled into the box body, checking whether the height of the infrared probe meets the pile-piling height requirement, and simultaneously, testing the smooth discharge condition of the tea outlet and the lower opening of the piling mechanism;
step three, sensitivity detection, namely checking the communication sensitivity among the infrared probe, the controller, the timer and the wireless transmitter under the condition that the pile-fermentation motor and the walking motor are not powered on, and judging whether the delay time value of analog signal transmission and feedback falls into a normal error range; if the delay time is too long, the timing duration of the timer can be correspondingly reduced;
For example, the normal signal transmission and feedback delay time interval is [0.1,0.25] seconds, the time from the low stroke point to the high stroke point of the cone barrel or from the high stroke point to the low stroke point is 5 seconds (namely, the timing time of the timer is 5 seconds), and the simulated signal transmission and feedback delay time is 0.5 seconds; the preset time of the timer can be shortened, and the preset time can be specifically set within the interval range of [4.6,4.75 ];
starting pile fermentation, and simultaneously connecting a pile fermentation motor, a walking motor, a controller, an infrared probe, a timer and a wireless transmitter to perform pile fermentation; after the first cone stack is formed, manually checking whether the height of the cone stack meets the expected height (because the formed taper is likely to collapse in part after the infrared probe is triggered); if not, the delay time of the timer can be properly increased until the height of the cone stack reaches the preset height;
step five, after the pile fermentation is completed, after the tea leaves in the box body are completely discharged, the pile fermentation motor, the walking motor, the controller, the infrared probe, the timer and the wireless transmitter are powered off, the whole machine is manually controlled and pushed, and the machine is matched with the universal wheels to move to a warehouse.
The above-described embodiments are illustrative, not restrictive, and the technical solutions that can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention are included in the present invention.
Claims (10)
1. The integrated infrared-sensing tea leaf fixed-height pile fermentation robot comprises a basic frame structure and is characterized by further comprising a box body (201), wherein the box body (201) is used for loading fresh tea leaves to be piled fermentation, and the box body (201) is arranged on the basic frame structure;
the lifting mechanism is used for conveying tea leaves at the bottom of the box body (201) upwards into the stacking mechanism;
the stacking mechanism and the lifting mechanism are arranged on one side of the basic frame body structure, the stacking mechanism is provided with an upper opening and a lower opening, tea leaves at the bottom of the box body (201) are conveyed upwards through the lifting mechanism and fall into the stacking mechanism from the upper opening of the stacking mechanism, and are discharged through the lower opening of the stacking mechanism;
the stacking mechanism is mechanically interlocked with the lifting mechanism, so that the aperture of a lower opening of the stacking mechanism is continuously reduced in the process that the lifting mechanism conveys tea leaves upwards.
2. The integrated infrared-sensing tea leaf fixed-height pile fermentation robot of claim 1, wherein an infrared sensing module is further arranged on one side of the base frame body structure close to the stacking mechanism, a travelling mechanism is arranged at the lower part of the base frame body structure, and the travelling mechanism and the stacking mechanism are both communicated with the infrared sensing module;
when the height of the tea leaves piled by the piling mechanism reaches a preset height, the infrared sensing module is triggered, the piling mechanism acts reversely, and meanwhile, the travelling mechanism drives the basic frame body structure to travel; the lower opening caliber of the stacking mechanism is continuously increased by the reverse action of the stacking mechanism until the initial value is reached; in the process of reverse action of the stacking mechanism, the lifting mechanism is disconnected with the stacking mechanism and kept still;
the infrared sensing module comprises a timing unit.
3. An integrated infrared-sensing tea leaf fixed high pile fermentation robot as claimed in claim 2, wherein the travelling mechanism comprises:
a travel motor (701), the travel motor (701) being mounted below the base frame structure; the two ends of the traveling motor (701) are connected with traveling shafts (702), the end parts of the traveling shafts (702) are provided with moving wheels (703), and the traveling motor (701) is communicated with the infrared sensing module and the timing unit;
The universal wheels (704) are arranged below the base frame body structure, the universal wheels (704) are arranged on two sides of the base frame body structure (705);
the foundation frame body structure comprises a frame (101) and a surrounding frame (102) fixed on the frame (101), wherein a fork frame (103) and a side frame (104) are fixed on the surrounding frame (102);
the box body (201) is fixedly arranged on the basic frame body structure through a fork frame (103) and a side frame (104);
a bracket (106) is also fixed on the surrounding frame (102), and a steering handle (107) is fixed on the bracket (106).
