CN208956889U - A kind of personification type fried tea robot - Google Patents
A kind of personification type fried tea robot Download PDFInfo
- Publication number
- CN208956889U CN208956889U CN201821038368.7U CN201821038368U CN208956889U CN 208956889 U CN208956889 U CN 208956889U CN 201821038368 U CN201821038368 U CN 201821038368U CN 208956889 U CN208956889 U CN 208956889U
- Authority
- CN
- China
- Prior art keywords
- fried tea
- personification
- driving device
- upper arm
- arm member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model proposes a kind of anthropomorphic type fried tea robots, including control cabinet, fried tea agent set, the frying pan below the fried tea agent set and the fixed frame for fixing the fried tea agent set, the fried tea agent set includes shoulder member and the mechanical arm for being respectively arranged on shoulder member both ends, the mechanical arm tail end is equipped with a handgrip for being used for fried tea, the handgrip is set in the frying pan, and the shoulder member is equipped with one for acquiring the image collecting device of frying pan image；The junction of the shoulder member and the fixed frame is equipped with the first driving device for controlling the shoulder member rotation, and the first driving device is controlled by the control cabinet.The utility model personification type fried tea robot copys people during fried tea finishes and finishes process, can allow tealeaves thermally equivalent, and avoid mechanical damage of tealeaves during water-removing, improve tea quality.
Description
Technical field
The utility model relates to Tea Production equipment technical fields, and in particular, to a kind of personification type fried tea robot.
Background technique
Fried tea water-removing is to inhibit the tea polyphenols in fresh leaf by the oxidase active in high temperature and passivation fresh tea passes
Deng enzymatic oxidation, evaporate fresh leaf partial moisture, tealeaves made to soften, convenient for rubbing forming, while foul smell promotes good
A kind of tea making step of the formation of fragrance is the first process processed of green tea, yellow tea, dark green tea, oolong tea, general imperial tea, part black tea etc.
One of.
The main water-removing mode of China's tealeaves has roller fixation, pot to fry water-removing, hot air water-removing, steam beating, microwave at present
Water-removing, the hybrid water-removing of steam-hot wind etc..Wherein, the most commonly used is being finished using roller class machinery, speed is fast, efficiency
Height, it is at low cost the advantages that, be suitable for industrial production.However this roller class machinery is during water-removing, the continuous pole of rotation of roller
It is easy to cause tealeaves damaged, influences the presentation quality of tealeaves；In addition this cylinder type water-removing machine tool cannot uniformly carry out tealeaves
Stir-frying causes fried tea product quality height uneven, causes the humidity of leafiness different, to keep tealeaves color different；Furthermore in roller
Reciprocating motion in be easy to appear tealeaves to one side concentrate, lead to uneven heating, influence the manage bar effect of tealeaves.
Utility model content
In view of the deficiencies of the prior art, it the utility model proposes a kind of anthropomorphic type fried tea robot, can finish in fried tea
People is copied in journey to finish process, is allowed tealeaves thermally equivalent, and avoid mechanical damage of tealeaves during water-removing, is improved tea
Leaf quality.
The technical solution of the utility model is achieved in that a kind of anthropomorphic type fried tea robot, including control cabinet, fried tea
Agent set, the frying pan below the fried tea agent set and the fixed frame for fixing the fried tea agent set, institute
Stating fried tea agent set includes shoulder member and the mechanical arm for being respectively arranged on shoulder member both ends, and the mechanical arm tail end is equipped with one
For the handgrip of fried tea, the handgrip is set in the frying pan, and the shoulder member is equipped with one for acquiring frying pan image
Image collecting device；The junction of the shoulder member and the fixed frame is equipped with for controlling the shoulder member rotation
One driving device, the first driving device are controlled by the control cabinet.
Optionally, Yu Suoshu mechanical arm includes big the upper arm member and small the upper arm member, the shoulder member and the big the upper arm member
Junction be equipped with the second driving device for moving in the vertical direction for controlling big the upper arm member, the big the upper arm member with it is described
The third driving device moved in the vertical direction for controlling small the upper arm member, the second driving dress are equipped between small the upper arm member
It sets and is controlled with the third driving device by the control cabinet.
Optionally, the both ends of the shoulder are respectively equipped with the first fixation hole, and second driving device passes through described first
Fixation hole is simultaneously connect by the first connector with big the upper arm member；The end of the big the upper arm member is equipped with the second fixation hole, and described the
Three driving devices pass through second fixation hole and are connect by the second connector with small the upper arm member.
Optionally, the hand, which is grabbed, is connect between the mechanical arm by wrist joint support, is set in the wrist joint support
There is electromagnetic brake device, the electromagnetic brake device is fixed in the wrist joint support by rotary shaft, and the rotary shaft is equipped with
It is maintained at the spring of tension state for grabbing hand, the hand, which grasps, to be scheduled in the rotary shaft.
Optionally, the wrist joint support includes upper fixed seat and lower fixed seat, and fixed seat is equipped with for solid
The fixing groove of the fixed rotary shaft.
Optionally, the fried tea agent set and the frying pan are set in the fixed frame.
Optionally, the control cabinet is fixed on the top of the fixed frame.
Optionally, the first driving device, the second driving device and third driving device are motor.
Optionally, described image acquisition device is industrial camera.
Optionally, the frying pan edge is identified equipped with gridiron pattern.
Compared with prior art, the utility model has the advantage that the utility model personification type fried tea robot utilizes
Two mechanical arms finish to tealeaves, according to image acquisition device to the position of image dynamic adjusting machine tool arm make tealeaves
Thermally equivalent has copied the process of artificial tea green-keeping completely, avoids mechanical damage of tealeaves during water-removing, improves tea
Leaf quality.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of one embodiment of the utility model personification type fried tea robot；
Fig. 2 is the structural schematic diagram of fried tea agent set in one embodiment of the utility model personification type fried tea robot；
Fig. 3 is the structural schematic diagram that hand is grabbed in one embodiment of the utility model personification type fried tea robot.
Attached drawing mark: 1 control cabinet；2 fried tea agent sets；21 shoulder members；22 big the upper arm members；23 small the upper arm members；24 wrists
Joint seating；2401 upper fixed seats；2402 lower fixed seats；2403 electromagnetic brake devices；2404 springs；2405 rotary shafts；25 hands are grabbed；
2501 palm components；2502 finger components；26 first connectors；27 second connectors；28 second driving devices；The driving of 29 thirds
Device；3 fixed frames；4 frying pans；5 gridiron patterns mark；6 image collecting devices；7 mounting racks；8 first driving devices.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
Refering to fig. 1~Fig. 3, personification type fried tea robot disclosed by the utility model, mainly includes control cabinet 1, fried tea master
Body device 2, the fixed frame 3 set on the frying pan 4 of 2 lower section of fried tea agent set and for fixing the fried tea agent set 2,
The fried tea agent set 2 includes shoulder member 21 and the mechanical arm for being respectively arranged on 21 both ends of shoulder member, the mechanical arm end
End is equipped with a handgrip for being used for fried tea, and the handgrip is set in the frying pan 4, and the shoulder member 21 is equipped with one for acquiring
The image collecting device 6 of 4 image of frying pan；The junction of the shoulder member 21 and the fixed frame 3 is equipped with described for controlling
The first driving device 8 that shoulder member 21 rotates, the first driving device 8 are controlled by the control cabinet 1.Wherein, fixed
Frame 3 can be connect by ring flange with shoulder member 21, and first driving device 8 makes shoulder member 21 by the rotation of driving flange disk
Rotation is realized in the horizontal direction；When the tealeaves difference in frying pan 4 is uneven, facilitates and mechanical arm is moved to corresponding position, such as
When the tealeaves in frying pan 4 is distributed figure of eight shape, mechanical arm can be moved to the long axis position of " 8 " word.Ring flange includes upper method
Blue and lower flange, wherein upper flange can be fixed on fixed frame 3 by mounting rack 7, and lower flange is fixed on shoulder member 21, and first
Driving device 8 drives the rotation of upper flange, so that lower flange be made to drive mechanical arm rotation.
Wherein, fried tea agent set 2 and the frying pan 4 are set in the fixed frame 3, and the control cabinet 1 is fixed on institute
The top of fixed frame 3 is stated, space is saved.
Further, the mechanical arm includes big the upper arm member 22 and small the upper arm member 23, the shoulder member 21 with it is described big
The junction of the upper arm member 22 is equipped with the second driving device 28 moved in the vertical direction for controlling big the upper arm member 22, described big
The third driving moved in the vertical direction for controlling small the upper arm member 23 is equipped between the upper arm member 22 and the small the upper arm member 23
Device 29, second driving device 28 and the third driving device 29 are controlled by the control cabinet 1.Wherein, shoulder portion
The both ends of part 21 are respectively equipped with the first fixation hole, and second driving device 28 passes through first fixation hole and passes through the first connection
Part 26 is connect with big the upper arm member 22；Big 22 end of the upper arm member also is provided with the second fixation hole, and the third driving device 29 passes through institute
The second fixation hole is stated to connect by the second connector 27 with small the upper arm member 23.During stir-frying, the utility model is big by control
The movement of the upper arm member 22 and small the upper arm member 23 makes hand grab 25 along frying pan inner wall curvilinear motion, make 4 bottom tealeaves of frying pan can and
When stir-fry, prevent the tealeaves in 4 the bottom of a pan of frying pan and heating kettle from crossing and contact for a long time.Wherein, the driving of first driving device 8, second dress
Set 28 and third driving device 29 can be for motor, image collecting device can be industrial camera.