4. An integrated infrared-sensing tea leaf fixed high pile fermentation robot according to claim 3, wherein the stacking mechanism comprises:
the cone barrel (308), the cone barrel (308) can vertically lift;
the circular arc cone sheet group is arranged on the outer surface of the cone barrel (308) in a sliding manner, and the taper of the circular arc cone sheet group is the same as that of the cone barrel (308);
the circular arc conical sheet group comprises a plurality of first circular arc conical sheets (312) and a plurality of second circular arc conical sheets (313), wherein the first circular arc conical sheets (312) and the second circular arc conical sheets (313) are distributed at intervals, and the inner diameter of the first circular arc conical sheets (312) is equal to the outer diameter of the second circular arc conical sheets (313);
The upper parts of the outer walls of the first circular arc conical sheet (312) and the second circular arc conical sheet (313) are horizontally and fixedly provided with sliding rods (311), the sliding rods (311) are in sliding fit with sliding sleeves (310), and the sliding sleeves (310) are distributed on hoops (309) at equal intervals along the circumference; the hoop (309) is fixed on the basic frame body structure through a vertical frame (301);
a first convex rib (314) is arranged in the center of the inner wall of the first circular arc conical sheet (312), and a first groove (315) which is used for being in sliding fit with the first convex rib (314) is arranged on the outer wall of the conical barrel (308);
a second convex rib (316) is arranged in the center of the inner wall of the second circular arc conical sheet (313), and a second groove (317) which is used for being in sliding fit with the second convex rib (316) is arranged on the outer wall of the conical barrel (308);
the upper ends of the first protruding rib (314) and the second protruding rib (316) are respectively provided with a wing block (318), a first track (319) is arranged on two sides of the first groove (315), a second track (320) is arranged on two sides of the second groove (317), the wing blocks (318) on the upper ends of the first protruding rib (314) are in sliding fit with the first track (319), and the wing blocks (318) on the upper ends of the second protruding rib (316) are in sliding fit with the second track (320).
5. The integrated infrared-sensing tea leaf fixed-height pile fermentation robot according to claim 4, wherein the pile fermentation mechanism further comprises a pile fermentation motor (302) arranged on the outer side of the vertical frame (301), the output end of the pile fermentation motor (302) is connected with a lead screw (303), the lead screw (303) is in threaded fit with a threaded sleeve (304), the upper part of the threaded sleeve (304) is fixed with a lifting table (305), and a barrel (307) is fixed on the lifting table (305);
the barrel (307) is concentrically fixed with the upper part of the cone barrel (308), the two sides of the lifting table (305) are respectively fixed with a rail rod (306), the rail rods (306) are in sliding fit with the two sides of the vertical frame (301), and the pile fermentation motor (302) is communicated with the infrared induction module.
6. The integrated infrared-sensing tea leaf fixed-height pile fermentation robot according to claim 5, wherein the lifting mechanism comprises two mounting frames (404) fixedly arranged on a basic frame body structure, and a first rotating roller (405), a second rotating roller (406), a third rotating roller (407), a fourth rotating roller (408) and a fifth rotating roller (409) are rotatably arranged between the two mounting frames (404);
The lifting device comprises a first rotating roller (405), a second rotating roller (406), a third rotating roller (407), a fourth rotating roller (408) and a fifth rotating roller (409), wherein a lifting belt (401) is arranged on the rotating roller group, a plurality of anti-slip partitions (402) are arranged on the lifting belt (401) along the width direction of the lifting belt, and the plurality of anti-slip partitions (402) are arranged at equal intervals; side stops (403) are arranged on two sides of the lifting belt (401);
the stacking mechanism establishes a mechanical interlock with a fifth roller (409) in the lifting mechanism.
7. The integrated infrared-sensing tea fixed-height pile fermentation robot according to claim 6, wherein a tea outlet (206) is arranged at the bottom of the box body (201), and a bag blocking piece (202) is further arranged between the tea outlet (206) and the lifting belt (401);
one surface of the packing baffle (202) close to the lifting belt (401) is parallel to the lifting belt (401), the packing baffle (202) is arranged at the lower part of the box body (201), a concave cavity (204) is formed in the lower part of the packing baffle (202), a guide surface (205) is formed in the bottom of the concave cavity (204), and the guide surface (205) is perpendicular to the lifting belt (401);
the lower extreme of package fender (202) has set up and has scraped plane (203), scrape plane (203) laminating in the upper edge of anti-skidding cut off (402), and scrape the length of plane (203) along lifting belt (401) running direction and be greater than the interval of two adjacent anti-skidding cuts off (402).
8. The integrated infrared-sensing tea leaf fixed-height pile fermentation robot according to claim 6, wherein the output end of the pile fermentation motor (302) is connected with the screw rod (303) through a worm (501), a side edge frame (503) is arranged at the lower part of the vertical frame (301), a transmission shaft (504) is rotatably arranged on the side edge frame (503), and a worm wheel (502) matched with the worm (501) is arranged in the center of the transmission shaft (504);
a regular triangle gear ring (505) and a driving pulley (506) are sleeved on the transmission shaft (504), a fixed key (509) is integrally arranged on the inner wall of the regular triangle gear ring (505), a key groove (510) is formed in the surface of the transmission shaft (504) along the axis direction of the transmission shaft, and the fixed key (509) is in sliding fit with the key groove (510);
a circle of annular concave rail (507) is arranged on the inner wall of the driving belt wheel (506), and the annular concave rail (507) is rotationally embedded with a convex ring (508) on the surface of the transmission shaft (504); an inverse triangular gear ring is coaxially and integrally arranged on one surface of the driving pulley (506) facing the regular triangular gear ring (505), and the inverse triangular gear ring is matched with the regular triangular gear ring (505);
a circle of stop step (512) is further arranged on the transmission shaft (504), a cylindrical spring (511) is sleeved on the transmission shaft (504), one end of the cylindrical spring (511) is attached to the stop step (512), the other end of the cylindrical spring is attached to the right triangle gear ring (505), and the driving belt wheel (506) is connected with a driven belt wheel fixed at the end of the fifth rotating roller (409) through a transmission belt (513).