Further, the hand is grabbed and is connected between 25 and the mechanical arm by wrist joint support 24, the wrist joint branch
Electromagnetic brake device 2403 is equipped in seat 24, the electromagnetic brake device 2403 is fixed on the wrist joint support by rotary shaft 2405
In 24, the hand is grabbed 25 and is fixed in the rotary shaft 2405；The rotary shaft 2405 is equipped with and is maintained at for making hand grab 25
The spring 2404 of tension state.The wrist joint includes upper fixed seat 2401 and lower fixed seat 2402, the lower fixed seat 2402
One is equipped with for fixing the fixing groove of the rotary shaft 2405.Card can be passed through between upper fixed seat 2401 and lower fixed seat 2402
Button is fixed or bolt is fixed.
During stir-frying, when hand, which grabs 25, not to be contacted with frying pan inner wall, due to by 2405 upper spring 2404 of rotary shaft
Tension force effect, hand grab 25 holding extratensive type states；25, which are grabbed, when hand moves to 4 the bottom of a pan of frying pan from Contact Boundary along frying pan inner wall curve
During, under the collective effect of big the upper arm member 22 and small the upper arm member 23, the pressure that frying pan inner wall opponent grabs 25 is greater than spring
2404 tension rotates rotary shaft 2405；When hand grabs the bottommost that 25 move to frying pan 4, pass through the control of control cabinet 1
System powers off electromagnetic brake device 2403, locks rotary shaft 2405, and then so that hand is grabbed 25 and be maintained at locking state；In control cabinet 1
Under control, hand grabs after 25 holding locking states rise to certain altitude and completes shake movement, completes primary stir-frying；Then pass through control
Cabinet 1 processed makes electromagnetic brake device 2403 be powered, and so that hand is grabbed 25 holding extratensive type states, continues stir-frying next time.
Further, the edge of the frying pan 4 is equipped with gridiron pattern mark 5.When image collecting device 6 acquires image, chess
The position that disk case marker knows 5 can be used as reference position, and the bottom of a pan center and the fried tea agent set 2 of frying pan 4 are judged convenient for computer
Whether center is aligned.If the bottom of a pan center of frying pan 4 and the center of fried tea agent set 2 are misaligned, process of the mechanical arm in stir-frying
In, since the position of left mechanical arm, right mechanical arm in pot is asymmetric, it is likely to result in the scene of failing.
In above-described embodiment, it includes palm component 2501 and several finger components 2502 that hand, which grabs 25, convenient for trembling after stir-frying
Dynamic tealeaves, is uniformly distributed tealeaves.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of personification type fried tea robot, which is characterized in that including control cabinet, fried tea agent set, be set to the fried tea master
Frying pan below body device and the fixed frame for fixing the fried tea agent set, the fried tea agent set includes shoulder portion
Part and the mechanical arm for being respectively arranged on shoulder member both ends, the mechanical arm tail end are equipped with a handgrip for being used for fried tea, the handgrip
In the frying pan, the shoulder member is equipped with one for acquiring the image collecting device of frying pan image；The shoulder portion
The junction of part and the fixed frame is equipped with the first driving device for controlling the shoulder member rotation, first driving
Device is controlled by the control cabinet.
2. personification type fried tea robot as described in claim 1, which is characterized in that the mechanical arm includes big the upper arm member and forearm
Component, the junction of the shoulder member and the big the upper arm member is equipped with moves in the vertical direction for controlling big the upper arm member
Second driving device is equipped between the big the upper arm member and the small the upper arm member and moves in the vertical direction for controlling small the upper arm member
Dynamic third driving device, second driving device and the third driving device are controlled by the control cabinet.
3. personification type fried tea robot as claimed in claim 2, which is characterized in that it is solid that the both ends of the shoulder are respectively equipped with first
Determine hole, second driving device passes through first fixation hole and connect by the first connector with big the upper arm member；It is described big
The end of the upper arm member is equipped with the second fixation hole, and the third driving device passes through second fixation hole and by the second connection
Part is connect with small the upper arm member.