9. The integrated infrared-sensing tea leaf fixed high pile fermentation robot of claim 5, wherein the infrared sensing module further comprises a controller (603) mounted on a base frame structure, a wireless transmitter (605), and a ramp (602), the ramp (602);
the timing unit comprises a timer (603) arranged on the basic frame body structure, an infrared probe (601) is arranged on the inclined frame (602), and the infrared probe (601) is communicated with the controller (603) through the wireless transmitter (605);
the controller (603) is in one-way communication with the pile fermentation motor (302) and the walking motor (701) respectively; the pile fermentation motor (302) and the walking motor (701) establish feedback communication with the controller (603) through a timer (604).
10. A method of performing pile fermentation treatment on tea leaves using a pile fermentation robot as claimed in any one of claims 1 to 9, comprising the steps of:
step one, no-load operation fitting, namely starting a pile fermentation motor when no tea leaves exist in a box body, and checking whether the circular arc cone sheet groups interfere when gathering each other;
step two, tea loading, namely starting a pile fermentation motor to adjust the circular arc cone sheet group to an initial position; filling tea leaves to be piled into the box body, checking whether the height of the infrared probe meets the pile-piling height requirement, and simultaneously, testing the smooth discharge condition of the tea outlet and the lower opening of the piling mechanism;
Step three, sensitivity detection, namely checking the communication sensitivity among the infrared probe, the controller, the timer and the wireless transmitter under the condition that the pile-fermentation motor and the walking motor are not powered on, and judging whether the delay time value of analog signal transmission and feedback falls into a normal error range; if the delay time is too long, the timing duration of the timer can be correspondingly reduced;
starting pile fermentation, and simultaneously connecting a pile fermentation motor, a walking motor, a controller, an infrared probe, a timer and a wireless transmitter to perform pile fermentation; after the first cone stack is formed, manually checking whether the height of the cone stack accords with the expected height;
and fifthly, after the pile fermentation is completed, simultaneously powering off a pile fermentation motor, a walking motor, a controller, an infrared probe, a timer and a wireless transmitter after the tea leaves in the box body are completely discharged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311166693.7A CN117121957B (en) | 2023-09-08 | 2023-09-08 | Tea leaf fixed-height pile fermentation robot integrating infrared induction and pile fermentation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311166693.7A CN117121957B (en) | 2023-09-08 | 2023-09-08 | Tea leaf fixed-height pile fermentation robot integrating infrared induction and pile fermentation method thereof |
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| CN117121957A true CN117121957A (en) | 2023-11-28 |
| CN117121957B CN117121957B (en) | 2024-02-13 |
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| JP2002159262A (en) * | 2000-11-29 | 2002-06-04 | Kawasaki Kiko Co Ltd | Raw tea leaf-receiving container |
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| CN203015767U (en) * | 2013-01-17 | 2013-06-26 | 云南省包装食品机械厂 | Tea wetting machine |
| KR20130103170A (en) * | 2012-03-09 | 2013-09-23 | 주식회사 포스코 | Stacker |
| CN214414015U (en) * | 2020-12-30 | 2021-10-19 | 云南纯干仓茶业有限公司 | Tea pile fermentation device |
| CN218337653U (en) * | 2022-10-27 | 2023-01-20 | 湖南浏阳河茶业有限公司 | Automatic pile fermentation device of steam type tealeaves |
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2023
- 2023-09-08 CN CN202311166693.7A patent/CN117121957B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002159262A (en) * | 2000-11-29 | 2002-06-04 | Kawasaki Kiko Co Ltd | Raw tea leaf-receiving container |
| CN102318696A (en) * | 2011-10-28 | 2012-01-18 | 浙江珠峰机械有限公司 | Automatic piling device for dark tea |
| KR20130103170A (en) * | 2012-03-09 | 2013-09-23 | 주식회사 포스코 | Stacker |
| CN202603525U (en) * | 2012-04-13 | 2012-12-19 | 广西壮族自治区梧州茶厂 | Automatic control device for Liupu tea fermentation |
| CN203015767U (en) * | 2013-01-17 | 2013-06-26 | 云南省包装食品机械厂 | Tea wetting machine |
| CN214414015U (en) * | 2020-12-30 | 2021-10-19 | 云南纯干仓茶业有限公司 | Tea pile fermentation device |
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| CN117121957B (en) | 2024-02-13 |
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