4. personification type fried tea robot as described in claim 1, which is characterized in that pass through between the handgrip and the mechanical arm
The connection of wrist joint support, the wrist joint support is interior to be equipped with electromagnetic brake device, and the electromagnetic brake device is fixed on by rotary shaft
In the wrist joint support, the rotary shaft is equipped with for making handgrip be maintained at the spring of tension state, and the handgrip is fixed
In the rotary shaft.
5. personification type fried tea robot as claimed in claim 4, which is characterized in that the wrist joint support include upper fixed seat and
Lower fixed seat, fixed seat are equipped with the fixing groove for fixing the rotary shaft.
6. personification type fried tea robot as described in claim 1, which is characterized in that the fried tea agent set and the frying pan are equal
In the fixed frame.
7. personification type fried tea robot as described in claim 1, which is characterized in that the control cabinet is fixed on the fixed frame
Top.
8. personification type fried tea robot as described in claim 1, which is characterized in that the first driving device, the second driving dress
Setting with third driving device is motor.
9. personification type fried tea robot as described in claim 1, which is characterized in that described image acquisition device is industrial camera.
10. personification type fried tea robot as described in claim 1, which is characterized in that the frying pan edge is identified equipped with gridiron pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821038368.7U CN208956889U (en) | 2018-06-29 | 2018-06-29 | A kind of personification type fried tea robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821038368.7U CN208956889U (en) | 2018-06-29 | 2018-06-29 | A kind of personification type fried tea robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208956889U true CN208956889U (en) | 2019-06-11 |
Family
ID=66748323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821038368.7U Active CN208956889U (en) | 2018-06-29 | 2018-06-29 | A kind of personification type fried tea robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208956889U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112273520A (en) * | 2020-11-30 | 2021-01-29 | 北部湾大学 | Millettia speciosa champ tea processing device |
| CN115363112A (en) * | 2022-10-27 | 2022-11-22 | 福鼎市八闽茶夫茶业有限公司 | White tea production equipment that withers |
-
2018
- 2018-06-29 CN CN201821038368.7U patent/CN208956889U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112273520A (en) * | 2020-11-30 | 2021-01-29 | 北部湾大学 | Millettia speciosa champ tea processing device |
| CN115363112A (en) * | 2022-10-27 | 2022-11-22 | 福鼎市八闽茶夫茶业有限公司 | White tea production equipment that withers |
| CN115363112B (en) * | 2022-10-27 | 2022-12-30 | 福鼎市八闽茶夫茶业有限公司 | White tea production equipment that withers |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208956889U (en) | A kind of personification type fried tea robot | |
| CN109568082A (en) | A kind of upper-limbs rehabilitation training robot and rehabilitation training of upper limbs method | |
| CN108606093A (en) | A kind of personification type tea frying robot and the method using the tea frying robot tea frying | |
| CN208640459U (en) | A kind of fried oven of gas | |
| Seifert et al. | Inter-limb coordination in swimming: Effect of speed and skill level | |
| CN204658444U (en) | A kind of chess playing robot based on Three Degree Of Freedom carrying mechanism | |
| CN109381032A (en) | A kind of blender stir-frying device, cooking and its cooking method of intelligent cooking machine | |
| CN104171061B (en) | A kind of tea frying machine | |
| CN208876004U (en) | A kind of automatic cooking robot | |
| CN105799362B (en) | A kind of automatic page turning device of hommization | |
| CN209090797U (en) | The automatic dish cooking machine of intelligent temperature control | |
| CN205813491U (en) | A kind of intelligent tea water-removing machine | |
| CN201188852Y (en) | Swing-bar swinging groove shaped boiler tea-steaming processing device | |
| CN214071536U (en) | Internet of things control imitation manual green rocking equipment | |
| CN204616449U (en) | A kind of slope picking fruit device | |
| CN211373019U (en) | Cloth hanging device for spinning | |
| CN208957632U (en) | Cooking machine | |
| CN208821622U (en) | Multi-temperature switches tea electric stir-frying pot | |
| CN209574464U (en) | A kind of frying cage | |
| CN111964368A (en) | Drying device for tea processing | |
| CN203212762U (en) | Flat knitting machine capable of automatically unloading garment pieces | |
| CN106553792B (en) | A kind of full automatic lens mirror holder separator | |
| CN206026624U (en) | Numerical control auxiliary motion device that human gesture changes | |
| CN206044407U (en) | Pizza machine | |
| CN209478207U (en) | A kind of foreground anthropomorphic robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |